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Motion & Drives - Servo Systems

1. 15 Mounting Hole 5 20 Dimensions Te n Two M4 of uso 3 wa Dam omron DAB H CJ N 1 3 i o i N 4 1 i Ps i sese 5 LL i10 c eR se ib s L dc Ly 1 8 j D es e D c NN Ay rJ y IND nnnourneto i 2U fsa oe JL 5 2 L 70 105 is on m noun rt rl P BERT NE uut rtl Lees ee nonu mr rtl ooaodoaog 2 13 2 2 External and Mounted Dimensions B R7D BPO2L BPO2HH BPO4H 200 W 400 W E 407 45 Mounting Hole 5 20 Dimensions S C a Lo Lv Two M4 i d wo PwR Jam omron EIER LY ae 77 G
2. Main circuit power supply M NFB pr ON Main circuit contactor R6 6 0 mM e3 34 E urge suppressor 3 phase 200 240 VAC 50 60 Hz S 6 9 19 j S EE Servo error display so 2 Ground to p CJ1W NC133 233 433 100 Q or less R7D BP Reactor CN1 CNA Contents novopege 5 VDC power supply for pulse output 1 L1 t 5VDO E ae 5 V GND for pulse output i L3 CW output oo 22 CW MGI CW output 23 cw P Connect External Regeneration CCW output xx 124 Cow B1 Resistor when required CCW output 25 COW X axis dev cntr reset output i i 4 ECRST S ivoniotor Power R88M G X axis origin input 24 V xX i414 GND CNB_ Red Cable X axis origin common H i 21 Z U White R7A CABLIS X axis positioning complete input 10 INP V Blu 24 V power supply for outputs i Ww a 0 V power supply for output i i X axis input common ee i 1 24VIN 24 VDC xi i i X axis external interrupt input t t i 2 RUN CN2 Encoder Cable X axis origin proximity input ree l Milos Mm X axis CCW limit input 1437 oGND E X axis CW limit input doncc woe tp deeem X axis emerg stop input IL KH 9 ALM Brake Cable 24VDC lt R88A CAGALIB B 11 BKIR XB PI E 26 FG 24 VDC Pirecauilang Incorrect signal wiring can cau
3. c All cables I O wiring and power lines connected to the Servo Drive must have clamp filters D installed o The shields of all cables must be directly connected to a ground plate a E i 7 Wiring Method gt o SD AC power FC CNA CNB FC cad Li U a i NF b 4 L2 V e gt L3 WwW f FC FC SG CN1 OCN2 d Ground to 100 Q 9 o or less zi SM TA L TB Switch box LL Servomotor ON 100 VAC h rotation command Note For models with a single phase power supply input R7D BPI Il L BPO1H BPO2HH BPO04H the main input power supply terminals are L1 and L3 Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a ground plate for the frame ground for each Unit as shown in the above diagrams and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible No fuse breakers surge absorbers and noise filters should be positioned near the input terminal block ground plate and I O lines should be separated and wired at the shortest distance 4 18 System Design
4. o Pn31 Gain Switch Setting Position S Setting range Oto 10 Unit Default setting 0 Power OFF gt ON E Select the condition for switching between gain 1 and gain 2 e The Gain Switch Input Operating Mode Selection Pn30 must be set to 1 to enable gain switching Oo c Explanation of Settings O Enabled x Disabled o Q Explanation o Setting l i Gain Switch Gain Switch Gain Switch Gain switching conditions Time Level Satin Hysteresis Setting Pn32 9 Pn34 0 Always gain 1 Pn10 to Pn14 x x x 1 Always gain 2 Pn18 to PniC x x x 2 Switching using Gain Switch Input y x GSEL for pin CN1 5 3 Amount of change in torque command Oo o9 Figure A x 0 0596 x 0 05 4 Always gain 1 Pn10 to Pn14 x x x 5 Command speed Figure B O O r min O r min P wu p pt 6 Amount of position deviation Figure C O Pulse Pulse 7 Command pulses received Figure D O x x Positioning Completed Output INP 9 OFF Figure E 9 x x 9 Actual Servomotor speed Figure B O O r min O r min 49 Combination of command pulse input Oo oOo and speed Figure F r min r min 5 44 Operating Functions 5 10 User Parameters 5 45 1 The Gain Switch Time Pn32 is used when returning from gain 2 to gain 1 2 The Gain Switch Hysteresis Setting Pn34 is defined as shown in the following figure Pn33
5. Main circuit power supply NFB OFF ON Main circuit contactor RO 670 1 irae a ici 2 E E S SUP 3 phase 200 240 VAC 50 60 Hz o oo lo X uu urge suppressor p 8 EN E xl 4 Servo error display TO co _2 Ground to e CP1H Y20DT D 100 Q or less R7D BP Reactor R7A CPBOS re Output terminal block 2 o CWO r xx r CW MC1 5 cwo f i CW gt Connect External Regeneration CCWO gt oe CCW gt Resistor when required CCWO i t CCW Origin search 0 CIO 0101 02 l ECRST R88M G 24 VDC input terminal i Fed oe Power 24 VDC input terminal White R7A CAB S COM CIO 0101 00 to 0101 03 Hi INP Bug Input terminal block i O F GND Enn Pulse 0 origin input signal CIO 0001 03 T T Z SION COM CIO 0000 A 24VIN 24 VDC i ot Pulse 0 origin proximity input signal CIO 0001 05 Kt x1 h RUN Encoder Cable IE ME REBA REPE i i OGND XE aJ KD ALM Brake Cable 24 VDC PEN R88A CAGALIB B BKIR XB da FG 24 VDC Incorrect signal wiring can cause damage to Units and the Servo Drive Precautions for Correct Use Leave unused signal lines open and do not wire them Do notshare the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent Appendix 5
6. LT J 1 Installing the Decelerator When installing the R88G HPGL first make sure that the mounting surface is flat and that there are no burrs on the tap sections and then bolt on the mounting flanges Mounting Flange Bolt Tightening Torque for Aluminum Decelerator model res e Bolt size dii d Ea dad R88G HPG11 4 M3 46 1 4 R88G HPG14 4 M5 70 6 3 R88G HPG20 4 M8 105 26 1 R88G HPG32 4 M10 135 51 5 4 7 4 1 Installation Conditions B Installing an R88G VRSF Backlash z 15 Max Use the following procedure to install the Decelerator to the Servomotor 1 Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap Make sure the set bolts are loosened 2 Gently insert the Servomotor into the Decelerator As shown in the figures on the next page stand the Decelerator upright and slide down t
7. Servo Relay Unit E y xwan icus a Position Control Unit o AWG20 black OX AWG20 red A3 B3 A2 B2 gt Ke gt gt EAE ford ced ced s mmoomzxxxexm gt gt gt gt NHE Oi o do m 4 01 00 uo 3 1 0 NA gt 01 Co N Be A20 B20 A16 B16 B11 Servo Relay Unit No INIA or A WIN 3 74 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications B Position Control Unit Cable XW2Z J A33 This Cable connects a Programmable Controller CJ1M CPU21 CPU22 CPU23 to a Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A CJ1M CPU21 CJ1M CPU22 CJ1M CPU23 3 75 Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A33 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A33 1m Approx 0 2 kg Connection Configuration and External Dimensions CJ1M Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A Wiring CJ1M 3 5 Servo Relay Units and Cable Specifications Bi Position Control Unit Cable XW2Z J A28 This Cable connects the general purpose I O connector of a Flexible Motion Controller FQM1 MMP22 to a Servo Relay Unit XW2B 80J7 12A Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A28 50 cm Approx 0 1 kg XW2Z 100J A28
8. Standard Models and Dimensions 15 S E pe 1500 Mini DIN 8 pin MD connector 2 18 Standard Models and Dimensions 2 2 External and Mounted Dimensions Decelerator Dimensions B Backlash 3 Max Decelerators for Cylindrical Servomotors Model Dimensions mm R88G LM iR CO C2 Di D2 D3 D4 D5 1 5 HPG11B05100B 39 5 42 40 40x40 46 46 400 395 29 1 9 HPG11B09050B 39 5 42 40 40x40 46 46 400 395 29 50W 1 21 HPG14A21100B 64 0 58 60 60x60 70 46 560 555 40 1 33 HPG14A33050B 64 0 58 60 60x60 70 46 560 55 5 40 1 45 HPG14A45050B 64 0 58 60 60x60 70 46 560 55 5 40 1 5 HPG11B05100B 39 5 42 40 40x40 46 46 400 395 29 1 11 HPG14A11100B 64 0 58 60 60x60 70 46 560 55 5 40 100 W 1 21 HPG14A21100B 64 0 58 60 60x60 70 46 560 55 5 40 1 33 HPG20A33100B 66 5 80 90 55dia 105 46 85 0 84 0 59 1 45 HPG20A45100B 66 5 80 90 55dia 105 46 85 0 84 0 59 1 5 HPG14A05200B 64 0 58 60 60x60 70 70 560 55 5 40 1 11 HPG14A11200B 64 0 58 60 60x60 70 70 560 55 5 40 200 W 1 21 HPG20A21200B 71 0 80 90 89dia 105 70 85 0 84 0 59 1 33 HPG20A33200B 71 0 80 90 89dia 105 70 85 0 84 0 59 1 45 HPG20A45200B
9. X axis dev cntr reset output r R88M G X axis origin input 24 V xx Servomotor Power X axis origin common Red SEES CABOS X axis positioning complete input j j eed eds i 1 Yellow X axis input common 24VIN E 24 VDC 7 785 i T X1 i Encoder Cable X axis external interrupt input tt Se f RUN X axis origin proximity input mme _R88A CRGBOC _ X axis CCW limit input OGND E X axis CW limit input dU i eas 1 X axis emerg stop input al K rn T ALM Brake Cable 24 VDC ME R88A CAGALIB amp B BKIR XB FG 24 VDC Precautions Incorrect signal wiring can cause damage to Units and the Servo Drive Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 24 VDC power supply for the command pulse inputs as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent 2s UO c Q Q lt x Appendix 4 Appendix B Connection Example 5 Connecting to SYSMAC CP1H Y20DT D
10. NIS OJOS Warning label Example of R7D BP01H B Warning Label Contents fe be fes DANGER Ji DRAG WEAR I EO CE ERE GRO LORRI Qin T ews SCC TAS USER EEA B TERT E ATALA ERS EST Read the manual and follow the safety instructions before use Never fail to connect Protective Earth PE terminal A An Voltage SIEIE SEIS Hazardous Bunk Amia ig Temperature REOR BU BREMNER Salsa T O86 51 ERD a 152 SR A SE fta Af BD ANS RES SAR Do not touch terminals within 15 minutes after disconnect the power Risk of electric shock PUCOBHS E bYY FIRE Bates d SIRE SRSA Do not touch heatsink when power is ON Risk of burn B Disposing of the Product Dispose of the product as industrial waste 10 Items to Check When Unpacking Items to Check When Unpacking Check the following items after removing the product from the package Has the correct product been delivered Has the product been damaged in shipping B Accessories Provided with Product Safety Precautions document x 1 No connectors or mounting screws are provided They have to be prepared by the user Should you find any problems missing parts damage to the Servo Drive etc please contact your local sales representative or OMRON sales office B Understanding Model Numbers Servo Drive Models The model number provides information such as the Ser
11. Dimensions Four M Nameplate i ES Dimensions mm Model c A B e E G H J M P Oo o 3G3AX NFO01 140 125 110 70 95 22 50 20 4 5 156 e 3G3AX NF002 160 145 130 80 110 30 70 25 5 5 176 E m gt o Measures against Brake Line Noise To reduce the noise from the brake line of the Servomotor use a clamp filter of the same type used for the Encoder Cable 4 32 System Design 4 4 Regenerative Energy Absorption x0 ORegeneraBVOchergy SpSOTpHOn The Servo Drives have internal regenerative energy absorption circuitry which absorbs the regenerative energy produced during Servomotor deceleration and prevents the DC voltage from increasing An overvoltage error occurs however if the amount of regenerative energy from the Servomotor is too large In this case measures must be taken to reduce the regenerative energy by changing operating patterns or to increase the regenerative energy absorption capacity by connecting an External Regeneration Resistor Calculating the Regenerative Energy B Horizontal Axis N1 Servomotor operation N2 Servomotor output torque Tun Note In the output torque graph acceleration in the positive direction is shown as positive and acceleration in the negative direction is shown as negative The regenerative energy values for each region can be derived from the following equati
12. R88A RR22047S Thermal switch output N 1 5 dia 0 3 mm 0 75 mm t1 2 y ry M a o o Reactor Dimensions B 3G3AX DL2002 DL2004 Ground terminal M4 2 2 External and Mounted Dimensions 5 L 90 y 72 Two M4 E 98 Model Dimension mm L 3G3AX DL2002 85 3G3AX DL2004 B 3G3AX DL2007 Ground terminal M4 Fe 2 20 fi 72 90 Y 98 Four 66 5 2 x8 uh Two M4 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounted Dimensions B 3G3AX AL2025 Six M4 Ground terminal M5 terminal screws l 60 40 Connections Ro R So S To T d o a EE Em O OO OO 6
13. Servo error display NFB OFF ON Be e a ER E f SUP so s 9 X Cl xi Suge suppressor 8 Cd Ground to TO 100 Q or less R7D BP Reactor CW output CCW output pulse outpu CCW output X axis dev cntr reset output X axis origin input 24 V X axis origin common ECRST GND X axis positioning complete input Z 24 V power supply for outputs 0 V power supply for output X axis input common INP 2 MC1 Connect External Regeneration Resistor when required Servomotor Power Red_ Cable R88M G R7A CABLIS X axis external interrupt input 24VIN X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emerg stop input RUN OGND Precautions for Correct Use Appendix 3 R7A CPBLIS 5VDCl e 24VDC n 1 xti L 4 NE a aih 24 VDC lt CDH ALM BKIR FG Encoder Cable R88A CRGBLIC Je m Brake Cable R88A CAGALIB XB e Incorrect signal wiring can cause damage to Units
14. 1 Select a combination that has an absorption capacity greater than the average regeneration power Pr 2 Do not use a combination of resistors with a resistance lower than the minimum external regenerative resistance of each Servo Drive For information on the minimum external regenerative resistance refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 35 4 36 System Design Chapter 5 Operating Functions 5 1 Position Gontrol iicet 5 1 High Response Position Control vs Advanced Position Controle eee eem UII Ed 5 1 Parameters Requiring Settings esssees 5 1 IxelatediDarametersp ees 5 2 Parameter Block Diagram for Position Control Mode 5 3 5 2 Internally Set Speed Control 5 4 Parameters Requiring Settings eesess 5 4 RelatediParameters moe e eU ES 5 4 Selecting the Internally Set Speeds susssss 5 5 Operation cis E ere cee TENUTI 5 5 Parameter Block Diagram for Internally Set Speed Control Modo E erara AE E EEE a 5 6 5 3 Forward and Reverse Drive Prohibit 5 7 Parameters Requiring Settings essees 5 7 Operation iier A 5 7 5 4 Encoder DIVIGINGiiiccccsssscstsctcecttes cave tueetestscetentasens 5 8 Parameters Requiring Setting seessess 5 8 Operat one ie Ie UBI a Cri eaters 5 8 5 5 E
15. f Servo Relay Unit XW2B 40J6 2B Servo Relay Unit 34 3 70 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications B Position Control Unit Cable XW2Z J A14 This Cable connects a Position Control Unit CJ1W NC113 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A14 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A14 1m Approx 0 2 kg Connection Configuration and External Dimensions Position Control Unit CJ1W NC113 lt a Servo Relay Unit g M Wiring Position Control Unit Servo Relay Unit 3 71 3 5 Servo Relay Units and Cable Specifications B Position Control Unit Cable XW2Z J A15 This Cable connects a Position Control Unit CJ1W NC213 413 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A15 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A15 1m Approx 0 2 kg Connection Configuration and External Dimensions Position Control Unit Servo Relay Unit CJ1W NC213 CJ1W NC413 T E D XW2B 40J6 2B Wiring Position Control Unit A1 B1 A2 B2 gt gt o oo gt ce pard Derd ard Berapa
16. oki Parameter name Explanation ROC Pno2 Control Mode Select the control mode for internally set speeds setting 1 Page 5 33 Selection Zero speed Always enable the zero speed designation when internally set Pn06 Designation speeds are used setting 1 Page 5 34 Torque Limit Switch Pn53 No 1 Internal Set the internally set speeds r min The settings can be made Speed Setting from 20 000 to 20 000 r min Be sure to set the speeds within the allowable range of rotation speed of the Servomotor Pn54 No 2 Internal Speed Setting N i i Page 5 53 o 3 Interna Prige Speed Setting No 4 Internal PASG Speed Setting Pn58 Soft Start Set the acceleration time for Internally Set Speed Control Set Acceleration Time the time setting x 2 ms until 1 000 r min is reached B PE age 5 Pn59 Soft Start Set the deceleration time for Internally Set Speed Control Set Deceleration Time the time setting x 2 ms until operation stops from 1 000 r min Related Parameters The main functions provided by the parameters related to Internally Set Speed Control are described in the following table Function Explanation Reference The Torque Limit Switch Input TLSEL is used when the Zero Speed Desig m nation Torque Limit Switch PnO6 is set to 2 The following parameters are Torque Limit Switch switched Overspeed Detection Level Torque Limit and Deviation Counter Page5 15 Overflow Level Tere Speed T
17. B Using Another Company s Decelerator Reference Information If the system configuration requires another company s decelerator to be used in combination with an OMNUC G Series Servomotor select the decelerator so that the load on the motor shaft i e 4 9 both the radial and thrust loads is within the allowable range Refer to Characteristics on page 3 17 for details on the allowable loads for the motors Also select the decelerator so that the allowable input rotation speed and allowable input torque of the decelerator are not exceeded 4 2 Wiring 4 2 Wiring Connecting Cables This section shows the types of connecting cables used in a SMARTSTEP 2 system A wide selection of cables are available when using Position Control Units for OMRON SYSMAC PLCs making it easy to wire a servo system B System Configuration Controller 4 General purpose Control Cable and Control I O Connector SYSMAC PLC wit pulse string output CP1H X40DL f CP1H XA40DLI CP1H Y20DT D CP1L LILILIDT E CQM1H PLB21 CS1W HCP22 CJ1M CPU21 CPU22 CPU23 Ba Servo Relay Unit Cable r1 Position Control Servo Drive Unit Cable Cable Flexible Motion Controller FQM1 MMP21 22 Servo Relay Unit Position Control Unit Position Control Unit with a pulse string output CJ1W NC113 133 CJ1W NC213 233 CJ1W NC413 433 CS1W NC113 13
18. table Resistor capaci Clamp leak tester measurement filter R7D BP Series tor measurement ON with HIOKI 3283 5 m power cable 5 m power cable 20 m power cable Servo Drive model Specifications Leakage current Leakage current Leakage current mA mA mA R7D BPA5L Single phase 100 V 50 W 0 48 0 08 0 13 R7D BPO1L Single phase 100 V 0 59 0 09 0 18 100 W R7D BPO2L Single phase 100 V 0 50 0 10 0 15 200W Single three phase 200 V 0 91 0 25 0 37 50W R7D BPO1H Single three phase 200 V 1 18 0 18 0 29 100 W R7D BPO2HH Single phase 200 V 0 95 0 30 0 40 200W R7D BP02H Three phase 200 V 1 17 0 26 0 37 200 W R7D BP04H Single three phase 200 V 1 25 0 55 0 72 400 W Note 1 The resistor plus capacitor measurement provides a guide to the leakage current level that may flow through people if the Servomotor and Servo Drive are not properly grounded The actual value changes depending on the ambient temperature and humidity Note 2 The clamp leak tester measurement is the leakage current actually detected at the inverter and surge resistant leakage breaker Triple this value when using a general leakage breaker Actual Selection The leakage breaker starts to detect leakage current from 50 of the rated leakage current so provide a margin of two times Also a large amount of leakage current will flow from the noise filter Leakage current form other Controllers should also be added to the total leakage curr
19. 2 29 Direction Signal eene 3 11 Electronic Gear Switch sesessesss 3 10 EMC Directives 4 18 Encoder Cables sesssss 2 8 3 30 4 29 Encoder Connectors 3 15 encoder dividing 5 8 5 49 Encoder Input Connector CN2 2 9 encoder specifications sseeessesess 3 25 External Regeneration Resistor Connection Cables 3 39 External Regeneration Resistors 2 12 2 27 4 35 diMEnsio Se one en eis 2 27 specifications sese 3 79 F Feed Pulse ana eerie 3 11 feedback output essen 3 14 Forward Drive Prohibit Input 3 11 5 33 Forward Pulse deen hae iA aed 3 11 G Gain SWitCh torpe 3 10 General purpose Control Cables 2 11 3 45 4 13 GESEL i aee rene dei te og eerie 3 10 GSELE iita esbetiadele ticdu os 3 10 IN sten een 3 13 5 55 internally set speed control ssees 5 4 Internally Set Speed Selection 1 3 10 Internally Set Speed Selection 2 3 9 JOg operation rrt etre tenen 6 19 L leakage breakers esseseeeeennee 4 23 M Main Circuit Connector 2 9 3 3 8 41 motor rotation directions seeeseeeeesees 3 16 N NEB
20. B Connection Example 6 Connecting to SYSMAC CP1H X40DT D CP1L DT Main circuit power supply NFB OFF ON Main circuit contactor ROSS or O i pe LU SUP 3 phase 200 240 VAC 50 60 Hz Surde s bDressor PE gn D iX MER X1 E Servo error display f o TQ 6v 47 Ground to C CP1H X40DT D 100 Q or less R7D BP Reactor R7A CPBOS Output terminal block 2 kQ CWO CIO 0100 00 ANN XX Me COM for CIO 0100 00 2 kQ lt gt i gt Connect External Regeneration CCWO CIO 0100 01 AW Resistor when required COM for CIO 0100 01 i Origin search 0 CIO 0101 02 i ECRST gt R88M G 24 VDC input terminal Servomotor Power 24 VDC input terminal 4 f Red Cable COM CIO 0101 00 to 0101 03 ME INP White SEE EI i Blue 3 Input terminal block T e T GND Green Pulse 0 origin input signal CIO 0001 03 r r Z fellow COM CIO 0000 E 24VIN 24 VDC o Pulse 0 origin proximity input signal CIO 0000 01 X1 RUN TRSEACRGBOC OGND XE al amp l ALM Brake Cable 24 VDC R88A
21. 38 2000 Personal computer end d b IL 2 g P Wiring Personal computer Signal PC Connector 17JE 13090 02 D8A DDK Ltd Precautions for Correct Use Cable AWG28 x 3C UL20276 Servo Drive Servo Drive end R7D BP Communications with the Host Device After confirming the startup of the Servo Drive initiate communications with the host device Note that irregular signals may be received from the host interface during startup For this reason take appropriate initialization measures such as clearing the receive buffer 3 40 Specifications Specifications 3 4 Cable and Connector Specifications Connector Specifications B Main Circuit Connector R7A CNBO1P The Main Circuit Connector connects to the Servo Drive s Main Circuit Connector CNA Dimensions Connector pins 5556PBTL Molex Japan Connector case 5557 10R 210 Molex Japan 3 41 3 4 Cable and Connector Specifications B Servomotor Connector R7A CNBO1A The Servomotor Connector connects to the Servo Drive s Servomotor Connector CNB Dimensions 8 5 10 7 6 3 3 5 Connector pins 5556PBTL Molex Japan Connector case 5557 06R 210 Molex Japan 2 7 27 EM 8 4 Pe 13 8 E Control I O Connector R88A CNWO1C This Connector connects to the Control I O Connector CN1 of the Servo Drive Use this Connector when preparing
22. Note 1 The standard models have a straight shaft Note 2 A model with a key and tap is indicated by adding J to the end of the model number the suffix shown in the box Example R88G HPG11B05100PBJ 2 5 2 1 Standard Models B Backlash 15 Max Decelerators for Cylindrical Servomotors Specifications Model Motor capacity Gear ratio E 1 5 R88G VRSF05B100CJ 1 9 R88G VRSF09B100CJ 50 W 1 15 R88G VRSF15B100CJ 1 25 R88G VRSF25B100CJ 9 o 1 5 R88G VRSF05B100CJ S 1 9 R88G VRSF09B100CJ 100 W F 1 15 R88G VRSF15B100CJ e 1 25 R88G VRSF25B100CJ p 1 5 R88G VRSF05B200CJ 5 1 9 R88G VRSF09C200CJ D 200 W xe 1 15 R88G VRSF15C200CJ 1 25 R88G VRSF25C200CJ UO 1 5 R88G VRSF05C400CJ 1 9 R88G VRSF09C400CJ o 400 W 1 15 R88G VRSF15C400CJ S 1 25 R88G VRSF25C400CJ o Note 1 The standard models have a straight shaft with a key Note 2 The backlash is the value when a load of 5 of the allowable output torque is applied to the output shaft 2 6 Standard Models and Dimensions 2 1 Standard Models Decelerators for Flat Servomotors Specifications Model Motor capacity Gear ratio 1 5 R88G VRSF05B100PCJ 1 9 R88G VRSF09B100PCJ 100 W 1 15 R88G VRSF15B100PCJ 1 25 R88G VRSF25B100PCJ 1 5 R88G VRSFO5B200PCJ 1 9 R88G VRSF09C200PCJ 200W 1 15 R88G VRSF15C200PCJ 1 25 R88G VRSF25C200PCJ 1 5
23. Positioning time and other operational performance satisfactory Vas No Adjustment completed Increase the Speed Loop Gain Pn11 y but not so much that it causes hunting when the servo is locked Reduce the Speed Loop Integration Time Constant Pn12 but not so much that it causes hunting when the servo is locked e Y Any hunting vibration when the Servomotor rotates Ves No y y Reduce the Speed Loop Gain Pn11 Increase the Position Loop Gain Pn10 but not so much that it causes overshooting y Change to Parameter Write Mode and write to EEPROM Adjustment completed Increase the Speed Loop Integration Time Constant Pn12 Y If vibration does not stop no matter how many times you perform adjustments or if positioning is slow Increase the Torque Command Filter Time Constant Pn14 7 16 eee Adjustment Functions 7 5 Manual Tuning B Adjustment in Internally Set Speed Control Mode The following parameters are adjustable Speed Loop Gain Pn11 and Pn19 Speed Loop Integration Time Constant Pn12 and Pn1A and Torque Command Filter Time Constant Pn14 and Pn1C Do not perform extreme adjustment and setting changes They may Disable realtime autotuning Pn21 0 or 7 N destabilize operation possibly i resulting in injury Set parameters
24. Pn34 Gaini Gain2 Gain gt lt p lt 3 Pn32 8 The amount of change is the value within 166 us Example When the condition is a 10 change in torque in 166 us the set value is 200 4 This is the encoder resolution 5 The meanings of the Gain Switch Time Gain Switch Level Setting and Gain Switch Hysteresis Setting are different from normal if this parameter is set to 10 Refer to Figure F Figure A S N Differential pulses Figure C Gain 1 i gt lt Time gt Gain 2 Gain 1 Pe H Torque T Evel NL o pa I Time gt lt i I Gain 1 Gain 2 Gain 1 gt lt l AT Level g i i i Figure D Command L speed S gt 1 a H 1 i 1 Time gt lt gt pice DEIN boty E Time amp 9 i m peg Gani ee el Gain 1 Gain 2 Gain 1 1 1 l I z E E M ae Speed V Figure B Figure E Level i N Actual speed N Level i Gain 1 1 Time ji Gain 1 Gain 2 zx ree i Gain 2 is used only during the Speed Loop Integration Time Constant Gain 1 is used at other times 5 10 User Parameters Pn32 Gain Switch Time Position Setting range 0 to 10000 Unit x 16
25. seessss 3 63 3 65 Servomotor Connectors 2 9 3 3 3 42 Servomotor Power Cables 2 8 Specifications eite 3 32 Servomotor Rotation Speed Detection Output 3 13 5 56 Servomoltors isse edidere senta erede dun 2 1 3 000 r min Flat Servomotors characteristics cccccccceeceeeeeeeeeeeeeeees 3 19 dimensions deeded cee 2 17 torque and rotation speed characteristics 3 22 3 000 r min Servomotors characteristics sesssssssssssss 3 17 dimensions 000cceccceeeceeeeeeeeeeeseeaeeees 2 15 torque and rotation speed characteristics 3 21 3 16 Standard Cables for Encoders 4 11 Standard Cables for Servomotor Power 4 11 surge absorbers eeeeeees surge suppressors torque limit Torque Limit Switch esses 3 10 c Ul standards eem exGAenss 1 6 x XW2B 20J6 1B XW2B 20J6 3B XW2B 20J6 8A XW2B 40J6 2B XW2B 40J6 9A XW2B 80J7 12A nene ore diem 3 59 XW2Z J A10 XW2Z J A11 XW2Z J A14 XW2Z J A15 XW2Z J A18 XW2Z J A19 XW2Z J A28 XW27 JA recen e tec Tere tin XW2Z J A30 XW2Z J A338 XW2Z xJ A6 eme IRR XWD2Z JAT iiit eicere XW2Z J B29 XW2Z J B30 XW2Z J B32 Z Zero Speed Designation 3 10 5 4 Revision History A manual revision code appears as a suff
26. Displays the number of accumulated pulses in the deviation counter unit pulse Accumulated pulses during reverse rotation are displayed with Bi Servomotor Rotation Speed 610114011 LL l uu I Displays the Servomotor rotation speed unit r min Rotation speeds during reverse rotation are displayed with B Torque Output 1 Lg L L a _ Displays the percentage of Servomotor torque output c When the rated toque output for the Servomotor is used 100 is displayed o Torque outputs during reverse rotation are displayed with t ho o Q O B Control Mode 25D 2 5 iz rm Position Control Mode CP im mah internally Set Speed Control Mode Displays whether the position control or internally set speed control is being used The High response Position Control Mode and Advanced Position Control Mode are displayed as Position Control Modes 6 8 Operation 6 3 Using the Parameter Unit B I O Signal Status J J em rc a J J J LI LI nr L Li ER Input signal No 00 ON Output signal No 09 OFF or disabled ON OFF or disabled Signal No display 0 to 1F hex 1 Input Ot Output Displays the status of the control input and output signals connected to CN1 6 9 Input Signals 6 3 U
27. 5 51 5 10 User Parameters Pn4E Smoothing Filter Setting Position Setting range 0 to 31 Unit Default setting 0 Power OFF 2 ON Yes Select the FIR filter time constant used for the command pulses FIR Finite impulse response The higher the setting the smoother the command pulses Input position command A Position command after iin filter processing Command X N l Position command after FIR filter processing Nu tj Pn4E 1 x Control cycle Control Cycles with High response Position Control PnO2 0 Setting 0 Cycle 0 1 x 166 166 us Setting 1 Cycle 1 1 x 166 332 us Setting 31 Cycle 31 1 x 166 5312 us Control Cycles with Advanced Position Control PnO2 2 Setting 0 Cycle 0 1 x 333 333 us Setting 1 Cycle 1 1 x 333 666 us Setting 31 Cycle 31 1 x 333 10656 us Time 4 Response with position loop gain Response with position loop gain Pn4F Not used Do not change setting 5 52 Operating Functions 5 10 User Parameters B Internally Set Speed Control Parameters Pn50 Not used Do not change setting Pn51 Not used
28. OMRON M USER S MANUAL Le R88M GL Servomotors R7D BP Servo Drives SERVOMOTORS SERVO DRIVES r Trademarks and Copyrights Product names and system names in this manual are trademarks or registered trademarks of their respective companies OMRON 2008 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permis sion of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the informa tion contained in this publication Introduction Introduction Thank you for choosing the SMARTSTEP 2 Series This User s Manual describes installation wiring methods and parameter setting procedures required for the operation of the SMARTSTEP 2 Series as well as troubleshooting and inspection methods Intended Readers This manual is intended for the following personnel Those w
29. 3 Disp laying the Parameter Setting Key operation Display example Explanation Press the Data key to display the setting Operation 4 Changing the Parameter Setting Key operation Display example Explanation e o Use the Shift Increment and Decrement keys to change the setting The decimal point will flash for the digit that can be changed Press the Data key to save the new setting 5 Retu rning to the Display of Parameter Setting Mode Key operation Display example Explanation Press the Data key to return to the Parameter Setting Mode Display Some parameters will be displayed with an r before the number when the Parameter Setting Mode is displayed To enable the settings that have been changed for these parameters you must turn the power supply OFF and ON after saving the parameters in EEPROM Once the setting for a parameter is saved the new setting will be used for control Make changes little by little not widely when setting the parameters in particular the speed loop gain position loop gain etc which can affect the motor operation greatly For details on parameters refer to Parameter Details on page 5 32 Precautions for Correct Use 6 15 6 3 Using the Parameter Unit Parameter Write Mode Settings changed in the Parameter Setting Mode must be saved in EEPROM To do so the following procedure must be pe
30. Connection Configuration and External Dimensions g 50 2000 a 50 S Power supply end i Servo Drive end Three phase S 2 i 200 VAC S nee Wiring Power supply end Servo Drive O Blue G3 White Red 1 Cable AWG18 x 3C UL2464 M4 crimp Servo Drive Connector terminal Connector pins 5556PBTL Molex Japan Connector case 5557 10R 210 Molex Japan 3 38 Specifications Specifications 3 4 Cable and Connector Specifications E External Regeneration Resistor Connection Cable with Crimp Pins Cable Models Model Length L Outer diameter of sheath Weight R7A CLBO02RG 2m 6 1 dia Approx 0 1 kg Connection Configuration and External Dimensions 50 B 2000 50 5 External Regeneration Resistor i end S Servo Drive end R88A RR22047S S R88A RR080100S a cam 0 D R7D BP R88A RRO8050S Wiring Insert into the P pin 5 and B1 pin 3 slots of the Main Circuit Connector CNA 3 39 3 4 Cable and Connector Specifications Communications Cable Specifications B Personal Computer Monitor Cable Cable Models Model Length L Outer diameter of sheath Weight R88A CCGO002P2 2m 4 2 dia Approx 0 1 kg Connection Configuration and External Dimensions
31. This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 5 46 Operating Functions Operating Functions 5 10 User Parameters Pn35 Position Loop Gain Switching Time Position Setting 1 Setting range 0 to 10000 Unit x 166 us Default setting 20 Power OFF gt ON If the Gain Switching Input Operating Mode Selection Pn30 is set to 1 gain switching enabled set the phased switching time only for position loop gain at gain switching Example 196 4166 2 Kp1 Pn10 Kp2 Pn18 Kp2 Pn10 Bold solid line Pr35 ON SNOW A Kp1 Pn18 gt Gain 1 Gain 2 Gain 1 gt q lt The switching time is set only when switching from a small position loop gain to a large position loop gain Kp1 to Kp2 This is to reduce the shock to the machine due to sudden changes in the gain Set a value smaller than the difference between Kp2 and Kp1 This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn36 Not used Do not change setting Pn37 Not used Do not change setting Pn38 Not used Do not change setting Pn39 Not used Do not chan
32. ZO Is the power supply LED indicator PWR lit red or orange Is the LED indicator flashing Host position controller Is the wiring to CN1 correct Is it disconnected Is the wiring to CN2 correct Is it disconnected Is the connecting section disconnected wire breaking or faulty connection Is the wiring correct Error Diagnosis Using the Displayed Alarm Codes 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 11 Power supply Occurs when the power e The power supply volt e Increase the power sup undervoltage supply is turned ON or age is low ply capacity during operation e Momentary power inter e Change the power sup ruption occurred ply e Power supply capacity is e Turn ON the power sup insufficient ply e The power supply volt age drops because the main power supply is OFF e The main power supply is not input e Power supply capacity is e Increase the power sup insufficient ply capacity e Phase loss e Connect the phases L1 L2 L3 of the power sup ply voltage correctly e For single phase con nect to L1 and L3 correct ly e The main circuit power e Replace the Servo Drive supply part is damaged e Control PCB error 12 Overvoltage Occurs when power e Main circuit power supply e Change the main c
33. seeeeeeessss 11 ADout this Manual ssiri oansein ratrat 13 Chapter 1 Features and System Configuration a Eea REEE D117 EA EE EAA cutie S EA E E DLE EE 1 1 1 2 System Configuration ete ite tu IRE EU Let ur Uu Hopp Dr nudare bee ted 1 2 1 3 Names of Parts and Functions seesesessseeeeeenene 1 3 1 4 System Block Diagrams sseesseseseenerene nennen nnne 1 5 1 5 dApplicable Standards i ii testes e ee tb x E Au dud dE 1 6 Chapter 2 Standard Models and Dimensions 2 1 Standard Models ccccccccceceeecececcececececeeeeueceecececeeeaueneeeseeeseeeuesneateess 2 1 2 2 External and Mounted Dimensions eeeennmm 2 13 Chapter 3 Specifications 3 1 Servo Drive Specifications eeeessesseseneeeneeeeneennne 3 1 3 2 Servomotor Specifications eese nee nnne nennen nen 3 16 3 3 Decelerator Specifications eeeesssseeseneenenre 3 26 3 4 Cable and Connector Specifications ssssssssseeesese 3 30 3 5 Servo Relay Units and Cable Specifications sssessssss 3 53 3 6 Parameter Unit Specifications esesssssseseseeenee 3 78 3 7 External Regeneration Resistors Specifications 3 79 3 8 Reactor Specifications ooo oce coded ae tea cece e ee Aen ee 3 80 Chapter 4 System Design 4 1 Installation Conditions citer ete tate o
34. Decelerator 20 000 hours Oil seal 5 000 hours Encoder 30 000 hours These values presume an ambient Servomotor operating temperature of 40 C shaft loads within the allowable range rated operation rated torque and rated r min and install as described in this manual You can request replacement of the bearings Decelerator Oil Seal or encoder as repair work If timing pulleys are belt driven the radial loads during operation rotation are as twice as the static loads Consult with the belt and pulley manufacturers and adjust designs and system settings so that the Servomotor s allowable shaft load is not exceeded even during operation If a Servomotor is used under a shaft load exceeding the allowable limit the Servomotor shaft may break and the bearings may burn out When requesting a repair or inspection separate the Servomotor and Decelerator and make a separate request for each product 8 5 Periodic Maintenance Servo Drive Service Life The service life of the Servo Drive is provided below Consult with your OMRON representative to determine whether or not components need to be replaced Aluminum electrolytic capacitors 50 000 hours at an ambient Servo Drive operating temperature of 40 C 80 of the rated operation output rated torque installed as described in this manual Axial fan 30 000 hours at an ambient Servo Drive operating temperature of 40 C and an ambient humidity of 6596 RH
35. Generally when the temperature drops in a mechanical system the friction torque and the load torque increase For that reason overloading may occur at low temperatures In particular in systems that use a Decelerator the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures Check whether overloading may occur at low temperature startup Also check to see whether abnormal Servomotor overheating or alarms occur at high temperatures An increase in load friction torque seemingly increases load inertia Therefore even if the Servo Drive gains are adjusted at a normal temperature the Servomotor may not operate properly at low temperatures Check to see whether there is optimal operation even at low temperatures 3 2 Servomotor Specifications Precautions for Correct Use 50 W Without Oil Seal Rated Torque Ratio 96 Use Cylindrical Servomotors in the ranges shown in the following graphs Using outside of these ranges may cause the Servomotor to generate heat which could result in encoder malfunction 50 W With Oil Seal Rated Torque Ratio 96 T With brake n Without brake esee ae eds With brake 80 l 80 MEME S 2 L0 7096 B8 s 60 4 i 60 40 4 40 4 20 20 T Ambient temperature T H T t Ambient temperature O 10 20 30 40 O 10 20 30 40 100 W Without Oil Seal Rated Torque Ratio 100 W With Oil Seal Rated Torqu
36. Insulation resistance Dielectric strength Between power supply power line terminals and frame ground 0 5 MQ min at 500 VDC Between power supply power line terminals and frame ground 1 500 VAC for 1 min at 50 60 Hz Between each control signal and frame ground 500 VAC for 1 min Altitude 1 000 m above sea level max 860 hp min Protective structure Built into panel IP10 EMC EN 55011 class A group 1 EC Directive EN 61000 6 2 Interna Direc Low tional tives Voltage EN 50178 stan Directive dards UL standards UL 508C cUL standards cUL C22 2 No 14 Note 1 The above items reflect individual evaluation testing The results may differ under compound conditions Note 2 Depending on the operating conditions some Servo Drive parts will require maintenance Refer to Servo Drive Service Life on page 8 18 in the User s Manual for details Note 3 The service life of the Servo Drive is 50 000 hours at an average ambient temperature of 40 C at 80 of the rated torque excluding axial flow fan VANN ININE Never perform withstand voltage or other megameter tests on the Servo Drive Characteristics E Control Specifications 3 1 Servo Drive Specifications Servo Drive model Item R7D R7D R7D BPA5L BPO1L BPO2L Continuous output current 10A 16A 25A uis E Momentary maximum output 33A 51A 75A current
37. Model Dimensions mm R88G LM LR c1 c2 p1 D2 p3 4 Ees Fla 1 5 VRSF05B100CJ 675 32 40 52 46 6o 50 45 10 3 6 1 9 VRSFO9B100CJ 675 32 40 52 46 60 50 45 10 3 6 ddl 115 VRSF15B100CJ 780 32 40 52 46 60 50 45 10 3 6 1 25 VRSF25B100CJ 780 32 40 52 46 60 50 45 10 3 6 1 5 VRSFOSB100CJ 675 32 40 52 46 60 50 45 10 3 6 1 9 VRSFO9B100CJ 675 32 40 52 46 60 50 45 10 3 6 uid 115 VRSF15B100CJ 780 32 40 s2 46 60 50 45 10 3 6 1 25 VRSF25B100CJ 780 32 40 52 46 60 50 45 10 3 6 1 5 VRSFO5B200CJ 725 32 eo s2 70 60 50 45 10 3 10 1 9 VRSFO9C200CJ 895 50 eo 78 70 90 70 e2 17 3 8 oe 115 VRSF15C200C 100 0 50 60 78 70 90 70 62 17 3 8 1 25 VRSF25C200C 1000 50 60 78 70 90 70 62 17 3 8 1 5 VRSFO5C400CJ 895 50 eo 78 70 90 70 e2 17 3 8 1 9 VRSFO09C400CJ 895 50 eo 78 70 90 70 e2 17 3 8 d 115 VRSF15C400CJ 1000 50 60 78 70 90 70 62 17 3 8 1 25 VRSF25C400C 1000 50 60 78 70 90 70 62 17 3 8 Note 1 The standard models have a straight shaft with a key Note2 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding motors Outline Drawings z Four Z2 effective depth L
38. 0 to 71 Limit ing is enabled in the Zero speed Designation 100 o 500 Torque Limit Switch Pn06 No 2 Deviation Setthe No 2 deviation counter overflow level when AC adeo x 256 1 to 72 Counter torque limit switching is enabled in the Zero speed 100 ulses 32767 Overflow Level Designation Torque Limit Switch PnO6 P No 2 Set the No 2 overspeed detection level when Overspeed No AH 0 to 738 torque limit switching is enabled in the Zero speed 0 r min Detection Level Ps 6000 Designation Torque Limit Switch PnO6 Setting 74 Not used Do not change setting 0 75 Not used Do not change setting 0 76 Not used Do not change setting 0 77 Not used Do not change setting 0 78 Not used Do not change setting 0 79 Not used Do not change setting 0 7A Not used Do not change setting 0 7B Not used Do not change setting 0 7C Not used Do not change setting 0 7D Not used Do not change setting 0 7E Not used Do not change setting 0 7F Not used Do not change setting 0 5 31 5 10 User Parameters Parameter Details This section describes the user parameters in detail Be sure to fully understand the meanings of the parameters and change them properly Do not change settings of the parameters marked
39. Command Pulse Mode Position Setting range 0to 3 Unit Default setting 1 Power OFF 5 ON Yes Set the input format of the pulse inputs sent as commands to the Servo Drive from the position controller Explanation of Setting Setting Command pulse mode Servomotor forward command Servomotor reverse command Oor2 90 phase difference phases A and B signal inputs Phase A FE ae ieee dat Line driver t1 2 2 us Open collector t1 gt 5 us Forward pulse and reverse pulse inputs I ig a Low mm t2 t2 m Low toU Line driver t2 gt 1 us Open collector t2 2 2 5 us Feed pulse input and forward reverse signal eg Ld UL S2 t High i t2 9 t2 t2 t2 Line driver t2 gt 1 us Open collector t2 gt 2 5 us Pn43 Not used Do not change setting Pn44 Encoder Dividing Rate Setting All modes Setting range 1 to 16384 Unit Pulse Default setting 2500 Power OFF 5 ON Yes Set the number of encoder pulses to be output from the Servo Drive for each rotation The setting can be made from 1 to 16 384 pulses but the setting will not be valid if it exceeds 2 500 pulses Any setting that exceeds the encoder resolution will be invalid Even if the dividing rate is changed there will always be 1 pulse per rotation for phase Z 5 49 5 10 User Paramet
40. Explanation Setting During deceleration After stopping Deviation counter content 0 Dynamic brake Dynamic brake Hold 1 Free run Dynamic brake Hold 2 Dynamic brake Servo free Hold 3 Free run Servo free Hold 5 57 5 10 User Parameters Pn69 Stop Selection with Servo OFF All modes Setting range 0to7 Unit Default setting 0 Power OFF gt ON Set the operation during deceleration and after stopping as well as the deviation counter status when the RUN Command Input RUN turns OFF Explanation of Settings Setting Explanation During deceleration After stopping Deviation counter content 0 Dynamic brake Dynamic brake Clear 1 Free run Dynamic brake Clear 2 Dynamic brake Servo free Clear 3 Free run Servo free Clear 4 Dynamic brake Dynamic brake Hold 5 Free run Dynamic brake Hold 6 Dynamic brake Servo free Hold 7 Free run Servo free Hold Reference Dynamic Brake at Power OFF By default the dynamic brake of the Servo Drive will be engaged when the main circuit power is turned OFF For this reason it feels slightly heavier to rotate the Servomotor shaft manually than in servo free status To release the dynamic brake disconnect the wirings U V W from the Servomotor Be sure to reconnect these wirings before restoring the power Pn6A Brake Timing When Stopped All modes Setting range
41. Gain siveness 32767 11 Speed Loop Set to adjust the speed loop responsiveness 1 to Mr 60 Hz Gain 3500 12 Speed Loop Setto adjust the speed loop integral time constant Integration 20 ima 1 to Time Constant 1000 A 13 Speed Feed The encoder signal is converted to the speed sig back Filter Time nal via the low pass filter 0 Oto5 Constant 14 Torque Set to adjust the primary lag filter time constant for CommandfFilter the torque command section 100 0 01 ms 0 to Time Constant 2500 4 15 Feed forward Set the position control feed forward compensa 2000 Amount tion value 300 0 1 to 2000 16 Feed forward Set the position control feed forward command fil CommandFilter ter 100 o01ms 2t m i i 6400 17 Not used Do not change setting 0 18 Position Loop Set to adjust the position control system respon 20 i s 0 to a Gain 2 siveness 32767 19 Speed Loop Set to adjust the speed loop responsiveness 80 Hz 1 to P Gain 2 3500 1A Speed Loop Setto adjust the speed loop integral time constant Integration 1to m Time Constant 39 ix 1000 2 1B Speed Feed The encoder signal is converted to the speed sig back Filter Time nal via the low pass filter 0 0 to 5 Constant 2 1C Torque Set to adjust the primary lag filter time constant for CommandfFilter the torque command section 100 0 01 ms 0 to E Time Constant 2500 2 1D Notch Filter 1 Set the notch frequen
42. When connecting wires and crimp terminals to a Terminal Block tighten them with a tightening torque of 0 59 N m Round Crimp Terminals Fork Terminals 3 7 mm dia op ET 6 8 mm max EC 3 7 mm 6 8 mm max Applicable Crimp Terminals Applicable Wires 1 25 to3 AWG22 to AWG16 Round Crimp 0 3 to 1 25 mm Terminals e AWG16 to AWG14 1 25 to 2 0 mm AWG22 to AWG16 Menos 0 3 to 1 25 mm Fork Terminals 2103 5 AWG16 to AWG14 i 1 25 to 2 0 mm 3 49 3 4 Cable and Connector Specifications XW2D 34G6 M3 screw terminal block Dimensions Flat cable connector MIL plug Two 128 4 5 dia 39 1 i 100 ZL 17 6 SRE l BES ES JA oo d BL Te 39 DINTrackiock _ 45 MI 5s z When using crimp terminals use crimp terminals with the following Precautions di for Correct Use Meanelole When connecting wires and crimp terminals to a Terminal Block tighten them with a tightening torque of 0 7 N m Round Crimp Terminals Fork Terminals 3 2 mm dia yr etd 5 8 mm max e 3 2 mm 5 8 mm max Applicable Crimp Terminals Applicable Wires Round Crimp AWG22 to 16 Terminals Leslee 0
43. e If torque limit switching is used correctly set the al lowable operating speed for Pn70 and Pn73 8 9 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 27 Electronic gear Occurs when com e The setting for the Elec e Set Pn46 and Pn47 so setting error mand pulses are given tronic Gear Ratio Numer that the command pulse ator Pn46 or Pn47 is not frequency is 500 kpps appropriate max 29 Deviation counter Occurs when the Ser e The Servomotor power e Correct the wiring overflow vomotor does not ro wiring or the encoder wir tate even if command ing is incorrect ulses are input P P e The Servomotor is me e If the Servomotor shaft is chanically being held held by external force re lease it e Release the electromag netic brake e Control PCB error e Replace the Servo Drive Occurs during high e The Servomotor power e Correct the wiring speed rotation wiring or the encoder wir ing is incorrect Occurs when long com e Gain adjustment is insuf e Adjust the gain mand pulses are given ficient e The acceleration and de e Extend the acceleration celeration are too rapid and deceleration times e The load is too large e Reduce the load e Select a suitable Servo motor 34 Overrun limit error Occurs during opera e The Overrun Limit Set e Adjust the gain tion ting Pn26 is exceeded e Increase the
44. o6 S s olo oloo4o im J 5 ER 99 5 Dug f0 oso 00 0 2 O_o 2 aa z DE A0000 o 300 8O i o S zt 58 eS8eEc oooO YYJOoYJo Bt o295 OJ OOO O GOO FO FQM1 Q O o OOOO o0 7 Se 5 looo sal Sea 7 3 o OSOLE oO O JOo O eel S moss ofo ooog 912 01 al 225 _ cflocticllofootio e T Ek LD glio oio 0 8z E o ke 3 60 19 3 5 Servo Relay Units and Cable Specifications FQM1 MMP22 Signal Names e x 3 8 94 94 e il 8 5 8 g asLaas9 Hroves S LNO S 3911 1389 2 oues X ZLNO f I1SHO3 omas 8 ZLNO 6 LSHOA z OMes E 9LNO R I3S3H L OMeS 8 LLNO LASSY z om s 2 SLNO T Nnuisowes J 01nO NnHez amp owes vino P ZNI amp AQ uowwog e LENI A 0 uowwog KR 9NI D A 0 uowwog D OLNI A 0 uowwog R SNI B A0 uowwog a 6NI A 0 uowwog 2 YNI A0 uowwog a 8NI D A 0 uowwog Q YING L 0m S 2 A 0 uUoWwWOD amp YINg Z ONIaS co A 0 uowwog Wivi oues 5 dNI L4 OaS Rl Wiveroweg M dNI z ones 8 E g di z 9 q1Z eseud L4 oues q7 Z eseud Li omas Q NI 10 A 0 uowwoo amp q1seseud L4 oues X q7 g eseud Li oues a ZNI lt A 0 uowwog amp G1 y eseud 1 oues q7 y eseud 4 ones Q LNI A 0 uowwog amp indui g yeuBbis yoye Q uowwoo g euss uoje1 N ONI a A 0 uouiuo5 amp indui peus yoye uouiuoo jeufis yoyeq a E A vc T AO 2
45. Adjustment Functions hi 7 5 Manual Tuning Machine Resonance Control When machine rigidity is low shaft torsion may cause resonance leading to vibration or noise thus not allowing the gain to be set high In this case the resonance can be suppressed by using the two filter types B Torque Command Filter Time Constant Pn14 Pn1C The filter time constant is set to attenuate the resonance frequency The cut off frequency can be calculated using the following equation 1 7 1 2nT Cut off frequency Hz fc 5 2n x Parameter setting x 10 B Notch Filter Adaptive Filter Pn21 Pn2F By using the adaptive filter the Servo Drive can suppress vibration of loads with various resonance points for each machinery which conventional notch filters or torque command filters were unable to cope with Enable the adaptive filter by selecting advanced position control 2 for the Control Mode Selection Pn02 and setting the Realtime Autotuning Mode Selection Pn21 to 1 to 3 or 7 Pn No Parameter name Explanation 21 Realtime Autotuning Mode The adaptive filter is enabled when this parameter is set to 1 Selection to 3 or 7 2F Adaptive Filter Table Displays the table entry number corresponding to the Number Display frequency of the adaptive filter The setting of this parameter cannot be changed 1 For information on table entry numbers and frequency refer to Disabling the Adaptive Filter on page 7 14
46. E Ro RSo STo T oO Y LIL L Four a L 5041 N _ 6dia 67 1_ Le 190 j 82 j DIN Rail Mounting Unit Dimensions R7A DIN01B Two M4 p 9 mounting screws 1 _20 6 wo e Mounting panel ae 8 n E 2 Rail stopper 6 1 Two mounting screws M4 length 8 are included 2 When the rail stopper is extended this dimension becomes 10 mm 2 29 Chapter 3 Specifications 3 1 Servo Drive Specifications General Specifications ssssssssss Characteristics uS Main Circuit and Servomotor Connector Specifications CNA and ONB e eee Control I O Connector Specifications CN1 GontrolilnputiCircuitscee tr Gontrollnputibetailse ee ontroliutputicireuitss et GontrollGutpuilbetalls sr Encoder Connector Specifications CN2 3 2 Servomotor Specifications General Specifications e ea a e r EE Characteristics sce sects Ee aE eE E AEE ete Encoder Spe a aO E E E EER E 3 3 Decelerator Specifications Standard Models and Specifications 3 4 Cable and Connector Specifications Encoder Cable Specifications ssesssss Servomotor Power Cable Specifications Power Cable Specifications sses
47. Four Z1 our Z2 effective depth L D2dia SG TE og 2 9 v2 es Ss wo xe 2 a B 5 C2 x C2 2 23 2 2 External and Mounted Dimensions Dimensions mm Key dimensions mm Weight Model eres mari ete pese qd sey R88G 12 20 M4 M5 M3 12 16 4 4 2 5 0 55 VRSF05B100CJ 1 5 12 20 M4 M5 M3 12 16 4 4 2 5 0 55 VRSFO9B100CJ 1 9 12 20 M4 M5 M3 12 16 4 4 2 5 0 70 VRSF15B100CJ 1 15 a 12 20 M4 M5 M3 12 16 4 4 2 5 0 70 VRSF25B100CJ 1 25 12 20 M4 M5 M3 12 16 4 4 2 5 0 55 VRSF05B100CJ 1 5 12 20 M4 M5 M3 12 16 4 4 2 5 0 55 VRSFO9B100CJ 1 9 12 20 M4 M5 M3 12 16 4 4 2 5 0 70 VRSF15B100CJ 1 15 ud 12 20 M4 M5 M3 12 16 4 4 2 5 0 70 VRSF25B100CJ 1 25 12 20 M4 M5 M4 12 16 4 4 2 5 0 72 VRSFO5B200CJ 1 5 19 30 M4 M6 M4 20 22 6 6 3 5 1 70 VRSFO9C200CJ 1 9 19 30 M4 M6 M4 20 22 6 6 3 5 2 10 VRSF15C200CJ 1 15 par 19 30 M4 M6 M4 20 22 6 6 3 5 2 10 VRSF25C200CJ 1 25 19 30 M4 M6 M4 20 22 6 6 3 5 1 70 VRSFO5C400CJ 1 5 19 30 M4 M6 M4 20 22 6 6 3 5 1 70 VRSFO9C400CJ 1 9 19 30 M4 M6 M4 20 22 6 6 3 5 2 10 VRSF15C400CJ 1 15 oe 19 30 M4 M6 M4 20 22 6 6 3 5 2 10 VRSF25C400CJ 1 25 1 This is the set bolt Set bolt AT Key Dimensions e QK 2 24 Standar
48. Position Command Filter Time Constant Setting Speed PI Processor Pn11 Speed Loop Gain Pn12 Speed Loop Integration Time Constant 1 Pn19 Speed Loop Gain 2 Pn1A Speed Loop Integration Time Constant 2 Pn20 Inertia Ratio Deviation Counter Pn10 Position Loop Gain Pn18 Position Loop Gain 2 Position Deviation Monitor Speed Detection Pn13 Speed Feedback Filter Time Constant Pn1B Speed Feedback Filter Time Constant 2 Receive Encoder Signal Torque Command Monitor Torque Command Filter 4 n 4 O Torque PI A_A V Processor Current Feedback Pn14 Torque Command Filter Time Constant Pn1C Torque Command Filter Time Constant 2 Pn5E Torque Limit Pn71 No 2 Torque Limit 5 2 Internally Set Speed Control Internally Set Speed Control The speed of the Servomotor can be controlled using the speeds set in the No 1 to 4 Internal Speed Setting parameters After the RUN Command Input RUN is turned ON and then the Zero Speed Designation Input VZERO is turned ON the Servomotor will accelerate according to the Soft Start Acceleration Time Pn58 When the Zero Speed Designation Input VZERO is turned OFF the Servomotor will decelerate to a stop according to the Soft Start Deceleration Time Pn59 Switching between the internally set speeds is controlled by the Internally Set Speed Selection 1 and 2 Inputs VSEL1 CN1 6 VSEL2 CN1 4 Parameters Requiring Settings
49. Set the Servo Drive s pulse type to match the Control ler s command pulse type Check the command pulse s volt age Connect a resistor that matches the voltage The power supply is not ON Check whether the power supply is ON and check the PWR LED indi cator Turn ON the power supply Check the voltage across the pow er supply terminals Wire the power supply s ON circuit correctly The CW Input and CCW Input are ON at the same time Check the command pulse s wiring e Input the pulse signal ei ther to the CW Input or CCW Input e Always turn OFF the termi nal that is not input to Servo Drive is faulty Replace the Servo Drive 8 12 Troubleshooting 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasures The Servomotor operates mo mentarily but it does not operate after that The Servomotor Power Cable is wired incorrectly Check the wiring of the Servomotor Power Cable s phases U V and W Wire correctly The Encoder Cable is wired incorrectly Check the Encoder Cable s wiring Wire correctly The Servomotor rotates without a command The command pulse input is incorrect Check the command pulse type Set the command pulse in put appropriately Check the command pulse s volt age Connect a resistor that matches the voltage The Servo Drive is faulty Replace the Serv
50. Speed Loop Integration Time Constant 2 Pn1A Speed Feedback Filter Time Constant 2 Pn1B and Torque Command Filter Time Constant 2 Pn1C Function Zero Speed Designation Pin 5 is the Zero Speed Designation Input VZERO when PnO2 is set to 1 Internal Speed Control Mode and the Zero Speed Designation Torque Limit Switch PnO6 is set to anything other than 2 When Zero Speed Designation Input VZERO is OFF the speed command is zero Turn ON the Zero Speed Designation Input VZERO for normal operation Zero Speed Designation Input VZERO is enabled when the Zero Speed Designation Torque Limit Switch PnO6 is set to 1 and disabled when Pn06 is set to 0 Function Torque Limit Switch Pin 5 is the Torque Limit Switch Input TLSEL in both Position Control Mode and Internal Speed Control Mode when the Zero Speed Designation Torque Limit Switch PnO6 is set to 2 This input switches the Overspeed Detection Level Torque Limit and Deviation Counter Overflow Level parameters When the input is OFF torque limit 1 Pn70 Pn5E Pn63 is enabled and when the input is ON torque limit 2 Pn71 Pn72 Pn73 is enabled B Electronic Gear Switch Internally Set Speed Selection 1 Input Pin 6 Electronic Gear Switch Internally Set Speed Selection 1 Input GESEL VSEL1 Function Electronic Gear Switch Pin 6 is the Electronic Gear Switch Input GESEL in Position Control Mode when PnO2 is set to 0 or 2 The numerator setting for
51. The adaptive filter is disabled Realtime autotuning is used Use this setting if there are gradual changes in load inertia during operation The adaptive filter is disabled Realtime autotuning is used Use this setting if there are sudden changes in load inertia during operation The adaptive filter is disabled Realtime autotuning is not used The adaptive filter is enabled if PnO2 is set to 2 0to7 22 Realtime Autotuning Machine Rigidity Selection Setthe machine rigidity during realtime autotuning to one of 16 levels The higher the machine rigidity the greater the setting needs to be The higher the setting the higher the responsiveness 0 to 15 23 Not used Do not change setting 24 Not used Do not change setting 5 23 5 10 User Parameters Power Pn Parameter Explanation Default Unit Setting OFF No name setting range ON 25 Autotuning Set the operating pattern for autotuning CPAN 0 Rotation direction CCW CW two Setting rotations 1 Rotation direction CW CCW two rotations 2 Rotation direction CCW CCW two rotations 3 Rotation direction CW CW two rotations 0 0to7 4 Rotation direction CCW CW one rotation 5 Rotation direction CW CCW one rotation 6 Rotation direction CCW CCW one rotation 7 Rotation direction
52. Wiring Position Control Unit Servo Relay Unit A24 B24 A20 B20 ill Crimp terminal Cable AWG28 x 8P AWG28 x 16C 34 3 68 Specifications 3 5 Servo Relay Units and Cable Specifications B Position Control Unit Cable XW2Z J A10 This Cable connects a Position Control Unit CS1W NC133 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A10 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A10 1m Approx 0 2 kg Connection Configuration and External Dimensions Position Control Unit CS1W NC133 a Servo Relay Unit XW2B 20J6 1B Wiring Position Control Unit Servo Relay Unit Ho AWG20 black 3 69 3 5 Servo Relay Units and Cable Specifications B Position Control Unit Cable XW2Z J A11 This Cable connects a Position Control Unit CS1W NC233 433 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A1 1 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A11 1m Approx 0 2 kg Connection Configuration and External Dimensions L 6 Position Control Unit CS1W NC233 CS1W NC433 T Wiring Position Control Unit A3 B3 2Q t 11 1000 AWG20 black
53. c ls xi o TO 6 Ground to p 100 Qorless R7D BP R7A CPBLIS Ze MC1 Connect External Regeneration Resistor when required 24VIN RUN OGND ALM BKIR FG R88M G Servomotor Power Red Cable White R7A CABLIS Blue reen Yellow Encoder Cable RBSA CRGBLIE s Brake Cable R88A CAGALIB XB L 24 VDC Precautions for Correct Use dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Incorrect signal wiring can cause damage to Units and the Servo Drive Leave unused signal lines open and do not wire them Use the 24 VDC power supply for the command pulse inputs as a Recommended surge absorption diode RU2 Sanken Electric or the equivalent Appendix 9 Index Numerics 3 000 r min Flat Servomotors 2 2 3 000 r min Servomotors sssssesesss 2 1 90 degree Phase Difference Signal 3 11 A adaptive filter 7 5 7 14 alarm LED indicator eeeeeeeeeessessss 1 4 alarm output alarm reset input esee 3 9 LU n 3 13 6 2 applicable load inertia
54. 22 22 Blue Red 3 CW PULS FA CWI PULS FA 23 H 28 _____X____ 93 Bue Back 3j CWI PULSI FA CCW SIGN FB 24 24 24 CCW SIGN FB CCWI SIGN FB 28 11 28 41 315 15 ence GI CCWLSIGNI FB Z 21 21 Green Red 3 Z 1 26 GreenBlack 3 _ Fe Terminal Block Connector Connector socket XG4M 3430 Strain relief XG4T 3404 Cable AWG28 x 13P UL2464 Servo Drive Connector Connector plug 10126 3000PE Sumitomo 3M Connector case 10326 52A0 008 Sumitomo 3M 3 47 3 4 Cable and Connector Specifications B Connector Terminal Block Conversion Unit By using the Connector Terminal Block Conversion Unit in combination with a Connector Terminal Block Cable XW2Z L1J B28 the Servo Drive s Control I O Connector CN1 can be converted to a terminal block XW2B 34G4 M3 screw terminal block Specifications 2 Use 0 30 to 1 25 mm wire AWG22 to AWG16 Precautions for Correct Use The wire slot is 1 8 mm height x 2 5 mm width Strip the insulation from the end of the wire for 6 mm as shown below 3 48 3 4 Cable and Connector Specifications XW2B 34G5 M3 5 screw terminal block o c o 4 o o a o Terminal 7 8 5 7 3 block 7 When using crimp terminals use crimp terminals with the following Precautions di for Correct Use mMensIons
55. 29 1 11 HPG14A11100PB 64 0 58 60 60x60 70 70 56 0 55 5 40 100 W 1 21 HPG14A21100PB 64 0 58 60 60x60 70 70 56 0 55 5 40 1 33 HPG20A33100PB 71 0 80 90 89dia 105 70 85 0 84 0 59 1 45 HPG20A45100PB 71 0 80 90 89dia 105 70 85 0 84 0 59 1 5 HPG14A05200PB 65 0 58 60 80x80 70 90 56 0 55 5 40 1 11 HPG20A11200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 200 W 1 21 HPG20A21200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 1 33 HPG20A33200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 1 45 HPG20A45200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 1 5 HPG20A05400PB 78 0 80 90 80x80 105 90 85 0 84 0 59 1 11 HPG20A11400PB 78 0 80 90 80x80 105 90 850 840 59 400W 1 21 HPG20A21400PB 78 0 80 90 80x80 105 90 850 84 0 59 1 33 HPG32A33400PB 104 0 133 120 122 dia 135 90 115 0 1140 84 1 45 HPG32A45400PB 104 0 133 120 122 dia 135 90 115 0 114 0 84 Note 1 The standard models have a straight shaft A model with a key and tap is indicated by adding J to the end of the model number Note 2 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding motors Outline Drawings C1xC1 E Set bolt AT Four Z2 D5 dia S dia height 7 D3 dia height 7 D4 dia Four Z1 dia 2 21 2 2 External and Mounted
56. 3a fa G T C2 x C2 LM J LIR 2 25 2 2 External and Mounted Dimensions Dimensions mm Key dimensions mm Weight Model s t z zz a E s R88G 12 20 M4 M5 M3 12 16 4 4 2 5 0 72 VRSF05B100PCJ 1 5 12 20 M4 M5 M3 12 16 4 4 2 5 0 72 VRSF09B100PCJ 1 9 12 20 M4 M5 M3 12 16 4 4 2 5 0 87 VRSF15B100PCJ 1 15 ind 12 20 M4 M5 M3 12 16 4 4 2 5 0 87 VRSF25B100PCJ 1 25 12 20 M5 M5 M4 12 16 4 4 2 5 0 85 VRSFO5B200PCJ 1 5 19 30 M5 M6 M4 20 22 6 6 3 5 1 80 VRSFO9C200PCJ 1 9 19 30 M5 M6 M4 20 22 6 6 3 5 2 20 VRSF15C200PCJ 1 15 SO 19 30 M5 M6 M4 20 22 6 6 3 5 2 20 VRSF25C200PCJ 1 25 19 30 M5 M6 M4 20 22 6 6 3 5 1 80 VRSFO5C400PCJ 1 5 19 30 M5 M6 M4 20 22 6 6 3 5 1 80 VRSFO9C400PCJ 1 9 19 30 M5 M6 M4 20 22 6 6 3 5 2 20 VRSF15C400PCJ 1 15 SE 19 30 M5 M6 M4 20 22 6 6 3 5 2 20 VRSF25C400PCJ 1 25 1 This is the set bolt Set bolt AT Key Dimensions QK 2 26 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounted Dimensions External Regeneration Resistor Dimensions B External Regeneration Resistor 2 27 R88A RRO08050S R88A RRO0801 00S _ Thermal switch output N
57. 4 3 Wiring Conforming to EMC Directives B Unit Details Symbol Name Manufacturer Model Remarks Okaya Electric RAV781BWZ 4 Single phase 100 VAC SG Surge absorber Industries Co Ltd RAV781BXZ 4 Three phase 200 VAC z ai Okaya Electric 3SUP HQ10 ER 6 Single phase Ms Aoise nter Industries Co Ltd 100 200 VAC R7D BPO2L Single phase 100 VAC SD Servo Drive OMRON Corp R7D BP04H Three phase 200 VAC R88M G20030L 100 VAC SM Servomotor OMRON Corp R88M G40030H 200 VAC FC Clamp core TDK ZACT305 1330 TB Switch box B Cable Details Symbol Supplies from Connects to Cable name Length Remarks Shielded Ferrite Single 2m phase No No 100 VAC a AC power supply Noise filter Power supply line Three 3m phase No No 200 VAC b Noise filter Servo Drive Power supply line 2m No Yes c Servo Drive Servomotor Power cable 20m Yes Yes d Servo Drive Servomotor Encoder cable 20m No Yes e Switch box Servo Drive I O cable 1m No Yes f Frame ground Noise filter Frame ground line 1 5m No No g Frame ground Noise filter Frame ground line 1 5m No No h AC power supply Switch box Power supply line 1 5m No No 4 19 4 3 Wiring Conforming to EMC Directives If no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring or make sure that the
58. 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 95 Servomotor Occurs when the power e The Servomotor and e Use a correct combina non conformity supply is turned ON Servo Drive combination is incorrect tion e The encoder wiring is disconnected e Wire the encoder e Fix the locations that are disconnected 96 LSI setting error e Incorrect operation due to noise e Take measures against noise Others Other errors e The Servo Drive s self di agnosis function detect ed an error in the Servo Drive e Turn OFF the power sup ply and turn it ON again e Replace the Servomotor or Servo Drive 8 11 8 3 Troubleshooting Error Diagnosis Using the Operating Status Symptom Probable cause Items to check Countermeasures The power LED The power supply cable is Check whether the power supply Supply the correct voltage indicator PWR wired incorrectly input is within the allowed voltage does not light when the power supply is turned ON range Check whether the power supply input is wired correctly Correct the wiring The Servomotor does not rotate even if commands are input from the Controller The RUN Command Input is OFF Check whether the RUN signal is ON or OFF in monitor mode e Turn ON the RUN Com mand Input e Correct the wiring The Forward Drive Prohibit Input POT a
59. Operating Functions Operating Functions 5 10 User Parameters 5 Saving the New Setting to Memory Key operation Display example Explanation Press the Mode key to display Parameter Write Mode Press the Data key to move on to Parameter Write Mode Press the Increment key for at least 5 s The bar indicator will appear Writing will start This display will appear only momentarily This display indicates a normal completion In addition to Finish either EsEE or E 5 may be displayed Iff esex is displayed writing has been completed normally but some of the changed parameters will be enabled only after the power is turned ON again Turn OFF the Servo Drive power supply and then turn it ON again Ifiz 5 Jis displayed there is a writing error Write the data again 6 Returning to the Display of Parameter Write Mode Key operation Display example Explanation Press the Data key to return to the display of Parameter Write Mode 5 19 5 10 User Parameters Parameter List Some parameters are enabled by turning the power OFF and then ON again When changing these parameters turn OFF the power check that the power LED indicator has gone OFF and then turn ON the power again Do not make any settings for parameters marked Not used B Function Selection Parameters Pn Parameter Setting Exp
60. Press the Data key to return to the Auxiliary Function Mode Display 6 18 Operation 6 3 Using the Parameter Unit B Jog Operation 1 Executing Jog Operation Key operation Display example Explanation D ioe wie ES Press the Increment key to display the Jog Operation Mode on the alarm reset display in Auxiliary Function Mode Press the Data key to enter Jog Operation Mode e Press and hold the Increment key until Ready is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase This completes preparations for jog operation Tenant Press and hold the Shift key until Sev on is displayed Q Eoe The decimal point will move to the left when the key is pressed for 3 s or longer Eo su a od ad a The Servo will turn ON OG Forward operation will be performed while the Increment key is pressed and reverse operation will be performed while the Decrement key is pressed The Servomotor will stop when the key is released The rotation speed set for Jog Speed Pn57 will be used for jogging 2 Returning to the Display of Auxiliary Function Mode Key operation Display example Explanation Press the Data key to return to the Auxiliary Function Mode Display The servo lock is released The system is now in servo free status 6 19 6 3 Using the Paramete
61. R88M G40030H B 3 000 r min Flat Servomotors Rated Servo Drive Servomotor output ae 5 Pulse string input Without brake With brake 100 W R7D BPO1H R88M GP10030H R88M GP10030H B 200 W R7D BPO2HH R88M GP20030H R88M GP20030H B 400 W R7D BP04H R88M GP40030H R88M GP40030H B B Three phase 200 VAC Combinations 3 000 r min Servomotors Rated Servo Drive Servomotor output at Pulse string input Without brake With brake 50W R88M G05030H R88M G05030H B 4 R7D BP01H 100 W R88M G10030H R88M G10030H B 200 W R7D BP02H R88M G20030H R88M G20030H B 400 W R7D BP04H R88M G40030H R88M G40030H B 3 000 r min Flat Servomotors Rated Servo Drive Servomotor output ES Pulse string input Without brake With brake 100W R7D BPO1H R88M GP10030H R88M GP10030H B 200W R7D BPO2H R88M GP20030H 1 R88M GP20030H BL 400 W R7D BP04H R88M GP40030H R88M GP40030H B 2 3 Decelerators B Backlash 3 Max Decelerators for Cylindrical Servomotors Specifications Motor capacity Gear rat
62. T HTI 100 E 1T ia ge LLL 10 DIR D GUN as 1 10 100 Frequency MHz 1000 For information on the TDK clamp filter ZCAT3035 1330 refer to Hadio Noise Filters and Emission Noise Prevention Clamp Cores on page 4 26 4 29 4 3 Wiring Conforming to EMC Directives B Improving Control I O Signal Noise Resistance Positioning can be affected and I O signal errors can occur if control I O is influenced by noise Use completely separate power supplies for the control power supply especially 24 VDC and for the external operation power supply In particular do not connect the two power supply ground wires Install a noise filter on the primary side of the control power supply If Servomotors with brakes are used do not use the same 24 VDC power supply for both the brakes and the control I O 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 deviation counter reset input lines separated from the control power supply as far apart as possible In particular do not connect the two power supply ground lines We recommend using line drivers for the pulse command output Always use twisted pair shielded cable for the pulse command and deviation counter reset signal lines and connect both ends of the shield to frame grounds f the control power supply wiring is long noise resistance can be improved by adding 1 uF laminat
63. Time Constant Pn19 Speed Loop Gain 2 Pn1A Speed Loop Integration Time Constant 2 Pn20 Inertia Ratio Speed Detection Pn13 Speed Feedback Filter Time Constant Pn1B Speed Feedback Filter Time Constant 2 Receive Encoder Signal Torque Command Filter Pn14 Pn1C Torque Command Torque Command Monitor Filter Time LO id PI Constant rocessor Torque Command Filter Time Current Feedback Constant 2 Torque Limit No 2 Torque Limit af lt u V a Operating Functions Operating Functions 5 3 Forward and Reverse Drive Prohibit 5 3 Forward and Reverse Drive Prohibit When the Forward Drive Prohibit Input POT CN1 8 and Reverse Drive Prohibit Input NOT CN1 7 are turned OFF the Servomotor will stop rotating You can prevent the Servomotor from rotating beyond the device s travel range by connecting limit inputs Parameters Requiring Settings jo ums Parameter name Explanation Reference Pno4 Drive Prohibit Input Enable or disable the Forward Reverse Drive Prohibit Inputs Page 5 33 Selection Set the operation for decelerating to a stop after the Forward Pn66 Stop Selection for Reverse Drive Prohibit Input turns OFF This parameter can be Page 5 57 Drive Prohibit Input used to set whether to stop with the dynamic brake or free run 9 ning Operation Stopping Methods When Forward Reverse Drive Prohibit Is OFF Stop Selection for Drive Deceleration
64. Use the Control I O Cable that meets specifications Noise is entering the Con trol I O Cable because the cable is longer than the specified length Check the length of the Control I O Cable Shorten the Control I O Ca ble to 3 m or less Noise is entering the cable because the Encoder Ca ble does not meet specifi cations Check that the cable wires are twisted pair wires or shielded twist ed pair wires that are at least 0 12 mm Use the Encoder Cable that meets specifications Noise is entering the En coder Cable because the cable is longer than the specified length Check the length of the Encoder Cable Shorten the Encoder Cable to 20 m or less Noise is entering the signal wires because the Encod er Cable is stuck or the sheath is damaged Check whether the Encoder Cable is damaged Correct the Encoder Cable s pathway to prevent damage Too much noise is entering the Encoder Cable Check whether the Encoder Cable is tied up in a bundle with or too close to high current lines Lay the Encoder Cable in a way surges are not applied 8 14 Troubleshooting Troubleshooting 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasures The Servomotor is producing unusual noises orthe machine is vibrating Continued from previous page The FG s potential is fluc tuating due to devices near the Servomotor such
65. V A rms 3 3 5 1 7 5 w Oy tary i current Wire size AWG18 Wire size AWG14 min Frame ground Screw size M4 Torque N m 1 2 to 1 4 No fuse breaker or fuse A rms 3 5 7 capacity 1 Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals 2 Use a no fuse breaker or a surge withstand fuse The maximum inrush current is 20 A 4 16 System Design 4 2 Wiring Item Unit R7D BP01H R7D BPO2HH R7D BP02H R7D BP04H Power supply capacity kVA k 3 0 35 0 42 oon Main circuit power Rated A rms 0 7 1 6 1 1 1 8 supply input L1 current me 1 5 3 5 L2 Wire size AWG18 External Regeneration Wire size AWG18 Resistor connection nated A rms 1 0 1 6 1 6 2 5 current Servomotor f Maximum connection M terminal U V A rms 3 3 4 9 4 9 7 8 W Gy tary current Wire size AWG18 Wire size AWG14 min Frame ground Screw size M4 Torque N m 1 2 to 1 4 No fuse breaker or fuse 5 capacity A rms 3 2 7 1 Values in parentheses are for using single phase 200 V 2 Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals 8 Use a no fuse breaker or a surge withstand fuse The maximum inrush current is 20 A B Wire Size and Allowable Current Reference The following table shows the allowable current when there are three power supply wires Use a current below these specified va
66. VRSF05B200PCJ 600 2 70 85 1000 7 74 1 18x1079 392 196 0 85 2 200 1 9 VRSF09C200PCJ 333 3 77 66 556 10 8 2 75x1079 931 465 1 80 o W 1 15 VRSF15C200PCJ 200 6 29 66 333 18 0 3 00x10 1176 588 2 20 1 25 VRSF25C200PCJ 120 11 1 70 200 31 8 2 88x10 9 1323 661 2 20 1 5 VRSFO5C400PCJ 600 5 40 85 800 15 3 3 63x10 9 784 392 1 80 1 9 VRSFO9C400PCJ 333 9 50 83 iu 26 9 2 75x10 9 931 465 1 80 400 w 333 cB 1 15 VRSF15C400PCJ 200 15 8 83 800 44 8 3 00x10 1176 588 2 20 1 25 VRSF25C400PCJ 120 26 4 83 uM 74 7 2 88x10 1323 661 2 20 Note 1 The Decelerator inertia is the Servomotor shaft conversion value Note 2 The protective structure of Servomotors with Decelerators satisfies IP44 Note3 The allowable radial load is the value at the T 2 position Note 4 The standard models have a straight shaft with a key Note 5 The values in parentheses are those when using a 100 V motor 3 29 3 4 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the encoder between the Servo Drive and Servomotor Encoder 3 4 Cable and Connector Specifications Cables with connectors for CN2 are available Precautions sg for Correct Use Use robot cables for applications with moving parts B Standard Cables for Encoders Cable Models Model Length L Outer diameter of sheath Weight R88A CRGBOO3C 3m Approx 0 2 kg R88A
67. When using the Servo Drive in continuous operation use a fan or air conditioner to maintain an ambient operating temperature of 40 C or lower We recommend that the ambient operating temperature be lowered and the power ON time be reduced as much as possible to lengthen the service life of the Servo Drive The service life of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally an increase of 10 C in the ambient operating temperature will reduce the capacitor life by 5096 Aluminum electrolytic capacitors deteriorate even if the Servo Drive is stored with no power supplied If the Servo Drive is not used for a long time we recommend a periodic inspection and part replacement in five years If the Servomotor or Servo Drive is not used for a long time or if they are used under conditions worse than those described above a periodic inspection of five years is recommended Troubleshooting 8 18 Appendix Connection Examples Appendix 1 Appendix Appendix Connection Examples B Connection Example 1 Connecting to SYSMAC CJ1W NC133 233 433 Position Control Units
68. e Servomotor winding is e Measure the wire wound burned out resistance and if the winding is burned out re place the Servomotor e The relay forthe dynamic e Do not frequently input brake has been conse the RUN Command In quently welded put e Do not operate the sys tem by turning the Servo Drive ON and OFF e Servomotor non confor e Use a Servomotor that is mity appropriate for use with EM the Servo Drive e The pulse input timing is e Wait 100 ms min before too fast inputting pulses after turning ON the RUN Oo Command Input RUN E e The resistor in the Servo e Reduce the ambient tem o Drive is abnormally over perature of the Servo o heating Drive to 55 C or lower o e f the relay does not click o when the power supply is To turned ON replace the 5 Servo Drive E 16 Overload Occurs when the Servo e There is an error in the e Wire the Servomotor Drive is turned ON Servomotor wiring e g the wiring or the contacts are faulty Power Cable correctly e The electromagnetic brake is ON e Reset the brake e The Servo Drive is faulty e Replace the Servo Drive Occurs during opera tion e The actual torque ex ceeds the rated torque e The starting torque ex ceeds the maximum torque e Review the load condi tions and operating con ditions e Review the Servomotor capacity e An unusual noise oscilla tion or vibration is caused by faulty gain ad
69. turned ON Do not attempt to detect an alarm using the Host Controller during this time when power is being supplied with the Host Controller connected 6 2 Preparing for Operation Checking Displays After turning ON the power confirm that the Servo Drive s power supply LED indicator PWR is lit green When the power is turned ON one of the following will appear on the Parameter Unit display Normal Error alarm display If Servo Drive is normal the item set for Default Display Pn01 will appear on the display If there is an error an alarm code will appear The number shown an alarm code depends on the cause of the error Operation 6 3 6 3 Using the Parameter Unit 6 3 Using the Parameter Unit This section describes the basic operation of the Parameter Unit the jog operation with just the Servomotor and Servo Drive and the Parameter Unit s copy function Names of Parts and Functions B Parameter Unit Names 1 LED Display 6 Digits EE UNIT Unit No Display 2 Digits R88A PRO2G Mode key 34 Increment key Shift key Data key _ r Decrement key B Parameter Unit Functions Name Function LED Display Displays the parameters and data settings Displays the Unit No set in Unit No Setting PnOO Unit No Display Displays the parameter number in Parameter Setting Mode Mode key Switches among the six modes D
70. 1m 10 0 dia Approx 0 2 kg XW2Z 200J A28 2m Approx 0 3 kg Connection Configuration and External Dimensions FQM1 FQM1 MMP22 a E LL eov wez2T TT i YL Z08 Wiring Servo Relay Unit D XW2B 80J7 12A Servo Relay Unit 34 3 76 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications B Position Control Unit Cable XW2Z FQM1 MMP22 a c 3 77 J A30 This Cable connects the special I O connector of a Flexible Motion Controller FQM1 MMP22 to a Servo Relay Unit XW2B 80J7 124 Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A30 50 cm Approx 0 1 kg XW2Z 100J A30 1m 10 0 dia Approx 0 2 kg XW2Z 200J A30 2m Approx 0 3 kg Connection Configuration and External Dimensions Wiring FQM1 FQM1 MMP22 Servo Relay Unit XW2B 80J7 12A 3 6 Parameter Unit Specifications 3 6 Parameter Unit Specifications The Parameter Unit is required for parameter setting and monitoring for the Servo Drive R88A PRO2G Hand held Parameter Unit E General Specifications Item Specifications Operating ambient temperature 0 to 55 C Operating ambient humidity 9096 RH max with no condensation Storage ambient temperature 20 to 80 C Storage ambient humidity 9096 RH max with no condensation Operating and storage atmosphere No corrosive
71. 20000 gain 2 The unit for the setting depends on the condition set in the Gain Switch Setting Pn31 34 Gain Switch Set the hysteresis width above and below the 0 to Hysteresis judgment level set in the Gain Switch Level Setting 50 20000 Setting Pn33 35 Position Loop When switching between gain 1 and gain 2 is en 0 to Gain Switching abled set the phased switching time only for the 20 166 us MET B PS 10000 Time position loop gain at gain switching 36 Not used Do not change setting 0 37 Not used Do not change setting 0 38 Not used Do not change setting 0 39 Not used Do not change setting 0 3A Not used Do not change setting 0 3B Not used Do not change setting 0 3C Not used Do not change setting 0 3D Not used Do not change setting 0 3E Not used Do not change setting 0 3F Not used Do not change setting 0 1 These parameters are automatically changed by executing realtime autotuning function To set them manually set the Realtime Autotuning Mode Selection Pn21 to 0 5 25 5 10 User Parameters B Position Control Parameters Power Pn Parameter Explanation Default Unit Setting OFF No name setting range ON
72. 2s later Features and System Configuration 1 4 System Block Diagrams mm 1 4 System Block Diagrams VCC1 S OH zc MN vy te 15V SW power supply Overcurrent e Gate drive Current detection detection control VCC1 EU Main circuit control VCC2 Features and System Configuration VCC Control power G2 supply Input signals Output signals Fan 1 CW CCW 1 Phases A B Z al alarm 2 ECRST 2 INP c 3 RUN 4 RESET 3 BKIR 5 POT 6 NOT 4 ALM 7 GSEL GESEL CN1 control I O connector CN3 connector 5 WARN 40 99UU0D peusis jepooue ZNO O G 1 5 Applicable Standards 1 5 Applicable Standards EC Directives EC Directive Product Applicable standards Comments Low Voltage AC Servo Drive EN 50178 Safety requirements for elec Directive tronic equipment for measure ment control or laboratory use AC Servomotor IEC 60034 1 Rotating electric machines EMC AC Servo Drive and EN 55011 class A Radio disturbance limits and Directive AC Servomotor group1 measurement methods of in dustrial scientific and medical radio frequency equipment EN 61000 6 2 Electromagnetic compatibility EMO Immunity standard for industrial environments Note To conform to the EMC Directives the Servomotor and Servo Drive must be installed under the conditions described in 4 3 Wiring Conforming to EMC Directives UL cUL Sta
73. 3 25 autotuning 7 8 B BRR iste eee e 3 14 5 58 5 59 Brake GableS euet leitete 2 8 Brake Interlock sss 3 14 5 58 5 59 C COW nuin EDD icr quib coeurs 3 11 4 26 2 11 3 47 4 13 clamp cores Connector Terminal Block Cables Connector Terminal Block Conversion Unit 3 48 Connector Terminal Block Conversion Units 2 12 4 13 COMACIONS E EE coveverecenetarecncecevnetcceeecascensauaceye 4 28 Control l O Connectors sssssss 2 9 3 42 Copy Mode naeia eanga ete penap aaea 6 20 o BRE 3 11 D damping control eintreten 7 23 Decelerators backlash 15 arcminutes max 2 6 Oylindrical Servomotors 2 6 dimensions we 2 23 Specifications eeesssss 3 28 Flat Servomotors sssssssss 2 7 dimensions wee 2 25 specifications we 3 29 installation 4 8 backlash 3 arcminutes max 2 4 Cylindrical Servomotors 2 4 dimensions we 2 19 specifications eeesssss 3 26 Flat Servomotors eessesssss 2 5 dimensions 2 21 specifications 2s 3 27 installation 4 6 Deviation Counter Reset Input 3 9 DIN Rail Mounting Unit 2 12 dimensions
74. 3 to 1 25 mm AWG22 to 16 Fork Terminals 1 25Y to 3 0 3 to 1 25 mm 3 50 Specifications Specifications 3 4 Cable and Connector Specifications 3 51 Terminal Block Wiring Example for XW2B 34G4 XW2B 34G5 and XW2D 34G6 Line driver Connections cW ccw 24V RESET VZERO NOT ALM BKIR OGND A Z PULS SIGN 33 TLSEL FA FB CW ccw ECRST GESEL INP 2 Pon Fe Por rs CRER aie d 34 A URE EHEH 7 24 VDC 7 T ccu 1 The XB contacts are used to turn the electromagnetic brake ON and OFF Open collector Connections GSEL CW ccw 24V RESET VZERO NOT ALM BKIR OGND A Z PULS SIGN 33 cw ECRSTIGESEL INP t vSELe eec Pot 5 iiit TASTE i LIII 34 x1 EA EA gt Vcc H d avs 1 The XB contacts are used to turn the electromagnetic brake ON and OFF 2 Select a value for resistance R so that the input current will be from 7 to 15 mA Refer to the following table Vcc R 24 V 2 kQ 12V 1 kQ Terminal Block Signal Names No Signal 1 24VIN 2 RUN 3 RESET 4 ECRST VSEL2 5 GSEL VZERO TLSEL 6 SESEL VSEL1 7 NOT 8 P
75. 32 0 64 1 3 Rated rotation speed r min 3000 Max rotation speed r min 5000 Max momentary torque N m 0 48 0 95 1 78 3 60 Rated current A rms 1 1 1 1 1 6 2 6 EB Max momentary current A rms 3 4 3 4 4 9 7 9 Rotor inertia kg m 2 5 x 10 9 5 1 x 10 9 1 4 x 1079 2 6 x 1075 Applicable load inertia 30 times the rotor inertia max S Power rate kW s 10 4 20 1 30 3 62 5 p Allowable radial load N 68 68 245 245 Allowable thrust load N 58 58 98 98 Oo Without brake kg 0 3 0 5 0 8 1 2 Q 2 with brake kg 0 5 0 7 13 1 7 o PAn ele m 100 x 80 x t10 Al 130 x 120 x t12 Al Brake inertia kg m 2 0 x 1077 2 0 x 107 1 8x 10 9 7 5 x 10 Excitation voltage 4 V 24 VDC 10 oer P w 7 7 9 9 LE A 0 30 0 30 0 36 0 36 Static friction torque N m 0 29 min 0 29 min 1 27 min 1 27 min 5 Attraction time 9 ms 35 max 35 max 50 max 50 max 2 Release time ms 20 max 20 max 15 max 15 max Backlash 1 o B UEM aM J 39 2 39 2 137 196 Allowable total work J 4 9 x 10 4 9 x 10 44 1 x 10 147 x 10 Allowable angular raat 30 000 max acceleration Speed of 2 800 r min or more must not be stopped in 10 ms or less Brake life 10 000 000 operations min Rating Continuous Insulation grade Type F 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature The maximum momentary torque shown above indicates the standard value 2 For detailed information on the
76. 40 Command The command pulses are multiplied by a factor of 2 Pulse or 4 when using 90 phase difference signal inputs Multiplying is selected as the input format for the command Setting pulses in the Command Pulse Mode Pn42 1 4 1to4 Yes Multiply by 2 2 3 Multiply by 4 4 41 Command Set the Servomotor rotation direction for the com Pulse Rotation mand pulse input Direction The Servomotor rotates in the direction Switch 0 ge specified by the command pulse 1 The Servomotor rotates in the opposite 0 1 0 t0 3 Yes direction from the direction specified by 2 the command pulse The Servomotor rotates in the direction 3 y specified by the command pulse 42 Command Set the input format of the pulse sent as input com Pulse Mode mands to the Servo Drive from the position control ler 0 90 phase difference phases A and B signal inputs 1 Forward pulse and reverse pulse inputs Bins Yes 2 90 phase difference phases A and B signal inputs 3 Feed pulse input and forward reverse sig nal 43 Not used Do not change setting 0 44 Encoder Set the number of encoder pulses to be output from Dividing Rate the Servo Drive for each rotation ito Setting The setting can be made from 1 to 16 384 pulses 2500 Pulses 16384 Yes rotation but the setting will not be valid if it exceeds 2 500 pulses rotation 45 Encoder Set to reverse the logic of encoder pulses output Output from the Servo Drive Direction 0 Positiv
77. 41 Static friction torque N m 0 29 min 1 27 min Attraction time ms 50 max 60 max 8 Release time ms 15 max 15 max 3 Backlash i1 g fees work per J 137 196 E raking operation Allowable total work J 44 1 x 108 147 x 108 Allowable angular 2 10 000 max rad s Speed of 950 r min or more must not be stopped acceleration in 10 ms or less Brake life 10 000 000 operations min Rating Continuous Insulation grade Type F 3 19 3 2 Servomotor Specifications iam Unit R88M R88M R88M GP10030H GP20030H GP40030H Rated output Ww 100 200 400 Rated torque N m 0 32 0 64 1 3 Rated rotation speed r min 3000 Max rotation speed r min 5000 Max momentary torque N m 0 90 1 82 3 60 EB Rated current A rms 1 0 1 6 4 4 Max momentary current A 0 p 4 3 6 8 18 6 Rotor inertia kgm 9 0 x 10 8 8 4 x 1079 6 4 x 1079 o Applicable load inertia 20 times the rotor inertia max S Power rate kW s 114 11 8 25 5 Allowable radial load N 68 245 245 Q Allowable thrust load N 58 98 98 o Without brake kg 0 7 1 8 1 8 o o o With brake kg 0 9 2 0 2 5 idend sniela dimensigns 130 x 120 x t10 Al 170 x 160 x t12 Al Brake inertia kg m 3 0 x 1079 9 0 x 10 9 9 0 x 1079 Excitation voltage Gi V 24 VDC 10 de ee w 7 10 10 Po A 0 29 0 41 0 41 Static friction torque N m 0
78. 7 QK lt gt S dia height 6 D2 dia height 7 KL1 x X f i LL LR S D1 D2 C F G ioo mm mm mm mm mm mm mm mm R88M GP1003011 60 5 25 8 70 50 60 3 7 R88M GP10030 B t 84 5 25 8 70 50 60 3 7 R88M GP2003011 67 5 30 11 90 70 80 5 8 R88M GP20030 1 B 100 30 11 90 70 80 5 8 R88M GP40030H 82 5 30 14 90 70 80 5 8 R88M GP40030H B 115 30 14 90 70 80 5 8 Dimensions for models with key and tap Model 2 f QK b h t1 M L mm mm mm mm mm mm R88M GP1003011 43 4 5 12 5 3h9 3 1 8 M3 6 R88M GP10030 B t 43 4 5 12 5 3h9 3 1 8 M3 6 R88M GP2003011 4 53 5 5 18 4h9 4 2 5 M4 8 R88M GP20030 B 53 5 5 18 4h9 4 2 5 M4 8 R88M GP40030H 53 55 225 5h9 5 3 0 M5 10 R88M GP40030H B 53 5 5 225 5h9 5 3 0 M5 10 1 Put L or H in the place indicated by the box 2 This is the model number for the Servomotor with a brake 3 A model with a key and tap is indicated by adding S2 to the end of the model number Note The standard models have a straight shaft 2 2 External and Mounted Dimensions Parameter Unit Dimensions B R88A PRO2G 62 24 M3 depth 5 3 MD 114
79. 71 0 80 90 89dia 105 70 85 0 84 0 59 1 5 HPG14A05400B 64 0 58 60 60x60 70 70 560 55 5 40 1 11 HPG20A11400B 71 0 80 90 89dia 105 70 85 0 84 0 59 400 W 1 21 HPG20A21400B 71 0 80 90 89dia 105 70 85 0 84 0 59 1 33 HPG32A33400B 104 0 133 120 122dia 1385 70 115 0 114 0 84 1 45 HPG32A45400B 104 0 133 120 122dia 135 70 115 0 114 0 84 Note 1 The standard models have a straight shaft A model with a key and tap is indicated by adding J to the end of the model number the suffix shown in the box Note2 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding motors Outline Drawings C1xC1 2 19 Four Z1 dia D5 dia S dia height 7 D3 dia height 7 D4 dia Ed Set bolt AT Four Z2 2 2 External and Mounted Dimensions Dimensions mm Key and tap dimensions mm Weight ES m ee Parsi z za Gar D K b h t M L kg 27 2 2 15 5 8 20 3 4 M4 M3 15 3 3 1 8 M3 6 0 29 27 2 2 15 5 8 20 3 4 M4 M3 15 3 3 1 8 M3 6 0 29 37 2 5 21 8 16 28 5 5 M4 M3 25 5 5 3 M4 8 1 04 37 2 5 21 8 16 28 5 5 M4 M3 25 5 5 3 M4 8 1 04 37 2 5 21 8 1
80. B CCW SIGN FB Forward Pulses Forward Pulse Reverse Pulse Phase B FG Frame ground Name Model Manufacturer Servo Drive Connector 5178238 4 Tyco Electronics AMP Cable plug 10126 3000PE Cable case shell kit 10326 52A0 008 Sumitomo 3M 3 7 3 1 Servo Drive Specifications Control Input Circuits E Position Command Pulse Inputs Line Driver Input Controller Servo Drive LL Applicable line driver AM26LS31A or equivalent Precautions The twisted pair cable should not exceed 10 m in length Open collector Input Controller Servo Drive Vcc Enim R TL Input current 7 to 15 mA B 220 Q DEA NA Note Select a value for resistance R so that the input current will be from 7 to 15 mA Refer to the following table Vcc R 24V 2 kQ 12V 1 kQ Precautions for Correct Use The twisted pair cable should not exceed 2 m in length E Control Inputs 424 T DR External power supply 12 VDC 5 to 1 2 KQ AY Photocouple input 24 VDC 5 RUN L2 Power supply capacity 50 mA min per Unit y To other input circuit To other input circuits ground commons Signal Levels ON level 10 V min OFF level 3 V max 3 8 Specifications 3 1 Servo Drive Specifications
81. CABOOS3S E B Servomotor Power Cables CNB 9 Name Model Comments m The digits in the model number indicate the E Standard Cables for R7A CAB S cable length 3 m 5 m 10 m 15 m or 20 m jd o 2 o Robot Cables for Servomotor Power R7A CAB SR The digits in the model number indicate the cable length 3 m 5 m 10 m 15 m or 20 m Example model number for a 3 m cable R7A CABOOSSR B Brake Cables Name Model Comments Standard Cables for Brakes R88A CAGA B The digits in the model number indicate the cable length 3 m 5 m 10 m 15 m or 20 m Example model number for a 3 m cable R88A CAGA003B Robot Cables for Brakes R88A CAGA BR The digits in the model number indicate the cable length 3 m 5 m 10 m 15 m or 20 m Example model number for a 3 m cable R88A CAGAO03BR B Power Supply Cables CNA Name Model Comments Cable for Single phase Power Supply Input R7A CLB002S2 Cable length 2 m Cable for Three phase Power Supply Input R7A CLB002S3 Cable length 2 m Cable for Connecting to External Regeneration Resistor R7A CLBO02RG Cable length 2 m 4 11 4 2 Wiring Bi Servo Relay Units and Cables Select the Servo Relay Unit and Cable according to the model
82. CRGBOOSC 5m Approx 0 3 kg R88A CRGB010C 10m 6 5 dia Approx 0 6 kg R88A CRGBO015C 15m Approx 0 9 kg R88A CRGBO20C 20m Approx 1 2 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Connection Configuration and External Dimensions Servo Drive end R7D BP 4 E Wiring Servo Drive Servo Drive Connector Connector pins 50639 8028 Molex Japan Connector case Crimp type I O Connector Molex Japan Servomotor Connector Connector pins 170365 1 Tyco Electronics AMP Kk Connector case 172160 1 Tyco Electronics AMP Kk Servomotor end R88M G 3 30 Specifications 3 4 Cable and Connector Specifications B Robot Cables for Encoders Cable Models Model Length L Outer diameter of sheath Weight R88A CRGBOOSCR 3m Approx 0 2 kg R88A CRGBOO5CR 5m Approx 0 4 kg R88A CRGBO10CR 10m 7 5 dia Approx 0 8 kg EM R88A CRGBO15CR 15m Approx 1 1 kg R88A CRGBO20CR 20m Approx 1 5 kg 2 1 The maximum distance between the Servo Drive and Servomotor is 20 m o o Connection Configuration and External Dimensions o L o s Q Servo Drive end 5 Servomotor end o o EA N co R7D BP ji EE gs R88M G 4 14 4 Wiring Servo Drive Servomotor 1 pun od d 4 No Servo Drive Connector Servomoto
83. Control Input Details Details on the input pins for the CN1 connector are described here E RUN Command Input RUN Pin 2 RUN Command Input RUN Function This input turns ON the power drive circuit for the main circuit of the Servo Drive The Servomotor cannot operate without the input of this signal i e servo OFF status The RUN Command Input is enabled approximately 2 seconds after the power supply is turned ON After turning ON the RUN Command Input wait for a minimum of 100 ms to lapse before inputting pulses or a speed command B Alarm Reset Input Specifications Pin 3 Alarm Reset Input RESET Function Pin 3 is the external reset signal input for Servo Drive alarms The alarms are reset when this signal is input Eliminate the cause of the alarm before resuming operation To prevent danger turn OFF the RUN Command Input first then input the alarm reset signal Resetting is performed after the Alarm Reset Input is kept ON for 120 ms or longer Some alarms cannot be cleared using the Alarm Reset Input For details refer to 8 2 Alarm Table B Deviation Counter Reset Internally Set Speed Selection 2 Input Pin 4 Deviation Counter Reset Internally Set Speed Selection 2 Input ECRST VSEL2 Function Deviation Counter Reset Pin 4 is the Deviation Counter Reset Input ECRST in Position Control Mode when Pn02 is set to 0 or 2 When the deviation counter reset signal turns ON the value of the deviati
84. D A D gt XW2B 20J6 3B Wiring CQM1 Servo Relay Unit Hood cover eene Cable AWG28 x 4P AWG28 x 4C 3 66 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications B Position Control Unit Cable XW2Z J A6 This Cable connects a Position Control Unit CS1W NC113 C200HW NC1 13 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A6 50 cm Approx 0 1 kg 8 0 dia XW2Z 100J A6 1m Approx 0 1 kg Connection Configuration and External Dimensions Position Control Unit CS1W NC113 C200HW NC113 Servo Relay Unit E pF XW2B 20J6 1B Wiring Position Control Unit Servo Relay Unit 3 67 3 5 Servo Relay Units and Cable Specifications B Position Control Unit Cable XW2Z J A7 This Cable connects a Position Control Unit CS1W NC213 413 C200HW NC213 413 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A7 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A7 1m Approx 0 2 kg Connection Configuration and External Dimensions Position Control Unit CS1W NC213 CS1W NC413 C200HW NC213 C200HW NC413 Servo Relay Unit e D XW2B 40J6 2B 83 Specifications
85. Dimensions Dimensions mm Key and tap dimensions mm Weight ela reise PS Iir allal ek or mo a M L kg 27 22 15 5 8 20 34 M4 M3 15 3 3 18 M3 6 0 34 37 25 21 8 16 28 55 M4A M3 25 5 5 3 0 M4 8 1 04 E 37 25 21 8 16 28 55 M4 M3 25 5 5 3 0 M4 8 1 04 53 7 5 27 10 25 42 90 M4 M3 36 8 7 40 M6 12 2 9 53 7 5 27 10 25 42 90 M4 M3 36 8 7 40 M6 12 2 9 e 37 25 21 8 16 28 55 M4 M4 235 5 5 30 M4 8 0 99 2 53 7 5 27 10 25 42 90 M5 M4 36 8 7 40 M6 12 3 1 o 53 7 5 27 10 25 42 90 M5 M4 36 8 7 40 M6 12 3 1 53 7 5 27 10 25 42 9 0 M5 M4 36 8 7 40 M6 12 3 1 53 7 5 27 10 25 42 90 m5 M4 36 8 7 40 M6 12 3 1 53 7 5 27 10 25 42 90 M5 M4 36 8 7 40 M6 12 3 1 0 53 7 5 27 10 25 42 90 M5 M4 36 8 7 40 M6 12 3 1 g 53 7 5 27 10 25 42 90 M5 M4 36 8 7 40 M6 12 3 1 98 12 5 35 13 40 82 11 0 M5 M6 70 12 8 5 0 M10 20 7 8 ie 98 12 5 35 13 40 82 11 0 MbB M6 70 12 8 50 M10 20 7 8 S 1 This is the set bolt S Key and Tap Dimensions QK 2 22 Standard Models and Dimensions 2 2 External and Mounted Dimensions B Backlash 15 Max Decelerators for Cylindrical Servomotors
86. Drive Connector Servomotor Connector Connector pins Connector pins 5556PBTL Molex Japan 170366 1 or 170362 1 Connector case Tyco Electronics AMP KK 5557 06R 210 Molex Japan Connector case 172159 1 Tyco Electronics AMP KK 3 32 Specifications 3 4 Cable and Connector Specifications B Robot Cables for Servomotor Power with CNB Connector Cable Models Model Length L Outer diameter of sheath Weight R7A CABOOSSR 3m Approx 0 2 kg R7A CABO005SR 5m Approx 0 3 kg R7A CABO10SR 10m 6 9 dia Approx 0 7 kg R7A CABO15SR 15m Approx 1 0 kg R7A CABO20SR 20m Approx 1 3 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Connection Configuration and External Dimensions 50 I 50 Servo Drive end 5 Servomotor end R7D BP T Bx Ee NIE R88M G zs 4 10 0 4 Wiring Servo Drive Servomotor Red ENE Nc 2 29 Green Yellow H Cable AWG20 x 4C UL2464 ES 2e so o Servo Drive Connector Servomotor Connector Connector pins Connector pins 5556PBTL Molex Japan 170366 1 or 170362 1 Connector case Tyco Electronics AMP KK 5557 06R 210 Molex Japan Connector case 172159 1 Tyco Electronics AMP KK 3 33 3 4 Cable and Connector Specifications B Standard Cables for Brakes Cable Models Model Length L Outer dia
87. EIS R88M G sm 5 6 Wiring Servo Drive Servomotor White GD cue awamrzcuaa B Brake i Cable AWG20 x 2C UL2464 B Brake M4 crimp terminal Servomotor Connector Connector pins 170366 1 or 170362 1 Tyco Electronics AMP KK Connector case 172157 1 Tyco Electronics AMP KK 3 35 3 4 Cable and Connector Specifications Resistant to Bending of Robot Cables Use Robot Cable that can withstand at least 20 million bends to the minimum bending radius R given below or larger Note 1 The service life data for resistant to bending is based on test data Use it for reference only and provide sufficient allowance Note 2 This value is the number of bends when electricity is conducted through the conductors that will not result in cracking or damage to an extent that would affect the functionality of the sheath Broken shield strands may occur Note 3 If a bending radius smaller than the minimum bending radius is used it may result in mechanical damage or ground fault damage due to insulation breakdown If it is necessary to use a bending radius smaller than the minimum bending radius consult with your OMRON representative o c Encoder Cables 2 Model Minimum bending radius R R88A CRGALILILICR 45 mm 9 003 to 020 a Power Cables Model Minimum bending ra
88. Encoder Output Direction Switch Pn45 B Phase Z Output Pin 21 Phase Z Output Z Pin 14 Ground Common GND Function Pin 21 is the open collector output for the phase Z signal The encoder phase Z is output One pulse is output for each rotation 3 14 Specifications Specifications 3 1 Servo Drive Specifications Encoder Connector Specifications CN2 Pin No Signal name Name Function Interface 1 ESV Encoder power supply 5 V Power supply output for the encoder 2 EOV Encoder power supply GND 3 V 70 mA 3 NC Do not connect anything to these pins 4 NC 5 S Encoder phase S I O RS 485 line driver I O 6 S Encoder phase S I O Shell FG Shield ground Cable shield ground Bi Connectors for CN2 6 Pins Name Model Maker Servo Drive Connector 53460 0629 Molex Japan Co Cable Connector 55100 0670 3 15 3 2 Servomotor Specifications 3 2 Servomotor Specifications Select a Servomotor based on the mechanical system s load conditions and the installation environment There are various options available on the Servomotors such as models with brakes General Specifications Item Ambient operating temperature Ambient operating humidity Specifications 0 to 40 C 85 RH max with no condensation Ambient storage temperature Ambient storage humidity 20 to 65 C 85 RH max with no condensation Storage and
89. FIR filter time constant used for the com Filter Setting mand pulse input The larger the setting the smoother the command 9 gai X98 pulses 4F Not used Do not change setting 0 5 27 5 10 User Parameters E Internally Set Speed Control Parameters Power Pn Parameter Explanation Default Unit Setting OFF No name setting range ON 50 Not used Do not change setting 0 51 Not used Do not change setting 0 52 Not used Do not change setting 0 No 1 Internally gt f 20000 53 Set Speed Set the No 1 internally set rotation speed 100 r min to 20000 No 2 Internally 20000 54 Set Speed Set the No 2 internally set rotation speed 200 r min to 20000 No 3 Internally 20000 55 Set Speed Set the No 3 internally set rotation speed 300 r min to 20000 No 4 Internally 20000 56 Set Speed Set the No 4 internally set rotation speed 400 r min to 20000 57 Jog Speed Set the rotation speed for jogging 200 r min Oto 500 Soft Start Set the acceleration time for internally set Oto 58 Acceleration speed control Set the time setting x 2 ms re 0 2ms 5000 Time quired until 1 000 r min is reached Soft Start Set the deceleration time for internally set speed Oto 59 Deceleration control Set the time setting x 2 ms required until 0 2ms 5000 Tim
90. Gain Switching Input Operating Mode Selection Pn30 Set Pn30 to 1 to enable the gain switching function Gain Switch Setting Pn31 Gain switching can be used by first enabling the gain switching function and then setting the switching conditions for gain 1 and gain 2 with Gain Switch Setting Pn31 Pn31 Explanation setting 7 z o Gain switch condition Gain Switch Gain Switch Gain Switch c Time Pn32 LevelSetting Hysteresis X o Pn33 Setting Pn34 jud 2 0 Always gain 1 Pn10 to Pn14 Disabled Disabled Disabled ic 1 Always gain 2 Pn18 to Pn1C Disabled Disabled Disabled 2 Switching using Gain Switch Input GSEL Disabled Disabled Disabled LT at pin CN1 5 E 3 Amount of change in torque command Enabled Enabled Enabled o Figure A x 0 0596 x 0 0596 gt D 4 Always gain 1 Pn10 to Pn14 Disabled Disabled Disabled lt 5 Command speed Figure B Enabled Enabled Enabled r min r min 6 Amount of position deviation Figure C Enabled Enabled Enabled pulse pulse 7 Command pulses received Figure D Enabled Disabled Disabled 8 Positioning Completed Signal INP OFF Enabled Disabled Disabled Figure E 9 Actual Servomotor speed Figure B Enabled Enabled Enabled r min r min 10 Combination of command pulse input and Enabled Enabled Enabled speed Figure F r min r min 1 The Gain Switch Time Pn32 is used when switching from ga
91. LA AG Q AO S Za vc o AO 2 eujeu eubis 2 eujeu jeufis B eujeu eubis 2 aweu jeubis suoneo2yioods 1 Use as a power supply for FQM1 MMP22 pulse outputs or for the SEN output for an Absolute Encoder Servo Drive 2 Use as a power supply for IN4 to IN11 OUTO to OUTT or Servo Drive control signals 8 Use as a power supply for INO to IN3 interrupt inputs or latch inputs 3 61 3 5 Servo Relay Units and Cable Specifications Wiring Example Servo Drive signals FQM1 signals 1 2 For Servo Drive 1 For Servo Drive 2 RUN 74 34 _ 54 OUTO 14 OUTA ECRST 76 36 4 56 OUT2 16 OUT6 INP 47 7 p 269 INA 29 IN8 ALM 67 27 70 INS 30 IN9 BKIR 68 28 71 IN6 31 IN10 E Terminal block No 20 24 V 69 6 62 63 64 65 66 67 68 69 C0 2 C3 9 C6 OD 9 C9 Specifications 40 4D 2 63 44 45 66 42 8 49 60 6 62 63 64 65 66 67 68 69 20 62 3 64 65 2O 68 29 60 6 62 63 64 65 G 67 69 G9 050000 0 00 606 0 6 02 02 03 2 9 6 02 08 09 3 62 Specifications 3 5 Servo Relay Units and Cable Specifications Servo Drive Servo Relay Unit Cable Specifications E Servo Drive Cable XW2Z J B29 This Cable connects the Servo Driv e to a Servo Relay Unit XW2B 20J6 1B 3B XW2B 40J6 2B Cable
92. Level All modes Setting range 0 to 6000 Unit r min Default setting 0 Power OFF gt ON Setthe No 2 overspeed detection level when torque limit switching is enabled in the setting of the Zero Speed Designation Torque Limit Switch PnO6 When No 2 torque limit is selected an overspeed error will occur if the rotation speed of the Servomotor exceeds the setting This parameter is disabled when torque limit switching is disabled Pn74 Not used Do not change setting to Pn7F Not used Do not change setting 5 60 Operating Functions Chapter 6 Operation 6 1 Operational Procedure 6 1 6 2 Preparing for Operation 6 2 Items to Check Before Turning ON the Power 6 2 imurming ON POWO T m e eeHERRUSUEEPOOUNUUEENPEE 6 2 ANANE ISENS o TUE 6 3 6 3 Using the Parameter Unit 6 4 Names of Parts and Functions 6 4 Display When Power Is Turned ON ssessesee 6 5 Changingithe Mode eee EE 6 6 Monitor Modest in eta ec ee E e AU NE Ee ead 6 7 Parameter Setting Mode eene 6 15 Parameter Write Mode eeeseeeeeenneneeee 6 16 AUtot ningiMOode m ren EE ETE TE ET E TED 6 17 Auxiliary ROM a 6 18 Gopy Mode e re TE EH M es 6 20 6 4 Trial Operation ern 6 23 Preparation f
93. Method Stopped status Prohibit Input Pn66 0 Dynamic brake S Servo unlocked POT NOT turns OFF l Free run 2 Servo locked or zero speed designation While the Forward Drive Prohibit Input POT is OFF the Servomotor cannot be driven in the forward direction but it can be driven in the reverse direction Conversely while the Reverse Drive Prohibit Input NOT is OFF the Servomotor cannot be driven in the reverse direction but it can be driven in the forward direction m Servo locked 5 4 Encoder Dividing Encoder Dividing The number of pulses can be set for the encoder signals output from the Servo Drive The number of pulses per Servomotor rotation can be set within a range of 1 to 2 500 pulses rotation Use this function for the following applications When using a controller with a low response frequency When it is desirable to set a pulse rate that is easily divisible Example To use a resolution of 5 um pulse in a mechanical system in which one Servomotor rotation corresponds to a travel of 10 mm set the encoder dividing rate to 2 000 pulses rotation Parameters Requiring Setting hd Parameter name Explanation Reference Encoder Dividing Set the number of encoder pulses to be output from the Servo Rate Setting Drive for each rotation The default setting is 2 500 pulses ro tation Pn44 The setting can be
94. Not used 6 10 Operation 6 3 Using the Parameter Unit Output Signals CN1 Signal Pin Function No Symbol Name No 00 Not used If an alarm occurs the ALM signal turns gi M PRI x OFF and g is displayed Positionin When a workpiece is positioned within the set 02 INP Com De 10 ting range the Positioning Completion Range p Pn60 INP turns ON and g is displayed The output transistor for the electromagnetic 93 BKIR Brake Interlock H brake signal turns ON and g is displayed When the Warning Output Selection Pn09 is 04 Zero Speed Detection 12 set to 1 and Zero Speed Detection output turns ON a is displayed When the Warning Output Selection Pn09 is 05 Torque Limiting 12 set to 0 and Torque Limiting output turns ON A is displayed 06 to 08 Not used When the actual motor speed exceeds the Ro 09 TGON Servomotor Rotation 10 tation Speed for Servomotor Rotation Detec Speed Detection tion Pn62 TGON turns ON and g is displayed OA to 1F Not used Switching between Input Signals and Output Signals e If the decimal point is at the right of the signal number the signal number can be changed Move the flashing decimal point with the Shift key e If the decimal point is at the right of the input output indication you can switch between inputs and outputs Switch between inputs and outputs with t
95. Not used B Function Selection Parameters Unit No Setting Pnoo All modes Setting range 1 to 15 Unit Default setting 1 Power OFF gt ON Yes Use this parameter to set the unit number Pn01 Default Display All modes Setting range 0 to 15 Unit Reterto the following Default setting 1 Power OFF 2 ON Yes table Use this parameter to set the item to be displayed on the Parameter Unit when the power supply is turned ON Explanation of Settings Setting Explanation Unit 0 Position deviation Displays the number of accumulated pulses in the devi Pulse ation counter 1 Servomotor rotation speed Displays the Servomotor rotation speed r min 2 Torque output Displays the Servomotor output torque as a percentage o of the rated torque output i Control mode Displays the control mode i e position control or Inter 3 nally Set Speed Control 4 I O signal status Displays the status of control input and output signals connected to CN1 5 Alarm display and history Displays the 14 most recent alarms including current u alarms 6 Not used uc 7 Warning display Displays overload and over regeneration warnings 8 Regeneration load ratio Displays the load ratio as a percentage of the regener ation overload alarm operation level i 9 Overload load ratio Displays the load ratio a
96. OV Z Whita R7A CABOS Positioning completed output 1 gt oy INP pue 1 Yellow a eee r l 24VIN rigin proximity input signal 24 VDC T TI X1 i H Encoder Cable ey E RUN R88A CRGBTC OGND E ap K i ALM Brake Cable 24 VDC Ci R88A CAGALIB KB 4 BKIR XB zd 31 FG 24 VDC Incorrect signal wiring can cause damage to Units and the Servo Drive for Correct Use Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 24 VDC power supply for the command pulse inputs as a dedicated power supply Do notshare the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent Appendix 7 B Connection Example 8 Connecting to FQM1 MMP21 Flexible Motion Controller Main circuit power supply NFB OFF ON Main circuit contactor RO S a ici i le ie Lg ph 200 240 VA Hz m x1 Surge suppressor mense sone ides R ER 3 1 MCT xi ED Servo error display TO cv 2 Groundto FQM1 MMP21 100 or less R7D BP React
97. Oto 15 Unit Default setting 2 Power OFF 2 ON Set the machine rigidity to one of 16 levels for executing realtime autotuning The greater the machine rigidity the higher the setting The higher the setting the higher the responsiveness If the setting is changed suddenly by a large amount the gain will change rapidly subjecting the machine to shock Always start with a small value in the setting and gradually increase the setting while monitoring machine operation Pn23 Not used Do not change setting Pn24 Not used Do not change setting Pn25 Autotuning Operation Setting All modes Setting range 0 to 7 Unit Default setting 0 Power OFF 2 ON Set the operating pattern for autotuning Explanation of Settings Setting Rotation direction Number of rotations 0 CCW gt CW Two rotations 1 CW gt CCW 2 CCW gt CCW 3 CW gt CW 4 CCW gt CW One rotation 5 CW gt CCW 6 CCW gt CCW 7 CW gt CW Pn26 Overrun Limit Setting Position Setting range O to 1000 Unit x 0 1 rotation Default setting 10 Power OFF gt ON Set the allowable operating range for the Servomotor The overrun limit function is disabled if the setting is O For details refer to Overrun Limit on page 5 16 Pn27 Not used Do not change setting Pn28 Not u
98. Overspeed Detection Level Torque Limit and Deviation Counter Page srl Overflow Level Damping Control Damping control can be used to reduce vibration when using a low rigidity Page 7 23 mechanism or equipment whose ends tend to vibrate Autotuning automatically estimates the load inertia of the machine in realtime Realtime f er Autotuning and sets the optimal gain The adaptive filter automatically suppresses vibra Page 7 3 tion caused by resonance 5 2 Operating Functions 5 1 Position Control Parameter Block Diagram for Position Control Mode Command Pulse Input Conditions Setting Pn40 Command Pulse Multiplying Setting Pn41 Command Pulse Cw Rotation Direction CC Switch Pn42 Command Pulse Mode Pn15 Feed forward Amount ibration Filter Pn2C Vibration Filter Setting Rate Setting Pn45 Encoder Output Direction Switch Speed Command Monitor 9 jud o c 3 LL Oo c Phase Dividing Rate Setting Pad A B Z Pn44 Encoder Dividing Q O Notch Filter Pn1D Notch Filter 1 Frequency Pn1E Notch Filter 1 Width Pn2F Adaptive Filter Table Number Display 1 Pn16 Feed forward Command Filter Pn2B Vibration Frequency Electronic Gear Setting Pn46 Electronic Gear Ratio Numerator 1 Pn47 Electronic Gear Ratio Numerator 2 Pn4A Electronic Gear Ratio Numerator Exponent Pn4B Electronic Gear Ratio Denominator Pn4E Smoothing Filter Setting Pn4C
99. PULS FA Green Red 5 oo H A2 CW PULS FA Te CWILPULS FA e l 8 i ECRST VSEL2 1 9 z orayna 10 10 Z 2 i oreka 11 H HIS Z INP TGON eed EL SHELL LEE INP TGON HUN Blue Black 2 13 13 1 2 RUN mimis 7 TE GSEL VZERO TLSEL EE MERE EE E GSEL VZERO TLSEL 3 RESET RESET PinkBlack z 16 H 3 BKIR Green Red _ 17_ _17_ Hr BKIR JALM Green Black 7 18 H 18 3 34 5 TALM ooo T EU NUN 19 19 Lj 20 acide a ai ane FG Servo Relay Unit Connector Connector socket XG4M 2030 Strain relief XG4T 2004 Cable AWG28 x 4P AWG28 x 9C UL2464 Servo Drive Connector Connector plug 10126 3000PE Sumitomo 3M Connector case 10326 52A0 008 Sumitomo 3M 3 65 3 5 Servo Relay Units and Cable Specifications Position Control Unit Servo Relay Unit Cable Specifications B Position Control Unit Cable XW2Z J A3 This Cable connects a Programmable Controller CQM1H PLB21 CQM1 CPU43 V1 to a Servo Relay Unit XW2B 20J6 3B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A3 50 cm Approx 0 1 kg 7 5 dia XW2Z 100J A3 1m Approx 0 1 kg Connection Configuration and External Dimensions L En 6 Servo Relay Unit CQM1H PLB21 N i6 CQM1 CPU43 V1 a
100. Pn11 Pn12 and Pn14 to the values in table 1 Adjust the gain a little at a time i while checking the Servomotor Set the Inertia Ratio Pn20 Calculated value at Servomotor selection operation Run under actual operating pattern and load Speed responsiveness and other operational performance satisfactory Yes No Adjustment completed Increase the Speed Loop Gain Pn1 1 but not so much that it causes hunting when the servo is locked Reduce the Speed Loop Integration Time Constant Pn12 but not so much that it causes hunting when the servo is locked r Any hunting vibration when the Servomotor rotates Yes i No y Reduce the Speed Loop Gain Pn11 Change to Parameter Write Mode and write to EEPROM Y Increase the Speed Loop Integration Time Constant Pn12 Adjustment complete i Y If vibration does not stop no matter how many times you perform adjustments or if positioning is slow Adjustment Functions hi Increase the Torque Command Filter Time Constant Pn14 ER i 7 17 Table 1 Parameter Adjustment Guidelines 7 5 Manual Tuning Pn No Parameter name Guideline 10 Position Loop Gain 27 11 Speed Loop Gain 15 12 Speed Loop Integration Time Constant 37 13 Speed Feedback Filter Time Constant 14 To
101. R88G VRSF05C400PCJ 1 9 R88G VRSF09C400PCJ 400 W 1 15 R88G VRSF15C400PCJ 1 25 R88G VRSF25C400PCJ Note 1 The standard models have a straight shaft with a key Note 2 The backlash is the value when a load of 5 of the allowable output torque is applied to the output shaft 2 7 Accessories and Cables B Encoder Cables for CN2 2 1 Standard Models B Brake Cables Specifications Model Standard Cables connectors attached 3m R88A CRGBOOSC 5m R88A CRGBOO05C 10m R88A CRGBO10C 15m R88A CRGBO15C 20m R88A CRGBO20C Robot Cables connectors attached 3m R88A CRGBOOSCR 5m R88A CRGBO05CR 10m R88A CRGBO10CR 15m R88A CRGBO15CR 20m R88A CRGBO20CR B Servomotor Power Cables for CNB Specifications Model Standard Cables connectors attached 3m R7A CAB003S 5m R7A CABOO5S 10m R7A CABO10S 15m R7A CABO15S 20m R7A CABO20S Robot Cables connectors attached 3m R7A CABOOSSR 5m R7A CABOO5SR 10m R7A CABO10SR 15m R7A CABO15SR 20m R7A CABO20SR Specifications Model Standard Cables 3m R88A CAGA003B 5m R88A CAGAO05B 10m R88A CAGA010B 15m R88A CAGA015B 20m R88A CAGA020B Robot Cables 3m R88A CAGAOO03BR 5m R88A CAGAO05BR 10m R88A CAGAO10BR 15m R88A CAGAO15BR 20m R88A CAGAO20BR 2 8 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Model
102. Realtime Autotuning By setting the Realtime Autotuning Mode Selection Pn21 to 0 or 7 the automatic estimation of the Inertia Ratio Pn20 will stop and realtime autotuning will be disabled However the estimated results of the Inertia Ratio Pn20 will remain If the Pn20 value is obviously incorrect perform autotuning or set the calculated value manually after disabling realtime autotuning Precautions To enable the Realtime Autotuning Mode Selection Pn21 turn OFF the for Correct Use RUN Command Input RUN and then turn it back ON 7 4 Disabling the Automatic Gain Adjustment Function Disabling the Adaptive Filter Setting the Realtime Autotuning Mode Selection Pn21 to O or 4 to 6 will disable the adaptive filter which automatically adjusts for load resonance If the properly functioning adaptive filter is disabled the effect of the suppressed resonance may appear and noise and vibration may occur Disable the adaptive filter only after manually setting the Notch Filter 1 Frequency Pn1D based on the displayed value of the Adaptive Filter Table Number Display Pn2F Displayed Notch Filter 1 Displayed Notch Filter 1 Displayed Notch Filter 1 value Frequency Hz value Frequency Hz value Frequency Hz 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 6
103. SALES OFFICE OTHER OMRON LATIN AMERICA SALES Apodaca N L e 52 81 11 56 99 20 e 001 800 556 6766 mela omron com 54 11 4783 5300 OMRON ELETR NICA DO BRASIL LTDA HEAD OFFICE S o Paulo SP Brasil e 55 11 2101 6300 www omron com br OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands e Tel 31 0 23 568 13 00 Fax 31 0 23 568 13 88 www industrial omron eu Cat No 1561 E1 03 12 11 Note Specifications are subject to change 2011 Omron Electronics LLC Printed in U S A
104. Setting Explanation Default Unit Setting Power No name setting range OFF gt ON 06 Zero Speed Select the function of the Zero Speed Designation Designation Input VZERO and Torque Limit Switch Input Torque Limit TLSEL ENS 0 Both inputs disabled 1 us 0102 Yes 1 Zero speed designation enabled 2 Torque limit switching enabled 07 Not used Do not change setting 0 08 Not used Do not change setting 0 09 Warning Allocate the function of the Warning Output Output WARN Selection 0 Output while torque is being limited 1 Output for zero speed detection 2 Output for over regeneration overload or fan rotation speed error 2 22d 0 to 6 ES 3 Output for over regeneration overload warning 4 Output for overload warning 5 Not used 6 Output for fan rotation speed error alarm OA Not used Do not change setting 0 OB Not used Do not change setting 0 OC Not used Do not change setting 2 OD Not used Do not change setting 0 OE Not used Do not change setting 0 OF Not used Do not change setting 0 5 21 B Servo Gain Parameters 5 10 User Parameters Power Pn Parameter Explanation Default Unit Setting OFF No name setting range ON 10 Position Loop Set to adjust the position control system respon 0 to QU 40 1 s
105. Supplied ower suppl p EBY Not supplied aM 1 This time is the shorter value of either the setting for the Brake Timing during Operation Pn6B or the time it takes until the Servomotor rotation speed drops to 30 r min or lower Depending on the holding time of the power supply this time may be shorter than the value set in Pn6B Operating Functions 5 12 Operating Functions 5 7 Gain Switching 5 7 Gain Switching In Position Control Mode you can switch between PI proportional and integral operation and P proportional operation or between gain 1 and gain 2 With PI P operation switching the repulsion to external forces applied to the load can be weakened by eliminating the integral of the speed deviation i e the difference between the speed command and speed feedback Gain 1 gain 2 switching is effective in the following cases Reducing the gain to suppress vibration caused by changes in load inertia during operation Reducing the gain to suppress vibration due to an increase in speed Increasing responsiveness by increasing the gain during operation Increasing servo lock rigidity by increasing the gain when stopping Reducing the gain to suppress vibration when stopping Parameters Requiring Setting D is Parameter name Explanation Reference Gain Switching Input f T Pn30 Operating Mode Select whether to use PI P operation switching or gain 1 gain 2 Page 5 44 switching in P
106. V 50 60 Hz R7D BPLIL H Single phase three phase 200 VAC input Main circuit power supply Single phase three phase 200 240 VAC 170 to 264 V 50 60 Hz R7D BPLILIHH Single phase 200 VAC input Main circuit power supply Single phase 200 240 VAC 170 to 264 V 50 60 Hz B Checking Terminal Block Wiring The main circuit power supply input lines L1 L3 or L1 L2 L3 must be properly connected to the terminal block The Servomotor s red U white V and blue W power lines and the green yellow ground wire must be properly connected to the terminal block Operation B Checking the Servomotor There should be no load on the Servomotor Do not connect the mechanical system The Servomotor s power lines and the power cables are securely connected The Encoder Cable must be securely connected to the Encoder Connector CN2 at the Servo Drive The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor B Checking the I O Control Connectors The Control Cable must be securely connected to the I O Control Connector CN1 The RUN Command Input RUN must be OFF B Checking Parameter Unit Connections The Parameter Unit R88A PRO2G must be securely connected to the CN3 connector Turning ON Power After checking the above items turn ON the main circuit power supply The alarm output ALM will take approximately 2 seconds to turn ON after the power has been
107. and the Servo Drive Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 5 VDC power supply for the command pulse inputs as a dedicated power supply Do notshare the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent B Connection Example 4 Connecting to SYSMAC CS1W NC113 213 413 C200HW NC113 213 413 Position Control Units Main circuit power supply EM NFB OFF ON Main ue contactor 7 BILD 15 3 phase 200 240 VAC 50 60 Hz i o MC S d S s 2 MR X DU ot Servo error display Oo co _ CS1W NC113 213 413 Groundto C200HW NC113 213 413 100 Q or less R7D BP Reactor Contents R7A CPBLIS _ 24 V power supply for outputs 24 VDC l T i 2er 0 V ly for output i power supply for outpu i l MET CW with a resistor XX Connect External Regeneration CW without a resistor 1 SCC 1 Resistor when required CCW with a resistor pulse output CCW without a resistor
108. applicable load inertia refer to Applicable Load Inertia on page 3 25 3 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The values are also for the locations shown in the following diagram 4 The brakes are non excitation operation type They are released when excitation voltage is applied 5 The operation time is the measured value reference value with a varistor installed as a surge suppressor 3 18 Specifications 3 2 Servomotor Specifications rada load 4 Thrust load JL Center of shaft LR 2 B 3 000 r min Flat Servomotors Item Unit RESM Rasm GP10030L GP20030L Rated output Ww 100 200 Rated torque N m 0 32 0 64 Rated rotation speed r min 3 000 Max rotation speed r min 5 000 Max momentary torque N m 0 85 1 86 Rated current A rms 1 6 2 5 Max momentary current a A 0 p 6 9 10 5 Rotor inertia kg m 9 0 x 10 9 8 4 x 109 Applicable load inertia 20 times the rotor inertia max Power rate kW s 11 4 12 0 Allowable radial load N 68 245 Allowable thrust load N 58 98 Without brake kg 0 65 1 3 S with brake kg 0 90 2 0 Radiation shield dimensions 190x120 xt10 Al 170x160 xt12 Al material Brake inertia kg m 3 0 x 1079 9 0 x 10 9 Excitation voltage s V 24 VDC 10 ore E W 7 10 mor E A 0 29 0
109. as a welding machine Check for grounding problems fail ure to ground or incomplete grounding at devices such as a welding machine near the Servo motor Ground the equipment prop erly and prevent currents from flowing to the encoder FG Errors are being caused by excessive vibration or shock on the encoder There are problems with mechani cal vibration or motor installation such as the mounting surface pre cision attachment or axial mis alignment Reduce the mechanical vi bration or correct the Servo motor s installation The machine and the Ser vomotor are resonating Check whether the machine is res onating e Readjust the Torque Com mand Filter Time Constant e f there is resonance set the Notch Filter 1 Frequen cy Pn1D and Notch Filter 1 Width Pn1E Vibration is occurring at the same frequency as the power supply Inductive noise is occur ring Check whether the Servo Drive control signal lines are too long Shorten the control signal lines Check whether control signal lines and power supply lines are bundled together e Separate control signal lines from power supply lines e Use a low impedance power supply for control signals The position is misaligned Position mis alignment occurs without an alarm being output There is an error in the coupling of the mechanical system and the Servomo tor Check whether the coupling of the
110. case 10326 52A0 008 Sumitomo 3M 3 63 3 5 Servo Relay Units and Cable Specifications E Servo Drive Cable XW2Z J B30 This Cable connects the Servo Drive to a Servo Relay Unit XW2B 80J7 12A Use this Cable for the FQM1 MMP22 Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B30 im Approx 0 1 kg XW2Z 200J B30 2m pe Approx 0 2 kg Connection Configuration and External Dimensions 6 L 39 Servo Relay Unit N XW2B 80J7 12A y x t 14 Wiring Servo Relay Unit Connector Symbol Wie markcoor No No 24VIN E eu OGND Blue Black 1 2 H o Ima COW SIGNEEB CCW _SIGN _EB _ Pink Black 1 af 4 Xt CW PULS FA Green Red 1 5 5 22 OWI PULSI FA Green Black 1 6 H 6 9 4 125 o OrangeRed 1 7 H 7 c E ECRSTIVSEL2 Orange Black _8_ _8 at o Toravel Co o EEE 2 Gravee 0 H 31 31 29 INP TGON Blue Red 2 11 7 11 5 3 1 9 L RUN BuefBlack 2 12 12 1 3i 1 2 RESET Pired 15 i L 3 3 3 BKIR Pink Black 2 16 16 H JALM GreenfRed 2 17 H i7 79 4A orangemed 21 21 15 a TorangerBiack 2 22 H e 13 9 9 1 18 3
111. circuit 15 Built in resistor overheat The resistor in the Servo Drive is abnormally overheating No 16 Dvarioad Operation was performed with torque significantly exceeding the rat Yes ed level for several seconds to several tens of seconds 18 Regeneration overload The regeneration energy exceeded the processing capacity of the No regeneration resistor Encoder disconnection The encoder wiring is disconnected 21 No detected 23 Encoder data error Data from the encoder is abnormal No 24 Deviation counter The number of accumulated pulses in the deviation counter exceed Yes overflow ed the setting in the Deviation Counter Overflow Level Pn63 The Servomotor exceeded the maximum number of rotations 26 Outenssd If the torque limit function was used the Servomotor s rotation speed Yes P exceeded the settings in the Overspeed Detection Level Setting Pn70 and Pn73 Electronic gear setting The setting in Electronic Gear Ratio Numerator 1 Pn46 or Electron 27 Yes error ic Gear Ratio Numerator 2 Pn47 is not appropriate 29 Deviation counter The number of accumulated pulses for the deviation counter Yes overflow exceeded 134 217 728 ET The Servomotor exceeded the allowable operating range set in the 34 Cenni OR Or Overrun Limit Setting Pn26 IR 36 Parameter emos Data in the parameter saving area was corrupted when data was No read from the EEPROM at power ON The checksum didn t match when data was read from the EEPROM 37 Parameter
112. corruption No at power on 38 Drive prohibit input error The forward drive prohibit and reverse drive prohibit inputs are both Yes turned OFF 44 Encoder counter error 1 The encoder detected an error in the counter No 45 Encoder counter error 2 The encoder detected an error in the counter No 48 Encoder phase Z error A phase Z pulse was not detected regularly No 49 Encoder CS signal error A logic error of the CS signal was detected No The combination of the Servomotor and Servo Drive is not appropri 95 Servomotor ate No non conformity The encoder was not connected when the power supply was turned ON 96 LSI setting error po noise caused the LSI setting not to be completed proper No Others Other errors The Servo Drive s self diagnosis function detected an error in the No Servo Drive 8 4 Troubleshooting Troubleshooting 8 3 Troubleshooting 8 3 Troubleshooting If an error occurs in the machine determine the error conditions from the alarm indicator and operating status identify the cause of the error and take appropriate countermeasures Points to Check Is the connector disconnected Has the power supply voltage changed Is the correct voltage being input Are the connecting parts loose Is there any unusual noise coming from the Servomotor Is the electromagnetic brake operating Is the coupling loose 8 5 vzo
113. eig etd tees ee el dia eee noise filters for power supply input noise filters for Servomotor output noise resistance ssssssssssssssseenenn non fuse breakers O Oll seal niet T overrun limit P 5 Parameter Unit eeseeeeeeeeesssss 2 2 3 78 6 4 dimensioris eA Re Erebi 2 18 specifications rettet 3 78 Personal Computer Monitor Cables 2 9 3 40 3 14 5 1 3 13 5 55 3 11 5 33 Power Cables specifications ssseseseeeeeeeene 3 37 single phase terere three phase Power Supply Cables ueesesss power supply LED indicator essssse 1 4 PULS PWR R EN RZA GMBOTA iiie eerie RBZA CNBOTA noe ene rei enge B7A CNBOITP ciet aineisiin radio noise filters Reverse Drive Prohibit Input Reverse Pulse Robot Cables for Brakes usesssssss Robot Cables for Encoders Robot Cables for Servomotor Power S Servo Drives de veddcetdavedevedieidnveceeeedeesceckdoost characteristics dimensions general specifications Servo Relay Units Position Control Unit Cables specifications ssseseeeeseeeess Servo Drive Cables specifications
114. environment in which the shaft through hole is exposed to oil spray use a Servomotor with an oil seal The operating conditions for a Servomotor with an oil seal are as follows Keep the oil level below the lip of the oil seal Set up good lubricating conditions so that any oil spray falls on the oil seal If the Servomotor is used with the shaft pointing upwards be careful to not allow oil to accumulate at the lip of the oil seal 4 4 System Design System Design 4 1 Installation Conditions B Cil Seal The Servomotor oil seal dimensions are given below The expected service life of an oil seal is approximately 5 000 hours The actual life depends on the application conditions and environment Oil seal installation and replacement are treated as repair work For inquiries consult your OMRON representative Motor model Shaft Outer diameter Width diameter mm mm mm R88M GO05030L H 8 9 17 4 R88M G10030L H 8 9 17 4 R88M G20030L H 14 28 4 R88M G40030H 14 28 4 R88M GP10030L H 8 9 22 4 R88M GP20030L H 14 28 4 R88M GP40030H 14 28 4 When using the Servomotor in an environment where the Servomotor shaft will be exposed to oil select a Servomotor with an oil seal Precautions Keep the oil level below the oil seal The Oil Seal is made of rubber and may burn if it is used in an environment where it is subjected to no oil at all Always use the Servomotor in an environment wi
115. fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions Precautions for Safe Use Precautions for Safe Use E To ensure safe and proper use of the SMARTSTEP 2 Series and its peripheral devices read the Precautions for Safe Use and the rest of the manual thoroughly to acquire sufficient knowledge of the devices safety information and precautions before using the products B Make sure this Users Manual is delivered to the actual end users of the products W Please keep this manual close at hand for future reference Explanation of Signal Words
116. in Position Control Mode l when Pn02 is set to 0 or 2 2 Electronic Gear OFF Electronic Gear Ratio Numerator 1 Pn46 6 GESEL Switch Input or ON Electronic Gear Ratio Numerator 2 Pn47 VSEL1 Internally Set Speed Selection 1 Input Internally set speed selection 1 in Internal Speed Control Mode when Pn02 is set to 1 ON Internally set speed selection 1 is input 7 NOT Reverse Drive Reverse rotation overtravel input Prohibit Input OFF Prohibited ON Permitted 8 POT Forward Drive Forward rotation overtravel input Prohibit Input OFF Prohibited ON Permitted 1 Some alarms cannot be cleared using this input For details refer to 8 2 Alarm Table 2 Do not input command pulses for 10 ms before or after switching the electronic gear 3 5 3 1 Servo Drive Specifications Pin Snel Name Function Interface No name 22 CW Reverse Pulses Input terminals for position command pulses PULS FA Input Feed Pulses Input or 90 Phase Line driver input 23 CW Difference Pulses Maximum response frequency 500 kpps PULS FA Phase A Open collector input Maximum response frequency 200 kpps 24 CCW Forward Pulses SIGN FB Direction Signal or Any of the following can be selected by using the Pn42 SGW 90 Phase setting forward and reverse pulses CW CCW feed 25 SIGNIFE Difference Pulses pulse and direction signal PULS SIGN 90 phase differ Phase B ence phase A B signals FA
117. lI k a k ak a k N 00 po O oO Nio N A14 A20 B20 A16 B16 B14 P EE E PERERA TA 33 Cable AWG28 x 8P AWG28 x 16 34 Crimp terminal 1 2 3 amm E 5 C 59 a 7 8 IU N N NIN N Servo Relay Unit No 3 72 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications B Position Control Unit Cable XW2Z J A18 3 73 This Cable connects a Position Control Unit CJ1W NC133 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A18 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A18 1m Approx 0 2 kg Connection Configuration and External Dimensions Servo Relay Unit XW2B 20J6 1B Wiring Position Control Unit Servo Relay Unit us AWG20 black 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A19 This Cable connects a Position Control Unit CJ1W NC233 433 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A19 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A19 1m Approx 0 2 kg Connection Configuration and External Dimensions Position Control Unit CJ1W NC233 CJ1W NC433 Wiring L
118. operation Servo Drive s heat dissipation is blocked which may result in malfunction Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of Servo Drives 4 2 System Design System Design 4 1 Installation Conditions Servomotors E Operating Environment The environment in which the Servomotor is operated must meet the following conditions Operating the Servomotor outside of the following ranges may result in malfunction of the Servomotor Ambient operating temperature 0 to 40 C Ambient operating humidity 85 RH max with no condensation Atmosphere No corrosive gases B impact and Load The Servomotor is resistant to impacts of up to 98 m s Do not apply heavy impacts or loads during transportation installation or removal When transporting hold the Servomotor body itself and do not hold the Encoder Cable or connector areas Doing so may damage the Servomotor 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 B Connecting to Mechanical Systems The axial loads for Servomotors are specified in Characteristics on page 3 17 If an axial load greater than that specified is applied to a Servomotor it will reduce the service life of the motor bearings and m
119. or 1 GSEL will be used to switch between PI operation and P operation 1 Enabled The gain will be switched be tween gain 1 Pn10 to Pn14 and gain 2 Pn18 to Pn1C 5 24 Operating Functions Operating Functions 5 10 User Parameters Power Pn Parameter Explanation Default Unit Setting OFF No name setting range ON 31 Gain Switch Select the condition for switching between gain 1 Setting and gain 2 in one of the position control modes The Gain Switching Input Operating Mode Selec tion Pn30 must be set to 1 enabled 0 Always gain 1 1 Always gain 2 2 Switching using Gain Switch Input GSEL 3 Amount of change in torque command 0 0 to 10 4 Always gain 1 5 Command speed 6 Amount of position deviation 7 Command pulses received 8 Positioning Completed Signal INP OFF 9 Actual Servomotor speed 10 Combination of command pulse input and speed 32 Gain Switch This parameter is enabled when the Gain Switch Time Setting Pn31 is set to 3 or 5 to 10 Set the delay M time from the moment the condition set in the Gain 30 166 us 10000 Switch Setting Pn31 is not met until returning to gain 1 33 Gain Switch This parameter is enabled when the Gain Switch Level Setting l Setting Pn31 is set to 3 5 6 9 or 10 Set the f Nee 0 to judgment level for switching between gain 1 and 600
120. page 2 8 Note2 Two Servo Drive Cables are required if 2 axis control is performed using one Position Control Unit 4 12 System Design 4 2 Wiring B Connector Terminal Block Conversion Units and Cables These Conversion Units and Cables are used for connecting to Controllers for which no specific cable is available The Cables and Connector Terminal Block Unit convert the Servo Drive s control I O Connector CN1 signals to a terminal block Name Model Comments XW2B 34G4 Terminal block with M3 screws Connector Terminal Block Conversion XW2B 34G5 Terminal block with M3 5 screws Unit XW2D 34G6 Terminal block with M3 screws This cable is used to connect a Connector Termi nal Block Conversion Unit The cable length is in Connector Terminal XW2Z J B28 dicated in the boxes of the model number Block Cable There are two cable lengths 1 m and 2 m Model number example for 1 m cable XW2Z 100J B28 E General purpose Control Cables CN1 A General purpose Control Cable is used to prepare a cable by yourself to connect to the Servo Drive s Control I O Connector CN1 Name Model Comments One end of the cable has loose wires The OOL digits in the model number indicate the R7A CPB S cable length 1 m or 2 m Example model number for 1 m cable R7A CPB001S General purpose Control Cable 4 13 4 2 Wiring
121. phase BXZ Series O Oo o Oo Oo Oo Oo 4 24 System Design System Design 4 3 Wiring Conforming to EMC Directives B Noise Filter for the Power Supply Input Use the following noise filter for the Servo Drive s power supply Noise filter Servo Drive model Rated Rated Max leakage Model current voltade current Maker 9 60 Hz Okaya Electric R7D BP Series 3SUP HU10 ER 6 10A 250 VAC 0 4 mA phase Industries Co Ltd Dimensions e 115 105 5 95 x 55 Ni l 0000000 i J Ground terminal E 70 c o o Label E N pete Cover mounting screw lo M3 0000000 ibi M4 0000 ET N sei Filter 4 25 4 3 Wiring Conforming to EMC Directives B Radio Noise Filters and Emission Noise Prevention Clamp Cores Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal oscillation circuit Model Maker Application 3G3AX ZCL2 OMRON Servo Drive output and power cable ESD R 47B NEC TOKIN Servo Drive output and power cable ZCAT3035 1330 TDK Encoder cable and I O cable 1 Mainly used for 200 400 W The maximum number of windings is three turns 2 Mainly used for 50 100 W The maximum number of windi
122. pulses rotation 10000 Pn46 x 29 Pn4 40000 Pn4B The setting ranges for Pn46 Pn47 and Pn4B however will be 1 to 10 000 so reduction to one of the following is required 2500 Pn46 x 20 Pn4A 1 Pn46 x 20 Pn4A a en eee OF E 10000 Pn4B 4 Pn4B Make reductions so that the values fit into the setting ranges as shown above Related Parameter The main function provided by the parameter related to electronic gears is given in the following table Lu Parameter name Explanation Reference The command pulses are multiplied by a factor of 2 or 4 when Pn40 Command Pulse using 90 phase difference signal inputs is selected as the in Pace 5 48 Multiplying Setting put format for the command pulses in the Command Pulse g Mode Pn42 5 10 Operating Functions Operating Functions 5 6 Brake Interlock 5 6 Brake Interlock You can set the Brake Interlock Signal BKIR timing to turn ON and OFF the electromagnetic brake Fredauons The electromagnetic brake of a Servomotor with a brake is a non excitation brake designed for holding Set the parameter to first stop the Servomotor and then turn OFF the power supply to the brake If the brake is applied while the Servomotor is rotating the brake disk may become damaged due to friction leading to the Servomotor malfunction Parameters Requiring Setting rbd Parameter name Explanation Reference Pn6A Brake Timing
123. rack and pinion drive 2108 Machine with low rigidity etc 0 to 4 Machine rigidity numbers D to F can be used for machines with no resonance high rigidity and a low inertia ratio 5 Moving to Autotuning Mode After setting the machine rigidity press the Data key to move to Autotuning Mode For details refer to Autotuning Mode on page 6 17 Lr Ii 6 Turning ON the Servo Turn ON the RUN Command Input RUN The Servo will turn ON LI Autotuning Mode 7 Executing Autotuning Press and hold the Increment key until 5 Mode on page 6 17 The Servomotor will rotate and autotuning will begin The operating pattern depends on the Autotuning Operation Setting Pn25 If Pn25 is set to 0 the Servomotor will rotate two times in is displayed For details refer to Autotuning 7 9 7 3 Autotuning both forward and reverse for approximately 15 seconds This will be repeated up to 5 cycles It is not an error if the Servomotor stops before cycling 5 times Repeat step 4 Selecting Machine Rigidity to step 7 Executing Autotuning until satisfactory responsiveness can be obtained 8 Saving the Gain Settings When system responsiveness is satisfactory move to Parameter Write Mode and save the settings in EEPROM so they will not be lost For details on operations refer to Parameter Write Mode on page 6 16 To save the new settings move to Parameter Write Mod
124. saturation occurs Pn2C is set appropriately Pn2C is large 4 Torque saturation Adjustment Functions M zx Torque command 7 24 Chapter 8 Troubleshooting 8 1 8 2 8 5 Error Processing eeen eeaeee eneee eee aaeeea 8 1 Preliminary Checks When a Problem Occurs 8 1 Precautions When Troubleshooting ssssss 8 2 Replacing the Servomotor and Servo Drive 8 2 Alarm Table inermes 8 3 Alarm Indicator on the Servo Drive uessssusss 8 3 AlarmubiStes ee ER EU UU RI m E 8 4 Troubleshooting ccce cen cnr reise cerei 8 5 Boints to Gheckcr mettent teet Ee ee T vas eee PUTET IRE E TERI Poet 8 5 Error Diagnosis Using the Displayed Alarm Codes 8 6 Error Diagnosis Using the Operating Status 8 12 Overload Characteristics Electronic Thermal Function 8 16 Overload Characteristics Graphs sesssssss 8 16 Periodic Maintenance 8 17 Servomotor Service Life sese 8 17 Senvoll uvesservicellifePee m UT 8 18 Troubleshooting 8 1 Error Processing 8 1 Error Processing This section explains preliminary checks required to determine the cause of problems that might occur and cautions for the problems Preliminary Checks When a Problem Occurs This
125. section explains the preliminary checks and analytical tools required to determine the cause of problems that might occur B Checking the Power Supply Voltage Check the voltage at the power supply input terminals Main circuit Power Supply Input Terminals L1 L2 L3 R7D BPLILLL Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R7D BPO2HH Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz R7D BPLILIH Single phase three phase 200 to 240 VAC 170 to 264 V 50 60 Hz R7D BPO2H Three phase 200 to 240 VAC 170 to 264 V 50 60 Hz If the voltage is outside of this range there is a risk of operation failure Be sure to supply the power correctly Check the voltage for the sequence input power supply Within the range of 11 to 25 VDC 24 VIN terminal pin CN1 1 If the voltage is outside of this range there is a risk of operation failure Be sure to supply the power correctly B Checking Whether an Alarm Has Occurred Check the alarm LED indicator on the front of the Servo Drive to see whether an alarm has occurred or check the alarm code on the Parameter Unit When an alarm has occurred Check the status of the alarm LED indicator ALM and evaluate the problem based on the alarm indicated Check the alarm code and perform analysis based on the alarm code information When an alarm has not occurred Make an analysis according to the problem Note In either case refer to 8 3 Troubleshooting
126. set speed Setting range 0 to 5000 Unit x2ms Default setting 0 Power OFF gt ON Pn59 Soft Start Deceleration Time Internally set speed Setting range 0 to 5000 Unit x2ms Default setting 0 Power OFF gt ON Set the acceleration or deceleration time for Internally Set Speed Control Set the time setting x 2 ms required until the Servomotor rotation speed reaches 1 000 r min or until operation stops from 1 000 r min Internally Set Speed 1000 r min Speed 5 53 5 10 User Parameters Pn5A Not used Do not change setting Pn5B Not used Do not change setting Pn5C Not used Do not change setting Pn5D Not used Do not change setting Pn5E Torque Limit All modes Setting range 0 to 500 Unit 926 Default setting 300 Power OFF gt ON Set the limit for the maximum torque of the Servomotor Normally the Servomotor generates an instantaneous torque three times the rated value Limit the maximum torque however if a torque of three times the rated value may cause problems with the strength of the mechanical system Make the setting as a percentage of the rated torque Example Maximum torque limited to 150 Torque Forward z 300 max o9 jud 5 Pn5E 150 200 LL 100 rated 7 Oo cC i i i _ A 4 Speed 100 rated maximum 8 200 o 300 R
127. setting for during operation Pn26 e Set Pn26 to 0 to disable the function 36 Parameter error Occurs when the power e There are errors in the e Reset all parameters supply is turned ON parameters that were read e The Servo Drive is faulty e Replace the Servo Drive 37 Parameter corruption Occurs when the power e The parameters that e Replace the Servo Drive supply is turned ON were read are corrupt 38 Drive prohibit input Occurs when the Servo e The Forward Drive Pro e Correct the wiring error is turned ON or during hibit Input POT and Re e Replace the limit sensor operation verse Drive Prohibit Input e Check whether the pow NOT were both OFF at er supply for control is in the same time put correctly e Check whether the set ting for Drive Prohibit In put Selection Pn04 is correct 44 Encoder counter er Occurs during opera e The encoder detected an e Replace the Servomotor ror 1 tion error in the counter 45 Encoder counter er Occurs during opera e The encoder detected an e Replace the Servomotor ror 2 tion error in the counter 48 Encoder phase Z Occurs during opera e A phase Z pulse from the e Replace the Servomotor error tion encoder was not detect ed regularly 49 Encoder CS signal Occurs during opera e A logic error of the CS e Replace the Servomotor error tion signal from the encoder was detected 8 10 Troubleshooting Troubleshooting
128. speed detection will be output if the Servomotor speed falls below the set speed regardless of the direction of rotation Forward Speed N i Reverse i WARN There is an hysteresis of 10 r min so set a value higher than 10 5 55 5 10 User Parameters Pn62 Rotation Speed for Servomotor Rotation Detection Internally set speed Setting range 0 to 20000 Unit r min Default setting 50 Power OFF ON Set the number of rotations for the Servomotor Rotation Speed Detection Output TGON during Internally Set Speed Control The Servomotor Rotation Speed Detection Output TGON will turn ON if the Servomotor speed Speed Pn62 exceeds the set speed regardless of the direction of rotation Forward Reverse TGON There is a hysteresis of 10 r min so set a value higher than 10 Deviation Counter Overflow Level Pn63 Position Setting range 0 to 32767 Unit x 256 pulses Default setting 100 Power OFF gt ON Set the detection level for the deviation counter overflow alarm The alarm level is the setting value multiplied by 256 pulses Pn64 Deviation Counter Overflow Alarm Disabled Position Setting range O or 1 Unit Default setting 0 Power OFF 2 ON The deviation count
129. than commands such as external forces cause vibration When the difference between the resonance frequency and anti resonance frequency is large When the vibration frequency is large more than 100 Hz 7 23 7 5 Manual Tuning E Operating Procedure 1 Setting the Vibration Frequency Pn2B Measure the vibration frequency at the end of the machine If the end vibration can be measured directly using a laser displacement sensor read the vibration frequency Hz from the measured waveform and set it in the Vibration Frequency Pn2B If no measurement device is available use the CX Drive waveform graphic function and read the residual vibration frequency Hz from the position deviation waveform as shown in the following figure The set values from O to 99 are invalid Position deviation Command speed x Vibration frequency calculation t F Measure the distance between the residual peaks t and calculate the vibration frequency Hz using the following formula 1 t s f Hz 2 Setting the Vibration Filter Pn2C First set the Vibration Filter Setting Pn2C to 0 The settling time can be reduced by setting a large value however torque ripple will increase at the command change point as shown in the following figure Set in a range that will not cause torque saturation under actual operation conditions The effects of vibration suppression will be lost if torque
130. the electronic gear can be switched between Electronic Gear Ratio Numerator 1 and Electronic Gear Ratio Numerator 2 When the input is turned OFF Electronic Gear Ratio Numerator 1 Pn46 is enabled and when the input is turned ON Electronic Gear Ratio Numerator 2 Pn47 is enabled ttakes 1 to 5 ms to switch the electronic gear after the Gear Switch input changes Therefore do not input a command pulse for 10 ms before and after switching 3 10 Specifications Specifications 3 1 Servo Drive Specifications Function Internally Set Speed Selection 1 Pin 6 is the Internally Set Speed Selection 1 Input VSEL1 in Internal Speed Control Mode when Pn02 is set to 1 Four speeds can be selected by using pin 6 in combination with the Internally Set Speed Selection 2 Input VSEL2 B Reverse Drive Prohibit Forward Drive Prohibit Input Pin 7 Reverse Drive Prohibit Input NOT Pin 8 Forward Drive Prohibit Input POT Functions These inputs prohibit forward and reverse operation overtravel When an input is ON operation is possible in that direction These inputs can be disabled using the setting of Drive Prohibit Input Selection Pn04 The motor will stop according to the setting of the Stop Selection for Drive Prohibition Input Pn66 B Reverse Pulse Forward Pulse Feed Pulse Direction Signal 90 Phase Difference Signal Phase A Phase B Pin 22 Reverse Pulse Pin 23 Reverse Pulse Pin 24 For
131. the mounting screws terminal block screws and cable connector screws are tightened securely Not doing so may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to the protective ground terminal Doing so may result in fire Always use the power supply voltage specified in the User s Manual Not doing so may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Use particular caution if the product is used in a place where a stable power supply cannot be provided Not doing so may result in equipment damage Install breakers and take other safety measures against short circuiting of external wiring Not doing so may result in fire Take sufficient shielding measures when using the product in the following locations Not doing so may result in damage to the product Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power lines DppPPbPPPPPPPPD5 Connect an emergency stop shutoff relay in series with the brake control relay Not doing so may result in injury or product failure Precautions for Safe Use E Operation and Adjustment Precautions N Caution Confirm that no adverse effects w
132. twelve months from the date of sale by Omron or such other period expressed in writing by Omron Omron disclaims all other warranties express or implied b Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED ABOUT NON INFRINGEMENT MERCHANTABIL 14 15 16 17 18 ITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or oth erwise of any intellectual property right c Buyer Remedy Omron s sole obli gation hereunder shall be at Omron s election to i replace in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof the non complying Product ii repair the non complying Product or iii repay or credit Buyer an amount equal to the purchase price of the non complying Product provided that in no event shall Omron be responsi ble for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were prop erly handled stored installed and maintained and not subject to contamina tion abuse misuse or inappropriate modification Return of any Products by Buyer must be approved in writing by Omron before shipment Omron
133. uu Displays the total number of pulses after the power supply is turned ON The display will overflow as shown in the following figure 2 147 483 647 pulses 0 2 147 483 647 pulses 2 147 483 647 pulses Reverse Power ON Forward Use the Shift key to switch the display between the upper and lower digits of the total number of pulses Upper digits Lower digits lt I zj Li e mi I T is j T3730 1 When the Data key is pressed for 5 s or longer the total number of pulses will be reset and the display will return to O B Automatic Servomotor Recognition Automatic recognition enabled Always this indication is displayed 6 14 Operation 6 3 Using the Parameter Unit Paramete 1 Disp r Setting Mode laying Parameter Setting Mode Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key to display Parameter Setting Mode 2 Setti ng the Parameter Number Key operation Display example Explanation o Use the Shift Increment and Decrement keys to set the parameter num ber If the parameter number is large the setting can be made more quickly by using the Shift key to change the digit that is being set The decimal point will flash for the digit that can be set
134. writing start Start to writing completion Finish or Reset If the Parameter Unit is disconnected repeat the procedure from the beginning Precautions for Correct Use 6 16 Operation 6 3 Using the Parameter Unit Autotuning Mode For details on autotuning refer to 7 3 Autotuning This section describes only the operating procedure 1 Displaying Autotuning Mode Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode GO Press the Mode key three times to display Autotuning Mode 2 Executing Autotuning Key operation Display example Explanation RN nr E t Press the Data key to enter Autotuning Mode DG N ER hr Press and hold the Increment key until Start is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase The Servomotor will start and autotuning will begin Operation This display indicates a normal completion is displayed a tuning error has occurred If Ez cac 3 Returning to the Display of Autotuning Mode Key operation Display example Explanation Press the Data key to return to the Autotuning Mode Display 6 17 Precautions for Correct Use Do not remove the Parameter Unit from
135. 0 to 100 Unit x2 ms Default setting 10 Power OFF gt ON When the RUN Command Input is turned OFF while the Servomotor is stopped the Brake Interlock Signal BKIR will turn OFF and the Servo will turn OFF after the time set for this parameter setting x 2 ms elapses RUN command RUN Released Hold Brake interlock BKIR T 1 Actual braking Released yi Servomotor ON OFF ON OFF status i Pn6A amp 4 Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay in the brake operation tb Brake timing when stopped setting x 2 ms gt tb 5 58 Operating Functions Operating Functions 5 10 User Parameters Pn6B Brake Timing during Operation All modes Setting range 0 to 100 Unit x2ms Default setting 50 Power OFF 2 ON When the RUN Command Input is turned OFF while the Servomotor is operating the Servomotor will decelerate the number of rotations will drop and the Brake Interlock Signal BKIR will turn OFF after the time set for this parameter has elapsed setting x 2 ms RUN command RUN Brake interlock Released Hold BKIR TB Servomotor ON OFF ON OFF status Servomotor speed 30 r min TB in the above figure is the brake timing during operation setting x 2 ms or the time required until the Servomotor rotation spe
136. 000 1000 1000 1000 1000 1000 1000 1000 1B Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0 1C Torque Command Filter Time Constant 2 30 25 20 16 13 11 10 10 20 Inertia Ratio Estimated load inertia ratio 7 11 Reference The parameter default values are set according to the machine rigidity number The parameter settings are automatically changed when autotuning is executed 7 3 Autotuning The following parameters are set automatically The settings will not be changed even if realtime autotuning is executed Pn Parameter name Machine Rigidity No Do OtoF 15 Feed forward Amount 300 16 Feed forward Command Filter 50 30 Gain Switching Input Operating Mode Selection 1 31 Gain Switch Setting 10 32 Gain Switch Time 30 33 Gain Switch Level Setting 50 34 Gain Switch Hysteresis Setting 33 35 Position Loop Gain Switching Time 20 Regardless of the machine rigidity number the settings cannot be changed 7 12 Adjustment Functions Adjustment Functions l6 7 4 Disabling the Automatic Gain Adjustment Function 7 4 Disabling the Automatic Gain Adjustment Function This section explains how to disable realtime autotuning and the adaptive filter These functions are enabled by default Precautions When disabling the automatic adjustment function the RUN Command for Correct Use Input RUN must be turned OFF Disabling
137. 0102200 _ sy A al R Phase A EN zl jd R Phase B s 1 0 c Z o 3 al R Phase Z o OV ano me 9 I xz OV Applicable line receiver a AM26C32 or equivalent o E External power supply 24 VDC 1 V Maximum operating voltage 30 VDC Maximum output current 50 mA A x real Di if Di Diode for preventing surge voltage Use high speed diodes B Phase Z Output Open collector Output Servo Drive Controller 14 GND Maximum operating voltage 30 VDC Maximum output current 50 mA 3 12 3 1 Servo Drive Specifications Control Output Details The details of the output pins for the CN1 connector are described as follows E Control Output Sequence Power supply input ON L1 and L2 e E i Approx 2 s 30 s max Alarm Output ALM ON NN Positioning Completed oy Output INP OFF MEN Brake Interlock Output ON KIP pe es E Oto35ms i2ms 0to35ms i2ms Specifications RUN Command Input ON RUN sl AAE J s B Alarm Output Pin 9 Alarm Output ALM Function The alarm output is turned OFF when the Servo Drive detects an error This output is OFF at startup but turns ON when the initial processing of the Servo Drive has been completed B Positioning Completed Output Servomotor Rotation Speed Detection Output Pin 10 Positioning Completed Out
138. 1 465 1 70 W 14 15 VRSF15C200CJ 200 6 29 66 333 18 8 3 00x10 9 1176 588 2 10 1 25 VRSF25C200CJ 120 11 1 70 200 33 3 2 88x10 9 1323 661 2 10 1 5 VRSF05C400CJ 600 5 40 85 1000 16 2 3 63x10 9 784 392 1 70 400 1 9 VRSF09C400CJ 333 9 50 83 556 28 5 2 75x10 931 465 1 70 W 1 5 VRSF15C400CJ 200 15 8 83 333 47 4 3 00x10 gt 1176 588 2 10 1 25 VRSF25C400CJ 120 26 4 83 200 79 2 2 88x10 9 1323 661 2 10 Note 1 The Decelerator inertia is the Servomotor shaft conversion value Note 2 The protective structure of Servomotors with Decelerators satisfies IP44 Note 3 The allowable radial load is the value at the T 2 position Note 4 The standard models have a straight shaft with a key 3 28 Specifications 3 3 Decelerator Specifications Decelerator for Flat Servomotors MEL Maxi Rated mum Allow Allow Effi mum Decelera rota Rated E momen able able r Model tion torque CO ta Monona on radial thrust Weight R88G q cy Yy tary inertia speed rotation roue load load speed 3 r min N m r min N m kg m N N kg EM 1 5 VRSF05B100PCJ 600 1 19 75 1000 D 4 00x10 9 392 196 0 72 6 48 SS 1 9 VRSF09B100PCJ 333 2 29 80 556 6 12 3 50x10 441 220 0 72 100 o w 10 8 c 1 15 VRSF15B100PCJ 200 3 81 80 333 8 50x10 9 588 294 0 87 o 10 2 18 0 S 1 25 VRSF25B100PCJ 120 6 36 80 200 a 7 0 3 25x10 686 343 0 87 Oo 1 5
139. 1 Servo Drive Specifications Control I O Connector Specifications CN1 B Control I O Signal Connections and External Signal Processing Reverse CW 122 a E E 9 ALM pulse bd Alarm Output Le cwl23 2200 Forward S 24 INP pulse Positioning m 25 2200 Completed Output peer BKIR Maximum operating Brake Interlock voltage 30 VDC o i Maximum Output c 12 to 24 VDC 4 7 KQ nnns Current 50 mA DC o T Td Command j E j Warning Output 5 l anl 2 i OGND o t 21 Z Q Alarm Reset Z phase Output Q Input 14 open collector output o RESETI3 GND Deviation Counter Reset Input ECRST Gain Switch Yx E Encoder A phase pP GSEL S5 LE A Output iid ES E E B Line driver output Electronic Gear mu Encoder B phase Conforms to x Switch Input AVS a EIA RS 422A GESEL 6 Loc B Output Load resistance 4 7 KQ Z 220 O min Reverse Drive Evy Encoder Z phase FOI Input T7 i aN Z Output 4 7 kQ Forward Drive Yx Prohibit Input 8g L hac Shell 26 FG Frame ground 3 4 Specifications 3 1 Servo Drive Specifications B Control I O Signals Control Inputs CN1 PI signal Name Function Interface No name DC
140. 2 500 pulses rotation Phase Z 1 pulse rotation Power supply voltage 5 V 45 Power supply current 180 mA max Output signals S S Output interface EIA RS 485 compliance Bidirectional serial communications data 3 25 3 3 Decelerator Specifications 3 3 Decelerator Specifications Standard Models and Specifications B Backlash 3 Max Decelerators for Cylindrical Servomotors The following Decelerators are available for use with OMNUC G Series Servomotors Select a Decelerator matching the Servomotor capacity Maxi Rated Effi mum pad Dersler Allow Allow rota Rated momen able able Model tion torque oed tay Were j tor radial thrust Weight R88G speed CY rotation ia nema load load speed r min N m 96 r min N m kg m N N kg 1 5 HPG11B05100B 600 0 50 63 1000 1 51 5 00x107 135 538 0 29 1 9 HPG11B09050B 333 1 12 78 555 3 36 3 00x1077 161 642 0 29 a 1 21 HPG14A21100B 143 2 18 65 238 6 54 5 00x10 340 1358 1 04 1 33 HPG14A33050B 91 3 73 71 151 11 2 440x109 389 1555 1 04 1 45 HPG14A45050B 67 5 09 71 111 15 2 440x10 427 1707 1 04 1 5 HPG11B05100B 600 1 28 80 1000 3 6 5 00x1077 135 538 0 29 141 HPG14A11100B 273 2 63 75 454 7 80 6 00x10 280 1119 1 04 PA 1 21 HPG14A21100B 143 5 40 80 238 16 0 5 00x10 340 1358 1 04 1 33 HPG20A33100
141. 29 min 1 27 min 1 27 min 5 Attraction time 9 ms 50 max 60 max 60 max E Release time gt ms 15 max 15 max 15 max 3 Backlash i1 o Bl praca opoetion 137 196 196 Allowable total work J 44 1 x 109 147 x 10 147 x 10 Allowable angular rad s2 10 000 max acceleration Speed of 950 r min or more must not be stopped in 10 ms or less Brake life 10 000 000 operations min Rating Continuous Insulation grade Type F 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature The maximum momentary torque shown above indicates the standard value 2 For detailed information on the applicable load inertia refer to Applicable Load Inertia on page 3 25 8 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The values are also for the locations shown in the following diagram 4 The brakes are non excitation operation type They are released when excitation voltage is applied 5 The operation time is the measured value reference value with a varistor installed as a surge suppressor 3 20 Specifications 3 2 Servomotor Specifications rasa load 4 Thrust load RM Center of shaft LR 2 B Torque and Rotation Speed Characteristics 3 000 r min Cylindrical Servomotors The following graphs show the characteristics with a 3 m standard cable and a 100 VAC inp
142. 2F Adaptive Filter Table Number Display Advanced position Setting range 0 to 64 Unit Default setting 0 Power OFF gt ON 5 43 This parameter displays the table entry number corresponding to the frequency of the adaptive filter This parameter is set automatically and cannot be changed if the adaptive filter is enabled in the Realtime Autotuning Mode Selection Pn21 When the adaptive filter is enabled data will be saved in EEPROM every 30 minutes If the adaptive filter is enabled the next time the power supply is turned ON adaptive operation will start with the data saved in the EEPROM as the default value To reset the adaptive filter when operation is not normal set the Realtime Autotuning Mode Selection Pn21 to O or to between 4 and 6 and disable the filter and enable it again If the display for this parameter is 49 or higher the adaptive filter may be automatically disabled depending on the Realtime Autotuning Machine Rigidity Selection Pn22 Explanation of Settings se ped es PLE dd Notch Filter 1 Frequency Hz value value value 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn22 gt F 6 1426 28 607 50 258 Disabled when Pn22 gt F 7 1372 29 584 51 248 Di
143. 3 CS1W NC213 233 CS1W NC413 433 C200HW NC113 C200HW NC213 C200HW NC413 H Connector Terminal Block and Cable Cable for Connector ef Connector Terminal Block Terminal Block Servo Drive R7D BP CN1 Control I O Connector sores D aw omron PZO Ooo X Y ty Power Supply Servomotor Power Cable Cable OKOKO Encoder Cable CN2 Encoder Input Connector System Design Servomotor R88M G 4 10 4 2 Wiring Selecting Connecting Cables B Encoder Cables CN2 Name Model Comments Standard Cables for Encoders R88A CRGB C The digits in the model number indicate the cable length 3 m 5 m 10 m 15 m or 20 m Example model number for a 3 m cable R88A CRGBO03C Robot Cables for Encoders R88A CRGB CR The digits in the model number indicate the cable length 3 m 5 m 10 m 15 m or 20 m Example model number for a 3 m cable R88A CRGBO03CR Servomotor Power Example model number for a 3 m cable R7A
144. 30 r min or lower before the set time elapses 5 30 Operating Functions Operating Functions 5 10 User Parameters Power mo raames Setting Explanation aun Unit Sailing OFF No name setting range ON Set this parameter to 1 or 2 if an external gener ation resistor is mounted The external regeneration processing cir 0 cuit will not operate Regenerative energy will be processed with the built in capaci tor An External Regeneration Resistor is used and an External Regeneration Re Regeneration f 6C Resistor 1 sistor overload alarm alarm code 18 will 0 E 0103 u occur when the resistance exceeds 10 Selection ce nae of the operating limit An External Regeneration Resistor is 2 used but an External Regeneration Re sistor overload alarm will not occur The external regeneration processing cir 3 cuit will not operate Regenerative energy will be processed with the built in capaci tor 6D Not used Do not change setting 0 6E Not used Do not change setting 0 6F Not used Do not change setting 0 Overspeed Set the No 1 overspeed detection level when Oto 70 Detection Level torque limit switching is enabled in the Zero speed 0 r min 6000 Setting Designation Torque Limit Switch PnO6 No 2 Torque Set the No 2 torque limit when torque limit switch
145. 31 49 269 Disabled when Pn22 2 F 6 1426 28 607 50 258 Disabled when Pn22 gt F 7 1372 29 584 51 248 Disabled when Pn22 2 F 8 1319 30 562 52 239 Disabled when Pn22 2 F 9 1269 31 540 53 230 Disabled when Pn22 2 F 10 1221 32 520 54 221 Disabled when Pn22 E 11 1174 33 500 55 213 Disabled when Pn22 E 12 1130 34 481 56 205 Disabled when Pn22 E 13 1087 35 462 57 197 Disabled when Pn22 gt E 14 1045 36 445 58 189 Disabled when Pn22 gt E 15 1005 37 428 59 182 Disabled when Pn22 D 16 967 38 412 60 Disabled 17 930 39 396 61 Disabled 18 895 40 381 62 Disabled 19 861 41 366 63 Disabled 20 828 42 352 64 Disabled 21 796 43 339 When the Adaptive Filter Table Number Display Pn2F is greater than 49 the Realtime Autotuning Machine Rigidity Selection Pn22 may have automatically disabled the adaptive filter In this case the Notch Filter 1 Frequency Pn1D does not need to be set 7 14 Adjustment Functions E Adjustment Functions l6 7 5 Manual Tuning 7 5 Manual Tuning Use manual tuning to adjust the gain when adjustments cannot be made properly with autotuning described in the previous section due to load conditions or other restrictions or when loads that have been adjusted with autotuning need to be readjusted individually to achieve optimal response and stability This section explains manual tuning which is used to manually adjust the gain Function Differences in C
146. 40030H BS2 Note Models with oil seals are also available Parameter Unit Specifications Model R88A PRO2G Parameter Unit Standard Models and Dimensions Servo Drive Servomotor Combinations Only the Servomotor and Servo Drive combinations listed here can be used Do not use other combinations B Single phase 100 VAC Combinations 3 000 r min Servomotors Rated Servo Drive Servomotor output Without brake R88M G05030H R88M G10030L R88M G20030L With brake R88M G05030H B R88M G10030L B R88M G20030L B Pulse string input 50 W R7D BPASL 100W R7D BPO1L 200 W R7D BPO2L 3 000 r min Flat Servomotors Rated Servo Drive Servomotor output Pulse string input Without brake With brake 100W R7D BPO1L R88M GP10030L R88M GP10030L B 200 W R7D BPO2L R88M GP20030L R88M GP20030L B 2 2 Standard Models and Dimensions 2 1 Standard Models B Single phase 200 VAC Combinations 3 000 r min Servomotors Rated Servo Drive Servomotor output WE 7 Pulse string input Without brake With brake 50 W R88M G05030H R88M G05030H B 4 R7D BP01H 100 W R88M G10030H R88M G10030H B 200 W R7D BPO2HH R88M G20030H R88M G20030H B 400 W R7D BP04H R88M G40030H
147. 6 28 5 5 M4 M3 25 5 5 3 M4 8 1 04 27 2 2 15 5 8 20 3 4 M4 M3 15 3 3 1 8 M3 6 0 29 37 2 5 21 8 16 28 5 5 M4 M3 25 5 5 3 M4 8 1 04 37 2 5 21 8 16 28 5 5 M4 M3 25 5 5 3 M4 8 1 04 53 7 5 27 10 25 42 9 0 M4 M4 36 8 7 4 0 M6 12 2 4 53 7 5 27 10 25 42 9 0 M4 M4 36 8 7 4 0 M6 12 2 4 37 2 5 21 8 16 28 5 5 M4 M3 25 5 5 3 M4 8 1 02 37 2 5 21 8 16 28 5 5 M4 M3 25 5 5 3 M4 8 1 09 53 7 5 27 10 25 42 9 0 M4 M4 36 8 7 4 0 M6 12 2 9 53 7 5 27 10 25 42 9 0 M4 M4 36 8 7 4 0 M6 12 2 9 53 7 5 27 10 25 42 9 0 M4 M4 36 8 7 4 0 M6 12 2 9 37 2 5 21 8 16 28 5 5 M4 M3 25 5 5 3 M4 8 1 09 53 7 5 27 10 25 42 9 0 M4 M4 36 8 7 4 0 M6 12 2 9 53 7 5 27 10 25 j 42 9 0 M4 M4 36 8 7 4 0 M6 12 2 9 98 12 5 35 13 40 82 11 0 M4 M4 70 12 8 5 0 M10 20 7 5 98 12 5 35 13 40 82 11 0 M4 M4 70 12 8 5 0 M10 20 7 5 1 This is the set bolt Key and Tap Dimensions 25 a ey A M depth L 2 20 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounted Dimensions Decelerators for Flat Servomotors Model Dimensions mm R88G LM LR C1 C2 Di D2 D3 D4 D5 1 5 HPG11B05100PB 39 5 42 40 60x60 46 70 400 39 5
148. 6 us Default setting 30 Power OFF gt ON This parameter is enabled when the Gain Switch Setting Pn31 is set to 3 or 5 to 10 Set the delay time from the moment the condition set in the Gain Switch Setting Pn31 is not met until returning to gain 1 This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn33 Gain Switch Level Setting Position Setting range 0 to 20000 Unit Default setting 600 Power OFF 2 ON This parameter is enabled when the Gain Switch Setting Pn31 is set to 3 5 6 9 or 10 Set the judgment level for switching between gain 1 and gain 2 The unit for the setting depends on the condition set in the Gain Switch Setting Pn31 This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn34 Gain Switch Hysteresis Setting Position Setting range 0 to 20000 Unit Default setting 50 Power OFF gt ON Set the hysteresis width above and below the judgment level set in the Gain Switch Level Setting Pn33 The Gain Switch Hysteresis Setting Pn34 is defined as shown in the following figure Pn33 gt Gaini Gain2 Gain4 a Pn32 gt lt
149. 7 8 Autotuning Setting Method eeeenene 7 8 Automatically Set Parameters sssssssesss 7 11 7 A Disabling the Automatic Gain Adjustment irridet RETE 7 13 Disabling Realtime Autotuning 0 0 ec eee eens 7 13 Disabling the Adaptive Filter eee eeeeeeees 7 14 7 5 Manitia Tuning noe ioter 7 15 Function Differences in Control Modes sssss 7 15 Basic Adjustment Procedures eeeeeeee 7 16 Gain Switching Function oyoo 7 19 Machine Resonance Control sssssssses 7 21 DampirgiControlr ee cee E cern tartare RE B TERES 7 23 Adjustment Functions hi 7 1 Gain Adjustment 7 1 Gain Adjustment SMARTSTEP 2 Series Servo Drive has realtime autotuning and autotuning functions With these functions gain adjustments can be made easily even by those who use a servo system for the first time If autotuning cannot be used use manual tuning Purpose of the Gain Adjustment The Servomotor must operate in response to commands from the Servo Drive with minimal time delay and maximum reliability The gain is adjusted to make the Servomotor operation follow the commands as strictly as possible to the operations specified by the commands and to maximize the performance of the mechanical system Gain Adjustment Methods The SMARTSTEP 2 Series Servo Drive has three gain adjustment methods realtime a
150. B Grymed 23 23 EEN GSEL VZERO TLSEL Blue Red 3 25 1 25 DANCER ONES Servo Relay Unit Connector Connector socket XG4M 3030 Strain relief XG4T 3004 Cable AWG28 x 7P AWG28 x 6C UL2464 Servo Drive Connector Connector plug 10126 3000PE Sumitomo 3M Connector case 10326 52A0 008 Sumitomo 3M Servo Drive R7D BP Servo Drive Symbol 24VIN OGND CCW SIGN FB CCW SIGN FB CW PULS FA CW PULS FA ECRST VSEL2 Z Z INP TGON RUN RESET BKIR ALM A A B B GSEL VZERO TLSEL FG 3 64 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications Bi Servo Drive Cable XW2Z J B32 This Cable connects the Servo Drive to a Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B32 1m Approx 0 1 kg XW2Z 200J B32 2m ii Approx 0 2 kg Connection Configuration and External Dimensions REN L 39 Servo Relay Unit O L f Servo Drive lt a3 8 D mee t 14 x Wiring Servo Relay Unit Connector Servo Drive mtr No Symbol s24VIN BlerRed 1 4 H i 1 3 1 1 1 amp 24VIN OGND BliueBlack i 2 H 2 13 OGND L CCW SIGNAEFB PiniRed i 3 3 Xy H 24 L 3COWASIGNIRFB L COW SigN FB PBa 4 i 4 AA CCW SIGN FB _ CW
151. B 91 6 91 65 151 20 5 6 50x10 916 3226 2 4 1 45 HPG20A45100B 67 9 42 65 111 27 9 6 50x10 1006 3541 2 4 1 5 HPG14A05200B 600 2 49 78 1000 7 44 2 07x10 221 883 1 02 141 HPG14A11200B 273 6 01 85 454 17 9 1 93x10 280 1119 1 09 P 1 21 HPG20A21200B 143 10 2 76 238 30 6 4 90x10 800 2817 2 9 1 33 HPG20A33200B 91 17 0 81 151 50 8 4 50x10 916 3226 2 9 1 45 HPG20A45200B 67 23 2 81 111 69 3 4 50x10 1006 3541 2 9 1 5 HPG14A05400B 600 5 66 87 1000 16 5 2 07x10 221 883 1 09 141 HPG20A11400B 273 11 7 82 454 34 2 5 70x10 659 2320 2 9 te 1 21 HPG20A21400B 143 23 5 86 238 68 8 4 90x10 800 2547 2 9 1 33 HPG32A33400B 91 34 7 81 151 101 7 6 20x10 1565 6240 7 5 1 45 HPG32A45400B 67 47 4 81 111 138 6 6 10x10 1718 6848 7 5 Note 1 The Decelerator inertia is the Servomotor shaft conversion value Note 2 The protective structure of Servomotors with Decelerators satisfies IP44 Note3 The allowable radial load is the value at the T 2 position Note 4 The standard models have a straight shaft Models with a key and tap are indicated with J at the end of the model number the suffix in the box Note 5 If the R88G HPG11B05100B J is cold started the efficiency will decrease because the viscosity of the lubricant in the Decelerator will increase If the operation is continued until the temperature of the Decelerator increases the viscosity of the lubricant will decrease and the efficiency will increase 3 26 S
152. CAGALIB K i BKIR XB e FG 24 VDC Incorrect signal wiring can cause damage to Units and the Servo Drive Precautions for Correct Use Leave unused signal lines open and do not wire them Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent Appendix Appendix 6 Appendix B Connection Example 7 Connecting to SYSMAC CJ1M Main circuit power supply NFB OFF ON Main circuit contactor RO 616 41 TEL e i 2 Lu SUP 3 phase 200 240 VAC 50 60 Hz s cio 15 XI Ka x1 Surge suppressor i 2 PL Servo error display TO c v Ground to xc CJ1M 100 Q or less Reactor Contents R7A CPBLIS Input for the output power supply r 24VDC i Output COM i i i i i MC1 CW output r XX Connect External Regeneration Xx Resistor when required CCW output i Deviation counter reset output iad R88M G Ain i Servomotor Power Origin input signal xx GND ede bie
153. CQM1 1m XW2Z 100J B29 XW2B 1J6 L1B 2m XW2Z 200J B29 Servo Drive For CJ1M 1m XW2Z 100J B32 Cables XW2B 20J6 8A XW2B 40J6 9A 2m XW2Z 200J B32 For FQM1 MMP22 1m XW2Z 100J B30 XW2B 80J7 12A 2 m XW2Z 200J B30 Standard Models and Dimensions 2 10 Standard Models and Dimensions 2 1 Standard Models E Servo Relay Unit Cables for Position Control Units Specifications Model 0 5 m XW2Z 050J A18 For CJ1W NC133 1m XW2Z 100J A18 0 5 m XW2Z 050J A19 For CJ1W NC233 NC433 1m XW2Z 100J A19 0 5 m XW2Z 050J A10 For CS1W NC133 1m XW2Z 100J A10 0 5m XW2Z 050J A11 For CS1W NC233 NC433 1m XW2Z 100J A11 0 5m XW2Z 050J A14 For CJ1W NC113 1m XW2Z 100J A14 0 5 m XW2Z 050J A15 For CJ1W NC213 NC413 1m XW2Z 100J A15 Position Control For CS1W NC113 eA fa rati i Unit Cables For C200HW NC113 1 m XW2Z 100J A6 For CS1W NC213 NC413 0 5 m XW22 050J A7 For C200HW NC213 NC413 1 m XW2Z 100J A7 For CJ1M CPU21 0 5 m XW2Z 050J A33 For CJ1M CPU22 For CJ1M CPU23 1m XW2Z 100J A33 0 5 m XW2Z 050J A28 General purpose VO Cables 1m XW2Z 100J A28 2 m XW2Z 200J A28 For FQM1 MMP22 0 5 m XW2Z 050J A30 Special I O Cables 1m XW2Z 100J A30 2m XW2Z 200J A30 For COM1H PLB21 0 5m XW2Z 050J A3 For CQM1 CPU43 V1 1m XW2Z 100J A3 Bi Control Cables for CN1 Specifications Model Connector Termin
154. CW CW one rotation 26 Overrun Limit Set the allowable operating range for the Servo Sa M TU ras 0 1 0 to Setting motor The overrun limit function is disabled if this 10 gt rotation 1000 parameter is set to 0 27 Not used Do not change setting 0 28 Not used Do not change setting 0 29 Not used Do not change setting 0 2A Not used Do not change setting 0 2B Vibration Set the vibration frequency for damping to sup 0 0 1Hz 0 to m Frequency press vibration at the end of the load i 5000 2C Vibration Filter Set the vibration filter for damping to suppress vi 200 Setting bration at the end of the load 0 0 1Hz to 2500 2D Not used Do not change setting 0 2E Not used Do not change setting 0 2F Adaptive Filter Displays the table entry number corresponding to Table Number the frequency of the adaptive filter This parameter Display is set automatically and cannot be changed if the 0 oe 0 to 64 e adaptive filter is enabled i e if the Realtime Au totuning Mode Selection Pn21 is set to 1 to 3 or 7 30 Gain Switching Enable or disable gain switching Input Operating If gain switching is enabled the setting of the Gain Mode Selection Switch Setting Pn31 is used as the condition for switching between gain 1 and gain 2 0 Disabled The gain set in Pn10 to Pn14 is used and the Gain Switch Input 1 O
155. Compa nies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components circuits system assemblies or any other materials or substances or environ ments Any advice recommendations or information given orally or in writing are not to be construed as an amendment or addition to the above warranty See http www omron247 com or contact your Omron representative for pub lished information Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED IN CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY Further in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted Indemnities Buyer shall indemnify and hold harmless Omron Companies and their employees from and against all liabilities losses claims costs and expenses including attorney s fees and expenses related to any claim inves tigation litigation or proceeding whether or not Omron is a party which arises or is alleged to arise from Buyer s acts or omissions under these Terms or in any way with respect to the Products Without limiting the foregoing Buyer at its own expense shall indemnify and hold harmless Omron and defend or set tle any
156. Do not change setting Pn52 Not used Do not change setting Pn53 No 1 Internally Set Speed internally set speed Setting range 20000 to 20000 Unit r min Default setting 100 Power OFF 2 ON Pn54 No 2 Internally Set Speed Internally set speed Setting range 20000 to 20000 Unit r min Default setting 200 Power OFF gt ON EM Pn55 No 3 Internally Set Speed Internally set speed Setting range 20000 to 20000 Unit r min Default setting 300 Power OFF 2 ON n No 4 Internally Set Speed S Pn56 Opa Mernany set opee Internally set speed E Setting range 20000 to 20000 Unit r min Default setting 400 Power OFF 2 ON 5 These speed settings are used for Internally Set Speed Control IL Use internally set speeds No 1 to No 4 when Internally Set Speed Control is selected in the z Control Mode Selection Pn02 The sign of the setting indicates the direction of rotation Settings with a plus sign normally not pu indicated are for the forward direction and settings with minus sign are for the reverse direction o a For details refer to Internally Set Speed Control on page 5 4 O Pn57 Jog Speed All modes Setting range 0 to 500 Unit r min Default setting 200 Power OFF 2 ON Use this parameter to set the speed for jog operation For details refer to Auxiliary Function Mode on page 6 18 Pn58 Soft Start Acceleration Time Internally
157. E c 3 2 c c il o C 4 j NL Oe if V uo JBE if T JEF g Hmm 8 2 E A ut ds o LI CTS 7 N f a a T ga Liu j A J m oS La H c rtr E Les S Y PELLE O 70 105 Boo oo B uL oooogd rA T E B pm D r e el Hug ug mr B B 0 0 0 E 2 14 Standard Models and Dimensions 2 2 External and Mounted Dimensions Servomotors Bi 3 000 r min 50 100 W Servomotors R88M G05030H S2 G10030L S2 G10030H S2 G05030H B S2 G10030L B S2 G10030H B S2 Brake Connector a Motor Connector FOR m N o e g E 9 e o S 40 x 40 ei d S o o o MO uq e LN Y EE Oa Two 4 3 dia LL LN Model mm mm R88M G05030H 72 26 5 R88M G05030H B 102 26 5 R88M G1003001 92 46 5 R88M G10030L1 B 122 46 5 1 This is the model number for the Servomotor with a brake 2 Put L or H in the place indicated by the box Dimensions of shaft end with key and tap 3 height 9 Ha 12 5 a eo Y 99 TY S M3 depth 6 Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number 2 2 External and Mounted Dimensions Bi 3 000 r min 200 400 W Servomotors R88M G20030L S2 G20030H S2 G40030H
158. FB Control Outputs CN1 Specifications HS Signal name Name Function Interface 9 ALM Alarm Output When the Servo Drive generates an alarm the output turns OFF n Positioning completed output in Position Control Mode Positioning when Pn02 is set to O or 2 Completed ON The residual pulses for the deviation counter are within Output or the setting for Positioning Completion Range Pn60 10 INP TGON Servomotor Rotation Speed Motor rotation detection output in Internal Speed Control Detection Mode when Pn02 is set to 1 Output ON The number of Servomotor rotations exceeds the value set for Servomotor Rotation Detection Speed Pn62 11 BKIR Brake Interlock Outputs the holding brake timing signals Release the hold Output ing brake when this signal is ON 12 WARN Warning Output The signal selected in the Warning Output Selection Pn09 is output 13 OGND Output Ground Ground common for sequence outputs pins 9 10 11 and Common 12 14 GND Ground Common for Encoder output and phase Z output pin 21 Common 15 A Encoder These signals output encoder pulses according to the 16 A Phase A Output Encoder Dividing Ratio Setting Pn44 17 B Encoder This is the line driver output equivalent to RS 422 18 iB Phase B Output 19 Z Encoder 20 Phase Z Output 21 z Phase Z Output Outputs the phase Z for the Encoder 1 pulse rotation This is the open collec
159. Input TLSEL in the Zero Speed Designation Torque Limit Switch PnO6 Parameters Requiring Setting Parameter No Parameter name Explanation Reference Setthe torque limit as a percentage of the maximum torque of the ant Pn5E Torque Limit Servomotor Page 5 54 Deviation Counter Set the alarm detection level for deviation counter overflow Pn63 Page 5 56 Overflow Level Overspeed An overspeed alarm will occur if the Servomotor rotation speed Pn70 Detection Level exceeds the setting of this parameter Page 5 60 Setting 1 Values exceeding the default setting cannot be set The default setting depends on the combination of the Servomotor and Servo Drive 2 The Overspeed Detection Level Setting Pn70 will function only when torque limit switching function is enabled Related Parameters The following parameters must be set to use torque limit switching function Xe Parameter name Explanation Reference Pn71 No 2 Torque Limit 5 These parameters are set when using the No 2 torque limit CRUS These parameters function in the same way as the parameters Nor Deviation described above Pn72 Counter Overflow Level Page 5 60 No 2 Overspeed Pn73 Detection Level Setting 1 Values exceeding the default setting cannot be set The default setting depends on the combination of Servomotor and Servo Drive 2 The No 2 Overspeed Detection Level Setting Pn73 will function onl
160. L N m 2 0 4 1 86 1 86 3400 1 5 Repetitive usage 1 0 0 64 0 64 ud 0 5 Continuous usage 0 32 0 1000 2000 3000 4000 5000 min 3 22 Specifications Specifications 3 2 Servomotor Specifications The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M GP10030H R88M GP20030H N m N m 2 0 J 1 0 4 1 82 1 82 4700 250 en 1 75 0 8 15 J 0 6 Repetitive usage Repetitive usage 1 0 0 4 40 32 0 32 0 64 0 64 0 5 02 l Continuous usage 0 16 Continuous usage 0 28 1000 2000 3000 4000 5000 min 4000 2000 3000 4000 5000 min R88M GP40030H N m 4 0 4 3 60 3 60 3600 3 0 4 Repetitive usage 1 3 1 3 1 0 Continuous usage 0 64 4000 2000 3000 4000 5000 min B Temperature Characteristics of the Servomotor and Mechanical System 3 23 OMNUC G Series Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s maximum momentary torque increases and as the temperature rises the Servomotor s maximum momentary torque decreases The maximum momentary torque rises by 4 at a normal temperature of 20 C compared to a temperature of 10 C Conversely the maximum momentary torque decreases about 8 when the magnet warms up to 80 C from the normal temperature of 20 C
161. LL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply
162. Mode Selection Pn21 to 0 Pn16 Feed forward Command Filter Position Setting range 0 to 6400 Unit x 0 01 ms Default setting 100 Power OFF gt ON Set the feed forward primary lag command filter to use during position control f the Positioning Completed Signal INP is interrupted i e repeatedly turns ON and OFF because of feed forward compensation and speed overshooting occurs the problem may be solved by setting the primary lag filter This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn17 Not used Do not change setting 5 38 Operating Functions Operating Functions 5 10 User Parameters Position Loop Gain 2 Pn18 Position Setting range 0 to 32767 Unit 1 s Default setting 20 Power OFF 2 ON Pn19 Speed Loop Gain 2 Alimodes Setting range 1 to 3500 Unit Hz Default setting 80 Power OFF 2 ON PniA Speed Loop Integration Time Constant 2 All modes Setting range 1 to 1000 Unit ms Default setting 50 Power OFF 2 ON PniB Speed Feedback Filter Time Constant 2 Alvmodee Setting range 0to5 Unit Default setting 0 Power OFF 2 ON PniC Torque Command Filter Time Con
163. Models Model Length L Outer diameter of sheath Weight XW2Z 100J B29 1m Approx 0 1 kg XW2Z 200J B29 2m i Approx 0 2 kg Connection Configuration and External Dimensions 6 L Servo Relay Unit Servo Drive XW2B 20J6 1B XW2B 40J6 2B I R7D BP XW2B 20J6 3B Wiring Servo Relay Unit Connector Servo Drive No foo cc eter settee Symbol x24VIN LBlue Red 1 1 A 4 Bm 3 OGND ee en a JH 24 166WASIGNAFB OGND CCW SIGN FB 1 24VIN CCWI SIGNI FB Pre 1 4 7 4 219 as CCW SIGNI FB CW PULS FA aree ted AMI By gt A CW PULS FA CW PULS FA Green Black 1 6 D NECEM r e o a Se ECRSTIVSEL OrangerBiack 9 H 9 az Gray Red 1 10 4 30 LZ eryBlad 11 314 INP TGON 22 CW PULS FA jam jes ECRST VSEL2 CHE o He eon RUN Blue Black 2 13 2 mE RUN 1 2 RUN GSEL VZERO TLSEL Pink Red 2 15 pom GSEL VZERO TLSEL RESET Pini 2 16 e musi RESET BKIR Green Red 2 37 ir 41 BKIR JALM Green Black 7 18 18 3 9 TALM Ee 19 T shsd d 20 4 20 3 gt 26 FG Servo Relay Unit Connector Connector socket XG4M 2030 Strain relief XG4T 2004 Cable AWG28 x 4P AWG28 x 9C UL2464 Servo Drive Connector Connector plug 10126 3000PE Sumitomo 3M Connector
164. Not Used 6 Output for fan rotation speed alarm warning 5 34 Operating Functions Operating Functions 5 10 User Parameters PnOA Not used Do not change setting PnOB Not used Do not change setting PnOC Not used Do not change setting PnoD Not used Do not change setting PnOE Not used Do not change setting PnOF Not used Do not change setting 5 35 5 10 User Parameters B Gain Parameters Pn10 Position Loop Gain Position Setting range 0 to 32767 Unit 1 s Default setting 40 Power OFF ON Set this parameter to adjust the position loop response according to the mechanical rigidity The responsiveness of the servo system is determined by the position loop gain Servo systems with a high loop gain have a high response and can make positioning faster To increase the position loop gain you must improve mechanical rigidity and increase the specific oscillation frequency The value should be 50 to 70 1 s for ordinary machine tools 30 to 50 1 s for general use and assembly machines and 10 to 30 1 s for industrial robots Since the default position loop gain is 40 1 s be sure to lower the setting for machines with low rigidity Increasing the position loop gain in systems with low mechanical rigidity or systems with low specific oscillation frequencies may cause machine resonance resulting in an over
165. Notch Filter 1 Pn1D Pn1E Adjust the notch frequency of the notch filter according to the machine resonance frequency 7 21 Notch Filter Function Machine Characteristics at Resonance 7 5 Manual Tuning Torque Command Filter Function Machine Characteristics at Resonance Frequency au Fre Torque Command Filter Characteristics quency Resonance Gain Anti resonance Notch Filter Characteristics Gain l Notch 4 Adjust approximately 0 9f ower g Frequency Anti resonance Resonance peak disappears Frequency Example of an Adaptive Machine Anti resonance Resonance peak is lowered Q me Frequency Frequency Gain A machine with a resonance point that changes due to individual differences and age deterioration B Frequency Gain Frequency gt A machine with a resonance point whose frequency does not change Gain Response speed gt A machine with a resonance peak in a frequency range separated from the response speed Frequency Adjusts to a resonance point and suppresses it immediately Torque command P Frequency auto adjustment Adaptive filter Suppresses a large resonance point whose frequency does not change Width t Frequency Notch fi
166. OT 9 ALM 10 INP TGON 11 BKIR 12 WARN 13 OGND 14 GND 15 A 16 A 17 B 18 B 19 Z 20 Z 21 Z 22 CW PULS FA 23 CW PULS FA 24 CCW SIGN FB 25 CCW SIGN FB 26 FG 27 28 29 30 31 32 33 34 3 4 Cable and Connector Specifications 3 52 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications 3 5 Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Units and Cables used for connecting to Position Control Units for OMRON Programmable Controllers SYSMAC Select the models that match the Position Control Unit to be used For details refer to Selecting Connecting Cables on page 4 11 Servo Relay Units Specifications B XW2B 20J6 1B 3 53 This Servo Relay Unit connects to the following OMRON Position Control Units CJ1W NC113 NC133 CS1W NC113 NC133 C200HW NC113 Dimensions Position Control Unit connector Servo Drive connector 3 5 135 3 5 Terminal Block pitch 7 62 mm 3 5 Servo Relay Units and Cable Specifications Wiring Emer Origin 24 V gency CW CCW Jorox RUN ALM BKIR 19 Stop imit limit ity L time mm emm Fo o L 24 VDC 1 The XB contacts are used to turn ON OFF the electromagneti
167. Peripheral Device Connection Examples B R7D BPASL BP01L BP02L BP01H BPO2HH BP04H Single phase 100 to 115 VAC 50 60 Hz R7D BPLILIL Single phase 200 to 240 VAC 50 60 Hz R7D BP01H BPO2HH BP04H NFB Q Q 1 2 Noise filter Main circuit 1 E NF power supply Main circuit contactor 1 3 4 OFF ON Ground to Lu j M 100 or less L x 1MC X lb a 1 Che 1 Servo error display IMC V3 i SMARTSTEP 2 Series OMNUC G Series Servo Drive Servomotor Reactor XB Brake Cable Z CNB o4ypC Servomotor Power Cable External regeneration resistor 3 Ground to 1009 or less 24VDC 1MC Encoder cable O 24 VDC 2 J X User control device Control cable 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives We recommend that you install two contactors to help prevent accidents that may occur due to contact welding or other factors 2 Recommended Relay OMRON G7T Relay 24 VDC model 3 An External Regeneration Resistor can be connected Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive Refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 35 Note 1 The dynamic brake operates
168. S2 G20030L B S2 G20030H B S2 G40030H B S2 Brake connector Dimensions of shaft end with key and tap QK Encoder Servomotor connector b connector x RI PEE ry M depth L Four 4 5 dia 60 x 60 2 o Be s Ny o lt lag Ko e ive T Dimensions for models with key and tap E Model QK b h t M L mm mm mm mm mm mm R88M G2003071 1 79 5 11 18 4h9 4 2 5 M4 8 R88M G20030L B 116 11 18 4h9 4 2 5 M4 8 R88M G40030H 99 14 22 5 5h9 5 M5 10 R88M G40030H B 2 135 5 14 22 5 5h9 5 3 M5 10 1 Put L or H in the place indicated by the box 2 This is the model number for the Servomotor with a brake 3 A model with a key and tap is indicated by adding S2 to the end of the model number Note The standard models have a straight shaft Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounted Dimensions B 3 000 r min 100 200 400 W Flat Servomotors R88M GP10030L S2 GP10030H S2 GP20030L S2 GP20030H S2 GP40030H S2 R88M GP10030L B S2 GP10030H B S2 GP20030L B S2 GP20030H B S2 GP40030H B S2 Encoder connector Mp o Servomotor connector Break connector Four Z dia Dimensions of shaft end with key and tap
169. Specifications Model Single phase 100 VAC 50W R7D BPA5L 100 W R7D BPO1L 200 W R7D BPO2L Single phase three phase 50W 200 VAC Sonat R7D BP01H 400 W R7D BP04H Single phase 200 VAC 200 W R7D BPO2HH Three phase 200 VAC 200 W R7D BP02H Bi 3 000 r min Servomotors Specifications ose Straight shaft Straight shaft with key and tap 100 200 V 50W R88M G05030H R88M G05030H S2 g 100 V 100 W R88M G10030L R88M G10030L S2 5 200 W R88M G20030L R88M G20030L S2 8 200 V 100 W R88M G10030H R88M G10030H S2 200 W R88M G20030H R88M G20030H S2 400 W R88M G40030H R88M G40030H S2 100 200V 50W R88M G05030H B R88M G05030H BS2 100 V 100 W R88M G10030L B R88M G10030L BS2 200 W R88M G20030L B R88M G20030L BS2 200 V 100 W R88M G10030H B R88M G10030H BS2 z 200 W R88M G20030H B R88M G20030H BS2 400 W R88M G40030H B R88M G40030H BS2 Note Models with oil seals are also available 2 1 Standard Models Bi 3 000 r min Flat Servomotors Model Specifications Straight shaft Straight shaft with key and tap 100 V 100W R88M GP10030L R88M GP10030L S2 2 200W R88M GP20030L R88M GP20030L S2 E 5 200V 100W R88M GP10030H R88M GP10030H S2 200W R88M GP20030H R88M GP20030H S2 400W R88M GP40030H R88M GP40030H S2 100 V 100W R88M GP10030L B R88M GP10030L BS2 9 200W R88M GP20030L B R88M GP20030L BS2 B 200V 100W R88M GP10030H B R88M GP10030H BS2 200W R88M GP20030H B R88M GP20030H BS2 400W R88M GP40030H B R88M GP
170. W The precautions indicated here provide important information for safety Be sure to heed the information provided with the precautions B The following signal words are used to indicate and classify precautions in this manual Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Failure to heed the precautions classified as Caution may also lead to serious results Strictly heed these precautions Safety Precautions E This manual may include illustrations of the product with protective covers or shields removed in order to show the components of the product in detail Make sure that these protective covers and shields are put in place as specified before using the product B Consult your OMRON representative when using the product after a long period of storage Nee NAN Ne Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 Q or less Not doing so may result in electric shock Do not touch the inside of the Servo Drive Doing so may result in electric shock When turning OFF the main circuit power supply turn OFF the RUN Command Input RUN at the same time Residual voltage may cause the Servomotor to continue rotating and result in inju
171. a control cable yourself Dimensions 39 L N N Connector plug 10126 3000PE Sumitomo 3M Connector case 10326 52A0 008 Sumitomo 3M 3 42 Specifications Specifications 3 4 Cable and Connector Specifications B Encoder Connectors 3 43 These Connectors are used for Encoder Cables Use them when preparing an encoder cable yourself R88A CNWO1R CN2 Servo Drive Connector This connector is soldering type Use the following cable Applicable wire AWG16 max Insulating cover outer diameter 2 1 mm max Sheath outer diameter 6 70 5 mm Dimensions oo c Connector plug 55100 0670 Molex Japan Co R88A CNGO2R Servomotor Connector Use the following cable Applicable wire AWG22 max Insulating cover outer diameter 1 75 mm max 11 8 04 23 704 Al io af a EE A PERED ewe WS o I x LAN S 2 e x ISU x 2 OO i ia npn s p Y y 7 a SET 142 28 4 8 8 2 5 EER ps 5 35 Mom 1 6 10 35 9 89 Connector housing 172160 1 Tyco Electronics AMP KK Contact socket 170365 1 Tyco Electronics AMP KK Applicable panel thickness 0 8 to 2 0 mm 3 4 Cable and Connector Specifications B Power Cable Connector R88A CNG01A This Connect
172. action brought against such Companies to the extent based on a claim that any Product made to Buyer specifications infringed intellectual property rights of another party Property Confidentiality Any intellectual property in the Products is the exclu Sive property of Omron Companies and Buyer shall not attempt to duplicate it in any way without the written permission of Omron Notwithstanding any charges to Buyer for engineering or tooling all engineering and tooling shall remain the exclusive property of Omron All information and materials supplied by Omron to Buyer relating to the Products are confidential and proprietary and Buyer shall limit distribution thereof to its trusted employees and strictly prevent disclosure to any third party Export Controls Buyer shall comply with all applicable laws regulations and licenses regarding i export of products or information iii sale of products to forbidden or other proscribed persons and ii disclosure to non citizens of regulated technology or information Miscellaneous a Waiver No failure or delay by Omron in exercising any right and no course of dealing between Buyer and Omron shall operate as a waiver of rights by Omron b Assignment Buyer may not assign its rights hereunder without Omron s written consent c Law These Terms are governed by the law of the jurisdiction of the home office of the Omron company from which Buyer is purchasing the Products without regard to confl
173. ad is applied the motor shaft and bearings may be damaged Set up a structure so that the belt tension can be adjusted Tension adjustment Make adjustable gt Tension B Radiator Plate Installation Conditions When the Servomotor is installed in a small space the Servomotor temperature may rise unless sufficient surface area is provided to allow heat dissipation from the Servomotor mounting surface Take measures such as inserting a radiator plate between the Servomotor mounting surface and the flange If radiator plates are not inserted the motor may be damaged by increased temperatures For radiator plate specifications refer to 3 2 Servomotor Specifications Servomotor heating will depend on the material of the mounting surface and on the installation environment Be sure to check the Servomotor temperature under actual operating conditions The Servomotor temperature may rise sharply if the Servomotor is installed in an environment such as near a heat source Take the following countermeasures as required by the installation environment Reduce the load ratio Modify the Servomotor s heat dissipation conditions Forcibly cool the Servomotor by installing a cooling fan Radiator plate Water and Drip Resistance The protective structure for the Servomotors is as follows IP65 except for through shaft parts and cable outlets B Countermeasures against Oil When using the Servo Motor in an
174. ag netic brake e Control PCB error e Replace the Servo Drive Occurs during high e The Servomotor power e Correct the wiring speed rotation wiring or the encoder wir ing is incorrect Occurs when long com e Gain adjustment is insuf e Adjust the gain EM mand pulses are given ficient e The acceleration and de e Extend the acceleration celeration are too rapid and deceleration times e The load is too large e Reduce the load E e Select a suitable Servo motor 9 Occurs during opera e The setting for the Devia e Increase the setting of c tion tion Counter Overflow Pn63 a Level Pn63 was ex e Slow the rotation speed ceeded e Reduce the load 2 e Extend the acceleration o and deceleration times i IF 26 Overspeed Occurs during high e The speed command in e Set the command pulse speed rotation put is too large frequency to 500 kpps max e The setting for the Elec tronic Gear Ratio Numer ator Pn46 or Pn47 is not appropriate e Set Pn46 and Pn47 so that the command pulse frequency is 500 kpps max e The maximum number of rotations is exceeded due to overshooting e Adjust the gain e Reduce the maximum command speed e The encoder wiring is in correct e Correct the wiring Occurs when torque limit switching is used e The Overspeed Detec tion Level Setting Pn70 or No 2 Overspeed De tection Level Setting Pn73 has been exceed ed
175. al Block Cables 1m XW2Z 100J B28 2m XW2Z 200J B28 General purpose Control Cables 1m R7A CPB001S 2m R7A CPBOO2S 2 11 2 1 Standard Models B Connector Terminal Block Conversion Units Specifications Model M3 screws type XW2B 34G4 M3 5 screws type XW2B 34G5 M3 screws type XW2D 34G6 B External Regeneration Resistors Specifications Model Regeneration capacity 70 W 47 Q R88A RR22047S Regeneration capacity 20 W 100 Q R88A RRO080100S Regeneration capacity 20 W 50 Q R88A RRO8050S B Reactors Specifications Applicable Servo Drive Model R7D BPA5L 3G3AX DL2002 Single phase 100 V R7D BPO1L 3G3AX DL2004 R7D BPO2L 3G3AX DL2007 R7D BP01H 3G3AX DL2004 Single phase 200 V R7D BPO2HH 3G3AX DL2004 R7D BP04H 3G3AX DL2007 R7D BP01H 3G3AX AL2025 Three phase 200 V R7D BP02H 3G3AX AL2025 R7D BP04H 3G3AX AL2025 B DIN Rail Mounting Unit Specifications Model DIN Rail Mounting Unit R7A DINO1B 2 12 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounted Dimensions 2 2 External and Mounted Dimensions Servo Drives B R7D BPAB5L BPO1L BPO1H BPO2H 50 W 100 W 200 W
176. al tuning Conditions under which realtime autotuning does not function properly Load inertia f the load inertia is less than 3 times the rotor inertia f the load inertia is more than 20 times the rotor inertia f the load inertia changes quickly i e in less than 10 seconds Load f the machine rigidity is extremely low If there is backlash or play in the system f the static friction torque is greater than the dynamic friction torque Operating If the Servomotor is continuously run at a low speed below 100 r min pattern If the acceleration deceleration is gradual at less than 2000 r min in 1 s than 40 ms 1 Stopping the Servomotor Pn21 Setting Realtime Autotuning Setting Method For abrupt operations e g if the speed or acceleration condition is met in less If the acceleration deceleration torque is unbalanced and smaller compared to the viscous friction torque Turn OFF the RUN Command Input RUN to the Servomotor The Servomotor will stop 2 Realtime Autotuning Mode Selection Pn21 Adjustment Functions li Setting Realtime Autotuning Degree of change in load inertia Adaptive filter during operation 0 Not used Disabled 1 Almost no change in load inertia ERU Enabled 2 Gradual changes in load inertia Pn02 2 3 Sudden changes in load inertia Used 4 Almost no change in load inertia 5 Gradual changes in load inertia Disabled 6 Sudd
177. ata key rn ak between the parameter and setting displays saves data set Increment key Increases the parameter number or set value Decrement key Decreases the parameter number or set value Shift key Shifts the digit to the left 6 4 Operation Operation 6 3 Using the Parameter Unit Display When Power Is Turned ON Turn ON the power with the Parameter Unit connected to the Servo Drive or connect the Parameter Unit to the Servo Drive with Servo Drive power already turned ON Then the following indications appear on the display The Parameter Unit is initialized mic The display flashes every 0 6 second UE c et t Parameter Unit version display bitte Displays the Unit No ps r T eee Default Display Display depends on the setting H of the Default Display PnO1 6 5 6 3 Using the Parameter Unit Changing the Mode n r fas LJ P c LI ITI i un RN d JOJIUO A I I Parameters Unit default display e a 6umes JojoujeJeg n LL uU Lu MMM JojeureJeg uoneJodo J JI Cr RN JI l JI cr cr a Buiuny
178. ated output Ww 50 100 200 Rated torque N m 0 16 0 32 0 64 Rated rotation speed r min 3000 Max rotation speed r min 5000 Max momentary torque N m 0 48 0 95 1 78 Rated current A rms 1 1 T7 2 5 Max momentary current A rms 3 4 5 1 7 6 Rotor inertia kg m 2 5 x 10 9 5 1 x 10 9 14x10 Applicable load inertia 30 times the rotor inertia max Power rate kW s 10 4 20 1 30 3 Allowable radial load N 68 68 245 Allowable thrust load N 58 58 98 Without brake kg 0 3 0 5 0 8 With brake kg 0 5 0 7 13 Ene snigla dimensions 100 x 80 x t10 Al 130 x 120 x t12 Al Brake inertia kg m 2 0x 1077 2 0x 1077 1 8 x 1076 Excitation voltage 4 V 24 VDC 10 BC W 7 7 9 ose RT A 0 30 0 30 0 36 Static friction torque N m 0 29 min 0 29 min 1 27 min 5 Attraction time 9 ms 35 max 35 max 50 max 2 Release time ms 20 max 20 max 15 max a Backlash i1 o B nada operon j 292 992 197 Allowable total work J 4 9 x 10 4 9 x 10 44 1 x 108 Allowable angular rad s2 30 000 max acceleration Speed of 2 800 r min or more must not be stopped in 10 ms or less Brake life 10 000 000 operations min Rating Continuous Insulation grade Type F 3 17 3 2 Servomotor Specifications fom Unit R88M R88M R88M R88M G05030H G10030H G20030H G40030H Rated output Ww 50 100 200 400 Rated torque N m 0 16 0
179. ay break the motor shaft When connecting to a load use couplings Servomotor shaft that can sufficiently absorb mechanical center line eccentricity and declination For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree of precision for example JIS class 2 normal line pitch error of 6 um max for a pitch circle diameter of 50 mm If the gear precision is not adequate allow backlash to ensure that no radial load is placed on the motor shaft Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision the gear precision and temperature changes Provide appropriate backlash or take other measures to ensure that a thrust load larger than the specified level is not applied moveable Do not put rubber packing on the flange surface If the flange is mounted with rubber packing the motor flange may crack under the tightening force Backlash 4 3 Ball screw center line Do not offset center lines gt Structure in which the distance between shafts adjustable 4 1 Installation Conditions When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to be placed on the motor shaft If an excessive radial lo
180. ay not function properly under the conditions described in the following table In that case use manual tuning with Notch Filter 1 Frequency Pn1D and Notch Filter 1 Width Pn1E asa countermeasure for resonance For details on the notch filter refer to Machine Resonance Control on page 7 21 Conditions under which the adaptive filter does not function properly Resonance If the resonance frequency is 300 Hz or less points If the resonance peak or control gain is low and the Servomotor speed is not af fected by it f there are multiple resonance points Load f the Servomotor speed with high frequency components varies due to backlash or other non linear elements Operating If the acceleration deceleration suddenly changes i e 3000 r min or more in 0 1 s pattern 7 2 Realtime Autotuning Automatically Set Parameters When realtime autotuning is enabled the following parameters will be set automatically Parameters that are set automatically cannot be changed manually Parameter No Parameter name Pn No 10 Position Loop Gain 11 Speed Loop Gain 12 Speed Loop Integration Time Constant 13 Speed Feedback Filter Time Constant 14 Torque Command Filter Time Constant 18 Position Loop Gain 2 19 Speed Loop Gain 2 1A Speed Loop Integration Time Constant 2 1B Speed Feedback Filter Time Constant 2 1C Torque Command Filter Time Constant 2 20 Inertia Ratio 2F A
181. c Basic adjustment Gain switch adjustment Machine resonance suppression Damping control le Y Contact OMRON Write in EEPROM Adjustment completed Adjustment Functions M Reference Gain Adjustment and Machine Rigidity The specific vibration resonance frequency of the mechanical system has a large impact on the gain adjustment The servo system responsiveness cannot be set high for machines with a low resonance frequency low machine rigidity Check the following items to increase mechanical system rigidity Lay the foundation firmly and set up a machine so that it does not wobble Use a Decelerator with minimal backlash Use couplings of a type with high rigidity and designed for servo systems Use a wide timing belt and use a tension within the allowable axial load for the Servomotor 7 2 7 2 Realtime Autotuning 7 2 Realtime Autotuning Realtime autotuning estimates the load inertia of the machine in realtime and automatically sets the optimal gain according to the estimated load inertia The adaptive filter automatically suppresses vibration caused by resonance In the default settings realtime autotuning is disabled Refer to the following procedures to enable realtime autotuning Precautions for Correct Use Realtime autotuning may not function properly under the conditions described in the following table If realtime autotuning does not function properly use autotuning or manu
182. c brake 2 Do not connect unused terminals 3 The 0 V terminal is internally connected to the common terminals 4 Applicable crimp terminal R1 25 3 round with open end E XW2B 40J6 2B This Servo Relay Unit connects to the following OMRON Position Control Units CJ1AW NC213 NC233 NC413 NC433 C8S1W NC213 NC233 NC4193 NC433 C200HW NC213 NC413 Dimensions X axis Servo Y axis Servo Position Control Unit connector Drive connector Drive connector 3 5 180 35 Terminal Block pitch 7 62 mm 3 54 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications Wiring EE X axis X axis X axis X axis bs un Y axis Y xs Y axis Y axis Y axis lemergency ow CCW an Ccw origin pls Vieni loroximity RUN ALM BKIR t Jum promi RUN ALM BKIR axis X axis X axis Yaxis Y axis Y axis 24 VDC 1 The XB and YB contacts are used to turn ON OFF the electromagnetic brake 2 Do not connect unused terminals 3 The 0 V terminal i
183. cations B Connector Terminal Block Cables XW2Z This Cable is for the Connector Terminal Block of the Servo J B28 Drive s Control I O Connector CN1 Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B28 1m Approx 0 1 kg XW2Z 200J B28 2m ze Approx 0 2 kg Connection Configuration and External Dimensions o c Connector Terminal Block Servo Drive 2 XW2B 34G4 XW2B 34G5 4 3 gt R7D BP 9 XW2D 34G6 imm 3 t 14 2 Q o Wiring Terminal Block Connector Servo Drive No Ne suec No Wire mark color Signa 424VIN 1 1 1 424VIN ERE Se RESET 3 3 Pink Red 1 RESET ECRSTWSEL2 4 H 4 9 4 Pinea 1j ECRSTISELZ GSEL VZERO TLSEL 5 5 Green Red 1 GSEL VZERO TLSEL SESEL VSELI 781 8 1 9C 9C 8 asenback i SESEL VSELI NOT 7 1 L7 7 ALM Gray Red 1 ALM INP TGON 101 139 29 eravilack rj INPITGON BKIR 11 11 11 BKIR WARN 12 1 32 1 47a Beak 2 WARN OGND 13 13 Pink Red 2 OGND b ee C ie eub Eats 15 B 17 17 Orange Red 2 B 38 38 8 Z 20 20 Gray Black 2 Z CW PULS FA 22
184. cy of the resonance sup 100 to 1500 Hz Frequency pression notch filter 1500 1E Notch Filter 1 Set the width to one of five levels for the reso Width nance suppression notch filter Normally use the 2 0to4 default setting 1F Not used Do not change setting 0 20 Inertia Ratio Set the ratio between the mechanical system iner 300 9 0 to E tia and the Servomotor rotor inertia E 10000 5 22 o c o 5 o c 2 IL o c 5 pos o Q O Operating Functions 5 10 User Parameters Pn No Parameter name Explanation Default setting Unit Setting range Power OFF ON 21 Realtime Autotuning Mode Selection Set the operating mode for realtime autotuning 0 Realtime autotuning is not used The adaptive filter is disabled Realtime autotuning is used Use this setting if there are almost no changes in load inertia during operation The adaptive filter is enabled if PnO2 is set to 2 Realtime autotuning is used Use this setting if there are gradual changes in load inertia during operation The adaptive filter is enabled if PnO2 is set to 2 Realtime autotuning is used Use this setting if there are sudden changes in load inertia during operation The adaptive filter is enabled if PnO2 is set to 2 Realtime autotuning is used Use this setting if there are almost no changes in load inertia during operation
185. d Models and Dimensions 2 2 External and Mounted Dimensions Decelerators for Flat Servomotors Model Dimensions mm R88G LM LR C1 C2 D1 D2 D3 D4 ES F G 1 5 VRSF05B100PCJ 67 5 32 60 52 70 60 50 45 10 3 8 EM 1 9 VRSFO09B100PCJ 67 5 32 60 52 70 60 50 45 10 3 8 oe 1 15 VRSF15B100PCJ 78 0 32 60 52 70 60 50 45 10 3 8 1 25 VRSF25B100PCJ 78 0 32 60 52 70 60 50 45 10 3 8 e 1 5 VRSFO5B200PCJ 72 5 32 80 52 90 60 50 45 10 3 12 E nT 1 9 VRSFO9C200PCJ 89 5 50 80 78 90 90 70 62 17 3 12 o 1 15 VRSF15C200PCJ 100 0 50 80 78 90 90 70 62 17 3 12 E 1 25 VRSF25C200PCJ 100 0 50 80 78 90 90 70 62 17 3 12 A 1 5 VRSF05C400PCJ 89 5 50 80 78 90 90 70 62 17 3 12 mm 1 9 VRSFO9C400PCJ 89 5 50 80 78 90 90 70 62 17 3 12 o 1 15 VRSF15C400PCJ 100 0 50 80 78 90 90 70 62 17 3 12 E 1 25 VRSF25C400PCJ 100 0 50 80 78 90 90 70 62 17 3 12 Note 1 The standard models have a straight shaft with a key U Note 2 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding o motors xe S Outline Drawings o F calla Four Z2 effective depth L o D dia ine 5 ci 5 a 18 8 2 EN w wT T 2 io AlS o o cs 2
186. d advanced position control Select the mode better suited for your operational conditions High Response Position Control vs Advanced Position Control The two position control modes have the following differences Realtime Autotun Adaptive Filter ea ee D Fre eee ing Mode Seley Table Number q y q y tion Pn21 Display Pn2F High Response Conditional Conditional Conditional Disabled Position Control Agvancsd Enabled Enabled Enabled Enabled Position Control The Notch Filter 1 Frequency Vibration Frequency and Realtime Autotuning Mode Selection cannot be used at the same time in high response position control mode The parameter entered first will be given priority Example When the Realtime Autotuning Mode Selection is set the Servo Drive will be forcibly set to 1500 disabled even if the Notch Filter 1 Frequency is input The adaptive filter will be disabled under high response position control To use the adaptive filter select the advanced position control mode Parameters Requiring Settings buco Parameter name Explanation Reference Pn02 Control Mode Select a control mode for position control setting O or 2 Page 5 33 Selection Pn42 Command Pulse Set to match the command pulse form of the controller Page 5 49 Mode Pn46 Electronic Gear Ratio Set the pulse rate for command pulses and Servomotor travel Numerator 1 amount Electronic Gear Ratio Pn4A Numerator Exp
187. d loop gain is changed the response is as shown in the following diagram Overshoots when the speed loop gain is Servomotor 4 7 high Oscillates when the gain is too high speed EN When the speed loop gain is low Time Pn12 Speed Loop Integration Time Constant Al modas Setting range 1 to 1000 Unit ms Default setting 20 Power OFF 2 ON Set the speed loop integration time constant The higher the setting the lower the responsiveness and the lower the resiliency to external force If the setting is too low it causes oscillation Operating Functions This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 When the speed loop integration time constant is changed the response is as shown in the following diagram Overshoots when the speed loop integration time constant Servomotor 4 is small speed E N J When the speed loop integration N time constant is large lime Pn13 Speed Feedback Filter Time Constant All modas Setting range 1to5 Unit Default setting 0 Power OFF 2 ON The encoder signal is converted to the speed signal via the low pass filter The higher the setting the higher the time constant and the lower the noise level generated by the S
188. daptive Filter Table Number Display The following parameters are set automatically The settings will not change even if realtime autotuning is executed Pn No Parameter name Set value 15 Feed forward Amount 300 16 Feed forward Command Filter 50 30 Gain Switching Input Operating Mode Selection 1 31 Gain Switch Setting 10 32 Gain Switch Time 30 33 Gain Switch Level Setting 50 34 Gain Switch Hysteresis Setting 33 35 Position Loop Gain Switching Time 20 7 6 Adjustment Functions Adjustment Functions li 7 2 Realtime Autotuning Pracautions An unusual noise or resonance may occur right after turning ON the first RUN Command Input RUN after the power ON or when the setting of the Realtime Autotuning Machine Rigidity Selection Pn22 is increased Usually the noise or resonance may continue until the load inertia is estimated or the adaptive filter stabilizes If the unusual noise or resonance stops immediately there is no problem However if the unusual noise or resonance occurs for more than three reciprocating operations perform the following measures in any order you can 1 Save the parameter settings when the machine operated normally to EEPROM 2 Decrease the setting of the Realtime Autotuning Machine Rigidity Selection Pn22 3 Set the Realtime Autotuning Mode Selection Pn21 to 0 to disable the adaptive filter Then enable realtime autotuning again Ref
189. dius R R7A CAB SR 45 mm 003 to 020 Brake Cables Model Minimum bending radius R R88A CAGA BR 45 mm 003 to 020 Moving Bend Test Stroke 750 mm Bending radius R Vo 1 Encoder cable 30 to 50 m only Stroke 550 mm 50 times min 30 times min 3 36 Specifications 3 4 Cable and Connector Specifications Power Cable Specifications This is the Cable that supplies power to the Servo Drive Power Cables are available in two forms single phase and three phase Select the Cable matching the Servo Drive to be used When connecting an External Regeneration Resistor use an External Regeneration Resistor Cable B Single phase Power Cable with CNA Connector Cable Models Model Length L Outer diameter of sheath Weight R7A CLB002S2 2m 6 1 dia Approx 0 1 kg Connection Configuration and External Dimensions 50 2000 50 Power supply end Single phase 100 200 VAC 6 1dia Wiring Power supply end Cable AWG18 x 2C UL2464 M4 crimp terminal 3 37 Servo Drive end R7D BP Servo Drive Servo Drive Connector Connector pins 5556PBTL Molex Japan Connector case 5557 10R 210 Molex Japan 3 4 Cable and Connector Specifications B Three phase Power Cable with CNA Connector Cable Models Model Length L Outer diameter of sheath Weight R7A CLB002S3 2m 6 4 dia Approx 0 1 kg
190. during opera e The encoder is discon e Fix the locations that are disconnection tion nected disconnected detected e Connector contacts are e Correct the wiring faulty e The encoder wiring is in correct e Correct the wiring e The encoder is dam aged e Replace the Servomotor e The Servo Drive is faulty e Replace the Servo Drive e The Servomotor is me chanically being held e f the Servomotor shaft is being held by external force release it 8 8 Troubleshooting 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 23 Encoder data error Occurs when the power e The encoder signal wir e Correct the wiring supply is turned ON or ing is incorrect during operation f g op e Noise on the encoder e Take measures against wiring causes incorrect noise on the encoder wir operation ing e The power supply volt e Provide the required en age for the encoder has coder power supply volt dropped especially age 5 VDC 5 when the cable is long 24 Deviation counter Occurs when the Ser e The Servomotor power e Correct the wiring overflow vomotor does not ro wiring or the encoder wir tate even when ing is incorrect mman r US and pulsesare e The Servomotor is me e f the Servomotor shaft is input chanically being held held by external force re lease it e Release the electrom
191. e Refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 35 Note 1 The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF Note 2 When turning OFF the main circuit power supply turn OFF the RUN Command Input RUN signal at the same time 4 15 4 2 Wiring Main Circuit Wiring When wiring a Terminal Block use proper wire sizes grounding systems and take into account anti noise characteristics B Terminal Names and Functions Signal Name Function E Maireieuit owe suppi Single phase 100 to 115 VAC 85 to 126 VAC 50 60 Hz L2 P PPly Single phase three phase 200 to 230 VAC 170 to 264 VAC input 50 60 Hz L3 P Do not short circuit P and B1 Doing so may result in malfunc External regeneration tio is resistor connection iar B1 If regenerative energy is high connect an External Regener terminals i ation Resistor Frame ground This is the ground terminal Ground to 100 Q or less c 9 o o 3 a B Terminal Wire Sizes Item Unit R7D BPASL R7D BPO1L R7D BPO2L g o Power supply capacity kVA 0 16 0 25 0 42 a Main circuit power Rated A rms 1 4 2 2 3 7 supply input L1 Current L2 Wire size AWG18 External Rege neratior Wire size AWG18 Resistor connection Rated A rms 1 0 1 6 2 5 current Servomotor Maximum connection momen terminal U
192. e 3SUP HU20 ER 6 20A ZRCS2006 00S 6A ZRCS2010 00S 10A TDK UL CSA NEMKO Single phase ZRCS2020 00S 20A ZRCS2030 00S 30A Note 1 To attenuate noise at low frequencies below 200 kHz use an isolation transformer and a noise filter Note 2 To attenuate noise at high frequencies over 30 MHz use a ferrite core and a high frequency noise filter with a feed through capacitor Note 3 If multiple Servo Drives are connected to a single noise filter select a noise filter with a rated current at least two times the total rated current of all the Servo Drives Noise Filters for Servomotor Output Use noise filters without built in capacitors on the Servomotor output lines Select a noise filter with a rated current at least two times the Servo Drive s continuous output current The following table shows the recommended noise filters for Servomotor output Maker Model Rated current Remarks 3G3AX NF001 6A OMRON For inverter output 3G3AX NF002 12A Note 1 Servomotor output lines cannot use the same noise filters for power supplies Note 2 Typical noise filters are made for power supply frequencies of 50 60 Hz If these noise filters are connected to the PWM output of the Servo Drive an extremely large about 100 times larger leakage current will flow through the noise filters condenser and the Servo Drive could be damaged 4 31 4 3 Wiring Conforming to EMC Directives
193. e Notch Filter 1 Frequency Vibration Frequency and Realtime Autotuning Mode Selection cannot be used at the same time in High response Position Control Mode The parameter entered first will be given priority When the Realtime Autotuning Mode Selection is set the Servo Drive will be forcibly set to 1500 Pn03 Not used Do not change setting Pn04 Drive Prohibit Input Selection Alimod s Setting range O or 1 Unit Default setting 1 Power OFF gt ON Yes Set whether to use the drive prohibit inputs You can prevent the Servomotor from rotating beyond the device s operating range by connecting limit inputs When only the Forward Drive Prohibit Input POT is turned ON the Servomotor can operate in the forward direction but cannot operate in the reverse direction Explanation of Settings Setting Explanation Drive prohibit inputs enabled 0 When the Forward Drive Prohibit Input POT and the Reverse Drive Prohibit Input NOT are ON the Servomotor can operate in the forward and reverse directions Drive prohibit inputs disabled Operation is possible regardless of the POT and NOT inputs 5 33 5 10 User Parameters Pn05 Not used Do not change setting Pn06 Zero Speed Designation Torque Limit Switch Alimadss Setting range 0102 Unit Default setting 1 PowerOFF gt ON Yes Use this pa
194. e Parameter Unit The following alarms can only be reset by turning OFF the power supply then turning it ON again 14 15 18 21 23 36 37 48 49 95 and 96 If you reset an alarm while the RUN Command RUN is turned ON the Servo Drive will start operation as soon as the alarm is reset which is dangerous Be sure to turn OFF the RUN Command RUN before resetting the alarm If the RUN Command RUN is always ON ensure safety thoroughly before resetting the alarm Alarm Indicator on the Servo Drive The alarm LED indicator on the front of the Servo Drive lights up if an error is detected The indicator shows the alarm code by the number of orange and red flashes Example When an overload alarm alarm code 16 has occurred and the Unit has stopped the indicator will flash 1 time in orange and 6 times in red Orange 10s digit Red 1s digit 1s 05s 05s 05s 0 55 _0 5s AX d d d Zi Orange Red Red Red Red Red Red 1s 05s 05s 05s 05s 05s 058 2 s later Alarm List 8 2 Alarm Table Maan Alarm ede Error detection function Detection details and cause of error reset possible 11 Power supply The DC voltage of the main circuit fell below the specified value Yes undervoltage 12 Overvoltage The DC voltage of the main circuit is abnormally high Yes Overcurrent flowed to the IGBT Servomotor power line ground fault 14 Overcurrent E No or short
195. e Ratio With brake Without brake 100 Erpa e ee O5 100 4 With brake 80 80 4 2s 7596 as Pi 60 60 id 40 4 40 4 20 20 T T Ambient temperature T T 1 Ambient temperature O 10 20 30 40 0 10 20 30 40 3 24 Specifications Specifications 3 2 Servomotor Specifications 400 W Without Oil Seal Rated Torque Ratio 96 200 W With Oil Seal Rated Torque Ratio 96 Without brake 100 With brake 80 iT 80 SEE bee sees OS 70 60 4 40 4 20 T Ambient temperature O 10 20 30 40 400 W With Oil Seal Rated Torque Ratio With brake With brake bs ERROR 096 100 repo 99 4 80 60 60 id 40 20 20 Ambient temperature t Ambient temperature O 140 20 30 40 B Applicable Load Inertia The drivable load inertia ratio load inertia rotor inertia depends on the configuration and rigidity of the machine being driven Machines with high rigidity can be operated with a large load inertia Select the appropriate Servomotor and confirm the applicable load inertia Frequently operating a dynamic brake with a large load inertia may burn the dynamic brake resistor Do not turn ON OFF the Servomotor frequently with the dynamic brake enabled Encoder Specifications Item Specifications Encoder system Optical encoder incremental encoder No of output pulses Phases A and B
196. e Regenerative Energy Absorption Capacity 4 35 Absorbing Regenerative Energy with an External EtegenerationilfaesiStonpee E aN S R OE 4 35 System Design 4 1 Installation Conditions 4 1 Installation Conditions Servo Drives E Space around Drives Install Servo Drives according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel Also if the Servo Drives are installed side by side install a fan for air circulation to prevent uneven temperatures from developing inside the panel NE 40 mm min lt a Fan Servo Servo Servo Drive Drive Drive W W lt r W 10 mm min B Mounting Direction e Fan 100 mm min 100 mm min Air g Side panel Air g Mount the Servo Drives in a direction perpendicular so that the model number can be seen properly E Operating Environment The environment in which Servo Drives are operated must meet the following conditions Servo Drives may malfunction if operated under any other conditions Ambient operating temperature 0 to 55 C Take into account temperature rises in the individual Servo Drives themselves Ambient operating humidity 90 RH max with no condensation Atmosphere No corrosive gases 4 1 4 1 Installation Conditions B Ambient Temperature Control Servo Drives should be operated in environments in w
197. e and save the parameters in EEPROM CUENCA Execute autotuning when a load is connected If autotuning is executed without a load i e Servomotor Servo Drive only the Inertia Ratio Pn20 will be O A tuning error will occur if any of the following conditions occur while autotuning is being executed 1 If an error occurs If the Servo is turned OFF e g the RUN Command Input RUN is turned OFF If the deviation counter is reset e g using the Deviation Counter Reset Input ECRST If auto tuning is executed near a limit sensor 2 If the inertia or load is too large and the output torque becomes saturated 3 If oscillation occurs and tuning cannot be performed correctly If a tuning error occurs the setting of each gain parameter will return to the value before tuning was executed Except for times when an error occurs the Servomotor will not stop Depending on the load the message does not appear and oscillation may occur Autotuning Operation Waveform The following figure illustrates how the operation waveform will appear when autotuning is executed The waveform will be distorted immediately after the execution but will gradually smooth out FCU TU V V B BUR E 7 10 Adjustment Functions M Adjustment Functions lU 7 3 Autotuning Automatically Set Parameters The following para
198. e application responsibility in all cases but the following is a non exhaustive list of applications for which particular attention must be given i Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this document ii Use in consumer products or any use in significant quantities iii Energy control systems combustion systems railroad systems aviation Systems medical equipment amusement machines vehicles safety equip ment and installations subject to separate industry or government regulations iv Systems machines and equipment that could present a risk to life or prop erty Please know and observe all prohibitions of use applicable to this Prod uct NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON S PRODUCT IS PROP ERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM Programmable Products Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Performance Data Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitabil ity and does not constitute a warranty It may represent the result of Omron s test conditions and the us
199. e loai 0 O or 1 Yes Switch ositive logic 1 Negative logic 46 Electronic Gear Set the pulse rate for command pulses and Servo 1to Ratio motor travel distance 10000 10000 Numerator 1 Electronic Gear Ratio Numerator 1 Pn46 47 Electronic Gear Electronic Gear Ratio Numerator Exponent Pn4A Rete E saod aa oum Numerator 2 Electronic Gear Ratio Numerator 2 Pn47 10000 Electronic Gear Ratio Denominator Pn4B 48 Not used Do not change setting 0 49 Not used Do not change setting 0 5 26 Operating Functions Operating Functions 5 10 User Parameters Power Pn Parameter Explanation Default Unit Setting OFF No name setting range ON 4A Electronic Gear Set the pulse rate for command pulses and Servo Ratio motor travel distance 0 0 to 17 PM Numerator Exponent Electronic Gear Ratio Numerator 1 Pn46 4B Elect G or x2 Electronic Gear Ratio Numerator Exponent Pn4A n icd d Electronic Gear Ratio Numerator 2 Pn47 1 to Ratio 2500 Denominator Electronic Gear Ratio Denominator Pn4B 10000 4C Position Set the time constant for the primary lag filter for the CommandfFilter command pulse input 0 u 0107 u Time Constant If the parameter is set to O the filter will not function Setting The larger the setting the larger the time constant 4D Not used Do not change setting 0 4E Smoothing Select the
200. e operation stops from 1000 r min 5A Not used Do not change setting 0 5B Not used Do not change setting 0 5C Not used Do not change setting 0 5D Not used Do not change setting 0 5E Torque Limit Set the limit to the Servomotor s maximum torque 300 0 to 500 5F Not used Do not change setting 0 5 28 o c o o c 2 IL o c pos o Q O Operating Functions 5 10 User Parameters B Sequence Parameters Power Bn S d Setting Explanation PS Unit Saing OFF No name setting range ON Positioning AT 60 Completion Setthe range for the Positioning Completed Output 25 Pulses 0 to m INP 32767 Range 61 Zero Speed Set the rotation speed for the Warning Output for 20 imin 0 to uM Detection zero speed detection 20000 B acid Set the rotation speed for the Servomotor Rotation 0 to 62 Speed Detection Output TGON for Internally Set 50 r min Rotation 20000 Speed Control Detection Deviation Set the detection level for the Deviation Counter x 256 0 to 63 Counter Overflow Alarm The alarm level is the setting value 100 ulses 32767 Overflow Level multiplied by 256 pulses P Enable or disable the Deviation Counter Overflow ue Alarm Deviation Counter Deviation Counter Overflow Alarm en 64 Overflow Alarm M abled 9 2 no k Disab
201. e same time e g as when switching from Speed 2 to Speed 3 an internally set speed signal in the process of switching may be temporarily selected For example Speed 1 or Speed 4 may be temporarily selected The internally set speed command may be temporarily performed with a sudden change especially if the acceleration or deceleration time is set to O or small value or if the speed difference between internally set speed commands is large Use this function with the following precautions Avoid switching more than one internally set speed selection signal at the same time Set both Soft Start Acceleration Time and Soft Start Deceleration Time so that the speed changes gradually and avoid a sudden change 5 5 5 2 Internally Set Speed Control Parameter Block Diagram for Internally Set Speed Control Mode Internally Set Speed Setting Pn53 No 1 Internally Set Speed Pn54 No 2 Internally Set Speed Pn55 No 3 Internally Set Speed Pn56 No 4 Internally Set Speed Phase Dividing Rate Setting A B Z Pn44 Encoder Dividing Rate Setting Pn45 Encoder Output Direction Switch Notch Filter Pn1D Notch Filter 1 Frequency zil Pn1E Notch Filter 1 Width Pn2F Adaptive Filter Table Number Display Acceleration Deceleration Time Setting Pn58 Soft Start Acceleration Time Pn59 Soft Start Deceleration Time Speed Monitor Speed PI Processor Pn11 Speed Loop Gain Pn12 Speed Loop Integration
202. e the pins that have no signals allocated Cable Models Model Length L Outer diameter of sheath Weight R7A CPB001S 1m Approx 0 2 kg 9 5 dia R7A CPB002S 2m Approx 0 3 kg Connection Configuration and External Dimensions Controller end 3 45 C 37 2 Servo Drive end R7D BP 3 4 Cable and Connector Specifications Wiring No Wire color mark color Signal 1 Orange Red 1 24VIN 2 Orange Black 1 RUN 3 Gray Red 1 RESET 4 Gray Black 1 ECRST VSEL2 5 White Red 1 GSEL VZERO TLSEL 6 White Black 1 GESEL VSEL1 7 Yellow Red 1 NOT 8 Yellow Black 1 POT 9 Pink Red 1 ALM 10 Pink Black 1 INP TGON 11 Orange Red 2 BKIR 12 Orange Black 2 WARN 13 Gray Red 2 OGND 14 Gray Black 2 GND 15 White Red 2 A 16 White Black 2 A 17 Yellow Black 2 B 18 Yellow Red 2 B 19 Pink Red 2 Z 20 Pink Black 2 Z 21 Orange Red 3 Z 22 Gray Red 3 CW PULS FA 23 Gray Black 3 CW PULS FA 24 White Red 3 CCW SIGN FB 25 White Black 3 CCW SIGN FB 26 Orange Black 3 FG Connector plug 10126 3000PE Sumitomo 3M Connector case 10326 52A0 008 Sumitomo 3M Cable AWG24 x 13P UL20276 Wires with the same wire color and number of marks form a twisted pair Pin Arrangement 3 46 Specifications 3 4 Cable and Connector Specifi
203. ection Level Setting Almdss Setting range 0 to 6000 Unit r min Default setting 0 Power OFF gt ON Setthe No 1 overspeed detection level when torque limit switching is enabled in the setting of the Zero Speed Designation Torque Limit Switch PnO6 When the No 1 torque limit is selected an overspeed error will occur if the rotation speed of the Servomotor exceeds the setting This parameter is disabled when torque limit switching is disabled Pn71 No 2 Torque Limit All modes Setting range 0 to 500 Unit 96 Default setting 100 Power OFF 2 ON Set the No 2 torque limit when torque limit switching is enabled in the setting of the Zero Speed Designation Torque Limit Switch PnO6 This parameter is disabled when torque limit switching is disabled Refer to Torque Limit on page 5 54 for information on setting details Pn72 No 2 Deviation Counter Overflow Level All modes Setting range 1 to 32767 Unit x 256 pulse Default setting 100 Power OFF gt ON Setthe No 2 deviation counter overflow level when torque limit switching is enabled in the setting of the Zero Speed Designation Torque Limit Switch PnO6 This parameter is disabled when torque limit switching is disabled Refer to Deviation Counter Overflow Level on page 5 56 for information on setting details Pn73 No 2 Overspeed Detection
204. ed ceramic capacitors between the control power supply and ground at the Servo Drive input section or the controller output section For open collector specifications keep the length of wires to within two meters Bi Selecting Other Parts for Noise Resistance This section explains the criteria for selecting other connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable conditions when selecting the components For more details contact the manufacturers directly System Design 4 30 4 3 Wiring Conforming to EMC Directives Noise Filters for the Power Supply Input Use a noise filter to attenuate external noise and reduce noise emitted from the Servo Drive Select a noise filter with a rated current that is at least two times greater than the effective load current the rated current of the main circuit power supply input given in Main Circuit Wiring on page 4 16 Maker Model Rated current Applicable standards Remarks GT 2050 5A GT 2100 10A UL CSA VDE TUV Single phase GT 2150 15A NEC TOKIN GT 2200 20A HFP 2153 15A UL CSA TUV Three phase HFP 2303 30A c o SUP EW5 ER 6 5A a SUP EW10 ER 6 10A a E ER ingle Okaya Electric SUP EW15 ER 6 15A Single phase E Industries Co SUP EW20 ER 6 20A UL cUL SEMKO t i SUP EW30 ER 6 30 A 2 o 3SUP HU10 ER 6 10A Three phas
205. ed falls to 30 r min or lower whichever is shorter Pn6C Regeneration Resistor Selection Allmedas Setting range 0to3 Unit Default setting 0 Power OFF 2 ON Set whether to mount an External Regeneration Resistor Explanation of Settings Explanation Setting Regeneration resistor used Regeneration resistor overload alarm f The external regeneration processing circuit does not oper Servo Drive built in lt ai 0 ate Regenerative energy is processed with the built in capac capacitor itor 1 External Regeneration An External Regeneration Resistor alarm alarm code 18 will Resistor occur when the resistance exceeds 10 of the operating limit 2 Paternal Regeneralon The regeneration resistor overload alarm does not operate Resistor f mm The external regeneration processing circuit does not oper Servo Drive built in M 3 ate Regenerative energy is processed with the built in capac capacitor itor Always install a thermal fuse or other external protection when Pn6C is set Precautions i for Safe Use to 2 Without protection for the External Regeneration Resistor it may generate abnormal heat and result in burning PneD Not used Do not change setting Pn6E Not used Do not change setting 5 59 5 10 User Parameters Pn6F Not used Do not change setting Pn70 Overspeed Det
206. en changes in load inertia 7 Not used Enabled Pn02 2 When the degree of load inertia change is high set the value to 3 or 6 Enable the adaptive filter if the load inertia change is affected by resonance 3 Normal Operation Turn ON the RUN Command Input RUN and run the machine as usual 7 2 Realtime Autotuning 4 Machine Rigidity Selection To increase responsiveness gradually increase the setting of the Realtime Autotuning Machine Rigidity Selection Pn22 If the machine produces an unusual noise or resonates lower the setting 5 Saving Gain Adjustment Values To save the gain setting change to Parameter Write Mode and save the parameters in EEPROM For operation details refer to Parameter Write Mode on page 6 16 Brexautione The setting of the Realtime Autotuning Mode Selection is changed when the Unit power is turned ON or when the RUN Command Input RUN is turned ON To disable realtime autotuning set Pn21 to 0 and then turn OFF the RUN Command Input RUN and turn if ON again Operating Procedures Insert the connector of the Parameter Unit into CN2 of the Servo Drive and then f turn ON the power to the Servo Drive Setting Parameter Pn21 cz 2 1 Ww X Press the Data key Press the Mode key J T c Press the Increment or Decrement key to select the parameter to be set In this case select Pn21 Press the Data k
207. en required CCW with a resistor CCW a CCW without a resistor f X axis dev cntr reset output ECRST p molar Power R88M G ELI 1 1 VI Wi Xue origin input 24 V i x SND Red Cable ais origin commen MB White R7A CABLIS axis positioning complete input Blue 3 l Green H Yellow X axis input common ooo 24VIN 24 VDC ff X axis external interrupt input xi RUN Enero Vans onal PUES R88A CRGBLIC axis origin proximity input mue 1 i qM X axis CCW limit input T c OGND X axis CW limit input m pod ae H X axis emerg stop input IL 1 T ALM Brake Cable amp 843 BKIR XB M E T FG 24 VDC Incorrect signal wiring can cause damage to Units and the Servo Drive for Correct Use Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 24 VDC power supply for the command pulse inputs as a dedicated power supply Do notshare the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent Appendix Appendix 2 Appendix B Connection Example 3 Connecting to SYSMAC CS1W NC133 233 433 Position Control Units 3 phase 200 240 VAC 50 60 Hz CS1W NC133 233 433 Contents 5 VDC power supply for pulse output 5 V GND for pulse output 5 CW output Main circuit power supply Main circuit contactor
208. ent To prevent incorrect operation due to inrush current it is necessary to select a current value of ten times the total leakage current for uses other than surge resistance Refer to the specifications from the relevant manufacturer for information on leakage breakers 4 23 4 3 Wiring Conforming to EMC Directives B Surge Absorbers Use surge absorbers to absorb lightning surge voltage or abnormal voltage from power supply input lines When selecting surge absorbers take into account the varistor voltage the allowable surge current and the energy For 200 VAC systems use surge absorbers with a varistor voltage of 620 V The surge absorbers shown in the following table are recommended Max surde Maker Model limit 9 Type Remarks immunity voltage Okava PEUT i 700 V Single phase EE R A V 781BWZ 4 20 2500 A um 100 200 VAC oc Industries 700 V Three phase Co Ltd R A V 781BXZ 4 20 2500 A 200 VAC Note 1 Refer to the manufacturers documentation for operating details Note 2 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber Dimensions Single phase BWZ Series Three phase BXZ Series 4 2 dia 4 2 dia io 10 lt 41 A Equalizing Circuits Single phase BWZ Series Three
209. er must correlate it to actual application require ments Actual performance is subject to the Omron s Warranty and Limitations of Liability Change in Specifications Product specifications and accessories may be changed at any time based on improvements and other reasons It is our prac tice to change part numbers when published ratings or features are changed or when significant construction changes are made However some specifica tions of the Product may be changed without any notice When in doubt spe cial part numbers may be assigned to fix or establish key specifications for your application Please consult with your Omron s representative at any time to confirm actual specifications of purchased Product Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions OMRON INDUSTRIAL AUTOMATION OMRON INDUSTRIAL AUTOMATION THE AMERICAS HEADQUARTERS Schaumburg IL USA e 847 843 7900 e 800 556 6766 www omron247 com OMRON CANADA INC HEAD OFFICE OMRON ARGENTINA SALES OFFICE Toronto ON Canada 416 286 6465 866 986 6766 www omron247 com Cono Sur 54 11 4783 5300 OMRON ELECTRONICS DE MEXICO HEAD OFFICE OMRON CHILE SALES OFFICE M xico DF 52 55 59 01 43 00 001 800 556 6766 mela amp omron com Santiago e 56 9 9917 3920 OMRON ELECTRONICS DE MEXICO
210. er overflow alarm can be disabled so that it does not occur Explanation of Settings Setting Explanation 0 Enabled 1 Disabled Pn65 Not used Do not change setting 5 56 Operating Functions Operating Functions 5 10 User Parameters Pn66 Stop Selection for Drive Prohibit Input Almdes Setting range 01t02 Unit Default setting 0 Power OFF gt ON Yes Set the operation to be used to decelerate to a stop after the Forward Drive Prohibit Input POT or Reverse Drive Prohibit Input NOT is turned ON Explanation of Settings Setting Explanation 0 The torque in the drive prohibit direction is disabled and the dynamic brake is activated 1 The torque in the drive prohibit direction is disabled and free run deceleration is performed to stop 2 The servo lock stop is used in a Position Control Mode and the zero speed designation stop is used in Internally Set Speed Control Mode Pn67 Not used Do not change setting Pn68 Stop Selection at Alarm Ail modas Setting range 0to3 Unit Default setting 0 Power OFF gt ON Set the operating condition during deceleration and after stopping when an alarm occurs The value of the deviation counter is held when an alarm occurs The deviation counter is cleared when the alarm is reset Explanation of Settings
211. er to Disabling Realtime Autotuning on page 7 13 for information on inertia estimation resetting adaptive operations and disabling realtime autotuning 4 Set Notch Filter 1 Frequency Pn1D and Notch Filter 1 Width Pn1E manually For information on notch filters refer to Machine Resonance Control on page 7 21 After an unusual noise or resonance occurred the setting of the Inertia Ratio Pn20 or Adaptive Filter Table Number Display Pn2F may have been changed to an extreme value Perform the above measures as well Among the realtime autotuning results the Inertia Ratio Pn20 and Adaptive Filter Table Number Display Pn2F parameters are automatically saved to EEPROM every 30 minutes Realtime autotuning will use this data as the default settings when the power is turned ON 7 7 7 3 Autotuning 7 3 Autotuning Autotuning operates the Servomotor according to command patterns created automatically in the Servo Drive estimates the load inertia from the required torque and automatically sets the optimal gain precautions Autotuning may not function properly under the conditions described in the for Correct Use following table If autotuning does not function properly use manual tuning Conditions under which autotuning does not function properly Load inertia If the load inertia is less than 3 times the rotor inertia If the load inertia is more than 20 times the rotor inertia f the load in
212. ers Pn45 Encoder Output Direction Switch Alimodes Setting range O or 1 Unit Default setting 0 Power OFF gt ON Yes This parameter can be used to reverse the logic of the encoder pulses output from the Servo Drive Phase Z is synchronized with phase A The logic of phase Z cannot be reversed Explanation of Settings Setting Explanation Positive logic Forward Rotation Reverse Rotation 0 Phase A Phase A Phase B i Phase B Phase Z Phase Z Negative logic Forward Rotation Reverse Rotation Phase A Phase A 1 H Phase B Phase B Phase Z Phase Z i Pn46 Electronic Gear Ratio Numerator 1 Position Setting range 1 to 10000 Unit Default setting 10000 PowerOFF ON Pn47 Electronic Gear Ratio Numerator 2 Position Setting range 1 to 10000 Unit Default setting 10000 PowerOFF ON Set the pulse rate for command pulses and Servomotor travel distance along with Pn4A and Pn4B Electronic Gear Ratio Numerator 1 Pn46 or x2 Electronic Gear Ratio Numerator Exponent Pn4A Electronic Gear Ratio Numerator 2 Pn47 Electronic Gear Ratio Denominator Pn4B For details refer to Electronic Gear on page 5 9 Pn48 Not used Do not change setting Pn49 Not used Do not change setting 5 50 Operating Func
213. ertia changes Load f the machine rigidity is extremely low If there is backlash or play in the system f the static friction torque is greater than the dynamic friction torque Atuning error will occur if the servo turns OFF e g the RUN Command Input RUN turns OFF or a deviation counter reset occurs e g the Deviation Counter Reset ECRST during the autotuning If the load inertia cannot be estimated during autotuning the setting of each gain cannot be changed and remains the same as before autotuning When autotuning is being executed the Servomotor output torque will reach the maximum output torque set in the Torque Limit Pn5E When autotuning is being executed the Forward Drive Prohibit Input and Reverse Drive Prohibit Input will be ignored PrecHaliohg If the Servomotor oscillates immediately cut off the power or turn OFF the for Efe Use RUN Command Input RUN Then return each gain to the default setting Autotuning Setting Method 1 Setting the Operating Pattern Set the operating pattern using the Autotuning Operation Setting Pn25 The operating pattern set in Pn25 will repeat in a maximum of five cycles Starting with the third cycle the acceleration level will double every cycle Depending on the load the operating pattern does not repeat in five cycles when operation is completed or the acceleration does not change In either case this is not an error 2 Movin
214. ervomotor Normally use a setting of 4 or less This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 5 37 5 10 User Parameters Pni4 Torque Command Filter Time Constant Ai madas Setting range 0 to 2500 Unit x 0 01 ms Default setting 100 Power OFF 2 ON Set this parameter to adjust the primary lag filter time constant for the torque command This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn15 Feed forward Amount Position Setting range 2000 to 2000 Unit x 0 1926 Default setting 300 Power OFF gt ON Set the feed forward compensation value during position control When performing feed forward compensation the effective servo gain increases improving responsiveness There is almost no effect however on systems whose position loop gain is sufficiently high Use this parameter to shorten positioning time Setting a high value may result in machine vibration Set the feed forward amount for general machinery to 8096 maximum Make adjustments while checking machine response This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning
215. es features realtime autotuning and adaptive filter functions that automatically perform complicated gain adjustments A notch filter can also be automatically set to suppress machine vibration by reducing mechanical resonance during operation The damping control function of the SMARTSTEP 2 Series realizes stable stopping performance in a mechanism which vibrates because of the low rigidity of the load Features of the SMARTSTEP 2 Series The SMARTSTEP 2 Series has the following features Bi Compact AC Servo Drives Compared to the SMARTSTEP A Series the SMARTSTEP 2 Series can reduce the installation space by 48 and the installation size by 39 in terms of volume The AC Servo Drives of the SMARTSTEP 2 Series are equipped with newly developed functions for applications requiring more precise positioning B Suppressing Vibration of Low rigidity Mechanisms during Acceleration Deceleration The damping control function can suppress vibration of low rigidity mechanisms or devices whose ends tend to vibrate B High speed Positioning via Resonance Suppression Control The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain The adaptive filter automatically suppresses vibration caused by resonance B Compatible with Command Pulse of 90 Phase Difference Inputs In addition to conventional CW CCW inputs 2 pulse inputs and SIGN PULS inputs 1 pulse input the SMARTSTEP 2
216. etails on performing origin alignment B Replacing the Servo Drive 1 Copy the parameters Use the copy function of the Parameter Unit to copy all the parameter settings to the Parameter Unit Alternatively use the Parameter Unit to display all the parameter settings and write them down 2 Replace the Servo Drive 3 Set the parameters Use the copy function of the Parameter Unit to transfer all the saved parameters to the Servo Drive Alternatively use the Parameter Unit to set all the parameters 8 2 Troubleshooting Troubleshooting 8 2 Alarm Table 8 2 Alarm Table If the Servo Drive detects an error the Alarm Output ALM will turn ON the power drive circuit will turn OFF and the alarm code will be displayed If a warning is detected torque limit imposed zero speed detection over regeneration overload or fan rotation speed error the Warning Output WARN will turn ON and the warning will be displayed Operation will continue The Warning Output is output only for warnings set in the Warning Output Precautions Selecti Pno9 for Correct Use election Pn09 Refer to Error Diagnosis Using the Displayed Alarm Codes on page 8 6 for alarm countermeasures Reset the alarm using one of the following methods Be sure to remove the cause of the alarm before resetting Turn ON the Alarm Reset Input RESET Turn OFF the power supply then turn it ON again Perform the Alarm Reset operation on th
217. everse Both the forward and the reverse torque are limited at the same time This parameter will be used for No 1 torque control if the Zero Speed Designation Torque Limit Switch Pn06 is set to 2 The default setting depends on the combination of Servomotor and Servo Drive Values exceeding the default setting cannot be set Refer to Torque Limit on page 5 15 Pn5F Not used Do not change setting 5 54 5 10 User Parameters B Sequence Parameters Pn60 Positioning Completion Range Position Setting range 0 to 32767 Unit Pulse Default setting 25 Power OFF gt ON Set the deviation counter value for the Positioning Completed Output INP The Positioning Completed Output INP turns ON when the accumulated pulses in the deviation counter fall below the setting of this parameter Set the number of rotations for the warning output zero speed detection output Accumulated pulses KK Pn60 EA A 5 Ah o INP Pn60 c o The encoder resolution is 2 500 pulses rotation but in the Servo Drive it is regarded as 10 000 o pulses rotation i e 2 500 pulses rotation x 4 c gt ra Pn61 Zero Speed Detection Alimudas E Setting range 0 to 20000 Unit r min Default setting 20 Power OFF 2 ON S o Q O The Warning Output Selection Pn09 must be set to 1 to output zero speed detection Zero
218. ey Press the Increment or Decrement key to change the setting Press the Data key Setting Parameter Pn22 Press the Increment key to set the parameter number to Pn22 Press the Data key u Press the Increment key to increase the setting Default setting Press the Decrement key to decrease the setting Press the Data key 7 4 Adjustment Functions Adjustment Functions hi 7 2 Realtime Autotuning Writing in EEPROM Press the Mode key Et Press the Data key Press the Increment key for at least 5 s The bars will increase as shown in the diagram on the right Writing will start Start will be displayed momentarily Writing completed Y Ct D Im 4 m Cae TEX t d CFr or Writing completed Writing error occurred After writing has been completed return to the display for Parameter Write Mode Adaptive Filter The adaptive filter will be enabled if the Control Mode Selection Pn02 is set to advanced position control setting of 2 and the Realtime Autotuning Mode Selection Pn21 is set to 1 to 3 or 7 7 5 The adaptive filter estimates the resonance frequency from the vibration component in the motor speed during operation eliminates the resonance component from the torque command by automatically setting the notch filter coefficient and suppresses the resonance point vibration Precautions for Correct Use The adaptive filter m
219. figuration 1 3 Names of Parts and Functions 1 3 Names of Parts and Functions Servo Drive Part Names Power supply LED indicator MPH Alarm LED indicator ALM Wt TXw omron Lie Communications connector CN3 3 ir oo ogo 0 jes T Control I O connector CN1 N Encoder input connector CN2 C N 42 CHE Motor connector CNB B FG terminals for ower supply and Aa bier tn Main circuit connector CNA UO A 69 SSS 1 3 Names of Parts and Functions Servo Drive Functions iil Power Supply LED Indicator PWR LED Indicator Status Lit green Main power is ON Flashing orangeat A warning has occurred i e an overload excessive 1 second intervals regenerative energy or fan speed error Lit red An alarm has occurred B Alarm LED Indicator ALM This indicator is lit when an alarm has occurred The number of orange and red flashes indicate the alarm code For details on the alarm code refer to Alarm List on page 8 4 Example When an overload alarm alarm code 16 has occurred and the Unit has stopped the indicator will flash 1 time in orange and 6 times in red Orange 10s digit Red 1s digit 1s 05s 05s 05s 05s 05s X T E E M H Orange Red Red Red Red Red Red 1s 05s 05s 05s 05s 05s 05s
220. following measures Add an External Regeneration Resistor Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time to decrease the regenerative energy produced per time unit Lengthen the operation cycle i e the cycle time to decrease the average regeneration power Regenerative energy that can be ab Minimum external regenerative Servo Drive Sorbed by the internal capacitor resistance J Q R7D BPASL R7D BPO1L S 20 R7D BPO2L 12 20 R7D BPO1H 8 50 R7D BPO2H R7D BPO2HH 16 35 R7D BP04H 16 35 Absorbing Regenerative Energy with an External Regeneration Resistor If the regenerative energy exceeds the absorption capacity of the Servo Drive connect an External Regeneration Resistor Connect the External Regeneration Resistor to CNA pins 5 and 3 between terminals P and B1 of the Servo Drive Double check the pin numbers when connecting the resistor because the Regeneration Resistor may be damaged by burning if connected to the wrong terminals The External Regeneration Resistor will heat up to approximately 120 C Do not place it near equipment or wiring that is easily affected by heat Attach radiator plates suitable for the heat radiation conditions B External Regeneration Resistor 4 35 Performance Specifications esis el Nominal Regeneration Heat Model ance leeanaci absor
221. for details 8 1 Error Processing Precautions When Troubleshooting When checking and verifying I O after a problem has occurred the Servomotor Servo Drive may suddenly start to operate or stop so always use the following precautions You should assume that anything not described in this manual is not possible with this product B Precautions Disconnect the cable before checking for wire breakage Even if you test conduction with the cable connected test results may not be accurate due to conduction via bypassing circuit f the encoder signal is lost the Servomotor may run away or an error may occur Be sure to disconnect the Servomotor from the mechanical system before checking the encoder signal When performing tests first check that there are no persons in the vicinity or inside the equipment and that the equipment will not be damaged even if the Servomotor runs away Before performing the tests verify that you can immediately stop the machine using an emergency stop even if the Servomotor runs away Replacing the Servomotor and Servo Drive Use the following procedure to replace the Servomotor or Servo Drive E Replacing the Servomotor 1 Replace the Servomotor 2 Perform machine origin position alignment for position control When the Servomotor is replaced the Servomotor s origin position phase Z may deviate so origin alignment must be performed Refer to the Position Controller s operation manual for d
222. g the Load Move the load to the position where there s no problem if the Servomotor operates according to the setting in Pn25 The Servomotor will rotate once or twice in both forward and reverse depending on the settings 3 Moving to the Autotuning Mode Display For information on moving to the Autotuning Mode Display refer to Autotuning Mode on page 6 17 Adjustment Functions Adjustment Functions eH 7 3 Autotuning Autotuning Mode Display Machine rigidity No 4 Selecting Machine Rigidity Press the Increment or Decrement key to select the machine rigidity number gI n Li rc Lowest machine rigidity an an nr m Li ER hr Highest machine rigidity The machine rigidity number sets the machine rigidity and can be set to a value from 0 to F hex The greater the machine rigidity the higher the machine rigidity number is The higher the machine rigidity is set the higher the gain can be set Under normal conditions set the machine rigidity gradually from a low level in autotuning Set the value in a range where an unusual noise oscillation and vibration do not occur Reference Machine Rigidity Number Setting by Machine Drive System Drive system Machine rigidity No Ball screw direct coupling 6to C Ball screw timing belt 410A Timing belt 2108 Gear
223. gases Vibration resistance 5 9 m s max E Performance Specifications Item Specifications Type Hand held Cable length 1 5m Connectors Mini DIN 8P MD connector Display 7 segment LED External dimensions 62 W x 114 H x 15 D mm Weight Approx 0 1 kg including cable Standard RS 232 A Communications method Asynchronous ASYNC c S l Baud rate 9 600 bps G uz g SI Start bits 1 bit E 3 Data 8 bits 9 0 O Parity None Stop bits 1 bit 3 78 Specifications EN B R88A RRO8050S RR080100S RR22047S Specifications Specifications 3 7 External Regeneration Resistors Specifications 3 External Regeneration Resistors Specifications Refer to 4 4 Regenerative Energy Absorption to ensure correct use of External Regeneration Resistors Regeneration Heat Resis Nominal absorption for aoe Thermal switch output Model j E radiation Rieger tance capacity 120 C an specifications condition temperature rise ee Operating temperature R88A RRO8050S 50 Q 80 W 20 W 150 C 5 NC contact Rated Thickness 3 0 output 30 VDC 50 mA max Aluminum j 250 x 250 Operating temperature R88A RRO080100S 100 Q 80W 20W 150 C 5 NC contact Rated Thickness 3 0 output 30 VDC 50 mA max Aluminum 350 x 350 Operating temperature R88A RR22047S 47 Q 220 W 70W Thickness 170 C 5 NC contact Rated 3 0 i output 250 VAC 0 2 A
224. ge setting Pn3A Not used Do not change setting Pn3B Not used Do not change setting Pn3C Not used Do not change setting Pn3D Not used Do not change setting Pn3E Not used Do not change setting Pn3F Not used Do not change setting 5 47 5 10 User Parameters B Position Control Parameters Pn40 Command Pulse Multiplying Setting Position Setting range 1to4 Unit Default setting 4 Power OFF 2 ON Yes The command pulses are multiplied by a factor of 2 or 4 when 90 phase difference signal inputs are selected as the input format for the command pulses in the Command Pulse Mode Pn42 Explanation of Settings Setting Explanation 1 Multiply the input pulses by 2 2 3 H Multiply the input pulses by 4 4 Pn41 Command Pulse Rotation Direction Switch Position Setting range 0to3 Unit Default setting 0 Power OFF gt ON Yes Set the Servomotor rotation direction used for the command pulse input Explanation of Setting Setting Explanation 0 The Servomotor rotates in the direction specified by the command pulse 1 The Servomotor rotates in the opposite direction of the 2 direction specified by the command pulse 3 The Servomotor rotates in the direction specified by the command pulse 5 48 Operating Functions Operating Functions 5 10 User Parameters Pn42
225. h Filter 1 Width All modes Setting range 0to4 Unit Default setting 2 Power OFF ON Set the width to one of five levels for the resonance suppression notch filter Increasing the setting increases the width Normally use the default setting PniF Not used Do not change setting 5 39 5 10 User Parameters Pn20 Inertia Ratio All modes Setting range 0 to 10000 Unit 96 Default setting 300 Power OFF gt ON Set the mechanical system inertia load inertia at the Servomotor shaft as a percentage of the Servomotor rotor inertia This parameter is automatically changed by executing autotuning This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 When realtime autotuning is performed the estimated inertia ratio is saved in EEPROM every 30 minutes f the inertia ratio is set correctly the setting unit for Speed Loop Gain Pn11 and Speed Loop Gain 2 Pn19 will be Hz If the Inertia Ratio Pn20 is set larger than the actual value the setting for speed loop gain will increase If the inertia ratio is set smaller than the actual value the setting for speed loop gain will decrease Pn21 Realtime Autotuning Mode Selection All modas Setting range 0 to 7 Unit Defa
226. he Servomotor shaft into the input shaft joint while making sure it does not fall over If the Decelerator cannot be stood upright tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 3 Bolt together the Servomotor and the Decelerator flanges Bolt Tightening Torque Allen head bolt size Tightening torque N m M4 3 0 c M5 5 8 2 M6 9 8 4 Tighten the input joint bolt E Bolt Tightening Torque 2 Allen head bolt size Tightening torque N m a M3 1 5 M4 3 5 M5 7 1 Note Always use the torque given in the table above Sliding or other problems may occur if the specified torque level is not satisfied 5 Mount the supplied rubber cap to complete the installation procedure 4 8 System Design 4 1 Installation Conditions Installing the Decelerator When installing the R88G VRSF i fl are no burrs on the tap sections and then bolt on the mounting flanges Mounting Flange Bolt Tightening Torque for Aluminum first make sure that the mounting surface is flat and that there Decelerator model Number of Bolt size Mounting PCD Tightening R88G VRSF bolts mm torque N m B frame 4 M5 60 5 8 C frame 4 M6 90 9 8
227. he Increment Decrement keys The following procedure can also be used to switch between input and output 6 11 6 3 Using the Parameter Unit e Press the Increment or Decrement key to select the signal number to be monitored 41111 Lowest input signal number Highest input signal number ecL Li Lowest output signal number oe IE Highest output signal number B Alarm History Alarm code is displayed if no alarms have occurred Operation m Current alarm m Alarm 0 newest alarm Ld LN I I m RN RN Alarm 13 oldest alarm Up to 14 alarms including the current one can be viewed in the alarm history The display will flash when an alarm occurs If an alarm that is recorded in the history occurs the alarm code for the current alarm and for alarm O will be the same 6 12 Operation 6 3 Using the Parameter Unit Alarm Codes and Meanings gui Meaning am Meaning codes codes 11 Power supply undervoltage 29 Deviation counter overflow 12 Overvoltage 34 Overrun limit error 14 Overcurrent 36 Parameter error 15 Built in resistor overheat 37 Parameter corruption 16 Overload 38 Drive prohibit input error 18 Regeneration overload 48 Encoder phase Z error 21 Encoder disconnection detection 49 Encoder CS signal error 23 Encoder data error 95 Servomo
228. he Zero Speed Detection Signal will be output if the speed of the Servomotor De falls below the setting of this parameter The Warning Output Selection Page 5 55 Pn09 must be set to 1 to use this function Motor Rotation The Servomotor Rotation Speed Detection Output TGON will be output if Page 5 56 Detection the speed of the Servomotor exceeds the setting of this parameter Operating Functions Operating Functions 5 2 Internally Set Speed Control Selecting the Internally Set Speeds The four internally set speeds are switched by using the Internally Set Speed Selection 1 Input VSEL1 and Internally Set Speed Selection 2 Input VSEL2 Intemally set speed Internally Set Speed Selection 1 Internally Set Speed Selection 2 Input VSEL1 CN1 6 Input VSEL2 CN1 4 No 1 Internally Set Speed Pn53 OFF OFF No 2 Internally Set Speed Pn54 ON OFF No 3 Internally Set Speed Pn55 OFF ON No 4 Internally Set Speed Pn56 ON ON Operation RUN Command RUN 7 Servo ON Zero Speed Designation VZERO Drive Elo NEM Internally Set Speed Selection VSEL1 ON ON The Servomotor decelerates i according to the Soft Start Deceleration Time Pn59 Internally Set Speed Selection 2 VSEL2 OFF OFF Speed The Servomotor accelerates according to the Soft Start Acceleration Time Pn58 Note If more than one internally set speed selection signal is switched at th
229. hich there is minimal temperature rise to maintain a high level of reliability Temperature rise in any Unit installed in a closed space such as a control box will cause the Servo Drive s ambient temperature to rise Use a fan or air conditioner to prevent the Servo Drive s ambient temperature from exceeding 55 C Servo Drive surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and keep its distance from any devices or wiring that are sensitive to heat The service life of a Servo Drive is determined by the temperature around the internal electrolytic capacitors The service life of an electrolytic capacitor is affected by a drop in electrostatic capacity and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements f a Servo Drive is operated at the ambient temperature of 55 C with the rated torque output and rated rotation speed its service life is expected to be approximately 28 000 hours excluding axial flow fan A drop of 10 C in the ambient temperature will double the expected service life B Keeping Foreign Objects Out of Units Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the Units during installation Be sure to remove the cover after installation is complete If the cover is left on during
230. ict of law princi ples d Amendment These Terms constitute the entire agreement between Buyer and Omron relating to the Products and no provision may be changed or waived unless in writing signed by the parties e Severability If any provi sion hereof is rendered ineffective or invalid such provision shall not invalidate any other provision f Setoff Buyer shall have no right to set off any amounts against the amount owing in respect of this invoice g Definitions As used herein including means including without limitation and Omron Compa nies or similar words mean Omron Corporation and any direct or indirect subsidiary or affiliate thereof Certain Precautions on Specifications and Use 1 Suitability of Use Omron Companies shall not be responsible for conformity with any standards codes or regulations which apply to the combination of the Product in the Buyer s application or use of the Product At Buyer s request Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product This information by itself is not sufficient for a complete determination of the suitability of the Prod uct in combination with the end product machine system or other application or use Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer s application product or system Buyer shall tak
231. ill occur in the system before performing the test operation Not doing so may result in equipment damage Check that the newly set parameters function properly before the actual operation Not doing so may result in equipment damage Do not make any extreme adjustments or setting changes Doing so may result in injury Check for the proper operation of the Servomotor separately from the mechanical system before connecting it to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Do not operate the Servomotor connected to a load that exceeds the applicable load inertia Doing so may result in malfunction PPPPPPP B Maintenance and Inspection Precautions N Caution Resume operation only after transferring to the new Unit the contents of the data required for operation restart Not doing so may result in equipment damage Do not dismantle or repair the product Doing so may result in electric shock or injury 2 gt Precautions for Safe Use B Warning Label Position Warning labels are located on the product as shown in the following illustration Be sure to follow the instructions given there TU NINOS SOSISISOOIOISJSJ
232. in 2 to gain 1 7 19 7 5 Manual Tuning 2 The Gain Switch Hysteresis Setting Pn34 is defined as shown in the following figure v Pn33 gt Pn34 0 i Gain 1 Gain2 Gain1 es Pn32 lt lt 3 The amount of change is the value within 166 us Example When the condition is a 10 change in torque in 166 us the set value is 200 4 This is the encoder resolution value 5 The meanings of the Gain Switch Time Gain Switch Level Setting and Gain Switch Hysteresis Setting are different from normal if this parameter is set to 10 Refer to Figure F Figure A Figure C Speed V Differential pulses fe Torque T evel pd Time gt lt i La Gaini Gain 2 y Gain i AT o a Level i j i l i Fi re D Command g zum speed S io A i I i Time Latics ic besne j MT M NENNT Time lt 1 2 24 Gani 2 2i Gain Gain 2 y gain 1 1 1 I 7 2 7 7 Speed V FigureB Figure E i 4 Actual So aly S AN 1 i 1 Gain 1 gt lt Figure F Actual speed N Level I Gain 1 Gain 2 gt lt gt lt I Gain 1 Gain 2 is used only during the Speed Loop Integration Time Constant Gain 1 is used at other times 7 20 Adjustment Functions M
233. io Hon 1 5 R88G HPG11B05100B 1 9 R88G HPG11B09050B 50 W 1 21 R88G HPG14A21100B 1 33 R88G HPG14A33050B 1 45 R88G HPG14A45050B 1 5 R88G HPG11B05100B 1 11 R88G HPG14A11100B 100 W 1 21 R88G HPG14A21100B 1 33 R88G HPG20A33100B 1 45 R88G HPG20A45100BL 1 5 R88G HPG14A05200B 1 11 R88G HPG14A11200B 200 W 1 21 R88G HPG20A21200B 1 33 R88G HPG20A33200B 1 45 R88G HPG20A45200B 1 5 R88G HPG14A50400B 1 11 R88G HPG20A1 1400B 400 W 1 21 R88G HPG20A21400B 1 33 R88G HPG32A33400B 1 45 R88G HPG32A45400B Note 1 The standard models have a straight shaft 2 1 Standard Models Note 2 A model with a key and tap is indicated by adding J to the end of the model number the suffix shown in the box Example R88G HPG11B05100BJ 2 4 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models Decelerator for Flat Servomotors Specifications Motor capacity Gear ratio ae 1 5 R88G HPG11B05100PB 1 11 R88G HPG14A11100PB 100 W 1 21 R88G HPG14A21100PB 1 33 R88G HPG20A33100PB 1 45 R88G HPG20A45100PB 1 5 R88G HPG14A05200PB 1 11 R88G HPG20A11200PB 200 W 1 21 R88G HPG20A21200PB 1 33 R88G HPG20A33200PB 1 45 R88G HPG20A45200PB 1 5 R88G HPG20A05400PB 1 11 R88G HPG20A1 1400PBL 400 W 1 21 R88G HPG20A21400PB 1 33 R88G HPG32A33400PB 1 45 R88G HPG32A45400PB
234. ircuit supply is turned ON voltage is outside the al lowable range power supply voltage to within the allowable range Occurs when the Ser vomotor is decelerat ing e Load inertia is too large e Calculate the regenera tive energy and connect an External Regenera tion Resistor with the re quired regeneration absorption capacity e Extend the deceleration time e Main circuit power supply voltage is outside the al lowable range e Change main circuit power supply voltage to within the allowable range Occurs during descent vertical axis e Gravitational torque is too large e Add a counterbalance to the machine to lower gravitational torque e Slow the descent speed e Calculate the regenera tive energy and connect an External Regenera tion Resistor with the re quired regeneration absorption capacity 8 6 Troubleshooting 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 14 Overcurrent Occurs when the Servo e Control PCB error e Replace the Servo Drive Bee dumme on e Servomotor power line is e Repairtheshort circuited short circuited or ground or ground faulted wire faulted between phases e Measure the insulation resistance at the Servo motor and if there is a short circuit replace the Servomotor e Miswiring between e Correct the wiring phase U V or W and ground
235. iron dust or salt Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration power is being supplied or for some time after the power is turned OFF Doing so may result in burn injuries f Do not touch the Servo Drive radiator Regeneration Resistor or Servomotor while the B Storage and Transportation Precautions N Caution Do not hold the product by the cables or motor shaft while transporting it Doing so may result in injury or malfunction Do not overly pile the products Follow the instructions on the product package Doing so may result in injury or malfunction gt e Precautions for Safe Use B Installation and Wiring Precautions N Caution Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet outlet ports and do not let any foreign objects enter the product Doing so may result in fire Be sure to install the product in the correct direction Not doing so may result in malfunction Keep the specified distance between the Servo Drive and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply a strong impact on the Servomotor shaft or Servo Drive Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure that all
236. ith knowledge of electrical systems a qualified electrical engineer or the equivalent as follows Personnel in charge of introducing FA equipment Personnel in charge of designing FA systems Personnel in charge of managing FA systems and facilities NOTICE This manual contains information necessary to ensure safe and proper use of the SMARTSTEP 2 Series and its peripheral devices Please read this manual thoroughly and understand its contents before using the products Please keep this manual handy for future reference Make sure this User s Manual is delivered to the actual end user of the products Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHA
237. ive 3 59 Motion Control Module FQM1 MMP22 3 5 Servo Relay Units and Cable Specifications Flexible Motion Controller System Configuration Example FQM1 suoneo2yioods o 2 D o c a o o 8 58 9 tn t Oa 2 2 EL o 2 oN t 2 ES 5 x x s 8z o m f E D ri STILI D N z 2 E 3 C ZRS S g jen S S ame z 2 epe o 2 2 E E c Home So E 2 89 EHE Bo 8 E azg B sies lt q lt o 90 ido foo BO cC otc g z L Z di ids o Bg S 9 D o foo o E o 2 g e MEBHEEHUEN a 2D EEES S25 aan FN 39 3 ERE o E eelo 800 S2 lt 3 PEBER 2 5 SEG odo ooo EI PPPTI E 3 o foo flo o Boo z S SU mE ES ei tole bo fo 9 g L Ea oloo 010020 zL PUE 5 585 T000 o0 im Em REESE E 5 ezg Tooo ofo HO Th rs o oo SEE a o E 2 BID OHO aa go MR z U o 8 9 15 AOO o O OO EQM1 i B Oo N E E 2 2 ioe M EL g E M 8 H E D e c O Oo fJO O Oo iO s Oo Lu L o e E o m
238. ix to the catalog number on the front and back covers of the manual Cat No 1561 E1 03 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Revised content January 2008 Original production July 2008 Pages 3 26 3 27 3 28 Changes made to decelerator specifications Pages 2 8 3 31 3 33 3 35 4 10 Robot cables added Pages 1 4 1 5 2 9 2 13 2 17 2 19 2 23 2 25 2 28 3 4 3 8 3 11 3 12 3 16 3 24 3 25 3 30 3 31 3 36 3 37 3 39 3 41 3 42 3 50 3 53 3 55 3 57 3 59 3 77 3 78 4 13 4 14 4 18 4 25 4 28 4 29 4 35 5 1 5 3 5 6 5 14 5 58 6 1 6 7 6 10 6 11 6 13 7 10 7 11 7 15 A 1 A 2 A 3 A 4 A 5 A 6 A 7 A 8 A 9 Minor changes December 2011 Pages 1 6 2 4 2 5 2 19 2 21 2 23 2 25 3 2 3 17 3 18 3 19 3 20 3 26 3 27 3 28 3 29 3 36 3 50 4 5 4 6 4 13 4 14 4 15 4 27 5 5 5 10 5 29 5 57 6 13 8 4 8 6 and 8 17 Minor changes made Page 3 35 Resistant to Bending of Robot Cables added Page 4 4 Radiator plate installation conditions added and description of Oil Seal changed Page 5 5 Note added below graphic Pages 8 4 and 8 10 Alarm codes 44 and 45 added Appendices 1 through 9 Diagram around MC contacts changed R 1 Terms and Conditions of Sale omnon Ti Qa 9 10 11 12 Offer Acceptance These terms and conditions the
239. justment e Adjust the gain correctly e The Servo Drive is faulty e Replace the Servo Drive 8 7 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 18 Regeneration Occurs when the Ser e Load inertia is too large e Calculate the regenera overload vomotor is decelerat tive energy and connect ing an External Regenera tion Resistor with the re quired regeneration absorption capacity e Extend the deceleration time e The deceleration time is e Reduce the Servomotor too short rotation speed e The Servomotor rotation e Extend the deceleration speed is too high time e Calculate the regenera tive energy and connect an External Regenera tion Resistor with the re quired regeneration absorption capacity e The operating limit of the e Set Pn6C to 2 External Regeneration For details refer to Param Resistor is limited to eter Details on page 5 32 10 Occurs during descent e Gravitational torque is e Add a counterbalance to vertical axis too large the machine to lower gravitational torque e Slow the descent speed e Calculate the regenera tive energy and connect an External Regenera tion Resistor with the re quired regeneration absorption capacity e The operating limit of the e Set Pn6C to 2 External Regeneration For details refer to Param Resistor is limited to eter Details on page 5 32 10 21 Encoder Occurs
240. l A RN n es D 9 gt A J gt DA un LI E 9 TT Ls x 4 m i a Jd gt a nr an m T em eld 9 RT ER 4 UN an gt lt a Us a I uL r J m J L a D RN x aJ J C c Mu hi UN a J E c LLI Ei E35 LI un Lg n e Position deviation 8 pulses 1000 r min Torque output 10096 Position control display Input signal No 0 enabled No current errors Software version 1 07 No current warnings 30 of allowable regeneration energy Overload load ratio 30 Inertia ratio 300 Total feedback pulses 50 Total command pulses 10 Automatic Servomotor recognition enabled RS 232 communications The Servomotor rotation speed will be displayed the first time the power is turned ON after purchase To change the initial display when the power is turned ON change the setting of the Default Display Pn01 For details refer to the description of the Default Display Pn01 on page 5 32 6 7 6 3 Using the Parameter Unit B Position Deviation Li I LI han
241. lanation Default Unit Setting Power No name setting range OFF ON 00 Unit No Setting Set the unit number 1 1to15 Yes 01 Default Display Select the data to display on the Parameter Unit when the power supply is turned ON 0 Position deviation Pulses 1 Servomotor rotation speed r min 2 Torque output 3 Control mode 4 I O signal status 5 Alarm display and history 6 Not used 7 Warning display 1 0 to 15 Yes 8 Regeneration load ratio 96 9 Overload load ratio 10 Inertia ratio 11 Total feedback pulses Pulses 12 Total command pulses Pulses 13 Not used 14 Not used 15 Automatic Servomotor recognition en AR abled disabled display 02 Control Mode Set the control mode to be used selection 0 High response position control 2 Oto2 Yes 1 Internally set speed control 2 Advanced position control 03 Not used Do not change setting 0 04 Drive Prohibit You can prevent the Servomotor from rotating be Input Selection yond its operating range by connecting limit inputs 0 Enabled 1 0 or 1 Yes 1 Disabled 05 Not used Do not change setting 0 5 20 Operating Functions Operating Functions 5 10 User Parameters Pn Parameter
242. lectronic Gear cuins 5 9 Parameters Requiring Settings seesses 5 9 Operationen e ee E DIU IUE IERI ILLE E IESUS 5 9 Related Paramete h areo e a a Pre eee ERIS TET IE TAETTT 5 10 5 6 Brake InterlOCk iiir creeteroneereeas 5 11 Parameters Requiring Setting esee 5 11 Operations oe I Mr UMP MUTET IRI ENERO 5 11 5 7 Gall SWIChlhg 5 ect trie etre ri cernere 5 13 Parameters Requiring Setting esee 5 13 Related Parameters e eT RAERE E TI TEETES 5 14 5 8 Torque EImi uode iens 5 15 Parameters Requiring Setting seeeeessss 5 15 Related Parameters erede ee eee Tr esee ee TT UreS 5 15 5 9 Overrurn E Imilti ceo iit seni aE EE tit EEEE erii 5 16 Parameters Requiring Settings 5 16 Operation e eeen E tumet IRE 5 16 5 10 User Parameters 10326 oett enceeennietedas 5 17 Setting and Checking Parameters eese 5 17 Parameternlist rer ce e e aed Aer sese RR MERE 5 20 Parameter betallsc me ert 5 32 Operating Functions 5 1 Position Control 5 1 Position Control Positioning can be performed according to the pulses input into the pulse string inputs CN1 22 to 25 The Servomotor rotates using the value of the pulse string inputs multiplied by the value of the electronic gear Pn46 Pn47 Pn4A and Pn4B SMARTSTEP 2 Series Servo Drives have two position control modes high response position control an
243. lectronic Gear Ratio Denominator Pn4B Electronic Gear Pn4A Ratio Numerator The maximum value of the calculated numerator is 2 621 440 Exponent Any higher setting than this will be invalid and the numerator will be 2 621 440 Page 5 51 Electronic Gear Pn4B Ratio Denominator 1 The Electronic Gear Switch Input GESEL is used to switch between Electronic Gear Ratio Numerator 1 Pn46 and Electronic Gear Ratio Numerator 2 Pn47 Operation Calculation Method The following equation shows the relation between the number of internal command pulses F after the electronic gear ratio multiplication and the number of command pulses f per Servomotor rotation Pn46 x 2P Pn4B The Servomotor has a 2 500 pulses rotation encoder Therefore the number of internal command pulses F in the Servo Drive is 10 000 pulses rotation 2 500 pulses rotation x 4 Given the conditions above the relation between the number of command pulses per Servomotor rotation f and the electronic gear ratio is as follows F f x F 10000 Pn46x o Pn4A B Encoder resolution by a factor of 4 f fo Pn4B Number of command pulses for Servomotor rotation 5 5 Electronic Gear Calculation Examples To operate with 2 000 pulses rotation 10000 Pn46 x 20 Pn4A 2000 Pn4B To operate with 1 000 pulses rotation 10000 Pn46 x 20 Pn4A 1000 Pn4B Conversely to increase the resolution per rotation and operate with 40 000
244. led 1 Deviation Counter Overflow Alarm dis abled 65 Not used Do not change setting 0 Set the operation used to decelerate to a stop after the Forward Drive Prohibit Input POT or Reverse Drive Prohibit Input NOT is turned ON The torque in the drive prohibit direction is 0 disabled and the dynamic brake is acti Stop Selection vated 66 for Drive 0 0t02 Yes Prohibit Input The torque in the drive prohibit direction is 1 disabled and free run deceleration is per formed to stop A servo lock stop is used in position con 2 trol and a zero speed designation stop is used in Internally Set Speed Control 67 Not used Do not change setting 0 Set the operation to use during deceleration and af ter stopping when an alarm occurs The value of the deviation counter is held when an alarm occurs The deviation counter is cleared when the alarm is reset 0 During deceleration Dynamic brake 68 Stop Selection After stopping Dynamic brake 0 m 0103 at Alarm 7 1 During deceleration Free run After stopping Dynamic brake During deceleration Dynamic brake 2 After stopping Servo free 3 During deceleration Free run After stopping Servo free 5 29 5 10 User Parameters Power Fn ras Setting Explanation pou Unit Saine OFF No name setting range ON Set the operation to use during deceleration and af ter stopping and set the de
245. ll taxes duties and other governmental charges other than general real property and income taxes including any interest or penalties thereon imposed directly or indirectly on Omron or required to be collected directly or indirectly by Omron for the manufacture production sale delivery importa tion consumption or use of the Products sold hereunder including customs duties and sales excise use turnover and license taxes shall be charged to and remitted by Buyer to Omron Financial If the financial position of Buyer at any time becomes unsatisfactory to Omron Omron reserves the right to stop shipments or require satisfactory security or payment in advance If Buyer fails to make payment or otherwise comply with these Terms or any related agreement Omron may without liabil ity and in addition to other remedies cancel any unshipped portion of Prod ucts sold hereunder and stop any Products in transit until Buyer pays all amounts including amounts payable hereunder whether or not then due which are owing to it by Buyer Buyer shall in any event remain liable for all unpaid accounts Cancellation Etc Orders are not subject to rescheduling or cancellation unless Buyer indemnifies Omron against all related costs or expenses Force Majeure Omron shall not be liable for any delay or failure in delivery resulting from causes beyond its control including earthquakes fires floods strikes or other labor disputes shortage of labor or
246. load alarm If the position loop gain is low you can shorten the positioning time by using feed forward This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Position loop gain is generally calculated as follows Command pulse frequency pulses s Position loop gain Kp 1 s Deviation counter accumulated pulses pulses When the position loop gain is changed the response is as shown in the following diagram UT the position loop gain is high Servomotor 4 speed When the speed loop gain is low N Time f the speed loop gain and position loop gain are optimally set the Servomotor operation for the command will be delayed 2 Kp at acceleration and delayed 3 Kp at deceleration Servomotor M Position speed 5 36 Operating Functions 5 10 User Parameters Pn11 Speed Loop Gain All modes Setting range 1 to 3500 Unit Hz Default setting 60 Power OFF 2 ON This gain adjusts the speed loop response Increase the gain to increase servo rigidity Generally the greater the inertia ratio the higher the setting If the gain is too high it causes oscillation This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 When the spee
247. lse type to match the Control lers command pulse type The gain doesn t match e Use autotuning e Perform manual tuning The CN1 input signal is chattering Check the RUN Command Input RUN Deviation Counter Reset In put ECRST Zero Speed Desig nation Input VZERO Internally set Speed Selection 1 2 VSEL1 VSEL2 Correct the wiring so that there is no chattering The Servomotor is overheating The ambient temperature is too high Check that the ambient tempera ture around the Servomotor is be low 40 C Lower the ambient tempera ture to 40 C or less Use a cooler or fan Ventilation is obstructed Check to see whether anything is blocking ventilation Improve ventilation The Servomotor is overloaded The Servomotor is rotating with vibration Try rotating the Servomotor without a load Disconnect it from the me chanical system e Reduce the load e Replace the Servomotor and Servo Drive with a Ser vomotor and Servo Drive with higher capacities 8 13 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasures The holding brake is ineffec tive Power is supplied to the holding brake Check whether power is supplied to the holding brake Configure a circuit that cuts power to the holding brake when the motor stops and the load is held by the hold ing brake The Servomotor doesn t stop o
248. lter Reduces all resonance peaks in the high frequency range 3 dB Cut off frequency Torque filter Torque command after filtering I 7 22 Adjustment Functions Adjustment Functions 7 5 Manual Tuning Damping Control When the machine end vibrates damping control removes the vibration frequency component from the command and suppresses vibration Sets end vibration frequency E Position controller Vibrating end Position change sensor monitors vibration Driver Motor Y Position Torque Command r com RM ing Position mand Current l Speed control command Feedback pulses Servo Drive Precautions The following conditions must be met to use damping control for Correct Use Conditions under which damping control operates Control Mode The Position Control Mode must be used f the Control Mode Selection Pn02 is set to 0 realtime autotuning and notch filter 1 must be disabled in High Response Position Control If the Control Mode Selection Pn02 is set to 2 Advanced Position Control Mode is used Stop operation before changing parameters Under the following conditions damping control may not operate properly or may have no effect Conditions under which the effect of damping control is inhibited Load When forces other
249. lues 600 V Heat resistant Vinyl Wire HIV Nominal Allowable current A for ambient Configura Conductive 3 cross temperature AWG size tion resistance sectional ires mm O k alca mm wires mm Q km 30 C 40 C 50 C 20 0 5 19 0 18 39 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6 9 53 23 20 16 4 17 4 3 Wiring Conforming to EMC Directives 4 3 Wiring Conforming to EMC Directives Conformance to the EMC Directives EN55011 class A group 1 EMI and EN61000 6 2 EMS can be ensured by wiring under the conditions described below These conditions are for conformance of the SMARTSTEP 2 products to the EMC Directives EMC related performance of these products however will vary depending on the configuration wiring and other conditions of the equipment in which the products are installed The EMC conformance of the system as a whole must be confirmed by the customer The following are the requirements for EMC Directive conformance The Servo Drive must be installed in a metal case control panel The Servomotor does not however have to be covered with a metal plate Noise filters and surge absorbers must be installed on power supply lines Shielded cables must be used for all I O signal lines and encoder lines Use tin plated mild steel wires for the shielding
250. made from 1 to 16 384 pulses rotation but Page 5 49 the setting will not be valid if it exceeds 2 500 pulses rotation Even if the dividing rate is changed there will always be 1 pulse per rotation for phase Z Pn45 Encoder Output This parameter can be used to reverse the output phase of the Paae 5 50 Direction Switch encoder signal output from the Servo Drive 9 Operation The output phases of the encoder signal output from the Servo Drive are as shown below Phase A Phase B Phase Z Forward Rotation Reverse Rotation Phase A Phase B Phase Z Operating Functions Operating Functions 5 5 Electronic Gear 5 5 Electronic Gear The Servomotor can be rotated for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio This function is effective in the following cases When fine tuning the position and speed of two lines that are to be synchronous When using a position controller with a low command pulse frequency When you want to set the machine travel distance per pulse to 0 01 mm for example Parameters Requiring Settings irre Parameter name Explanation Raienos Electronic Gear Set the pulse rate for command pulses and Servomotor travel dis Pn46 Ratio Numerator 1 tance 4 Electronic Gear Ratio Numerator 1 Pn46 Page 5 50 Electronic Gear af x2 Electronic Gear Ratio Numerator Exponent Pn4A Enay 4 BIO Numerator a Electronic Gear Ratio Numerator 2 Pn47 E
251. materials accidents to machinery acts of sabotage riots delay in or lack of transportation or the requirements of any government authority Shipping Delivery Unless otherwise expressly agreed in writing by Omron a Shipments shall be by a carrier selected by Omron Omron will not drop ship except in break down situations b Such carrier shall act as the agent of Buyer and delivery to such carrier shall constitute delivery to Buyer c All sales and shipments of Products shall be FOB shipping point unless oth erwise stated in writing by Omron at which point title and risk of loss shall pass from Omron to Buyer provided that Omron shall retain a security inter est in the Products until the full purchase price is paid d Delivery and shipping dates are estimates only and e Omron will package Products as it deems proper for protection against nor mal handling and extra charges apply to special conditions Claims Any claim by Buyer against Omron for shortage or damage to the Products occurring before delivery to the carrier must be presented in writing to Omron within 30 days of receipt of shipment and include the original trans portation bill signed by the carrier noting that the carrier received the Products from Omron in the condition claimed Warranties a Exclusive Warranty Omron s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of
252. max 3 8 Reactor Specifications 3 8 Reactor Specifications A Reactor is connected to the Servo Drive as a harmonic current control measure Select a model matching the Servo Drive to be used E Specifications Specifications Reactor type Model Rated current A Inductance mH Weight kg 3G3AX DL2002 1 6A 21 4 mH 0 8 kg Single phase 3G3AX DL2004 32A 10 7 mH 1 0 kg Reactors 3G3AX DL2007 6 1A 6 75 mH 1 3 kg Three phase 3G3AX AL2025 10A 2 8 mH 2 8 kg Reactor 3 80 Specifications Chapter 4 System Design 4 1 4 2 4 3 Installation Conditions 4 1 Servo DV OS Rae reo AAE EH TR RENE ETE A ere 4 1 SerVOImotOlS esereseereee er tre TE T e TIR IETIEEIIS 4 3 Decelerators ee UNTERE 4 6 WV EEN Gcrrvevatersteiatesacesverswessudsectscecdarrsterericasweatatues 4 10 GConnectimgxeablesse sete EDS 4 10 Selecting Connecting Cables eneee 4 11 Peripheral Device Connection Examples 4 14 MainiGircuit Wiring a a a ooo S 4 16 Wiring Conforming to EMC Directives 4 18 Wiring Methodik eetere a eIDUUUEUUEEU MES 4 18 GontroliPaneliStr ct re mee a a E IT 4 20 Selecting Connection Components esses 4 22 Regenerative Energy Absorption 4 33 Calculating the Regenerative Energy esssse 4 33 Servo Driv
253. mechanical system and the Servo motor is misaligned Couple the mechanical sys tem and the Servomotor cor rectly Noise is entering the Devi ation Counter Reset Input ECRST Check whether the control signal lines and power supply lines are bundled together Take measures against noise such as separating the control signal lines and power lines The gain is does not match e Use autotuning e Perform manual tuning The load inertia is too large Check the following e Check whether the load is too large e Check whether the rotation speed of the Servomotor is too high e Adjust the gain e Review the load condi tions and replace the Ser vomotor and Servo Drive with appropriate models 8 15 8 4 Overload Characteristics Electronic Thermal Function 8 4 Overload Characteristics Electronic Thermal Function An overload protection electronic thermal function is built into the Servo Drive to protect the Servo Drive and Servomotor from overloading If an overload does occur eliminate the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning on the power again If the power is turned ON again repeatedly at short intervals the Servomotor windings may burn out Overload Characteristics Graphs The following graphs show the characteristics of the load rate and electronic thermal operating time B R88M G Cyli
254. meter of sheath Weight R88A CAGA003B 3m Approx 0 1 kg R88A CAGA005B 5m Approx 0 2 kg R88A CAGA010B 10m 5 4 dia Approx 0 4 kg R88A CAGA015B 15m Approx 0 6 kg R88A CAGA020B 20m Approx 0 8 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Connection Configuration and External Dimensions _ 50 L 50 S Servo Drive end Servomotor end o o o R7D BP q jl lt m JENE D R88M G E 5 6 Wiring Servo Drive Servomotor Brow Brake O er Cable AWG20 x 2C UL2464 B Brake M4 crimp terminal Servomotor Connector Connector pins 170366 1 or 170362 1 Tyco Electronics AMP Kk Connector case 172157 1 Tyco Electronics AMP Kk 3 34 Specifications Specifications 3 4 Cable and Connector Specifications B Robot Cables for Brakes Cable Models Model Length L Outer diameter of sheath Weight R88A CAGA003BR 3m Approx 0 1 kg R88A CAGAO05BR 5m Approx 0 2 kg R88A CAGA010BR 10m 6 1 dia Approx 0 4 kg R88A CAGA015BR 15m Approx 0 7 kg R88A CAGA020BR 20m Approx 0 9 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Connection Configuration and External Dimensions 50 L 50 S Servo Drive end Servomotor end R7D BP lt S Ji ii sie
255. meters will be set automatically according to the autotuning machine rigidity number selected Pn Parameter name Machine Rigidity No hn 0 1 2 3 4 5 6 7 10 Position Loop Gain 27 32 39 48 63 72 90 108 11 Speed Loop Gain 15 18 22 27 35 40 50 60 12 Speed Loop Integration Time Constant 37 31 25 21 16 14 12 11 13 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0 14 Torque Command Filter Time Constant 152 126 103 84 65 57 45 38 18 Position Loop Gain 2 31 38 46 57 73 84 105 126 19 Speed Loop Gain 2 15 18 22 27 35 40 50 60 1A Speed Loop Integration Time Constant 2 1000 1000 1000 1000 1000 1000 1000 1000 1B Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0 1C Torque Command Filter Time Constant 2 152 126 103 84 65 57 45 38 20 Inertia Ratio Estimated load inertia ratio Pn Parameter name Machine Rigidity No Me Balle lene SBS icin peel ESTEE E 10 Position Loop Gain 135 162 206 251 305 377 449 557 11 Speed Loop Gain 75 90 115 140 170 210 250 310 12 Speed Loop Integration Time Constant 9 8 7 6 5 4 4 3 13 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0 14 Torque Command Filter Time Constant 30 25 25 25 25 25 25 25 18 Position Loop Gain 2 157 188 241 293 356 440 524 649 19 Speed Loop Gain 2 75 90 115 140 170 210 250 310 1A Speed Loop Integration Time Constant 2 1
256. n Servo motor Servomotor s allowable Range of Err43 operating range Range of Err43 5 16 Operating Functions Operating Functions 5 10 User Parameters 5 10 User Parameters A Parameter Unit R88A PRO2G is required to set and change parameters For information on operating procedures refer to 6 3 Using the Parameter Unit Set and check the user parameters in Parameter Setting Mode Fully understand the parameter meanings and setting procedures before setting user parameters according to your system Some parameters are enabled by turning the power OFF and then ON again When changing these parameters turn OFF the power check that the power LED indicator has gone OFF and then turn ON the power again Setting and Checking Parameters ER B Overview Use the following procedure to set and check parameters Display Parameter Setting Mode When the power supply is turned ON the item set for the Default Display PnO1 will be displayed Press the Data key to go to Monitor Mode Then press the Mode key to go to Parameter Setting Mode Set the parameter number Press the Shift Increment and Decrement keys to set the parameter number Display the parameter setting Press the Data key to display the setting Change the parameter setting Press the Shift Increment and Decrement keys to change the displayed setting and then press the Data key to enter the setting of the paramete
257. n selecting a no fuse breaker consider the maximum input current and the inrush current Maximum Input Current The Servo Drive s maximum momentary output is approximately three times the rated output and can be output for up to three seconds Therefore select a no fuse breaker with an operating time of at least five seconds at 300 of the rated current General purpose and low speed no fuse breakers are generally suitable Select a no fuse breaker with a rated current greater than the total effective load current of all the Servomotors The rated current of the power supply input for each Servomotor is provided in Main Circuit Wiring on page 4 16 Add the current consumption of other controllers and any other components when selecting the NFB Inrush Current The following table lists the Servo Drive inrush currents With low speed no fuse breakers an inrush current 10 times the rated current can flow for 0 02 second When multiple Servo Drives are turned ON simultaneously select a no fuse breaker with a 20 ms allowable current that is greater than the total inrush current shown in the following table Inrush current AO p Servo Drive model Main circuit power supply R7D BP Series 20 4 22 System Design System Design 4 3 Wiring Conforming to EMC Directives B Leakage Breakers The leakage current for the Servomotor and Servo Drive combinations are given in the following
258. nd Reverse Drive Prohibit Input NOT are OFF Check whether the POT input and NOT input are ON or OFF in moni tor mode e Turn ON the POT and NOT inputs e If the POT and NOT inputs are not used disabled them The control mode is not correct Check the Control Mode Selection Pn02 Set the control mode to match the command type The Deviation Counter Reset Input ECRST is ON Check whether the ECRST Input is ON or OFF in monitor mode e Turn the ECRST Input OFF e Correct the wiring The Command Pulse Mode Pn42 setting is incorrect Check the Controllers command pulse type and the Servo Drive s command pulse type Set the Servo Drive s pulse type to match the Control ler s command pulse type The Zero Speed Designa tion Input VZERO is OFF Check whether the VZERO Input is ON or OFF in monitor mode e Turn ON the VZERO Input e Correct the wiring The internally set speeds are not set Check the settings for Pn53 to Pn56 Set the desired speeds The Torque Limit Pn5E is set to 0 Check the setting for Pn5E Return the setting to the de fault The Servomotor Power Cable is wired incorrectly The Encoder Cable is wired incorrectly Check the wiring Wire correctly The control I O connector CN1 is wired incorrectly Check the command pulse s wiring Wire correctly Troubleshooting Check the command pulse type
259. ndards Standard Product Applicable standards File number UL Standard AC Servo Drive UL 508C E179149 AC Servomotor UL1004 1 E331224 CSA standard AC Servo Drive CSA22 2 No 14 E179149 AC Servomotor CSA22 2 No 100 E331224 Features and System Configuration Chapter 2 Standard Models and Dimensions 2 1 Standard Models 2 1 Sewo Dnve st n a RANTS 2 1 STEATEN OIA E A E OE O 2 1 ParameteraW miticzcsrccccetscsccsetececccetecsecenseceeccetecseceneecser seer ceeedecees 2 2 Servo Drive Servomotor Combinations 2 2 Deceleratorss wie e cceeecttectccemrcc iter mnee tte ccee crit came cree teats 2 4 Accessories and Cables cccccccccecceeeeeeteeeeseeneeeeseteeeeeaes 2 8 2 2 External and Mounted Dimensions 2 13 SOIVOIDIIVOsm t o M d dee ERR ERE ERE E 2 13 SOLVOITIOLOIS oe erret ee e M eT eMe c ree 2 15 Parameter Unit Dimensions eeeeeeeeeeeeeeeeeeee 2 18 Decelerator Dimensions eeeeeeeesessssssseeeesee 2 19 External Regeneration Resistor Dimensions 2 27 eactoniPmensionessmeme US 2 28 DIN Rail Mounting Unit Dimensions s 2 29 Standard Models and Dimensions 2 1 Standard Models 2 1 Standard Models Servo Drives Servomotors
260. ndrical Servomotor Time s 100 10 50W 100 W 100 V 100 W 200 V 200 W L400 W 9n 115 100 150 200 250 300 Torque 96 B R88M GP Flat Servomotor Time s 100 10 0 1 100 t 150 200 250 300 100W to 400W Torque Troubleshooting Troubleshooting 8 5 Periodic Maintenance 8 5 Periodic Maintenance The Servomotor and Servo Drive contain many components and will function fully only when each of the individual components operates properly Some of the electrical and mechanical components require maintenance depending on application conditions Periodic inspection and part replacement are necessary to ensure the proper long term operation of the Servomotor and Servo Drive quotes from The Recommendation for Periodic Maintenance of a General purpose Inverter published by JEMA The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotor and Servo Drive Recommended maintenance times are listed below for reference in determining actual maintenance schedules Resume operation only after transferring all data required for operation to the new Unit Not doing so may result in damage to the product Do not dismantle or repair the product Doing so may result in electric shock or injury Servomotor Service Life The service life for components is listed below Bearings 20 000 hours
261. ngs is two turns 8 Also used on the Servo Drive output power lines to comply with the EMC Directives Only a clamp is used This clamp can also be used to reduce noise current on a frame ground line Dimensions ESD R 47B 3G3AX ZCL2 System Design 5 1 dia peel ee 26 Two M5 uo EN ZCAT 3035 1330 39 FEMME IM 34 13 B d Ceto 3 B 3 E 4 26 System Design 4 3 Wiring Conforming to EMC Directives Impedance Characteristics 3G3AX ZCL2 ESD R 47B 1000 10000 100 1000 S S Q o e 10 9 100 G 9 O o D 2 E E 1 10 0 1 1 1 10 100 1000 10000 1 10 100 1000 Frequency kHz Frequency MHz ZCAT 3035 1330 1000 e 8 2100 i xe o Q 10 10 100 1000 Frequency MHz 4 27 4 3 Wiring Conforming to EMC Directives B Surge Suppressors Install surge suppressors for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows the types of surge suppressors and recommended products Type Features Recommended products Diode Diodes are used for relatively small loads when the reset time is not an issue such as relays At power shutoff the surge voltage is the lowest but
262. nte better ee eed 4 1 Be MAING sa os ccs tp oe wa wpb etal at Devens eters educa jeu ches an ge eede seca doa aeie aad 4 10 4 3 Wiring Conforming to EMC Directives cccceceeeeeeceeeeeeeeeeeeeeeneeaaees 4 18 4 4 Regenerative Energy Absorption eseeeeseeseeseee 4 33 Chapter 5 Operating Functions 5 1 Position Control us ads orania ck abt a testata been 5 1 5 2 Internally Set Speed Control ssssssssseeeeeee 5 4 5 3 Forward and Reverse Drive Prohibit sees 5 7 5 Encoder DIVidiptyusseu intet io Dat DE eaaet erotico uud 5 8 5 5 cEIGGIFODIG GEBEN o ne LLL LUE EIE IEEE LL E du 5 9 5 6 JBrake lnterlock cisien ert te eret t teet 5 11 5 7 Gain Swilching ss cocos oec Saas taal hse mid tama itu e oes ies 5 13 5 B TOrque LIMIT aussen uten dede utu dex Dx Dainese eE anta a aao paced uu iius 5 15 5 9 Over n Editus Coi ca UE REN deem ai a aed 5 16 5 10 User Parameters oce RE PEEL 5 17 14 CONTENTS Chapter 6 Operation 6 1 Operational Procedure roe rete e pei Rap Raus 6 1 6 2 Preparing for Operation aor tet eene tera e oa pon ego io pinea E 6 2 6 3 Using the Parameter Uri terere beet tige melon eti ghe 6 4 pur Tita Operaligie cin eo E A ieee ares Re ipa nnt dps Ee Pe TREE REN Ra RANDE 6 23 Chapter 7 Adjustment Functions 721 Gain AGWUSIMGN iets Loue oL Lt Ed o D DE ESL A ah d 7 1 7 2 Realtime Autotuning ciui oeste ctr inthe adda Dro grege cend
263. o Drive The Servomotor rotates in the opposite direction from the command The CW input and CCW input are connected reversely Check the Controllers command pulse type and the Servo Drive s command pulse type Connect the CW pulse sig nal to the CW Input and the CCW pulse signal to the CCW Input Servomotor rotation is unstable The Servomotor Power Cable or Encoder Cable is wired incorrectly Check the wiring of the Servomotor Power Cable s phases U V and W and check the Encoder Cable s wir ing Wire correctly The coupling system between the Servomotor shaft and the mechanical system has eccentricity and declination loose Screws or the torque is fluctuating due to engagement between pulleys or gears Check the mechanical system s coupling section Try rotating the Servomotor without a load Disconnect it from the me chanical system Review and adjust the ma chine The load s moment of inertia exceeds the Servo Drive s allowable value Try rotating the Servomotor without a load Disconnect it from the me chanical system e Reduce the load e Replace it with the Servo motor and Servo Drive with higher capacity The pulse signal line s connections failure Check the pulse signal wiring at the Controller and Servo Drive Wire correctly Check the Controllers command pulse type and the Servo Drive s command pulse type Set the Servo Drive s pu
264. o n iaedue 7 3 FOSC TEEME AUNING REESE ERO TULIT TET 7 8 7 4 Disabling the Automatic Gain Adjustment Function 7 13 T5 Manual TNNG OS cc 7 15 Chapter 8 Troubleshooting c MENT PrOC SsSiINg niel a eee a a a iaa 8 1 OEC MEN ME 8 E E EE E E E 8 3 86 39 Troubleshooting i rr eee a a E E EEE 8 5 8 4 Overload Characteristics Electronic Thermal Function 8 16 8 5 Periodic Maintenance is ccc coucou ir e eO exl x eg HEX HE XP xe Axe cieEEO 8 17 15 Chapter 1 Features and System Configuration Pah OVE eW eere enero erri e eaa EE 1 1 Overview of the SMARTSTEP 2 Series 1 1 Features of the SMARTSTEP 2 Series 1 1 1 2 System Configuration 1 2 1 3 Names of Parts and Functions 1 3 Servo Drive Part Names eee 1 3 Servoll riveskunctionsseee ec 1 4 1 4 System Block Diagrams 1 5 1 5 Applicable Standards 1 6 EGiDBir ctivoss eere Er mem rte CU LETT 1 6 uUle cUisStandards meme ROC SSETOUCESEINNET 1 6 Features and System Configuration 1 1 Overview 1 1 Overview Overview of the SMARTSTEP 2 Series The SMARTSTEP 2 Series is a series of pulse string input type Servo Drives for position controlling and it has been designed to function for low capacity positioning systems In spite of the compact size the SMARTSTEP 2 Seri
265. of the Position Control Unit to be used n MO Position Control Unit Cable Servo Relay Unit Servo Drive Cable CJ1W NC133 XW2Z J A18 XW2B 20J6 1B CJ1W NC233 XW2Z J A19 XW2B 40J6 2B CJ1W NC433 CS1W NC133 XW2Z J A10 XW2B 20J6 1B CS1W NC233 XW2Z J A11 XW2B 40J6 2B CS1W NC433 CJ1W NC113 XW2Z J A14 XW2B 20J6 1B CJ1W NC213 XW 2Z J B29 c XW2Z J A15 XW2B 40J6 2B CJ1W NC413 a o CS1W NC113 o XW2Z J A6 XW2B 20J6 1B a C200HW NC113 CS1W NC213 o m CS1W NC413 2 XW2Z J A7 XW2B 40J6 2B H C200HW NC213 C200HW NC413 SHNSEOM XW2B 20J6 8A CJ1M CPU22 XW2z J A33 XW2B 40J6 9A XW2z J B32 CJ1M CPU23 for 2 axes General purpose XW2Z J A28 I O Cable FQM1 MMP22 XW2B 80J7 12A XW2Z J B30 Special I O XW2Z J A30 Cable CQM1H PLB21 XW2Z J A3 XW2B 20J6 3B XW2Z J B29 CQM1 CPU43 V1 Note 1 The cable length is indicated in the boxes of the model number Position Control Unit cables come in two lengths 0 5 m and 1 m some 2 m cables are also available Servo Drive Cables also come in two lengths 1 m and 2 m For information on cable lengths refer to Accessories and Cables on
266. oiny L5 a UL m u utc Pr mni Wy J uonounJj Kaeiixny NL er ul foc n n LI LI or i JL LI QO rr J jM Li I LI P LI Ll Cr Li RN u I u I 6 6 6 3 Using the Parameter Unit Monitor Mode Position deviation Servomotor rotation speed Torque output Control mode I O signal status Alarm history Software version c Warning display o Regeneration load cob ratio Overload load ratio Inertia ratio Total feedback pulses Total command pulses Not used Not used Automatic Servomotor recognition enabled disabled display Communications method display J gt Da un LU 9 mr I an Le a gt UN hs J e D E DNE NIE SN 9 gt mia J nr gt d an D 9 Le gt i J n an I L 4 D 9 Ee J d D 9 I an c gt I L 4 nr tLe s lM Ml ee gt Z E J z
267. om the following equations 2T Egi 5 60 Ni Tpi ti J 0 0524 N1 Tp1 ti J 2T Eg2 60 N2 TL2 t2 J 20 105 Ne Tp2 ts J 2T Eg 25 60 No Tp2 t3 J 20 0524 Ne Tpe ts J Ni Nz Rotation speed at beginning of deceleration r min Tp1 Tpz Deceleration torque N m TL2 Torque when falling N m ti t3 Deceleration time s t2 Constant velocity running time when falling s Note Due to the loss of winding resistance and PWM the actual regenerative energy will be approximately 9096 of the values derived from these equations The average regeneration power Pr Regeneration power produced in one cycle of operation W Pr Egi Eg2 Eg2 T W T Operation cycle s Since an internal capacitor absorbs regenerative energy the value for Eg and Ego Ej3 unit J must be lower than the Servo Drive s regenerative energy absorption capacity For details refer to Servo Drive Regenerative Energy Absorption Capacity 4 34 System Design 4 4 Regenerative Energy Absorption Servo Drive Regenerative Energy Absorption Capacity The SMARTSTEP 2 Servo Drives absorb regenerative energy internally with built in capacitors If the regenerative energy is too large to be processed internally an overvoltage error AL12 occurs and operation cannot continue The following table shows the regenerative energy and amount of regeneration that each Servo Drive can absorb If these values are exceeded take the
268. on counter will be reset and the position loop will be disabled Input the reset signal for 2 ms minimum The counter may not be reset if the signal is too short Function Internally Set Speed Selection 2 Pin 4 is the Internally Set Speed Selection 2 Input VSEL2 in Internal Speed Control Mode when Pn02 is set to 1 Four speeds can be selected by using pin 4 in combination with the Internally Set Speed Selection 1 Input VSEL1 3 9 3 1 Servo Drive Specifications B Gain Switch Zero Speed Designation Torque Limit Switch Input Pin 5 Gain Switch Zero Speed Designation Torque Limit Switch Input GSEL VZERO TLSEL Function Gain Switch Pin 5 is the Gain Switch Input GSEL when Pn02 is set to 0 or 2 Position Control Mode and the Zero Speed Designation Torque Limit Switch Pn06 is set to anything other than 2 The Gain Switch Input GSEL switches between PI and P operation or between gain 1 and gain 2 When the Gain Switch Input Operating Mode Selection Pn30 is set to 0 this input switches between PI and P operation When Pn30 is set to 1 and the Gain Switch Setting Pn31 is set to 2 this input switches between gain 1 and gain 2 Gain 1 includes the Position Loop Gain Pn10 Speed Loop Gain Pn11 Speed Loop Integration Time Constant Pn12 Speed Feedback Filter Time Constant Pn13 and Torque Command Filter Time Constant Pn14 Gain 2 includes the Position Loop Gain 2 Pn18 Speed Loop Gain 2 Pn19
269. onent Electronic Gear Ratio Numerator 1 Pn46 x p Pectronic Gear Ratio Numerator Exponent Pn4A Page 5 50 Pn4B Electronic Gear Ratio Electronic Gear Ratio Denominator Pn4B n Denominator The maximum value of the calculated numerator is 2 621 440 ae The Positioning Completed Output INP turns ON when the Positioning me Pn60 f number of pulses in the deviation counter is equal to or less than Page 5 55 Completion Range i the setting of this parameter 5 1 Position Control Reference The Control Mode Selection Pn02 is set as follows Setting Control mode 0 High Response Position Control 1 Internally Set Speed Control 2 Advanced Position Control To perform position control select 0 high response position control or 2 advanced position control for the control mode Related Parameters The main functions provided by the parameters related to position control are described in the following table Function Explanation Reference The Gain Switching Input GSEL is used when the Zero Speed Designation Gain Switchin Torque Limit Switch Pn06 is set to a value other than 2 The Gain Switching Page 5 13 9 Input is used to switch between PI and P operation or to switch between gain 9 1 and gain 2 The Torque Limit Switch Input TLSEL is used when the Zero Speed Desig NE nation Torque Limit Switch PnO6 is set to 2 The following parameters are Terque Limit Switch switched
270. ons 1 2m Egt Et 60 x Ni Tpi t J 0 0524 N1 Tp1 ti J 2T Eg 60 No Tp2 t2 J 20 0524 Ne Tpe te J N1 Ne Rotation speed at beginning of deceleration r min Tp1 Tpz Deceleration torque N m t t2 Deceleration time s Note Due to the loss of winding resistance and PWM the actual regenerative energy will be approximately 90 of the values derived from these equations Average regeneration power Pr Regeneration power produced in one cycle of operation Pr Egi Eg2 T W T Operation cycle s 4 33 4 4 Regenerative Energy Absorption Since an internal capacitor absorbs regenerative energy the value for Eg a Ego unit J must be lower than the Servo Drive s regenerative energy absorption capacity For details refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 35 If an External Regeneration Resistor is connected be sure that the average regeneration power Pr does not exceed the External Regeneration Resistor s regenerative energy absorption capacity 12 W B Vertical Axis N1 Falling Servomotor operation N2 Servomotor output torque TD1 t1 t2 t3 1 Egi System Design Note In the output torque graph acceleration in the positive direction rising is shown as positive and acceleration in the negative direction falling is shown as negative The regenerative energy values in each region can be derived fr
271. onstant after stopping The lower the setting the faster the action Speed Feedback The encoder signal is converted to the speed signal via the low Pn13 Filter Time pass filter Noise from the Servomotor can be reduced by in Page 5 37 Constant creasing the setting Normally set it to 4 or less Torque Command Set to adjust the primary lag filter time constant for the torque Pni4 Filter Time command section Page 5 38 Constant Pn18 Position Loop Gain These settings are for gain 2 Page 5 39 2 These parameters function in the same way as the parameters Pn19 Speed Loop Gain 2 described RIONE Page 5 39 Speed Loop Pn1A Integration Time Page 5 39 Constant 2 Speed Feedback PniB Filter Time Page 5 39 Constant 2 Torque Command PniC Filter Time Page 5 39 Constant 2 5 14 Operating Functions Operating Functions 5 8 Torque Limit 5 8 Torque Limit This function limits the output torque of the Servomotor This function is effective in the following cases Pressing a moving part of a machine such as a bending machine against a workpiece with a constant force Protecting the Servomotor and mechanical system from excessive force or torque The Warning Output Selection Pn09 can be set to output an alarm to the Warning Output WARN when the torque limit function is enabled Two torque limits can be set and you can switch between them To switch the torque limit setting enable the Torque Limit Switch
272. ontrol Modes The following table shows the adjustment ranges of manual tuning for each control mode Pn02 Control Mode Basic Gain Torque Notch Damping setting adjustment switch filter filter control switch 0 High response Supported Supported Supported Supported Supported Position Control See note See note 1 Internally Set speed Supported Supported Supported Supported Not Control supported 2 Advanced Position Supported Supported Supported Supported Supported Control 1 The notch filter and damping control cannot be used at the same time in High response Position Control The parameter entered first will be given priority Example When damping control is set the Servo Drive will be forcibly set to 1500 disabled even if the Notch Filter 1 Frequency Pn1D is input Basic Adjustment Procedures B Adjustment in Position Control Mode Start adjustment Y 7 5 Manual Tuning Disable realtime autotuning Pn21 0 or 7 y A Set the parameters to the values shown in table 1 Y Set the Inertia Ratio Pn20 Calculated value at Servomotor selection Y Do not perform extreme adjustment and setting changes They may destabilize operation possibly resulting in injury Adjust the gain a little at a time while checking the Servomotor operation Run under actual operating pattern and load Y
273. operating atmosphere No corrosive gases Vibration resistance Impact resistance 49 m s max in the X Y and Z directions Acceleration of 98 m s max 3 times each in the X Y and Z directions Insulation resistance Between the power line terminals and FG 20 MQ min at 500 VDC Dielectric strength Between the power line terminals and FG 1 500 VAC for 1 min at 50 60 Hz Operating position Insulation grade All directions Type B Structure Totally enclosed self cooling Protective structure IP65 excluding through shaft parts and lead wire ends Vibration grade V 15 Mounting method Flange mounting n EN 60034 1 2004 ae EC Direc irective So 5 9 tives 2g Low Voltage IEC 60034 5 2001 ce irective oS UL standards UL 1004 File No E179189 cUL standards cUL 22 2 No 100 B Motor Rotation Directions In this manual the Servomotors rotation directions are defined as forward and reverse Viewed from the end of the motor s output shaft counterclockwise CCW rotation is forward and clockwise CW rotation is reverse Reverse Forward 3 16 Specifications Specifications 3 2 Servomotor Specifications Characteristics Bi 3 000 r min Cylindrical Servomotors itam Unit R88M R88M R88M G05030H G10030L G20030L R
274. operations without a load Page 6 4 Setting Set the functions according to the operating conditions with the Chapter 5 functions user parameters Page 5 17 i To enable the parameter settings turn OFF the power first Connect the Servomotor to the mechanical system Turn ON the power and check to see whether protective functions F EN Chapter 6 Trial operation such as the emergency stop and operational limits work properly A Page 6 23 Check operation without a workpiece or with dummy workpieces at low and high speed Operate using commands from a position controller i Adjustments Manually adjust the gain if necessary Further adjust the various Chapter 7 functions to improve the control performance i Operation Operation can now be started If any problems should occur refer Chapter 8 to Chapter 8 Troubleshooting 6 2 Preparing for Operation 6 2 Preparing for Operation This section explains the procedure to prepare the mechanical system for trial operation after the installation and wiring of the Servomotor and Servo Drive are completed It also explains the items that need to be checked before and after turning ON the power Items to Check Before Turning ON the Power B Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below R7D BPLILIL Single phase 100 VAC input Main circuit power supply Single phase 100 115 VAC 85 to 127
275. or Contents nc du 5 VDC power supply for pulse output d l 5 VDC zm 5 V GND MC1 XX Connect External Regeneration gt Resistor when required XX 3 R88M G Servomotor Power Red Cable White R7A CABLIS Blue 3 grean ae 24VIN 24 VDC x1 RUN Encoder Cable poss Chee OGND E Al amp l ALM Brake Cable 24 7 52 R88A CAGALIB Bo BKIR XB ct FG 24 VDC Incorrect signal wiring can cause damage to Units and the Servo Drive for Correct Use Leave unused signal lines open and do not wire them Use the 24 VDC power supply for the command pulse inputs as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent Appendix Appendix 8 Appendix B Connection Example 9 Connecting to SYSMAC CPM2C CPU Unit with 10 inputs and outputs An example of a transistor output sink model 3 phase 200 240 VAC 50 60 Hz CPM2C 10CLIDTC D Contents 24V Main circuit power supply Main circuit contactor faci kak SUP cec us x1 Surge suppra s r eU 1 Servo error display Reactor COM OUT 00 CW pulse output OUT 01 CCW pulse output NFB OFF nego SO
276. or Trial Operation seessessss 6 23 iirtalraperationss cen HM Tee 6 23 Operation 6 1 Operational Procedure 6 1 Operational Procedure After installation and wiring turn ON the power and check the operation of the Servomotor and Servo Drive Then make the function settings as required according to the use of the Servomotor and Servo Drive If the parameters are set incorrectly there is a danger of the Servomotor operating in an unpredictable manner Set the parameters according to the instructions in this manual Item Contents Reference Install the Servomotor and Servo Drive according to the installation Mounting and Chapter 4 t conditions Do not connect the Servomotor to the mechanical system installation Page 4 1 before checking the no load operation Connect the Servomotor and Servo Drive to the power supply and Wiring and peripheral devices Chapter 4 connections Specified installation and wiring requirements must be satisfied Page 4 10 particularly for models conforming to the EC Directives L Preparing for Check the necessary items and then turn ON the power supply Chapter 6 Check with the display indications to see whether there are any operation Page 6 2 internal errors in the Servo Drive l Checking Check the operation of the Servomotor and Servo Drive by Chapter 6 operation performing jogging
277. or is used for Power Cables Use it when preparing a power cable yourself 11 8 04 i 23 7504 ol N io a c n u L d i 4 Q9QO e ENEN L YS SANZ I n co o 1 42 2 8 8 8 1 M RE ee SS ad 1 6 10 35 9 840 15 zt Connector housing 172159 1 Tyco Electronics AMP KK Contact socket 170366 1 Tyco Electronics AMP KK Applicable panel thickness 0 8 to 2 0 mm Specifications B Brake Cable Connector R88A CNGO01B This Connector is used for brake cables Use it when preparing a brake cable yourself BE 23 7 04 Es x A LO g e ee i oS Cy n AA ae nf of 1 IRL c n TT eo ecce 2 5 5 35 4 2 2 8 8 8 L 1 LL 1 6 10 35 9 8 0 15 M731 mU Connector housing 172157 1 Tyco Electronics AMP KK Contact socket 170366 1 Tyco Electronics AMP KK Applicable panel thickness 0 8 to 2 0 mm 3 44 Specifications 3 4 Cable and Connector Specifications Control Cable Specifications E General purpose Control Cables A General purpose Control Cable connects to the Servo Drive s Control I O Connector CN1 Do not wir
278. osition Control Mode Selection Pn31 Gain Switch Setting Select the condition for switching between gain 1 and gain 2 Page 5 44 4 Set the delay time from the moment the condition set in the Gain Pns Gamowich time Switch Setting Pn31 is not met until returning to gain 1 s Set the judgment level for switching between gain 1 and gain 2 Pn33 ecl Level The unit for the setting depends on the condition set in the Gain Page 5 46 9 Switch Setting Pn31 Pn34 Gain Switch Set the hysteresis width above and below the judgment level set Hysteresis Setting in the Gain Switch Level Setting Pn33 Position Loop Gain When switching between gain 1 and gain 2 is enabled set the Pn35 P phased switching time only for the position loop gain at gain Page 5 47 Switching Time Switching 1 These settings are disabled when the Gain Switch Setting Pn31 is set to always use gain1 or gain 2 or set to the Gain Switching Input CN1 5 5 7 Gain Switching Related Parameters Parameter No Parameter name Explanation Reference 2 Set the position control system responsiveness The higher PRI Fosition Laop Galn the setting the shorter the positioning time Page 328 Pn11 Speed Loop Gain Set the speed loop responsiveness Page 5 37 Speed Loop The integration constant is included in the speed loop This pa Pn12 Integration Time rameter functions to quickly eliminate minor speed deviations Page 5 37 C
279. pecifications 3 3 Decelerator Specifications Decelerator for Flat Servomotors VERE Maxi Rated mum Allow Allow ne paed EE romer e bie Pada cage able Model Hon torque eE tar pemen or radial thrust eight R88G speed cy AUR tay inerta load load FA torque r min N m r min N m kg m N N kg EM 1 5 HPG11B05100PB 600 1 28 80 1000 ae 5 00x1077 135 538 0 34 1 11 HPG14A11100PB 273 2 63 75 454 s 6 00x10 9 280 1119 1 04 S w 1 21 HPG14A21100PB 143 5 40 80 238 14 6 5 00x10 8 340 1358 1 04 19 4 3 1 33 HPG20A33100PB 91 6 91 65 151 18 3 4 50x10 9 916 3226 2 9 2 1 45 HPG20A45100PB 67 9 42 65 111 peo 4 50x10 9 1006 3541 2 9 o o 1 5 HPG14A05200PB 600 2 49 78 1000 7 09 2 07x10 221 883 0 99 1 11 HPG20A11200PB 273 4 75 68 454 13 5 5 80x10 9 659 2320 3 1 es 1 21 HPG20A21200PB 143 10 2 76 238 29 2 4 90x10 9 800 2817 3 1 1 33 HPG20A33200PB 91 17 0 81 151 48 5 4 50x10 9 916 3226 3 1 1 45 HPG20A45200PB 67 23 2 81 111 66 1 4 50x10 9 1006 3541 3 1 1 5 HPG20A05400PB 600 4 67 72 906 12 9 7 10x1075 520 1832 3 1 1 11 HPG20A11400PB 273 11 7 82 ion 32 4 5 80x10 9 659 2320 3 1 M 1 21 HPG20A21400PB 143 23 5 86 io 65 2 4 90x10 9 800 2817 3 1 1 33 HPG32A33400PB 91 34 7 81 ian 96 2 2 80x10 4 1565 6240 7 8 1 45 HPG32A45400PB 67 47 4 81 ias 131 2 2 80x104 1718 6848 7 8 Note 1 The Decelerator inertia is the Servomotor
280. power supply Power supply input terminal 12 to 24 VDC for sequence 1 24VIN gt input for control input pin 1 2 RUN RUN Command ON Servo ON Starts power to Servomotor Input ON Servo alarm status is reset 3 RESET Alarm Resetlnput Must be ON for 120 ms min Deviation Counter Reset Input in Position Control Mode 2 when Pn02 is set to O or 2 Deviation Counter ON Pulse commands prohibited and deviation counter 4 ECRST Reset Input or cleared Must be ON for at least 2 ms VSEL2 Internally Set Speed Selection 2 Input Internally set speed selection 2 in Internal Speed Control Mode when Pn02 is set to 1 ON Internally Set Speed Selection 2 Input Gain Switch Input in Position Control Mode when Pn02 is set to 0 or 2 when Zero Speed Designation Torque Limit Switch PnO6 is set to O or 1 Zero speed designation input in Internal Speed Control Gain Switch Input Mode when Pn02 is set to 1 OFF Speed command is zero GSEL Zero Speed Input can also be disabled by the Zero Speed Designation 5 VZERO Designation Input un gr il Torque Limit Switch Pn06 setting Enabled PnO6 1 TLSEL or Torque Limit Disabled Pn06 0 Switch Input Torque limit selection in both Position Control Mode and Internal Speed Control Mode when Zero Speed Designa tion Torque Limit Switch PnO6 is set to 2 OFF Torque limit 1 enabled Pn70 5E 63 ON Torque limit 2 enabled Pn71 72 73 Electronic Gear Switch Input
281. ption at radiation Thermal switch output specifications pay 120 C condition R88A Aluminum Operating temperature 150 C 5 RRO8050S 50 Q 80 W 20 W 250 x 250 NC contact Thickness 3 0 Rated output 30 VDC 50 mA max R88A Aluminum Operating temperature 150 C 5 RR080100S 100 Q 80W 20W 250 x 250 NC contact Thickness 3 0 Rated output 30 VDC 50 mA max R88A Aluminum Operating temperature 170 C 5 RR220478 47 Q 220W 70W 350 x 350 NC contact Thickness 3 0 Rated output 250 VAC 0 2 A max 4 4 Regenerative Energy Absorption Wiring Method Connect the External Regeneration Resistor between terminals P and B1 CNA eo Thermal Switch Output Servo Drive i Dc B1 External Regeneration Resistor i Connect the thermal switch output so that the power supply is shut OFF arauon hen the contact Confi to shut OFF th i for Correct Use when the contacts open Configure a sequence to shu e power via the thermal output Not doing so may cause the resistor to overheat resulting in a fire or damage to the equipment Combining External Regeneration Resistors pego dn 20 W 40 W 70 W 140 W sorption capacity R88A RRO8050S R88A RRO8050S R88A RR22047S R88A RR22047S Model R88A RRO80100S R88A RRO80100S Resistance 50 0 100 Q 25 9 50 Q 47 Q 94 Q Connection R method O R O O sO O R O O 4 R R o R
282. put Servomotor Rotation Speed Detection Output INP TGON Function Positioning Completed Output Pin 10 is the Positioning Completed Output INP in Position Control Mode when Pn02 is set to 0 or 2 The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than the Positioning Completion Range Pn60 Function Servomotor Rotation Speed Detection Output Pin 10 is the Servomotor Rotation Speed Detection Output TGON in Internal Speed Control Mode when Pn02 is set to 1 The TGON signal turns ON when the motor rotation speed exceeds the Rotation Speed for Servomotor Rotation Detection Pn62 3 13 3 1 Servo Drive Specifications B Brake Interlock Output Pin 11 Brake Interlock Output BKIR Function The external brake timing signal is output This output is turned ON to release the external brake B Warning Output Pin 12 Warning Output WARN Function Pin 12 outputs the warning signal selected in the Warning Output Selection Pn09 B Feedback Output Pin 15 Encoder Phase A Output A Pin 16 Encoder Phase A Output A Pin 17 Encoder Phase B Output B Pin 18 Encoder Phase B Output B Pin 19 Encoder Phase Z Output Pin 20 Encoder Phase Z Output nan Z Function This signal outputs encoder pulses according to the Encoder Divider Setting Pn44 Line driver output equivalent to RS 422 The output logic can be reversed with
283. r Save the changed setting to memory Press the Mode key to go to the display of Parameter Write Mode and then press the Data key to move on to Parameter Write Mode By pressing the Increment key for at least 5 s the set data will be written in EEPROM Exit Parameter Write Mode Press the Data key to return to the display of Parameter Write Mode 5 10 User Parameters E Operating Procedures 1 Displaying Parameter Setting Mode Key opera tion Display example Explanation The item set for the Default Display PnO1 is displayed Press the Data key to display Monitor Mode Press the Mode key to display Parameter Setting Mode 2 Setting the Parameter Number Key operation Display example Explanation e OS Use the Shift Increment and Decrement keys to set the parameter num ber If the parameter number is too high you can change the parameter number faster by using the Shift key to change the digit The decimal point will flash for the digit that can be set 3 Displaying the Parameter Setting Key operation Display example Explanation Press the Data key to display the setting of the parameter 4 Changing the Parameter Setting Key operation Display example Explanation C Or Use the Shift Increment and Decrement keys to change the setting Press the Data key to save the new setting 5 18
284. r Connector Connector pins Connector pins 50639 8028 Molex Japan 170365 1 Tyco Electronics AMP KK Connector case Connector case Crimp type I O Connector Molex Japan 172160 1 Tyco Electronics AMP Kk 3 31 3 4 Cable and Connector Specifications Servomotor Power Cable Specifications These are the cables connecting between the Servo Drive and Servomotor Servomotor Power Cables with connectors for the CNB are available When using Cables for a Servomotor with a brake a Brake Cable is also required Brake cables are also available as standard cables and robot cables Precautions sg Use robot cables for applications with moving parts B Standard Cables for Servomotor Power with CNB Connector Cable Models B Model Length L Outer diameter of sheath Weight g R7A CABO03S 3m Approx 0 2 kg 8 R7A CABOO5S 5m Approx 0 3 kg 5 R7A CABO10S 10m 6 2 dia Approx 0 6 kg A R7A CABO15S 15m Approx 0 9 kg o R7A CAB020S 20m Approx 1 2 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Connection Configuration and External Dimensions 50 L 50 S Servo Drive end a Servomotor end e R7D BP a I al R88M G 410 0 4 Wiring Servo Drive Servomotor B ma an EINE EE a EE EAE e Ee c TU eeu La re eeen eg ES 2 Cable AWG20 x 4C UL2464 Servo
285. r Unit Copy Mode In Copy Mode user parameters set in the Servo Drive can be copied to the Parameter Unit and user parameters stored in the Parameter Unit can be copied to the Servo Drive This function can be used to easily set the same user parameters for more than one Servo Drive B Copying from the Servo Drive to the Parameter Unit 1 Displaying Copy Mode Key operation Display example Explanation The item set for the Default Display PnO1 is displayed Press the Data key to display Monitor Mode Press the Mode key five times to display Copy Mode OGO 2 Executing Copying Key operation Display example Explanation Press the Data key to enter Copy Mode Press and hold the Increment key until EEPCLR is displayed The bar indicator will increase when the key is pressed for 3 s or longer QUO The bar indicator will increase Operation e Initialization of the EEPROM in the Parameter Unit will start rm rm n 1 rm This display indicates a normal completion C un i a f T wn 3 Returning to the Display of Copy Mode Key operation Display example Explanation Press the Data key to return to the Copy Mode Display Precautions If Error is displayed before completion repeat the procedure from the for Correct Use beginning Press the Data key to clear the error Do not di
286. r is hardto stop even if the RUN Command Input RUN is turned OFF while the Servomotor is ro tating The load inertia is too large Check the following e Is the load too large e Is the Servomotor speed too high Re evaluate the load condi tions and replace the Servo motor Servo Drive with an appropriate model if neces sary The stop circuit failed Replace the Servo Drive The Servomotor is producing un usual noises or the machine is vibrating Continued on next page There are problems with the machine s installation Check whether the Servomotor s mounting screws are loose Tighten the mounting screws Check whether the axes are mis aligned in the mechanical coupling system Align the mechanical cou plings Check whether the coupling is un balanced Adjust the coupling s bal ance There is a problem with the bearings Check for noise or vibration around the bearings Contact your OMRON repre sentative The gain is doesn t match e Use autotuning e Perform manual tuning The Speed Feedback Fil ter Time Constant Pn13 is wrong Check the setting of Pn13 Return the setting to 4 de fault or increase the setting Noise is entering the Con trol I O Cable because the cable does not meet spec ifications Check that the cable wire is a twist ed pair wire or shielded twisted pair cable with wires of at least 0 08 mm
287. ral devic Dimensions os Provides the general specifications performance specifications connector specifications and I O circuit specifications for Servo Chapter3 Specifications Drives and the general specifications and performance specifica tions for Servomotors as well as specifications for accessories Such as encoders Describes the installation conditions for Servo Drives Servomo tors and Decelerators EMC conforming wiring methods calcula Chapter 4 System Design f s tions of regenerative energy and performance information on the External Regeneration Resistor Chapter5 Operating Functions Describes the electronic gear function and other operating func tions as well as the parameter setting procedure i rating pr n nd how t the Parameter Chapter6 Operation ioi operating procedures and how to use the Paramete Chapter 7 Adjustment Functions Describes realtime autotuning function manual tuning and other procedures for gain adjustment Describes items to check for troubleshooting error diagnoses us Chapter 8 Troubleshooting ing alarm displays and the countermeasures error diagnoses based on the operation status and the countermeasures and peri odic maintenance Connection Exam Provides examples of connection with OMRON PLCs and Position Appendix ples Controllers CONTENTS Japireje b e io a PEE EOS 1 Precautions for Sate USO lores Boe it Fr e ea AOI Lo Ee 5 Items to Check When Unpacking
288. rameter to select whether to use the Zero Speed Designation Input VZERO or Torque Limit Switch Input TLSEL as the function of pin CN1 5 For Position Control Mode 0 or 2 can be selected For Internally Set Speed Control Mode 1 or 2 can be selected If O is selected in Position Control Mode pin CN1 5 will be used as the Gain Switch Input GSEL If the Torque Limit Switch Input TLSEL is used always set the following parameters Overspeed Detection Level Setting Pn70 No 2 Torque Limit Pn71 and No 2 Overspeed Detection Level Setting Pn73 If the Torque Limit Switch Input is used with the default settings an overspeed alarm alarm code 26 will occur Explanation of Settings Explanation Setting Zero Speed Designation Input VZERO Torque Limit Switch Input TLSEL 0 Disabled Disabled 1 Enabled Disabled 2 Disabled Enabled Pn07 Not used Do not change setting Pn08 Not used Do not change setting Pn09 Warning Output Selection All modes Setting range 0to6 Unit Default setting 2 Power OFF ON Set the function of the Warning Output WARN Explanation of Settings Setting Explanation 0 Output while torque is being limited 1 Output for zero speed detection 2 Output for regeneration overload or fan rotation speed alarm warning 3 Output for regeneration warning 4 Output for overload warning 5
289. re is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease Wire the noise filter as shown at the left in the following illustration The noise filter must be installed as close as possible to the entrance of the control box Q Correct Separate input and output X wrong Noise not filtered effectively AC input AC output AC input Ground AC output i Ground c Use twisted pair cables for the power supply cables or bind the cables o o Q Correct Properly twisted Q Correct Cables are bound Servo Drive Servo Drive E E dus 7 Qu p gt XXOOO OL3 us o O L3 Binding Separate power supply cables and signal cables when wiring Control Panel Structure Openings in the control panel such as holes for cables operating panel mounting holes and gaps around the door may allow electromagnetic waves into the panel To prevent this from occurring observe the items described below when designing or selecting a control panel B Case Structure Use a metal control panel with welded joints at the top bottom and sides so that the surfaces will be electrically conductive If assembly is required strip the paint off the joint areas or mask them during painting to make them electrically conductive If gaps appear in the control box case when screws are tightened make adjustments to prevent thi
290. rent We recommend that you install two contactors to help prevent accidents that may occur due to contact welding or other factors 4 28 System Design System Design 4 3 Wiring Conforming to EMC Directives B improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder s noise resistance Always use the specified Encoder Cables If cables are joined midway be sure to use connectors and do not remove more than 50 mm of the cable insulation In addition always use shielded cables Do not coil cables If cables are long and 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 table shows the recommended clamp filters Maker Product name Model Specifications NEC TOKIN Clamp filter ESD SR 250 For cable diameter up to 13 mm TDK Clamp filter ZCAT3035 1330 For cable diameter up to 13 mm Do not place the Encoder Cable with the following cables in the same duct Control Cables for brakes solenoids clutches and valves Dimensions ESD SR 250 Impedance Characteristics o ESD SR 250 10000 1000 e
291. res 4 Regular Pattern Operation Operate the Servomotor in a regular pattern and check the following items a Is the operating speed correct b Is the load torque almost equivalent to the measured value C Are the positioning points correct d When an operation is repeated is there any discrepancy in positioning e Are there any abnormal sounds or vibration If vibration occurs when starting or stopping the machine refer to Chapter 7 Adjustment Functions and adjust the gain f Is the Servomotor or the Servo Drive abnormally overheating 9 Is any error or alarm generated If anything abnormal occurs refer to Chapter 8 Troubleshooting and take the appropriate countermeasures 5 Trial Operation Completed Performing the above completes the trial operation Next adjust the gain to improve control performance Operation 6 24 Chapter 7 Adjustment Functions 7 1 Gain Adjustment eee 7 1 Purpose of the Gain Adjustment sssssssess 7 1 Gain Adjustment Methods ssssssseen 7 1 Gain Adjustment Procedure sssseesene 7 2 7 2 Realtime Autotuning 7 3 Realtime Autotuning Setting Method ssess 7 3 Gnperatingil rocedures eT 7 4 Adaptive Fitero eee E E 7 5 Automatically Set ParameterS cccccssceceesssssssteeseeeessseees 7 6 7 3 AUFOTIUDIDIQ c roii nani do eere rer Irene eei dnis
292. rformed 1 Saving Changed Settings Key operation Display example Explanation Press the Mode key to display Parameter Write Mode Press the Data key to enter Parameter Write Mode Press and hold the Increment key for at least 5 s The bar indicator will increase Writing will start This display will appear only momentarily This display indicates a normal completion In addition to Finish either ESEE l Of E 5 may be displayed Iff esee _ is displayed writing has been completed normally but some of the changed parameters will be enabled only after the power is turned ON again Turn OFF the Servo Drive power supply and then turn it ON again If i 5 is displayed there is a writing error Write the data again 2 Returning to the Display of Parameter Write Mode Key operation Display example Explanation Press the Data key to return to the Parameter Write Mode Display If a writing error occurs write the data again If a writing error continues to occur there may be a fault in the Servo Drive Do not turn OFF the power supply while writing in EEPROM Incorrect data may be written if the power supply is turned OFF If the power supply is turned OFF perform the settings again for all parameters and write the data again Do not disconnect the Parameter Unit from the Servo Drive during the time from
293. rms Power supply capacity 0 16 KVA 0 25 KVA 0 42 KVA 77 c Input power supply voltage Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz 9 main circuit Input power supply current 14A 22A 37A oO rms main circuit i 5 Heat generated main circuit 12W 16W 22W Q Control method All digital servo o Inverter method IGBT driven PWM method PWM frequency 12 kHz 6 kHz Maximum response frequency command pulses Line driver 500 kpps Open collector 200 kpps Weight 0 35 kg 0 42 kg Applicable motor capacity 50W 100 W 200 W Servo Drive model Item R7D R7D R7D R7D BPO1H BPO2HH BPO2H BP04H Continuous output current 10A 16A 16A 25A rms Momentary maximum output 33A 49A 49A 78A current rms i i i i Power supply capacity 30K VA 0 35 KVA 0 42 KVA earn Input power supply voltage main circuit Both single phase and three phase 200 to 240 VAC 170 to 264 V 50 60 Hz Input power supply current 0 7A 1 8A rms main circuit 1 5 A OA Eb 3 5 A Heat generated main circuit 14W 16W 20W 26W Control method All digital servo Inverter method IGBT driven PWM method PWM frequency 12 kHz 6 kHz Asc penne d pulses Line driver 500 kpps Open collector 200 kpps Weight 0 35 kg 0 42 kg 0 35 kg 0 42 kg Applicable motor capacity 100 W 200 W 200 W 400 W 1 Values inside parentheses are for single phase 200 V u
294. rque Command Filter Time Constant 15 Feed forward Amount 16 Feed forward Command Filter 18 Position Loop Gain 2 19 Speed Loop Gain 2 1A Speed Loop Integration Time Constant 2 1B Speed Feedback Filter Time Constant 2 1C Torque Command Filter Time Constant 2 152 1D Notch Filter 1 Frequency 1500 1E Notch Filter 1 Width 2 20 Inertia Ratio 1 1 Input the Inertia Ratio Pn20 The inertia ratio can be measured with autotuning or set to a calculated value When the inertia ratio is unknown set 300 in Pn20 7 18 Adjustment Functions 7 5 Manual Tuning Gain Switching Function With manual tuning gain 1 and gain 2 can be set manually For example the gain can be switched according to the following conditions To increase responsiveness by increasing the gain during operation To increase servo lock rigidity by increasing the gain when operation is stopped To switch to an optimal gain according to the Operating Mode To reduce the gain to suppress vibration when operation is stopped The function of switching from gain 1 to gain 2 can be used in a variety of applications B Explanation of Settings To use the gain switching function the Gain Switching Input Operating Mode Selection Pn30 and Gain Switch Setting Pn31 parameters must be set For details on parameter settings refer to Parameter Details on page 5 32
295. rt Doing so may result in injury Take precautions to secure safety in case of an unexpected restart Confirm safety after an earthquake has occurred Not doing so may result in electric shock injury or fire DpPPPPPPPPPR Do not use external force to drive the Servomotor Doing so may result in fire Precautions for Safe Use Nee ENN Ne Do not place any flammable materials near the Servomotor Servo Drive or Regeneration Resistor Doing so may result in fire Mount the Servomotor Servo Drive and Regeneration Resistor on metal or other non flammable materials Not doing so may result in fire Do not turn ON OFF the main power supply of the Servo Drive repeatedly at frequent intervals Doing so may result in product failure gt gt gt N Caution Use the Servomotors and Servo Drives in a combination as specified in the manual Not doing so may result in fire or damage to the products gt Do not store or install the product in the following places Doing so may result in fire electric shock or damage to the product Locations subject to direct sunlight Locations subject to ambient temperature exceeding the specified level A Locations subject to relative humidity exceeding the specified level AN Locations subject to condensation due to temperature fluctuations Locations subject to corrosive or flammable gases Locations subject to dust especially
296. ry or equipment damage even if the main circuit power supply is turned OFF externally e g with an emergency stop Do not remove the front cover terminal covers cables or optional items while the power is being supplied Doing so may result in electric shock gt gt gt Precautions for Safe Use Installation operation maintenance or inspection must be performed by authorized personnel only Not doing so may result in electric shock or injury Wiring or inspection must not be performed for at least 15 minutes after turning OFF the power supply Doing so may result in electric shock Do not damage pull on put excessive stress on or put heavy objects on the cables Doing so may result in electric shock stopping product operation or burning Do not touch the rotating parts of the Servomotor during operation Doing so may result in injury Do not modify the product Doing so may result in injury or damage to the product Provide a stopping mechanism on the machine side to ensure safety The holding brake is not designed as a stopping mechanism for safety purposes Not doing so may result in injury Provide an external emergency stopping mechanism that can stop operation and shut off the power supply immediately Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power interruption to avoid danger due to an unexpected resta
297. s B Power Supply Cables Specifications Model Power Supply Input Cable for Single Phase Power connectors 2m R7A CLB002S2 attached Power Supply Input Cable for Three Phase Power connectors Sm R7A CLB002S3 attached External Regeneration Resistor Connection Cable 2m R7A CLB002RG B Personal Computer Monitor Cable Specifications Model Personal Computer Monitor Cable 2m R88A CCGO002P2 B Connectors 2 9 Specifications Model Main Circuit Connector CNA R7A CNBO1P Servomotor Connector CNB R7A CNBO1A Control I O Connector CN1 R88A CNWO1C Encoder Input Connector CN2 R88A CNWO1R Servomotor Connector for Encoder Cable R88A CNGO2R Servomotor Connector for Servomotor Power Cable R88A CNGO1A Brake Cable Connector R88A CNGO1B 2 1 Standard Models Bi Servo Relay Units for CN1 Specifications Model For CJ1W NC133 NC113 For CS1W NC133 NC113 XW2B 20J6 1B For C200HW NC1 13 For CJ1W NC233 NC433 NC213 NC413 For CS1W NC233 NC433 NC213 NC413 XW2B 40J6 2B For C200HW NC213 NC413 Servo Relay Units For CJ4M CPU 1 XW2B 20J6 8A For CJ1M CPU22 XW2B 40J6 9A For CJ1M CPU23 for 2 axes For FQM1 MMP22 XW2B 80J7 12A For CQM1H PLB21 For CQM1 CPU43 V1 XW2B 20J6 3B Bi Servo Relay Unit Cables for Servo Drives Specifications Model For Position Control Unit
298. s a percentage of the rated o load 10 Inertia ratio Displays the inertia ratio 96 11 Total feedback pulses Displays the total number of pulses since the power Pulse supply was turned ON Total command pulses PPY 12 Pulse Press the Data key for 5 s or longer to reset the value 13 Not used 14 Not used um 15 PUIGIAUC Sano Automatic Servomotor recognition is always enabled recognition display 5 32 Operating Functions 5 10 User Parameters Pn02 Control Mode Selection All modes 0to2 Setting range Unit Default setting 2 Power OFF 2 ON Yes Set the control mode to be used Explanation of Settings Setting Explanation 0 High response Position Control 1 Internally Set Speed Control 2 Advanced Position Control Differences between High response Position Control and Advanced Position Control EM T Realtime Autotun Adaptive Filter Bund D Fre bier em ing Mode Selection Table Number 3 y 3 y Pn21 Display Pn2F High response Position Conditional Conditional Conditional Disabled Control Advanced Position Enabled Enabled Enabled Enabled Control Example Operating Functions disabled even if the Notch Filter 1 Frequency is input The adaptive filter is disabled in High response Position Control Mode To use the adaptive filter use the Advanced Position Control Mode Th
299. s from occurring Do not leave any conductive part unconnected Ground all Units within the case to the case itself 4 20 System Design 4 3 Wiring Conforming to EMC Directives B Door Structure Use a metal door Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams below Use a conductive gasket between the door and the case as shown in the diagrams below Refer to the diagrams below Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting so that they will be electrically conductive The door may warp and gaps may appear between the door and case when screws are tightened Be sure that no gaps appear when tightening screws Case A Door B Door Oil resistant gasket Conductive gasket Control panel Cross sectional view of A B Oil resistant gasket Conductive gasket Door interior view 4 21 4 3 Wiring Conforming to EMC Directives Selecting Connection Components This section explains the criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable conditions when selecting the components For more details contact the manufacturers directly B No fuse Breakers NFB Whe
300. s internally connected to the common terminals 4 Applicable crimp terminal R1 25 3 round with open end B XW2B 20J6 3B This Servo Relay Unit connects to the following OMRON Programmable Controllers COM1H PLB21 Pulse I O Board for CQM1H CPU51 CPU61 CQM1 CPU43 V1 Dimensions 3 55 CQM1 connector Servo Drive connector 3 5 135 3 5 2 Terminal Block pitch 7 62 mm 3 5 Servo Relay Units and Cable Specifications Wiring CCW RUN feces INP E BKIR ram CQM1 Input Unit Ks S lr 24 VDC 1 If this signal is input the output pulse from the CQM1 will be input to the high speed counter 2 Input this output signal to a CQM1 Input Unit 3 The XB contacts are used to turn ON OFF the electromagnetic brake Specifications 4 The phase Z is an open collector 5 Do not connect unused terminals 6 The 0 V terminal is internally connected to the common terminals 7 Applicable crimp terminal R1 25 3 round with open end B XW2B 20J6 8A This Servo Relay Unit connects to the following OMRON Programmable Controllers CJ1M CPU21 CPU22 CPU23 for 1 axis 3 56 Specifications 3 5 Servo Relay Units and Cable Specifications Dimensions CJ1M CPU21 22 23 connector Servo Dri
301. sabled when Pn22 gt F 8 1319 30 562 52 239 Disabled when Pn22 gt F 9 1269 31 540 53 230 Disabled when Pn22 gt F 10 1221 32 520 54 221 Disabled when Pn22 E 11 1174 33 500 55 213 Disabled when Pn22 E 12 1130 34 481 56 205 Disabled when Pn22 E 13 1087 35 462 57 197 Disabled when Pn22 gt E 14 1045 36 445 58 189 Disabled when Pn22 gt E 15 1005 37 428 59 182 Disabled when Pn22 gt D 16 967 38 412 60 Disabled 17 930 39 396 61 Disabled 18 895 40 381 62 Disabled 19 861 41 366 63 Disabled 20 828 42 352 64 Disabled 21 796 43 339 5 10 User Parameters Pn30 Gain Switching Input Operating Mode Selection Position Setting range O or 1 Unit Default setting 1 Power OFF gt ON Set this parameter to enable or disable gain switching If gain switching is disabled the gain switching input can be used to switch between PI operation and P operation If gain switching is enabled the setting of the Gain Switch Setting Pn31 is used as the condition for switching between gain 1 and gain 2 Explanation of Settings Setting Explanation Gain switching is disabled tween PI operation and P operation Gain 1 Pn10 to Pn14 is used and the Gain Switch Input GSEL will be used to switch be Gain switching is enabled The gain will be switched between gain 1 in Pn10 to Pn14 and gain 2 Pn18 to Pn1C
302. sconnect the Parameter Unit from the Servo Drive while copying is being performed If the Parameter Unit is disconnected reconnect it and repeat the procedure from the beginning If an error is repeatedly displayed the following are the possible causes cable disconnection connector contact failure incorrect operation due to noise or EEPROM fault in the Parameter Unit 6 20 6 3 Using the Parameter Unit E Copying from the Parameter Unit to the Servo Drive 1 Displaying Copy Mode Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key five times to display Copy Mode DOGO Press the Increment key to switch to the copy display for copying from the Parameter Unit to the Servo Drive 2 Checking the Servo Drive Model Code Key operation Display example Explanation Press the Data key to enter Copy Mode Q5 Press and hold the Increment key until EEP CH is displayed DIFFER will be displayed if a different model code is entered The bar indicator will increase when the key is pressed for 3 s or longer Operation The bar indicator will increase The Servo Drive model code is being checked If a different model code has been entered refer to 3 Different Model Codes below to perform the procedure If the model codes match the display
303. se 3 2 Specifications 3 1 Servo Drive Specifications Main Circuit and Servomotor Connector Specifications CNA and CNB B R7A CNBO1P Main Circuit Connector CNA Specifications 5 10 1 6 CNA Connector gt Ov omon jc 7 fmm mam geo C Ll za lanan S Main Circuit Connector CNA Pin Arrangement Symbol Pin No Name Function L1 10 For three phase 200 V connect to L1 pin 10 L2 L2 8 Main circuit power pin 8 and L3 pin 6 supply input terminals For single phase 100 200 V connect to L1 pin 10 L3 6 and L3 pin 6 i 2 xena Regeneration If regenerative energy is high connect an External Resistor connection i B1 3 Regeneration Resistor terminals FG 1 Frame ground This is the ground terminal Ground to 100 Q or less B R7A CNBO1A Servomotor Connector CNB Specifications 6 CNB Connector Servomotor Connector CNB Pin Arrangement Symbol Pin No Name Color Function U 1 Red Servomotor These are the output terminals to the Ser V 4 i White connection terminals vomotor Be careful to wire them correctly W 6 Blue 3 Frame ground sae Connect the Servomotor FG terminals 3 3 3
304. se Terms are deemed part of all quotes agreements purchase orders acknowledgments price lists catalogs manuals brochures and other documents whether electronic or in writing relating to the sale of products or services collectively the Products by Omron Electronics LLC and its subsidiary companies Omron Omron objects to any terms or conditions proposed in Buyers purchase order or other documents which are inconsistent with or in addition to these Terms Prices Payment Terms All prices stated are current subject to change with out notice by Omron Omron reserves the right to increase or decrease prices on any unshipped portions of outstanding orders Payments for Products are due net 30 days unless otherwise stated in the invoice Discounts Cash discounts if any will apply only on the net amount of invoices sent to Buyer after deducting transportation charges taxes and duties and will be allowed only if i the invoice is paid according to Omron s payment terms and ii Buyer has no past due amounts Interest Omron at its option may charge Buyer 1 1 2 interest per month or the maximum legal rate whichever is less on any balance not paid within the stated terms Orders Omron will accept no order less than 200 net billing Governmental Approvals Buyer shall be responsible for and shall bear all costs involved in obtaining any government approvals required for the impor tation or sale of the Products Taxes A
305. se damage to Units and the Servo Drive Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 5 VDC power supply for the command pulse inputs as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent Appendix 1 B Connection Example 2 Connecting to SYSMAC CJ1W NC113 213 413 Position Control Units Main circuit power supply nme NFB OFF ON Main circuit contactor 0 70MM TTE LEE pm X1 uu Surge suppressor 3 phase 200 240 VAC 50 60 Hz S Q Gio 9 4 MC1 x1 e Servo error display o TO 6d Groundto CJ1W NC113 213 413 100 Qor less R7D BP Reactor l Contents No R7A CPBUS _ 24 V power supply for outputs A1 24 VbC1 i T i i TET 0 V input for output f xx CW MC1 Z CW with a resistor CW gt Connect External Regeneration 8 CW without a resistor ex CCW gt Resistor wh
306. sed Do not change setting Pn29 Not used Do not change setting Pn2A Not used Do not change setting 5 41 5 10 User Parameters Vibration Frequency Pn2B Position Setting range 0 to 5000 Unit x 0 1 Hz Default setting 0 Power OFF 2 ON Set vibration frequency for damping control to suppress vibration at the end of the load The minimum frequency that can be set is 100 10 0 Hz The parameter will be disabled if it is set to 0 to 99 The Notch Filter 1 Frequency Pn1D and Realtime Autotuning Mode Selection Pn21 must be disabled if damping control function is used with the Control Mode Selection Pn02 set to 0 high response position control For details refer to Damping Control on page 7 23 Pn2C Vibration Filter Setting Position Setting range 200 to 2500 Unit x 0 1 Hz Default setting 0 Power OFF 2 ON Set the vibration filter for damping control to suppress vibration at the end of the load When the Vibration Frequency Pn2B is set set a small value if torque saturation occurs and set a large value to achieve faster positioning Normally set the parameter to O For details refer to Damping Control on page 7 23 Pn2D Not used Do not change setting Pn2E Not used Do not change setting 5 42 Operating Functions Operating Functions 5 10 User Parameters Pn
307. shaft conversion value Note 2 The protective structure of Servomotors with Decelerators satisfies IP44 Note3 The allowable radial load is the value at the T 2 position Note 4 The standard models have a straight shaft Models with a key and tap are indicated with J at the end of the model number the suffix in the box Note 5 The values in parentheses are those when using a 100 V motor 3 27 B Backlash 15 Max Decelerators for Cylindrical Servomotors 3 3 Decelerator Specifications Merd Maxi Rated mum Allow Allow Effi mum Decelera rota Rated elenco momen one ir able able Weiaht Model tion torque z tary x Mane radial thrust 9 R88G speed Y rotation y load load torque speed r min Nm 96 r min N m kg m N N kg 1 5 VRSFO5B100CJ 600 0 52 65 1000 1 55 4 00x10 392 196 0 55 50 1 9 VRSFO9B100CJ 333 0 93 65 556 2 79 3 50x10 9 441 220 0 55 W 1 15 VRSF15B100CJ 200 1 67 70 333 5 01 3 50x10 8 588 294 0 70 1 25 VRSF25B100CJ 120 2 78 70 200 8 34 3 25x10 8 686 343 0 70 1 5 VRSF05B100CJ 600 1 19 75 1000 3 57 4 00x10 8 392 196 0 55 100 1 9 VRSF09B100CJ 333 2 29 80 556 6 87 3 50x10 8 441 220 0 55 W 1 15 VRSF15B100CJ 200 3 81 80 333 11 4 3 50x10 9 588 294 0 70 1 25 VRSF25B100CJ 120 6 36 80 200 19 0 3 25x10 9 686 343 0 70 1 5 VRSFO5B200CJ 600 2 70 85 1000 8 10 1 18x1075 392 196 0 72 200 1 9 VRSF09C200CJ 333 3 77 66 556 11 3 2 75x1075 93
308. sing the Parameter Unit Operation CN1 Signal Pin Function No Symbol Name No 00 RUN RUN Command 2 If the RUN signal turns ON a Servo lock oc curs and g is displayed 01 RESET Alarm Reset 3 If the RESET signal turns ON the alarm is re set and is displayed 02 NOT Reverse Drive Prohibit 7 If the Drive Prohibit Input Selection Pn04 is set to disable the prohibit inputs setting 1 is displayed 03 POT Forward Drive Prohibit 8 If Pn04 is set to enable the prohibit inputs set ting 0 the Servomotor stops and a is displayed when the POT signal turns OFF 04 Not used The Servomotor stops and g is displayed if 05 VZERO Zero Speed 5 this signal turns OFF when the Zero Speed Designation Designation Torque Limit Switch PnO6 is set to 1 Electronic Gear If the GESEL signal turns ON the Electronic 06 GESEL 6 Gear Ratio Numerator 2 is enabled and is Switch displayed 07 to 08 Not used When the Gain Switching Input Operating Mode Selection Pn30 is set to 0 and the 9n GSEL Gain Switch 2 GSEL signal turns OFF PI operation is en abled and is displayed Deviation Counter Used to reset the deviation counter 0A ECRST 4 When the ECRST signal turns ON is Reset displayed 0B Not used 0C VSEL1 Internally Set Speed 6 When VSEL1 and VSEL2 are ON a is Selection 1 displayed oD VSEL2 Internally Set Speed 4 Selection 2 OE to 1F
309. ssssss Communications Cable Specifications Connector Specifications esses Control Cable Specifications ssssssss 3 5 Servo Relay Units and Cable Specifications na aaaea aeaa e aaa aaa iae Servo Relay Units Specifications uusss Servo Drive Servo Relay Unit Cable Specifications Position Control Unit Servo Relay Unit Cable Specifications een URINE 3 6 Parameter Unit Specifications 3 7 External Regeneration Resistors SpeciliCatiDns x one ross 3 8 Reactor Specifications Specifications 3 1 Servo Drive Specifications 3 1 Servo Drive Specifications 3 1 Select the Servo Drive matching the Servomotor to be used For details refer to Servo Drive Servomotor Combinations on page 2 2 EM General Specifications Item Specifications Ambient operating temperature Ambient operating humidity 0 to 55 C 90 RH max with no condensation Ambient storage temperature Ambient storage humidity 20 to 65 C 90 RH max with no condensation Storage and operating atmosphere No corrosive gasses no dust no iron dust no exposure to moisture or cutting oil Vibration resistance 10 to 60 Hz acceleration 5 9 m s 0 6 G max Impact resistance Acceleration of 19 6 m s max 3 times each in X Y and Z directions
310. stant 2 Altmades Setting range 0 to 2500 Unit x 0 01 ms Default setting 100 Power OFF gt ON These parameters are for the gain and time constants selected when gain switching is enabled in the Gain Switching Input Operating Mode Selection Pn30 The gain is switched according to the condition set in the Gain Switch Setting Pn31 Ifthe mechanical system inertia changes greatly or if you want to change the responsiveness while the Servomotor is rotating and stopped you can achieve the appropriate control by setting the gains and time constants beforehand for each condition and switch between them according to the condition These parameters are automatically changed by executing realtime autotuning function To set Gain switching function is enabled only for position control For Internally Set Speed Control operation will be performed using gain 1 Pn11 Pn12 Pn13 and Pn14 them manually set the Realtime Autotuning Mode Selection Pn21 to 0 PniD Notch Filter 1 Frequency All modes Setting range 100 to 1500 Unit Hz Default setting 1500 Power OFF ON Set the notch frequency of the resonance suppression notch filter Set this parameter to approximately 10 lower than the resonance frequency of the mechanical system The notch filter function will be disabled if this parameter is set to 1500 PniE Notc
311. supports 90 phase difference inputs This makes it possible to input encoder output signals directly into the Servo Drive for simplified synchronization control B A Wide Range of Pulse Setting Functions A wide range of pulse setting functions such as the command pulse multiplying electronic gear and encoder dividing enable you to perform pulse settings suitable for your device or system B Simplified Speed Control with Internal Speed Settings Four internal speed settings allow the speed to be easily switched by using external signals B Encoder Dividing Output Function The number of motor encoder pulses output by the Servo Drive can be freely set in the range of 1 to 2 500 pulses per rotation A parameter can also be set to change the phase 1 2 System Configuration 1 2 System Configuration SYSMAC PLC Position Control Unit with pulse string output Pulse string Position Control Unit YSMA iude Gasies CJ1W NC113 213 413 Programmable Controller CJ1W NC133 233 433 CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 413 SYSMAC PLC with pulse output functions Features and System Configuration e LIN A SMARTSTEP 2 Servo Drive R7D BP SYSMAC CP1H CP1L Flexible Motion Controller with Pulse I O OMNUC G Series Servomotor FQM1 MMP22 R88M GL GP Features and System Con
312. th a suitable amount of oil Install the Servomotor so that oil does not accumulate around the oil seal B Other Precautions 4 5 Take measures to protect the shaft from corrosion The shafts are coated with anti corrosion oil when shipped but anti corrosion oil or grease should also be applied when connecting the shaft to a load Do not apply commercial power directly to the Servomotor Doing so may result in fire Do not dismantle or repair the product N Doing so may result in electric shock or injury 4 1 Installation Conditions Decelerators Bi Installing Decelerators Use only the specified combinations of Servomotors and Decelerators Refer to Decelerator Specifications on page 3 26 The service life of the motor bearings may be shortened if you use a combination that is not specified another company s decelerator or another company s servomotor The dimensions of the Servomotor mounting flange on the Decelerators differ for each Servomotor Do not install a Decelerator on a Servomotor other than the one specified Use the following procedure when installing a Decelerator on the Servomotor When installing the Servomotor avoid the Servomotor shaft s key groove when installing the set bolt Bi Installing an R88G HPGL Backlash 3 Max Use the following procedure to install the Decelerator on the Servomotor Turn the input joint and align the head of the bolt that secures
313. that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to
314. the Servo Drive during the time from Start to Finish If the Parameter Unit is removed during autotuning repeat the procedure from the beginning Always save each gain value changed with autotuning in EEPROM so that the data is not lost when the power is turned OFF If an autotuning error occurs the values for each gain will return to the value before executing autotuning 6 3 Using the Parameter Unit Auxiliary Function Mode The Auxiliary Function Mode includes the alarm reset and jog operation Displaying Auxiliary Function Mode Key operation Display example Explanation The items set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key four times to display Auxiliary Function Mode B Alarm Reset 1 Executing Alarm Reset Key operation Display example Explanation Press the Data key to enter Alarm Reset Mode Press and hold the Increment key until Start is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase Operation Alarm reset will start This display indicates a normal completion Ifiz a5 is displayed an alarm has not been reset Reset the power supply to clear the error 2 Returning to the Display of Auxiliary Function Mode Key operation Display example Explanation
315. the ladder diagram using a bit allocated to the actual input CIO 2960 06 on the Input Unit as shown below 3 58 Specifications 3 5 Servo Relay Units and Cable Specifications Example 2960 06 2540 08 2 The XB and YB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is invalid 4 Do not connect unused terminals 5 The 0 V terminal is internally connected to the common terminals 6 Applicable crimp terminal R1 25 3 round with open end B XW2B 80J7 12A This Servo Relay Unit connects to the following OMRON Programmable Controller FQM1 MMP22 Specifications Dimensions Signal selection switch 160 4 5 dia oT Servo Drive zg phase B selection switch 100 9 o OOD 0 Oll oOB o OD oOB 0 OD oOB o o OOD o Of oO o OM COD 0 Of oOB o IO OOF o Of oOB o OD COD o Of oOB o OD COD o Of oOB o OD OOD 0 Of oOB o OB OOD o Of oOR o iO COD o Of oOB o iO COD o lof oOB o io OOD 0 O8 OOD o OB OOD o OI oOB ol OB OOD o O 00M o OB OOD o DD oO o OD OOD 0 OD oO o OB OOD 0 OD oOB o OB OOD o DD oO o OB 009 oJ DB oOB oj log OOD 0 Of OOF o Controller general purpose I O Controller special O Y axis Servo Drive X axis Servo Dr
316. the reset time becomes longer Used for 24 48 VDC systems Use a fast recovery diode with a short reverse recovery time e g RU2 of Sanken Electric Co Ltd Thyristor or varistor Thyristors and varistors are used for loads when induction coils are large as in electro magnetic brakes solenoids etc and when reset time is an issue The surge voltage at power shutoff is approximately 1 5 times the varistor voltage Select the varistor voltage as follows 24 VDC system Varistor VO 39 V 100 VDC system Varistor VO 200 V 100 VAC system Varistor VO 270 V 200 VAC system Varistor VO 470 V Capacitor resistor The capacitor and resistor dissipate and ab sorb the surge at power shutoff The reset time can be shortened by selecting the ap propriate capacitor and resistance values Okaya Electric Industries Co Ltd XEB12002 0 2 uF 120 Q XEB12003 0 3 uF 120 Q Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for details on these components Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Industrial Co B Contactors Select contactors based on the circuit s inrush current and the maximum momentary phase current The Servo Drive inrush current is covered in the preceding explanation of no fuse breaker selection and the maximum momentary phase current is approximately twice of the rated cur
317. the shaft with the rubber cap 2 Apply sealant to the installation surface on the Servomotor recommended sealant Loctite 515 3 Gently insert the Servomotor into the Decelerator As shown in the figures on the next page stand the Decelerator upright and slide down the Servomotor shaft into the input shaft joint while making sure it does not fall over If the Decelerator cannot be stood upright tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 4 Bolt together the Servomotor and the Decelerator flanges Bolt Tightening Torque for Aluminum Allen head bolt size Tightening torque N m M4 3 2 M5 6 3 M6 10 7 5 Tighten the input joint bolt Bolt Tightening Torque for Duralumin Allen head bolt size Tightening torque N m M4 2 0 M5 4 5 Note Always use the torque given in the table above The Servomotor may slip or other problems may occur if the specified torque level is not satisfied The R88G HPG1 1L uses two set screws for the connecting section Allen head bolt size Tightening torque N m M3 0 69 6 Mount the supplied rubber cap to complete the installation procedure For the R88G HPG11L mount two screws with gaskets 4 6 System Design System Design 4 1 Installation Conditions L all ae ne Le a
318. then copy the user parameters from the Parameter Unit to the other Servo Drive Operation 6 22 6 4 Trial Operation 6 4 Trial Operation When you have finished installation wiring Servomotor Servo Drive jog operation and user parameter setting perform trial operation The main purpose of trial operation is to confirm that the servo system operates electrically correctly Make sure that the host position controller and all peripheral devices are connected and turn ON the power Then perform trial operation at low speed to confirm the operation Next perform actual run patterns to confirm that the system works properly If an error occurs during the trial operation refer to Chapter 8 preceullone Troubleshooting to eliminate th Th fety and for Correct Use TOU is ooting to eliminate the cause Then ensure safety and resume operation If the machine vibrates when starting or stopping refer to Chapter 7 Adjustment Functions and perform the gain adjustment first Preparation for Trial Operation B Turning OFF the Power Some parameters are enabled by turning OFF the power and turning it ON again First turn OFF the main circuit power B Preparing for Turning OFF the Servomotor In order that the Servomotor can be immediately turned OFF if an abnormality occurs in the machine set up the system so that the power and the RUN Command Input can be turned OFF Operation Trial Operation 1 Operating witho
319. tions Operating Functions 5 10 User Parameters Pn4A Electronic Gear Ratio Numerator Exponent Position Setting range 0 to 17 Unit Default setting 0 Power OFF ON Pn4B Electronic Gear Ratio Denominator Position Setting range 1 to 10000 Unit Default setting 2500 Power OFF ON Set the pulse rate for command pulses and Servomotor travel distance along with Pn46 and Pn47 Electronic Gear Ratio Numerator 1 Pn46 or x2 Electronic Gear Ratio Numerator Exponent Pn4A Electronic Gear Ratio Numerator 2 Pn47 Electronic Gear Ratio Denominator Pn4B For details refer to Electronic Gear on page 5 9 Pn4C Position Command Filter Time Constant Setting Position Setting range 0to7 Unit Default setting 0 Power OFF ON Set the time constant for the primary lag filter for command pulse inputs f the command pulses are erratic the normal countermeasure is to reduce the stepping movement of the Servomotor Explanation of Settings Setting Explanation 0 No filter 1 Time constant 0 2 ms Time constant 0 6 ms Time constant 1 3 ms Time constant 2 6 ms Time constant 5 3 ms Time constant 10 6 ms N a A O N Time constant 21 2 ms Pn4D Not used Do not change setting
320. tor Drive connector Drive connector 3 5 180 3 5 Terminal Block pitch 7 62 mm Wiring The Servo Drive phase Z output signal is wired to the origin proximity signal in this Terminal Block C3 3 Xaxs X axis X axis X axis X axis Y axis Y axis Y axis Y axis Y axis zav mein ordin EE MING ALM BKIR INS ooi RUN MING ALM BKIR X axis X axis Y axis Y axis O OV Common Common Common Common Common Common RESET ALMCOM Common Common Common Common Common nEsET ALNCOM X axis X axis E Y axis Y axis gt CW limit CCW limit 24 VDC CW limit CCW limit 24 VDC CIO CIO CIO CIO 2960 06 2960 07 2960 08 2960 09 1 1 1 1 1 CW and CCW limit input signals can also be input through Input Units The bits for the CW CCW limit inputs in the CJ1M are as follows CW A540 08 CCW A540 09 for pulse output 0 and CW A541 08 CCW A541 09 for pulse output 1 For example the flag for the CW limit input 4540 08 can be controlled with an output from
321. tor non conformity 24 Deviation counter overflow 96 LSI setting error 26 Overspeed Others Other errors 27 Electronic gear setting error Note The following alarms are not recorded in the history 11 Power supply undervoltage 36 Parameter error 37 Parameter corruption 38 Drive prohibit input error 95 Servomotor non conformity 96 LSI setting error B Software Version ER I I 7 I _ Displays th B Warning Display No warning H Warning Tis overload e software version of the Servo Drive Overload 85 or more of the alarm level for Over regeneration 85 or more of the alarm level for regeneration overload The alarm level will be 10 of the operating ratio of the regeneration resistance if the Regeneration Resistance Selection Pn6C is set to 1 Not used Not used B Regeneration Load Ratio LI e M Displays the load ratio as a percentage of the detection level for the regeneration load 6 13 6 3 Using the Parameter Unit B Overload Load Ratio I m n LI _ or e Displays the percentage of the load ratio as a percentage of the rated load B Inertia Ratio Displays the inertia ratio as a percentage m an m E Total Feedback Pulses Total Command Pulses eee ts
322. tor output 1 This is OFF for approximately 2 seconds after turning ON the power Note An open collector output interface is used for sequence outputs maximum operating voltage 30 VDC maximum output current 50 mA 3 6 Specifications 3 1 Servo Drive Specifications B Control I O Signal CN1 Pin Arrangement RUN 24VIN Command 12 to 24 VDC power supply input for control Input Deviation RESET Counter Reset Internally Set ECRST Alarm Reset Encoder Phase A Output Ground Common Input VSEL2 Speed Selection 2 Electronic Gear Switch Internally Set GSEL VZERO TLSEL GESEL Gain Switch Zero Speed Encoder Phase B Output Encoder Phase A Output Designation Torque Limit Switch VSEL1 Speed Selection 1 NOT Forward Drive Reverse Encoder Phase Z Output Encoder Phase B Output Drive Prohibit Prohibit Input Positioning Completed Servomotor Phase Z Output Z Encoder Phase Z Output Alarm Output Rotation Speed Detection Warning Brake Reverse Pulses Feed Pulses Phase A CW PULS FA Reverse Pulses Feed Pulses Phase A Interlock Output Output B CN1 Connectors 26 Pins Soldered Connectors Output Ground Common Forward Pulses Forward Pulse Reverse Pulse Phase
323. ult setting 0 Power OFF 2 ON Set the operating mode for realtime autotuning The higher the setting value is e g 3 or 6 the faster the response is to a change in inertia during operation Operation however may become unstable depending on the operating pattern Normally set the parameter to 1 or 4 To enable the adaptive filter the Control Mode Selection Pn02 must be set to 2 advanced position control The adaptive filter table entry number display will be reset to 0 if the adaptive filter is disabled Changes to this parameter are enabled when the Servo status shifts from OFF to ON The Notch Filter 1 Frequency Pn1D and Vibration Frequency Pn2B must be disabled if realtime autotuning function is used with the Control Mode Selection Pn02 set to 0 high response position control Explanation of Settings Setting Realtime autotuning Degree of change in load inertia during operation Adaptive filter 0 Not used Disabled 1 There is almost no change Enabled 2 There are gradual change Pn02 2 3 There are sudden changes Used 4 There is almost no change 5 There are gradual changes Disabled 6 There are sudden changes Enabled 7 Not used aoe Pn02 2 5 40 Operating Functions Operating Functions 5 10 User Parameters Pn22 Realtime Autotuning Machine Rigidity Selection All modes Setting range
324. ut R88M G05030H N m Er 0 48 0 4 03 Repetitive usage 02 19 16 0 16 0 1 4 ds Continuous usage O 4000 2000 3000 4000 5000 min R88M G20030L N m 2 0 4 1 78 1 78 3300 1 5 Repetitive usage 0 36 Continuous usage 0 3 21 1000 2000 3000 4000 5000 mim R88M G10030L N m 0 95 0 95 1 0 4 3000 0 8 4 ds Repetitive usage 0 6 4 0 4 4 0 32 0 32 Oe Continuous usage 0 20 9 4000 2000 3000 4000 5000 min 3 2 Servomotor Specifications The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M G10030H N m 1 0 4 0 95 0 8 4 06 Repetitive usage 0 4 0 32 0 32 0 2 4 0 19 Continuous usage 1000 2000 3000 4000 5000 min R88M G40030H N m 4 0 4 3 60 3 60 3200 3 0 4 Repetitive usage 204 2 1 1 3 1 3 1 0 4 0 88 Continuous usage O 4000 2000 3000 4000 5000 mim 3 000 r min Flat Servomotors R88M G20030H N m 2 0 1 82 1 82 4300 1 65 1 5 4 Repetitive usage 1 0 4 0 64 0 64 0 5 Continuous usage 0 36 0 1000 2000 3000 4000 5000 r min The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input R88M GP10030L N m 1 0 4 0 85 0 85 4100 0 8 4 0 75 06 Repetitive usage 0 4 40 32 0 32 0 2 0 22 Continuous usage O 4000 2000 3000 4000 5000 Min R88M GP20030
325. ut a Load Turn ON the power to the main circuit and peripheral devices and then turn ON the RUN Command Input Check that the Servomotor is in Servo ON status Send the command to start the Servomotor from the host position controller and check that the Servomotor operates properly according to the command Check that the Servomotor is rotating in the correct direction and the rotation speed and amount of rotation are as specified by the command 2 Mechanical System Connection Turn OFF the power Firmly connect the Servomotor shaft to the load i e the mechanical system Tighten screws and make sure they are not loose Turn ON the power 3 Low speed Operation with Actual Load Connected Send a low speed command from the host position controller to start the Servomotor The definition of low speed depends on the mechanical system but a rough estimate is 1 10 to 1 5 of normal operating speed Check the following items 8 Are the emergency stop and over load switch operating correctly b Is the operating direction of the machine correct 6 4 Trial Operation C Are the operating sequences correct d Are there any abnormal sounds or vibration If vibration occurs when starting or stopping the machine refer to Chapter 7 Adjustment Functions and adjust the gain e Is any error or alarm generated If anything abnormal occurs refer to Chapter 8 Troubleshooting and take the appropriate countermeasu
326. utotuning autotuning and manual tuning B Realtime Autotuning Realtime autotuning estimates the load inertia of the mechanical system in realtime and automatically sets the optimal gain according to the estimated result Realtime autotuning includes the adaptive filter function that estimates the resonance frequency from the vibrating component in the motor speed and automatically sets the notch filter coefficient to suppress the resonance point vibration B Autotuning Autotuning operates the Servomotor according to the operating pattern set in the Autotuning Operation Setting Pn25 estimates the load inertia through the torque required and automatically sets the optimal gain B Manual Tuning Use manual tuning when autotuning cannot be performed due to the restrictions of the operating pattern or load conditions or when maximum responsiveness needs to be obtained for individual loads The default setting is for manual tuning 7 1 7 1 Gain Adjustment Gain Adjustment Procedure Begin adjustment Use automatic adjustment Yes Command inpu possible Yes No i Autotuning Set realtime autotuning Operation OK No Realtime Yes autotuning Adaptive filter Turn OFF automatic adjustment Default settings Manual tuning Turn OFF automati
327. ve connector 3 5 135 3 5 Terminal Block pitch 7 62 mm Wiring The Servo Drive phase Z output signal is wired to the origin proximity signal in this Terminal Block Common Common RESE CWlimit CCW Limit 1 Tec ClO 2960 06 ClO 2960 07 24 VDC T l 24 VDC 1 CW and CCW limit input signals can also be input through Input Units The bits for the CW CCW limit inputs in the CJ1M are as follows CW A540 08 CCW A540 09 for pulse output 0 and CW A541 08 CCW A541 09 for pulse output 1 For example the flag for the CW limit input 4540 08 can be controlled with an output from the ladder diagram using a bit allocated to the actual input CIO 2960 06 on the Input Unit as shown below Example po NM A540 08 2 The XB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is invalid 4 Do not connect unused terminals 5 The 0 V terminal is internally connected to the common terminals 6 Applicable crimp terminal R1 25 3 round with open end 3 57 3 5 Servo Relay Units and Cable Specifications B XW2B 40J6 9A This Servo Relay Unit connects to the following OMRON Programmable Controllers CJ1M CPU21 CPU22 CPU23 for 2 axes Dimensions X axis Servo Y axis Servo CJ1M CPU21 22 23 connec
328. viation counter status when the RUN Command Input RUN is turned OFF During deceleration Dynamic brake 0 After stopping Dynamic brake Deviation counter Cleared During deceleration Free run 1 After stopping Dynamic brake Deviation counter Cleared During deceleration Dynamic brake 2 After stopping Servo free Deviation counter Cleared 69 Stop Selection During deceleration Free run 0 T 0107 T with Servo OFF 3 After stopping Servo free Deviation counter Cleared During deceleration Dynamic brake 4 After stopping Dynamic brake Deviation counter Hold During deceleration Free run 5 After stopping Dynamic brake Deviation counter Hold During deceleration Dynamic brake 6 After stopping Servo free Deviation counter Hold During deceleration Free run 7 After stopping Servo free Deviation counter Hold When the Servomotor is stopped and the RUN Brake Timin Command Input RUN is turned OFF the Brake In Ooto 6A When Sto i terlock Signal BKIR will turn OFF and the Servo 10 2 ms 100 pp motor will turn OFF after the time set for this parameter elapses i e setting x 2 ms When the Servomotor is operating and the RUN Command Input RUN is turned OFF the Servo Brake Timing motor will decelerate to reduce speed and the 0 to 6B during Brake Interlock Signal BKIR will turn OFF after a 50 2 ms 3 100 Operation set time i e setting x 2 ms has elapsed BKIR will also turn OFF if the speed drops to
329. vo Drive type the applicable Servomotor capacity and the power supply voltage R7D BP01H SMARTSTEP 2 Servo Drive Drive Type P Pulse string input type Applicable Servomotor Capacity A5 50 W 01 100 W 02 200 W 04 400 W Power Supply Voltage L 100 VAC H Single Three phase 200 VAC HH Single phase 200 VAC Note Single phase Haploid phase Items to Check When Unpacking Servomotor Models The model number provides information such as the Servomotor type Servomotor capacity rated rotation speed and options R88M GP 10030H BOS2 G Series Servomotor Motor Type None Cylinder type P Flat type Servomotor Capacity 050 50 W 100 100 W 200 200 W 400 400 W Rated Rotation Speed 30 3000 r min Power Supply Voltage H 200 VAC L 100 VAC Options None Straight shaft B With brake O With oil seal S2 With key and tap 12 About this Manual About this Manual This manual consists of the following chapters Refer to this table and choose the required chapters of the manual Overview Chapter 1 Features and System Describes the features and names of parts of the product as well P Configuration as the EC Directives and the UL standards Provides the model numbers external and mounted dimensions Standard Models and Chapter 2 for Servo Drives Servomotors Decelerators and periphe
330. ward Pulse Pin 25 Forward Pulse CW Feed Pulse PULS or Phase A FA CW Feed Pulse PULS or Phase A FA CCW Direction Signal SIGN or Phase B FB CCW Direction Signal SIGN or Phase B FB TET Functions The functions of these signals depend on the setting of the Command Pulse Mode Pn42 Setting Command pulse mode Input pins Servomotor forward command Servomotor reverse command i t 22 FA PhaseA ET L TL 90 phase difference 23 FA b d PUE signals 24 FB Phase B Fe 1 NE tod Ho t 25 FB Line driver t122us Open collector t1 gt 5 us 21 Low 22 CW i 2 1 Reverse pulse forward 23 CW I pulse 24 CCW 1 Low 25 CCW t2 t2 I Line driver t2 gt 1 us Open collector t2 2 2 5 us I e LI Le 22 PULS t2 12 0 t 3 Feed pulse direction 23 PULS signal 24 SIGN 25 SIGN Line driver t2 2 1 us Open collector t2 2 2 5 us If the photocoupler LED is turned ON each signal will go high as shown above 3 11 3 1 Servo Drive Specifications Control Output Circuits B Position Feedback Output Servo Drive 15 A Phase MA nm Output line driver o AM26C31 or Phase Beso else equivalent Phase E a B Control Alarm Outputs Servo Drive To other output circuits Controller R 12
331. when Use this parameter to set the output timing of the Brake Interlock Page 5 58 Stopped Signal BKIR when the Servomotor is stopped Pn6B Brake Timing during Use this parameter to set the output timing of the Brake Interlock Page 5 59 Operation Signal BKIR when the Servomotor is rotating 9 Operation m RUN Command Timing When Servomotor Is Stopped RUN command ON OFF ege Approx 10 ms RR Approx 1 to 5 ms Brake Interlock BKIR B ON Brake power suppl p pply OFF 200 ms max 100 ms max Brake operation Released Held Pulse command pog Supplied LH Approx 40 to 45 ms Pn6A 2 SOON Jq o ower su p nee Not supplied 1 The time from turning ON the brake power supply to releasing the brake is 200 ms max Provide a pulse command after the brake has been released taking into account this delay 2 The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis take this delay into account and set the Brake Timing when Stopped Pn6A longer so that the Servomotor power is turned OFF after the brake has been held 5 11 5 6 Brake Interlock B RUN Command Errors and Power Supply Timing When Servomotor Is Rotating P I oN ower su id OFF RUN command ON OFF Al tput ALM id arm output OFF ON Bbrake interlock BKIR OFF Approx 1 to 5 ms Servomotor
332. when the main circuit power supply or the control circuit power supply is turned OFF Note 2 When turning OFF the main circuit power supply turn OFF the RUN Command Input RUN signal at the same time 4 14 System Design 4 2 Wiring B R7D BP01H BP02H BP04H Ground to 100 Q or less imc V T Three phase 200 to 240 VAC 50 60 Hz R7D BP01H BP02H BP04H Noise filter Main circuit power supply OFF ON Main circuit contactor 1 X 1MC SMARTSTEP 2 Series Servo Drive 1 Servo error display OMNUC G Series External regeneration resistor System Design 24VDC o2 RUN 24 VDC x 99 ALM 11 BKIR User B1 CN1 1 24VIN CN2 CN1 CN1 18 OGND CN1 control device 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives We recommend that you install two contactors to help prevent accidents that may occur due to contact welding or other factors 2 Recommended Relay OMRON G7T Relay 24 VDC model 3 An External Regeneration Resistor can be connected Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Driv
333. will proceed to the display in 4 Ex ecuting Copying 3 Different Model Codes Key operation Display example Explanation 9 The decimal point will move to the left when the Shift key is pressed for 3 s or longer The model codes are being matched Press the Data key to cancel copying before completion 4 Executing Copying Key operation Display example Explanation e i i Writing user parameters in EEPROM of the Servo Drive will start This display indicates a normal completion 6 21 6 3 Using the Parameter Unit 5 Returning to the Display of Copy Mode Key operation Display example Explanation Press the Data key to return to the Copy Mode Display i If Error is displayed before completion repeat the procedure from the Precautions BERI for Correct Use eginning Press the Data key to clear the error If an error is repeatedly displayed the following are the possible causes cable disconnection connector contact failure incorrect operation due to noise or EEPROM fault in the Parameter Unit Do not disconnect the Parameter Unit from the Servo Drive while copying is being performed If the Parameter Unit is disconnected incorrect data may be written and the data may be corrupted Copy the user parameters again from the source Servo Drive to the Parameter Unit and
334. y when torque limit switching function is enabled 5 9 Overrun Limit 5 9 Overrun Limit The overrun limit function is enabled only in Position Control Mode The overrun limit is used to stop operation via an alarm if the Servomotor s allowable operating range set in Overrun Limit Setting Pn26 is exceeded The overrun limit is effective in the following case Preventing impact on the edges of the machine because of Servomotor oscillation Parameters Requiring Settings ia cal Parameter name Explanation Reieranes Overrun Limit Set the operating range for the Servomotor The overrun 7 Pn26 Setting limit is disabled if the setting is 0 Page 5 4 Operation Bi Servomotor Stopped Servo Locked Since the Servomotor is stopped the Servomotor s allowable operating range is within the travel distance set in the Overrun Limit Setting Pn26 for both sides of the Servomotor stop position If Servo L motor 2 2 222222222222 Range of Err43 Servomotor s allowable operating range Range of Err43 B In Operation Traveling When a position command is input the Servomotor s allowable operating range will increase according to the position command In the following figure an alarm will occur if the load enters the setting range on the left side before travel and the setting range on the right side after travel due to oscillation or for other reaso

Motion & Drives - Servo Systems

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Motion &amp; Drives - Servo Systems

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Motion & Drives - Servo Systems