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3-2

Operation and Adjustment Precautions

Caution

Check the newly set parameters for proper execution before actually running them.
Not doing so may result in equipment damage.

Caution

Do not make any extreme adjustments or setting changes. Doing so may result in
unstable operation and injury.

Caution

Separate the Servomotor from the machine, check for proper operation, and then
connect to the machine. Not doing so may cause injury.

Caution

When an alarm occurs, remove the cause, reset the alarm after confirming safety,
and then resume operation. Not doing so may result in injury.

Caution

Do not come close to the machine immediately after resetting momentary power
interruption to avoid an unexpected restart. (Take appropriate measures to secure
safety against an unexpected restart.) Doing so may result in injury.

Caution

Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may
result in malfunction.

Operation

Chapter 3

Содержание OMNUC 88D-UP20HA

Страница 1: ...ing S HA LA V W AC Servo Drivers R88D UPjjHA R88D UPjjLA R88D UPjjV and R88D UPjjW S H L AC Servo Drivers R88D UPjjH and R88D UPjjL NOTICE Before using the product under the following conditions consu...

Страница 2: ...USER S MANUAL MODELS R88M Uj AC Servomotors MODELS R88D UPj AC Servo Drivers AC SERVOMOTORS DRIVERS 30 to 750 W Pulse train Inputs OMNUC USERIES...

Страница 3: ...SER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE...

Страница 4: ...ly that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nucle...

Страница 5: ...o confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORM...

Страница 6: ...ays and on some OMRON products of ten means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything...

Страница 7: ...ult in electric shock or injury WARNING Wiring or inspection must be performed at least 5 minutes after turning off the power supply Doing so may result in electric shock WARNING Do not damage press o...

Страница 8: ...ny foreign objects from entering the product Doing so may result in fire Caution Be sure to install the product in the correct direction Not doing so may result in mal function Caution Provide the spe...

Страница 9: ...ity or other forms of noise S Locations subject to strong electromagnetic fields and magnetic fields S Locations subject to possible exposure to radioactivity S Locations close to power supplies Opera...

Страница 10: ...esume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in an unexpected operation Warning Labels Warning labels are pasted on t...

Страница 11: ...Warning Labels for Models Conforming to EC Directives Warning label 1 Warning label 2...

Страница 12: ...tware servo technol ogy It provides high perfor mance a sensitive man ma chine interface and economy SYSMAC CS1 C CV Programmable Controller Pulse input Controller Connecting Cable Chapter 5 5 3 1 Set...

Страница 13: ...ervo Driver I O Operations Chapter 5 5 1 3 Cable Specifications Chapter 5 5 3 2 5 3 3 Power signals Encoder signals Motor Specifications Chapter 5 5 2 OMNUC U series AC Servomotor Operation Method Cha...

Страница 14: ...Peripheral Device Connection Examples Chapter 3 Operation 3 1 Operational Procedure 3 2 Turning On Power and Checking Displays 3 2 1 Items to Check Before Turning On Power 3 2 2 Turning On Power and C...

Страница 15: ...4 3 2 Alarm Output 4 3 3 Overload Characteristics Electron Thermal Characteristics 4 3 4 Alarm History Display Mode 4 4 Troubleshooting 4 5 Periodic Maintenance Chapter 5 Specifications 5 1 Servo Dri...

Страница 16: ...Chapter 1 Introduction 1 1 Features 1 2 System Configuration 1 3 Servo Driver Nomenclature 1 4 Applicable Standards and Models 1...

Страница 17: ...cUL Standards have the same product names as conventional U series HA LA models As shown in the following table they are distinguished by the manufacturing date Model Manufacturing date Type Remarks...

Страница 18: ...ional speed can be set in the parameters H Electronic Gear Function Position Control The number of pulses used to rotate the motor is calculated by multiplying the number of command pulses by the elec...

Страница 19: ...n and emergency stop torque deceleration parameter setting H Feed forward and Bias Functions Position Control These functions reduce the position control time S Feed forward Function Reduces the posit...

Страница 20: ...r Units OMNUC U series AC Servo Driver OMNUC U series AC Servomotor SYSMAC CS1 C CV Programmable Controller C200HW NC113 C200HW NC213 C200HW NC413 C200H NC112 C200H NC211 C500 NC113 C500 NC211 Positio...

Страница 21: ...ver Nomenclature H Front View Terminal block CN4 Connector for monitor output Power supply indicator Alarm indicator CN3 Parameter Unit connector CN1 Control I O connector CN2 Encoder connector Introd...

Страница 22: ...t shaft without keys and without brake B Straight shaft without keys and with brake S1 Straight shaft with keys and without brake BS1 Straight shaft with keys and with brake Note 4 UL cUL Standards ap...

Страница 23: ...mental encoder 200 VAC R88D UPjjV R88M Ujjj30VA j See note 100 VAC R88D UPjjW R88M Ujjj30WA j See note Note Optional specifications shaft profile straight shaft with keys S1 Straight shaft with keys a...

Страница 24: ...Chapter 2 System Design and Installation 2 1 Installation 2 2 Wiring Products Conforming to UL cUL and Wiring Products Not Conforming to Any Standards 2 3 Wiring Products Conforming to EC Directives 2...

Страница 25: ...ion Always use the power supply voltage specified in the User s Manual An incorrect voltage may result in malfunction or burning Caution Take appropriate measures to ensure that the specified power wi...

Страница 26: ...UP03H A UP04H A UP08H A 200 VAC 30 to 200 W R88D UP03L A UP04L A UP10L A 100 VAC 30 to 100 W 160 149 R3 Three M4 55 130 5 4 5 45 5 45 6 5 165 149 6 Installation dimensions Two 6 dia D R88D UP12H A 200...

Страница 27: ...and AC Servomotors Not Conforming to Any Standards Contd D R88D UP20H A 200 VAC 750 W and R88D UP15LA 100 VAC 300 W 160 105 130 90 149 165 90 149 Four M4 Two R3 Two 6 dia 7 8 6 5 6 6 Installation dim...

Страница 28: ...P03V UP04V UP08V 200 VAC 30 to 200 W R88D UP03W UP04W UP10W 100 VAC 30 to 100 W Two 6 dia Three M4 R3 Installation dimensions D R88D UP12V 200 VAC 400 W R88D UP12W 100 VAC 200 W Two 6 dia Three M4 R3...

Страница 29: ...2 6 H AC Servo Drivers Conforming to EC Directives Contd D R88D UP20V 200 VAC 750 W R88D UP15W 100 VAC 300 W Two 6 dia Four M4 Two R3 Installation dimensions System Design and Installation Chapter 2...

Страница 30: ...Unit D R88A RG08UA 25 6 15 Dia 6 R3 6 25 50 5 15 160 130 149 18 5 130 149 Two M4 Installation dimensions H Parameter Units D R88A PR02U 63 50 8 1000 135 125 7 18 5 Two 4 5 dia System Design and Insta...

Страница 31: ...2 8 D R88A PR03U 54 57 5 15 6 9 System Design and Installation Chapter 2...

Страница 32: ...U03030HA B R88M U05030HA B R88M U10030HA B R88M U03030LA B R88M U05030LA B R88M U10030LA B Two 4 3 dia Four R3 7 6h6 dia 30h7 dia 46 dia Encoder adapter Motor plug 14 dia 300 30 17 35 6 5 300 30 9 5 2...

Страница 33: ...LL 30 L 21 60 60 D 200 W 300 W 400 W Models with Brake R88M U20030HA B R88M U40030HA B R88M U20030LA B R88M U30030LA B Four 5 5 dia Four R5 3 14h6 dia 50h7 dia Encoder adapter Motor plug 70 dia 14 di...

Страница 34: ...Four R8 2 16h6 dia 70h7 dia Encoder adapter Motor plug 90 dia 14 dia 300 30 17 35 300 30 8 5 2 8 3 15 35 34 145 40 185 21 80 80 D 750 W Models with Brake R88M U75030HA B Four 7 dia Four R8 2 16h6 dia...

Страница 35: ...0030VA BS1 R88M U03030WA BS1 R88M U05030WA BS1 R88M U10030WA BS1 Four R3 7 Two 4 3 dia 46 dia Sh6 dia 30h7 dia 14 dia Standard Models Model L LL S R88M U03030VA S1 R88M U03030WA S1 94 5 69 5 6 R88M U0...

Страница 36: ...odels with Brake R88M U20030VA BS1 R88M U40030VA BS1 R88M U20030WA BS1 R88M U30030WA BS1 Four R5 3 Four 5 5 dia 70 dia 14h6 dia 50h7 dia 14 dia Standard Models Standard Models Model L LL R88M U20030VA...

Страница 37: ...tives Contd D 750 W Standard Models R88M U75030VA S1 Four R8 2 Four 7 dia 90 dia 16h6 dia 14 dia 70h7 dia D 750 W Models with Brake R88M U75030VA BS1 Four R8 2 Four 7 dia 90 dia 16h6 dia 14 dia 70h7 d...

Страница 38: ...out Brake R88M U03030jj S1 R88M U05030jj S1 With Brake R88M U03030jj BS1 R88M U05030jj BS1 14 1 2 Dia 6h6 2 2 D 100 W Models Without Brake R88M U10030jj S1 With Brake R88M U10030jj BS1 1 8 Dia 8h6 14...

Страница 39: ...e rise to maintain a high level of reliability Temperature rise in any Unit installed in a closed space such as a control box will cause the ambient temperature to rise inside the entire closed space...

Страница 40: ...encoder cable or connec tor areas when transporting it Always use a pulley remover to remove pulleys couplings or other objects from the shaft Secure cables so that there is no impact or load placed o...

Страница 41: ...ey Belt D Water and Drip Resistance The Servomotor does not have a water proof structure Except for the connector areas the protec tive structure is covered by the following JEM The Japan Electrical M...

Страница 42: ...able may become dis connected or the cable clamp may become damaged Take measures to prevent the shaft from rusting The shafts are coated with anti rust oil when shipped but anti rust oil or grease sh...

Страница 43: ...C C series Position Control Units SYSMAC C series Programmable Controller Position Control Units for SYSMAC C series Programmable Controllers 3G2A5 NC111 EV1 C500 NC113 C500 NC211 C200H NC112 C200H NC...

Страница 44: ...Unit for C200H NC211 XW2B 40J6 2B Note 1 Refer to Section 6 for a connection exam ple for Relay Unit terminal blocks Note 2 A Relay Unit is also available for the CQM1 CPU43 V1 CQM1H PLB21 with pulse...

Страница 45: ...jS R88A CAUjjjB OMNUC U series AC Servomotor OMNUC U series AC Servo Driver Servo Driver Connecting Cable XW2Z 100J B1 1 m XW2Z 200J B1 2 m Note Two cables are required when using the C200HW NC213 2 a...

Страница 46: ...g R88A CTUjjjN Connector Cable for Connector Terminal Conversion Unit XW2B 40F5 P Connector Terminal Conversion Unit Controller OMNUC U series AC Servo Driver Power Cable R88A CAUjjjS R88A CAUjjjB Enc...

Страница 47: ...y R88D UPjjH A Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UPjjL A Single phase 100 115 VAC 85 to 127 V 50 60 Hz1 P Main circuit DC The terminals for connecting Regeneration Units R88A RG08UA...

Страница 48: ...ly 7 D Servo Drivers with 100 VAC Input R88D UPjjL A Driver model Watts R88D UP03L A 30 W R88D UP04L A 50 W R88D UP10L A 100 W R88D UP12L A 200 W R88D UP15LA 300 W Power supply input cur rent R T 2 0...

Страница 49: ...mum thickness of 3 5 mm2 and arrange the wiring so that the ground lines are as short as possible If no fuse breakers MCCB are installed at the top and the power supply line is wired from the lower du...

Страница 50: ...current flows at a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take in...

Страница 51: ...ise filter with a through type capacitor D Noise Filters for Motor Output Use noise filters without built in capacitors on the Servomotor output lines Output lines cannot use the same noise filters as...

Страница 52: ...varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Parts...

Страница 53: ...are coiled mutual induction and inductance will increase and will cause malfunctions Be sure to use cables fully extended When installing noise filters for encoder cables use ferrite cores The followi...

Страница 54: ...control power supply and ground at the Servo Driver input section and the controller output section For encoder output A B and Z phase lines be sure to use twisted pair shielded cable and connect both...

Страница 55: ...R88D UPjjjH A Single phase 100 115 VAC 50 60 Hz R88D UPjjjL A Noise filter Class 3 ground to 100 or less Main circuit power supply Main circuit connector Surge killer Servo error display OMNUC U seri...

Страница 56: ...ect the short bar between the RG and JP terminals The internal circuit may be damaged if the external regeneration resistor is con nected with the shortbar still connected between the RG and JP termin...

Страница 57: ...onnecting to a Servo Controller Servo Controller General purpose Control Cable R88A CPUjjjS OMNUC U series AC Servo Driver Model conforming to EC Directives Power Cable R88A CAU001 R88A CAU01B Encoder...

Страница 58: ...le phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UPjjW Single phase 100 115 VAC 85 to 127 V 50 60 Hz Main circuit DC output When there is a high level of regenerative energy in a multi axis system the...

Страница 59: ...ervo Drivers with 100 VAC Input R88D UPjjW Driver model Watts R88D UP03L A 30 W R88D UP04L A 50 W R88D UP10L A 100 W R88D UP12L A 200 W R88D UP15LA 300 W Power supply input cur rent L1 L2 2 0 A 2 6 A...

Страница 60: ...y to the ground plate to ground it H Wiring Methods 1 m max 0 5 m max 2 m max AC power supply Contactor Metal duct or conduit Ground 100 max Metal plate Control panel Noise filter Brake pow er supply...

Страница 61: ...ribed in this section must be abided by in panel design and selection to ensure that electric waves cannot leak or enter the control panel D Case Structure Use a metal control panel with welded joints...

Страница 62: ...ally suitable Refer to the table in 2 2 3 Terminal Block Wiring for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers etc t...

Страница 63: ...ters are manufactured by Okaya Electric Ind Application Model Rated current Test voltage Insulation resistance Leakage current Attenuation characteristic max Normal MHz Common MHz 200 V 30 to 100 W 10...

Страница 64: ...selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Servo Driver inrush current is 50 A and the momentary maximum current is approxi mately...

Страница 65: ...032 0930 ZCAT3035 1330 ZCAT2035 0930A Do not wire the encoder cable in the same duct as power cables and control cables for brakes sole noids clutches and valves H Improving Control I O Signal Noise R...

Страница 66: ...0 Hz R88D UPjjV Single phase 100 115 VAC 50 60 Hz R88D UPjjW Noise filter Class 3 ground to 100 or less Main circuit power supply Main circuit connector Surge killer Servo error display OMNUC U series...

Страница 67: ...Procedure 3 2 Turning On Power and Checking Displays 3 3 Using Parameter Units 3 4 Initial Settings Setup Parameters 3 5 Setting Functions User Parameters 3 6 Trial Operation 3 7 Making Adjustments 3...

Страница 68: ...d then connect to the machine Not doing so may cause injury Caution When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in i...

Страница 69: ...turning on the power supply check the necessary items In order to make the initial settings turn on an application power supply Chapter 3 section 3 2 4 Checking Display Status Check by means of the di...

Страница 70: ...ite V and blue W power lines and the green ground wire must be properly connected to the terminal block H Checking the Servomotor There should be no load on the Servomotor Do not connect to the mechan...

Страница 71: ...lly turn the Servomotor shaft clockwise and counterclockwise and check to be sure that it agrees with the posi tive and negative on the speed display If it does not agree then the encoder signal line...

Страница 72: ...Status display mode Bit display indicating internal status via indicators Power supply ON display base block positioning completion rotation detection and current limit detection command pulse input S...

Страница 73: ...b b c n 0 0 u n 0 0 0 a 0 2 Power ON Display example Status display mode Settings mode Monitor mode Alarm history display mode 3 3 3 Mode Changes and Display Contents The following diagram shows the...

Страница 74: ...els Settings mode c n 0 0 System check mode Jog operation page 3 31 Clear alarm history data page 4 14 Motor parameters check page 4 8 Auto tuning page 3 32 Sequence input signal switch page 3 9 Seque...

Страница 75: ...displayed In the rightmost digit the bit number that can be set is displayed It can be checked whether the bit information is 0 not lit or 1 lit according to the 7 segment display vertical bar To chan...

Страница 76: ...time of recovery from mo mentary stop Abnormal stop 6 1 0 Motor stopped by dynamic brake 1 Motor stopped with free run 7 see 2 1 0 Dynamic brake OFF after motor stopped note 2 1 Dynamic brake ON afte...

Страница 77: ...pulse train input Note 1 If power is immediately turned back on after having been cut off a momentary stop alarm may be gen erated If bit no 5 is set to 1 the alarm will be cleared automatically even...

Страница 78: ...1 90 phase difference A B phase signal 2X 1 0 0 90 phase difference A B phase signal 4X 6 0 Not used 7 0 Not used 8 0 Not used 9 0 Not used Deviation counter clear A 1 0 Clears the deviation counter w...

Страница 79: ...tion control by pulse train inputs Factory setting 1 Position control by pulse train inputs pulse stop input IPG enabled 1 0 Internal speed control settings only Servo lock when stopped 1 Internal spe...

Страница 80: ...Stop Process for Overtravel Overtravel occurs Bit 8 Deceleration method Decelerate by dynamic brake Decelerate by free run Bit 9 Stop condition Servo free dynamic brake OFF Servo free dynamic brake OF...

Страница 81: ...ng with Mounted type R88A PR03U 1 Press the MODE SET Key to go into settings mode cn jj 2 Press the Up and Down Keys to display the desired user parameter number The number will be incremented or decr...

Страница 82: ...g the DATA Key again will bring back the parameter number display 4 Repeat steps 1 through 4 above as required to set other parameters 3 5 2 User Parameter Chart PRM No Parameter name Factory setting...

Страница 83: ...for out putting brake commands Cn 16 Brake timing 2 50 10 ms 10 to 100 Waiting time from servo off to brake command output Cn 17 Torque command filter time constant 4 100 s 0 to 250 Setting for torque...

Страница 84: ...ng HA LA V W Models 0 0 to 14 Unit number setting used dur ing multi axis communications Note 1 Cn 04 speed loop gain is factory set for three times the load inertia Therefore if the load inertia is e...

Страница 85: ...wing table shows the combinations of speeds and directions that can be selected with these three control inputs CN1 11 SPD1 CN1 12 SPD2 CN1 15 RDIR Internal speed setting Rotational direction OFF ON O...

Страница 86: ...the speed for when SPD1 is OFF and SPD2 is ON Cn 20 No 2 internal speed setting 200 r min 0 to 4 500 Sets the speed for when SPD1 is ON and SPD2 is ON Cn 21 No 3 internal speed setting 300 r min 0 to...

Страница 87: ...To fine tune the position and speed of two lines that must be synchronized S When using a positioner with a low command pulse frequency S To set the machine movement per pulse to a specific value such...

Страница 88: ...t for encoder signals output from the Servo Driver The number of pulses per Servomotor revolution can be set within a range of 16 to 2 048 Use this function for the following applications When connect...

Страница 89: ...n constant A phase B phase Z phase A phase B phase Z phase Forward Rotation Side Reverse Rotation Side Note When the encoder divider rate is set to other than 2 048 1024 512 the phase difference for p...

Страница 90: ...sing the bias function set the bias rotational speed to 0 Note 2 As the bias rotational speed increases Servomotor rotation becomes more unstable The optimal val ue changes depending on the load gain...

Страница 91: ...the output torque limit for the forward direction as a percentage of the rated torque Cn 09 Reverse torque limit Maximum torque 0 to maximum torque This parameter sets the output torque limit for the...

Страница 92: ...e defective For wiring methods refer to 2 2 5 Peripheral Device Connection Examples H Function The output timing of the brake interlock signal BKIR that control turning the magnetic brake ON and OFF c...

Страница 93: ...It takes up to 100 ms for the brake to be held after the brake power supply has been turned off When using it for the vertical shaft take this delay into account and set brake timing 1 Cn 12 so that t...

Страница 94: ...amic brake When Cn 01 bit no 6 0 See note 2 Note 1 For the approximately 10 ms it takes from when the power to the Servomotor turns off until the dynamic brake operates the Servomotor rotates by momen...

Страница 95: ...Stopping the Motor Make sure that the power switch can be turned off or the Run command used to stop the motor immedi ately in case of trouble D Connecting a Parameter Unit Connect a Parameter Unit t...

Страница 96: ...the actual operating speed Check the following items Is the emergency stop operating correctly Are the limit switches operating correctly Is the operating direction of the machinery correct Are the op...

Страница 97: ...Key to display the setting of Cn 00 5 Using the Up and Down Keys set the parameter to 00 Jog operation 6 Press the MODE SET Key to shift to the jog display 7 Press the SERVO DATA Key to turn on the s...

Страница 98: ...arameter is factory set to 0 c c n 0 0 0 0 0 5 1 2 6 4 Data 3 0 0 1 t U n 5 e n d DATA Indicates settings mode System check mode Auto tuning display Auto tuning end display 1 Confirm that the initial...

Страница 99: ...g 006 108 007 130 H L Models Response Set value Position loop gain 1 s Representative applications Low 001 20 Articulated robots harmonic drives chain drives belt drives rack and pinion drives etc Me...

Страница 100: ...ing does not complete or if the gain set via auto tuning is not sufficient adjust the gain manu ally using the procedure in 3 7 2 Manually Adjusting Gain 0 1 2 jog speed Approx 1 1 s Approx 0 7 s Oper...

Страница 101: ...04 speed loop gain to a value where hunting doesn t occur in servo lock Decrease Cn 05 speed loop integra tion time constant to a value where hunting doesn t occur in servo lock Does hunting vibratio...

Страница 102: ...erate rigidity 20 200 120 10 Low rigidity H Adjustment Parameters D Adjusting Speed Loop Gain PRM No Parameter name Factory setting Unit Setting range Explanation Cn 04 Speed loop gain 80 Hz 1 to 2 00...

Страница 103: ...nt is manipulated the response is as shown in the diagram below Motor speed speed monitor Time Overshoots when speed loop integral time constant is short When speed loop integral time constant is long...

Страница 104: ...er ated If position loop gain is low positioning time can be improved by using feed forward control In addition to this method positioning completion can be speeded up by using the bypass function Mot...

Страница 105: ...celeration decel eration time constant 0 0 1 ms 0 to 640 Sets the time constant for smoothing posi tion command soft start function Even if the position command pulses are input in steps the time cons...

Страница 106: ...5 Cn 04 05 Cn 24 25 Cn 17 Cn 0A Cn 1E Electronic gear ratio G1 G2 Comp gain Cn 28 4 3 8 Regenerative Energy Absorption Regenerative energy produced at times such as Servomotor deceleration is absorbed...

Страница 107: ...g is the larger of Eg1 and Eg2 When regenerative energy is absorbed at the Servo Driver only Eg must not exceed the amount of re generative energy that can be absorbed at the Servo Driver In addition...

Страница 108: ...e approxi mately 90 of the figure derived by the formula The maximum regenerative energy for the Servo Driver s internal capacitors only can be found by means of the following formula Eg is the larger...

Страница 109: ...nal to the square of the rotation speed Lengthen the deceleration time Reduce the amount of regenerative energy per unit time When using multiple axes the terminals can be connected together and the t...

Страница 110: ...for the horizontal shaft No external force should be applied H Range for Absorbing Regenerative Energy The relationship between rotation speed and the load inertia that can be absorbed by a Servo Dri...

Страница 111: ...plicable load inertia 10 4kgSm2 200W 3 69 10 4kgSm2 2 15 Rotation speed r min D R88D UP12H A UP12V 400 W R88D UP15LA UP15W 300 W Applicable load inertia 10 4kgSm2 300W 400W 3 8 10 4kgSm2 1 9 Rotation...

Страница 112: ...he resistor be tween the P and RG terminals Connecting to the wrong terminals may destroy the Re generation Unit so connect the resistor carefully The Regeneration Unit does not con form to EC Directi...

Страница 113: ...ing External Regeneration Resistors Remove the short bar from between the RG and JP terminals on the Regeneration Unit and connect the resistor s between the P and RG terminals External regeneration r...

Страница 114: ...e ener gy H Wiring Method Example for 3 Axes Axis 1 Axis 2 Axis 3 Note 1 Do not open or close the connections between the or terminals while power is being sup plied The Units may be destroyed Note 2...

Страница 115: ...Chapter 4 Application 4 1 Using Displays 4 2 Using the Monitor Output 4 3 Protective and Diagnostic Functions 4 4 Troubleshooting 4 5 Periodic Maintenance 4...

Страница 116: ...Servo Driver itself One is for the power supply and another is for alarms Symbol Name Function PWR Power supply indicator Lit when AC power supply is normal ALM Alarm indicator Lit when error occurs...

Страница 117: ...ay mode Bit display indicating internal status via indicators Power supply ON display base block positioning completed rotation detection and current limit detection command pulse input Symbol display...

Страница 118: ...isplay Contents Bit data Contents Power supply ON Lit when Servo Driver power supply is ON Base block Lit during base block no power to motor dimmed when servo is ON Positioning completed Lit when the...

Страница 119: ...splays pulse number with 1 4 turn being 2048 pulses with an error of approx 5 pulses 04 Electrical angle Degrees Displays the electrical angle of the motor 05 Internal status bit display 1 Displays Se...

Страница 120: ...4 Press the DATA Key to return to the monitor number display 5 Press the MODE SET Key to move from monitor mode to alarm history display mode H Internal Status Bit Display Un 05 Un 06 Internal status...

Страница 121: ...when there is a signal H L Models Dimmed when there is a signal 12 Z Encoder Z phase HA LA V W Models Lit when there is a signal H L Models Dimmed when there is a signal 13 PU Poll sensor U phase 14 P...

Страница 122: ...splay the setting of Cn 00 4 Using the Up and Down Keys change the setting to 04 Servomotor parameter check 5 Press the MODE SET Key and check the Servomotor parameters in order 6 Press the MODE SET K...

Страница 123: ...t Terminals Top of the Servo Driver Top of Servo Driver Front Pin allocation CN4 CN4 D Monitor Output Circuit CN4 1 NM Speed monitor CN4 3 GND CN4 2 AM Current monitor CN4 4 GND 47 47 D Monitor Output...

Страница 124: ...the Servo Driver s Analog Monitor Connector Red Servo Driver R88D jj External devices Connector socket model DF11 4DS 2C Hirose DF11 2428SCF Hirose Cable AWG24 x 4C UL1007 No Symbol Servo Driver Whit...

Страница 125: ...N ON ON OFF Overload Detected at reverse limit characteristics when the output torque exceeds120 of the rated torque HA LA V W Models a 71 ON ON ON OFF Overload Detected at reverse limit characteristi...

Страница 126: ...nsistor ON Error alarm Output transistor OFF H Clearing Alarms Any of the following methods can be used to clear alarms Turn ON the alarm reset signal RESET Toggle the power supply Press the Reset Key...

Страница 127: ...power again If the power is turned on again too soon the Servomotor coil may be damaged H Overload Characteristic Graph The characteristic between the load ratio and the electronic thermal operating...

Страница 128: ...data The larger the error occurrence number the less recent the alarm is H Clearing Alarm History Data Alarm history data initialization is executed in the system check mode The items in parentheses i...

Страница 129: ...are displayed in status display mode Turn ON the POT and NOT signals If POT and NOT are not being used set Cn 01 bit nos 2 and 3 to 1 The mode is the internal speed control setting mode Check Cn 02 b...

Страница 130: ...obstructed Check to see whether any thing is blocking ventilation Ensure adequate ventilation There is an overload Check the torque command value by means of monitor mode Lighten the load Change to a...

Страница 131: ...rred when power was turned on Control board defective Replace Servo Driver Occurred when Servo was turned on Current feedback circuit error Main circuit transistor module error Replace Servo Driver Se...

Страница 132: ...AC when 200 VAC is specified The supply voltage must be 85 to 127 VAC when 100 VAC is specified Occurred during Servomo tor deceleration The load inertia is too large Lengthen the deceleration time Re...

Страница 133: ...Correct the wiring Insert the connectors cor rectly Occurred when the power was turned on Cn 01 bit no E is set to 1 Set Cn 01 bit No E to 0 a c3 Encoder A B phase wire dis connection Some movement o...

Страница 134: ...e again Servo Driver defective Replace the Servo Driver Parameter Unit is defec tive Cable is broken R88A PR02U Replace the Parameter Unit cpf01 Parameter Unit transmission er 2 Occurred while the Par...

Страница 135: ...d as described in operation manual The radial loads during operation rotation on timing pulleys and other components contacting belts is twice the still load Consult with the belt and pulley manufactu...

Страница 136: ...cations 5 1 Servo Driver Specifications 5 2 Servomotor Specifications 5 3 Cable Specifications 5 4 Parameter Unit Specifications 5 5 Regeneration Unit Specifications 5 6 Front surface Mounting Bracket...

Страница 137: ...orming to UL cUL Standards and Models Not Conforming to Any Standards Between power line terminals and case 1 000 VAC for 1 min 20 mA max at 50 60 Hz Models Conforming to EC Directives Between power l...

Страница 138: ...quency Bias setting 0 to 450 r min Position acceleration decel eration time constant 0 to 64 0 ms The same setting is used for acceleration and deceleration Input sig nals Position command pulse in pu...

Страница 139: ...1 G1 G2 100 G1 G2 1 to 65 535 Positioning completed range 0 to 250 command units Feed forward com pensation 0 to 100 of speed command amount pulse frequency Bias setting 0 to 450 r min Position accele...

Страница 140: ...d based on IGBT PWM frequency 11 kHz 7 8 kHz Applicable Servomotor R88M U03030VA R88M U05030VA R88M U10030VA R88M U20030VA R88M U40030VA R88M U75030VA Applicable Servomotor wattage 30 W 50 W 100 W 200...

Страница 141: ...88D UP03W R88D UP04W R88D UP10W R88D UP12W R88D UP15W Continuous output current 0 P 0 9 A 1 3 A 3 1 A 3 8 A 4 8 A Momentary max output current 0 P 2 8 A 4 1 A 10 A 12 A 15 A Input power supply Single...

Страница 142: ...ion of more than 30 times the motor s ro tor inertia Required for regeneration of more than 20 times the motor s rotor inertia Protective functions Overcurrent grounding overload overvoltage overspeed...

Страница 143: ...ut When using multiple axes and there is excessive regenerative energy the terminals can be connected together and the terminals can be connected together to increase the regeneration absorption capac...

Страница 144: ...tation current limit PCL NCL when setup parameter Cn 02 bit no 2 0 ON Current limit 12 NCL SPD2 Reverse rotation current limit input Speed selec tion command 2 input Internal setting speed Cn 1F 20 21...

Страница 145: ...ase output Outputs encoder pulses divided according to user parameter Cn 0A Line driver output conforming to 21 A Encoder A phase output parameter Cn 0A Line driver output conforming to RS 422A 22 B E...

Страница 146: ...al for ward pulse B phase Brake interlock output Motor rotation detection cur rent control detection Forward rota tion current lim it speed selec tion command 1 Control DC 24 V input Gain decelera tio...

Страница 147: ...weaken servo rigidity repellant force with respect to external force When the gain reduction is input speed loop integration is disabled decreasing the speed loop gain In addition when parts are inser...

Страница 148: ...als become respectively the forward rota tion current limit and the reverse rotation current limit and they limit the current to the Servomotor The current limit values can be set for the respective d...

Страница 149: ...e Pulse 90 Differential Pulse A Phase CN1 1 PULS CW A Feed Pulse Reverse Pulse 90 Differential Pulse A Phase CN1 2 PULS CW A Direction Signal Forward Pulse 90 Differential Pulse B Phase CN1 3 SIGN CCW...

Страница 150: ...0 1 Reverse pulse and forward pulse 1 CW 2 CW 3 CCW 4 CCW L L 0 1 0 1 90_ differential 1 A 2 A 0 1 1 2 differential phase 2 A 3 B 1 0 0 4 hase signals 3 B 4 B Negative 0 0 0 Forward pulse and directio...

Страница 151: ...pulses Maximum frequency 200 kpps t1 t1 T A phase Forward commands Reverse commands B phase t1 0 1 s 2 5 s T 5 0 s Note Although the above timing charts show positive logic the same conditions hold fo...

Страница 152: ...ck For Motors with Brakes for details D Positioning Completed Output 8 INP This output is turned ON when the pulse count remaining on the deviation counter is less than the posi tioning completed rang...

Страница 153: ...he error This output is OFF at the time of powering up and turns ON when the power up processing is completed D Alarm Code Outputs 1 to 3 and Alarm Code Output Ground 30 31 32 33 AL01 to AL03 and 33 A...

Страница 154: ...B B Z Z GND R R R 2 1 6 7 10 9 0 V FG 16 3 4 5 8 12 11 5 V Servo Driver A phase B phase Z phase Output line driver SN75ALS 174NS or equivalent Controller on User s Side 0 V Applicable line receiver T...

Страница 155: ...n drive prohibit Alarm reset Do not connect these pins Brake interlock Motor rotation detection Output ground common Alarm output Maximum operating voltage 30 VDC Maximum output current 50 mA Alarm co...

Страница 156: ...tly using a clamp D Connectors Used 20P Sumitomo 3M Receptacle at Servo Driver 10220 52A2JL Soldered plug at cable side 10120 3000VE Case at cable side 10320 52A0 008 D Pin Arrangement 2 E0V 4 E5V 8 1...

Страница 157: ...interface 1 TXD Transmission data This is the send data line driver output to the P U i l 2 TXD Transmission data Parameter Unit or a personal computer 3 RXD Reception data This is the send data line...

Страница 158: ...table range is 1 to 2 000 Hz the response frequency when equivalent inertia is used As the number is increased the gain is increased The factory setting is for 80 Hz Using the factory setting for the...

Страница 159: ...oller from PI control to P control in order to moderate excessive characteristics when an operation such as acceleration or deceleration is executed accompanied by output saturation of the controller...

Страница 160: ...eliminate the vibration i e set it to a high value D Forward Rotation External Current Limit Cn 18 Reverse Rotation External Current Limit Cn 19 These set the Servomotor output torque limits for the f...

Страница 161: ...0 x G1 G2 x 100 The factory setting is G1 4 G2 1 i e an electronic gear ratio of 4 1 At the factory setting inputting 2 048 pulses will cause one Servomotor revolution D Position Command Acceleration...

Страница 162: ...t Number Setting Cn 29 HA LA V W Models This setting specifies the Servo Driver s unit number when communicating with a personal computer Set the unit number to 0 when communicating with a single axis...

Страница 163: ...rds Type B JIS C4004 All models other than those in Type A Structure Totally enclosed self cooling Protective structure Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards...

Страница 164: ...10 5 0 26 10 5 0 40 10 5 1 23 10 5 1 91 10 5 6 71 10 5 Torque constant see note NSm A 0 255 0 286 0 408 0 355 0 533 0 590 Induced volt age constant see note mV r min 8 89 9 98 14 0 12 4 18 6 20 6 Pow...

Страница 165: ...10 5 0 40 10 5 1 23 10 5 1 91 10 5 Torque constant see note NSm A 0 168 0 194 0 156 0 255 0 279 Induced voltage constant see note mV r min 5 87 6 79 5 43 8 9 9 74 Power rate see note kW s 4 36 9 63 25...

Страница 166: ...0j B R88M U05030j B R88M U10030j B R88M U20030j B R88M U30030j B R88M U40030j B R88M U75030j B Rotor in ertia kgSm2 GD2 4 0 21 10 5 0 26 10 5 0 40 10 5 1 23 10 5 1 91 10 5 1 91 10 5 6 71 10 5 Brake in...

Страница 167: ...us use R88M U03030H A R88M U03030VA R88M U05030H A R88M U05030VA R88M U10030H A R88M U10030VA R88M U20030H A R88M U20030VA R88M U40030H A R88M U40030VA R88M U75030H A R88M U75030 Frequent use Continuo...

Страница 168: ...mately 4 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 Generally in a mechanical system when the temperature...

Страница 169: ...motors with brakes Note 2 The allowable radial load is the value at a point 5 mm from the end of the shaft Radial load Thrust load 5 mm Note 3 The allowable radial and thrust loads are values determin...

Страница 170: ...acteristics 90 43 2 Phase relationship For rotation in the CW direction A phase is advanced by 90 compared to B phase Maximum rotational speed 4500 r min Maximum response frequency 153 6 kHz Output si...

Страница 171: ...k Conversion Unit Cables D Types of Cable Model Length L Outer diameter of sheath R88A CTU001N 1 m 9 9 dia R88A CTU002N 2 m D Connection Configuration XW2B 40F5 P Connector Terminal Conversion Unit L...

Страница 172: ...nector plug Sumitomo 3M s 10136 3000VE Connector cover Sumitomo 3M s 10336 52A 008 Signal Analog Pulse A A B B Z Z TREF AGND REF AGND BKIR VCMP TGON 0GND PCL NCL 24 VIN RUN MING POT NOT RESET EGND ALO...

Страница 173: ...Cable Model Length L Outer diameter of sheath R88A CPU001S 1 m 9 9 dia R88A CPU002S 2 m D Connection Configuration L Position Control Unit mounted on a SYSMAC C CV series PC OMNUC U Series AC Servomot...

Страница 174: ...Red NOT NOT 18 Pink Black RESET RESET 19 Pink Red EGND EGND 20 Orange Black A A 21 Orange Red A A 22 Gray Black B B 23 Gray Red B B 24 White Black Z Z 25 White Red Z Z 26 Yellow Black 27 Yellow Red 2...

Страница 175: ...a maximum of 20 m between the Monitor and the Servo Driver D Connection Configuration L OMNUC U Series AC Servomotor OMNUC U Series AC Servomotor Driver 16 33 3 23 7 37 t 14 t 14 D Wiring A 1 A 2 B 3...

Страница 176: ...9 1 Tyco Electronics AMP Connector pin contact model 170359 1 Tyco Electronics AMP H Encoder Cables for Models Conforming to EC Directives D Types of Cable Model Length L Outer diameter of sheath R88A...

Страница 177: ...en AWG24 white green AWG22 black AWG22 red AWG22 green yellow Symbol No Symbol No Cable AWG22 3C AWG24 3P UL2589 Shell FG E5V 20 For Cable Connector model 17J E 13090 02D8A DDK Connector plug model 10...

Страница 178: ...03S 3 m 5 8 dia R88A CAU005S 5 m R88A CAU010S 10 m R88A CAU015S 15 m R88A CAU020S 20 m Up to a maximum of 20 m between the Monitor and the Servo Driver D Connection Configuration L OMNUC U Series AC S...

Страница 179: ...170360 1 Tyco Electronics AMP for 200 to 750 W models H Power Cable for Servomotors With Brakes Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards D Types of Cable Model...

Страница 180: ...172168 1 Tyco Electronics AMP Connector pin contact model 170359 1 Tyco Electronics AMP 30 to 100 W models 170360 1 Tyco Electronics AMP 200 to 750 W models H Power Cable for Servomotors Without Brake...

Страница 181: ...rvomotors With Brakes Models Conforming to EC Directives Model Length L Outer diameter of sheath R88A CAU01B 1 m 6 8 dia Note 1 Power cables will be cut to the specified length in 1 m increments Note...

Страница 182: ...ue Green Yellow Black Red AWG20 Red AWG20 White AWG20 Blue AWG20 Black AWG20 Green AWG20 Black AC Servomotor AC Servo Driver Brake Brake U phase V phase W phase 24 VDC 10 no polarity GR Cable AWG20 6C...

Страница 183: ...ed Accessory cable 1 000 mm Connected by connectors Accessory connectors 7910 7500SC 10 pins D sub connector 9 pins Display 7 segment LED 5 digits External dimensions 63 135 18 5 W H D 54 57 5 15 W H...

Страница 184: ...n contact at time of protective function operation 200 VAC drive possible External dimensions 55 160 130 W H D D Indicator LED Specifications Name Specifications POWER Lit while power flows between P...

Страница 185: ...ming to EC Directives H Combinations Servo Driver Front surface Mounting Bracket d l Model Supply voltage Power g model R88D UP02H A 200 V 30 W R88A TK01U R88D UP03H A 50 W R88D UP04H A 100 W R88D UP0...

Страница 186: ...5 51 H Dimensions D R88A TK01U Top Mounting Bracket 6 dia Two 3 6 dia pan head screws Bottom Mounting Bracket Two 3 6 dia pan head screws Specifications Chapter 5...

Страница 187: ...5 52 D R88A TK02U Top Mounting Bracket 6 dia Two 3 6 dia pan head screws Bottom Mounting Bracket Two 3 6 dia pan head screws Specifications Chapter 5...

Страница 188: ...5 53 H Mounting Dimensions D R88A TK01U D R88A TK02U Two M5 Three M5 Specifications Chapter 5...

Страница 189: ...Chapter 6 Supplementary Materials 6 1 Connection Examples 6 2 Servo Connector Terminal Connection Unit 6 3 OMNUC U series Standard Models 6 4 Parameter Setting Forms 6...

Страница 190: ...230 VAC 50 60 Hz MC CN 1 13 19 20 A B A B A B X1 ALM Output power supply input 24 VDC Output power supply input 5 VDC Pulse output CCW without resistance 0 V Deviation counter reset output 0 V Origin...

Страница 191: ...ithout resistance 0 V Deviation counter reset output 0 V Origin line driver input Positioning completed input Position proximity input CCW limit input External interrupt input CW limit input Emergency...

Страница 192: ...xis origin line driver input X axis origin common X axis CCW limit input X axis CW limit input X Y axis emergency stop input X Y axis input common Output power supply 0 V CCW with resistance CCW witho...

Страница 193: ...X axis origin line driver input X axis origin common X axis CCW limit input X axis CW limit input X Y axis emergency stop input X Y axis input common Output power supply 0 V CCW with resistance CCW wi...

Страница 194: ...PjjLj 100 115 VAC 50 60 Hz R88B UPjjHj 200 230 VAC 50 60 Hz Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Not...

Страница 195: ...ete input X axis CW limit input X axis input common X axis emerg stop input X axis external interrupt input X axis CCW limit input X axis origin proximity input Noise filter Note 1 Incorrect signal wi...

Страница 196: ...mplete input X axis CW limit input X axis input common X axis emerg stop input X axis external interrupt input X axis CCW limit input X axis origin proximity input Noise filter Note 1 Incorrect signal...

Страница 197: ...limit CCW limit Origin proximity Com mon Com mon Com mon Com mon Com mon External interrupt 24 VDC See note 1 24 VDC Note 1 The XB contact is used to turn ON OFF the electromagnetic brake Note 2 Do n...

Страница 198: ...BKIR Com mon X axis external interrupt X axis RESET 24 VDC X axis ALMCOM See note 1 Y axis external interrupt 24 VDC See note 1 Y axis RESET Y axis ALMCOM 24 VDC Com mon Com mon Com mon Com mon Com m...

Страница 199: ...use the CQM1 s output pulse to be returned and input to the high speed counter Note 2 Input this output signal to a CQM1 s Input Unit Note 3 The XB contact is used to turn ON OFF the electromagnetic b...

Страница 200: ...030HA 200 W R88M U20030HA 400 W R88M U40030HA 750 W R88M U75030HA 100 VAC 30 W R88M U03030LA 50 W R88M U05030LA 100 W R88M U10030LA 200 W R88M U20030LA 300 W R88M U30030LA With brake 200 VAC 30 W R88M...

Страница 201: ...R88M U40030HA BS1 750 W R88M U75030HA BS1 100 VAC 30 W R88M U03030LA BS1 50 W R88M U05030LA BS1 100 W R88M U10030LA BS1 200 W R88M U20030LA BS1 300 W R88M U30030LA BS1 D Servo Drivers with Pulse train...

Страница 202: ...Connector at one d 3 m R88A CAU003S motors no brake end 5 m R88A CAU005S 10 m R88A CAU010S 15 m R88A CAU015S 20 m R88A CAU020S Cable only 1 m units R88A CAU001 For motors with b k Connector at one d...

Страница 203: ...100J A6 C200HW NC213 C HW NC 0 5 m XW2Z 050J A7 C200HW NC413 1 m XW2Z 100J A7 D Connectors Terminal Blocks and Peripheral Cable Specification Model Control cable connector R88A CNU01C Connector termi...

Страница 204: ...W R88M U05030VA BS1 100 W R88M U10030VA BS1 200 W R88M U20030VA BS1 400 W R88M U40030VA BS1 750 W R88M U75030VA BS1 100 VAC 30 W R88M U03030WA BS1 50 W R88M U05030WA BS1 100 W R88M U10030WA BS1 200 W...

Страница 205: ...Power Cables Cables Only Specification Model For standard motor no brake 1 m units R88A CAU001 For motor with brake 1 m units R88A CAU01B D General purpose Control Cables Specification Model For gene...

Страница 206: ...witching speed commands 0 r min 0 to 4 500 Cn 0E P control switching acceleration com mands 0 10 r min s 0 to 3 000 Cn 0F P control switching deviation pulse 10 Command units 0 to 10 000 Cn 10 Jog spe...

Страница 207: ...note 4 0 0 to 14 Note 1 Cn 04 speed loop gain is factory set for three times the load inertia Therefore if the load inertia is extremely small some oscillation may occur If it does then lower Cn 04 t...

Страница 208: ...e 1 0 Dynamic brake OFF after motor stopped 7 note 2 1 Dynamic brake ON after motor stopped 8 0 0 Method for stopping when over travel occurs de pends on bit no 6 setting 8 1 When over travel occurs m...

Страница 209: ...entary stop alarm may be generated If bit no 5 is set to 1 the alarm will be cleared automatically even if it is gener ated and operation will resume Note 2 If set bit 6 to 1 and bit 8 to 0 the dynami...

Страница 210: ...B phase signal 1X 0 1 1 90 phase difference A B phase signal 2X 1 0 0 90 phase difference A B phase signal 4X 6 0 Not used 6 0 7 0 Not used 7 0 8 0 Not used 8 0 9 0 Not used 9 0 Deviation counter clea...

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