Omron OMNUC R88D-UEP04V Скачать руководство пользователя страница 13 | Manualshive

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3-6-2

Jog Operations

83

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3-7

Making Adjustments

84

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3-7-1

Auto-tuning

84

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3-7-2

Manually Adjusting Gain

87

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3-8

Regenerative Energy Absorption

92

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3-8-1

Calculating Regenerative Energy

92

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3-8-2

Servo Driver Absorbable Regenerative Energy

95

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3-8-3

Absorption of Regenerative Energy with the External Regeneration Resistor (Models Conforming
to UL/cUL Standards and Models Not Conforming to Any Standards)

98

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3-8-4

Processing Regenerative Energy with Multiple Axes (Models Conforming to EC
Directives)

100

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CHAPTER 4

Application

101

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4-1

Using Displays

102

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4-1-1

Display Functions

102

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4-1-2

Status Display Mode

104

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4-1-3

Monitor Mode (Un-)

105

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4-1-4

Checking Servomotor Parameters (Cn-00 Set to 04)

107

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4-2

Using the Monitor Output

109

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4-3

Protective and Diagnostic Functions

111

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4-3-1

Alarm Displays and Alarm Code Outputs

111

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4-3-2

Alarm Output

112

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4-3-3

Overload Characteristics (Electron Thermal Characteristics)

113

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4-3-4

Alarm History Display Mode

114

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4-4

Troubleshooting

115

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4-5

Periodic Maintenance

121

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CHAPTER 5

Specifications

123

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5-1

Servo Driver Specifications

124

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5-1-1

General Specifications

124

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5-1-2

Performance Specifications

125

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5-1-3

I/O Specifications

129

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5-1-4

Explanation of User Parameters

145

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5-2

Servomotor Specifications

150

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5-2-1

General Specifications

150

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5-2-2

Performance Specifications

151

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5-2-3

Torque and Rotational Speed Characteristics

154

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5-2-4

Allowable Loads on Servomotor Shafts

156

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5-2-5

Encoder Specifications

157

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5-3

Cable Specifications

158

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5-3-1

Controller Connecting Cables

158

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5-3-2

Encoder Cables

162

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5-3-3

Power Cable

165

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5-4

Parameter Unit Specifications

170

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5-5

Regeneration Unit Specifications

171

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5-6

Front-surface Mounting Bracket Specifications

172

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CHAPTER 6

Supplementary Materials

177

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6-1

Connection Examples

178

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6-2

Servo Connector Terminal Connection Unit

185

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Table of contents

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

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Содержание OMNUC R88D-UEP04V

Страница 1: ...ess underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demo...

Страница 2: ...j AC Servomotors MODELS R88D UPj AC Servo Drivers AC SERVOMOTORS DRIVERS 30 to 750 W Pulse train Inputs OMNUC USERIES Cat No I502 E1 05 Artisan Technology Group Quality Instrumentation Guaranteed 888...

Страница 3: ...88D UPjjLA R88D UPjjV and R88D UPjjW S H L AC Servo Drivers R88D UPjjH and R88D UPjjL NOTICE Before using the product under the following conditions consult your OMRON representatives make sure that t...

Страница 4: ...rd and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear...

Страница 5: ...or inspection must be performed at least 5 minutes after turning off the power supply Doing so may result in electric shock WARNING Do not damage press or put excessive stress or heavy objects on the...

Страница 6: ...oing so may result in fire Caution Be sure to install the product in the correct direction Not doing so may result in mal function Caution Provide the specified clearances between the Servo Driver and...

Страница 7: ...t to strong electromagnetic fields and magnetic fields S Locations subject to possible exposure to radioactivity S Locations close to power supplies Operation and Adjustment Precautions Caution Check...

Страница 8: ...new Unit the contents of the data required for operation Not doing so may result in an unexpected operation Warning Labels Warning labels are pasted on the product as shown in the following illustrat...

Страница 9: ...Warning Labels for Models Conforming to EC Directives Warning label 1 Warning label 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 10: ...r mance a sensitive man ma chine interface and economy SYSMAC CS1 C CV Programmable Controller Pulse input Controller Connecting Cable Chapter 5 5 3 1 Setting Functions Setting User Parameters Section...

Страница 11: ...le Specifications Chapter 5 5 3 2 5 3 3 Power signals Encoder signals Motor Specifications Chapter 5 5 2 OMNUC U series AC Servomotor Operation Method Chapter 3 3 3 3 4 3 5 Parameter Units Artisan Tec...

Страница 12: ...PTER 3 Operation 53 3 1 Operational Procedure 55 3 2 Turning On Power and Checking Displays 56 3 2 1 Items to Check Before Turning On Power 56 3 2 2 Turning On Power and Confirming the Display 56 3 3...

Страница 13: ...acteristics Electron Thermal Characteristics 113 4 3 4 Alarm History Display Mode 114 4 4 Troubleshooting 115 4 5 Periodic Maintenance 121 CHAPTER 5 Specifications 123 5 1 Servo Driver Specifications...

Страница 14: ...xi 6 3 OMNUC U series Standard Models 188 6 4 Parameter Setting Forms 194 Index 199 Table of contents Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 15: ...ntroduction 1 1 Features 1 2 System Configuration 1 3 Servo Driver Nomenclature 1 4 Applicable Standards and Models 1 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www ar...

Страница 16: ...onventional U series HA LA models As shown in the following table they are distinguished by the manufacturing date Model Manufacturing date Type Remarks Models not conforming to any standards Before A...

Страница 17: ...tronic Gear Function Position Control The number of pulses used to rotate the motor is calculated by multiplying the number of command pulses by the electronic gear ratio This function is useful in th...

Страница 18: ...ter setting H Feed forward and Bias Functions Position Control These functions reduce the position control time S Feed forward Function Reduces the position control time by reducing the number of puls...

Страница 19: ...series AC Servomotor SYSMAC CS1 C CV Programmable Controller C200HW NC113 C200HW NC213 C200HW NC413 C200H NC112 C200H NC211 C500 NC113 C500 NC211 Position Control Unit Introduction Chapter 1 Artisan T...

Страница 20: ...4 Connector for monitor output Power supply indicator Alarm indicator CN3 Parameter Unit connector CN1 Control I O connector CN2 Encoder connector Introduction Chapter 1 Artisan Technology Group Quali...

Страница 21: ...ht shaft without keys and with brake S1 Straight shaft with keys and without brake BS1 Straight shaft with keys and with brake Note 4 UL cUL Standards apply to models manufactured after May 1998 1 4 2...

Страница 22: ...j See note 100 VAC R88D UPjjW R88M Ujjj30WA j See note Note Optional specifications shaft profile straight shaft with keys S1 Straight shaft with keys and without brake BS1 Straight shaft with keys a...

Страница 23: ...stallation 2 2 Wiring Products Conforming to UL cUL and Wiring Products Not Conforming to Any Standards 2 3 Wiring Products Conforming to EC Directives 2 9 Artisan Technology Group Quality Instrumenta...

Страница 24: ...ied in the User s Manual An incorrect voltage may result in malfunction or burning Caution Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied...

Страница 25: ...D UP03L A UP04L A UP10L A 100 VAC 30 to 100 W 160 149 R3 Three M4 55 130 5 4 5 45 5 45 6 5 165 149 6 Installation dimensions Two 6 dia D R88D UP12H A 200 VAC 400 W and R88D UP12L A 100 VAC 200 W 5 4 7...

Страница 26: ...dards Contd D R88D UP20H A 200 VAC 750 W and R88D UP15LA 100 VAC 300 W 160 105 130 90 149 165 90 149 Four M4 Two R3 Two 6 dia 7 8 6 5 6 6 Installation dimensions 3 5 System Design and Installation Cha...

Страница 27: ...W UP04W UP10W 100 VAC 30 to 100 W Two 6 dia Three M4 R3 Installation dimensions D R88D UP12V 200 VAC 400 W R88D UP12W 100 VAC 200 W Two 6 dia Three M4 R3 Installation dimensions System Design and Inst...

Страница 28: ...ives Contd D R88D UP20V 200 VAC 750 W R88D UP15W 100 VAC 300 W Two 6 dia Four M4 Two R3 Installation dimensions System Design and Installation Chapter 2 Artisan Technology Group Quality Instrumentatio...

Страница 29: ...15 160 130 149 18 5 130 149 Two M4 Installation dimensions H Parameter Units D R88A PR02U 63 50 8 1000 135 125 7 18 5 Two 4 5 dia System Design and Installation Chapter 2 Artisan Technology Group Qua...

Страница 30: ...16 D R88A PR03U 54 57 5 15 6 9 System Design and Installation Chapter 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 31: ...U03030LA B R88M U05030LA B R88M U10030LA B Two 4 3 dia Four R3 7 6h6 dia 30h7 dia 46 dia Encoder adapter Motor plug 14 dia 300 30 17 35 6 5 300 30 9 5 2 5 5 25 LL L 33 LB 4 21 40 40 Standard Models M...

Страница 32: ...th Brake R88M U20030HA B R88M U40030HA B R88M U20030LA B R88M U30030LA B Four 5 5 dia Four R5 3 14h6 dia 50h7 dia Encoder adapter Motor plug 70 dia 14 dia 300 30 17 35 5 2 5 5 7 300 30 12 6 3 34 39 5...

Страница 33: ...or plug 90 dia 14 dia 300 30 17 35 300 30 8 5 2 8 3 15 35 34 145 40 185 21 80 80 D 750 W Models with Brake R88M U75030HA B Four 7 dia Four R8 2 16h6 dia 70h7 dia Encoder adapter Motor plug 90 dia 14 d...

Страница 34: ...R88M U10030WA BS1 Four R3 7 Two 4 3 dia 46 dia Sh6 dia 30h7 dia 14 dia Standard Models Model L LL S R88M U03030VA S1 R88M U03030WA S1 94 5 69 5 6 R88M U05030VA S1 R88M U05030WA S1 102 0 77 0 6 R88M U1...

Страница 35: ...A BS1 R88M U20030WA BS1 R88M U30030WA BS1 Four R5 3 Four 5 5 dia 70 dia 14h6 dia 50h7 dia 14 dia Standard Models Standard Models Model L LL R88M U20030VA S1 R88M U20030WA S1 126 5 96 5 R88M U40030VA S...

Страница 36: ...VA S1 Four R8 2 Four 7 dia 90 dia 16h6 dia 14 dia 70h7 dia D 750 W Models with Brake R88M U75030VA BS1 Four R8 2 Four 7 dia 90 dia 16h6 dia 14 dia 70h7 dia System Design and Installation Chapter 2 Art...

Страница 37: ...h Brake R88M U03030jj BS1 R88M U05030jj BS1 14 1 2 Dia 6h6 2 2 D 100 W Models Without Brake R88M U10030jj S1 With Brake R88M U10030jj BS1 1 8 Dia 8h6 14 3 3 D 200 W 300 W 400 W Models Without Brake R8...

Страница 38: ...Temperature rise in any Unit installed in a closed space such as a control box will cause the ambient temperature to rise inside the entire closed space Use a fan or a air conditioner to prevent the a...

Страница 39: ...ting it Always use a pulley remover to remove pulleys couplings or other objects from the shaft Secure cables so that there is no impact or load placed on the cable connector areas D Connecting to Mec...

Страница 40: ...tor does not have a water proof structure Except for the connector areas the protec tive structure is covered by the following JEM The Japan Electrical Manufacturers Association standards Models Confo...

Страница 41: ...p may become damaged Take measures to prevent the shaft from rusting The shafts are coated with anti rust oil when shipped but anti rust oil or grease should also be applied when connecting the shaft...

Страница 42: ...es Programmable Controller Position Control Units for SYSMAC C series Programmable Controllers 3G2A5 NC111 EV1 C500 NC113 C500 NC211 C200H NC112 C200H NC211 C200HW NC113 C200HW NC213 C200HW NC413 Gene...

Страница 43: ...to Section 6 for a connection exam ple for Relay Unit terminal blocks Note 2 A Relay Unit is also available for the CQM1 CPU43 V1 CQM1H PLB21 with pulse I O capability Servo Driver Connecting Cable X...

Страница 44: ...NUC U series AC Servo Driver Servo Driver Connecting Cable XW2Z 100J B1 1 m XW2Z 200J B1 2 m Note Two cables are required when using the C200HW NC213 2 axes and four cables are required when using the...

Страница 45: ...rminal Conversion Unit XW2B 40F5 P Connector Terminal Conversion Unit Controller OMNUC U series AC Servo Driver Power Cable R88A CAUjjjS R88A CAUjjjB Encoder Cable R88A CRUjjjC OMNUC U series AC Servo...

Страница 46: ...253 V 50 60 Hz R88D UPjjL A Single phase 100 115 VAC 85 to 127 V 50 60 Hz1 P Main circuit DC The terminals for connecting Regeneration Units R88A RG08UA Connect h i l h h i hi h l l f i S N output g...

Страница 47: ...jjL A Driver model Watts R88D UP03L A 30 W R88D UP04L A 50 W R88D UP10L A 100 W R88D UP12L A 200 W R88D UP15LA 300 W Power supply input cur rent R T 2 0 A 2 6 A 4 5 A 8 0 A 10 0 A Motor output current...

Страница 48: ...so that the ground lines are as short as possible If no fuse breakers MCCB are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring and make sure tha...

Страница 49: ...0 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take into consideration the entire inrush current for the s...

Страница 50: ...e Filters for Motor Output Use noise filters without built in capacitors on the Servomotor output lines Output lines cannot use the same noise filters as the power supply General purpose noise filters...

Страница 51: ...Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Parts D Contactors When selecting contactors take in...

Страница 52: ...increase and will cause malfunctions Be sure to use cables fully extended When installing noise filters for encoder cables use ferrite cores The following table shows the rec ommended ferrite core mo...

Страница 53: ...iver input section and the controller output section For encoder output A B and Z phase lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground Wiring must...

Страница 54: ...z R88D UPjjjL A Noise filter Class 3 ground to 100 or less Main circuit power supply Main circuit connector Surge killer Servo error display OMNUC U series AC Servo Driver R88D CAUjjjS CAUjjjB Power C...

Страница 55: ...ls The internal circuit may be damaged if the external regeneration resistor is con nected with the shortbar still connected between the RG and JP terminals Note 2 Connect the external regeneration re...

Страница 56: ...r General purpose Control Cable R88A CPUjjjS OMNUC U series AC Servo Driver Model conforming to EC Directives Power Cable R88A CAU001 R88A CAU01B Encoder Cable R88A CRUDjjjC Incremental OMNUC U series...

Страница 57: ...UPjjW Single phase 100 115 VAC 85 to 127 V 50 60 Hz Main circuit DC output When there is a high level of regenerative energy in a multi axis system the terminals can be connected together and the ter...

Страница 58: ...er model Watts R88D UP03L A 30 W R88D UP04L A 50 W R88D UP10L A 100 W R88D UP12L A 200 W R88D UP15LA 300 W Power supply input cur rent L1 L2 2 0 A 2 6 A 4 5 A 8 0 A 10 0 A Motor output current U V W 0...

Страница 59: ...hods 1 m max 0 5 m max 2 m max AC power supply Contactor Metal duct or conduit Ground 100 max Metal plate Control panel Noise filter Brake pow er supply Noise filter Surge absorber Controller power su...

Страница 60: ...l design and selection to ensure that electric waves cannot leak or enter the control panel D Case Structure Use a metal control panel with welded joints on the top bottom and all sides The case must...

Страница 61: ...nal Block Wiring for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers etc to make the selection The Servo Driver inrush cu...

Страница 62: ...odel Rated current Test voltage Insulation resistance Leakage current Attenuation characteristic cu e es s a ce cu e max Normal MHz Common MHz 200 V 30 to 100 W 100 V 30 or 50 W Brake power supply SUP...

Страница 63: ...e circuit s inrush current and the momentary maxi mum current The Servo Driver inrush current is 50 A and the momentary maximum current is approxi mately twice the rated current The following table sh...

Страница 64: ...re the encoder cable in the same duct as power cables and control cables for brakes sole noids clutches and valves H Improving Control I O Signal Noise Resistance Position can be affected if control I...

Страница 65: ...Hz R88D UPjjW Noise filter Class 3 ground to 100 or less Main circuit power supply Main circuit connector Surge killer Servo error display OMNUC U series AC Servo Driver R88D CAU001 CAU001B Power Cabl...

Страница 66: ...plays 3 3 Using Parameter Units 3 4 Initial Settings Setup Parameters 3 5 Setting Functions User Parameters 3 6 Trial Operation 3 7 Making Adjustments 3 8 Regenerative Energy Absorption 3 53 Artisan T...

Страница 67: ...cause injury Caution When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Caution Do not come close to the machine...

Страница 68: ...y items In order to make the initial settings turn on an application power supply Chapter 3 section 3 2 4 Checking Display Status Check by means of the displays to see whether there are any internal e...

Страница 69: ...und wire must be properly connected to the terminal block H Checking the Servomotor There should be no load on the Servomotor Do not connect to the mechanical system The power lines and power cables m...

Страница 70: ...nterclockwise and check to be sure that it agrees with the posi tive and negative on the speed display If it does not agree then the encoder signal line may be wired incorrectly Check the conductivity...

Страница 71: ...ernal status via indicators Power supply ON display base block positioning completion rotation detection and current limit detection command pulse input Symbol display indicating internal status via 3...

Страница 72: ...example Status display mode Settings mode Monitor mode Alarm history display mode 3 3 3 Mode Changes and Display Contents The following diagram shows the functions and references for each mode Operati...

Страница 73: ...e Jog operation page 83 Clear alarm history data page 114 Motor parameters check page 108 Auto tuning page 84 Sequence input signal switch page 61 Sequence output signal switch Interrupt return proces...

Страница 74: ...that can be set is displayed It can be checked whether the bit information is 0 not lit or 1 lit according to the 7 segment display vertical bar To change the set value first set the bit number in th...

Страница 75: ...stop 6 1 0 Motor stopped by dynamic brake 1 Motor stopped with free run 7 see 2 1 0 Dynamic brake OFF after motor stopped note 2 1 Dynamic brake ON after motor stopped 8 0 0 Method for stopping when...

Страница 76: ...y turned back on after having been cut off a momentary stop alarm may be gen erated If bit no 5 is set to 1 the alarm will be cleared automatically even if it is generated and opera tion will resume N...

Страница 77: ...90 phase difference A B phase signal 4X 6 0 Not used 7 0 Not used 8 0 Not used 9 0 Not used Deviation counter clear A 1 0 Clears the deviation counter when the signal is high level 1 Clears the devia...

Страница 78: ...ing 1 Position control by pulse train inputs pulse stop input IPG enabled 1 0 Internal speed control settings only Servo lock when stopped 1 Internal speed control settings position control by pulse t...

Страница 79: ...it 8 Deceleration method Decelerate by dynamic brake Decelerate by free run Bit 9 Stop condition Servo free dynamic brake OFF Servo free dynamic brake OFF Bit 6 Decelerate by emergency stop torque Cn...

Страница 80: ...E SET Key to go into settings mode cn jj 2 Press the Up and Down Keys to display the desired user parameter number The number will be incremented or decremented each time the Up or Down Key is pressed...

Страница 81: ...ter number display 4 Repeat steps 1 through 4 above as required to set other parameters 3 5 2 User Parameter Chart PRM No Parameter name Factory setting Unit Setting range Explanation Cn 00 System che...

Страница 82: ...ng 2 50 10 ms 10 to 100 Waiting time from servo off to brake command output Cn 17 Torque command filter time constant 4 100 s 0 to 250 Setting for torque command fil ter time constant 6 4 to 398 Hz Cn...

Страница 83: ...ng used dur ing multi axis communications Note 1 Cn 04 speed loop gain is factory set for three times the load inertia Therefore if the load inertia is extremely small some oscillation may occur If it...

Страница 84: ...directions that can be selected with these three control inputs CN1 11 SPD1 CN1 12 SPD2 CN1 15 RDIR Internal speed setting Rotational direction OFF ON OFF No 1 internal speed setting forward ON No 1...

Страница 85: ...n 20 No 2 internal speed setting 200 r min 0 to 4 500 Sets the speed for when SPD1 is ON and SPD2 is ON Cn 21 No 3 internal speed setting 300 r min 0 to 4 500 Sets the speed for when SPD1 is ON and SP...

Страница 86: ...s that must be synchronized S When using a positioner with a low command pulse frequency S To set the machine movement per pulse to a specific value such as 0 01 mm H Setting User Parameters The elect...

Страница 87: ...ver The number of pulses per Servomotor revolution can be set within a range of 16 to 2 048 Use this function for the following applications When connecting to a positioner with a low response frequen...

Страница 88: ...ase Z phase Forward Rotation Side Reverse Rotation Side Note When the encoder divider rate is set to other than 2 048 1024 512 the phase difference for phases A and B is not 90 but scatters for time T...

Страница 89: ...speed to 0 Note 2 As the bias rotational speed increases Servomotor rotation becomes more unstable The optimal val ue changes depending on the load gain and positioning completion range so observe the...

Страница 90: ...ion as a percentage of the rated torque Cn 09 Reverse torque limit Maximum torque 0 to maximum torque This parameter sets the output torque limit for the reverse direction as a percentage of the rated...

Страница 91: ...eripheral Device Connection Examples H Function The output timing of the brake interlock signal BKIR that control turning the magnetic brake ON and OFF can be set H Parameters to be Set PRM No Paramet...

Страница 92: ...after the brake power supply has been turned off When using it for the vertical shaft take this delay into account and set brake timing 1 Cn 12 so that the Servomotor will not receive power until afte...

Страница 93: ...e 1 For the approximately 10 ms it takes from when the power to the Servomotor turns off until the dynamic brake operates the Servomotor rotates by momentum Note 2 If the Servomotor rotational speed f...

Страница 94: ...itch can be turned off or the Run command used to stop the motor immedi ately in case of trouble D Connecting a Parameter Unit Connect a Parameter Unit to the CN3 connector on the front of the Servo D...

Страница 95: ...items Is the emergency stop operating correctly Are the limit switches operating correctly Is the operating direction of the machinery correct Are the operating sequences correct Are there any abnorma...

Страница 96: ...e Up and Down Keys set the parameter to 00 Jog operation 6 Press the MODE SET Key to shift to the jog display 7 Press the SERVO DATA Key to turn on the servo 8 Press the Up Key to jog forward Forward...

Страница 97: ...1 2 6 4 Data 3 0 0 1 t U n 5 e n d DATA Indicates settings mode System check mode Auto tuning display Auto tuning end display 1 Confirm that the initial display is shown bb 2 Press the MODE SET Key to...

Страница 98: ...e Position loop gain 1 s Representative applications Low 001 20 Articulated robots harmonic drives chain drives belt drives rack and pinion drives etc Medium 002 40 XY tables Cartesian coordinate robo...

Страница 99: ...to tuning is not sufficient adjust the gain manu ally using the procedure in 3 7 2 Manually Adjusting Gain 0 1 2 jog speed Approx 1 1 s Approx 0 7 s Operation Chapter 3 Artisan Technology Group Qualit...

Страница 100: ...esn t occur in servo lock Decrease Cn 05 speed loop integra tion time constant to a value where hunting doesn t occur in servo lock Does hunting vibration occur when the motor is operated Run the moto...

Страница 101: ...ustment Parameters D Adjusting Speed Loop Gain PRM No Parameter name Factory setting Unit Setting range Explanation Cn 04 Speed loop gain 80 Hz 1 to 2 000 Adjusts the speed loop response As the gain i...

Страница 102: ...he diagram below Motor speed speed monitor Time Overshoots when speed loop integral time constant is short When speed loop integral time constant is long PRM No Parameter name Factory setting Unit Set...

Страница 103: ...g time can be improved by using feed forward control In addition to this method positioning completion can be speeded up by using the bypass function Motor speed High position loop gain Low position l...

Страница 104: ...0 to 640 Sets the time constant for smoothing posi tion command soft start function Even if the position command pulses are input in steps the time constant set here will be used to accelerate decele...

Страница 105: ...c gear ratio G1 G2 Comp gain Cn 28 4 3 8 Regenerative Energy Absorption Regenerative energy produced at times such as Servomotor deceleration is absorbed by the Servo Driver s internal capacitors ther...

Страница 106: ...e energy is absorbed at the Servo Driver only Eg must not exceed the amount of re generative energy that can be absorbed at the Servo Driver In addition the average regenerative pow er when a Regenera...

Страница 107: ...e formula The maximum regenerative energy for the Servo Driver s internal capacitors only can be found by means of the following formula Eg is the larger of Eg1 Eg2 Eg3 When regenerative energy is abs...

Страница 108: ...n the deceleration time Reduce the amount of regenerative energy per unit time When using multiple axes the terminals can be connected together and the terminals can be connected together to use regen...

Страница 109: ...uld be applied H Range for Absorbing Regenerative Energy The relationship between rotation speed and the load inertia that can be absorbed by a Servo Driver alone is shown in the diagrams below If a S...

Страница 110: ...gSm2 2 15 Rotation speed r min D R88D UP12H A UP12V 400 W R88D UP15LA UP15W 300 W Applicable load inertia 10 4kgSm2 300W 400W 3 8 10 4kgSm2 1 9 Rotation speed r min UA15LA UP15W UA12H A UP12V Operatio...

Страница 111: ...necting to the wrong terminals may destroy the Re generation Unit so connect the resistor carefully The Regeneration Unit does not con form to EC Directives The external regeneration resistor will hea...

Страница 112: ...short bar from between the RG and JP terminals on the Regeneration Unit and connect the resistor s between the P and RG terminals External regeneration resistor Short bar Note The thermal switch outpu...

Страница 113: ...is 1 Axis 2 Axis 3 Note 1 Do not open or close the connections between the or terminals while power is being sup plied The Units may be destroyed Note 2 Do not connect Servo Drivers that are using dif...

Страница 114: ...Using Displays 4 2 Using the Monitor Output 4 3 Protective and Diagnostic Functions 4 4 Troubleshooting 4 5 Periodic Maintenance 4 101 Artisan Technology Group Quality Instrumentation Guaranteed 888 8...

Страница 115: ...ly and another is for alarms Symbol Name Function PWR Power supply indicator Lit when AC power supply is normal ALM Alarm indicator Lit when error occurs If the alarm indicator is lit connect a Parame...

Страница 116: ...via indicators Power supply ON display base block positioning completed rotation detection and current limit detection command pulse input Symbol display indicating internal status via 3 digit 7 segm...

Страница 117: ...r supply ON Lit when Servo Driver power supply is ON Base block Lit during base block no power to motor dimmed when servo is ON Positioning completed Lit when the pulse count remaining on the deviatio...

Страница 118: ...pulses with an error of approx 5 pulses 04 Electrical angle Degrees Displays the electrical angle of the motor 05 Internal status bit display 1 Displays Servo Driver internal information as either li...

Страница 119: ...number display 5 Press the MODE SET Key to move from monitor mode to alarm history display mode H Internal Status Bit Display Un 05 Un 06 Internal status is displayed by 7 segment bit lighting The bi...

Страница 120: ...there is a signal 12 Z Encoder Z phase HA LA V W Models Lit when there is a signal H L Models Dimmed when there is a signal 13 PU Poll sensor U phase 14 PV Poll sensor V phase 15 PW Poll sensor W phas...

Страница 121: ...Down Keys change the setting to 04 Servomotor parameter check 5 Press the MODE SET Key and check the Servomotor parameters in order 6 Press the MODE SET Key to display special specifications in hexade...

Страница 122: ...vo Driver Front Pin allocation CN4 CN4 D Monitor Output Circuit CN4 1 NM Speed monitor CN4 3 GND CN4 2 AM Current monitor CN4 4 GND 47 47 D Monitor Output Specifications Speed monitor With 0 V as cent...

Страница 123: ...d Servo Driver R88D jj External devices Connector socket model DF11 4DS 2C Hirose DF11 2428SCF Hirose Cable AWG24 x 4C UL1007 No Symbol Servo Driver White Black Black Connector socket model 1 7 dia Ap...

Страница 124: ...characteristics when the output torque exceeds120 of the rated torque HA LA V W Models a 71 ON ON ON OFF Overload Detected at reverse limit characteristics when 135 of the rated torque was ex ceeded...

Страница 125: ...Clearing Alarms Any of the following methods can be used to clear alarms Turn ON the alarm reset signal RESET Toggle the power supply Press the Reset Key on the Parameter Unit Overcurrent alarms A 10...

Страница 126: ...o soon the Servomotor coil may be damaged H Overload Characteristic Graph The characteristic between the load ratio and the electronic thermal operating time is shown in the fol lowing graph Load rati...

Страница 127: ...less recent the alarm is H Clearing Alarm History Data Alarm history data initialization is executed in the system check mode The items in parentheses in the following explanation indicate operations...

Страница 128: ...he POT and NOT signals If POT and NOT are not being used set Cn 01 bit nos 2 and 3 to 1 The mode is the internal speed control setting mode Check Cn 02 bit no 2 Set Cn 02 bit no 2 to 0 un less interna...

Страница 129: ...blocking ventilation Ensure adequate ventilation There is an overload Check the torque command value by means of monitor mode Lighten the load Change to a larger capac ity Servomotor The correspondenc...

Страница 130: ...tive Replace Servo Driver Occurred when Servo was turned on Current feedback circuit error Main circuit transistor module error Replace Servo Driver Servomotor power line is short circuited or grounde...

Страница 131: ...must be 85 to 127 VAC when 100 VAC is specified Occurred during Servomo tor deceleration The load inertia is too large Lengthen the deceleration time Reset the motor The power supply voltage is outsi...

Страница 132: ...ctly Occurred when the power was turned on Cn 01 bit no E is set to 1 Set Cn 01 bit No E to 0 a c3 Encoder A B phase wire dis connection Some movement occurred at the beginning of opera tion Encoder l...

Страница 133: ...river Parameter Unit is defec tive Cable is broken R88A PR02U Replace the Parameter Unit cpf01 Parameter Unit transmission er Occurred while the Parame ter Unit was being used Connector contact faulty...

Страница 134: ...oads during operation rotation on timing pulleys and other components contacting belts is twice the still load Consult with the belt and pulley manufacturers and adjust designs and system set tings so...

Страница 135: ...omotor Specifications 5 3 Cable Specifications 5 4 Parameter Unit Specifications 5 5 Regeneration Unit Specifications 5 6 Front surface Mounting Bracket Specifications 5 123 Artisan Technology Group Q...

Страница 136: ...orming to Any Standards Between power line terminals and case 1 000 VAC for 1 min 20 mA max at 50 60 Hz Models Conforming to EC Directives Between power line terminals and case 1 500 VAC for 1 min at...

Страница 137: ...celeration decel eration time constant 0 to 64 0 ms The same setting is used for acceleration and deceleration Input sig nals Position command pulse in put see note TTL line driver input with photoiso...

Страница 138: ...leted range 0 to 250 command units Feed forward com pensation 0 to 100 of speed command amount pulse frequency Bias setting 0 to 450 r min Position acceleration de celeration time constant 0 to 64 0 m...

Страница 139: ...pplicable Servomotor R88M U03030VA R88M U05030VA R88M U10030VA R88M U20030VA R88M U40030VA R88M U75030VA Applicable Servomotor wattage 30 W 50 W 100 W 200 W 400 W 750 W Cable length between motor and...

Страница 140: ...Speed feedback Optical encoder 2 048 pulses revolution Applicable load inertia Maximum of 30 times motor s rotor inertia 20 times max Inverter method PWM method based on IGBT PWM frequency 11 kHz 7 8...

Страница 141: ...ter overflow Note The input pulse width must be meet the following conditions TIL TIH 2 5 s H L TIH TIL 5 1 3 I O Specifications H Terminal Block Specifications Models Conforming to UL cUL Standards a...

Страница 142: ...sive regenerative energy the terminals can be connected together and the terminals can be connected together to increase the regeneration absorption capacity U Servomotor U phase output Red These are...

Страница 143: ...ter Cn 02 bit no 2 0 ON Current limit 12 NCL SPD2 Reverse rotation current limit input Speed selec tion command 2 input Internal setting speed Cn 1F 20 21 selector switch when setup parameter Cn 02 bi...

Страница 144: ...ing to user parameter Cn 0A Line driver output conforming to 21 A Encoder A phase output parameter Cn 0A Line driver output conforming to RS 422A 22 B Encoder B phase output Outputs encoder pulses div...

Страница 145: ...ut Motor rotation detection cur rent control detection Forward rota tion current lim it speed selec tion command 1 Control DC 24 V input Gain decelera tion pulse stop input rotation direction Reverse...

Страница 146: ...ect to external force When the gain reduction is input speed loop integration is disabled decreasing the speed loop gain In addition when parts are inserted after positioning the insertion operation i...

Страница 147: ...current limit and the reverse rotation current limit and they limit the current to the Servomotor The current limit values can be set for the respective directions by means of user parameters Cn 18 an...

Страница 148: ...ULS CW A Feed Pulse Reverse Pulse 90 Differential Pulse A Phase CN1 2 PULS CW A Direction Signal Forward Pulse 90 Differential Pulse B Phase CN1 3 SIGN CCW B Direction Signal Forward Pulse 90 Differen...

Страница 149: ...CCW 4 CCW L L 0 1 0 1 90_ differential 1 A 2 A 0 1 1 2 differential phase 2 A 3 B 1 0 0 4 hase signals 3 B 4 B Negative 0 0 0 Forward pulse and direction signal 1 PULS 2 PULS 3 SIGN 4 SIGN L H 0 0 1...

Страница 150: ...ase Forward commands Reverse commands B phase t1 0 1 s 2 5 s T 5 0 s Note Although the above timing charts show positive logic the same conditions hold for negative logic H Control Output Interface Th...

Страница 151: ...ning Completed Output 8 INP This output is turned ON when the pulse count remaining on the deviation counter is less than the posi tioning completed range set in user parameter Cn 1b If the command sp...

Страница 152: ...ring up and turns ON when the power up processing is completed D Alarm Code Outputs 1 to 3 and Alarm Code Output Ground 30 31 32 33 AL01 to AL03 and 33 ALOCOM When a Servo Driver error is generated th...

Страница 153: ...8 12 11 5 V Servo Driver A phase B phase Z phase Output line driver SN75ALS 174NS or equivalent Controller on User s Side 0 V Applicable line receiver TI SN75175 MC3486 AM26LS32 R 220 to 470 A phase...

Страница 154: ...se pins Brake interlock Motor rotation detection Output ground common Alarm output Maximum operating voltage 30 VDC Maximum output current 50 mA Alarm code output Alarm code output GND Encoder A phase...

Страница 155: ...umitomo 3M Receptacle at Servo Driver 10220 52A2JL Soldered plug at cable side 10120 3000VE Case at cable side 10320 52A0 008 D Pin Arrangement 2 E0V 4 E5V 8 10 NC 1 E0V 3 E0V 7 DIR 9 12 14 S 16 A 11...

Страница 156: ...send data line driver output to the P U i l 2 TXD Transmission data Parameter Unit or a personal computer 3 RXD Reception data This is the send data line driver input from the P U i l 4 RXD Reception...

Страница 157: ...uency when equivalent inertia is used As the number is increased the gain is increased The factory setting is for 80 Hz Using the factory setting for the Servomotor alone or with a small load inertia...

Страница 158: ...moderate excessive characteristics when an operation such as acceleration or deceleration is executed accompanied by output saturation of the controller These selections are made by setting the setup...

Страница 159: ...lue D Forward Rotation External Current Limit Cn 18 Reverse Rotation External Current Limit Cn 19 These set the Servomotor output torque limits for the forward and reverse directions They are valid wh...

Страница 160: ...1 i e an electronic gear ratio of 4 1 At the factory setting inputting 2 048 pulses will cause one Servomotor revolution D Position Command Acceleration Deceleration Time Constant Cn 26 This executes...

Страница 161: ...tting specifies the Servo Driver s unit number when communicating with a personal computer Set the unit number to 0 when communicating with a single axis Set the unit number from 1 to 14 when communic...

Страница 162: ...e in Type A Structure Totally enclosed self cooling Protective structure Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards IP 42 JEM1030 Models Conforming to EC Directiv...

Страница 163: ...71 10 5 Torque constant see note NSm A 0 255 0 286 0 408 0 355 0 533 0 590 Induced volt age constant see note mV r min 8 89 9 98 14 0 12 4 18 6 20 6 Power rate see note kW s 4 36 9 63 25 4 32 8 84 6...

Страница 164: ...tant see note NSm A 0 168 0 194 0 156 0 255 0 279 Induced voltage constant see note mV r min 5 87 6 79 5 43 8 9 9 74 Power rate see note kW s 4 36 9 63 25 4 32 8 47 3 Mechanical time constant ms 1 6 0...

Страница 165: ...j B R88M U30030j B R88M U40030j B R88M U75030j B Rotor in ertia kgSm2 GD2 4 0 21 10 5 0 26 10 5 0 40 10 5 1 23 10 5 1 91 10 5 1 91 10 5 6 71 10 5 Brake in ertia kgSm2 GD2 4 0 09 10 5 0 58 10 5 1 40 10...

Страница 166: ...H A R88M U05030VA R88M U10030H A R88M U10030VA R88M U20030H A R88M U20030VA R88M U40030H A R88M U40030VA R88M U75030H A R88M U75030 Frequent use Continuous use Frequent use Continuous use Frequent use...

Страница 167: ...o 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 Generally in a mechanical system when the temperature drops the friction torque increases and the l...

Страница 168: ...load is the value at a point 5 mm from the end of the shaft Radial load Thrust load 5 mm Note 3 The allowable radial and thrust loads are values determined with a service life of 20 000 hours taken a...

Страница 169: ...tion in the CW direction A phase is advanced by 90 compared to B phase Maximum rotational speed 4500 r min Maximum response frequency 153 6 kHz Output signals A A B B S S Output impedance Conforming t...

Страница 170: ...l Length L Outer diameter of sheath R88A CTU001N 1 m 9 9 dia R88A CTU002N 2 m D Connection Configuration XW2B 40F5 P Connector Terminal Conversion Unit L OMNUC U Series AC Servomotor Driver 72 72 43 6...

Страница 171: ...r cover Sumitomo 3M s 10336 52A 008 Signal Analog Pulse A A B B Z Z TREF AGND REF AGND BKIR VCMP TGON 0GND PCL NCL 24 VIN RUN MING POT NOT RESET EGND ALO1 ALO2 ALO3 ALOCOM ALM ALMCOM FG A A B B Z Z BK...

Страница 172: ...R88A CPU001S 1 m 9 9 dia R88A CPU002S 2 m D Connection Configuration L Position Control Unit mounted on a SYSMAC C CV series PC OMNUC U Series AC Servomotor Driver 43 6 39 t 18 Specifications Chapter...

Страница 173: ...Red EGND EGND 20 Orange Black A A 21 Orange Red A A 22 Gray Black B B 23 Gray Red B B 24 White Black Z Z 25 White Red Z Z 26 Yellow Black 27 Yellow Red 28 Pink Black 29 Pink Red 30 Orange Black ALO1...

Страница 174: ...Servo Driver D Connection Configuration L OMNUC U Series AC Servomotor OMNUC U Series AC Servomotor Driver 16 33 3 23 7 37 t 14 t 14 D Wiring A 1 A 2 B 3 B 4 S 5 S 6 E0V 7 E5V 8 FG 9 16 17 18 19 14 15...

Страница 175: ...model 170359 1 Tyco Electronics AMP H Encoder Cables for Models Conforming to EC Directives D Types of Cable Model Length L Outer diameter of sheath R88A CRUD003C 3 m 8 dia R88A CRUD005C 5 m R88A CRU...

Страница 176: ...22 green yellow Symbol No Symbol No Cable AWG22 3C AWG24 3P UL2589 Shell FG E5V 20 For Cable Connector model 17J E 13090 02D8A DDK Connector plug model 10120 3000VE Sumitomo 3M Stud model 17L 002A1 DD...

Страница 177: ...0 m R88A CAU015S 15 m R88A CAU020S 20 m Up to a maximum of 20 m between the Monitor and the Servo Driver D Connection Configuration L OMNUC U Series AC Servomotor OMNUC U Series AC Servomotor Driver 5...

Страница 178: ...models H Power Cable for Servomotors With Brakes Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards D Types of Cable Model Length L Outer diameter of sheath R88A CAU003B...

Страница 179: ...tact model 170359 1 Tyco Electronics AMP 30 to 100 W models 170360 1 Tyco Electronics AMP 200 to 750 W models H Power Cable for Servomotors Without Brakes Models Conforming to EC Directives D Types of...

Страница 180: ...Directives Model Length L Outer diameter of sheath R88A CAU01B 1 m 6 8 dia Note 1 Power cables will be cut to the specified length in 1 m increments Note 2 The maximum distance between the Servomotor...

Страница 181: ...AWG20 Blue AWG20 Black AWG20 Green AWG20 Black AC Servomotor AC Servo Driver Brake Brake U phase V phase W phase 24 VDC 10 no polarity GR Cable AWG20 6C UL2517 Specifications Chapter 5 Artisan Techno...

Страница 182: ...tors Accessory connectors 7910 7500SC 10 pins D sub connector 9 pins Display 7 segment LED 5 digits External dimensions 63 135 18 5 W H D 54 57 5 15 W H D Commu i i Standard RS 232C RS 422A nications...

Страница 183: ...tion 200 VAC drive possible External dimensions 55 160 130 W H D D Indicator LED Specifications Name Specifications POWER Lit while power flows between P and N terminals REGEN Lit during regeneration...

Страница 184: ...er Front surface Mounting Bracket d l Model Supply voltage Power g model R88D UP02H A 200 V 30 W R88A TK01U R88D UP03H A 50 W R88D UP04H A 100 W R88D UP08H A 200 W R88D UP12H A 400 W R88D UP20H A 750...

Страница 185: ...1U Top Mounting Bracket 6 dia Two 3 6 dia pan head screws Bottom Mounting Bracket Two 3 6 dia pan head screws Specifications Chapter 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 8...

Страница 186: ...Mounting Bracket 6 dia Two 3 6 dia pan head screws Bottom Mounting Bracket Two 3 6 dia pan head screws Specifications Chapter 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOUR...

Страница 187: ...175 H Mounting Dimensions D R88A TK01U D R88A TK02U Two M5 Three M5 Specifications Chapter 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 188: ...s 6 1 Connection Examples 6 2 Servo Connector Terminal Connection Unit 6 3 OMNUC U series Standard Models 6 4 Parameter Setting Forms 6 177 Artisan Technology Group Quality Instrumentation Guaranteed...

Страница 189: ...X1 ALM Output power supply input 24 VDC Output power supply input 5 VDC Pulse output CCW without resistance 0 V Deviation counter reset output 0 V Origin line driver input Positioning completed input...

Страница 190: ...output 0 V Origin line driver input Positioning completed input Position proximity input CCW limit input External interrupt input CW limit input Emergency stop input Main circuit contact OFF ON Main c...

Страница 191: ...mon X axis CCW limit input X axis CW limit input X Y axis emergency stop input X Y axis input common Output power supply 0 V CCW with resistance CCW without resistance R88A CPUjjjS General purpose Cab...

Страница 192: ...common X axis CCW limit input X axis CW limit input X Y axis emergency stop input X Y axis input common Output power supply 0 V CCW with resistance CCW without resistance R88A CPUjjjS General purpose...

Страница 193: ...VAC 50 60 Hz Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 ERB44 02 diodes by Fuji Electric or equiva...

Страница 194: ...ommon X axis emerg stop input X axis external interrupt input X axis CCW limit input X axis origin proximity input Noise filter Note 1 Incorrect signal wiring can cause damage to Units and the Servo D...

Страница 195: ...t common X axis emerg stop input X axis external interrupt input X axis CCW limit input X axis origin proximity input Noise filter Note 1 Incorrect signal wiring can cause damage to Units and the Serv...

Страница 196: ...mon Com mon Com mon Com mon External interrupt 24 VDC See note 1 24 VDC Note 1 The XB contact is used to turn ON OFF the electromagnetic brake Note 2 Do not connect unused terminals Note 3 The 0 V ter...

Страница 197: ...RESET 24 VDC X axis ALMCOM See note 1 Y axis external interrupt 24 VDC See note 1 Y axis RESET Y axis ALMCOM 24 VDC Com mon Com mon Com mon Com mon Com mon Com mon Com mon Com mon Note 1 The XB contac...

Страница 198: ...input to the high speed counter Note 2 Input this output signal to a CQM1 s Input Unit Note 3 The XB contact is used to turn ON OFF the electromagnetic brake Note 4 An open collector output is used fo...

Страница 199: ...50 W R88M U75030HA 100 VAC 30 W R88M U03030LA 50 W R88M U05030LA 100 W R88M U10030LA 200 W R88M U20030LA 300 W R88M U30030LA With brake 200 VAC 30 W R88M U03030HA B 50 W R88M U05030HA B 100 W R88M U10...

Страница 200: ...VAC 30 W R88M U03030LA BS1 50 W R88M U05030LA BS1 100 W R88M U10030LA BS1 200 W R88M U20030LA BS1 300 W R88M U30030LA BS1 D Servo Drivers with Pulse train Inputs Specification Model Pulse train input...

Страница 201: ...brake end 5 m R88A CAU005S 10 m R88A CAU010S 15 m R88A CAU015S 20 m R88A CAU020S Cable only 1 m units R88A CAU001 For motors with b k Connector at one d 3 m R88A CAU003B brakes end 5 m R88A CAU005B 1...

Страница 202: ...J A7 C200HW NC413 1 m XW2Z 100J A7 D Connectors Terminal Blocks and Peripheral Cable Specification Model Control cable connector R88A CNU01C Connector terminal block XW2B 40F5 P Connection cable for i...

Страница 203: ...0 W R88M U20030VA BS1 400 W R88M U40030VA BS1 750 W R88M U75030VA BS1 100 VAC 30 W R88M U03030WA BS1 50 W R88M U05030WA BS1 100 W R88M U10030WA BS1 200 W R88M U20030WA BS1 300 W R88M U30030WA BS1 D Se...

Страница 204: ...For standard motor no brake 1 m units R88A CAU001 For motor with brake 1 m units R88A CAU01B D General purpose Control Cables Specification Model For general purpose controller d 1 m R88A CPU001S g co...

Страница 205: ...0E P control switching acceleration com mands 0 10 r min s 0 to 3 000 Cn 0F P control switching deviation pulse 10 Command units 0 to 10 000 Cn 10 Jog speed 500 r min 0 to 4 500 Cn 11 Number of encode...

Страница 206: ...is factory set for three times the load inertia Therefore if the load inertia is extremely small some oscillation may occur If it does then lower Cn 04 to 20 or less Note 2 After the settings for Cn 1...

Страница 207: ...note 2 1 Dynamic brake ON after motor stopped 8 0 0 Method for stopping when over travel occurs de pends on bit no 6 setting 8 1 When over travel occurs motor is stopped at the torque set by user para...

Страница 208: ...is set to 1 the alarm will be cleared automatically even if it is gener ated and operation will resume Note 2 If set bit 6 to 1 and bit 8 to 0 the dynamic brake relay will turn OFF after the Servomot...

Страница 209: ...phase signal 2X 1 0 0 90 phase difference A B phase signal 4X 6 0 Not used 6 0 7 0 Not used 7 0 8 0 Not used 8 0 9 0 Not used 9 0 Deviation counter clear A 1 0 Clears the deviation counter when the s...

Страница 210: ...199 Index Symbols Empty 32 43 P Parameter Units 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 211: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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