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Omron SMARTSTEP 2 R7D-BP01H User Manual Download Page 293

7-22

7-5 Manual Tuning

7

Adjustment Functions

Notch

Frequency

Frequency

Anti-resonance

Gain

Gain

Anti-resonance

Frequency

Resonance peak
disappears

Resonance

Machine Characteristics at Resonance

f

Adjust approximately
0.9 f lower

Frequency

Frequency

Anti-resonance

Frequency

Resonance peak
is lowered

Machine Characteristics at Resonance

f

−

3 dB

Cut-off frequency

Notch Filter Characteristics 

Torque Command Filter Characteristics 

Notch Filter Function

Torque Command Filter Function

Torque
command

Gain

Frequency

Adaptive filter

Frequency auto-adjustment

Frequency

Response speed

Width

Notch filter

Suppresses a large resonance  
point whose frequency 
does not change. 

Cut-off frequency

3 dB

Torque filter

Torque 
command
after 
filtering

Reduces all resonance peaks  
in the high frequency range.

Example of an Adaptive Machine

A machine with a resonance point 
that changes due to individual 
differences and age deterioration.

Gain

Frequency

A machine with a resonance point 
whose frequency does not change.

Gain

Frequency

A machine with a resonance peak 
in a frequency range separated  
from the response speed.

Adjusts to a resonance 
point and suppresses it 
immediately.

Summary of Contents for SMARTSTEP 2 R7D-BP01H

Page 1: ...Cat No I561 E1 06 USER S MANUAL SMARTSTEP 2SERIES R88M G Servomotors R7D BP Servo Drives SERVOMOTORS SERVO DRIVES...

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

Page 3: ...ystems 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 syste...

Page 4: ...d that in no event shall Omron be responsible for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were properly hand...

Page 5: ...programmable Prod uct or any consequence thereof Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitability and does not const...

Page 6: ...f the product 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...

Page 7: ...oing so may result in injury or damage to the product Provide a stopping mechanism on the machine side to ensure safety The holding brake is not designed as a stopping mechanism for safety purposes No...

Page 8: ...product Locations subject to direct sunlight Locations subject to ambient temperature exceeding the specified level Locations subject to relative humidity exceeding the specified level Locations subje...

Page 9: ...connect bare stranded wires directly to the protective ground terminal Doing so may result in fire Always use the power supply voltage specified in the User s Manual Not doing so may result in malfunc...

Page 10: ...the mechanical system before connecting it 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 doi...

Page 11: ...cated on the product as shown in the following illustration Be sure to follow the instructions given there Warning Label Contents Disposing of the Product Dispose of the product as industrial waste Wa...

Page 12: ...you find any problems missing parts damage to the Servo Drive etc please contact your local sales representative or OMRON sales office Understanding Model Numbers Servo Drive Models The model number...

Page 13: ...acity rated rotation speed and options R88M GP10030H BOS2 Servomotor Capacity Rated Rotation Speed Motor Type P Flat type 050 50 W 100 100 W 200 200 W 400 400 W 30 3000 r min None Cylinder type Power...

Page 14: ...essories 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 energ...

Page 15: ...tor Specifications 3 26 3 4 Cable and Connector Specifications 3 32 3 5 Servo Relay Units and Cable Specifications 3 55 3 6 Parameter Unit Specifications 3 80 3 7 External Regeneration Resistors Speci...

Page 16: ...Adjustment Functions 7 1 Gain Adjustment 7 1 7 2 Realtime Autotuning 7 3 7 3 Autotuning 7 8 7 4 Disabling the Automatic Gain Adjustment Function 7 13 7 5 Manual Tuning 7 15 Chapter 8 Troubleshooting...

Page 17: ...MARTSTEP 2 Series 1 1 Features of the SMARTSTEP 2 Series 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 1 4 System Block Dia...

Page 18: ...uppressing Vibration of Low rigidity Mechanisms during Acceleration Deceleration The damping control function can suppress vibration of low rigidity mechanisms or devices whose ends tend to vibrate Hi...

Page 19: ...utput SYSMAC CJ1 CS1 C Series Programmable Controller Position Control Unit CJ1W NC113 213 413 CJ1W NC133 233 433 CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 413 Pulse string SYSMAC PLC wit...

Page 20: ...ctions Servo Drive Part Names C N 1 C N 2 C N A C N B C N 3 PWR ALM Encoder input connector CN2 Motor connector CNB Communications connector CN3 Alarm LED indicator ALM Power supply LED indicator FG t...

Page 21: ...st on page 8 4 LED Indicator Status Lit green Main power is ON Flashing orange at 1 second intervals A warning has occurred i e an overload excessive regenerative energy or fan speed error Lit red An...

Page 22: ...d torque processor Control I O photo isolation Input signals 1 CW CCW 2 ECRST 3 RUN 4 RESET 5 POT 6 NOT 7 GSEL GESEL 1 Phases A B Z 2 INP 3 BKIR 4 ALM 5 WARN G VCC RS 485 I F S S CN2 encoder signal co...

Page 23: ...her Korean Radio Regulations KC SMARTSTEP2 series Servo Drives comply with the Korean Radio Regulations KC The G series Servomotors do not comply with the Korean Radio Regulations KC EC Directive Prod...

Page 24: ......

Page 25: ...Drive Servomotor Combinations 2 2 Decelerators 2 4 Accessories and Cables 2 10 2 2 External and Mounted Dimensions 2 15 Servo Drives 2 15 Servomotors 2 17 Parameter Unit Dimensions 2 20 Decelerator Di...

Page 26: ...e phase 200 VAC 200 W R7D BP02H Specifications Model Straight shaft Straight shaft with key and tap Without brake 100 200 V 50 W R88M G05030H R88M G05030H S2 100 V 100 W R88M G10030L R88M G10030L S2 2...

Page 27: ...M GP10030H R88M GP10030H S2 200W R88M GP20030H R88M GP20030H S2 400W R88M GP40030H R88M GP40030H S2 With brake 100 V 100W R88M GP10030L B R88M GP10030L BS2 200W R88M GP20030L B R88M GP20030L BS2 200 V...

Page 28: ...ed output Servo Drive Servomotor Pulse string input Without brake With brake 100 W R7D BP01H R88M GP10030H R88M GP10030H B 200 W R7D BP02HH R88M GP20030H R88M GP20030H B 400 W R7D BP04H R88M GP40030H...

Page 29: ...ecifications Model Motor capacity Gear ratio 50 W 1 5 R88G HPG11B05100B 1 9 R88G HPG11B09050B 1 21 R88G HPG14A21100B 1 33 R88G HPG14A33050B 1 45 R88G HPG14A45050B 100 W 1 5 R88G HPG11B05100B 1 11 R88G...

Page 30: ...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 HPG20A4510...

Page 31: ...of a 15 Arcminutes Max model we recommend the successor model VRXF Series Specifications Model Motor capacity Gear ratio 50 W 1 5 R88G VRXF05B100CJ 1 9 R88G VRXF09B100CJ 1 15 R88G VRXF15B100CJ 1 25 R8...

Page 32: ...tput shaft Note 3 For new use of a 15 Arcminutes Max model we recommend the successor model VRXF Series Specifications Model Motor capacity Gear ratio 100 W 1 5 R88G VRXF05B100PCJ 1 9 R88G VRXF09B100P...

Page 33: ...Arcminutes Max model we recommend the successor model VRXF Series Specifications Model Motor capacity Gear ratio 50 W 1 5 R88G VRSF05B100CJ 1 9 R88G VRSF09B100CJ 1 15 R88G VRSF15B100CJ 1 25 R88G VRSF...

Page 34: ...utput shaft Note 3 For new use of a 15 Arcminutes Max model we recommend the successor model VRXF Series Specifications Model Motor capacity Gear ratio 100 W 1 5 R88G VRSF05B100PCJ 1 9 R88G VRSF09B100...

Page 35: ...5CR 10 m R88A CRGB010CR 15 m R88A CRGB015CR 20 m R88A CRGB020CR Specifications Model Standard Cables connectors attached 3 m R7A CAB003S 5 m R7A CAB005S 10 m R7A CAB010S 15 m R7A CAB015S 20 m R7A CAB0...

Page 36: ...rs attached 2 m R7A CLB002S3 External Regeneration Resistor Connection Cable 2 m R7A CLB002RG Specifications Model Personal Computer Monitor Cable 2 m R88A CCG002P2 Specifications Model Main Circuit C...

Page 37: ...S1W NC233 NC433 NC213 NC413 For C200HW NC213 NC413 XW2B 40J6 2B For CJ1M CPU21 For CJ1M CPU22 For CJ1M CPU23 XW2B 20J6 8A XW2B 40J6 9A for 2 axes For FQM1 MMP22 XW2B 80J7 12A For CQM1H PLB21 For CQM1...

Page 38: ...3 NC413 0 5 m XW2Z 050J A15 1 m XW2Z 100J A15 For CS1W NC113 For C200HW NC113 0 5 m XW2Z 050J A6 1 m XW2Z 100J A6 For CS1W NC213 NC413 For C200HW NC213 NC413 0 5 m XW2Z 050J A7 1 m XW2Z 100J A7 For CJ...

Page 39: ...ation capacity 70 W 47 R88A RR22047S1 Regeneration capacity 20 W 100 R88A RR080100S Regeneration capacity 20 W 50 R88A RR08050S Specifications Applicable Servo Drive Model Single phase 100 V R7D BPA5L...

Page 40: ...els and Dimensions 2 2 External and Mounted Dimensions Servo Drives R7D BPA5L BP01L BP01H BP02H 50 W 100 W 200 W Two M4 C N 1 C N 2 C N B C N A C N 3 ALM PWR 5 1 5 2 105 35 5 2 d i a 20 130 120 140 15...

Page 41: ...nted Dimensions 2 Standard Models and Dimensions R7D BP02L BP02HH BP04H 200 W 400 W C N 1 C N 2 C N B C N A C N 3 ALM PWR 5 1 5 2 105 40 5 2 d i a 20 130 120 140 15 5 5 140 130 0 5 Two M4 5 5 15 25 70...

Page 42: ...place indicated by the box Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number Model LL LN mm mm R88M G05030H 72 26 5 R88...

Page 43: ...adding S2 to the end of the model number Note The standard models have a straight shaft Model LL S Dimensions for models with key and tap 3 QK b h t1 M L mm mm mm mm mm mm R88M G20030 1 79 5 11 18 4h...

Page 44: ...7 7 Encoder connector QK Dimensions of shaft end with key and tap b h t1 M depth L Servomotor connector Break connector D1 dia Model LL LR S D1 D2 C F G mm mm mm mm mm mm mm mm R88M GP10030 1 60 5 25...

Page 45: ...2 20 2 2 External and Mounted Dimensions 2 Standard Models and Dimensions Parameter Unit Dimensions R88A PR02G Mini DIN 8 pin MD connector 62 24 15 1500 M3 depth 5 114 15...

Page 46: ...0 1 33 HPG14A33050B 64 0 58 60 60 60 70 46 56 0 55 5 40 1 45 HPG14A45050B 64 0 58 60 60 60 70 46 56 0 55 5 40 100 W 1 5 HPG11B05100B 39 5 42 40 40 40 46 46 40 0 39 5 29 1 11 HPG14A11100B 64 0 58 60 60...

Page 47: ...10 25 42 9 0 M4 M4 36 8 7 4 0 M6 12 2 4 53 7 5 27 10 25 42 9 0 M4 M4 36 8 7 4 0 M6 12 2 4 37 2 5 21 8 16 28 5 5 M4 M3 25 5 5 3 M4 8 1 02 37 2 5 21 8 16 28 5 5 M4 M3 25 5 5 3 M4 8 1 09 53 7 5 27 10 25...

Page 48: ...4A11100PB 64 0 58 60 60 60 70 70 56 0 55 5 40 1 21 HPG14A21100PB 64 0 58 60 60 60 70 70 56 0 55 5 40 1 33 HPG20A33100PB 71 0 80 90 89 dia 105 70 85 0 84 0 59 1 45 HPG20A45100PB 71 0 80 90 89 dia 105 7...

Page 49: ...5 5 3 0 M4 8 0 99 53 7 5 27 10 25 42 9 0 M5 M4 36 8 7 4 0 M6 12 3 1 53 7 5 27 10 25 42 9 0 M5 M4 36 8 7 4 0 M6 12 3 1 53 7 5 27 10 25 42 9 0 M5 M4 36 8 7 4 0 M6 12 3 1 53 7 5 27 10 25 42 9 0 M5 M4 36...

Page 50: ...R88G VRXF15B100CJ 78 0 32 40 52 46 60 50 3 6 12 20 1 25 R88G VRXF25B100CJ 78 0 32 40 52 46 60 50 3 6 12 20 100 W 1 5 R88G VRXF05B100CJ 67 5 32 40 52 46 60 50 3 6 12 20 1 9 R88G VRXF09B100CJ 67 5 32 40...

Page 51: ...9 R88G VRXF09B100CJ M4 M5 M4 12 16 4 4 2 5 M5 10 1 15 R88G VRXF15B100CJ M4 M5 M4 12 16 4 4 2 5 M5 10 1 25 R88G VRXF25B100CJ M4 M5 M4 12 16 4 4 2 5 M5 10 200 W 1 5 R88G VRXF05B200CJ M4 M5 M4 12 16 4 4...

Page 52: ...3 15 5 12 20 1 9 R88G VRXF09B100PCJ 67 5 32 60 52 70 60 50 3 15 5 12 20 1 15 R88G VRXF15B100PCJ 83 5 32 60 52 70 60 50 3 15 5 12 20 1 25 R88G VRXF25B100PCJ 83 5 32 60 52 70 60 50 3 15 5 12 20 200 W 1...

Page 53: ...B100PCJ M4 M5 M4 9 12 16 4 4 2 5 M5 10 200 W 1 5 R88G VRXF05B200PCJ M5 M5 M4 11 12 16 4 4 2 5 M5 10 1 9 R88G VRXF09C200PCJ M5 M6 M5 11 20 22 6 6 3 5 M6 12 1 15 R88G VRXF15C200PCJ M5 M6 M5 11 20 22 6 6...

Page 54: ...0 52 46 60 50 45 10 3 6 1 15 VRSF15B100CJ 78 0 32 40 52 46 60 50 45 10 3 6 1 25 VRSF25B100CJ 78 0 32 40 52 46 60 50 45 10 3 6 100 W 1 5 VRSF05B100CJ 67 5 32 40 52 46 60 50 45 10 3 6 1 9 VRSF09B100CJ 6...

Page 55: ...00CJ 1 5 100 W 12 20 M4 M5 M3 12 16 4 4 2 5 0 55 VRSF09B100CJ 1 9 12 20 M4 M5 M3 12 16 4 4 2 5 0 70 VRSF15B100CJ 1 15 12 20 M4 M5 M3 12 16 4 4 2 5 0 70 VRSF25B100CJ 1 25 12 20 M4 M5 M4 12 16 4 4 2 5 0...

Page 56: ...4 E3 F G 100 W 1 5 VRSF05B100PCJ 67 5 32 60 52 70 60 50 45 10 3 8 1 9 VRSF09B100PCJ 67 5 32 60 52 70 60 50 45 10 3 8 1 15 VRSF15B100PCJ 78 0 32 60 52 70 60 50 45 10 3 8 1 25 VRSF25B100PCJ 78 0 32 60 5...

Page 57: ...PCJ 1 15 12 20 M4 M5 M3 12 16 4 4 2 5 0 87 VRSF25B100PCJ 1 25 12 20 M5 M5 M4 12 16 4 4 2 5 0 85 VRSF05B200PCJ 1 5 200 W 19 30 M5 M6 M4 20 22 6 6 3 5 1 80 VRSF09C200PCJ 1 9 19 30 M5 M6 M4 20 22 6 6 3 5...

Page 58: ...neration Resistor Dimensions External Regeneration Resistor R88A RR08050S R88A RR080100S R88A RR22047S1 20 t1 2 104 122 130 43 5 28 4 2 6 1 5 dia 0 3 mm 2 0 75 mm 2 3 dia Thermal switch output 500 20...

Page 59: ...tandard Models and Dimensions Reactor Dimensions 3G3AX DL2002 DL2004 3G3AX DL2007 Model Dimension mm L 3G3AX DL2002 85 3G3AX DL2004 95 Ground terminal M4 66 56 72 90 Four 5 2 8 Two M4 98 L Ground term...

Page 60: ...IN01B 1 Two mounting screws M4 length 8 are included 2 When the rail stopper is extended this dimension becomes 10 mm Six M4 terminal screws Ground terminal M5 50 1 Four 6 dia 120 67 1 82 94 150 Ro R...

Page 61: ...s 3 25 3 3 Decelerator Specifications 3 26 Standard Models and Specifications 3 26 3 4 Cable and Connector Specifications 3 32 Encoder Cable Specifications 3 32 Servomotor Power Cable Specifications 3...

Page 62: ...age temperature Ambient storage humidity 20 to 65 C 90 RH max with no condensation Storage and operating atmosphere No corrosive gasses no dust no iron dust no exposure to moisture or cutting oil Vibr...

Page 63: ...kg 0 42 kg Applicable motor capacity 50 W 100 W 200 W Item Servo Drive model R7D BP01H R7D BP02HH R7D BP02H R7D BP04H Continuous output current rms 1 0 A 1 6 A 1 6 A 2 5 A Momentary maximum output cur...

Page 64: ...pin 6 For single phase 100 200 V connect to L1 pin 10 and L3 pin 6 L2 8 L3 6 P 5 External Regeneration Resistor connection terminals If regenerative energy is high connect an External Regeneration Res...

Page 65: ...24 VDC Frame ground FG Shell 26 Z phase Output open collector output 10 11 ALM 14 Z GND Alarm Output 13 INP OGND Positioning Completed Output RESET 3 Alarm Reset Input ECRST 4 Deviation Counter Reset...

Page 66: ...is set to 0 or 2 when Zero Speed Designation Torque Limit Switch Pn06 is set to 0 or 1 Zero speed designation input in Internal Speed Control Mode when Pn02 is set to 1 OFF Speed command is zero Inpu...

Page 67: ...10 INP TGON Positioning Completed Output or Servomotor Rotation Speed Detection Output Positioning completed output in Position Control Mode when Pn02 is set to 0 or 2 ON The residual pulses for the d...

Page 68: ...hibit Input Warning Output Alarm Reset Input Reverse Drive Prohibit Alarm Output Brake Interlock Output Output Ground Common Encoder Phase A Output Encoder Phase B Output Encoder Phase Z Output Phase...

Page 69: ...shorted The twisted pair cable should not exceed 2 m in length 2 2 k Input current 6 8 mA 3 V Servo Drive Controller Applicable line driver AM26LS31A or equivalent 220 Precautions for Correct Use Vcc...

Page 70: ...turn OFF the RUN Command Input first then input the alarm reset signal Resetting is performed after the Alarm Reset Input is kept ON for 120 ms or longer Some alarms cannot be cleared using the Alarm...

Page 71: ...t to anything other than 2 When Zero Speed Designation Input VZERO is OFF the speed command is zero Turn ON the Zero Speed Designation Input VZERO for normal operation Zero Speed Designation Input VZE...

Page 72: ...e Forward Pulse Feed Pulse Direction Signal 90 Phase Difference Signal Phase A Phase B Pin 22 Reverse Pulse CW Feed Pulse PULS or Phase A FA Pin 23 Reverse Pulse CW Feed Pulse PULS or Phase A FA Pin 2...

Page 73: ...Phase Z Phase A Phase B Phase Z Output line driver AM26C31 or equivalent FG 0 V R 120 to 220 R R R FG 0 V 0 V 5 V Applicable line receiver AM26C32 or equivalent Servo Drive External power supply 24 VD...

Page 74: ...Positioning Completed Output Pin 10 is the Positioning Completed Output INP in Position Control Mode when Pn02 is set to 0 or 2 The INP signal turns ON when the number of accumulated pulses in the dev...

Page 75: ...hase A Output A Pin 16 Encoder Phase A Output A Pin 17 Encoder Phase B Output B Pin 18 Encoder Phase B Output B Pin 19 Encoder Phase Z Output Z Pin 20 Encoder Phase Z Output Z Function This signal out...

Page 76: ...E5V Encoder power supply 5 V Power supply output for the encoder 5 V 70 mA 2 E0V Encoder power supply GND 3 NC Do not connect anything to these pins 4 NC 5 S Encoder phase S I O RS 485 line driver I...

Page 77: ...t storage temperature Ambient storage humidity 20 to 65 C 85 RH max with no condensation Storage and operating atmosphere No corrosive gases Vibration resistance 49 m s2 max in the X Y and Z direction...

Page 78: ...e thrust load 3 N 58 58 98 Weight Without brake kg 0 3 0 5 0 8 With brake kg 0 5 0 7 1 3 Radiation shield dimensions material 100 80 t10 Al 130 120 t12 Al Brake specifications Brake inertia kg m2 2 0...

Page 79: ...riction torque N m 0 29 min 0 29 min 1 27 min 1 27 min Attraction time 5 ms 35 max 35 max 50 max 50 max Release time 5 ms 20 max 20 max 15 max 15 max Backlash 1 Allowable work per braking operation J...

Page 80: ...ight Without brake kg 0 65 1 3 With brake kg 0 90 2 0 Radiation shield dimensions material 130 120 t10 Al 170 160 t12 Al Brake specifications Brake inertia kg m2 3 0 10 6 9 0 10 6 Excitation voltage 4...

Page 81: ...ating temperatures The values are also for the locations shown in the following diagram N 68 245 245 Allowable thrust load 3 N 58 98 98 Weight Without brake kg 0 7 1 3 1 8 With brake kg 0 9 2 0 2 5 Ra...

Page 82: ...shaft LR 2 Radial load Thrust load 0 1 1000 2000 3000 4000 5000 0 0 2 0 3 0 4 0 5 N m N m N m r min r min r min 0 2 1000 2000 3000 4000 5000 0 0 4 0 6 0 8 1 0 R88M G05030H R88M G10030L Continuous usag...

Page 83: ...5000 0 1 0 1 5 2 0 R88M G10030H R88M G20030H Continuous usage Repetitive usage 0 95 0 32 0 32 0 19 1 65 1 82 4300 0 64 0 36 0 64 1 0 1000 2000 3000 4000 5000 0 2 0 3 0 4 0 R88M G40030H Continuous usa...

Page 84: ...ase 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 norm...

Page 85: ...ect Use 20 10 20 30 40 0 40 60 80 100 Rated Torque Ratio 50 W Without Oil Seal 10 20 30 40 0 Ambient temperature Rated Torque Ratio 50 W With Oil Seal Ambient temperature 20 40 60 80 100 With brake 95...

Page 86: ...with the dynamic brake enabled Encoder Specifications 10 20 30 40 0 Ambient temperature Rated Torque Ratio 200 W With Oil Seal 20 40 60 80 100 80 70 With brake Without brake 20 10 20 30 40 0 40 60 80...

Page 87: ...27 9 6 50 10 5 1006 3541 2 4 200 W 1 5 HPG14A05200B 600 2 49 78 1000 7 44 2 07 10 5 221 883 1 02 1 11 HPG14A11200B 273 6 01 85 454 17 9 1 93 10 5 280 1119 1 09 1 21 HPG20A21200B 143 10 2 76 238 30 6 4...

Page 88: ...659 2320 3 1 1 21 HPG20A21200PB 143 10 2 76 238 29 2 4 90 10 5 800 2817 3 1 1 33 HPG20A33200PB 91 17 0 81 151 48 5 4 50 10 5 916 3226 3 1 1 45 HPG20A45200PB 67 23 2 81 111 66 1 4 50 10 5 1006 3541 3 1...

Page 89: ...4 10 6 686 343 0 70 200 W 1 5 VRXF05B200CJ 600 2 94 92 1000 8 19 1 47 10 5 392 196 0 72 1 9 VRXF09C200CJ 333 4 78 83 556 13 30 2 37 10 5 931 465 1 70 1 15 VRXF15C200CJ 200 8 26 86 333 22 96 3 02 10 5...

Page 90: ...200PCJ 200 8 26 86 333 23 48 23 99 3 02 10 5 1176 588 2 40 1 25 VRXF25C200PCJ 120 13 76 86 200 39 13 39 99 2 90 10 5 1323 661 2 40 400 W 1 5 VRXF05C400PCJ 600 5 72 88 1000 15 84 3 70 10 5 784 392 2 00...

Page 91: ...15 VRSF15B100CJ 200 3 81 80 333 11 4 3 50 10 6 588 294 0 70 1 25 VRSF25B100CJ 120 6 36 80 200 19 0 3 25 10 6 686 343 0 70 200 W 1 5 VRSF05B200CJ 600 2 70 85 1000 8 10 1 18 10 5 392 196 0 72 1 9 VRSF09...

Page 92: ...4 1 18 10 5 392 196 0 85 1 9 VRSF09C200PCJ 333 3 77 66 556 10 8 2 75 10 5 931 465 1 80 1 15 VRSF15C200PCJ 200 6 29 66 333 18 0 3 00 10 5 1176 588 2 20 1 25 VRSF25C200PCJ 120 11 1 70 200 31 8 2 88 10 5...

Page 93: ...A CRGB003C 3 m 6 5 dia Approx 0 2 kg R88A CRGB005C 5 m Approx 0 3 kg R88A CRGB010C 10 m Approx 0 6 kg R88A CRGB015C 15 m Approx 0 9 kg R88A CRGB020C 20 m Approx 1 2 kg 1 The maximum distance between t...

Page 94: ...g 1 The maximum distance between the Servo Drive and Servomotor is 20 m 4 14 4 11 8 L Servo Drive end Servomotor end R88M G R7D BP 7 5 dia AWG24 AWG24 AWG24 E5V E0V E0V NC NC NC 1 4 2 5 5 2 6 3 3 1 4...

Page 95: ...ons for Correct Use Model Length L 1 Outer diameter of sheath Weight R7A CAB003S 3 m 6 2 dia Approx 0 2 kg R7A CAB005S 5 m Approx 0 3 kg R7A CAB010S 10 m Approx 0 6 kg R7A CAB015S 15 m Approx 0 9 kg R...

Page 96: ...CAB020SR 20 m Approx 1 3 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m 50 50 L 10 0 12 0 4 4 6 9 dia Servo Drive end Servomotor end R88M G R7D BP 1 No 4 6 3 2 5 1 No 4 3 2...

Page 97: ...g R88A CAGA010B 10 m Approx 0 4 kg R88A CAGA015B 15 m Approx 0 6 kg R88A CAGA020B 20 m Approx 0 8 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m 50 50 L 5 6 12 0 10 0 5 4 dia...

Page 98: ...R88A CAGA010BR 10 m Approx 0 4 kg R88A CAGA015BR 15 m Approx 0 7 kg R88A CAGA020BR 20 m Approx 0 9 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m 5 6 12 0 10 0 50 50 L 6 1 di...

Page 99: ...would affect the functionality of the sheath Broken shield strands may occur Note 3 If a bending radius smaller than the minimum bending radius is used it may result in mechanical damage or ground fa...

Page 100: ...egeneration Resistor Cable Single phase Power Cable with CNA Connector Cable Models Connection Configuration and External Dimensions Wiring Model Length L Outer diameter of sheath Weight R7A CLB002S2...

Page 101: ...h L Outer diameter of sheath Weight R7A CLB002S3 2 m 6 4 dia Approx 0 1 kg 50 50 2000 6 4 dia Power supply end Three phase 200 VAC Servo Drive end R7D BP No 1 2 Signal Servo Drive Connector Connector...

Page 102: ...nd External Dimensions Wiring Insert into the P pin 5 and B1 pin 3 slots of the Main Circuit Connector CNA Model Length L Outer diameter of sheath Weight R7A CLB002RG 2 m 6 1 dia Approx 0 1 kg 50 50 2...

Page 103: ...nications with the Host 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 s...

Page 104: ...ications Main Circuit Connector R7A CNB01P The Main Circuit Connector connects to the Servo Drive s Main Circuit Connector CNA Dimensions 11 6 10 7 19 6 3 5 8 5 6 3 16 8 22 2 2 7 2 7 4 2 4 2 9 6 3 5 4...

Page 105: ...nnector R88A CNW01C This Connector connects to the Control I O Connector CN1 of the Servo Drive Use this Connector when preparing a control cable yourself Dimensions 11 6 10 7 19 6 3 5 8 5 6 3 8 4 13...

Page 106: ...nsulating cover outer diameter 2 1 mm max Sheath outer diameter 6 7 0 5 mm Dimensions R88A CNG02R Servomotor Connector Use the following cable Applicable wire AWG22 max Insulating cover outer diameter...

Page 107: ...pplicable panel thickness 0 8 to 2 0 mm Brake Cable Connector R88A CNG01B This Connector is used for brake cables Use it when preparing a brake cable yourself Connector housing 172157 1 Tyco Electroni...

Page 108: ...l Cable connects to the Servo Drive s Control I O Connector CN1 Do not wire the pins that have no signals allocated Cable Models Connection Configuration and External Dimensions Model Length L Outer d...

Page 109: ...ck 1 ECRST VSEL2 5 White Red 1 GSEL VZERO TLSEL 6 White Black 1 GESEL VSEL1 7 Yellow Red 1 NOT 8 Yellow Black 1 POT 9 Pink Red 1 ALM 10 Pink Black 1 INP TGON 11 Orange Red 2 BKIR 12 Orange Black 2 WAR...

Page 110: ...9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 5 1 2 3 4 8 9 10 11 6 7 13 14 12 Wire mark color Connector Servo Drive No No No Signal 24VIN CW PULS FA CW PULS FA CCW SIGN FB RUN...

Page 111: ...the Servo Drive s Control I O Connector CN1 can be converted to a terminal block XW2B 34G4 M3 screw terminal block Dimensions Use 0 30 to 1 25 mm2 wire AWG22 to AWG16 The wire slot is 1 8 mm height 2...

Page 112: ...torque of 0 59 N m Applicable Crimp Terminals Applicable Wires Round Crimp Terminals 1 25 to 3 AWG22 to AWG16 0 3 to 1 25 mm2 2 to 3 5 AWG16 to AWG14 1 25 to 2 0 mm2 Fork Terminals 1 25Y to 3 AWG22 t...

Page 113: ...a tightening torque of 0 7 N m Applicable Crimp Terminals Applicable Wires Round Crimp Terminals 1 25 to 3 AWG22 to 16 0 3 to 1 25 mm2 Fork Terminals 1 25Y to 3 AWG22 to 16 0 3 to 1 25 mm2 A1 A2 A3 A...

Page 114: ...a value for resistance R so that the input current will be from 7 to 15 mA Refer to the following table Vcc R 24 V 2 k 12 V 1 k RUN 1 2 33 34 FG 24 VDC X1 XB X1 ECRST VSEL2 RESET GESEL VSEL1 GSEL VZER...

Page 115: ...Signal Names No Signal 1 24VIN 2 RUN 3 RESET 4 ECRST VSEL2 5 GSEL VZERO TLSEL 6 SESEL VSEL1 7 NOT 8 POT 9 ALM 10 INP TGON 11 BKIR 12 WARN 13 OGND 14 GND 15 A 16 A 17 B 18 B 19 Z 20 Z 21 Z 22 CW PULS F...

Page 116: ...that match the Position Control Unit to be used For details refer to Selecting Connecting Cables on page 4 13 Servo Relay Units Specifications XW2B 20J6 1B This Servo Relay Unit connects to the follow...

Page 117: ...imensions 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 CC...

Page 118: ...lse I O Board for CQM1H CPU51 CPU61 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 B...

Page 119: ...Z is an open collector 5 Do not connect unused terminals 6 The 0 V terminal is internally connected to the common terminals 7 Applicable crimp terminal R1 25 3 round with open end XW2B 20J6 8A This S...

Page 120: ...t 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 Connectio...

Page 121: ...the actual input CIO 2960 06 on the Input Unit as shown below 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...

Page 122: ...The 0 V terminal is internally connected to the common terminals 6 Applicable crimp terminal R1 25 3 round with open end XW2B 80J7 12A This Servo Relay Unit connects to the following OMRON Programmab...

Page 123: ...o Relay Unit Cables XW2Z J B30 SMARTSTEP 2 Servo Drives R7D BP OMNUC G Series Servomotors R88M G FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL PORT ON OFF CM002 2 CN1 RS422 1 40...

Page 124: ...V Latch signal 2 common Servo 1 phase A LD Servo 1 phase B LD Servo 1 phase Z LD Servo 1 INP Signal name Signal name 5 V 1 Latch signal 1 input Latch signal 1 common Latch signal 2 input Servo 1 phas...

Page 125: ...s For Servo Drive 1 For Servo Drive 2 54 56 69 70 71 14 16 29 30 31 OUT0 OUT2 OUT4 OUT6 IN4 IN5 IN6 IN8 IN9 IN10 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 40 41 42 43 44 45 46 47 48...

Page 126: ...x 0 1 kg XW2Z 200J B29 2 m Approx 0 2 kg 39 37 2 t 14 6 Servo Drive Servo Relay Unit XW2B 20J6 1B XW2B 40J6 2B XW2B 20J6 3B R7D BP L 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 1...

Page 127: ...14 6 Servo Drive Servo Relay Unit XW2B 80J7 12A R7D BP L 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 9 9 10 10 11 12 12 16 16 17 17 21 21 22 22 24 24 25 25 24VIN RUN 0GND BKIR ALM 1 22 23 24 25 4 20 19 2 13 11 10 9...

Page 128: ...32 2 m Approx 0 2 kg 39 37 2 t 14 6 Servo Drive Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A R7D BP L 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 2...

Page 129: ...43 V1 to a Servo Relay Unit XW2B 20J6 3B Cable Models Connection Configuration and External Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A3 50 cm 7 5 dia Approx 0 1 kg XW...

Page 130: ...nd External Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A6 50 cm 8 0 dia Approx 0 1 kg XW2Z 100J A6 1 m Approx 0 1 kg 38 L 6 47 83 t 11 Position Control Unit CS1W NC113...

Page 131: ...uter 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 C200HW NC213 C200HW NC413 Servo Re...

Page 132: ...ns 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...

Page 133: ...h Weight XW2Z 050J A11 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A11 1 m Approx 0 2 kg 48 L 6 47 83 t 11 1000 Position Control Unit CS1W NC233 CS1W NC433 Servo Relay Unit XW2B 40J6 2B Servo Relay Unit Ca...

Page 134: ...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...

Page 135: ...r 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 40J6 2B C J 1 W...

Page 136: ...del 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...

Page 137: ...0J A19 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A19 1 m Approx 0 2 kg L 6 t 11 500 48 1000 C J 1 W N C 2 3 3 N C 4 3 3 40J6 2B Position Control Unit CJ1W NC233 CJ1W NC433 Servo Relay Unit XW2B 40J6 2B S...

Page 138: ...s Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A33 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A33 1 m Approx 0 2 kg CJ1M CPU22 23 20J6 8A 40J6 9A L 500 43 6 6 56 Servo Relay Unit XW2B 2...

Page 139: ...ration and External Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A28 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A28 1 m Approx 0 2 kg XW2Z 200J A28 2 m Approx 0 3 kg L 17 17...

Page 140: ...Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A30 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A30 1 m Approx 0 2 kg XW2Z 200J A30 2 m Approx 0 3 kg L 17 17 56 Servo Relay Unit XW2B 80J7...

Page 141: ...max with no condensation Storage ambient temperature Storage ambient humidity 20 to 80 C 90 RH max with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance 5 9 m s...

Page 142: ...for 120 C temperature rise Heat radiation condition Thermal switch output specifications R88A RR08050S 50 80 W 20 W Aluminum 250 250 Thickness 3 0 Operating temperature 150 C 5 NC contact Rated output...

Page 143: ...ent control measure Select a model matching the Servo Drive to be used Specifications Reactor type Specifications Model Rated current A Inductance mH Weight kg Single phase Reactors 3G3AX DL2002 1 6 A...

Page 144: ......

Page 145: ...e Connection Examples 4 16 Main Circuit Wiring 4 18 4 3 Wiring Conforming to EMC Directives 4 20 Wiring Method 4 20 Control Panel Structure 4 22 Selecting Connection Components 4 24 4 4 Regenerative E...

Page 146: ...panel Mounting Direction Mount the Servo Drives in a direction perpendicular so that the model number can be seen properly Operating Environment The environment in which Servo Drives are operated mus...

Page 147: ...ffected by a drop in electrostatic capacity and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements If a Servo Drive...

Page 148: ...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 eccentri...

Page 149: ...erial of the mounting surface and on the installation environment Be sure to check the Servomotor temperature under actual operating conditions The Servomotor temperature may rise sharply if the Servo...

Page 150: ...environment where it is subjected to no oil at all Always 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...

Page 151: ...sealant to the installation surface on the Servomotor recommended sealant Loctite 515 3 Gently insert the Servomotor into the Decelerator As shown in the figures on the next page stand the Decelerator...

Page 152: ...ng 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 Decelerator model Number of bolts Bolt size...

Page 153: ...s shown in the figures on the next page When the Decelerator cannot be put up vertically tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 3 Fix the Ser...

Page 154: ...ap sections and fix the mounting flange with bolts Mounting Flange Bolt Tightening Torque for Aluminum Note If the key on a Servomotor with key is uninstalled it is possible to use the Decelerator by...

Page 155: ...put shaft joint while 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 B...

Page 156: ...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 w...

Page 157: ...M BKUP RUN INH PRPHL Servo Relay Unit Servo Drive Cable Cable for Connector Terminal Block Position Control Unit Cable Connector Terminal Block Flexible Motion Controller Servomotor Power Cable 2 Gene...

Page 158: ...5 m or 20 m Example model number for a 3 m cable R7A CAB003S Robot Cables for Servomotor Power R7A CAB SR The digits in the model number indicate the cable length 3 m 5 m 10 m 15 m or 20 m Example mod...

Page 159: ...ing one Position Control Unit Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Drive Cable CJ1W NC133 XW2Z J A18 XW2B 20J6 1B XW2Z J B29 CJ1W NC233 XW2Z J A19 XW2B 40J6 2B CJ1W...

Page 160: ...nnector CN1 Name Model Comments Connector Terminal Block Conversion Unit XW2B 34G4 Terminal block with M3 screws XW2B 34G5 Terminal block with M3 5 screws XW2D 34G6 Terminal block with M3 screws Conne...

Page 161: ...brake operates when the main circuit power supply or the control circuit power supply is turned OFF Note 2 When turning OFF the main circuit power supply turn OFF the RUN Command Input RUN signal at t...

Page 162: ...erates when the main circuit power supply or the control circuit power supply is turned OFF Note 2 When turning OFF the main circuit power supply turn OFF the RUN Command Input RUN signal at the same...

Page 163: ...connect an External Regener ation Resistor B1 Frame ground This is the ground terminal Ground to 100 or less Item Unit R7D BPA5L R7D BP01L R7D BP02L Power supply capacity kVA 0 16 0 25 0 42 Main circu...

Page 164: ...Rated current A rms 1 0 1 6 1 6 2 5 Maximum momen tary current A rms 3 3 4 9 4 9 7 8 Wire size AWG18 Frame ground Wire size AWG14 min Screw size M4 Torque N m 1 2 to 1 4 No fuse breaker or fuse capaci...

Page 165: ...l 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...

Page 166: ...M G20030L 100 VAC R88M G40030H 200 VAC FC Clamp core TDK ZACT305 1330 TB Switch box Symbol Supplies from Connects to Cable name Length Remarks Shielded Ferrite a AC power supply Noise filter Power sup...

Page 167: ...ing panel mounting holes and gaps around the door may allow electromagnetic waves into the panel To prevent this from occurring observe the items described below when designing or selecting a control...

Page 168: ...o the diagrams below 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...

Page 169: ...rating time of at least five seconds at 300 of the rated current General purpose and low speed no fuse breakers are generally suitable Select a no fuse breaker with a rated current greater than the to...

Page 170: ...the noise filter Leakage current form other Controllers should also be added to the total leakage current To prevent incorrect operation due to inrush current it is necessary to select a current value...

Page 171: ...Note 1 Refer to the manufacturers documentation for operating details Note 2 The surge immunity is for a standard impulse current of 8 20 s If pulses are wide either decrease the current or change to...

Page 172: ...r for the Servo Drive s power supply Dimensions Servo Drive model Noise filter Model Rated current Rated voltage Max leakage current 60 Hz Maker R7D BP Series 3SUP HU10 ER 6 10 A 250 VAC 0 4 mA phase...

Page 173: ...number of windings is three turns OMRON Servo Drive output and power cable ESD R 47B 2 2 Mainly used for 50 100 W The maximum number of windings is two turns NEC TOKIN Servo Drive output and power cab...

Page 174: ...4 System Design Impedance Characteristics 10 100 10000 1000 100 10 1 0 1 Frequency kHz Impedance Impedance Impedance 1 1000 10000 1000 100 10 1 10 100 Frequency MHz 1 1000 3G3AX ZCL2 ESD R 47B ZCAT303...

Page 175: ...ay occur due to contact welding or other factors Type Features Recommended products Diode Diodes are used for relatively small loads when the reset time is not an issue such as relays At power shutoff...

Page 176: ...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...

Page 177: ...the control power supply as far apart as possible In particular do not connect the two power supply ground lines We recommend using line drivers for the pulse command output Always use twisted pair s...

Page 178: ...t a noise filter with a rated current at least two times the Servo Drive s continuous output current The following table shows the recommended noise filters for Servomotor output Note 1 Servomotor out...

Page 179: ...Noise To reduce the noise from the brake line of the Servomotor use a clamp filter of the same type used for the Encoder Cable Model Dimensions mm A B C E F G H J M P 3G3AX NF001 140 125 110 70 95 22...

Page 180: ...Horizontal Axis Note 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 val...

Page 181: ...ons Note Due to the loss of winding resistance and PWM the actual regenerative energy will be approximately 90 of the values derived from these equations The average regeneration power Pr Regeneration...

Page 182: ...ration Resistor to CNA pins 5 and 3 between terminals P and B1 of the Servo Drive Double check the pin numbers when connecting the resistor because the Regeneration Resistor may be damaged by burning...

Page 183: ...pacity 1 1 Select a combination that has an absorption capacity greater than the average regeneration power Pr 20 W 40 W 70 W 140 W Model R88A RR08050S R88A RR080100S R88A RR08050S R88A RR080100S R88A...

Page 184: ......

Page 185: ...d Reverse Drive Prohibit 5 7 Parameters Requiring Settings 5 7 Operation 5 7 5 4 Encoder Dividing 5 8 Parameters Requiring Setting 5 8 Operation 5 8 5 5 Electronic Gear 5 9 Parameters Requiring Settin...

Page 186: ...sabled under high response position control To use the adaptive filter select the advanced position control mode Parameters Requiring Settings Notch Filter 1 Frequency Pn1D Vibration Frequency Pn2B Re...

Page 187: ...que Limit Switch Pn06 is set to a value other than 2 The Gain Switching Input is used to switch between PI and P operation or to switch between gain 1 and gain 2 Page 5 13 Torque Limit Switch The Torq...

Page 188: ...Output Direction Switch Phase A B Z Speed Monitor Torque Command Monitor Speed Detection Pn13 Speed Feedback Filter Time Constant Pn1B Speed Feedback Filter Time Constant 2 Torque PI Processor Curren...

Page 189: ...ng 1 Page 5 34 Pn53 No 1 Internal Speed Setting Set the internally set speeds r min The settings can be made from 20 000 to 20 000 r min Be sure to set the speeds within the allowable range of rotatio...

Page 190: ...ly 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 Ti...

Page 191: ...nt Pn19 Speed Loop Gain 2 Pn1A Speed Loop Integration Time Constant 2 Pn20 Inertia Ratio RE SM Dividing Rate Setting Pn44 Encoder Dividing Rate Setting Pn45 Encoder Output Direction Switch Phase A B Z...

Page 192: ...he reverse direction Conversely while the Reverse Drive Prohibit Input NOT is OFF the Servomotor cannot be driven in the reverse direction but it can be driven in the forward direction Parameter No Pa...

Page 193: ...n Parameters Requiring Setting Operation The output phases of the encoder signal output from the Servo Drive are as shown below Parameter No Parameter name Explanation Reference Pn44 Encoder Dividing...

Page 194: ...ion The Servomotor has a 2 500 pulses rotation encoder Therefore the number of internal command pulses F in the Servo Drive is 10 000 pulses rotation 2 500 pulses rotation 4 Given the conditions above...

Page 195: ...into the setting ranges as shown above Related Parameter The main function provided by the parameter related to electronic gears is given in the following table 10000 Pn46 2 0 Pn4A 2000 Pn4B 10000 Pn4...

Page 196: ...ervomotor with a brake is a non excitation brake designed for holding Set the parameter to first stop the Servomotor and then turn OFF the power supply to the brake If the brake is applied while the S...

Page 197: ...e Brake Timing during Operation Pn6B or the time it takes until the Servomotor rotation speed drops to 30 r min or lower Depending on the holding time of the power supply this time may be shorter than...

Page 198: ...isabled when the Gain Switch Setting Pn31 is set to always use gain1 or gain 2 or set to the Gain Switching Input CN1 5 Parameter No Parameter name Explanation Reference Pn30 Gain Switching Input Oper...

Page 199: ...he faster the action Page 5 37 Pn13 Speed Feedback Filter Time Constant The encoder signal is converted to the speed signal via the low pass filter Noise from the Servomotor can be reduced by in creas...

Page 200: ...torque limit switching function is enabled Related Parameters The following parameters must be set to use torque limit switching function 1 Values exceeding the default setting cannot be set The defau...

Page 201: ...of the Servomotor stop position If the load of the Servomotor enters the shaded area due to oscillation an alarm will occur In Operation Traveling When a position command is input the Servomotor s al...

Page 202: ...rameter Setting Mode When the power supply is turned ON the item set for the Default Display Pn01 will be displayed Press the Data key to go to Monitor Mode Then press the Mode key to go to Parameter...

Page 203: ...isplay example Explanation Use the Shift Increment and Decrement keys to set the parameter num ber If the parameter number is too high you can change the parameter number faster by using the Shift key...

Page 204: ...ar only momentarily This display indicates a normal completion In addition to Finish either or may be displayed If is displayed writing has been completed normally but some of the changed parameters w...

Page 205: ...0 to 15 Yes 0 Position deviation Pulses 1 Servomotor rotation speed r min 2 Torque output 3 Control mode 4 I O signal status 5 Alarm display and history 6 Not used 7 Warning display 8 Regeneration loa...

Page 206: ...of the Warning Output WARN 2 0 to 6 0 Output while torque is being limited 1 Output for zero speed detection 2 Output for over regeneration overload or fan rotation speed error 3 Output for over rege...

Page 207: ...eed forward command fil ter 100 0 01 ms 0 to 6400 17 Not used Do not change setting 0 18 Position Loop Gain 2 1 Set to adjust the position control system respon siveness 20 1 s 0 to 32767 19 Speed Loo...

Page 208: ...totuning is used Use this setting if there are almost no changes in load inertia during operation The adaptive filter is disabled 5 Realtime autotuning is used Use this setting if there are gradual ch...

Page 209: ...of the load 0 0 1Hz 0 to 5000 2C Vibration Filter Setting Set the vibration filter for damping to suppress vi bration at the end of the load 0 0 1Hz 200 to 2500 2D Not used Do not change setting 0 2E...

Page 210: ...is not met until returning to gain 1 30 166 s 0 to 10000 33 Gain Switch Level Setting 1 This parameter is enabled when the Gain Switch Setting Pn31 is set to 3 5 6 9 or 10 Set the judgment level for...

Page 211: ...he position control ler 1 0 to 3 Yes 0 90 phase difference phases A and B signal inputs 1 Forward pulse and reverse pulse inputs 2 90 phase difference phases A and B signal inputs 3 Feed pulse input a...

Page 212: ...the filter will not function The larger the setting the larger the time constant 0 0 to 7 4D Not used Do not change setting 0 4E Smoothing Filter Setting Select the FIR filter time constant used for t...

Page 213: ...o 4 Internally Set Speed Set the No 4 internally set rotation speed 400 r min 20000 to 20000 57 Jog Speed Set the rotation speed for jogging 200 r min 0 to 500 58 Soft Start Acceleration Time Set the...

Page 214: ...tion Counter Overflow Alarm dis abled 65 Not used Do not change setting 0 66 Stop Selection for Drive Prohibit Input Set the operation used to decelerate to a stop after the Forward Drive Prohibit Inp...

Page 215: ...Dynamic brake Deviation counter Hold 6 During deceleration Dynamic brake After stopping Servo free Deviation counter Hold 7 During deceleration Free run After stopping Servo free Deviation counter Hol...

Page 216: ...the Zero speed Designation Torque Limit Switch Pn06 0 r min 0 to 6000 71 No 2 Torque Limit Set the No 2 torque limit when torque limit switch ing is enabled in the Zero speed Designation Torque Limit...

Page 217: ...he Servomotor rotation speed r min 2 Torque output Displays the Servomotor output torque as a percentage of the rated torque output 3 Control mode Displays the control mode i e position control or Int...

Page 218: ...ohibit Input POT is turned ON the Servomotor can operate in the forward direction but cannot operate in the reverse direction Explanation of Settings Pn02 Control Mode Selection Setting range 0 to 2 U...

Page 219: ...arm alarm code 26 will occur Explanation of Settings Set the function of the Warning Output WARN Explanation of Settings Pn05 Not used Do not change setting Pn06 Zero Speed Designation Torque Limit Sw...

Page 220: ...ating Functions Pn0A Not used Do not change setting Pn0B Not used Do not change setting Pn0C Not used Do not change setting Pn0D Not used Do not change setting Pn0E Not used Do not change setting Pn0F...

Page 221: ...cillation frequencies may cause machine resonance resulting in an overload alarm If the position loop gain is low you can shorten the positioning time by using feed forward This parameter is automatic...

Page 222: ...ration time constant is changed the response is as shown in the following diagram The encoder signal is converted to the speed signal via the low pass filter The higher the setting the higher the time...

Page 223: ...arameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Set the feed forward primary lag command filter to u...

Page 224: ...suppression notch filter Set this parameter to approximately 10 lower than the resonance frequency of the mechanical system The notch filter function will be disabled if this parameter is set to 1500...

Page 225: ...operation Operation however may become unstable depending on the operating pattern Normally set the parameter to 1 or 4 To enable the adaptive filter the Control Mode Selection Pn02 must be set to 2...

Page 226: ...rrun limit function is disabled if the setting is 0 For details refer to Overrun Limit on page 5 16 Pn22 Realtime Autotuning Machine Rigidity Selection Setting range 0 to 15 Unit Default setting 2 Pow...

Page 227: ...ntrol For details refer to Damping Control on page 7 23 Set the vibration filter for damping control to suppress vibration at the end of the load When the Vibration Frequency Pn2B is set set a small v...

Page 228: ...Machine Rigidity Selection Pn22 Explanation of Settings Pn2F Adaptive Filter Table Number Display Setting range 0 to 64 Unit Default setting 0 Power OFF ON Advanced position Dis played value Notch Fil...

Page 229: ...1 Pn10 to Pn14 is used and the Gain Switch Input GSEL will be used to switch be tween PI operation and P operation 1 Gain switching is enabled The gain will be switched between gain 1 in Pn10 to Pn14...

Page 230: ...etting and Gain Switch Hysteresis Setting are different from normal if this parameter is set to 10 Refer to Figure F Pn33 Pn34 0 Pn32 Gain 1 Gain 1 Gain 2 H L H L H L H L Figure A Speed V Torque T T L...

Page 231: ...This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Set the hysteresis width above and below the j...

Page 232: ...g realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn35 Position Loop Gain Switching Time Setting range 0 to 10000 Unit Setting 1 166 s Default sett...

Page 233: ...40 Command Pulse Multiplying Setting Setting range 1 to 4 Unit Default setting 4 Power OFF ON Yes Position Setting Explanation 1 Multiply the input pulses by 2 2 3 Multiply the input pulses by 4 4 Pn4...

Page 234: ...on for phase Z Pn42 Command Pulse Mode Setting range 0 to 3 Unit Default setting 1 Power OFF ON Yes Position Setting Command pulse mode Servomotor forward command Servomotor reverse command 0 or 2 90...

Page 235: ...modes Setting Explanation 0 Positive logic 1 Negative logic Forward Rotation Reverse Rotation Phase A Phase A Phase B Phase Z Phase B Phase Z Forward Rotation Reverse Rotation Phase A Phase B Phase Z...

Page 236: ...it Default setting 0 Power OFF ON Position Pn4B Electronic Gear Ratio Denominator Setting range 1 to 10000 Unit Default setting 2500 Power OFF ON Position Electronic Gear Ratio Denominator Pn4B x 2 El...

Page 237: ...1 166 5312 s Control Cycles with Advanced Position Control Pn02 2 Setting 0 Cycle 0 1 333 333 s Setting 1 Cycle 1 1 333 666 s Setting 31 Cycle 31 1 333 10656 s Pn4E Smoothing Filter Setting Setting r...

Page 238: ...operation stops from 1 000 r min Pn50 Not used Do not change setting Pn51 Not used Do not change setting Pn52 Not used Do not change setting Pn53 No 1 Internally Set Speed Setting range 20000 to 2000...

Page 239: ...limited at the same time This parameter will be used for No 1 torque control if the Zero Speed Designation Torque Limit Switch Pn06 is set to 2 The default setting depends on the combination of Servom...

Page 240: ...number of rotations for the warning output zero speed detection output The Warning Output Selection Pn09 must be set to 1 to output zero speed detection Zero speed detection will be output if the Serv...

Page 241: ...alarm level is the setting value multiplied by 256 pulses The deviation counter overflow alarm can be disabled so that it does not occur Explanation of Settings Pn62 Rotation Speed for Servomotor Rota...

Page 242: ...setting 0 Power OFF ON Yes All modes Setting Explanation 0 The torque in the drive prohibit direction is disabled and the dynamic brake is activated 1 The torque in the drive prohibit direction is di...

Page 243: ...leration After stopping Deviation counter content 0 Dynamic brake Dynamic brake Clear 1 Free run Dynamic brake Clear 2 Dynamic brake Servo free Clear 3 Free run Servo free Clear 4 Dynamic brake Dynami...

Page 244: ...Selection Setting range 0 to 3 Unit Default setting 0 Power OFF ON All modes Setting Explanation Regeneration resistor used Regeneration resistor overload alarm 0 Servo Drive built in capacitor The ex...

Page 245: ...disabled when torque limit switching is disabled Refer to Deviation Counter Overflow Level on page 5 56 for information on setting details Set the No 2 overspeed detection level when torque limit swit...

Page 246: ......

Page 247: ...g Displays 6 3 6 3 Using the Parameter Unit 6 4 Names of Parts and Functions 6 4 Display When Power Is Turned ON 6 5 Changing the Mode 6 6 Monitor Mode 6 7 Parameter Setting Mode 6 14 Parameter Write...

Page 248: ...hapter 4 Page 4 12 Preparing for operation Check the necessary items and then turn ON the power supply Check with the display indications to see whether there are any internal errors in the Servo Driv...

Page 249: ...be properly connected to the terminal block The Servomotor s red U white V and blue W power lines and the green yellow ground wire must be properly connected to the terminal block Checking the Servom...

Page 250: ...lit green When the power is turned ON one of the following will appear on the Parameter Unit display If Servo Drive is normal the item set for Default Display Pn01 will appear on the display If there...

Page 251: ...isplays the parameters and data settings Unit No Display Displays the Unit No set in Unit No Setting Pn00 Displays the parameter number in Parameter Setting Mode Mode key Switches among the six modes...

Page 252: ...ervo Drive with Servo Drive power already turned ON Then the following indications appear on the display 8 8 8 8 8 8 8 8 8k8k8k8k8k8 8k8 Ukekrk2 0k0 k1 rk k k k k0 k1 The Parameter Unit is initialized...

Page 253: ...kek_kskekt aktk_knkok1 aktk_knkokf fknk_kakckl fknk_kjkokg fknk_keknkc ckfk_kak2kc ckfk_kck2ka rk k k k k0 rksk k2k3k2 k k k k k1 k k k k k0 ekekpk k k aktkuk k k akcklk k k jkokgk k k eknkck k k ak2k...

Page 254: ...kr k k k a k1k 0k7k rknk k k k k rkgk k3k0 0k oklk k2k8 0k jk k k3k0k0k k k k k5k0k k k k k1k0k fkek k k k0k k k k k k0k akukdk koknk rksk k2k3k2k Position deviation Servomotor rotation speed Position...

Page 255: ...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 during reverse rotation are displayed wit...

Page 256: ...s ON and is displayed when it turns OFF 03 POT Forward Drive Prohibit 8 04 Not used 05 VZERO Zero Speed Designation 5 The Servomotor stops and is displayed if this signal turns OFF when the Zero Speed...

Page 257: ...en the Warning Output Selection Pn09 is set to 1 and Zero Speed Detection output turns ON is displayed 05 Torque Limiting 12 When the Warning Output Selection Pn09 is set to 0 and Torque Limiting outp...

Page 258: ...alarm code for the current alarm and for alarm 0 will be the same iknk1kf kk iknk0k0 k oktk0k0 k oktk1kf k Press the Increment or Decrement key to select the signal number to be monitored Lowest input...

Page 259: ...ervoltage 34 Overrun limit error 14 Overcurrent 36 Parameter error 15 Built in resistor overheat 37 Parameter corruption 16 Overload 38 Drive prohibit input error 18 Regeneration overload 48 Encoder p...

Page 260: ...key to switch the display between the upper and lower digits of the total number of pulses When the Data key is pressed for 5 s or longer the total number of pulses will be reset and the display will...

Page 261: ...mple Explanation Press the Data key to display the setting k k k k4k0 Key operation Display example Explanation Use the Shift Increment and Decrement keys to change the setting The decimal point will...

Page 262: ...the power is turned ON again Turn OFF the Servo Drive power supply and then turn it ON again If is displayed there is a writing error Write the data again ekek_kskektk ekekpk k k ekekpk k k k k k k k...

Page 263: ...indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase The Servomotor will start and autotuning will begin This display indicates a normal completion If is...

Page 264: ...y Auxiliary Function Mode rk k k k k0k Uknk_kskpkd fknk_kakckl Key operation Display example Explanation Press the Data key to enter Alarm Reset Mode Press and hold the Increment key until Start is di...

Page 265: ...or 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...

Page 266: ...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 i...

Page 267: ...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 mod...

Page 268: ...layed the following are the possible causes cable disconnection connector contact failure incorrect operation due to noise or EEPROM fault in the Parameter Unit Do not disconnect the Parameter Unit fr...

Page 269: ...N the RUN Command Input Check that the Servomotor is in Servo ON status Send the command to start the Servomotor from the host position controller and check that the Servomotor operates properly accor...

Page 270: ...operating speed correct b Is the load torque almost equivalent to the measured value c Are the positioning points correct d When an operation is repeated is there any discrepancy in positioning e Are...

Page 271: ...aptive Filter 7 5 Automatically Set Parameters 7 6 7 3 Autotuning 7 8 Autotuning Setting Method 7 8 Automatically Set Parameters 7 11 7 4 Disabling the Automatic Gain Adjustment Function 7 13 Disablin...

Page 272: ...ealtime autotuning autotuning and manual tuning Realtime Autotuning Realtime autotuning estimates the load inertia of the mechanical system in realtime and automatically sets the optimal gain accordin...

Page 273: ...o that it does not wobble Use a Decelerator with minimal backlash Use couplings of a type with high rigidity and designed for servo systems Use a wide timing belt and use a tension within the allowabl...

Page 274: ...ning or manual tuning Precautions for Correct Use Conditions under which realtime autotuning does not function properly Load inertia If the load inertia is less than 3 times the rotor inertia If the l...

Page 275: ...To disable realtime autotuning set Pn21 to 0 and then turn OFF the RUN Command Input RUN and turn if ON again Precautions for Correct Use pknk_k k2k2 pknk_k k2k1 pknk_k k2k1 pknk_k k0k0 Uknk_kskpkdk...

Page 276: ...r 1 Width Pn1E as a countermeasure for resonance For details on the notch filter refer to Machine Resonance Control on page 7 21 ekekpk k k ekek_kskekt rkekskektk ekekpk k k ekrkrkokrkkkk fkiknkikskh...

Page 277: ...op Integration Time Constant 13 Speed Feedback Filter Time Constant 14 Torque Command Filter Time Constant 18 Position Loop Gain 2 19 Speed Loop Gain 2 1A Speed Loop Integration Time Constant 2 1B Spe...

Page 278: ...tion Pn22 3 Set the Realtime Autotuning Mode Selection Pn21 to 0 to disable the adaptive filter Then enable realtime autotuning again Refer to Disabling Realtime Autotuning on page 7 13 for informatio...

Page 279: ...double every cycle Depending on the load the operating pattern does not repeat in five cycles when operation is completed or the acceleration does not change In either case this is not an error 2 Mov...

Page 280: ...xecuting Autotuning Press and hold the Increment key until is displayed For details refer to Autotuning Mode on page 6 16 The Servomotor will rotate and autotuning will begin The operating pattern dep...

Page 281: ...e distorted immediately after the execution but will gradually smooth out Execute autotuning when a load is connected If autotuning is executed without a load i e Servomotor Servo Drive only the Inert...

Page 282: ...Command Filter Time Constant 2 152 126 103 84 65 57 45 38 20 Inertia Ratio Estimated load inertia ratio Pn No Parameter name Machine Rigidity No 8 9 A B C D E F 10 Position Loop Gain 135 162 206 251 3...

Page 283: ...the machine rigidity number the settings cannot be changed Pn No Parameter name Machine Rigidity No 0 to F 15 Feed forward Amount 300 16 Feed forward Command Filter 50 30 Gain Switching Input Operatin...

Page 284: ...atic estimation of the Inertia Ratio Pn20 will stop and realtime autotuning will be disabled However the estimated results of the Inertia Ratio Pn20 will remain If the Pn20 value is obviously incorrec...

Page 285: ...r In this case the Notch Filter 1 Frequency Pn1D does not need to be set Displayed value Notch Filter 1 Frequency Hz Displayed value Notch Filter 1 Frequency Hz Displayed value Notch Filter 1 Frequenc...

Page 286: ...ment ranges of manual tuning for each control mode 1 The notch filter and damping control cannot be used at the same time in High response Position Control The parameter entered first will be given pr...

Page 287: ...uch 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 Any hunting vibration when the...

Page 288: ...ponsiveness and other operational performance satisfactory Adjustment completed Increase the Speed Loop Gain Pn11 but not so much that it causes hunting when the servo is locked Reduce the Speed Loop...

Page 289: ...ion Loop Gain 27 11 Speed Loop Gain 15 12 Speed Loop Integration Time Constant 37 13 Speed Feedback Filter Time Constant 0 14 Torque Command Filter Time Constant 152 15 Feed forward Amount 0 16 Feed f...

Page 290: ...ing can be used by first enabling the gain switching function and then setting the switching conditions for gain 1 and gain 2 with Gain Switch Setting Pn31 1 The Gain Switch Time Pn32 is used when swi...

Page 291: ...etting are different from normal if this parameter is set to 10 Refer to Figure F Pn33 Pn34 0 Pn32 Gain 1 Gain 1 Gain 2 H L H L H L H L Figure A Speed V Torque T T Level Time 1 1 2 2 2 2 1 1 Gain 1 Fi...

Page 292: ...onal notch filters or torque command filters were unable to cope with Enable the adaptive filter by selecting advanced position control 2 for the Control Mode Selection Pn02 and setting the Realtime A...

Page 293: ...on Torque command Gain Frequency Adaptive filter Frequency auto adjustment Frequency Response speed Width Notch filter Suppresses a large resonance point whose frequency does not change Cut off freque...

Page 294: ...trol Stop operation before changing parameters Under the following conditions damping control may not operate properly or may have no effect Conditions under which damping control operates Control Mod...

Page 295: ...owing figure The set values from 0 to 99 are invalid Measure the distance between the residual peaks t and calculate the vibration frequency Hz using the following formula 2 Setting the Vibration Filt...

Page 296: ......

Page 297: ...e 8 3 Alarm Indicator on the Servo Drive 8 3 Alarm List 8 4 8 3 Troubleshooting 8 5 Points to Check 8 5 Error Diagnosis Using the Displayed Alarm Codes 8 6 Error Diagnosis Using the Operating Status 8...

Page 298: ...H Three phase 200 to 240 VAC 170 to 264 V 50 60 Hz If the voltage is outside of this range there is a risk of operation failure Be sure to supply the power correctly Check the voltage for the sequence...

Page 299: ...f the Servomotor runs away Before performing the tests verify that you can immediately stop the machine using an emergency stop even if the Servomotor runs away Replacing the Servomotor and Servo Driv...

Page 300: ...eset the alarm using one of the following methods Be sure to remove the cause of the alarm before resetting Turn ON the Alarm Reset Input RESET Turn OFF the power supply then turn it ON again Perform...

Page 301: ...speed Detection Level Setting Pn70 and Pn73 Yes 27 Electronic gear setting error The setting in Electronic Gear Ratio Numerator 1 Pn46 or Electron ic Gear Ratio Numerator 2 Pn47 is not appropriate Yes...

Page 302: ...he electromagnetic brake operating Is there any unusual noise coming from the Servomotor Is the connector disconnected Is the power supply LED indicator PWR lit red or orange Is the LED indicator flas...

Page 303: ...The main circuit power supply part is damaged Control PCB error Replace the Servo Drive 12 Overvoltage Occurs when power supply is turned ON Main circuit power supply voltage is outside the al lowabl...

Page 304: ...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 over heating Reduce the ambient tem per...

Page 305: ...during descent vertical axis Gravitational torque is too large Add a counterbalance to the machine to lower gravitational torque Slow the descent speed Calculate the regenera tive energy and connect a...

Page 306: ...tment is insuf ficient Adjust the gain The acceleration and de celeration are too rapid Extend the acceleration and deceleration times The load is too large Reduce the load Select a suitable Servo mot...

Page 307: ...in Increase the setting for Pn26 Set Pn26 to 0 to disable the function 36 Parameter error Occurs when the power supply is turned ON There are errors in the parameters that were read Reset all paramete...

Page 308: ...iring is disconnected Wire the encoder Fix the locations that are disconnected 96 LSI setting error Incorrect operation due to noise Take measures against noise Others Other errors The Servo Drive s s...

Page 309: ...ting 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 Desig...

Page 310: ...m between the Servomotor shaft and the mechanical system has eccentricity and declination loose screws or the torque is fluctuating due to engagement between pulleys or gears Check the mechanical syst...

Page 311: ...higher capacities The Servomotor is rotating with vibration The holding brake is ineffec tive Power is supplied to the holding brake Check whether power is supplied to the holding brake Configure a c...

Page 312: ...ir wires or shielded twist ed pair wires that are at least 0 12 mm2 Use the Encoder Cable that meets specifications Noise is entering the En coder Cable because the cable is longer than the specified...

Page 313: ...l system and the Servo motor is misaligned Couple the mechanical sys tem and the Servomotor cor rectly Noise is entering the Devi ation Counter Reset Input ECRST Check whether the control signal lines...

Page 314: ...n wait at least one minute for the Servomotor temperature to drop before turning on the power again If the power is turned ON again repeatedly at short intervals the Servomotor windings may burn out O...

Page 315: ...urs 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 m...

Page 316: ...ent operating temperature of 40 C or lower We recommend that the ambient operating temperature be lowered and the power ON time be reduced as much as possible to lengthen the service life of the Servo...

Page 317: ...Connection Examples Appendix 1 Appendix...

Page 318: ...Yellow Noise filter 3 phase 200 240 VAC 50 60 Hz Ground to 100 or less Connect External Regeneration Resistor when required R7A CPB S CW output CW output CCW output CCW output Encoder Cable R88A CRGB...

Page 319: ...xis origin proximity input X axis CCW limit input X axis CW limit input X axis emerg stop input Noise filter Ground to 100 or less Reactor R7D BP Connect External Regeneration Resistor when required R...

Page 320: ...Green Yellow CCW CCW Encoder Cable R88A CRGB C Brake Cable R88A CAGA B Ground to 100 or less Connect External Regeneration Resistor when required No CN1 CNA A4 A3 22 23 4 14 21 10 1 2 13 9 11 L1 L2 U...

Page 321: ...sistor X axis pulse output X axis external interrupt input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emerg stop input Servomotor Power Cable R7A CAB S CW CW 24V...

Page 322: ...200 240 VAC 50 60 Hz R7A CPB S R88M G Servomotor Power Cable R7A CAB S CW CW 24VIN Red White Blue Green Yellow CCW CCW Encoder Cable R88A CRGB C Pulse output 0 Ground to 100 or less Connect External R...

Page 323: ...O 0001 03 COM CIO 0000 Pulse 0 origin proximity input signal CIO 0000 01 Servomotor Power Cable R7A CAB S CW CW 24VIN Red White Blue Green Yellow CCW CCW Encoder Cable R88A CRGB C Pulse output 0 Groun...

Page 324: ...R7A CAB S CW CW 24VIN Red White Blue Green Yellow CCW CCW Encoder Cable R88A CRGB C Ground to 100 or less Connect External Regeneration Resistor when required Reactor Brake Cable R88A CAGA B X1 24 VD...

Page 325: ...e R7A CAB S CW CW 24VIN Red White Blue Green Yellow CCW CCW Encoder Cable R88A CRGB C Ground to 100 or less Connect External Regeneration Resistor when required R T NFB ON OFF X1 MC1 MC1 S X1 SUP MC1...

Page 326: ...IN Red White Blue CCW CCW Encoder Cable R88A CRGB C Green Yellow Ground to 100 or less Connect External Regeneration Resistor when required Reactor Brake Cable R88A CAGA B X1 24 VDC XB S R T NFB ON OF...

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Page 328: ...tions 3 27 installation 4 6 Deviation Counter Reset Input 3 9 DIN Rail Mounting Unit 2 14 dimensions 2 35 Direction Signal 3 11 E EC Directives 1 6 ECRST 3 9 electronic gear 5 9 5 50 Electronic Gear S...

Page 329: ...67 Servomotor Connectors 2 11 3 3 3 44 Servomotor Power Cables 2 10 specifications 3 34 Servomotor Rotation Speed Detection Output 3 13 5 56 Servomotors 2 1 3 000 r min Flat Servomotors characteristic...

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Page 331: ...17 Minor changes made Page 3 35 Resistant to Bending of Robot Cables added Page 4 4 Radiator plate installation conditions added and description of Oil Seal changed Page 5 5 Note added below graphic P...

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Page 334: ...ates 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 o...

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