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5-5

5-1 Position Control

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

BASIC CONTROL Mode

Parameter Block Diagram for POSITION CONTROL mode

Pn213 :

Switching Selection 1

Pn214 : Frequency 1

Pn215 : Frequency 2

Pn216 : Frequency 3

Pn217 : Frequency 4

Pn218 : Filter 1

Pn219 : Filter 2

Pn220 : Filter 3

Pn221 : Filter 4

Pn101 : Speed Gain 1

Pn102 : Integration Time Constant 1

Pn106 : Speed Gain 2

Pn107 : Integration Time Constant 2

Pn004 : Inertia Ratio

Pn612 : Switching Selection

Pn613 : Inertia Ratio 2

Pn104 : Torque Filter 1

Pn109 : Torque Filter 2

Pn521 :

Torque Limit Selection

Pn013 : No. 1 Torque Limit

Pn522 : No. 2 Torque Limit

Pn103 : Filter 1

Pn108 : Filter 2

Pn610 :

Instantaneous Speed

Encoder

Motor

Main

power

supply

−

Pn005 : Input Setting

Pn006 : Rotation Direction

Pn007 : Mode

Pn222 : FIR

Pn223 : First-order Lag

Pn008 : 1 Rotation

Pn009 : Numerator

Pn010 : Denominator

Pn500 : Numerator 2

Pn501 : Numerator 3

Pn502 : Numerator 4

Pn110 : Gain

Pn111 : Filter

Pn100 : Loop Gain 1

Pn105 : Loop Gain 2

Pulse

train

Electronic gear setting

Damping control

Pn011 :

1 Rotation

Pn012 : Reverse

Numerator/Denominator

Pn503 :

Denominator

Encoder

pulse output

Pulse regeneration

Position control

Speed

feed-forward

Pn112 : Gain

Pn113 : Filter

Torque feed

forward

Pn623 : Gain

Pn624 : Filter

Disturbance observer

Pn607 : Added Value

Pn608 : Forward Direction

Pn609 : Reverse Direction

Friction compensation

Pn114 : Setting 2

Pn115 : Mode

Pn116 : Delay Time

Pn117 : Level

Pn118 : Hysteresis

Pn119 : Switching Time

Pn605 : Setting 3

Pn606 : Ratio

Gain switching

Input condition setting

Smoothing filter

Pn200 :

ADAPTIVE mode Setting

Pn201 : Frequency 1

Pn204 : Frequency 2

Pn207 : Frequency 3

Pn210 : Frequency 4

Pn202 : Notch 1 Width

Pn205 : Notch 2 Width

Pn208 : Notch 3 Width

Pn211 : Notch 4 Width

Pn203 : Notch 1 Depth

Pn206 : Notch 2 Depth

Pn209 : Notch 3 Depth

Pn212 : Notch 4 Depth

Notch filter

Speed control

Torque limit

Pn611 : Response Setting

Current control

Electronic gear

reverse conversion

Torque filter

Speed detection filter

Speed detection

Command pulse accumulation

Command position error

Encoder position error

Speed control command

Motor speed

Torque command

Internal position command speed

Feedback pulse accumulation

Position command speed

Содержание OMNUC G5

Страница 1: ...Cat No I571 E1 01 USER S MANUAL OMNUC G5SERIES R88M K AC Servomotors R88D KT AC Servo Drives AC SERVOMOTORS SERVO DRIVES...

Страница 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...

Страница 3: ...ge certified electricians or individuals having equivalent or more knowledge and also being qualified for one of the following Those in charge of introducing FA equipment Those designing FA systems Th...

Страница 4: ...uct is combined with other product the customer must check the standards and regulations applicable to such combination The customer must also check the compatibility of this product with any system m...

Страница 5: ...4 Specification Change The product specifications and accessories explained in the catalog operation manual etc are subject to change if necessary for the reasons of improvement etc Contact your OMRO...

Страница 6: ...the product safely Precautions for Correct Use This symbol indicates an item you should perform or avoid in order to prevent inoperative malfunction or any negative effect on performance or function R...

Страница 7: ...arrying out wiring or inspection turn OFF the power supply and wait for at least 15 minutes Electric shock may result Do not damage pull stress strongly or pinch the cables or place heavy articles on...

Страница 8: ...hands if a motor with shaft end key grooves is being used Injury may result Use the motor and driver in the specified combination Fire or equipment damage may result Do not store or install the produ...

Страница 9: ...orting the product do not hold it by the cables or motor shaft Injury or failure may result Do not overload the products Follow the instruction on the product label Injury or failure may result Use th...

Страница 10: ...wires are connected directly to the protective ground terminal fire may result Only use the power supply voltage specified in this manual Burn damage may result In locations where the power supply inf...

Страница 11: ...operation Injury may result Do not use the built in brake of the motor for normal braking operation Failure may result Do not operate the Servomotor when an excessive load inertia is installed Failur...

Страница 12: ...to provide handling warnings When handling the product be sure to observe the instructions provided on this label Instructions on Warning Label Disposal When disposing of the battery insulate it using...

Страница 13: ...ot supplied They must be prepared by the customer If any item is missing or a problem is found such as Servo Drive damage contact the OMRON dealer or sales office where you purchased your product Spec...

Страница 14: ...ision History The manual revision symbol is an alphabet appended at the end of the manual number found in the bottom left hand corner of the front or back cover Example Revision symbol Revision date D...

Страница 15: ...the performance of External Regeneration Resistors and so on Chapter 5 BASIC CONTROL mode This chapter explains an outline of operations available in various CONTROL modes and explains the contents o...

Страница 16: ...5 2 4 External and Mounting Dimensions 2 22 2 5 EMC Filter Dimensions 2 54 Chapter3 Specifications 3 1 Driver Specifications 3 1 3 2 Overload Characteristics Electronic Thermal Function 3 53 3 3 Moto...

Страница 17: ...8 6 15 Hybrid Vibration Suppression Function 6 49 6 16 Feed forward Function 6 50 6 17 Instantaneous Speed Observer Function 6 54 Chapter7 Safety Function 7 1 Safe Torque OFF STO Function 7 1 7 2 Oper...

Страница 18: ...DRIVE USER S MANUAL Chapter11 Error and Maintenance 11 1 Error Processing 11 1 11 2 Warning List 11 4 11 3 Alarm List 11 5 11 4 Troubleshooting 11 9 11 5 Periodic Maintenance 11 20 Chapter12 Appendix...

Страница 19: ...nd UL standards 1 1 Outline 1 1 Outline of the OMNUC G5 Series 1 1 Features of the OMNUC G5 Series 1 1 1 2 System Configuration 1 2 1 3 Names and Functions 1 3 Driver Part Names 1 3 Driver Functions 1...

Страница 20: ...h the flexible driver according to your need A single driver supports various applications Achievement of Accurate Positioning by Full Closing Control Feedbacks from the external scale connected to th...

Страница 21: ...ain Output Type Programmable Controller SYSMAC CJ CS Position Control Unit CJ1W NC113 213 413 CJ1W NC133 233 433 CJ1W NC214 414 CJ1W NC234 434 CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 41...

Страница 22: ...onnector CN7 Expansion connector CN3 Monitor connector CN5 Motor connection terminals U V and W Control circuit power supply terminals L1C and L2C Main circuit power supply terminals L1 L2 and L3 Exte...

Страница 23: ...r CN1 Used for command input signals and I O signals Encoder Connector CN2 Connector for the encoder installed in the Servomotor Expansion Connector CN3 A spare connector for expansion Do not connect...

Страница 24: ...supply GR L2C L1C L3 L2 L1 FUSE FUSE FUSE CN A 15 V G1 5 V 2 5 V 1 5 V 12 V E5 V G2 3 3 V Overcurrent detection Current detection Voltage detection Regeneration control Relay drive GR Control interfa...

Страница 25: ...Drive EN 61800 5 1 AC Servomotor EN60034 1 5 EMC directives AC Servo Drive AC Servomotor EN 55011 class A group 1 IEC61800 3 EN61000 6 2 Standard Product Applicable standards File number UL standards...

Страница 26: ......

Страница 27: ...How to Read Model 2 3 Servo Drive 2 3 Servomotor 2 4 2 3 Standard Model List 2 5 Servo Drive Model List 2 5 Servomotor Model List 2 6 Servo Drive and Servomotor Combination List 2 10 Peripheral Equipm...

Страница 28: ...se I O function type XW2Z B XW2B XW2Z A XW2Z B Servo Drive Cable XW2Z A Position Control Unit Cable NC XW2Z J G DirectconnectioncableforCJ1W NC 4 R88A CPG Control Cables for Motion Control Unit CX One...

Страница 29: ...dback Signals Power Cables Without Brake R88A CA S With Brake R88A CA B Without Brake R88A CA SR With Brake R88A CA BR Standard Cables Robot Cable Encoder Cables Standard Cables R88A CRK Brake Cables...

Страница 30: ...e Servo Drive model can be identified by the Servo Drive type applicable Servomotor capacity power supply voltage etc R88D KT01H OMNUC G5 Series Servomotor Driver Type Power Supply Voltage Maximum App...

Страница 31: ...1K0 1K5 2K0 3K0 4K0 5K0 50 W 100 W 200 W 400 W 600 W 750 W 900 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW 10 20 30 1 000 r min 2 000 r min 3 000 r min Applied Voltage F H L C T S 400 VAC incremental encoder sp...

Страница 32: ...Single phase 100 VAC 50 W R88D KTA5L 100 W R88D KT01L 200 W R88D KT02L 400 W R88D KT04L Single phase 3 phase 200 VAC 100 W R88D KT01H 200 W R88D KT02H 400 W R88D KT04H 750 W R88D KT08H 1 kW R88D KT10H...

Страница 33: ...030T R88M K20030T S2 400 W R88M K40030H R88M K40030H S2 R88M K40030T R88M K40030T S2 750 W R88M K75030H R88M K75030H S2 R88M K75030T R88M K75030T S2 1 kW R88M K1K030H R88M K1K030H S2 R88M K1K030T R88M...

Страница 34: ...030T B R88M K1K030T BS2 1 5 kW R88M K1K530H B R88M K1K530H BS2 R88M K1K530T B R88M K1K530T BS2 2 kW R88M K2K030H B R88M K2K030H BS2 R88M K2K030T B R88M K2K030T BS2 3 kW R88M K3K030H B R88M K3K030H BS2...

Страница 35: ...F R88M K2K020F S2 R88M K2K020C R88M K2K020C S2 3 kW R88M K3K020F R88M K3K020F S2 R88M K3K020C R88M K3K020C S2 4 kW R88M K4K020F R88M K4K020F S2 R88M K4K020C R88M K4K020C S2 5 kW R88M K5K020F R88M K5K0...

Страница 36: ...kW R88M K3K010H R88M K3K010H S2 R88M K3K010T R88M K3K010T S2 400 V 900 kW R88M K90010F R88M K90010F S2 R88M K90010C R88M K90010C S2 2 kW R88M K2K010F R88M K2K010F S2 R88M K2K010C R88M K2K010C S2 3 kW...

Страница 37: ...K20030L x R88M K20030S x R88D KT02L 400 W R88M K40030L x R88M K40030S x R88D KT04L Single phase 3 phase 200 V 50 W R88M K05030H x R88M K05030T x R88D KT01H 100 W R88M K10030H x R88M K10030T x R88D KT...

Страница 38: ...0 W R88M K40020F x R88M K40020C x R88D KT06F 600 W R88M K60020F x R88M K60020C x R88D KT06F 1 kW R88M K1K020F x R88M K1K020C x R88D KT10F 1 5 kW R88M K1K520F x R88M K1K520C x R88D KT15F 2 kW R88M K2K0...

Страница 39: ...oders and incremental encoders 3 m R88A CRKA003C 5 m R88A CRKA005C 10 m R88A CRKA010C 15 m R88A CRKA015C 20 m R88A CRKA020C 30 m R88A CRKA030C 40 m R88A CRKA040C 50 m R88A CRKA050C 100 V and 200 V 3 0...

Страница 40: ...003S R88A CAGB003B 5 m R88A CAGB005S R88A CAGB005B 10 m R88A CAGB010S R88A CAGB010B 15 m R88A CAGB015S R88A CAGB015B 20 m R88A CAGB020S R88A CAGB020B 30 m R88A CAGB030S R88A CAGB030B 40 m R88A CAGB040...

Страница 41: ...50B Specifications Model 100 V and 200 V For 3 000 r min motors of 50 to 750 W for both absolute encoders and incremental encoders 3 m R88A CRKA003CR 5 m R88A CRKA005CR 10 m R88A CRKA010CR 15 m R88A C...

Страница 42: ...5 m R88A CAGB005SR R88A CAGB005BR 10 m R88A CAGB010SR R88A CAGB010BR 15 m R88A CAGB015SR R88A CAGB015BR 20 m R88A CAGB020SR R88A CAGB020BR 30 m R88A CAGB030SR R88A CAGB030BR 40 m R88A CAGB040SR R88A...

Страница 43: ...00 V and 200 V For 3 000 r min motors of 50 to 750 W 3 m R88A CAKA003BR 5 m R88A CAKA005BR 10 m R88A CAKA010BR 15 m R88A CAKA015BR 20 m R88A CAKA020BR 30 m R88A CAKA030BR 40 m R88A CAKA040BR 50 m R88A...

Страница 44: ...3 000 r min of 50 to 750 W R88A CNK02R 100 V and 200 V For 3 000 r min of 1 to 5 kW For 2 000 r min 1 000 r min 400 V For 3 000 r min 2 000 r min and 1 000 r min R88A CNK04R Control I O connector CN1...

Страница 45: ...C433 For CJ1W NC213 NC413 NC233 NC433 For C200HW NC213 NC413 XW2B 40J6 2B For CJ1M CPU21 CPU22 CPU23 XW2B 20J6 8A XW2B 40J6 9A For FQM1 MMA22 For FQM1 MMP22 XW2B 80J7 12A For CQM1 CPU43 V1 For CQM1H P...

Страница 46: ...XW2B 20J6 2B 0 5 m XW2Z 050J A11 1 m XW2Z 100J A11 For CJ1W NC113 XW2B 20J6 1B 0 5 m XW2Z 050J A14 1 m XW2Z 100J A14 For CJ1W NC213 NC413 XW2B 20J6 2B 0 5 m XW2Z 050J A15 1 m XW2Z 100J A15 For CJ1W N...

Страница 47: ...XW2Z 100J G5 3 m XW2Z 300J G5 Specified cables for Motion Control Unit for 1 axis CS1W MC221 V1 MC421 V1 1 m R88A CPG001M1 2 m R88A CPG002M1 3 m R88A CPG003M1 5 m R88A CPG005M1 Specified cables for Mo...

Страница 48: ...tions Model R88D KTA5L KT01H 3G3AX DL2002 R88D KT01L KT02H 3G3AX DL2004 R88D KT02L KT04H 3G3AX DL2007 R88D KT04L KT08H KT10H 3G3AX DL2015 R88D KT15H 3G3AX DL2022 R88D KT08H KT10H KT15H 3G3AX AL2025 R8...

Страница 49: ...Standard Models and External Dimensions 2 4 External and Mounting Dimensions Servo Drive Dimensions Single phase 100 VAC R88D KTA5L KT01L 50 to 100 W Single phase 3 phase 200 VAC R88D KT01H KT02H 100...

Страница 50: ...IES AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 Standard Models and External Dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions Square hole 170 0 5 70 40...

Страница 51: ...e phase 3 phase 100 VAC R88D KT02L 200 W Single phase 3 phase 200 VAC R88D KT04H 400 W Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimen...

Страница 52: ...3 phase 100 VAC R88D KT04L 400 W Single phase 3 phase 200 VAC R88D KT08H 750 W Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mo...

Страница 53: ...ase 3 phase 200 VAC R88D KT10H KT15H 900 W to 1 5 kW Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 85 150 1...

Страница 54: ...IVE USER S MANUAL 2 Standard Models and External Dimensions 3 phase 200 VAC R88D KT20H 2 kW Wall Mounting External dimensions Mounting dimensions 86 85 50 17 5 42 5 5 2 5 2 5 2 R2 6 R2 6 198 188 168 1...

Страница 55: ...R S MANUAL 2 Standard Models and External Dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 86 85 50 17 5 42 5 5 2 5 2 198 188 168 17 5 50 5 2 5 2 42 5 5...

Страница 56: ...IVE USER S MANUAL 2 Standard Models and External Dimensions 3 phase 200 VAC R88D KT30H KT50H 3 to 5 kW Wall Mounting External dimensions Mounting dimensions R2 6 R2 6 5 2 R2 6 R2 6 5 2 212 3 130 100 1...

Страница 57: ...USER S MANUAL 2 Standard Models and External Dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions R2 6 R2 6 5 2 R2 6 R2 6 5 2 130 100 15 65 5 2 5 2 220 240 2...

Страница 58: ...3 phase 400 VAC R88D KT06F KT10F KT15F 600 W to 1 5 kW Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 91 150...

Страница 59: ...unting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 5 2 R2 6 R2 6 5 2 25 0 5 188 0 5 50 0 5 94 168 193 5 1 5 94 85 50 17...

Страница 60: ...Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 5 2 R2 6 5 2 R2 6 100 5 2 5 2 65 15 15 130 100 65 5 2 5 2 220...

Страница 61: ...T S2 K10030S S2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS M3 depth 6 8h6 30h7 25 14 12 5 3h9 3 6 2 25 LL LM...

Страница 62: ...ls have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS M3 depth 6 25 14 12 5 3h9 3 6 2 R3 7 R4 2 2 4 3 46 0 2 40 40 Key groove P9 LL LM Motor c...

Страница 63: ...400 W 22 5 400 W 5 400 W 4 200 W 8 5 11 LL LM 30 3 6 5 70 0 2 60 60 Shaft end specifications with key and tap 1 5 min Boss insertion position only for the ones with oil seal Key groove P9 4h9 200 W 5h...

Страница 64: ...r 750 W with Brake R88M K75030H B S2 R88M K75030T B S2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS Shaft end s...

Страница 65: ...standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL LM KB1 KB2 R88M K1K030x 141 97 66 119 R88M K1K530x 159 5 11...

Страница 66: ...3K030T B S2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM...

Страница 67: ...B S2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 K...

Страница 68: ...models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 55 LL 101 without br...

Страница 69: ...3K030C B S2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM...

Страница 70: ...B S2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB...

Страница 71: ...dicated with S2 at the end of the model number Model Dimensions mm LL LR LM S KB1 KB2 R88M K1K020x 138 55 94 22 60 116 R88M K1K520x 155 5 55 111 5 22 77 5 133 5 R88M K2K020x 173 55 129 22 95 151 R88M...

Страница 72: ...Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL LM KB1 KB2 R88M K4K020x 177 133 96 155 R88M K5K020x...

Страница 73: ...Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL LM KB1 KB2 R88M K40020x 131 5 87 5 56 5 109 5 R88M...

Страница 74: ...of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 LR LL 116 1 to 2 kW without brake 118 3 kW without brake 118 1 to 3 kW with brake 60 130 130 45 1 to 2 kW 55...

Страница 75: ...Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL LM KB1 KB2 R88M K4K020x 177 133 96 155 R88M K5K020x...

Страница 76: ...R88M K90010T B S2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake conne...

Страница 77: ...ard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 80 LL 140 60 176...

Страница 78: ...te The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 55 LL...

Страница 79: ...ard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 80 LL 140 60 176...

Страница 80: ...mensions External Regeneration Resistor Dimensions External Regeneration Resistor R88A RR08050S RR080100S R88A RR22047S R88A RR50020S 20 t1 2 104 122 130 43 5 28 4 2 6 Thermal switch output 500 3 0 75...

Страница 81: ...lter Dimensions H W D drive mounts M1 M2 output flexes Filter model External dimensions Mount dimensions H W D M1 M2 R88A FIK102 RE 190 42 44 180 20 R88A FIK104 RE 190 57 30 180 30 R88A FIK107 RE 190...

Страница 82: ......

Страница 83: ...onnector Specifications CN5 3 49 USB Connector Specifications CN7 3 50 Safety Connector Specifications CN8 3 51 3 2 Overload Characteristics Electronic Thermal Function 3 53 Overload Characteristics G...

Страница 84: ...ll require maintenance For details refer to 11 5 Periodic Maintenance P 11 20 Item Specifications Ambient operating temperature and operating humidity 0 to 55C 90 RH max with no condensation Storage a...

Страница 85: ...age Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz Rated current 1 4 A 2 6 A 4 3 A 7 6 A Control circuit Power supply voltage Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz Control method All digi...

Страница 86: ...40 VAC 170 to 264 V 50 60 Hz Rated current 1 3 A 2 4 1 3 1 A 4 1 2 4 1 A 6 6 3 6 1 A 9 1 5 9 1 A 14 2 8 1 1 A Control circuit Power supply voltage Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz PWM...

Страница 87: ...8 A 15 1 A 21 6 A Control circuit Power supply voltage Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz PWM frequency 6 0 kHz Weight Approx 2 7 kg Approx 4 8 kg Approx 4 8 kg Maximum applicable motor...

Страница 88: ...VDC 20 4 to 27 6 V PWM frequency 6 0 kHz Weight Approx 1 9 kg Approx 1 9 kg Approx 1 9 kg Approx 2 7 kg Approx 4 7 kg Approx 4 7 kg Maximum applicable motor capacity 600 W 1 kW 1 5 kW 2 kW 3 kW 5 kW...

Страница 89: ...f rotations Electronic gear setting error The set value for the Electronic Gear Ratio Pn009 to Pn010 Pn500 to Pn503 is not appropriate Error counter overflow Error counter value based on the encoder p...

Страница 90: ...mmunications error An error was detected in external scale connection and communications data External scale status error An external scale error code was detected Phases A B and Z connection error An...

Страница 91: ...400 W 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz R88D KTxH 50 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 100 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz Note Single p...

Страница 92: ...0 VAC 170 to 253 V 50 60 Hz Note Single phase should connect to L1 or L3 L2 L3 L1C Control circuit power supply input R88D KTxH Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz L2C Symb ol Name Funct...

Страница 93: ...to the torque of 0 7 to 0 8 N m M4 or 1 4 to 1 6 N m M5 Symb ol Name Function L1 Main circuit power supply input R88D KTxH 3 to 5 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L2 L3 L1C Control cir...

Страница 94: ...1 Main circuit power supply input R88D KTxF 600 W to 2 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz L2 L3 Symb ol Name Function U Motor connection terminals Phase U These are the output terminals t...

Страница 95: ...of 0 2 N m M3 Tighten the ground screws to the torque of 0 7 to 0 8 N m M4 or 1 4 to 1 6 N m M5 Symb ol Name Function 24 V Control circuit power supply input 24 VDC 15 0 V Symb ol Name Function L1 Mai...

Страница 96: ...2 TVSEL 31 RESET 30 ECRST 28 GESEL1 27 GSEL 26 DFSEL1 29 RUN 7 24 VIN CONTROL mode switching Alarm reset Error counter reset Electronic gear switching Gain switching Vibration filter switching 12 to 2...

Страница 97: ...SET 30 VSEL2 28 VSEL3 27 GSEL 26 VZERO 29 RUN 7 24VIN CONTROL mode switching Alarm reset Internally set speed selection 2 Internally set speed selection 3 Gain switching Zero speed designation 12 to 2...

Страница 98: ...output Alarm output Motor rotation speed detection output BKIRCOM 11 10 READY READYCOM ALMCOM 35 34 ALM 37 36 TGONCOM TGON 39 38 9 TVSEL 8 RESET 32 31 27 GSEL 26 VZERO 29 RUN 7 24VIN CONTROL mode swit...

Страница 99: ...he setting of Command Pulse Input Selection Pn005 45 CWLD 46 CCWLD Forward pulse input for line driver only 47 CCWLD 20 SEN Sensor ON Input This performs serial transmission of multi rotation data of...

Страница 100: ...rding to the setting of Torque Limit Selection Pn521 7 24VIN 12 to 24 VDC power supply input This is the positive input terminal of the external DC power supply for sequence input 12 to 24 V 8 9 26 to...

Страница 101: ...ot be reset with this input TVSEL 32 CONTROL mode switching input This signal switches the CONTROL mode for Servo Drive Changes to enable set value 3 to 5 according to the setting of CONTROL mode Sele...

Страница 102: ...IGN Torque command sign input This signal designates the motor rotation direction for torque commands Changes to enable set value 1 according to the setting of Torque Command Direction Selection Pn318...

Страница 103: ...ccording to the setting condition of Positioning Completion Condition Selection Pn432 INP1COM 38 TGON 39 Motor rotation speed detection output This output turns ON when the motor rotation speed reache...

Страница 104: ...e setting condition of Warning Output Selection 1 Pn440 WARN2COM P CMD Position command status output This output turns ON when a positioning command is input P CMDCOM V LIMIT Speed limiting output Th...

Страница 105: ...nput Absolute encoder backup battery input BATGND CWLD Reverse pulse input for line driver only Reverse pulse input for line driver only Forward pulse input for line driver only CWLD CCWLD 12 to 24 VD...

Страница 106: ...n Command Pulse Line Receiver Input When connecting with a line driver and a line receiver up to 4 Mpps will be available CWLD 44 CWLD 45 CCWLD 46 CCWLD 47 The shielded twisted pair cable should not e...

Страница 107: ...UAL 3 Specifications Position Command Pulse Photocoupler Input Line Driver Input 500 kpps Maximum CW 3 CW 4 CCW 5 CCW 6 Precautions for Correct Use The twisted pair cable should not exceed 10 m in len...

Страница 108: ...1 CW 4 24 VCCW 2 CCW 6 External control power supply 200 kpps maximum CW 3 CW 4 CCW 5 CCW 6 Select a Current Limit Resistor R appropriate for Vcc 32 Precautions for Correct Use The open collector wir...

Страница 109: ...0 V or more L level 0 8 V or less 4 7 k 1 0 k 8 9 SI1 SI2 7 24VIN To other input circuit External power supply 12 VDC 5 to 24 VDC 5 Power supply capacity 50 mA or more per unit Signal level ON level 1...

Страница 110: ...of these signals depend on the settings of the Command Pulse Rotation Direction Switching Selection Pn006 and the COMMAND PULSE mode Selection Pn007 Note 1 If the Command Pulse Rotation Direction Swi...

Страница 111: ...gnals Maximum input frequency Line driver 500 kpps Open collector 200 kpps Direction signal Feed pulse Forward command Reverse command t1 t1 t2 t2 t2 t1 t1 T At 500 kpps t1 0 1 s t2 1 0 s 1 0 s T 2 0...

Страница 112: ...gnals depend on the settings of the Command Pulse Rotation Direction Switching Selection Pn006 and the COMMAND PULSE mode Selection Pn007 Note 1 If the Command Pulse Rotation Direction Switching Selec...

Страница 113: ...rward pulse Maximum input frequency Line driver 4 Mpps 90 phase difference signals Maximum input frequency Line driver 4 Mpps Direction signal Feed pulse Forward command Reverse command t1 t1 t2 t2 t2...

Страница 114: ...en the absolute encoder power is interrupted Normally do not connect anything to this terminal because a battery is connected to the battery holder for absolute encoder battery cable Never connect to...

Страница 115: ...to change the torque limit scale relative to the analog input Operation command RUN Pin 29 Operation command RUN This is the allocation at default setting You can change the logics and allocations fo...

Страница 116: ...to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 You can only allocate the error counter reset input ECRST to pin 30 SI7 Allocating to any other terminal generates an err...

Страница 117: ...g to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function Use the sequence signal to switch among the 4 filters for use in damping control when the setting of Vibration Filter Selectio...

Страница 118: ...gics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function Perform speed control according to the internal speed...

Страница 119: ...ction Pn301 is enable set value 1 the polarity of analog command input and rotation direction at internal command speed become disabled Pn300 set value Operation when ON 0 Zero speed designation is di...

Страница 120: ...ue Command Direction Selection Pn301 is enable set value 1 the polarity of torque command input is disabled Emergency Stop Input EMG STP No allocation Emergency stop input EMG STP There is no allocati...

Страница 121: ...is the allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Fun...

Страница 122: ...GND Phase A Phase B Phase Z FG 0 V R 120 to 180 R R R FG 0 V 0 V 5 V Phase A Phase B Phase Z Applicable line receiver AM26C32 or equivalent Output line driver AM26C31 or equivalent ZCOM Z 19 25 FG Sh...

Страница 123: ...everse direction drive prohibition input and external scale input are established before operation of the protective function starts Also you can increase this time with Pn618 Power Supply ON Initiali...

Страница 124: ...to the phase A pulse and the output source are set in the External Feedback Pulse Direction Switching Pn326 The ground for the output circuit line driver is connected to the signal ground SENGND It is...

Страница 125: ...n the control and main power supply is established and not in alarm status Alarm Output ALM Pin 37 Alarm Output ALM Pin 36 Alarm output common ALMCOM The alarm output terminal is fixed to pin 36 or 37...

Страница 126: ...minals CN1 to 10 11 34 35 38 and 39 according to the settings of Output Signal Selections 1 to 4 Pn410 to 413 Function This output turns ON when the motor rotation speed is equal to Zero Speed Detecti...

Страница 127: ...g to the settings of Output Signal Selections 1 to 4 Pn410 to 413 Function This turns ON during torque control or speed limit status Alarm Clear Attribute Output ALM ATB No allocation Alarm clear attr...

Страница 128: ...der signal I O serial signal 6 PS Encoder phase S input Shell FG Frame ground Frame ground Name Model Manufacturer Driver connector 53460 0629 Molex Japan Cable connector 55100 0670 Pin number Symbol...

Страница 129: ...10 4 7 k 1 0 k Shell FG FG GND External encoder power supply output 52 V 5 250 mA max Serial number Pin number Symbol Name Function and interface 1 E5V External encoder power supply output External e...

Страница 130: ...Manufacturer MUF connector MUF PK10K X JST Mfg Co Ltd 52 V 5 250 mA max Phase Z Photocoupler input EXZ EXZ 9 10 4 7 k 1 0 k Phase A Photocoupler input EXA EXA GND E5V 5 V E0V 6 5 2 1 1 0 k Phase B Ph...

Страница 131: ...SER S MANUAL 3 Specifications Serial Communications Type Absolute Encoder Specifications Pn323 2 EXS REQ SD REQ SD EXS GND GND E5V 5 V E0V 2 3 7 8 4 1 Shell Shell FG Driver side CN4 FG FG Serial numbe...

Страница 132: ...n use Pn416 and Pn417 to change the item and unit You can use Pn421 to change the output method 2 AM2 Analog monitor output 2 Outputs the analog signal for the monitor Default setting Motor rotation s...

Страница 133: ...r operations such as parameter setting and changing monitoring of control status checking error status and error history and parameter saving and loading can be performed Pin number Symbol Name Functi...

Страница 134: ...DM EDM FG 7 5 1 k 4 k 10 Pin Number Symbol Name Function and interface 1 Reserved Do not connect 2 3 SF1 Safety input 1 Inputs 1 and 2 for operating the STO function which are 2 independent circuits T...

Страница 135: ...power supply 12 VDC 5 to 24 VDC 5 Signal level ON level 10 V or more OFF level 3 V max 4 7 k 1 0 k SF1 4 SF1 3 SF2 6 SF2 5 Photocoupler input 4 7 k 1 0 k Photocoupler input External power supply 12 to...

Страница 136: ...teristics Graphs The following graphs show the characteristics of the load ratio and electronic thermal function s operation time When the torque command 0 and a constant torque command is continuousl...

Страница 137: ...condensation Storage ambient temperature and humidity 20 to 65 C 20 to 80 RH with no condensation Guaranteed maximum temperature of 80 C 72 hours at normal temperature 20 to 65 C 20 to 85 RH with no c...

Страница 138: ...s 10 1 19 8 29 0 62 4 With brake kW s 9 4 18 8 25 4 58 0 Mechanical time constant Without brake ms 1 37 1 07 0 65 0 46 With brake ms 1 48 1 13 0 74 0 50 Electrical time constant ms 0 80 0 91 3 0 3 4...

Страница 139: ...Model R88M Item Unit 100 VAC K05030H K10030L K20030L K40030L K05030T K10030S K20030S K40030S Brake specifications Allowable angular acceleration rad s2 30 000 max Speed of 2 800 r min or more must no...

Страница 140: ...0 44 With brake ms 1 48 1 20 0 66 0 47 Electrical time constant ms 0 80 0 77 3 2 3 4 Allowable radial load 3 N 68 68 245 245 Allowable thrust load 3 N 58 58 98 98 Weight Without brake kg Approx 0 32...

Страница 141: ...l time constant Without brake ms 0 39 0 61 0 49 With brake ms 0 43 0 71 0 55 Electrical time constant ms 5 4 5 8 6 3 Allowable radial load 3 N 490 490 490 Allowable thrust load 3 N 196 196 196 Weight...

Страница 142: ...rake ms 0 67 0 60 0 49 0 45 With brake ms 0 8 0 70 0 55 0 49 Electrical time constant ms 5 9 5 8 6 5 6 6 Allowable radial load 3 N 490 490 490 490 Allowable thrust load 3 N 196 196 196 196 Weight With...

Страница 143: ...nstant Without brake ms 0 40 0 51 0 50 With brake ms 0 49 0 56 0 54 Electrical time constant ms 12 13 13 Allowable radial load 3 N 490 784 784 Allowable thrust load 3 N 196 343 343 Weight Without brak...

Страница 144: ...ence value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd 6 Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co 7 Direct current switching with a...

Страница 145: ...1 3 1 8 2 3 3 8 2600 N m Momentary operation range Continuous operation range Power supply voltage dropped by 10 4 0 0 1000 2000 3000 3600 4000 4000 6000 r min 5000 8 0 7 1 4 9 3 0 7 1 3200 2 4 2 4 N...

Страница 146: ...uous operation range Power supply voltage dropped by 10 7 5 0 1000 2000 3000 4000 5000 r min 15 14 3 14 3 4 77 4 77 N m Momentary operation range Continuous operation range Power supply voltage droppe...

Страница 147: ...0 30 40 With brake Rated torque ratio 100 70 60 10 0 20 30 40 Without brake With brake Ambient temperature C Rated torque ratio 100 95 10 0 20 30 40 With brake Ambient temperature C Rated torque ratio...

Страница 148: ...Power rate 1 Without brake kW s 49 5 76 5 105 With brake kW s 38 6 64 2 91 2 Mechanical time constant Without brake ms 0 80 0 66 0 66 With brake ms 1 02 0 80 0 76 Electrical time constant ms 9 4 10 10...

Страница 149: ...mum torque 1 N m 43 0 57 3 71 6 Rated current 1 A rms 17 4 21 0 25 9 Momentary maximum current 1 A rms 74 89 110 Rotor inertia Without brake kg m2 12 9 10 4 37 6 10 4 48 0 10 4 With brake kg m2 14 2 1...

Страница 150: ...4 VDC 10 Power consumption at 20 C W 22 31 31 Current consumption at 20 C A 0 90 10 1 3 10 1 3 10 Static friction torque N m 16 2 min 24 5 min 24 5 min Attraction time 5 ms 110 max 80 max 80 max Relea...

Страница 151: ...ms 0 70 0 62 0 79 0 66 With brake ms 0 83 0 72 1 01 0 79 Electrical time constant ms 5 7 5 9 10 10 Allowable radial load 3 N 490 490 490 490 Allowable thrust load 3 N 196 196 196 196 Weight Without br...

Страница 152: ...0 4 37 6 10 4 48 0 10 4 With brake kg m2 10 0 10 4 14 2 10 4 38 6 10 4 48 8 10 4 Applicable load inertia 10 times the rotor inertia max 2 Torque constant 1 N m A 1 27 1 18 1 40 1 46 Power rate 1 Witho...

Страница 153: ...10 Static friction torque N m 13 7 min 16 2 min 24 5 min 24 5 min Attraction time 5 ms 100 max 110 max 80 max 80 max Release time 5 ms 50 max 6 50 max 6 25 max 7 25 max 7 Backlash 1 reference value A...

Страница 154: ...t current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation 7 Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co Torque Rotation Speed Characteristics for 2...

Страница 155: ...ous operation range 3000 r min Power supply voltage dropped by 10 N m 0 1000 2000 5 10 15 14 3 4 77 4 77 14 3 Momentary operation range Continuous operation range 3000 r min Power supply voltage dropp...

Страница 156: ...1 N m A 0 86 0 88 0 96 Power rate 1 Without brake kW s 110 120 170 With brake kW s 92 4 116 167 Mechanical time constant Without brake ms 0 66 0 75 0 63 With brake ms 0 78 0 78 0 64 Electrical time co...

Страница 157: ...in 2 000 Momentary maximum torque 1 N m 19 3 47 7 71 7 Rated current 1 A rms 3 8 8 5 11 3 Momentary maximum current 1 A rms 12 30 40 Rotor inertia Without brake kg m2 6 70 10 4 30 3 10 4 48 4 10 4 Wit...

Страница 158: ...VDC 10 Power consumption at 20 C W 19 31 34 Current consumption at 20 C A 0 79 10 1 3 10 1 4 10 Static friction torque N m 13 7 min 24 5 min 58 8 min Attraction time 5 ms 100 max 80 max 150 max Relea...

Страница 159: ...re Characteristics of the Motor and Mechanical System OMNUC G5 Series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approx 0 13 C As the...

Страница 160: ...mA max Output signals S S Output interface RS485 compliance Item Specifications Encoder system Optical encoder 17 bits Number of output pulses Phases A and B 32 768 pulses rotation Phase Z 1 pulse rot...

Страница 161: ...xternal dimensions Wiring Model Length L Outer diameter of sheath Weight R88A CRKA001 5CR E 1 5 m 6 9 dia Approx 0 1 kg R88A CRKA003CR E 3 m Approx 0 1 kg R88A CRKA005CR E 5 m Approx 0 2 kg R88A CRKA0...

Страница 162: ...1 kg R88A CRKC003NR E 3 m Approx 0 2 kg R88A CRKC005NR E 5 m Approx 0 4 kg R88A CRKC010NR E 10 m Approx 0 7 kg R88A CRKC015NR E 15 m Approx 1 1 kg R88A CRKC020NR E 20 m Approx 1 5 kg L 7 6 Driver sid...

Страница 163: ...guration and external dimensions Wiring Model Length L Outer diameter of sheath Weight R88A CAKA001 5SR E 1 5 m 6 7 dia Approx 0 1 kg R88A CAKA003SR E 3 m Approx 0 2 kg R88A CAKA005SR E 5 m Approx 0 3...

Страница 164: ...el Length L Outer diameter of sheath Weight R88A CAGB001 5SR E 1 5 m 12 7 dia Approx 0 5 kg R88A CAGB003SR E 3 m Approx 0 8 kg R88A CAGB005SR E 5 m Approx 1 3 kg R88A CAGB010SR E 10 m Approx 2 4 kg R8...

Страница 165: ...1 5SR E 1 5 m 13 2 dia Approx 0 8 kg R88A CAGD003SR E 3 m Approx 1 4 kg R88A CAGD005SR E 5 m Approx 2 2 kg R88A CAGD010SR E 10 m Approx 4 2 kg R88A CAGD015SR E 15 m Approx 6 3 kg R88A CAGD020SR E 20 m...

Страница 166: ...rox 0 5 kg R88A CAGB003BR E 3 m Approx 0 9 kg R88A CAGB005BR E 5 m Approx 1 5 kg R88A CAGB010BR E 10 m Approx 2 8 kg R88A CAGB015BR E 15 m Approx 4 2 kg R88A CAGB020BR E 20 m Approx 5 5 kg L 150 12 5...

Страница 167: ...AKF003BR E 3 m Approx 1 0 kg R88A CAKF005BR E 5 m Approx 1 5 kg R88A CAKF010BR E 10 m Approx 2 7 kg R88A CAKF015BR E 15 m Approx 4 0 kg R88A CAKF020BR E 20 m Approx 5 3 kg L 150 12 5 Driver side Motor...

Страница 168: ...CAGD003BR E 3 m Approx 1 6 kg R88A CAGD005BR E 5 m Approx 2 5 kg R88A CAGD010BR E 10 m Approx 4 7 kg R88A CAGD015BR E 15 m Approx 7 0 kg R88A CAGD020BR E 20 m Approx 9 2 kg L 150 13 5 Driver side Moto...

Страница 169: ...ourself Dimensions Encoder Connectors These connectors are used for encoder cables Use them when preparing an encoder cable by yourself Dimensions R88A CNW01R driver s CN2 side This connector is a sol...

Страница 170: ...ng cover outer diameter 1 3 mm dia max Outer diameter of sheath 5 0 5 mm dia Adaptive motors 100 V 3 000 r min motors of 50 to 400 W 200 V 3 000 r min motors of 50 to 750 W ABS 12 5 21 5 13 21 16 6 8...

Страница 171: ...FT04SJ1 Japan Aviation Electronics Socket contact model ST TMH S C1B 3500 A534G Japan Aviation Electronics Brake Cable Connector R88A CNK11B This connector is used for brake cables Use it when prepari...

Страница 172: ...3 Specifications Analog Monitor Cable Specifications Analog Monitor Cable R88A CMK001S Connection configuration and external dimensions No 1 2 Symbol Black Red White Cable AWG24 3C UL1007 3 4 5 6 Con...

Страница 173: ...nal Scale Connector R88A CNK41L Use this connector to connect to an external scale in full closing control Connector plug model MUF PK10K X J S T Mfg Co Ltd Safety I O Signal Connector R88A CNK81S Use...

Страница 174: ...onnection configuration and external dimensions Cables for 1 axis Cables for 2 axes Model Length L Outer diameter of sheath Weight R88A CPG001M1 1 m 8 3 dia Approx 0 2 kg R88A CPG002M1 2 m Approx 0 3...

Страница 175: ...X A X B X B X Z X Z XOUT XAGND F24V 1 2 3 4 5 8 9 10 11 12 13 14 15 16 17 18 19 FDC GND 20 21 22 23 26 27 28 29 30 31 32 33 34 35 36 YALM YRUN YALMRS YSGND YSOUT Y GND Y A Y A Y B Y B Y Z Y Z YOUT YAG...

Страница 176: ...21 22 49 48 23 24 14 15 Shell 7 36 ALM RUN RESET SENGND SEN ZCOM A A B B Z Z REF TREF1 VLIM AGND FG 24VIN ALMCOM AWG20 Red AWG20 Black White Black 1 Pink Black 1 Yellow Black 1 Gray Black 1 Gray Red 1...

Страница 177: ...or line driver output for 1 axis Cable for open collector output for 1 axis Cable for line driver output for 2 axes Cable for open collector output for 2 axes Connection configuration and external dim...

Страница 178: ...2 49 48 23 24 7 30 29 26 31 27 39 38 35 34 37 36 20 13 Shell 25 24 24 V power supply for output 24 V GND for output Input common Forward direction pulse output Forward direction pulse output Reverse d...

Страница 179: ...SEN output Signal ground 1 3 5 16 18 21 20 23 22 25 24 15 11 10 12 13 7 6 9 26 27 2 4 50 38 36 35 34 33 32 31 30 41 45 44 42 43 49 48 47 29 28 11 BKIR 10 BKIRCOM 3 CW PULS FA 4 CW PULS FA 5 CCW SIGN F...

Страница 180: ...INP INPCOM READY REDYCOM ALM SENGND FG 11 10 44 45 46 47 21 22 49 48 23 24 7 30 29 26 31 27 39 38 35 34 37 36 20 13 Shell 25 24 24 V power supply for output 24 V GND for output Input common Forward di...

Страница 181: ...se A output 22 A Encoder phase A output 49 B Encoder phase B output 48 B Encoder phase B output 23 Z Encoder phase Z output 24 Z Encoder phase Z output 7 24VIN 30 ECRST Error counter reset input 29 RU...

Страница 182: ...t which does not have a specified cable or connecting to another company s controller prepare wiring suited for the controller to be connected When connecting to a controller which does not have a spe...

Страница 183: ...White Red 1 CCW SIGN FB 31 Yellow Black 3 SI8 6 White Black 1 CCW SIGN FB 32 Gray Black 4 SI9 7 Yellow Red 1 24VIN 33 Orange Red 4 SI10 8 Pink Red 1 SI1 34 White Red 4 S02 9 Pink Black 1 SI2 35 White...

Страница 184: ...the driver s control I O connector CN1 All of the pins in the CN1 control I O signal can be converted to the terminal block Cable types Connection configuration and external dimensions Model Length L...

Страница 185: ...socket model XG4M 5030 OMRON Strain relief model XG4T 5004 OMRON Cable AWG28 25P UL2464 1 Wires with the same wire color and the same number of marks form a twisted pair Example Wires with respective...

Страница 186: ...rminal block cable XW2Z xJ B24 to convert the driver s control I O connector CN1 to a terminal block XW2B 50G4 M3 Screw Terminal Block Dimensions Use 0 3 to 1 25 mm2 wire AWG22 to 16 The wire inlet is...

Страница 187: ...s and crimp terminals to a terminal block tighten them with a tightening torque of 0 59 N m Applicable crimp terminals Applicable wires Round terminals 1 25 3 AWG22 16 0 3 to 1 25 mm2 2 3 5 AWG16 14 1...

Страница 188: ...inal block tighten them with a tightening torque of 0 7 N m Applicable crimp terminals Applicable wires Round terminals 1 25 3 AWG22 16 0 3 to 1 25 mm2 Fork terminals 1 25Y 3 AWG22 16 0 3 to 1 25 mm2...

Страница 189: ...ntrol Units for OMRON Programmable Controllers SYSMAC Select the models that match the Position Control Unit to be used Servo Relay Units Specifications XW2B 20J6 1B This Servo Relay Unit connects to...

Страница 190: ...t connects to the following OMRON Position Control Units Dimensions Terminal block pitch 7 62 mm CJ1W NC213 NC233 NC413 NC433 CS1W NC213 NC233 NC413 NC433 C200HW NC213 NC413 0 V RUN ALM BKIR 10 0 19 9...

Страница 191: ...mable Controllers Dimensions Terminal block pitch 7 62 mm CQM1 CPU43 V1 CQM1 PLB21 0 V 20 0 39 19 FG 24 VDC X1 XB 24 VDC Y1 YB 24 VDC X1 Y1 24 V X Y axis emergency stop X axis CW limit X axis CCW limi...

Страница 192: ...ut signal to a CQM1 Input Unit 3 The XB contacts are used to turn ON OFF the electromagnetic brake Note 1 The phase Z is an open collector Note 2 Do not connect unused terminals Note 3 The 0 V termina...

Страница 193: ...ions XW2B 20J6 8A This Servo Relay Unit connects to the following OMRON Programmable Controllers Dimensions Terminal block pitch 7 62 mm CJ1M CPU21 CPU22 CPU23 for 1 axis 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1...

Страница 194: ...tput 1 Accordingly the actual inputs can be used as the CW CCW limit by outputting the flags below in the ladder program Example 2 The XB contacts are used to turn ON OFF the electromagnetic brake 3 C...

Страница 195: ...he following OMRON Programmable Controllers Dimensions Terminal block pitch 7 62 mm CJ1M CPU21 CPU22 CPU23 for 2 axes 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2 2 3 2 4 2...

Страница 196: ...YB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is disabled 4 Do not connect unused terminals 5 The 0 V terminal is internally connected to the co...

Страница 197: ...ecifications XW2B 80J7 12A This Servo Relay Unit connects to the following OMRON Programmable Controllers Dimensions FQM1 MMA22 FQM1 MMP22 160 100 90 41 7 15 9 30 7 X axis Servo Drive Servo phase B se...

Страница 198: ...le Motion Controller FQM1 Motion control module FQM1 MMP22 Servo Relay Unit cable XW2Z xJ B26 OMNUC G5 Series motor R88M Kx OMNUC G5 Series driver R88D KTx FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL...

Страница 199: ...5 IN3 common 0 V 5 Common 0 V 4 IN8 common 0 V 4 IN9 common 0 V 4 IN10 common 0 V 4 IN11 common 0 V 4 IN5 common 0 V 4 IN6 common 0 V 4 IN7 common 0 V 4 Latch signal 1 common 0 V 5 Latch signal 2 com...

Страница 200: ...5 IN2 common 0 V 5 IN3 common 0 V 5 Common 0 V 4 IN8 common 0 V 4 IN9 common 0 V 4 IN10 common 0 V 4 IN11 common 0 V 4 IN5 common 0 V 4 IN6 common 0 V 4 IN7 common 0 V 4 Latch signal 1 common 0 V 5 La...

Страница 201: ...36 7 27 FQM1 signal For Servo No 1 For Servo No 2 54 56 69 70 14 16 29 30 OUT0 OUT2 OUT4 OUT6 BKIR 68 28 71 31 IN6 IN10 IN4 IN5 IN8 IN9 60 61 62 63 64 65 66 67 69 70 71 72 73 74 75 76 77 78 79 40 41 4...

Страница 202: ...onnector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B25 1 m 8 1 dia Approx 0 1 kg XW2Z 200J B25 2 m Ap...

Страница 203: ...ase model 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B26 1 m 9 1 dia Approx 0 1 kg XW2Z 200J B26 2 m Approx 0 2 kg 52 4 Driver side Servo Relay Unit side XW2B...

Страница 204: ...Connector case model 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B27 1 m 9 1 dia Approx 0 1 kg XW2Z 200J B27 2 m Approx 0 2 kg 52 4 48 Driver side Servo Relay U...

Страница 205: ...0150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B31 1 m 8 1 dia Approx 0 1 kg XW2Z 200J B31 2 m Approx 0 2 kg 52 4 30 D...

Страница 206: ...Controller CQM1H PLB21 to a Servo Relay Unit XW2B 20J6 3B Cable types Connection configuration and external dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A3 50 cm 7 5 dia...

Страница 207: ...ion configuration and 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 Contr...

Страница 208: ...ing Model Length L Outer diameter of sheath Weight XW2Z 050J A7 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A7 1 m Approx 0 2 kg 48 L 6 47 83 t 11 Position Control Unit side CS1W NC213 CS1W NC413 C200HW NC...

Страница 209: ...xternal dimensions 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 side CS...

Страница 210: ...diameter of sheath 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 side CS1W NC233 CS1W NC433 Servo Relay Unit side XW2B...

Страница 211: ...ion and external 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 side...

Страница 212: ...th L Outer diameter of sheath Weight XW2Z 050J A15 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A15 1 m Approx 0 2 kg L 6 t 11 500 48 Position Control Unit side CJ1W NC213 CJ1W NC413 Servo Relay Unit side X...

Страница 213: ...ensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A18 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A18 1 m Approx 0 2 kg L 6 38 t 11 500 1000 Position Control Unit side CJ1W NC133 Serv...

Страница 214: ...th Weight XW2Z 050J A19 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A19 1 m Approx 0 2 kg L 6 t 11 500 48 1000 C J1 W N C 2 3 3 N C 4 3 3 40J6 2B Position Control Unit side CJ1W NC233 CJ1W NC433 Servo Rela...

Страница 215: ...d external dimensions 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 Ser...

Страница 216: ...n configuration 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...

Страница 217: ...ernal dimensions 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...

Страница 218: ...nfiguration and external dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A31 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A31 1 m Approx 0 2 kg XW2Z 200J A31 2 m Approx 0 3 kg L 1...

Страница 219: ...50 250 Thickness 3 0 Operating temperature 150 C 5 NC contact Rated output 30 VDC 50 mA max Model Resistance value Nominal capacity Regeneration absorption for 120 C temperature rise Heat radiation co...

Страница 220: ...cations R88A RR50020S Model Resistance value Nominal capacity Regeneration absorption for 120 C temperature rise Heat radiation condition Thermal switch output specifications R88A RR50020S 20 500 W 18...

Страница 221: ...Filter model Rated current Leakage current Rated voltage R88D KT01H R88A FIK102 RE 2 4 A 3 5 mA 250 VAC single phase R88D KT02H R88D KT04H R88A FIK104 RE 4 1 A R88D KT08H R88A FIK107 RE 6 6 A R88D KT1...

Страница 222: ......

Страница 223: ...Installation Conditions 4 1 Servomotor Installation Conditions 4 3 Gearbox Installation Conditions 4 6 4 2 Wiring 4 7 Peripheral Equipment Connection Examples 4 7 Main Circuit and Motor Connections 4...

Страница 224: ...ax with no condensation Operating atmosphere No corrosive gases Altitude 1 000 m max Derating must be applied for higher altitudes Ambient Temperature Control To operate in environments in which there...

Страница 225: ...r driver Keeping Foreign Objects Out of Units Place a cover over the driver or take other preventative measures to prevent foreign objects such as drill filings from getting into the driver during ins...

Страница 226: ...ms For the allowable axial loads for motors refer to Characteristics P 3 2 If an axial load greater than that specified is applied to a motor it will reduce the limit of the motor bearings and may bre...

Страница 227: ...the lip of the oil seal Prepare a good lubricated condition under which oil droplets splash on the oil seal If you are using the Servomotor in the axial direction make sure that no oil accumulates on...

Страница 228: ...ed with anti corrosion oil when shipped but anti corrosion oil or grease should also be applied when connecting the components which apply load to the shaft Caution Never repair the product by disasse...

Страница 229: ...res another company s Gearbox to be used in combination with an OMNUC G5 Series motor select the Gearbox so that the load on the motor shaft i e both the radial and thrust loads is within the allowabl...

Страница 230: ...less Encoder cables Power cables 24 VDC XB 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON c...

Страница 231: ...W V U B E M CN2 Encoder cables Power cables 24 VDC 3 2 CN1 CN1 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example...

Страница 232: ...VDC 2 CN1 CN1 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 series...

Страница 233: ...ded product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 series motors with brakes becaus...

Страница 234: ...coder cables Power cables 24 VDC 3 2 CN1 CN1 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON...

Страница 235: ...CN1 CN1 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 Series motor...

Страница 236: ...1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz L2 L3 L1C Control circuit power supply input R88D KTxL Single phase 100 to 115 VAC 85 to 127 V 50 60Hz R88D KTxH Single phase 200 to 240 VAC 170 to...

Страница 237: ...e 200 to 230 VAC 170 to 253 V 50 60 Hz L2C Symbol Name Function U Motor connection terminals Red These are the output terminals to the Servomotor Be sure to wire them correctly V White W Blue Green Ye...

Страница 238: ...ls Normally B2 and B3 are short circuited If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 B2 B3 U Mo...

Страница 239: ...ween B1 and B2 When using N terminal make sure not to exceed the fuse s rated voltage 660 VDC 20 A B2 B3 N Symbol Name Function L1 Main circuit power supply input R88D KTxF 3 to 5 kW 3 phase 380 to 48...

Страница 240: ...tem Unit Power supply capacity kVA 0 4 0 4 0 5 0 9 Main circuit power supply input L1 and L3 or L1 L2 and L3 1 Rated current A 1 4 2 6 4 3 7 6 Wire size AWG14 to 18 Control circuit power supply input...

Страница 241: ...1C and L2C Wire size AWG18 Screw size Tightening torque N m Motor connection terminals U V W and FG 2 Rated current A 1 2 1 6 2 6 4 1 5 9 Wire size AWG14 to 18 AWG14 Screw size Tightening torque N m F...

Страница 242: ...d current A 2 8 2 8 3 9 5 9 7 6 12 1 Wire size AWG14 AWG12 Screw size M5 Tightening torque N m 2 0 Control circuit power supply input L1C and L2C Wire size AWG20 to 24 AWG18 Screw size M5 Tightening t...

Страница 243: ...insertion slots in the terminal block using a tool There are 2 ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Servo Drive Figure A Insert a flat...

Страница 244: ...ignal cables and encoder cables Use tin plated mild steel wires for the shielding All cables I O wiring and power lines connected to the driver may have clamp filters installed to improve the noise im...

Страница 245: ...er CNA CN1 CNB CN2 U V W 3 4 1 2 6 5 7 8 Single phase 100 VAC Symbol Name Manufacturer Model Comment SG Surge absorber Okaya Electric Industries Co Ltd RAV781BWZ 4 Single phase 100 VAC RAV781BXZ 4 3 p...

Страница 246: ...nd the cables Separate power supply lines and signal lines when wiring Symbol Supplies from Connects to Cable name Length Comment Shielded Ferrite 1 AC power supply Noise filter Power supply line 2 m...

Страница 247: ...panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws Do not leave any conductive part unconnected Ground all units within the case to the ca...

Страница 248: ...se breakers are generally suitable Select a no fuse breaker with a rated current greater than the total effective load current of all the motors when multiple drivers are used The rated current of the...

Страница 249: ...total of the leakage current given in the following table as a reference value When selecting leakage breakers remember to add the leakage current from devices other than the motor such as machines us...

Страница 250: ...e recommended Note 1 Refer to the manufacturers catalog 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 ch...

Страница 251: ...erally used for 1 5 kW or higher 2 Generally used for 1 5 kW or lower The maximum number of windings is 3 turns 3 Generally used for 50 100 W The maximum number of windings is 2 turns 4 Also used on t...

Страница 252: ...AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 System Design External Dimensions 2 M5 3 M4 95 26 78 80 12 5 72 50 7 39 5 3G3AX ZCL2 3G3AX ZCL1 51 5 25 5 17 5 5 1 3 0 6 5 34 0 ESD R 47B 34 13 30 39 ZCAT...

Страница 253: ...tem Design Impedance Characteristics 10 100 10000 1000 100 10 1 0 1 Frequency kHz Frequency kHz Impedance Impedance 1 1000 3G3AX ZCL2 3G3AX ZCL1 10000 1000 100 10 1 Impedance 10 100 Frequency MHz 1 10...

Страница 254: ...lays At power shutoff the surge voltage is the lowest but the rest time takes longer Used for 24 48 VDC systems Use a fast recovery diode with a short reverse recovery time e g RU2 of Sanken Electric...

Страница 255: ...ng and are coiled mutual induction and inductance will increase and cause malfunctions Always use cables fully extended When installing noise filters for encoder cables use clamp filters The following...

Страница 256: ...Additionally do not connect the ground wires Connecting the ground wires may cause I O signal errors Keep the power supply for pulse commands and error counter reset input lines separated from the co...

Страница 257: ...at manufacturers take appropriate remedies to suppress harmonic current emissions onto power supply lines Select the proper Reactor model according to the Servo Drive to be used Driver model Reactor M...

Страница 258: ...tinuous output current The following table shows the noise filters that are recommended for motor output lines Note 1 Motor output lines cannot use the same noise filters for power supplies Note 2 Gen...

Страница 259: ...em Design 3G3AX NF003 NF004 NF005 NF006 C B A P F E 6 O 2 N 50 30 4 6 5 50 H J Model Dimensions mm A B C E F H J N O P 3G3AX NF003 160 145 130 80 112 120 M4 154 3G3AX NF004 200 180 160 100 162 150 120...

Страница 260: ...ng equations Note Due to the loss of motor winding resistance and PWM the actual regenerative energy will be approx 90 of the values derived from these equations For driver models with internal capaci...

Страница 261: ...generation absorption capacity The capacity depends on the model For details refer to the next section For driver models with an Internal Regeneration Resistor used for absorbing regenerative energy i...

Страница 262: ...uce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time Regenerative energy per unit time decreases Lengthen the...

Страница 263: ...easily affected by heat Attach radiator plates suitable for the heat radiation conditions External Regeneration Resistor Characteristics Model Resistance value Nominal capacity The amount of regenera...

Страница 264: ...hutoff sequence using the output from the thermal switch R88D KT04L KT08H KT10H KT15H KT20H KT30H KT50H KT06F KT10F KT15F KT20F KT30F KT50F Normally B2 and B3 are short circuited If an External Regene...

Страница 265: ...reach 200 C Do not place objects that tend to catch fire nearby To prevent people from touching them install a type of cover that enables heat dissipation Regeneration absorption capacity 1 20 W 40 W...

Страница 266: ......

Страница 267: ...5 6 Related Functions 5 10 Parameter Block Diagram for SPEED CONTROL mode 5 11 5 3 Torque Control 5 12 Outline of Operation 5 12 Parameters Requiring Settings 5 12 Related Functions 5 15 Parameter Blo...

Страница 268: ...lied by the Electronic Gear Pn008 to Pn010 Driver OMNUC G5 Motor OMNUC G5 Controller pulse train output type Pulse train CW CW CCW CCW 3 4 5 6 CWLD CWLD CCWLD CCWLD 44 45 46 47 Electronic Gear Pn008 t...

Страница 269: ...on Direction Switching Selection Set the count direction for the command pulse input P 8 3 Pn007 COMMAND PULSE mode Selection Set the count method for the command pulse input P 8 3 Pn009 Electronic Ge...

Страница 270: ...ifference 2 phase pulse phase A phase B PULS SIGN 1 Forward direction pulse train Reverse direction pulse train PULS SIGN 3 Pulse train Sign PULS SIGN t1 t1 Phase B t1 t1 t1 Phase A t1 t1 t1 Phase B i...

Страница 271: ...Numerator Set the pulse output resolution using the numbers of output pulses per rotation for OA and OB respectively P 8 6 Pn012 Encoder Output Direction Switching Selection Set the phase B logic and...

Страница 272: ...c gear setting Damping control Pn011 1 Rotation Pn012 Reverse Numerator Denominator Pn503 Denominator Encoder pulse output OA OB OZ Pulse regeneration Position control Speed feed forward Pn112 Gain Pn...

Страница 273: ...ce Pn001 CONTROL mode Selection Select the CONTROL mode P 8 1 Pn300 Command Speed Selection Select the speed command input method P 8 25 Pn301 Speed Command Direction Selection Set the method for desi...

Страница 274: ...e direction 0 to 1 Pn302 Speed Command Scale Set the input gain for the analog speed command input 0 to 2000 r min V Pn303 Analog Speed Command Rotation Direction Switching Set to reverse the polarity...

Страница 275: ...cale Pn302 500 Speed limit value Speed Command Scale Pn302 input voltage 10 10 6 6 5000 3000 5000 3000 5000 3000 5000 3000 5000 3000 5000 3000 Input voltage Speed command Speed command 10 6 10 6 Input...

Страница 276: ...tered on the inflection points in acceleration deceleration relative to the acceleration or deceleration time set in Soft Start Acceleration Time Pn312 or Soft Start Deceleration Time Pn313 ta Vc 1 00...

Страница 277: ...peed command and motor speed is within the set threshold a speed conformity output is output This setting has a hysteresis of 10 r min for detection P 8 43 Pn436 Rotation Speed for Motor Rotation Dete...

Страница 278: ...selection Pn300 Acceleration Time Pn301 Deceleration time Torque command selection Pn112 Gain Pn113 Filter Torque feed forward Pn623 Gain Pn624 Filter Disturbance observer Pn607 Added Value Pn608 For...

Страница 279: ...ngs Driver OMNUC G5 Motor OMNUC G5 Controller analog voltage output type TREF2 AGND 16 17 TREF1 VLIM AGND 14 15 Torque Command Scale Pn319 TORQUE CONTROL mode Analog voltage torque command V Torque No...

Страница 280: ...and 0 The command indicates the forward direction as viewed from the shaft end CW 1 The command indicates the reverse direction as viewed from the shaft end CCW 0 to 1 Pn319 Torque Command Scale Set t...

Страница 281: ...e command scale is 30 Torque command 100 Input voltage Torque Command Scale Pn302 0 1 10 6 10 6 333 200 200 333 200 200 333 200 333 200 Input voltage Torque command Torque command 10 6 10 6 Input volt...

Страница 282: ...control the speed is controlled so as not to exceed the level set by the speed limit value P 8 32 Pn322 Reverse Direction Speed Limit Value Setting Set this if you want to change the speed limit value...

Страница 283: ...e 2 Internal speed limit Pn317 Command speed Speed Torque Limit Selection Pn317 Command Selection Pn318 Direction Designation Torque command selection Absolute Code Pn114 Setting 2 Pn120 Mode Pn121 De...

Страница 284: ...ed control Speed selection command Internally set speed control can be executed using only the digital I O signals Parameter number Parameter name Explanation Reference Pn001 CONTROL mode Selection Se...

Страница 285: ...de will be analog speed control Input the proper current to REF Pn300 3 Number VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF Disabled Pn304 1 ON OFF Disabled Pn305 2 OFF ON Disabled Pn306 3 ON ON Disabled Pn3...

Страница 286: ...selection 2 VSEL2 Servo ON Drive Stop Speed Open Open Speed 1 Speed 2 Speed 3 Speed 4 Time Open Close Close Close Close Open 1 Parameter number Parameter name Explanation Setting range Unit Pn304 No 1...

Страница 287: ...tching input and the CONTROL mode selected Note Use caution when switching CONTROL mode Operation may change suddenly depending on the CONTROL mode settings Driver OMNUC G5 Motor OMNUC G5 Controller S...

Страница 288: ...ds on the CONTROL mode Position and Torque Control Switching Example Pn001 4 This time chart shows an example of torque thrust There is a maximum delay of 10 ms in reading the input signal When switch...

Страница 289: ...torque control changes according to the motor load conditions e g friction external power inertia Take safety measures on the machine side to prevent motor runaway Adjust the torque command using Ana...

Страница 290: ...to appropriate values Internal External Feedback Pulse Error Counter Overflow Level Pn328 Internal External Feedback Pulse Error Counter Reset Pn329 For the setting of external scale ratio it is reco...

Страница 291: ...ase A and phase B output pulses respectively per motor rotation P 8 6 Pn012 Encoder Output Direction Switching Selection Select the phase B logic for pulse regeneration output and the output source P...

Страница 292: ...and output is a line driver output set input 1 If it is an open collector output set input 2 Although input 2 can also be used for a line driver output the allowable maximum input frequency will becom...

Страница 293: ...motor rotation 0 to 220 Pulse Pn009 Electronic Gear Ratio Numerator 1 Set the numerator of the electronic gear ratio for the command pulse input 0 to 230 Pn010 Electronic Gear Ratio Denominator Set th...

Страница 294: ...pe Selection Select the type of the external scale to be used 0 to 3 Pn326 External Feedback Pulse Direction Switching If the count directions of the external scale feedback pulse and the encoder tota...

Страница 295: ...rection Switching Pn326 Take note that if Pn000 1 the scale count direction becomes opposite to the count direction used for monitoring the total external scale feedback pulses etc If Pn000 0 the coun...

Страница 296: ...0 1 m Encoder resolution 20 bits Parameter number Parameter name Explanation Setting range Unit Pn324 External Feedback Pulse Dividing Numerator Set the numerator of the external scale divider settin...

Страница 297: ...load is loose among others Accordingly check these items when an error occurs Be sure to set an appropriate value for Internal External Feedback Pulse Error Counter Reset Pn329 If an extremely small v...

Страница 298: ...ration Pn011 1 Rotation Pn012 Reverse Numerator Denominator Pn503 Denominator Encoder pulse output OA OB OZ Pulse regeneration Position control Speed feed forward Pn112 Gain Pn113 Filter Torque feed f...

Страница 299: ...ation 6 10 Parameters Requiring Settings 6 10 Operation Example 6 12 6 5 Encoder Dividing Function 6 13 Outline of Operation 6 13 Parameters Requiring Settings 6 13 6 6 Brake Interlock 6 18 Outline of...

Страница 300: ...tion 6 46 Parameters Requiring Settings 6 46 Operation Example 6 47 6 14 Inertia Ratio Switching Function 6 48 Outline of Operation 6 48 Parameters Requiring Settings 6 48 Operating Procedure 6 48 6 1...

Страница 301: ...use the damping control function to reduce vibration This is effective on vibration generated by a machine of low rigidity The applicable frequencies are from 1 to 200 Hz Since damping control is per...

Страница 302: ...the end of the load in damping control If the damping control function is not used set 0 P 8 22 Pn215 Vibration Filter 1 Setting When the Vibration Frequency 1 Pn214 is set reduce the setting if torqu...

Страница 303: ...on decreases 3 Set vibration filter setting Set vibration filter setting 1 Pn215 2 Pn217 3 Pn219 4 Pn221 First set to 0 The stabilization time can be reduced by setting a large value however torque ri...

Страница 304: ...ain Set value SWITCHING mode 0 Vibration filter 1 or 2 enabled 1 Switching by external input DFSEL1 Open Vibration filter 1 or 3 enabled Shorted Vibration filter 2 or 4 enabled 2 Switching by external...

Страница 305: ...otch filter which removes the resonance component from the torque command The automatically set notch filter frequency is set in Notch 3 Pn207 to Pn209 or Notch 4 Pn210 to Pn212 Refer to 6 3 Notch Fil...

Страница 306: ...ting Pn210 to 5 000 disabled Next enable Adaptive Filter Selection again Notch 3 Frequency Setting Pn207 and Notch 4 Frequency Setting Pn210 are written to the EEPROM every 30 minutes When the power s...

Страница 307: ...use resonation at the specific location you can set the resonance frequency using a notch filter to eliminate resonance A notch filter is used to eliminate a specified frequency component If machine r...

Страница 308: ...equency Setting Set the center frequency of the notch filter 2 The details are the same with the notch filter 1 frequency P 8 20 Pn205 Notch 2 Width Setting Select the width of the notch filter 2 freq...

Страница 309: ...it is dB this value should conform to the right column in the table below Width Depth Set value Bandwidth center frequency Set value I O ratio Damping factor dB 0 0 50 0 0 Cut off 1 0 59 1 1 40 0 2 0...

Страница 310: ...ation Reference Pn008 Electronic Gear Integer Setting Set the number of command pulses corresponding to 1 motor rotation P 8 5 Pn009 Electronic Gear Ratio Numerator 1 Set the numerator of the electron...

Страница 311: ...Integer Setting Pn008 Switching among electronic gear ratio numerators 1 to 4 is disabled when the Electronic Gear Integer Setting Pn008 0 0 0 1 to 1073741824 When the Electronic Gear Integer Setting...

Страница 312: ...ting Pn008 0 and the Electronic Gear Ratio Numerator 0 If you set Pn009 and Pn010 1 048 576 and 2 048 respectively it will operate the same as the 2 048 pulses rotation Servomotor Encoder resolution E...

Страница 313: ...coder Output Direction Switching Selection Select the phase B logic for pulse regeneration output and the output source P 8 6 Pn503 Encoder Dividing Denominator Set the denominator when the number of...

Страница 314: ...Pn011 and the output pulse is the number of pulses set by Encoder Dividing Numerator Pn011 as follows Number of pulse output per rotation Encoder Dividing Numerator Pn011 4 When the output source is...

Страница 315: ...xternal Scale Phase Z is output without dividing the phase Z of the serial incremental external scale In addition take note that there are differences as illustrated in the figure below depending on t...

Страница 316: ...ion of the operation Precautions for Correct Use The maximum output frequency of the pulse regeneration output will be 4 Mpps after quadruple multiplier If operated at a speed that exceeds this the re...

Страница 317: ...phase Z output after the power supply is turned ON may not always be within the above pulse width When you are using the phase Z signal rotate the motor more than once after turning ON the power suppl...

Страница 318: ...time so that the brake will actuate after the motor stops If the brake is applied while the Servomotor is rotating the brake disc will wear abnormally or sustain damage resulting in a bearing or encod...

Страница 319: ...IR signal is allocated to a CN1 general purpose output to be used Note The brake attraction time and release time vary depending on the Servomotor brake For details refer to 3 3 Motor Specifications P...

Страница 320: ...l purpose output to be used In the above example no release request is received from the network 4 t1 is the set value of Brake Timing during Operation Pn438 or the time needed for the motor rotation...

Страница 321: ...nterlock BKIR signal is allocated to a CN1 general purpose output to be used Note 2 If the main circuit power supply turns OFF while the motor is operating a phase loss alarm or main circuit voltage l...

Страница 322: ...BKIR signal is allocated to a CN1 general purpose output to be used Note After the alarm has been reset the system enters the servo OFF state motor not excited To turn the servo ON issue a servo ON co...

Страница 323: ...ge the responsiveness depending on whether the motor is stopping and operating you can perform an optimal control by gain switching Use gain switching when the realtime autotuning does not operate eff...

Страница 324: ...r of phased switches from low to high gain Unit 0 1 ms P 8 15 SPEED CONTROL mode Pn120 SWITCHING mode in Speed Control Set the condition for switching between gain 1 and gain 2 P 8 16 Pn121 Gain Switc...

Страница 325: ...itching occurs based on the setting of Pn119 For the details of each gain refer to Chapter 8 Parameters Details The details of gain switching setting vary depending on the CONTROL mode used For the de...

Страница 326: ...uctuates and the switching time is not met the switching will be cancelled In the case of switching due to a change amount of 4 over 2 ms a value of approx 6 will apply Change of 0 33 per 166 s GAIN S...

Страница 327: ...Position Error Gain switching occurs based on the accumulated count in the error counter GAIN SWITCHING mode 7 Switching by Position Command Received Gain switching occurs when a position command cor...

Страница 328: ...Gain Switching Time Pn119 At the time of gain switching the speed loop gain speed loop integral time constant torque command filter time constant and speed detection filter switch simultaneously as t...

Страница 329: ...onditions Gain Switching Delay Time Pn116 Gain Switching Level Pn117 Gain Switching Hysteresis Pn118 Position Gain Switching Time Pn119 0 Always gain 1 1 Always gain 2 2 Switching from gain switching...

Страница 330: ...CONTROL mode it varies as follows according to GAIN SWITCHING mode in Torque Control Pn124 Enabled Disabled Pn124 set value Switching conditions Gain Switching Delay Time Pn125 Gain Switching Level P...

Страница 331: ...Switching Setting 1 Set the rate of change fluctuate when switching from the No 1 torque limit to No 2 torque limit P 8 56 Pn524 Torque Limit Switching Setting 2 Set the rate of change fluctuate when...

Страница 332: ...V 1 Limit in both forward and reverse operation Set by Pn013 2 Forward operation Set by Pn013 Reverse operation Set by Pn522 3 Switch the limit value using torque limit switching TLSEL When TLSEL is...

Страница 333: ...ude correlation of the No 1 torque limit and No 2 torque limit If the setting of No 1 Torque Limit Pn013 or No 2 Torque Limit Pn522 is changed from the front panel or CX Drive the rate of change setti...

Страница 334: ...the allocation to use Contacts a and b in the logic fields indicate the following statuses Applicable parameters Input signals Default set value Default setting state Position control or full closing...

Страница 335: ...ol Internally set speed selection 1 for contact b 8Eh Torque control Disabled 00h This will be 36364 since the front panel display is in decimal numbers Parameter number Parameter name Explanation Ref...

Страница 336: ...for all CONTROL modes interface input function number error 1 Err33 2 or interface input function number error 2 Err33 3 will occur If you set Zero Speed Designation Selection Pn315 to 2 or 3 you mus...

Страница 337: ...at Can Be Allocated Use the following parameters when changing the output signal allocation to use For the setting method refer to Output Signal Allocation Method Applicable parameters Output Signals...

Страница 338: ...5h Torque control Zero speed detection signal 07h This will be 460040 since the front panel display is in decimal numbers Function Number Table The set values to be used for allocations are as follows...

Страница 339: ...autions for Correct Use Do not use any values other than the settings listed You can allocate the same function to multiple output signals You cannot change the output signal logic When the function i...

Страница 340: ...ut signal selections 1 to 10 Parameter number Parameter name Explanation Reference Pn400 to Pn409 Input Signal Selection 1 to 10 Set the input signal allocation and logic In the default setting the al...

Страница 341: ...e prohibition input shorted Forward limit switch not operating and status normal Forward drive prohibition input open Forward direction prohibited and reverse direction permitted Reverse drive prohibi...

Страница 342: ...que for deceleration and servo lock for stop set value 2 in Stop Selection for Drive Prohibition Input Pn505 or limit the operation using the Host Controller rather than using this function Because an...

Страница 343: ...trouble with the motor s normal rotation When realtime autotuning function is disabled When instantaneous speed observer function is disabled Precautions for Correct Use If there is a resonance point...

Страница 344: ...large value to a small value And set to the set value in which the effectiveness of suppressing the impact of disturbance and the operating noise level are balanced 3 Set the Disturbance Torque Compen...

Страница 345: ...in 3 Ratio Setting Pn606 to 0 Only the position loop gain and the speed loop gain are treated as gain 3 in the gain 3 region and the gain 1 setting is applied to all other gains If the gain 2 switchin...

Страница 346: ...s ON When there is no trouble with the motor s normal rotation Parameters Requiring Settings Parameter number Parameter name Explanation Reference Pn607 Torque Command Value Offset Set the unbalanced...

Страница 347: ...sation together or separately Take note that the following use limit is applied upon CONTROL mode switching or servo ON During torque control The unbalanced load compensation and the dynamic friction...

Страница 348: ...r disable inertia ratio switching in bit 3 0 Disabled 1 Enabled 2 Set the Inertia Ratio 1 Pn004 3 Set the Inertia Ratio 2 Pn613 4 Set the inertia ratio switching input JSEL Precautions for Correct Use...

Страница 349: ...in Pn634 to the same value as the position loop gain 2 Gradually increase the set value of the Hybrid Vibration Suppression Filter Pn635 while driving with full closing control and check the changes i...

Страница 350: ...eed feedback Parameters Requiring Settings Parameter number Parameter name Explanation Reference Pn110 Speed Feed forward Amount Use this parameter to add the speed control command calculated from the...

Страница 351: ...The position error during an operation at a certain speed can be smaller based on the following formula according to the speed feed forward gain value The position error in the range of constant speed...

Страница 352: ...on error during acceleration deceleration at a certain speed can be brought close to 0 it can be brought almost to 0 throughout the entire operation range during a trapezoidal speed pattern drive unde...

Страница 353: ...que limit this function is disabled It is converted to torque from the voltage V that is applied to analog input 3 based on the Analog Torque Feed forward Gain Setting Pn600 and is added to the torque...

Страница 354: ...rvo is ON When there is no trouble with the motor s normal rotation When realtime autotuning is disabled Parameters Requiring Settings Current control Speed control Speed command Speed estimation valu...

Страница 355: ...e in the torque monitor waveform is significant enough to cause any problem return the setting to 0 and make sure that the inertia ratio or the adjustment parameters are correct If the machine operati...

Страница 356: ......

Страница 357: ...a signal from a Safety Controller or safety sensor An outline of the function is explained together with operation and connection examples 7 1 Safe Torque OFF STO Function 7 1 Outline of Operation 7 1...

Страница 358: ...iate measures such as providing external brakes Take note that the brakes for the driver with brakes are used for the holding purpose only and cannot be used for control Even if there is no external f...

Страница 359: ...er or a safety sensor the safety output signal of the equipment may include L pulse for self diagnosis To avoid malfunction due to this L pulse for self diagnosis a filter that can remove the L pulse...

Страница 360: ...operating for safety inputs for the 2 circuits the EDM output circuit is turned ON You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all of the following 4...

Страница 361: ...inputs 1 and 2 transition to the STO status when either one of them is turned OFF Normal status DB engaged Brake released DB released Pn439 set value Pn438 set value t1 1 Pn439 set value When the Pn4...

Страница 362: ...s will occur the dynamic brake is based on the Stop Selection for Alarm Generation Pn510 3 Since this is a normal servo OFF status the dynamic brake is based on the Stop Selection with Servo OFF Pn506...

Страница 363: ...le 3 Connection with a Safety Controller Safety input EDM output Contact output 0 V 24 V SF1 SF2 SF2 EDM EDM M SF1 Safety input Safety switch Driver EDM output SF1 SF2 SF2 EDM EDM M SF1 Safety output...

Страница 364: ......

Страница 365: ...lue and contents of setting of each parameter 8 1 Basic Parameters 8 1 8 2 Gain Parameters 8 9 8 3 Vibration Suppression Parameters 8 20 8 4 Analog Control Parameters 8 25 8 5 Interface Monitor Settin...

Страница 366: ...Do not input a command within 10 ms before or after switching Pn000 Rotation Direction Switching Setting range 0 to 1 Unit Default setting Power OFF and ON Yes All Set value Explanation 0 Forward dire...

Страница 367: ...p Gain 2 Pn106 is Hz If the Inertia Ratio Pn004 is set larger than the actual value the setting for speed loop gain will increase If the Inertia Ratio Pn004 is set smaller than the actual value the se...

Страница 368: ...ion Full closing Set value Explanation 0 Photocoupler input PULS CN1 pin 3 PULS CN1 pin 4 SIGN CN1 pin 5 SIGN CN1 pin 6 1 Input for line driver only CWLD CN1 pin 44 CWLD CN1 pin 45 CCWLD CN1 pin 46 CC...

Страница 369: ...nputs Line driver t1 2 s Open collector t1 5 s 1 Reverse pulse forward pulse Line driver t2 1 s Open collector t2 2 5 s 3 Feed pulse direction signal Line driver t2 1 s Open collector t2 2 5 s 1 0 or...

Страница 370: ...Numerator is automatically set to encoder resolution and the number of command pulses per rotation can be set in Pn010 If Numerator 0 Pn008 Electronic Gear Integer Setting Setting range 0 to 220 Unit...

Страница 371: ...er resolution Encoder pulse Output pulse Pn012 Encoder Output Direction Switching Selection Setting range 0 to 3 Unit Default setting Power OFF and ON Yes All Set value Phase B logic Output source Mot...

Страница 372: ...IVE USER S MANUAL 8 Parameters Details Explanation of Set Values Set the operating method for the 17 bit absolute encoder Set value Explanation 0 Use as absolute encoder 1 Use as incremental encoder 2...

Страница 373: ...s All Set value Explanation 0 Regeneration Resistor used Built in Resistor The regeneration processing circuit will operate and the regeneration overload alarm display No 18 will be enabled according...

Страница 374: ...h low machine rigidity or systems with low specific vibration frequencies may cause machine resonance resulting in an overload alarm If the position loop gain is low you can shorten the positioning ti...

Страница 375: ...integral time constant is changed the response is as shown in the following diagram Set the time constant for the low pass filter LPF after speed detection to one of 6 levels 0 to 5 Increasing the se...

Страница 376: ...To set it manually set the REALTIME AUTOTUNING mode Selection Pn002 to 0 Set the feed forward amount Increasing the set value decreases the position error and increases the responsiveness Overshootin...

Страница 377: ...peration switching is performed using gain switching GSEL CN1 pin 27 PI is not changed however if the Torque Limit Selection Pn521 is set to 3 For information on switching conditions between gain 1 an...

Страница 378: ...200 4 This is the encoder resolution Pn115 SWITCHING mode in Position Control Setting range 0 to 10 Unit Default setting 0 Power OFF and ON Position Full closing Set value Explanation Gain switching c...

Страница 379: ...Control Pn115 is set to 3 or 5 to 10 H L H L H L H L Figure A Speed V Torque T T Time 1 1 2 2 2 2 1 1 Gain 1 Figure C Speed V Gain 1 1 Gain 2 Accumulated pulse Level Time Figure D Command speed S Gain...

Страница 380: ...Control Pn118 The settings for the Gain Switching Level in Position Control Pn117 and the Gain Switching Hysteresis in Position Control Pn118 are enabled as absolute values positive negative When swit...

Страница 381: ...nge in torque in 1 ms the set value is 200 4 The meanings of the Gain Switching Delay Time in Speed Control Pn121 Gain Switching Level in Speed Control Pn122 and Gain Switching Hysteresis in Speed Con...

Страница 382: ...ING mode in Speed Control Pn120 H L H L H L H L Figure A Speed V Torque T T Time 1 1 2 2 2 2 1 1 Gain 1 Figure C Speed V Gain 1 1 Gain 2 Accumulated pulse Level Time Figure B Speed V Gain 1 Gain 1 Gai...

Страница 383: ...124 is 2 and the Torque Limit Selection Pn521 is 3 or 6 1 The Gain Switching Delay Time in Torque Control Pn125 is enabled when returning from gain 2 to gain 1 2 The Gain Switching Hysteresis in Torqu...

Страница 384: ...g shows the definitions for the Gain Switching Delay Time in Torque Control Pn125 Gain Switching Level in Torque Control Pn126 and Gain Switching Hysteresis in Torque Control Pn127 The settings for th...

Страница 385: ...tive Filter Selection Setting range 0 to 4 Unit Default setting 0 Power OFF and ON Position Speed Full closing Set value Explanation 0 Disabled The current values are held for the parameters related t...

Страница 386: ...sonance suppression notch filter 4 Increasing the setting widens the notch width Normally use the default set value Set the notch depth of resonance suppression notch filter 4 Increasing the setting w...

Страница 387: ...duce the setting if torque saturation occurs or increase the setting to increase operation speed Normally use a setting of 0 Set value is restricted in the following manner Upper limit Corresponding v...

Страница 388: ...the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function will be disabled if the...

Страница 389: ...Finite impulse response The higher the set value the smoother the command pulses Pn222 Position Command Filter Time Constant Setting range 0 to 10 000 Unit 0 1 ms Default setting 0 Power OFF and ON P...

Страница 390: ...Pn300 Command Speed Selection Setting range 0 to 3 Unit Default setting 0 Power OFF and ON Speed Set value Explanation 0 Analog speed command 1 No 1 Internally Set Speed to No 4 Internally Set Speed P...

Страница 391: ...N ON VSIGN OFF Figure A Figure B Figure C Pn302 Speed Command Scale Setting range 0 to 2 000 Unit r min V Default setting 300 Power OFF and ON Speed Torque Pn303 Analog Speed Command Rotation Directio...

Страница 392: ...er OFF and ON Speed Pn306 No 3 Internally Set Speed Setting range 20 000 to 20 000 Unit r min Default setting 300 Power OFF and ON Speed Pn307 No 4 Internally Set Speed Setting range 20 000 to 20 000...

Страница 393: ...lications where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration Pn313 Soft Start Deceleration Time Setting ran...

Страница 394: ...de Selection Pn001 is set to 1 speed control This may not operate correctly if the CONTROL mode Setting Pn001 is set to 3 position or speed control or 4 position or torque control Pn315 Zero Speed Des...

Страница 395: ...ettings Use this parameter when the CONTROL mode Selection Pn001 is set to 1 speed control This may not operate correctly if the CONTROL mode Setting Pn001 is set to 3 position or speed control or 4 p...

Страница 396: ...Direction Selection Setting range 0 to 1 Unit Default setting 0 Power OFF and ON Torque Set value Explanation 0 Motor rotation direction The command indicates the forward direction as viewed from the...

Страница 397: ...tage Torque command Torque command 10 10 Input voltage 10 10 Input voltage TSIGN ON TSIGN OFF Figure A Figure B Figure C Pn319 Torque Command Scale Setting range 10 to 100 Unit 0 1 V 100 Default setti...

Страница 398: ...rror will occur if the motor shaft rotation speed exceeds the maximum speed Pn322 Reverse Direction Speed Limit Value Setting Setting range 0 to 20 000 Unit r min Default setting Power OFF and ON Torq...

Страница 399: ...mmand units Pn324 External Feedback Pulse Dividing Numerator Setting range 0 to 220 Unit Default setting 0 Power OFF and ON Yes Full closing Pn325 External Feedback Pulse Dividing Denominator Setting...

Страница 400: ...dback pulse error reset setting is set to a proper value In the case of an extremely small value it may not function as a protection against error operations caused by erroneous connection of external...

Страница 401: ...g Power OFFand ON Yes All Pn405 Input Signal Selection 6 Setting range 0 to 00FFFFFFh Unit Default setting Power OFFand ON Yes All Pn406 Input Signal Selection 7 Setting range 0 to 00FFFFFFh Unit Defa...

Страница 402: ...position error or full closing position error is an input section error of position control Pn416 Analog Monitor 1 Selection Setting range 0 to 21 Unit Default setting PowerOFF and ON All Set value E...

Страница 403: ...s Command pulse speed r min Internal command speed r min Command filter Position control Encoder feedback external scale feedback Command pulse input Command dividing multiplier Command dividing multi...

Страница 404: ...er so that the motor does not rotate If you use a position loop in the host device set this parameter so that there are no accumulated pulses at servo lock stop status The automatic adjustment is as f...

Страница 405: ...that there are no accumulated pulses at servo lock stop status The automatic adjustment is as follows This parameter will be automatically set when automatic offset adjustment is executed Refer to An...

Страница 406: ...No 39 will be disabled if this parameter is set to 0 Use this in combination with the Positioning Completion Condition Selection Pn432 to set the timing to output the positioning completion output Th...

Страница 407: ...g Set value Explanation 0 Positioning completion output turns ON when the position error is within the Positioning Completion Range 1 Pn431 1 Positioning completion output turns ON when the position e...

Страница 408: ...for detection Pn435 Speed Conformity Detection Width Setting range 10 to 20 000 Unit r min Default setting Power OFF and ON Speed Speed r min A speed command after the acceleration deceleration proces...

Страница 409: ...ion command RUN CN1 pin 29 is detected to be OFF when servo OFF status is entered while the Servomotor is operating While the motor is operating and the operation command RUN is turned OFF the motor w...

Страница 410: ...aged OFF Engaged OFF Motor rotation speed Pn439 set value Pn438 set value When the Pn438 set value is early Pn438 set value Motor rotation speed Pn439 set value t1 1 t1 1 When the timing of reaching t...

Страница 411: ...a multiple of 4 phases Z and A are output in synchronization In all other cases the output width of phase Z will be output as the encoder resolution resulting to be narrower than phase A Accordingly...

Страница 412: ...n the connection between either the forward or reverse prohibition input and COM is open If a limit switch above the workpiece is turned OFF when using a vertical axis the upward torque will be elimin...

Страница 413: ...ion to bring the error to 0 Take sufficient care when using while holding the position error or external scale error 3 Decelerating refers to a period between when the motor is running and when the mo...

Страница 414: ...or reaches a speed of 30 r min or less and moves to the after stop status follow the subsequent operation based on the after stop status regardless of the motor speed 4 The position error or external...

Страница 415: ...s 30 r min or less Once the motor reaches a speed of 30 r min or less and moves to the after stop status follow the subsequent operation based on the after stop status regardless of the motor speed Pn...

Страница 416: ...nally Set the torque limit for the following cases Drive prohibition deceleration with the Stop Selection for Drive Prohibition Input Pn505 set to 2 Deceleration with the Stop Selection with Main Powe...

Страница 417: ...mand input range If the set value is exceeded motor operation range setting protection is generated When position command is not input When position command is input Explanation of Set Values Select t...

Страница 418: ...515 Pn517 Error Counter Reset Condition Selection Setting range 0 to 4 Unit Default setting 1 Power OFF and ON Position Full closing Set value Explanation 0 Disabled 1 Clears the error counter at leve...

Страница 419: ...cycle However the responsiveness to signal inputs will be reduced Explanation of Set Values Select the setting unit of Positioning Completion Range 1 and 2 Pn431 and Pn442 and Error Counter Overflow...

Страница 420: ...imit Pn522 will be ignored Make the settings as a percentage of the rated torque Example Maximum torque is limited to 150 Refer to 5 3 Torque Control P 5 12 for more information on torque limits and t...

Страница 421: ...Full closing Torque Limit undefined TLSEL Torque Limit Switching Setting 1 Pn523 Torque Limit Switching Setting 2 Pn524 No 1 Torque Limit Pn013 No 2 Torque Limit Pn522 Pn524 Torque Limit Switching Set...

Страница 422: ...ratio 15 Overload load ratio 16 Inertia ratio 17 Reason for no rotation 18 Display of the number of I O signal changes 20 Absolute encoder data 21 Absolute external scale position 22 Monitor for the n...

Страница 423: ...d ON Yes All Set value Explanation 0 Error detection disabled 1 Error detection enabled Pn535 Front Key Protection Setting Setting range 0 to 1 Unit Default setting Power OFF and ON Yes All Set value...

Страница 424: ...0 1 V 100 Default setting PowerOFF and ON Position Speed Full closing Pn604 Jog Speed Setting range 0 to 500 Unit r min Default setting PowerOFF and ON All Pn605 Gain 3 Effective Time Setting range 0...

Страница 425: ...tion speed falls to 30 r min or lower whichever is shorter For details refer to 6 6 Brake Interlock P 6 18 Set overspeed detection level upon generation of immediate stop alarm The overspeed detection...

Страница 426: ...e output using an external scale as the output source under full closing control that uses the serial absolute external scale use this to set the intervals of phase Z output based on the number of ext...

Страница 427: ...to 228 After the phase Z output at the position where the external scale value is 0 phase Z is output in the set value pulse cycle Phase Z is not output until the external scale value passes 0 Pn622 P...

Страница 428: ...ng will occur Set value Explanation 0 Estimation result is finalized when load estimation stabilizes 1 For load characteristics change the estimation is made at time constant of approx 7 minutes 2 For...

Страница 429: ...VE USER S MANUAL 8 Parameters Details Set the warning detection mask setting If you set the corresponding bit to 1 the corresponding warning detection will be disabled Pn638 Warning Mask Setting Setti...

Страница 430: ......

Страница 431: ...Checking Displays 9 3 Absolute Encoder Setup 9 4 9 3 Using the Front Display 9 6 9 4 Setting the Mode 9 7 Changing the Mode 9 7 MONITOR Mode 9 8 PARAMETER SETTING Mode 9 22 PARAMETER WRITE Mode 9 24...

Страница 432: ...apter 4 4 2 Preparing for operation Check the necessary items and then turn ON the power supply Check on the display to see whether there are any internal errors in the driver If using a motor with an...

Страница 433: ...50 60 Hz R88D KT20H 30H 50H 3 phase 200 VAC input Main circuit power supply 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz...

Страница 434: ...rned ON The alarm output ALM will take approx 2 seconds to turn ON after the power supply has been turned ON Do not attempt to detect an alarm using the Host Controller during this time If power suppl...

Страница 435: ...ocedure 1 Turn ON the power supply and align the origin position Turn ON the power supply perform the origin adjustment operation and move the machine to the origin position 2 Go to AUXILIARY FUNCTION...

Страница 436: ...ation 5 Restart the driver Turn OFF the control power supply to the driver and then turn it back ON Start absolute encoder clear Clearing is finished in an instant Note will be displayed if absolute e...

Страница 437: ...r occurs and the window switches to the error display Shift key Shifts the operating digit to the left Mode key Switches between the following 4 modes MONITOR mode PARAMETER SETTING mode AUXIARY FUNCT...

Страница 438: ...DRIVE USER S MANUAL 9 Operation 9 4 Setting the Mode Changing the Mode 1 The display will be based on the Default Display Pn528 setting after the power supply is turned ON Front panel default display...

Страница 439: ...umber Regeneration resistance load ratio Overload load ratio Inertia ratio Reason for no rotation Absolute external scale position Monitor for the count of encoder communications errors Communication...

Страница 440: ...yed with Position Command Speed Displays the position command speed unit r min Speed Control Command Displays the speed control command unit r min Torque Command Displays the percentage of driver torq...

Страница 441: ...lses Total External Scale Feedback Pulses Lower L Higher H Total encoder pulses encoder pulse Press to switch between Lower L and Higher H Lower L Higher H Total command pulses command pulse Press to...

Страница 442: ...PEED CONTROL mode TORQUE CONTROL mode FULL CLOSING CONTROL mode OFF or disabled ON Input signal pin 8 ON Output signal pin 10 OFF or disabled Input Output Pin number If the decimal point is on the rig...

Страница 443: ...urs If an alarm that is recorded in the history occurs the alarm code for the current alarm and for history 0 will be the same Analog input value 1 V The value after offset compensation is displayed A...

Страница 444: ...destruction 13 Main power supply undervoltage 38 Drive prohibition input error 14 Overcurrent 39 Excessive analog input 15 Driver overheat 40 Absolute encoder system down error 16 Overload 41 Absolut...

Страница 445: ...e load ratio as a percentage when the detection level for the regeneration overload is 100 Overload Load Ratio Displays the position command speed unit r min Displays the load ratio as a percentage wh...

Страница 446: ...nalog torque limit input is positive and the speed command is in the reverse direction 6 IPG input is enabled P Pn518 0 command pulse prohibition input enabled and the IPG input is open 7 Frequency of...

Страница 447: ...heavy locked or crashed load faulty driver or motor etc Number Item RELEVANT CONTROL mode Description Input signal Output signal I O signal change count Pin number If the decimal point is on the right...

Страница 448: ...xternal Scale Communications Error Display of Axis Numbers for Communication Absolute external scale position lower L Absolute external scale position higher H Encoder data Press to switch between Low...

Страница 449: ...xternal Scale Error Hybrid Error Lower L Higher H Encoder position error encoder unit Press to switch between Lower L and Higher H Lower L Higher H External scale error external scale unit Press to sw...

Страница 450: ...umber Motor Serial Number P N voltage V is displayed Amplifier serial number lower L Amplifier serial number higher H Amplifier serial number Press to switch between Lower L and Higher H Display examp...

Страница 451: ...ation Accumulative Operation Time Automatic Motor Recognition Function Driver Temperature Lower L Higher H Accumulative operation time h is displayed Press to switch between Lower L and Higher H Autom...

Страница 452: ...coupler OFF SAFEty SrVoFF SrVon ALArM Servo ready OFF The dot is not lit ON The dot is lit Flash display Status that allows normal changes Safety status Servo OFF Servo ON Alarm status Input photocoup...

Страница 453: ...isplay example Explanation Use keys to set the parameter number Press to move to the left and change the digit to be set Press to increase the value of the digit with Press to decrease the value of th...

Страница 454: ...ing the parameters to the EEPROM If the Front Panel Parameter Write Selection Pn617 is set to 1 the parameter set value is automatically written to EEPROM when changed When the set value for a paramet...

Страница 455: ...ttings again for all parameters and write the data again Key operation Display example Explanation Press the key to display PARAMETER WRITE mode Press the key to enter PARAMETER WRITE mode Press and h...

Страница 456: ...alarm clear 2 Returning to AUXILIARY FUNCTION mode display Key operation Display example Explanation The item set for the Default Display Pn528 is displayed Press the key to display MONITOR mode Press...

Страница 457: ...FFSET ADJUSTMENT mode from the alarm clear display in the AUXILIARY FUNCTION mode Press the key to enter the AUTOMATIC OFFSET ADJUSTMENT mode of the analog input number to be set Press and hold the ke...

Страница 458: ...ay the JOG OPERATION mode from the alarm clear display in AUXILIARY FUNCTION mode Press the key to enter JOG OPERATION mode Press and hold the key for 5 seconds or longer until is displayed The bar in...

Страница 459: ...command will be performed Absolute Encoder Reset This resets the multi rotation data and errors of the absolute encoder 1 Execute absolute encoder reset 2 Returning to AUXILIARY FUNCTION mode display...

Страница 460: ...parameter cannot be initialized Front Panel Lock This locks the front panel 1 Displaying PARAMETER mode Key operation Display example Explanation Press the key to enter PARAMETER INITIALIZATION mode P...

Страница 461: ...nation Press the key to display the set value Key operation Display example Explanation Use the keys to change the value Press to move to the left and change the digit to be set Press to increase the...

Страница 462: ...xtended Parameters P 8 46 for details on the front panel lock function Writing will start This display will appear only momentarily This indicates a normal completion In addition to this display eithe...

Страница 463: ...he FRONT PANEL LOCK mode from the alarm reset display in AUXILIARY FUNCTION mode Press the key to enter FRONT PANEL LOCK mode Press and hold the key for 5 seconds or longer until is displayed The bar...

Страница 464: ...check for safety and then retry the trial operation Preparation for Trial Operation Inspections before Trial Operation Check the following items Wiring Make sure that there is no error especially the...

Страница 465: ...from the host device that agrees using the COMMAND PULSE INPUT mode Pn007 6 Write the parameters to EEPROM and then turn OFF the power supply and turn it ON again 7 Connect the operation command inpu...

Страница 466: ...CN1 pin 41 Servo ON status will be entered and the motor will be activated 6 Close the zero speed designation input VZERO and gradually increase the DC voltage between the speed command input REF CN1...

Страница 467: ...Connect the operation command input RUN CN1 pin 29 to COM CN1 pin 41 Servo ON status will be entered and the motor will be activated 7 Apply a positive or negative DC voltage between the torque comman...

Страница 468: ...es 6 Set the outputs from the host device to agree with the COMMAND PULSE mode Pn005 7 Write the parameters to EEPROM and then turn OFF the power supply and turn it ON again 8 Connect the operation co...

Страница 469: ...to note regarding various gain adjustments 10 1 Gain Adjustment 10 1 Purpose of the Gain Adjustment 10 1 Gain Adjustment Methods 10 1 Gain Adjustment Procedure 10 2 10 2 Realtime Autotuning 10 3 Setti...

Страница 470: ...op gain Speed loop gain Speed loop integral time constant Speed feed forward Inertia ratio 20 30 50 0 300 Position loop gain Speed loop gain Speed loop integral time constant Speed feed forward Inerti...

Страница 471: ...nd use a tension within the range of allowable axial load for the motor or Decelerator output Use gears with small backlash The specific vibration resonance frequency of the mechanical system has a la...

Страница 472: ...oop gain and the integration time constant are altered Doing this for each pattern can cause vibration so the estimation value is set conservatively Position feedback Estimate load inertia Position co...

Страница 473: ...there are no issues with the operation turn the servo OFF and set REALTIME AUTOTUNING mode Selection Pn002 to 0 disabled In this case the adaptive filter can remain enabled To disable the adaptive fi...

Страница 474: ...Realtime Autotuning Machine Rigidity Selection Pn003 Manually set the notch filter Once unusual noise or vibration occurs Inertia Ratio Pn004 Torque Command Value Offset Pn607 Forward Direction Torque...

Страница 475: ...Pn115 SWITCHING mode in Position Control GAIN SWITCHING ENABLE mode 10 GAIN SWITCHING DISABLE mode 0 Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Le...

Страница 476: ...HING mode in Position Control GAIN SWITCHING ENABLE mode 10 GAIN SWITCHING DISABLE mode 0 Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Level in Posi...

Страница 477: ...SWITCHING mode in Position Control GAIN SWITCHING ENABLE mode 10 GAIN SWITCHING DISABLE mode 0 Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Level in...

Страница 478: ...NPUT OPERATING mode Selection 1 1 1 1 1 1 1 1 Pn115 SWITCHING mode in Position Control GAIN SWITCHING ENABLE mode 10 GAIN SWITCHING DISABLE mode 0 Pn116 Gain Switching Delay Time in Position Control 3...

Страница 479: ...t can be performed quickly by using waveform monitoring with the data tracing function of CX Drive or by measuring the analog voltage waveform with the monitor function Analog Monitor Output The actua...

Страница 480: ...ccur upon servo lock Decrease Speed Loop Integral Time Constant Pn102 to the extent that hunching does not occur upon servo lock Does hunching vibration occur when the motor rotates No Decrease Speed...

Страница 481: ...eed Loop Gain Pn101 to the extent that hunching does not occur upon servo lock Decrease Speed Loop Integral Time Constant Pn102 to the extent that hunching does not occur upon servo lock Does hunching...

Страница 482: ...tegral Time Constant 20 0 ms Pn107 Pn104 Torque Command Filter Time Constant 0 80 ms Pn109 Application name Inertia Rigidity Position loop gain 1 s Speed loop gain Hz Speed loop integration time const...

Страница 483: ...his condition To quicken positioning increase the value of position loop gain If the value is too large overshooting or vibration will occur In such cases set the value smaller If the speed loop or th...

Страница 484: ...occur Adjustment must be made so vibration will not occur This is related to Speed Loop Integral Time Constant Pn102 and by increasing the integration time constant the speed loop gain value can be i...

Страница 485: ...s a filter so the current command from the speed loop becomes smooth The result is a smooth current flow which suppresses vibration The default setting of the filter time constant is 80 0 8 ms Increas...

Страница 486: ...lection Pn317 is 1 the speed limit will be the value obtained by converting the voltage applied to analog input 1 with Torque Command Scale Pn319 When the motor speed approaches the speed limit value...

Страница 487: ...11 1 Error Processing 11 1 Preliminary Checks When a Problem Occurs 11 1 Precautions When a Problem Occurs 11 2 Replacing the Servomotor and Servo Drive 11 3 11 2 Warning List 11 4 11 3 Alarm List 11...

Страница 488: ...2C R88D KTxL 50 to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D KTxH 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 to 5 kW Single phase 200 to 230 VAC 170 to 253 V...

Страница 489: ...accurate due to conduction via bypassing circuit If the encoder signal is lost the motor may run away or an error may occur Be sure to disconnect the motor from the mechanical system before checking...

Страница 490: ...e cleared when the motor is replaced so setup is again required The multi rotation data will be different from before it was replaced so reset the initial Motion Control Unit parameters For details re...

Страница 491: ...t Do not set it to a value other than above 3 Each warning detection can be masked using the Warning Mask Setting Pn638 The table shows the corresponding bits The warning detection is masked when the...

Страница 492: ...g one of the following methods Remove the cause of the alarm first Input the alarm reset input RESET signal Turn OFF the power supply then turn it ON again Execute the alarm reset on the Parameter Uni...

Страница 493: ...veral seconds to several tens of seconds 18 0 Regeneration overload The regenerative energy exceeds the processing capacity of the Regeneration Resistor 1 Regeneration Tr error An error was detected i...

Страница 494: ...le operating range set in the Overrun Limit Setting Pn514 with respect to the position command input 36 0 to 2 Parameter error Data in the Parameter Save area was corrupted when the power supply was t...

Страница 495: ...al encoder 50 0 External scale connection error An error was detected in external scale connection 1 External scale communications data error An error was detected in external scale communications dat...

Страница 496: ...apacity Phase loss Connect the phases L1 L2 L3 of the power supply voltage correctly For single phase connect to L1 and L3 correctly The main circuit power supply is damaged Control PCB error Replace...

Страница 497: ...otor power line is short circuited or ground faulted between phases Repair the short circuited or ground faulted power line Measure the insulation resistance at the motor and if there is a short circu...

Страница 498: ...egeneration overload Occurs when the motor is decelerating Load inertia is too large Calculate the regenerative energy and connect an ExternalRegenerationResistor with the required regeneration absorp...

Страница 499: ...otor power line or the encoder wiring is incorrect Wire correctly The motor is mechanically held If the motor shaft is held release it Release the electromagnetic brake Control PCB error Replace the d...

Страница 500: ...502 is not appropriate Set the electronic gear ratio numerator so that the command pulse frequency is 500 Kpps max 28 Pulse regeneration error Occurs during operation The pulse regeneration output fre...

Страница 501: ...turned ON Occurs during operation The voltage supplied to the absolute encoder is low Set up the absolute encoder Connect the battery power supply 41 Absolute encoder counter overflow error Occurs dur...

Страница 502: ...al scale error code was detected Check the external scale specifications From the front panel clear the external scale error then turn the power supply OFF then ON again 55 Phases A B and Z connection...

Страница 503: ...Turn OFF the ECRST signal Wire correctly The COMMAND PULSE mode Pn007 selection is incorrect Check the controller s command pulse type and the Servo Drive s command pulse type Set the Servo Drive s p...

Страница 504: ...cable s wiring Wire correctly The coupling system between the motor shaft and the mechanical system has eccentricity or loose screws or the load torque is fluctuating due to engagement between pulleys...

Страница 505: ...sted pair wire or twisted pair shielded cable with core wires that are at least 0 08 mm2 Use control I O signal cable that meets specifications Noise is entering the control I O signal cable because t...

Страница 506: ...ol signal lines from power supply lines Use a low impedance power supply for control signals The position is misaligned Position misalignment occurs without an alarm being output There is an error in...

Страница 507: ...in periodic maintenance Servomotor Limit The limit for units is listed below Bearings 20 000 hours Decelerator 20 000 hours Oil seal 5 000 hours Encoder 30 000 hours These values presume an ambient m...

Страница 508: ...below 40 C We recommend that ambient temperature and the power supply ON time be reduced as much as possible to lengthen the service life of the driver The limit of aluminum electrolytic capacitors is...

Страница 509: ...battery battery errors will occur due to voltage delay in the battery Replacing the Battery If a battery warning occurs the absolute encoder power supply must be replaced Replace the battery with the...

Страница 510: ...ng Method 1 Prepare the replacement battery R88A BAT01G 2 Remove the battery box cover 3 Put the battery into the battery box 4 Close the cover to the battery box R88A BAT01G Raise the tabs and remove...

Страница 511: ...VOMOTOR AND SERVO DRIVE USER S MANUAL 12 This chapter provides connection examples using OMRON s PLC and Position Controller as well as a list of parameters 12 1 Connection Examples 12 1 12 2 Paramete...

Страница 512: ...B3 B2 U V W CW ECRST Z INP 24VIN RUN RESET INPCOM ALMCOM FG A7 A8 A5 A6 A9 A14 A12 A11 A20 A15 A17 A19 A18 A16 X1 24 VDC X1 24 VDC A4 A3 5 VDC 30 23 24 39 7 29 31 BKIRCOM 10 38 36 BKIR 11 CJ1W NC133...

Страница 513: ...ell 5 CCW L1C L2C L1 L2 L3 B1 B3 B2 U V W CW Z INP 24VIN RUN RESET INPCOM ALMCOM FG A8 A7 A6 A5 A9 A14 A12 A11 A20 A15 A17 A19 A18 A16 24 VDC ECRST CJ1W NC113 213 413 R88D KTx CCW CW Z X1 24 VDC XB BK...

Страница 514: ...38 36 Shell 5 CCW L1C L2C L1 L2 L3 B1 B3 B2 U V W CCW CW CW ECRST Z INP 24VIN RUN RESET INPCOM ALMCOM FG Z A7 A8 A5 A6 A10 A16 A14 A12 A24 A19 A21 A23 A22 A20 24 VDC 24 VDC X1 Description 24 V power s...

Страница 515: ...1 CNA CNB A1 A2 6 3 4 30 23 24 39 7 29 31 38 36 Shell 5 CCW L1C L2C L1 L2 L3 B1 B3 B2 U V W CCW CW CW ECRST Z INP 24VIN RUN RESET INPCOM ALMCOM FG Z A8 A7 A6 A5 A16 A14 A12 A24 A19 A21 A23 A22 A20 24...

Страница 516: ...ut 1 24 V input ground 2 X axis alarm input 24 V output ground 24 V input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emergency stop input 24 V input ground 3 X a...

Страница 517: ...RUN ALM FG Z X1 XB 24 VDC R T NFB ON OFF X1 MC1 X1 24 VDC BKIR 25 19 MC1 X1 L3 M Red White Blue Green Yellow R88M Kx CN2 Motor power cables E 24 VDC Encoder cables B Brake cables XB CNB B1 B3 B2 BKIR...

Страница 518: ...ON OFF X1 MC1 X1 24 VDC BKIR ZCOM 25 AGND 17 MC1 X1 L3 M Red White Blue Green Yellow CN2 E 24 VDC B XB PL BKIRCOM 10 MC2 SUP MC2 MC1 MC2 MC1MC2 Reactor CP1H X40DT D R88 Kx Output terminal block CW0 10...

Страница 519: ...or the equivalent S No CN1 CNA 37 39 30 19 7 29 37 11 L1 L2 U V W RUN ALM FG Z 35 1 5 13 2 6 X1 XB R T NFB ON OFF X1 X1 MC1 X1 24 VDC BKIR 31 32 17 24 VDC 39 INP L3 M CN2 E 24 VDC B XB CNB B1 B3 B2 PL...

Страница 520: ...controls CS1W HCP22 V1 R88D KTx Description No CN1 Special I O connector I O connector CNA CNB Output power supply 24 VDC Error counter clear 1 A19 Common CCW 1 6 k CW 1 6 k Phase Z LD Phase Z LD Out...

Страница 521: ...DC power supply for controls CS1W HCA12 22 V1 R88D KTx Description No CN1 Special I O connector I O connector CNA Phase A LD CCW limit input signal 1 B1 A1 A3 Phase B LD Phase A LD Phase B LD Analog o...

Страница 522: ...mmand indicates the reverse direction as viewed from the shaft end CCW 001 CONTROL mode Selection Select the driver CONTROL mode 0 to 6 Yes 0 Position control pulse train command 1 Speed control analo...

Страница 523: ...o 230 011 Encoder Dividing Numerator Set the number of phase A and phase B output pulses respectively per motor rotation P r 0 to 262 144 Yes 012 Encoder Output Direction Switching Selection Select th...

Страница 524: ...Resistor 0 to 4 Yes 0 Regeneration load ratio is 100 when operating rate of the External Regeneration Resistor is 10 1 Reserved 2 Reserved 3 Reserved 4 Reserved Pn number Parameter name Explanation De...

Страница 525: ...nabled 1 Gain 1 and gain 2 switching available 115 SWITCHING mode in Position Control Select the gain switching condition for position control It is necessary that Pn114 be set to 1 0 to 10 0 Always g...

Страница 526: ...ng level 0 to 20 000 123 Gain Switching Hysteresis in Speed Control Set the hysteresis for gain switching 0 to 20 000 124 SWITCHING mode in Torque Control Select the gain switching condition for torqu...

Страница 527: ...dth Setting Set the notch width of the resonance suppression notch filter 2 0 to 20 206 Notch 2 Depth Setting Set the notch depth of resonance suppression notch filter 2 0 to 99 207 Notch 3 Frequency...

Страница 528: ...tion is enabled if the set value is 10 1 Hz or greater 0 1 Hz 0 to 2 000 217 Vibration Filter 2 Setting Finely adjust damping control function 2 If torque saturation occurs lower this setting to incre...

Страница 529: ...n V 0 to 2 000 303 Analog Speed Command Rotation Direction Switching Set the polarity for analog speed commands 0 to 1 0 Voltage Forward direction Voltage Reverse direction 1 Voltage Reverse direction...

Страница 530: ...Analog input 1 2 Torque command Analog input 1 Speed limit Pn321 and Pn322 set values 318 Torque Command Direction Selection Select the torque command direction designation method 0 to 1 0 The comman...

Страница 531: ...k Pulse Error Counter Reset Clear to 0 the feedback pulse error value for each set rotation speed Rotation 0 to 100 Yes Pn number Parameter name Explanation Default setting Unit Setting range Power su...

Страница 532: ...d 3 Speed Control Command 4 Torque command 5 Command position error 6 Encoder Position Error 7 Full closing Error 8 Hybrid Error 9 P N voltage 10 Regeneration load ratio 11 Overload load ratio 12 Forw...

Страница 533: ...0 1 V 0 to 100 431 Positioning Completion Range 1 Set the allowed number of pulses for the positioning completion range Command unit 0 to 262 144 432 Positioning Completion Condition Selection Set the...

Страница 534: ...warning 441 Warning Output Selection 2 Select the warning type for warning output 2 The relationships among the set values for this parameter are the same as for Warning Output Selection 1 Pn440 0 to...

Страница 535: ...506 Stop Selection with Servo OFF Set the stop operation when the servo is turned OFF 0 to 9 0 During deceleration Dynamic brake After stopping Dynamic brake Error counter Clear 1 During deceleration...

Страница 536: ...c brake After stopping Dynamic brake 5 During Immediate stop alarm deceleration Immediate stop During deceleration Free run After stopping Dynamic brake 6 During Immediate stop alarm deceleration Imme...

Страница 537: ...ng unit 0 to 1 Yes 0 Command unit 1 Encoder unit 521 Torque Limit Selection Set the forward or reverse direction torque limit selection method 0 to 6 0 Use P ATL and N ATL as analog torque limit input...

Страница 538: ...Position command speed r min 3 Speed Control Command r min 4 Torque command 5 Total encoder pulses Pulse 6 Total command pulses Pulse 8 Total External Scale Feedback Pulses Pulse 9 CONTROL mode 10 I...

Страница 539: ...or communication 0 to 127 Yes 532 Command Pulse Input Maximum Setting Set the maximum command pulse input kpps 250 to 4 000 Yes 533 Pulse Regeneration Limit Output Setting Set the detection of pulse r...

Страница 540: ...on the function 0 to 63 611 Electric Current Response Setting Make fine adjustment on electric current response with default setting as 100 50 to 100 613 Inertia Ratio 2 Set the inertia ratio switchin...

Страница 541: ...finalized when load estimation stabilizes 1 For load characteristics change the estimation is made at time constant of approx 7 minutes 2 For load characteristics change the estimation is made at time...

Страница 542: ......

Страница 543: ...I OMNUC G5 SERIES AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Index...

Страница 544: ...Command Pulse Input Maximum Setting Pn532 8 57 Command Pulse Input Selection Pn005 8 3 COMMAND PULSE mode Selection Pn007 8 3 Command Pulse Prohibition Input Read Setting Pn519 8 54 Command Pulse Pro...

Страница 545: ...Pn123 8 18 Gain Switching Hysteresis in Torque Control Pn127 8 19 GAIN SWITCHING INPUT OPERATING mode Selection Pn114 8 12 Gain Switching Level in Position Control Pn117 8 15 Gain Switching Level in...

Страница 546: ...ion Loop Gain 2 Pn105 8 11 Position Setting Unit Selection Pn520 8 54 Positioning Completion Condition Selection Pn432 8 42 Positioning Completion Hold Time Pn433 8 42 Positioning completion output 1...

Страница 547: ...rminal block specifications 4 15 4 16 Terminal Block Wire Sizes 4 17 Terminal block wiring 4 20 Torque Command Direction Selection Pn318 8 31 Torque Command Filter Time Constant Pn104 8 11 Torque Comm...

Страница 548: ...Index 5 Index I...

Страница 549: ......

Страница 550: ...ommerce Drive Schaumburg IL 60173 5302 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835...

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