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1. socket 54280 30 m 40 m 50 m 0600 OMRON Cable Specifications Connector on driver end manufactured by MOLEX JAPAN CO Ltd Crimp terminal 50639 8091 Connector plug 55101 0600 h R88A CRWBLILILIN Connector on motor end lrepresents one of the fol manufactured by Daiichi lowing cable lengths Denshi Kogyo Co Ltd 5 10 15m 20 Connector socket 30 40 50 MS3106B20 29S Connector on driver end manufactured by MOLEX JAPAN CO Ltd Crimp terminal 50639 8091 Cable clamp MS3057 12A Connector plug 55101 0600 R88A CPWLILILIMO cable lengths 1m 2m 3m 5m represents the number of axes 1 1 axis 2 2 axes 1 axis Position Control Unit XW2B 20J6 1B Remarks 2 axis Position Control Unit XW2B 40J6 2B 1 axis CJ1M XW2B 20J6 8A 2 axis CJ1M XW2B 40J6 9A Servodriver Con necting Cable XW2B 20J6 1B XW2B 40J6 2B XW2B 20J6 3B XW2B 20J6 8A or XW2B 40J6 9A Servo Relay Unit XW2B 40J6 4A Servo Re lay Unit CS1W NC113 or C200HW NC113 Position Control Unit Position Control Unit Connecting Cable CS1W NC213 413 or C200HW NC213 413 Posi tion Control Unit CJ1W NC113 Position Con trol Unit CJ1W NC213 413 Position Control Unit CJ1M CJ1M CPU22 23 Control Cable General purpose Controller XW2Z LILIL J B4 1 represents either of the follow ing cable lengths 1m 2m XW2Z LILI 1J B8 1 represents either of
2. 3 w 0 0 Bi 7 torque Rated speed 1 000 Max momentary r min 2 000 speed Rotor inertia gt TEE 7 24 13 9 20 5 31 7 46 0 67 5 89 0 125 without brake Powerrate i2 92 69 Jos res 0 a a Applicable load Multiple 10 tia Allowable radialload N 1176 1470 1764 on shaft Allowable thrust load on shaft Approx weight 14 18 23 30 40 without brake Approx weight with brake Encoder resolution A B phase 32 768 pulses rev Z phase 1 pulse rev ABS aoc volt 24 VDC 10 Pd consump W tion Current con sumption Static friction N m 4 41 12 7 43 1 72 6 torque Rang mean Brake specifications 22 OMRON Servomotor Specifications General Motor Specifications Cylinder style Motors 1 000 r min E TEE Storage 20 to 60 C Operating 20 to 80 with no condensation Storage 20 to 80 Vibration resistance Insulation resistance Dielectric strength Operating position Construction Totally enclosed self cooling EC directives EMC directive Low voltage directive IEC60034 1 5 8 9 EN60034 1 9 UL standards UL1004 cUL standards cUL C22 2 No 100 Note Enclosure ratings do not include the shaft opening Torque and Rotation Speed Characteristics Cylinder style Motors with 200 VAC Power Supply 1 000 r min The following graphs show characteristics with a standard 3 m cable and 200 VAC input
3. Note 1 When using a motor with brake a cable for the power con nector is required in addition to the cable for the brake con nector 2 The boxes OLLI indicate cable length OMRON Ordering Information Encoder Cables Specification Model 30 W to 750 W cylinder style R88A CRWA003C motors 3 000 r min R88A CRWAO005C 100 W to 1 5 kW flat style mo js 1 kW to 5 kW cylinder style mo R88A CRWBO003N tors 3 000 r min R88A CRWBOO5N 450 W to 15 kW cylinder style R88A CRWBO10N motors 1 500 r min 15 300 W to 5 5 kW cylinder style motors 1 000 r min R88A CRWB020N 30m R88A CRWB030N R88A CRWB040N R88A CRWB050N Encoder Cable for 70 m connec 1 m R88A CRW001 tion cable line material only Note All these cables are common to incremental and absolute en coders Control Cables and Relay Units Specification For Control cables for 1 axis R88A CPW001M1 tion Con common to SYSMAC CS1 R88A CPWO002M1 trol Units C200H and CV series RESA CPWOO3M1 PCS R88A CPWO05M1 Control cables for 2 axes R88A CPWO01M2 common to SYSMAC CS1 R88A CPWO02M2 C200H and CV series RESA CPWOO3M2 PCS 88 005 2 Servo Relay For CS1W NC113 XW2B 20J6 1B 133 CJ1W NC113 133 C200HW NC113 and 3F88M DRT141 For CS1W NC213 XW2B 40J6 2B 413 233 433 CJ1W NC213 413 233 433 and C200HW NC213 413 For CQM1 CPU43 XW2B 20J6 3B CQM1H PLB21 For Posi tion Con trol
4. OMNUC VV series AC Servomotors Servodrivers Series now includes 1 500 r min Servomotors O Servodrivers now available with capacities of up to 15 kW The advanced W Series of Servomotores and Servodrivers are loaded with functions They can also be connected to DeviceNet networks allowing easier distributed control and information management realizing C us 4 Dramatically improved Y basic performance To realize the productivity improvements demanded of equipment today you have to maximize the equip ment s performance with the best possible control The OMNUC W series CPU operation time has been cut in half and the settling time has been slashed to one third compared to the OMNUC U Series These improvements and others such as upgraded control algorithms have helped to dramatically improve ba sic performance More variety to suit different applications The OMNUC W Series has a wide range of variations to help build the ideal system Space saving flat Ser vomotors water resistant IP67 compatible Servomo tors and Servomotors with gears are all available even with capacities over 1 kW which could not be handled with earlier models Of course absolute en coder compatibility and braking are still available and the Servomotors conform to safety standards such as CE and UL cUL The built in online autotun ing function is effective in applications with machi nery that has variable loads The autotu
5. R88M W1K315 1 8 R88M W1K815 2 9kW R88M 2 915 4 4kW R88M W4K4155x 5 5 kW R88M W5K515x 7 5kW R88M W7K5155x 11 kW 88 W11K015 15 kW R88M W15K015 Note 1 Yes represents compatible combinations Any combina tions without Yes cannot be used 2 These reduction gears can be attached to only shafts with key 3 The motors are equipped with absolute encoders only These encoders can however be used as incremental en coders OMRON Servomotor and Reduction Gear Combinations 300 W to 5 5 kW Cylinder style Motors 1 000 r min Motor Basic model Reduction gear ratio Bow ETRE ves e soow neewweonios l ws ves ves Des Des haww Des ves Baw Des ves ves ves Hw newwasn L L T ssw 1 L i Note 1 Yes represents compatible combinations Any combina tions without Yes cannot be used 2 These reduction gears can be attached to only shafts with key 11 OMRON System Configuration System Configuration Flexible S
6. 3 m 5 m 10 m 15 m 20m 30 m 40 m 50m R88A CAWFLILILIS Ll represents one of the fol lowing cable lengths 3 m 5 m 10 m 15 m 20 m 30 m 40 m 50m R88A CAWELILIL B L represents one of the fol lowing cable lengths 3 m 5 10 m 15 m 20m 30 m 40 m 50m R88A CAWALILILIB L represents one of the fol lowing cable lengths 3 m 5 m 10 m 15 m 20 30 m 40 m 50m R88A CAWBLILILIB L represents one of the fol lowing cable lengths 3 m 5 m 10 m 15 m 20m 30 m 40 m 50m R88A CAWCLIL 1 TB Ll represents one of the fol lowing cable lengths 3 m 5 m 10 m 15 m 20 m 30 m 40 m 50m R88A CAWDLILILIB Ll represents one of the fol lowing cable lengths 3 m 5 m 10 m 15 m 20m 30 m 40 m 50m Connector on motor end manufactured by Daiichi Denshi Kogyo Co Ltd Connector cap MS3106B32 17S Cable clamp MS3057 20A Connector on motor end manufactured by Daiichi Denshi Kogyo Co Ltd Connector MS3106B32 17S Cable clamp MS3057 20A Connector on motor end by Daiichi Denshi Kogyo Co Ltd Connector cap MS3106A10SL 3S Cable clamp MS3057 4A Connector on motor end manufactured by AMP Ja pan Ltd Connector cap 350781 1 Connector socket 350689 3 Connector on motor end manufactured by AMP Ja pan Ltd Connector cap 350781 1 Connector socket 350551 6 pins 1 to 3 350551 3 pin
7. 34 Phase PG Dividing Ratio Output iti usa Applicable Line Receiver E reset caspa E Ki Par ye hase SN75175 or MC3486 manufactured a by TI or the equivalent 19 3 iko p 12 L 251 TZPhase Z PA PCOM a 201 Z command power PCOM supply 4 gt 55 LABS 49 Absolute Encoder Signal Output PME a BAT gt 5 Serial Data Output Back batterv 2 8 to 4 5 V 3 SN75175 or MC3486 manufactured B y BATGNDA 4 y common by TI or the equivalent 1 5 54 SEN signal input 3 ov P 2 24VIN 47 24 VDC EA m pes o C leted x ositioning Complete yd INPICOM 9 p Run command l 3 3k Ez Gain Reduction MING E EAM Forward Run Prohibit LI TGON POT I NS Motor Rotation Detection Reverse Run Prohibit 9 3 k oe Mis TGONCOM Maximum operating 143 E SK voltage 30 VDC 33k ire r 29 READY Maximum output cur I t AD TS amp wie ee Siw READYCOM Forward Current Limit 3 3 k pa Pcilas ER sity 31 DAE 6 ALM M3 Alarm Output Ys M al ALMCOM p LE Reverse Current Limit NCL 3 3k Connector shell Frame ground FG Connect the shield wire to the connector shell 1 P represents a twisted pair cable 2 Primary filter 3 Connect when using an absolute encoder 4 Used only with an absolute encoder 5 regenerative resistor can be connected between B1 and B2 6
8. Cylinder style Motors without Brakes 1 500 r min 200 VAC 450 W 850 W 1 3 kW 1 8 kW 2 9 kW 4 4 kW R88M W45015T S2 W85015T S2 W1K315T S2 W1K815T S2 W2K915T S2 W4K415T S2 Output section dimensions for 450 W to 1 3 kW Shaft end Servomotors M effective depth 30 dia A b NE Four Z dia Mounting hole KL1 KL2 These dimensions are applicable to R88M WL S2 with key and tap R88M W45015T 1138 58 A E 88 R88M W85015T S2 R88M W1K315T T E 112 164 22 R88M W1K815T S2 166 79 88 180 200 1443 230 3 2 18 13 5 10 M12 25 R88M W2K915T S2 1 R88M W4K415T S2 Cylinder style Motors with Brakes 1 500 r min 200 VAC 450 W 850 W 1 3 kW 1 8 kW 2 9 kW 4 4 kW R88M W45015T B S2 W85015T B S2 W1K315T B S2 W1K815T B S2 W2K915T B S2 W4K415T B S2 Output section dimensions for 450 W to 1 3 kW Shaft end Servomotors M effective depth 30 dia am 5 x Four Z dia Mounting hole KL1 KB2 These dimensions are applicable to R88M WL BS2 with key and tap Dimensions a o m met uuu US trum mx MN 56 154 120 88 130 145 110 19 6 25 5 ROOM WIKSIST B CS 223 E 20 Serr irre 2 KUY S TY R88M W1K815T B TRU 79 195 146 88 180 200 4443 230 3 2 13 5 25 00 10 M12 25 R8
9. SYSMAC CPM2A CPM2C The CPM2A CPM2C PLCs are equipped with synchronized pulse control and position control functions Meets the needs for higher line speed and multiple product small lot production a 9Y SDRIVE Inverter SYSMAC CPM2A PLC sa OMNUC W series 224 Servomotor Servodriver SYSMAC CPM2A T5 Position Control Function This function supports 1 axis pulse outputs with trapezoidal acceler ation deceleration 10 kHz and 2 axis simple pulse outputs A Ser vomotor can be used for operations such as adjusting the feed rate of SYSMAC CPM2C workpieces constant feed and the amount of fillings constant amount such as jam or custard Synchronized Pulse Control The output pulse frequency can be set to be a specified multiple of the input pulse frequency and that multiple can be changed from the ladder program This function can be used to adjust the feed rate of packaging film so that the brand name or other printing remains in the correct location during packaging 15 OMRON Servomotor Specifications Servomotor Specifications Performance Specifications Cylinder style Motors 3 000 r min 200 VAC Servomotor RB8M Wane Weoo Wo 7 WTA3H Ww m po pe je po pm pe oe dd Rated speed 3 000 Max momentary r min 5 000 speed Rotor inertia A gt 0 0166 10 022 10 0364 NE 106 EN 173 672 74 2 47 3 19 7 0 12 3
10. Style Cylinder style Motor capacity 1030 30 W 10 15 30 Motor power supply speci No brake B 24 VDC brake G15 1 15 G20 1 20 G21 1 21 G25 1 25 G29 1 29 G33 1 33 G45 1 45 G45 Backlash B 3 minutes max About 45 minutes 10 Brake shaft end Blank Straight With key Note Not all motors can be combined with a reduction gear See Servomotor and Reduction Gear Combinations on page 10 for more details OMRON Servomotor Servodriver Combinations Servomotor Combinations Models without Reduction Gears s 4 5 Basie moder 7 8 9 pacity specification brake specifications H L T S Bank B Bak w Bak S S2 53 Cylin 30W 3 000 Reaw wos030 ves ves Yes ves ves 5 Yes ves Yes ves ves Yes der sow min nssM woso3o Yes ves ves Yes ves Yes ves ves ves ves Yes ves Resw w1o030 ves ves ves Yes ves Ves ves Ves ves ves ves 400 W Nes es Yes ves ves Yes Yes ves Yes Nes es es ves ves ves Nes 1 500 Yes Yes R88M W1K030 Yes Yes R88M W2K030 R88M W3K030 Yes Ye AES Qo o Ves e Nes Yes e Ves es Ves Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 5 Note 1 500 r min motors are equipped with absolute encoders only These en
11. Turns ON or OFF the Servo while jog operations are being per formed Switches between parameter dis play and data display and records data Increments parameter settings Used as a forward rotation start key during jog operation Decrements parameter settings Used as a reverse rotation start key during jog operation Selects the digit whose setting is to be changed When selected the digit flashes Status display m de Bit Display Main circuit power supply ON control cir cuit power supply ON baseblock motor KID OFF speed conformity positioning com plete 1 torque command being input error counter reset signal being input speed command being input command pulses being input motor rotation detection 9 Symbol Display Baseblock operating forward rotation pro hibited reverse rotation prohibited alarm display Alarm history display robustness setting during online auto tuning jog operations motor origin search user parameter initiali zation alarm history data clear online auto mode KID tuning results saving command offset auto matic adjustment command offset manual adjustment password setting User Parameters Pn000 to Pn600 0 Speed feedback speed commands torque commands number of pulses from origin electrical angle input signal monitoring output signal monitoring command pulse speed display position error input pulse counter feedback p
12. 100 VAC 100 W 200 W R88M WP10030L S1 WP20030L S1 R88M WP10030S S1 WP200308 S1 300 30 Shaft h QK t1 These dimensions are applicable to R88M WL S1 with key LL LR Flange surface Cable Wawas a out section EE Four Z dia AA E eee 5 1 14 R88M 750807 E sa 120 145 110 7 3 5 16 22 R88M WP1K530L 1 114 5 A 6 6 35 40 OMRON External Dimensions Flat style Motors with Brakes 200 VAC 100 W 200 W 400 W 750 W 1 5 kW R88M WP10030H B S1 WP20030H B S1 WP40030H B S1 WP75030H B S1 WP1K530H B 1 R88M WP10030T B S1 WP20030T B S1 WP40030T B S1 WP75030T B S1 WP1K530T B S1 100 VAC 100 W 200 W R88M WP10030L B S1 WP20030L B S1 R88M WP10030S B S1 WP20030S B S1 Shaft end i5 QK 1 Four Z dia These dimensions are applicable to R88M WL BS1 with key LL LR Flange surface Cable section R88M WP75030L B Sn a 120 145 1107 3 5 1656 22 R88M WP1K5300 B 51 148 6 6 3 5 m wk Es ss 18 as Jar fes 41 B AC Servodrivers 200 VAC 30 W 50 W 100 W 200 W R88D WTA3H WTA5H WT01H WT02H 100 VAC 30 W 50 W 100 W R88D WTA3HL WTA5HL WTO1HL 818181818 0000 o o 200 VAC 400 W R88D WT04H 100 VAC 200 W R88D WTO2HL 5 dia hole 200 VAC 500 W 750 W 1 kW R88D WTO5H WT08H WT10H 5 dia h
13. e R88D WTASHL REBD WTEOH lt Exp B nnn ene R88D WT60H R88D WT30H Note The illustrations shown here are examples only OMRON System Configuration AC Servomotors Power Cables See note For motors without brake R88A CAW For motors wi R88A CAW Note Refer to page 48 for details on available models Power Signals R88M W75030T B Feedback Signals Encoder Cables See note R88A CRWALILILIC For cylinder style motors 3 000 r min 30 W to 75 W R88A CRWBLILILIN For cylinder style motors 3 000 r min 1 kW to 5 kW R88M WP75030H For cylinder style motors 1 000 r min 300 W to 5 5 kW For cylinder style motors 1 500 r min 450 W to 15 kW Note Refer to page 48 for details on available models R88M W3K030H Note The illustrations shown here are examples only 13 Controllers OMRON Controllers Combining the Servodriver with a Controller from Simple Positioning Can Improve Machine Productivity to Advanced Positioning Position Control NC Units Perform simple positioning just by writing position data from the CPU Unit CJ1W NC113 213 413 CJ1W NC133 233 433 CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 413 Open Loop Method Pulse Output e Simple positioning can
14. R88A PR02W Servodriver R88D WTL 9 IA ETT CHARGE POWER e Display Panel Displays motor speed speed commands torque command motor values user parameter settings and Servodriver status Changing Modes To change modes press the MODE SET Key Status display mode Display example Ee Basebloc System check mode Fagon Alarm history display mode Padil Function selection switch 17008 Speed feedback Status Display Mode Motor rotation detection Speed command being input during speed control Command pulses being input during position control Control circuit power supply ON Baseblock Speed conformity during speed control Positioning complete 1 during position control SIE AS Bit display Torque command being input during torque control Error counter reset signal being input during position control Main circuit power supply ON Symbol display bb Baseblock motor OFF Operating Forward rotation prohibited forward overtravel Reverse rotation prohibited reverse overtravel Alarm display refer to Alarm Liston page 51 E Unit Keys R88A PR02W R88D WT Function Mode Details al 90 e e Resets an alarm Switches between status display mode system check mode set ting mode and monitor mode Used as a data setting key while in setting mode
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16. B S2 385 45 R88M W11K015T B S2 W11K015T B R88M W11K015T B S2 116 258 362 315 168 142 142 220 235 200 270 4 N tes 36 OMRON External Dimensions Cylinder style Motors without Brakes 1 000 r min 200 VAC 300 W 600 W 900 W 1 2 kW 2 kW 3 kW R88M W30010H S2 W60010H S2 W90010H S2 W1K210H S2 W2K010H S2 W3K010H S2 R88M W30010T S2 W60010T S2 W90010T S2 W1K210T S2 W2K010T S2 W3K010T S2 Output section dimensions for 300 W to 900 W AU SE Servomotors RU M effective depth SEO 199525 Uy us s XS 12 ES Four Z dia Mounting hole Y These dimensions are applicable to R88M WL S2 with key and tap IA MR Flange surface Modi m r e z s w w w R88M W30010 1 82 138 58 65 117 109 88 130 145 1107 165 12 19 25 5 5 M5 12 R88M W60010L S2 R88M W90010L1 S2 112 R88M W1K210L1 82 166 79 89 144 140 88 180 200 4 390 1230 32 18 13 5 45 001 10 5 M12 25 R88M W2K0100 S2 R88M W3K010L S2 Cylinder style Motors with Brakes 1 000 r min 200 VAC 300 W 600 W 900 W 1 2 kW 2 kW 3 kW R88M W30010H B S2 W60010H B S2 W90010H B S2 W1K210H B S2 W2K010H B S2 AW3K010H B 2 R88M W30010T B S2 W60010T B S2 W90010T B S2 W1K210T B S2 W2K010T B S2 W3K010T B S2 Output s
17. Denshi Kogyo Co Ltd Connector cap MS3106B18 10S Cable clamp MS3057 10A Connector on motor end manufactured by Daiichi Denshi Kogyo Co Ltd Connector cap MS3106B22 22S Cable clamp MS3057 12A 46 OMRON Cable Specifications Descriptor ms Power Ca Power Cylinder style Servomotors bles for connec 1 000 r min 4 kW Servomo tors tors without See Brakes note and Servo motors with Brakes See note Cylinder style Servomotors 1 500 r min 5 5 to 11 kW Cylinder style Servomotors 1 000 r min 5 5 kW Brake con Cylinder style Servomotors nectors 1 500 r min 5 5 to 11 kW See Cylinder style Servomotors note 1 000 r min 4 to 5 5 kW Note Must be used in combination with an R88A CAWELILILIS or R88A CAWFLILILIS Power Cable Power Cables for Ser Cylinder style Servomotors vomotors with Brakes 3 000 r min to 750 W Flat style Servomotors 3 000 r min 100 to 750 W Flat style Servomotors 3 000 r min 1 5 kW Cylinder style Servomotors 3 000 r min 1 to 2 kW Cylinder style Servomotors 1 500 r min 450 W to 1 3 kW Cylinder style Servomotors 1 000 r min 300 to 900 W Cylinder style Servomotors 3 000 r min 3 to 5 kW Cylinder style Servomotors 1 500 r min 1 8 to 4 4 kW Cylinder style Servomotors 1 000 r min 1 2 to 3 kW R88A CAWELILILIS Ll represents one of the fol lowing cable lengths
18. Milner Avenue AS ARGENTINA SALES OFFICE Toronto Ontario M1B 5V8 Cono Sur 54 114 787 1129 Brazil Tel 416 286 6465 www omron com br CHILE SALES OFFICE Santiago 562 206 4592 Am rica www espanol omron com OTHER LATIN AMERICAN SALES mela omron com Cat No 1805 E1 06 5 07 Specifications subject to change without notice Printed in USA
19. Style Rated speed Capacity International Shaft end standards without reduction CE UL cUL gear 3 000 r min 30w W 30W Approved Straight 5 000 r min With key With key and tap Straight with tap 50 W 100 W 1 kW 1 5 kW With key and tap Straight 450W Approved With key and tap Straight Approved With key and tap Straight Approved Straight With key With key and tap Straight with tap 3 kW 1 500 r min 3 000 r min 1 3 kW 1 8 kW 1 500 rmm 11 kW rmm 000 r min 45 kw 1 000 r min 2 000 r min 1 2kW 2 kW Flat style 3 000 r min 5 000 r min 100 W 1 5kW NI BK po or rS co Al ol A NI gt N alol kal S S on Hi x alol R88D R88DServodrivers Application Enclosure E V 200V 200 V rating Single Three phase phase IP55 WTA3HL WTA3H Low inertia ma excludin chines Shaft pening with fast WTO1HL WTO1H Eo vs c WTO2HL WT02H Robots Assembly nmm WT04H EN machines Convey WTO8H WTOgH lance machines excluding WTS0H qc WTS0H IP67 WTOBH Machines requiring excluding high torque shaft opening Ese Simple processing machines Assem E WT20H ly machines WT30H Transfer machines E qe ali WTS0H WT60H E gt IP67 fe WTOSH Machines r
20. TAS Forward Run Prohibit 42 Reverse Run Prohibit NOT Interrupt EXTPJ44 Origin i ZEROJ4 5 Not 3 3k represents twisted pair cable Primary filter Connect when using an absolute encoder Used only with an absolute encoder When using an external regenerative resistor connect it between B1 and B2 L I l I I A 1 Servomotor B UO V O Be sure to prepare the end of the shield wire properly Alarm Code Output Maximum operating voltage 30 VDC Maximum output current 20 mA DC Eu 25 INP1 IWS Positioning Completed INP1COM y T 27 i o BKIR AK Brake Interlock ON o BKIRCOM Maximum operating voltage 30 VDC Maximum output current 50 mA DC 29 roy READY a Servo Ready pa o READYCOM 31 RKI so Alam Output Lo Connector shell Frame ground FG Connect the shield wire to the connector shell When the capacity is 6 kW connect a Regenerative Resistor Unit For single phase connection refer to page 62 The wiring is different only around L1 L2 L3 L1C L2C the main circuit power supply and the main circuit contactor 79 Terms and Conditions of Sale OMRON 5 7 10 11 12 13 Offer Acceptance These terms and conditions these Terms are deemed part of all quotes agreements purchase orders acknowledgments price lists c
21. 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 action brought against such Companies to the extent based on a claim that any Product made to Buyer specifications inf
22. be performed with the direct operation func tion e The Position Control Unit can respond to commands from the CPU Unit and produce a pulse output at high speed 2 ms when using the CS1W NC or CJ1W NC e To suppress machine vibration an S shape curve can be specified for the acceleration deceleration curve instead of a trapezoidal curve e When the CS1W NC or CJ1W NC is being used the Unit s data and parameters can be created and stored easily using the Win dows based WS02 NCTC1 E Support Software e Position data can be stored in the Position Control Units flash memory which eliminates the need to periodically replace the backup battery Input EE 2 al Position Servo Relay OMNUC OMNUC Control Unit Unit W series e Servomotor Servodriver Motion Control MC Units These high speed highly accurate 2 axis 4 axis Motion Controllers are equipped with the multi tasking G language and are compatible with absolute and incremental encoders CS1W MC221 421 C200H MC221 e The multi tasking G language allows 4 axes to be controlled simul taneously and it is also possible to control each axis independently The G language can simplify the PLC s ladder program by reducing position control related ladder programming e Winding operations can be simplified and speeded up Instructions providing a 2 axis traverse function are available e The encoder response frequency
23. end Model Te o p F G z few n t R88M W2003011 B S1 136 30 70 507 3 Four 148 20 5 5 3 R88M W40030L B 1 308 7 dia 32 OMRON External Dimensions Cylinder style Motors without Brakes 3 000 r min 200 VAC 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW R88M W1K030H S2 W1K530H S2 W2K030H S2 W3K030H S2 W4K030H S2 W5K030H S2 R88M W1K030T S2 W1K530T S2 W2K030T S2 W3K030T S2 W4K030T S2 W5K030T S2 Shaft end M8 effective depth 16 Qk 4 7 Four Z dia Mounting hole These dimensions are applicable to R88M WL S2 with kak and tap a 88 35 aae E ana R88M W5K0300 S2 276 Cylinder style Motors with Brakes 3 000 r min 200 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW R88M W1K030H B S2 W1K530H B S2 W2K030H B S2 W3K030H B S2 W4K030H B S2 W5K030H B S2 R88M W1K030T B S2 W1K530T B S2 W2K030T B S2 W3K030T B S2 W4K030T B S2 W5K030T B S2 Shaft end M8 effective depth 16 QK 4 Four Z dia Mounting hole These dimensions are applicable to R88M WI BS2 with key and tap Dimensions mm _ Jae R88M W1K0300 B S2 193 45 67 171 102 88 100 1115 1957 130 10 246 R88M WIK530L B 52 R88M W2Kc030 B S2 R88M W3K0300 B S2 237 63 119 1107 2816 RaBM WAKO30_ B 52 RGSM WEKO30 8 52 33 OMRON External Dimensions
24. is 2 Mpps for x4 operation which is compatible with applications requiring high speed and high accu racy A D code interrupt code can be output to the CPU Unit when posi tioning is completed or an important position is passed e Programming is easy with the WIndows based CX Motion Support Software A manual pulse generator can be used E OMNUC Motion OMNUC W series one W series Servomotor nit Servodriver ES Teaching T Terminal block Box Conversion Unit CX Motion Software 14 OMRON Controllers SYSMAC CJ1M The CJ1M is a high performance compact PLC for distributed control Built in l O boards and special instructions support simple positioning and pulse I O Simple Positioning The Pulse I O board is equipped with two ports each for input and output supporting high speed input at up to 100 kHz and output at up to 100 kHz Connection with a Servodriver enables simple posi tioning Pulse Pulse output2 Pulse Pulse input 2 Pulse output 1 input 1 OMNUC W series W series SYSMAC CJ1M Servodriver Servodriver OMNUC Incremental W series Incremental Encoder Servomotor L Encoder Special Instructions for Simple Positioning Equipped with special pulse instructions the CJ1M can be oper ated by writing easy ladder programs Instruction example Search for origin ORG speed instruction ACC pulse output PLS2
25. kW to 4 4 kW cylinder style mo tors 1 500 r min 3 kW to 5 kW cylinder style mo tors 3 000 r min 30 W to 750 W cylinder style mo tors 3 000 r min Motors with brakes 100 W to 750 W flat style motors 1 5 kW flat style motors 300 W to 900 W cylinder style mo tors 1 000 r min 450 W to 1 3 kW cylinder style mo tors 1 500 r min 1 kW to 2 kW cylinder style mo tors 3 000 r min 1 2 kW to 3 kW cylinder style mo tors 1 000 r min 1 8 kW to 4 4 kW cylinder style mo tors 1 500 r min 3 kW to 5 kW cylinder style mo tors 3 000 r min omnon Ordering Information Specification Mode R88A CAWCO50B R88A CAWDO40B R88A CAWDO50B 72 Specification Model 4 kW cylinder style mo Power R88A CAWE003S tors 1 000 r min Brake con R88A CAWE003B nector for See note 1 the motor 5 R88A CAWE005B See note 1 10m R88A CAWEO10B See note 1 15m R88A CAWEO15B See note 1 20m R88A CAWEO20B See note 1 30m R88A CAWEOSOB See note 1 40m R88A CAWEO40B See note 1 50m R88A CAWEO50B See note 1 Power con R88A CAWF003S i R88A CAWF005S e motor R88A CAWFO010S R88A CAWFO015S R88A CAWFO20S R88A CAWFO030S R88A CAWFO040S R88A CAWFO50S Brake con ul R88A CAWELILILIB 5 5 kW cylinder style motors 1 000 r min 5 5 kW 11 kW cylinder style motors 1 500 r min nector for See notes 1 and 2 the motor
26. put Speed monitor output 1 V 1 000 r min Sequence output Servo alarm alarm code 3 bit output CN1 output terminal fixed speed conformity positioning completion 1 motor rotation detection servo ready current limit detection brake interlock warning positioning completion 2 speed limit detection Dynamic brake stopping Operates when the power supply turns off a servo alarm is generated an overrun occurs or the servo turns off Other protective functions Parameter destruction main circuit detector error parameter setting error motor mismatch overcurrent regenerative error regenerative overload overvoltage undervoltage overspeeding overload dynamic brake overload inrush resistance over load heating plate overheating backup error absolute checksum error absolute battery error absolute absolute error absolute overspeed error absolute encoder overheating speed command input read error torque command input read error system error overrun detection excessive rotation data error absolute encoder communications error encoder pa rameter error encoder data error multiple rotation limit mismatch absolute error counter count up phase failure detec tion Parameter Unit transmission error Note 1 Applicable rotor inertia differs according to the motor Refer to the motor specifications 2 Input power supply specification when using the R88D WTOB8H at single phase 200 V single phase 200 to 230 V
27. 00 3 000 4 000 5 000 R88M WP1K530H 1 5 kW Nm R88M WP1K530T 1 5 kW 1 000 2 000 3 000 4 000 5 000 Flat style Motors with 100 VAC Power Supply The following graphs show characteristics with a standard 3 m cable and 100 VAC input R88M WP10030L 100 W Nm R88M WP100308 100 W 1 0 0 955 0 955 0 81 Repetitive usage Continuous usage 0 19 1 000 2 000 3 000 4 000 5 000 R88M WP20030L 200 W Nm R88M WP20030S 200 W 1 91 1 91 3 000 Repetitive usage 0 83 Continuous usage 0 39 r min 1 000 2 000 3 000 4 000 5 000 25 OMRON Servodriver Specifications Servodriver Specifications Performance Specifications Servodrivers 200 VAC WTA3H WTA5H WTO1H WT02H WT04H WTO5H WT08H WT10H WT15H WT20H WT30H WT50H WT60H WT75H WT150H R88M 20A 28 65A 85 110 13 9 17 28A 42A 56A 84A 110A 130A 170 rms 0 8 kg 1 1 kg 1 7 kg 2 8kg 3 8 kg 5 5 kg 15 kg 26 kg Input power supply Main circuits Single phase 200 to 230 VAC Three phase 200 to 230 Three phase 200 to 230 10 to 15 50 60 Hz 10 to 15 50 60 Hz 10 to 15 50 60 Hz See note 2 Single phase 200 to 230 VAC 10 to 15 50 60 Hz circuits Control method All digital servo Seed feedback Serial encoder 13 16 17 bits incremental and absolute encoders Capacity Ana Speed control range 1 5 000 AS Load fluctuat
28. 2 OMRON Connection Diagrams Three phase O Three phase 200 to 230 VAC 192 50 60 Hz Main circuit power suppl V fe Noise filter eo y ON Main circuit contactor we XII Surge killer O amp 1MC B1 B2 mS 1 Servomotor ini OD IO L2 6 L O L3 i i i O Lic EM Loc OMNUC W series Connect a DC reactor for suppressing A Servodriver Encoder power supply harmonic waves between 1 2 and 2 terminals No connecting terminal Q 2 m is provided for a capacity of 6 kW or more ry WV 7 Be sure to ground 4 Y ENT x2 Be sure to prepare the end of the 1 REF 5 shield wire properly Speed command 2 to 10 V rated motor speed P AGND 37 1 TREF gt ALOT LPF Torque command SES Alarm Code Output 1 to 10 V rated torque wee P AGND 10 Ta AL02 Maximum operating voltage 30 VDC a 4 AL03 Maximum output current 20 mA DC Reverse rotation gt Cwl7 1509 pulse 2 RR Forward rotation pes 1509 gt 334 pulse lt 12 RK lt T Phase Position command 1 Error counter EcRST 15 1508 354 B PG Dividing Ratio Output reset dab A 36 8 Phase B Applicable Line Receiver SN75175 or MC3486 manufactured 19 by TI or the equivalent 1k 12V ES Z Open collector PCOM i 201 _z Phase Z command power PCOM Pat supply PCOM 4 485 ABS lt 49 ABS Absolute Encoder Signal Output LH
29. 4 Connector on motor end manufactured by Daiichi Denshi Kogyo Co Ltd Connector cap MS3106B20 15S Cable clamp MS3057 12A Connector on motor end manufactured by Daiichi Denshi Kogyo Co Ltd Connector cap MS3106B24 10S Cable clamp MS3057 16A Note Power connectors and brake connectors are separate for Servomotors with a capacity of 4 kW min 1 000 r min and 5 5 KW min 1 500 r min This means that two cables are necessary when using Servomotors with Brakes an R88A CAWELILILIS or R88A CAWFLILILIS Power Connector and an R88A CAWFLILIL IB Brake Connector The R88A CAWFLJLILIB Brake Connector is wired 2 con ductors only for braking 47 Encoder Cables for CN2 Symbol Description Comnectto Ramas 2 Encoder Cable Cylinder style Servomo tors 3 000 r min 30 to 750 W Flat style Servomotors 3 000 r min 100 W to 1 5 kW Cylinder style Servomo tors 3 000 r min 1 to 5 kW Cylinder style Servomo tors 1 500 r min 450 W to 15 kW Cylinder style Servomo tors 1 000 r min 300 W to 5 5 kW Control Cables for CN1 Symbol Description Commeetto Control Cable 4 Servo Relay Unit CV PCs Motion Control Units for all SYSMAC CS1 C200H and Irepresents one of the following R88A CRWALILILIC Connector on motor end represents one of the fol manufactured by MOLEX lowing cable lengths JAPAN CO Ltd 3m 5m 10m 15m 20
30. 5 1l GND Serial Data Output Backup battery 2 8 to 4 5 V 3 P T SN75175 or MC3486 manufactured by ka BATONDS 29 equivalent 361 SEN 5V 54 SEN signal input 3 2 OV 24VIN147 24 VDC Gain Reduction 3 3 k L y k q no Completed MING 41 E ini Forward Run Prohibit 3 3 Dy 27 x Y TGON POT442 WE i pa i ag Motor Rotation Detection Reverse Run Prohibit zr Babes TGONCOM ee ka UU vu MM Maximum output cur Alarm Reset T rent 50 mA DC 144 xi Servo Ready S a mm 8 Fou READYCOM Forward Current Limit 3 3 k PCL 45 igs 31 aU d 1 Reverse Current Limit Lo NCL NE ALMGOM Pt 3 3 k Connector shell Frame ground FG Connect the shield wire to the connector shell ie P represents a twisted pair cable 2 Primary filter 3 Connect when using an absolute encoder 4 Used only with an absolute encoder 5 When using an external regenerative resistor connect it between B1 and B2 When the capacity is 6 kW connect a Regenerative Resistor Unit 6 When using the R88D WTO8H at single phase 200 V connect single phase 200 V to L1 and L3 and short circuit L1 to L2 63 OMRON Terminal Blocks and Connectors Terminal Blocks and Connectors Terminal Blocks CN2 Encoder Inputs Pin Symbol Encoder power supply 5V 2 Encoder power supply ground Main circuit AC AC power input terminals for th
31. 5 mA at 5 V ON Disables the command and resets the error counter Shared Terminals Pins 41 to 44 can be reassigned using the Pn50A to Pn50D user parameters Symbol PLOCK Position lock command input ON Enables position lock when the motor speed drops below the position lock rotation speed set in Pn501 IPG Pulse disable input ON Prohibits input command pulses Rotation direction command input Rotation direction command for internal speed settings 1 to OFF For ward rotation ON Reverse rotation POT Forward drive prohibit input Forward rotation overtravel input OFF when prohibited NOT Reverse drive prohibit input Reverse rotation overtravel input OFF when prohibited RESET Alarm reset input ON Resets Servo alarm status IPG POT NOT PCL Forward rotation current limit input Limits current according to the value specified in Pn404 Forward Ex ternal Torque Limit NCL Reverse rotation current limit input ON Limits current according to the value specified in Pn405 Reverse Ex ternal Torque Limit EN BAT S Switches the internal speed settings Pn301 Pn302 Pn303 a nn GSEL Gain satectioninput ON Switches to the second speed loop gain Pn104 Pn105 Pn106 24VIN ON Supplies 5 V power to absolute encoder SAD ri Backup battery input See note Backup battery connection terminals for absolute encoder in case
32. 750 W Flat style Servomotors 3 000 r min 100 to 750 W Flat style Servomotors 3 000 r min 1 5 kW Cylinder style Servomotors 3 000 r min 1 to 2 kW Cylinder style Servomotors 1 500 r min 450 W to 1 3 kW Cylinder style Servomotors 1 000 r min 300 to 900 W Cylinder style Servomotors 3 000 r min 3 to 5 kW Cylinder style Servomotors 1 500 r min 1 8 to 4 4 kW Cylinder style Servomotors 1 000 r min 1 2 to 3 kW 692 734 a CHARGE POWER e R88A CAWALILILIS L represents one of the fol lowing cable lengths 3m 5m 10m 15 20m 30 m 40 m 50m R88A CAWBLILILIS L represents one of the fol lowing cable lengths 3m 5m 10 m 15 20m 30 m 40 m 50m R88A CAWCLILILIS 1 represents one of the fol lowing cable lengths 3 m 5 m 10 m 15 20m 30 m 40 m 50m R88A CAWDLILILIS 1 represents one of the fol lowing cable lengths 5 m 10 m 15 20m 30 m 40 m 50m VV O OI 10 a Analog Monitor Parameter Unit Battery for absolute encoder Computer with Windows monitoring software Position Control Unit Connector on motor end manufactured by AMP Ja pan Ltd Connector cap 350780 1 Connector socket 350689 3 Connector on motor end manufactured by AMP Ja pan Ltd Connector cap 350780 1 Connector socket 350551 6 pins 1 to 3 350551 3 pin 4 Connector on motor end manufactured by Daiichi
33. 8M W20030T B R88M W40030T B R88M W75030T B Specifications Straight Without 0 VAC 30 W W 100 W W 200 W K 5 shafts with brake key OMRON Ordering Information R88M NL R88M W05030T S1 R88M W10030T S1 R88M W20030T S1 FEM W40030T S1 R88M W75030T S1 R88M W1K030T S2 R88M W1K530T S2 R88M W2K030T S2 R88M W3K030T S2 R88M W4K030T S2 R88M W5K030T S2 R88M W200305S S1 20 50 W kW 100 VAC R88M W03030S S1 R88M W05030S S1 R88M W10030S S1 20 O VAC 30 W R88M W03030T BS1 W05030T BS1 R88M W10030T BS1 200 W R88M W20030T BS1 R88M W40030T BS1 ER R88M W75030T BS1 R88M W1K030T BS2 R88M W10030S B 100 VAC R88M W03030S B R88M WO05030S B R88M W20030S B 50 W kw R88M W1K530T BS2 R88M W2K030T BS2 R88M W3K030T BS2 R88M W4K030T BS2 R88M W5K030T BS2 100 VAC R88M W03030S BS1 R88M W05030S BS1 R88M W10030S BS1 R88M W20030S BS1 o AD D Note S1 at the end of a model name represents models with key and without tap 52 at the end of a model name represents models with key and tap Motors with a capacity of 1 kW or more do not have the S1 or S3 type 68 Cylinder style Motors 1 500 r min with Incremental or Absolute Encoders Specifications Mode 200 VAC Note S2 at the end of a model name represents models with key and tap Motors with a speed of 1 500 r min do not have the S1 or S3 type Cylinder style Motors 1 000 r min with Incremental Encode
34. 8M W2K915T B S2 243 R88M W4K415T B S2 277 34 OMRON External Dimensions Cylinder style Motors without Brakes 1 500 r min 200 VAC 5 5 kW 7 5 kW 11 kW 15 kW R88M W5K515T S2 W7K515T S2 W11K015T S2 W15K015T S2 Shaft end M effective depth S dia D2 dia KL1 Output section dimensions for 11 kW and 15 kW Servomotors Four Z dia Mounting hole 1 dia These dimensions are applicable to R88M WL S2 with key and tap ei A Pe prt oe ooa cjm oz m r e z s spoee quen e R88M W11K015T 52 338 116 251 317 168 142 220 235 2007 270 4 35 OMRON External Dimensions Cylinder style Motors with Brakes 1 500 r min 200 VAC 5 5 kW 7 5 kW 11 kW 15 kW R88M W5K515T B S2 W7K515T B S2 W11K015T B S2 W15K015T B S2 Shaft end M effective depth LL LR S T E J CN a L1 mi KL3 KL1 Output section dimensions for 11 kW and 15 kW Servomotors Y Four Z dia Mounting hole S1 dia These dimensions are applicable to R88M WL BS2 with key and tap Dimensions mm Flangesurface Shaft end R88M W5K515T B S2 113 174 289 231 150 123 123 180 200 1443 230 3 2 18 13 5 42m 12 8 5 16 32 R88M W7K515T
35. 91 0 3 7 0 286 0 286 0 4 0 3 Repetitive usage Repetitive usage Repetitive usage 10 Repetitive usage 0 2 0 4 0 0955 0 0955 0 159 zi 0 318 0 318 0 637 0 637 0 5 0 1 0 2 0 19 0 39 Continuous usage 0 06 Continuous usage 0 09 Continuous usage Continuous usage r min O r min O r min 0 r min 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 R88M W40030H 400 W R88M W75030H 750 W R88M W1K030H 1 kW R88M W1K530H 1 5 kW Nm R88M W40030T 400 W R88M W75030T 750 W R88M W1KO30T 1 KW Nm R88M W1K530T 1 5 kW 4 0 8 0 716 10 9 54 8 67 3 0 6 0 Repetitive usage Repetitive usage Repetitive usage Repetitive usage 4 0 1 5 2 0 7 0 2 39 3 18 4 9 1 27 2 0 0 76 1 460 2 2 4 Continuous usage Continuous usage Continuous usage 0 r min 0 r min O r min O r min 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 R88M W2K030H 2 kW R88M W3K030H kW R88M W4K030H 4 kW R88M W5K030H 5 kW m R88M W2KO30T 2 KW R88M W3KO30T 3 KW 88 4kW R88M W5K030T 5 kW 30 40 30 20 30 Repetitive usage 20 Repetitive usage Repetitive usage 9 3 6 36 13 5 12 6 142 en 15 8 15 8 10 10 19 5 3 25 2 4 10 Continuous usage Continuo
36. AC 10 to 15 50 60 Hz 26 OMRON Servodriver Specifications Servodrivers 100 VAC Servomotor WTA3HL WTA5HL WTO1HL WTO2HL R88M Maximum servomotor output 100W 200 W Continuous output current rms 0 66 A 0 95 A 3 0A 0 8 kg 1 1 kg Input power supply Single phase 100 to 115 VAC 10 to 15 50 60 Hz Control circuits Single phase 100 to 115 VAC 10 to 1596 50 60 Hz Control method All digital servo Seed feedback Serial encoder 13 16 17 bits incremental and absolute encoders Capacity Analog inputs 0 01 max at 0 to 100 at rated rotation speed 0 1 max at 25 25 C at rated rotation speed Maximum response pulse fre Line driver input 500 Kpps quency Open collector input 200 Kpps 0 to 250 command unit Feed forward compensation 0 to 100 Bias setting O to 450 r min Input signals Feed pulse forward reverse signal forward pulse reverse pulse 90 phase difference phases A B signal Speed command voltage 2 to 10 VDC rated rotation speed motor forward rotation by voltage puoi Mechanical impedance Approx 14 circuit time constant Approx 47 us Torque command voltage 1 to 10 VDC rated torque motor forward torque by voltage ee Mechanical impedance Approx 14 kQ circuit time constant Approx 47 us Sequence input Run command gain deceleration position lock command control mode switch gain switch direction command pulse prohibit forward reverse current limit soe
37. F Does not use the P control switching function PI control IP control Automatic gain switching disabled Gain switching using posi tion commands Gain switching using posi tion deviation command value as the Speed Control Loop 4 Switch 1 Automatic Gain Switching Selection 1 2 3 Gain switching using posi tion commands and posi tion deviation Pn10B Speed Control Settings P Control Switching Uses an internal torque Condition Not Used Pn10C Control Switching Sets the torque command level for switching from PI control to P con 200 Torque Command trol Pni0D Control Switching Sets the speed command level for switching from PI control to P con Speed Command trol PniOE Control Switching Sets the acceleration command level for switching from PI control to Acceleration Command P control 0 to 800 r min 0 to 10000 1 Pn10F P Control Switching Sets the deviation pulse level for switching from Pl control to P con 10 Com 0 to 10000 Deviation Pulse trol mand units O O O dal OMRON User Parameters Parameter name Function name Explanation Factory Setting setting range Online Autotuning Setting Online Autotuning Performs autotuning only 0012 Selection when the system runs for the first time after the power is turned ON 1 Performs autotuning contin uously 2 Does not perform autotun ing 1 Speed Feedback 0 Enabled Compensa
38. F the CLIMT signal will turn ON when the output torque reaches the torque limit specified in Pn402 403 Speed limit detection output ON when the motor speed is controlled by Pn407 in torque control mode Always OFF while in other modes Brake interlock output Outputs holding brake timing signals according to the Pn506 Pn507 and Pn508 user parameter settings Turns OFF the output when the Servodriver generates an alarm Outputs encoder pulses divided according to the Pn201 setting PG ratio E Line driver output Conforms to RS 422A 35 B EncoderB phase output Outputs encoder pulses divided according to the Pn201 setting PG ratio Line driver output Conforms to RS 422A Outputs an alarm code when the Servodriver generates an alarm Open collector output 30 VDC 20 mA max Absolute encoder signal out Outputs absolute encoder data put See note Line driver output Conforms to RS 422A Absolute encoder signal out put See note Shell Frame ground Note These input signals are used with absolute encoder only gt wl lt O lt E gt A F lt O O mr Z U O lt ALM A A 66 OMRON Ordering Information Ordering Information Servomotors Cylinder style Motors 3 000 r min with Incremental Encoders Specifications Model Specifications Straight Without 200 VAC R88M W03030H S1 Without 200 VAC ae W03030H shafts brak
39. Non R88M W30010H 300 W w R88M W60010H 600 W R88M W90010H 900 W R88M W1K210H 1 2 kW R88M W30010T 300 W Nm RggM W60010T 600 W Nm R88M W90010T 900 W Nm R88M W1K210T 1 2 kW 87 747 7 0 20 1 193 18 8 15 6 2 30 6 12 7 15 Repetitive usage Repetitive usage 12 5 4 10 20 10 2 5 5 10 Continuous usage 1 4 Continuous usage 28 Continuous usage Continuous usage 55 0 r min 0 r min 0 500 1 000 1 500 2 000 500 1 000 1 500 2 000 500 1 000 1 500 m d 500 1 000 1 500 R88M W2K010H 2 kW R88M W3K010H kW R88M W5K510H 5 5 kW Nm RBBM W2KO10T 2 KW Nm R88M W3K010T 3kW RB8M WAKOTOH 4 KW Nm WEKEIOT 5 5 KW 107 43 0 1507 137 0 134 4 60 1 600 i sa Repetitive usage Repetitive usage 40 100 31 7 20 50 Continuous usage Continuous usage 25 Continuous usage 25 0 r min 0 r min o 500 1 000 1 500 2 000 500 1 000 1 500 2 000 miny r min 500 1 000 1 500 2 000 500 1 000 1 500 2 000 23 OMRON Servomotor Specifications Performance Specifications Flat style Motors 200 VAC 100 VAC Servomotor R88M 100301 200301 WP40030 WP75030L WP1K530L 10030 WP20030 Servodriver To WTO1H WTO2H WTOAH WTOS8H WT15H WTO1HL WTO2HL mo po po px m padonen po pe p Powerrate ems ao eo sz eos mo 100 Restricted however by the a processing P
40. ORO stim pe pe _ Approx weight 7 es 2 7 without brake Approx weight 6 Y 8 with brake Brake specifications Baxah Ram ais mun _ O General Motor Specifications Flat style Motors 3 000 r min o lea 5 Operating 20 to 80 Storage 20 to 80 Enclosure rating IP55 See note or IP67 EC directives EMC directive EN5501 1 class A group1 EN61000 6 2 Low voltage directive IEC60034 1 5 8 9 EN60034 1 9 UL standards UL1004 CUL standards CUL C22 2 No 100 Note Enclosure ratings do not include the shaft opening 24 OMRON Servomotor Specifications Torque and Rotation Speed Characteristics Flat style Motors with 200 VAC Power Supply The following graphs show characteristics with a standard 3 m cable and 200 VAC input R88M WP10030H 100 W Nm R88M WP10030T 100 W 1 0 7 0 955 0 955 0 81 Repetitive usage Continuous usage 0 19 r min 1 000 2 000 3 000 4 000 5 000 R88M WP75030H 750 W Nm R88M WP75030T 750 W 6 0 Repetitive usage 4 0 2 0 Continuous usage 1 000 2 000 3 000 4 000 5 000 H88M WP20030H 200 W H88M WP40030H 400 W Nm R88M WP20030T 200 W Nm R88M WP40030T 400 W 2 07 1 91 1 91 3 0 Repetitive usage Repetitive usage 2 0 1 82 1 0 Continuous usage 0 39 Continuous usage 0 76 r min 0 r min 1 000 2 000 3 000 4 000 5 000 1 000 2 0
41. Output Allocation READY Servo Ready Signal Output Ter 0 to Same as Pn50E 0 minal Allocation Pn50F Output Signal Selections 2 CLMT Torque Limit Detection Signal 0 to 3 Same as Pn50E 0 0000 Output Terminal Allocation 1 VLMT Speed Limit Detection Signal 0 to 3 Same as Pn50E 0 Output Terminal Allocation 2 BKIR Brake Interlock Signal Output Ter O to Same as Pn50E 0 minal Allocation 3 WRN Warning Signal Output Terminal O to Same as Pn50E 0 Allocation Pn510 Output Signal Selections 3 INP2 Positioning Completed 2 Signal 0 to Same as Pn50E 0 0000 Output Terminal Allocation 1 Used Command Pulse Factor Enable 0 to 3 Same as Pn50E 0 Signal Seat Terminal Allocation 1 Not Used Used Pn512 Output Signal Reversal CN1 25 26 Pin Output Signal Reversal 1 Does not reverse output signal 0000 Reverses output signal CN1 27 28 Pin Output Signal Reversal Same as Pn512 0 CN1 29 30 Pin Output Signal Reversal Same as Pn512 0 Pn513 Input Signal Selection 5 PSEL Command Pulse Factor Switch O to F Same as Pn50A 1 0088 ing Signal Input Terminal Allocation Pn51A Motor load Deviation Over Sets the allowable deviation level for fully closed and semi closed encoders Pulse 0 to Level 32767 Pn51E Deviation Counter Overflow Sets the detection level for the deviation counter overflow warning set as a percentage of the De 0 to 100 Warning Level viation Counter Overflow Level Pn505 Not
42. PLC Debugging can be performed using con venient Windows based tools For smaller scale systems it is possible to connect to a 4 h Compatible with the open ES field network DeviceNet A DeviceNet Option Unit is also available As a Position Control Unit it can be connected di rectly to an OMNUC W series Servodriver and is equipped with communications func tions for DeviceNet This means that parame ters can be set the operating status can be monitored and faults can be predicted from a PLC up to 500 m away 3 The OMNUC W Series provides high performanc e and a multitude of functions They are easy to use and the full line up of variations can be used in a wide range of applications New 5 The Series has been expanded to include 1 500 r min Servo motors for both incremental and absolute encoders with ca pacities ranging from 450 W to 15 kW and Servodrivers with capacities of 7 5 kW and 15 kW Reduced Settling Time Vibration suppression has been improved with upgraded con trol algorithms Even with low rigidity machinery the upgraded vibration suppression can slash the settling time to 1 3 the time required in the U Series High speed High precision Drive A maximum speed of 5 000 r min has been achieved in most models Positioning
43. Pn100 Speed Loop Gain Adjusts speed loop response 80 jH 1 to 2000 Pn101 Speed Loop Integral Time Speed loop integral time constant 2000 0 01ms 15to Constant 51200 Pn102 Position Loop Gain Adjusts speed loop response 1 to 2000 Pn103 Inertia Ratio Sets the ratio for the mechanical inertia relative to the Servomotor ro 0 to 20000 tor inertia Pn104 Speed Loop Gain 2 Adjusts speed loop response enabled by gain selector input 80 1 to 2000 Pn105 Speed Loop Integral Time Speed loop integral time constant enabled by gain selector input 2000 0 01ms 15to Constant 2 51200 Pn106 Position Loop Gain 2 Adjusts speed loop response enabled by gain selector input 1 to 2000 Pn107 Bias Rotational Speed Position control bias setting O rmin Oto450 Pn108 Bias Addition Baud Uses the deviation counter pulse width to set the operation start for 7 Com 0 to 250 the position control bias function mand units Pn109 Feed forward Amount Position control feed forward compensating gain value 0 to 100 Pn10A Feed forward Command Sets the command filter for position control feed forward 0 01ms O to 6400 Filter switching condition level setting Pn10C Uses a speed command value as the switching con dition level setting Pn10D Uses an acceleration com mand value as the switching condition level setting Pn10E Uses the number of error pulses as the switching con dition level setting Pn10
44. R88M WP10030L BS1 200 W R88M WP20030L BS1 69 Flat style Motors with Absolute Encoders 70 Specifications Without 200 VAC brake 100 VAC With 200 VAC brake 100 VAC Without brake With brake 200 VAC 100 VAC 200 VAC 100 VAC Mode omnon Ordering Information Flat stvle Motors Waterproof Type with Incremental Encoders Specifications Without 200 100 W R88M WP10030H W brake 200 W R88M WP20030H W 400 W R88M WP40030H W 2 100 VAC anna Wi 200 VAC brake 100 VAC IM 1 7 a Straight Without 200 VAC shaftswith brake 100 VAC HM 1 c x With 200 VAC 100 W R88M WP10030H brake BWS1 200W R88M WP20030H BWS1 400 W R88M WP40030H BWS1 750W R88M WP75030H BWS1 1 5 kW R88M WP1K530H BWS1 100 VAC 100 W R88M WP10030L BWS1 200W R88M WP20030L BWS1 Note Precautions When Selecting Products 1 The standard cable R88A CAWIL can be connected but it is not water resistant Use a water resistant cable in locations subject to water 2 he cable attached to the Motor is water resistant but the con nector is not Do not allow water to come into contact with the connector to protect the terminals OMRON Ordering Information Flat style Motors Waterproof Type with Absolute Servodrivers Encoders Specifications reser Without 200 100 W R88M WP10030T W brake 200W R88M WP20030T W Specificatio
45. Servo Drivers R88D WTL software version 14 or later Mounting method Mounted to the side of R88D WTI Servo Drivers Basic Power supply voltage Unit Supplied from the Servo Driver specifications A DeviceNet 11 to 25 VDC Isolated Power Supply Unit to 55 90 max with no condensation or corrosive gases 20 to 85 90 max with no corrosive gases Dimensions Unit mm R88A NCW152 DRT 24 78 Unit Descriptions OMRON DeviceNet Option Unit for OMNUC W series AC Servo Drivers R88A NCW152 DRT Connection Diagram for Mounting to OMNUC W series Products Three phase See 6 1 2 x4 x5 6 10 Three phase 200 to 230 VAC 159 50 60 Hz 6 Noise filter Main circuit power supply Main circuit contactor OFF ON M wo x 0 0 0 Surge killer e O 1 1 B2 O L2 O L3 O L2C I Connect a DC reactor for suppressing der OMNUC W series power supply harmonic waves between 1 Servodriver and 2 terminals No connecting terminal O 02 is provided for a capacity of 6 kW de DeviceNet Option Unit lt Be sure to ground gt CN1 1 Backup battery 3 021 28to 4 5 V BATGND 25 24VIN 47 24 VDC A l gt L bz l l NI Not used ek Proximity 41 Co x O R 2 ga r
46. Units and SYS MAC CQM1 For CJ1M CPU22 23 XW2B 20J6 8A 1 axis For CJ1M CPU22 23 XW2B 40J6 9A 2 axes For CJ1W NC213 XW2B 40J6 4A 413 223 423 with communications sup port For CS1W HCPP22 XW2B 80J7 1A V1 Servodriver Relay Units 1 XW2Z 100J B4 cable other than 2m XW2Z 200J B4 those listed below 73 Specification For Posi Servodriver XW2B 40J6 im XW2Z 100J B8 tion Con cable 4A 2m XW2Z 200J B8 trol Units Communica tions support type XW2B 80J7 XW2Z 100J B11 1 2m XW2Z 200J B11 For customiz able counters Cableson For C200HW XW2Z 050J A6 Position NC113 and im XW2Z 100J A6 Control Unit CS1W end NC113 For C200HW XW2Z 050J A7 NC213 413 im xw2Z 100J A7 and CS1W NC213 413 For CS1W XW2Z 050J A10 NC133 XW2Z 100J A10 For CS1W XW2Z 050J A11 NC233 433 im XW2Z 100J A11 For CJ1W XW2Z 050J A14 NC113 LM XW2Z 100J A14 For CJ1W XW2Z 050J A15 NC213 413 im XW2Z 100J A15 For CJ1W XW2Z 050J A18 NC133 im XW2Z 100J A18 For CJ1W XW2Z 050J A19 NC233 433 im XW2Z 100J A19 For CQM1 XW2Z 050J A3 CPU43 V1 1 XW2Z 100J A3 and CQM1H PLB21 For 3F88M XW2Z 050J A24 DRT141 dw XW2Z 100J A24 For CS1W XW2Z 050J A29 HCP22 V1 im xw2Z 100J A29 For 24 pin connectors See note For CS1W XW2Z 050J A32 HCP22 V1 XW2Z 100J A32 For 40 pin connectors See note For CJ1M CPU22 23 XW2Z 100J A27 For gen Contr
47. W03030S B S1 W05030S B S1 W100308S B S1 300 30 Shaft end h These dimensions are applicable to R88M WL BS1 with key ae Flange surface c m o F Ge z sos e w Te R88M W03030L1 B 307 R88M W0503007 B 108 5 R88M W10030L1 B S1 30 OMRON External Dimensions Cylinder style Motors without Brakes 3 000 r min 200 VAC 200 W 400 W 750 W R88M W20030H S1 W40030H S1 W75030H S1 R88M W20030T S1 W40030T S1 W75030T S1 100 VAC 200 W R88M W20030L S1 R88M W200308 S1 300 30 Output section dimensions for 750 W Servomotors QK 3 These dimensions are applicable to R88M WL S1 with key Dimensions mm Flange surface Shaft end Mode C Di r2 F G Z S j QC b h t R88M W20030 S1 96 5 30 70 507 3 Four 148 20 5 5 3 R88M W40030L S1 124 5 5 5 dia ppp Pp 7 dia 31 OMRON External Dimensions Cylinder style Motors with Brakes 3 000 r min 200 VAC 200 W 400 W 750 W R88M W20030H B S1 W40030H B S1 W75030H B S1 R88M W20030T B S1 W40030T B S1 W75030T B S1 100 VAC 200 W R88M W20030L B S1 R88M W20030S B S1 300 30 Output section dimensions for ia 7 dia 750 W Servomotors Shaft end tD These dimensions are applicable to R88M WL BS1 with key Dimensions mm Shaft
48. ailure detection Parameter Unit transmission error Note Applicable rotor inertia differs according to the motor Refer to the motor specifications 27 General Specifications Hem Specifications Ambient temperature Operating O to 55 Storage 20 to 85 Ambient humidity with no condensation Operating 20 to 9096 max Storage 20 to 90 max Shock resistance 19 6 m s 3 times each in X Y and Z directions Insulation resistance 1 min at 500 Dielectric strength 1 500 VAC for 1 min EC directives EMC directive UL standards cUL standards 28 omnon Servodriver Specifications External Dimensions Servomotors Cylinder style Motors without Brakes 3 000 r min 200 VAC 30 W 50 W 100 W R88M W03030H S1 W05030H S1 W10030H S1 R88M W03030T S1 W05030T S1 W10030T S1 100 VAC 30 W 50 W 100 W R88M W03030L S1 AW05030L S1 W10030L S1 R88M W030308 S1 W05030S S1 W10030S S1 300 30 1 300 30 R88M W03030l R88M W05030L mm R88M W10030L S1 QK OMRON External Dimensions Shaft end h 29 OMRON External Dimensions Cylinder style Motors with Brakes 3 000 r min 200 VAC 30 W 50 W 100 W R88M W03030H B S1 W05030H B S1 W10030H B 1 R88M W03030T B S1 W05030T B S1 W10030T B S1 100 VAC 30 W 50 W 100 W R88M W03030L B S1 W05030L B S1 W10030L B S1 R88M
49. al to CN1 41 pin Enabled when low 2 Allocates the signal to CN1 42 pin Enabled when low 3 Allocates the signal to CN1 43 pin Enabled when low 4 Allocates the signal to CN1 44 pin Enabled when low 5 Allocates the signal to CN1 45 pin Enabled when low Allocates the signal to CN1 46 pin Enabled when low Always enabled 8 Always disabled Allocates the signal to CN1 40 pin Enabled when high A Allocates the signal to CN1 41 pin Enabled when high Allocates the signal to CN1 42 pin Enabled when high C Allocates the signal to CN1 43 pin Enabled when high Allocates the signal to CN1 44 pin Enabled when high E Allocates the signal to CN1 45 pin Enabled when high F Allocates the signal to CN1 46 pin Enabled when high MING Gain Reduction Signal 0 to F Same as Pn50A 1 Input Terminal Allocation POT Forward Run Prohibit O to F Same as Pn50A 1 Signal Input Terminal tion NOT Reverse Run Prohibit 0 to F Same as 50 1 6548 Signal Input Terminal Alloca tion Ja Alarm Reset Signal 0 to F Same as Pn50A 1 Ja Allocation PCL Forward Torque Limit as Pn50A 1 Pn50B Input Signal Selection 2 Signal Input Terminal Alloca tion NCL Reverse Torque Limit 0 to F as Pn50A 1 Signal Input Terminal tion Pn50C Input Signal Selections RDIR Rotation Direction 0 to F 50 1 8888 Signal Input Terminal Allocation SPD1 Speed S
50. application Compatible with Long Cableseeeecccccccccccco Unlike conventional models long power cables and encoder cables up to 70 m can be used All in one Control Torque position and speed control can achieved just switching parameters Regenerative Resistance Terminals Standard External regenerative resistance terminals are standard equipment so regenerative resistance can be connected very easily Series Reliability Conformance to International Standards e e e ee oo The W series Servomotors and Servodrivers can be exported and U used overseas because they con CXS L US form to UL cUL standards Environ mentally Resistant Models Enclosures can conform to IP67 standards possible for flat profile motors 3 000 r min motors with capacities of 1 kW or more 1 000 r min motors and 1 500 r min motors These motors are ideal for applications where waterproofing is re quired Countermeasures Against 00000000000000000000 Power Supply Harmonics A DC reactor connection terminal is provided Series Easy Maintenance Simple Replacement of OMRON Servomotors e eeo OMRON S R H V and M series Servomotors can now be replaced with W series Servomotors Built in Parameter Setting Device Parameters can be input directly from the Servod
51. atalogs 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 Buyer s 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 All taxes duties and other governmental charges other than general real property and income taxes
52. ation Switches 2 Fully Closed Encoder Fully closed encoder is not used Usage Fully closed encoder is used without phase Z P dno sd saa closed encoder is used with phase A closed encoder is used in Reverse Rotation Mode without phase Z Fully closed encoder is used in Reverse Rotation Mode with phase Z Analog Monitor 1 Motor speed 1 V 1 000 r min 0002 1 Speed command 1 V 1 000 r min 2 Torque command 0 05 V rated torque 3 Position error 0 05 V 1 command unit 4 Position error 0 05 V 100 command units Pn003 Function Selection Application Switches 3 1 V 1 000 r min e Motor speed 1 min B D Note 1 Do not change the factory settings of any Not Used parameters 2 When changing the Pn000 Pn001 or Pn002 parameter always turn OFF and then ON the main circuit and control circuit power supplies to make the settings valid Torque Command in D None 0000 ES aped EDS Uses TREF for analog torque limit input itio eed Contro j Uses TREF for torque feed forward input Uses TREF for analog torque limit input when PCL and NCL are ON m o w sp put Switch during Uses REF for analog torque limit input Torque Control 2 Absolute Encoder Us Uses the absolute encoder as an abso age lute encoder Uses the absolute encoder as an incre mental encoder 54 OMRON User Parameters Gain related Parameters Parameter name Function name Explanation Factory Setting setting range
53. coders can however be used as incremental encoders o o Yes Yes Yes o o o o o d Yes Yes Yes on o olo 0 o o d d Q Qo Yes Q Yes 5 o a o lt Yes o Gu n 0 Ui o 5 o lt Yes o d Q Yes o o lt Yes o o 0 0 a o 5 o lt Yes Yes ves Yes ves es Yes ves es ves es s Yes ves ves ves ves 1 000 3 000 0 r min 0 Nes ws ves ves ves 0 Yes lt lt Yes Yes Yes Y HE o ES o o lt o We oio oio e oio oio t oio a oio lt lt Yes d o Yes 0 Yes o o o o E o o o o 3 e ul x J J D D D D D 22 22 DJD DJ 22 22 202 20 22 22 221 2021 DD 22 JJ I oo COO o o OO OO CO CO amp co
54. command 2 Unit No Setting 0 to F 5 1 E the unit No of the device commu with Servodriver Not Used Pn001 Function Selection Servo OFF or Alarm Uses the brake to stop the Ser 1002 Application Switches Stop Mode 1 1 Uses the dynamic brake to stop the Ser vomotor and releases the dynamic brake after the Servomotor stops Coasts the Servomotor to a stop the Servomotor to a Coasts the Servomotor to a stop 1 Run Prohibit Input Eo m the Servomotor according to the Stop Mode Pn001 0 Eo Decelerates the Servomotor to a stop at the torque specified in Pn406 and then locks the Servomotor Decelerates the Servomotor to a stop at the torque specified in Pn406 and then turns OFF the Servomotor 2 Main Circuit Power Supplies AC power from L1 L2 and Supply AC DC Input L3 terminals Selection ccu ee DC power from 1 and ccu ee 3 Warning Code Output only alarm codes from AL01 Selection 03 pror 5 both alarm codes and warning codes pror 5 AL01 AL02 and AL03 Note 1 Do not change the factory settings of any Not Used parameters 2 When changing the Pn000 Pn001 or Pn002 parameter always turn OFF and then ON the main circuit and control circuit power supplies to make the settings valid 53 OMRON User Parameters Parameter name Function name Explanation Factory Setting setting range Pn002 Function Selection Applic
55. ction Gears 2 These reduction gears can be attached to only shafts with key Backlash Approx 45 Motor Reduction gear ratio 1 25 R88M W03030 Note 1 Yes represents compatible combinations Any combina tions without Yes cannot be used 2 These reduction gears can be attached to only shafts with key 10 100 W to 1 5 kW Flat style Motors 3 000 r min Standard Reduction Gears Backlash 3 max ow m wm mms _ G33B4 100 W R88M WP10030 t Yes Yes Yes Yes Note Yes represents compatible combinations Economy Reduction Gears Backlash Approx 45 Motor Basic model Reduction gear ratio EN 1 15 1 25 5 fe meewowPeonaosc vs ve oow meewwPanooos Yes ves he w C A 750 W R88M WP75030 1 5 kW R88M WP1K530x Note 1 Yes represents compatible combinations Any combina tions without Yes cannot be used 2 These reduction gears can be attached to only shafts with key 450 W to 15 kW Cylinder style Motors 1 500 r min Motor Basic model Reduction gear ratio id A AA 0 450 W R88M Yes W45015y 850 W R88M W85015 1 3
56. e brake R88M W05030H with key a 100 W R88M W10030H S1 100 VAC r W03030L R88M W10030L R88M W3K030H S2 R88M W20030L With brake 200 VAC 30 W R88M W03030H B IR88M W05030H B W05030H B 100 VAC R88M W03030L S1 100 W W10030H B 200 W R88M W20030H B gt P 100 W R88M W10030L S1 T 200 W R88M W20030L S1 CURE UE 7 eS OTE With brake 200 VAC R88M W03030H BS1 sow ReSM WOSOSDLSB _ R88M W05030L B 100 W R88M W10030H BS1 100 W R88M W10030L B 200 W R88M W20030H BS1 200 W R88M W20030L B 400 W R88M W40030H BS1 750 W R88M W75030H BS1 R88M W1K030H BS2 1 5 kW R88M W1K530H BS2 R88M W2K030H BS2 R88M W3K030H BS2 R88M W4K030H BS2 R88M W5K030H BS2 100 VAC R88M W03030L BS1 R88M W05030L BS1 100 W R88M W10030L BS1 200 W R88M W20030L BS1 Note S1 at the end of a model name represents models with key and without tap S2 at the end of a model name represents models with key and tap Motors with a capacity of 1 kW or more do not have the S1 or S3 type 67 Cylinder style Motors 3 000 r min with Absolute Encoders 200 100 W 200 W LI 400 W EIS W 00 VAC 2 200 W With brake 200 VAC 30 W 100 W W 200 W iw 400 W RI R88M W03030T R88M W05030T R88M W10030T R88M W20030T R88M W40030T R88M W75030T R88M W03030S R88M W05030S R88M W10030S R88M W20030S R88M W03030T B R88M W05030T B R88M W10030T B R8
57. e Do not change the factory settings of any Not Used parameters Other Parameters setting Regenerative Resistor Sets the monitor calculation for the regenerative resistor load 0 to maximum de i pending on each model CA Note 1 Do not change the factory settings of any Not Used parameters 2 When installing an external regenerative resistor set the resistor capacity W 61 OMRON Connection Diagrams Connection Diagrams Single phase Single phase 200 to 230 VAC i A or single phase 100 to 115 VAC a 50 60 Hz 50 60 Hz 1MCCB Main circuit power Noise filter ON Main circuit contactor Surge killer Bi B2 rr Servomotor 0 6 1 5 OMNUC W series 20 Q Lec Connect a DC reactor for suppressing X amp 1 power supply harmonic waves 2 between 1 and 2 terminals 3 2 ME s x Encoder x Be sure to ground x2 Be sure to prepare the end of the Speed command 41 REF 15 shield wire properly 2 to 10 V rated motor speed AD 1 TREF AL01 mr Torque command ip arm Code Outpu 1 to 10 V rated torque aanp lo E y ALO2 Maximum operating voltage 30 VDC ED ALO3 Maximum output current 20 mA DC Reverse rotation cwiz 1509 gt pulse GE E Forward rotation M Cow 11 1508 gt 334 pulse lt
58. e input terminal main circuit R88D WTOJO 200 VAC 200 230 VAC 170 to 253 V 50 60 Hz R88D WTLIL HL 100 VAC 100 115 VAC 85 to 127 V 50 60 Hz Terminals for outputs to the Servomotor a BAr Battery used wih absolute encoder 5 e Encoder serial signal input 5 S Encoder se al signalimput non Resp WTA Control power power input terminals for the input terminal control circuit R88D WTOJO 200 VAC 200 230 VAC 170 to 253 V 50 60 Hz R88D WTLILJ HL 100 VAC BE 100 115 VAC 85 to 127 V args Power lamp 50 60 Hz is Frame ground Ground terminal Ground to a maximum of 100 Q class 3 Main circuit DC 5 kW or less Connect an external output terminal regenerative resistor if regenerative energy is high 5 5 kW There is no internal regen Terminal erative resistor Be sure to connect block an external Regenerative Resistor Unit DC reactor Normally short 1 and 2 connection ter If a countermeasure against power minal for sup supply harmonic waves is needed pressing power connect a DC reactor between 91 supply har and 2 monic Waves Note These terminals do not exist CN3 Parameter Unit CN1 Control I O on the R88D WT60H 75H 150H Encoder in Main circuit DC Normally not connected put outputterminal This terminal exists on the R88D positive WT60H only Main circ
59. e and Rotation Speed Characteristics Cylinder style Motors with 200 VAC Power Supply 1 500 r min The following graphs show characteristics with a standard 3 m cable and 200 VAC input R88M W45015T 450 W R88M W85015T 850 W R88M W1K315T 1 3 kW R88M W1K815T 1 8 kW N m N m 30 20 24 6 Repetitive usage 10 7 8 83 8 34 Continuous usage Continuous usage 559 r min o r min 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 R88M W2K915T 2 9 kW R88M W4K415T 4 4 kW R88M W5K515T 5 5 kW R88M W7K515T 7 5 kW N m N m N m N m 907 454 44 2 2490 Repetitive usage T Repetitive usage 28 4 35 0 48 0 54 8 104 Conti 24 0 Continuous usage ontinuous usage Continuous usage r min 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 R88M W11K015T 11 kW R88M W15K015T 15 kW N m N m Repetitive usage 150 Repetitive usage 105 77 0 100 Continuous usage Continuous usage r min 0 i r min 1000 2000 3000 1000 2000 3000 21 OMRON Servomotor Specifications Performance Specifications Cylinder style Motors 1 000 r min 200 VAC Servomotor R88M w30010 W60010L W90010L W1K210L W2K010 1 W3K010 W4K0100 W5K5100 Servodriver R88D WTO5H WT08H WT10H WT15H WT20H WT30H WT50H WT60H Rated output w so 9o po w pa Rated torque 2 84 15 68 86202 115 1284 3882 526 Max momentary N m sse 1 ee
60. earch Indexing opera Positioning performed with 1 motor revolution divided equally by a specified number range 1 to 32 767 tion Software limits Decelerates to a stop at a specified position The direction can be specified as either positive or negative in the range 99 999 999 to 99 999 999 Emergency stop Possible via remote I O communications or using input signal deceleration stop Present position Possible via remote communications preset Trace function Analog trace Command pulse speed r min position deviation command units speed feedback r min or data Select up torque commands 96 to 2 elements ON OFF trace Sensor ON input alarm output positioning completed output 1 speed coincidence output data Select up motor revolution detection output servo ready output current limit detection output speed to 2 elements control detection output brake interlock output warning output positioning completed output 2 alarm code output 1 alarm code output 2 alarm code output 3 Trigger data Analog trace data rising edge falling edge or rising falling edge ON OFF trace data rising edge falling edge or rising falling edge Data sampling Sampling cycle Set in 250 us units range 250 to 8 191 750 us Number of samples 1 000 samples fixed Heading monitor Speed feedback r min torque commands 96 number of pulses from phase Z pulses electrical an items gle input signal mo
61. ection dimensions for 300 W to 900 W Shaft end Servomotors M effective depth 30 dia ak Je Four Z dia Mounting hole KL1 These dimensions applicable to R88M WL BS2 with key and tap Dimensions mm ER Ke Pe surface EMANAN R88M W30010L B S2 176 58 56 154 120 88 130 145 1107 165 12 19 ui R88M W90010L1 B S2 R88M W1K210L B S2 217 79 79 195 146 88 180 200 m R88M W2K010L B 52 243 R88M W3K010L1 B 82 37 OMRON External Dimensions Cylinder style Motors without Brakes 1 000 r min 200 VAC 4 kW 5 5 kW R88M W4K010H S2 W5K510H S2 R88M W4K010T S2 W5K510T S2 42h6 dia 150 Shaft end M16 effective depth 32 NENNEN 38 OMRON External Dimensions Cylinder style Motors with Brakes 1 000 r min 200 VAC 4 kW 5 5 kW R88M W4K010H B S2 W5K510H B S2 R88M W4K010T B S2 W5K510T B S2 LL 113 18 3 2 42h6 dia dia 114 3 150 123 Shaft end M16 effective depth 32 gt E gt gt 90 5 8 39 OMRON External Dimensions Flat style Motors without Brakes 200 VAC 100 W 200 W 400 W 750 W 1 5 kW R88M WP10030H S1 WP20030H S1 WP40030H S1 WP75030H S1 WP1K530H S1 R88M WP10030T S1 WP20030T S1 WP40030T S1 WP75030T S1 WP1K530T S1
62. ed selection command forward reverse drive prohibit alarm reset Output signals Position feedback output Phase A phase B phase Z absolute phase for absolute encoders only Line driver out put Speed monitor output 1 V 1000 r min Current monitor output 1 V rated torque Sequence output Servo alarm alarm code 3 bit output CN1 output terminal fixed soeed conformity posi tioning completion 1 motor rotation detection servo ready current limit detection brake interlock warning positioning completion 2 speed limit detection Dynamic brake stopping Operates when the power supply turns OFF a servo alarm is generated an overrun oc curs or the servo turns OFF Other protective functions Parameter destruction main circuit detector error parameter setting error motor mis match overcurrent regenerative error regenerative overload overvoltage undervoltage overspeeding overload dynamic brake overload inrush resistance overload heating plate overheating backup error absolute checksum error absolute battery error ab solute absolute error absolute overspeed error absolute encoder overheating speed command input read error torque command input read error system error overrun detec tion excessive rotation data error absolute encoder communications error encoder pa rameter error encoder data error multiple rotation limit mismatch absolute error counter count up phase f
63. election Com 0 to F E as Pn50A 1 mand 1 Signal Input Terminal Allocation SPD2 Speed Selection Com 0 to F as Pn50A 1 mand 2 Signal Input Terminal Allocation CSEL Control Mode Selec 0 to F as Pn50A 1 tion Sional Input Terminal Allo cation Note 1 Do not change the factory settings of any Not Used parameters 2 When changing any Input Signal Selection parameters Pn50A to Pn50D always turn OFF and then ON the main circuit and control circuit power supplies to make the settings valid 3 When installing an external regenerative resistor set the resistor capacity W 60 OMRON User Parameters PRM Parameter name Function name Explanation Factory Setting No setting range Pn50D Input Signal Selections 4 PLOCK Position Lock Command Signal 0 to F Same as Pn50A 1 8888 Input Allocation IPG Pulse Prohibit Signal Input Terminal 0 to F Same as Pn50A 1 aun GSEL Gain Selection Signal Input Ter O to F Same as Pn50A 1 Mee NEA Pn50E Output Signal Selections 1 INP1 T s Completed 1 Signal Disabled Not used for the output 3211 Output Terminal Allocation signal Allocates the signalto CN1 25 and CN1 26 pins Allocates the signalto CN1 27 and CN1 28 pins Allocates the CN1 29 30 pins VCMP Speed Coincidence Signal Out 0 to 3 Same as Pn50E 0 put Terminal Allocation 2 Motor Rotation Detection Signal 0 to Same as Pn50E 0
64. eleration Time Sets the deceleration time for speed controling soft start O 8 Oio 10000 Pn307 Speed Command Filter Time Sets the filter time constant for soeed command voltage input 40 0 01 ms 0 to 65535 Constant REF Pn308 Speed Feedback Filter Time Sets the filter time constant for speed feedback AES to 65535 Constant Note 1 Do not change the factory settings of any Not Used parameters 2 When changing any position control related parameters Pn200 to Pn208 always turn OFF and then ON the main circuit and control circuit power supplies to make the settings valid 3 For 13 bit encoders dividing will not occur if a value of 2048 or greater is specified in Pn201 Torque related Parameters Parameter name Function name Explanation Factory Setting setting range Pn400 Torque Command Scale Setsthetorque command voltage TREF to output the rated torque 30 0 1 V rated 10 to 100 torque Pn401 Torque Command Filter Sets the filter time constant for internal torque command 0 01 ms O to 65535 Time Constant Pn402 Forward Torque Limit Output torque limit percentage of rated torque for forward direction 0 to 800 Pn403 Reverse Torque Limit Output torque limit percentage of rated torque for reverse direction 0 to 800 Pn404 Forward Rotation External Output torque limit percentage of rated torque for forward rotation 100 0 to 800 Current Limit external current limit input Pn405 Reverse Rotation Ex
65. en 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 take application responsibility in all cases but the following is a non exhaustive l
66. equiring excluding high torque shaft opening Simple processing WT10H machines Assem WT20H Transfer machines qc WT30H Ec qe WT60H IP55 IWTOTHL WTO1H Machines allowing excluding little motor depth shaft opening 3 Machines requiring IP67 waterproof motor including WT08H WT08H shaft opening Semiconductor manufacturing ma chines Food pro WT15H machines AGVs Note When using a 200 V single phase Servomotor it is necessary to change part of the power supply wiring Refer to the relevant connection diagram for details The power supply specification is 220 to 230 VAC 10 15 B Available Models AC Servodrivers 880 IH Pan em Spocitication pacity 5 pow s Power supply Blank OMRON Servomotor Servodriver Combinations AC Servomotors Without Reduction Gear Part em Code Specification 1 R88M indicates the product is a Servomotor 3 Style Cylinder style Wa pacity Speed orsupply gt 7 Brake No brake z p 24 VDC brake Waterproof olsea Shaft end Note Waterproof specifications are available for only flat style mo tors OMRON Servomotor Servodriver Combinations AC Servomotors With Reduction Gear R88M Wi J L L LL LG OL JL TL 1 23 4 567 8 910 Part tem Code Specification R88M indicates the product is a Servomotor
67. he 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 twelve months from the date of sale by Omron or such other period expressed in writing by Omron Omron disclaims all
68. ight kg Approx Approx 86 without brake 5 5 7 6 9 6 14 18 23 30 40 57 5 Approx weight Approx 65 with brake NE S 5 9 6 12 19 23 5 28 5 35 45 5 100 Encoder resolu tion mu A B phase 32 768 pulses rev Z phase 1 pulse rev Brake specifications Inertia kg m x 10 volt x 24 VDC 10 nonpolar on con sumption Current con sumption Static friction N m 4 41 12 7 43 1 114 6 torque time Rang _ iain We na 19 General Motor Specifications Cylinder style Motors 1 500 r min 450 W to 15 kW standard type 1 500 r min Ambient temperature Operating O to 40 C Storage 20 to 60 C Ambient humidity with no condensation Operating 20 to 80 Storage 20 to 80 Vibration resistance Shock resistance 490 m s twice in vertical direction Insulation resistance Operating positon Enclosure rating IP67 See note EC directives EMC directive ee e Low voltage directive IEC60034 1 5 8 9 EN60034 1 9 UL standards UL1004 cUL standards cUL C22 2 No 100 Note Enclosure ratings do not include the shaft opening OMRON Servomotor Specifications 20 OMRON Servomotor Specifications Torqu
69. ion rate 0 0126 max at 0 to 100 at rated rotation speed Voltage fluctuation 096 at rated voltage 10 at rated rotation speed rate Temperature fluctua 0 1 max at 25 25 C at rated rotation speed tion rate Frequency character 400 Hz at the same load as the rotor inertia istics Torque control repeat 2 ability Acceleration time set O to 10 s acceleration and deceleration set separately ting Maximum response Line driver input 500 Kpps pulse frequency Open collector input 200 Kpps Positioning range 0 to 250 command unit Feed forward compen 0 to 100 sation Input signals Feed pulse forward reverse signal forward pulse reverse pulse 90 phase difference phases A B signal pulse Speed command volt 2 to 10 VDC rated rotation speed motor forward rotation by voltage age Mechanical impedance Approx 14 circuit time constant Approx 47 us Torque command volt 1 to 10 VDC rated torque motor forward torque by voltage age Mechanical impedance Approx 14 circuit time constant Approx 47 us Sequence input Run command gain deceleration position lock command control mode switch gain switch direction command pulse pro hibit forward reverse current limit speed selection command forward reverse drive prohibit alarm reset Output signals Position feedback out Phase A phase B phase Z absolute phase for absolute encoders only Line driver output
70. ist 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 user must correlate it to actual application require ments Actual perfor
71. mance 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 ALL DIMENSIONS SHOWN ARE IN MILLIMETERS To convert millimeters into inches multiply by 0 03937 To convert grams into ounces multiply by 0 03527 OMRON ELECTRONICS LLC MEXICO SALES OFFICES OMRON ON LINE 1 Commerce Drive Mexico D F 555 660 3144 Global Schaumburg IL 60173 Ciudad Ju rez 656 623 7083 WU CORA Tel 847 843 7900 Monterrey N L 818 377 4281 USA For U S technical support or other Quer taro 442 135 4510 NP PM Www omron247 com inquiries 800 556 6766 BRAZIL SALES OFFICE OMRON CANADA INC Sao Paulo 55 11 2101 6310 sanada 885
72. n limit when using a Servomotor with an absolute encoder 65535 O to Multi turn Limit Set 65535 ting Pn206 Number of Fully Sets the number of fully closed encoder pulses per Servomotor revolution 16384 P R 25 to Closed Encoder 65535 Pulses Pulses 16 to 16384 1000 57 OMRON User Parameters Parameter name Function name Explanation Factory Setting setting range Position Control Set Position Command Fil 0 4 Primary filter 0000 ting 2 ter Selection Linear acceleration deceleration 1 Speed CAE Switch during Position Uses REF speed feed forward in Control put Position Command Soft start setting for command pulse soft start characteristic linear acceleration 0 01 ms 0 to 6400 Filter Time Constant and deceleration 2 Linear Accelera tion and Decelera tion Pn217 Command Pulse Sets the factor for command pulse input 1 Factor 1 99 Factor Position Control Set Command Pulse Factor p i Disables function 0000 ting 3 Switching Selection 1 Uses command pulse factor switching selection Not Used Speed related Parameters Parameter name Function name Explanation Factory Setting setting range Pn300 Speed Command Scale Sets the speed command voltage REF to rotate at the rated 1000 0 01 V rat 150 to r min ed speed 3000 P305 Soft Start Acceleration Time Sets the acceleration time for speed contraling sof stark O 8 Oio 10000 Pna06 Soft Star Dec
73. ning function makes it easy to adjust parameters even for users operating a Servomotor for the first time p lt PB IP67 compatible 2 60 to 70 of U Series The OMNUC W Series provides the performance demanded in today s workplace Their fast response high speed and pr ecise control will dramatically improve machine performance and pro ductivity li iis W i d 4 T iil W wi il Contents Features 2 Servomotor Servodriver Combinations 6 Servomotor and Reduction Gear Combinations 10 System Configuration 12 Controllers 14 Servomotor Specifications 16 Servodriver Specifications 26 External Dimensions 29 Cable Specifications 46 Operation and Display 50 User Parameters 53 Connection Diagrams 62 Terminal Blocks and Connectors 64 Ordering Information 67 DeviceNet Option Unit 76 This catalog provides information and specifications needed to select Servomo tors and Servodrivers It does not provide precautions for operating these products Always refer to the OMNUC W series AC Servomotors Servodriver User s Manual for precautions and other information be fore operating these products l Improve productivity even more by connecting to a PLC Even more advanced control and system con figurations can be achieved by connecting to an OMRON Position Control Unit such as a CS1W NCI l I 1 or Motion Control Unit such as a CS1 MCL I mounted to an OMRON
74. nitor no units output signal monitor no units command pulse speed display method tion functions r min position deviation command units cumulative load rate regenerative load rate dy namic brake resistance load rate input pulse counter rightmost 16 bits command units feed back pulse counter rightmost 16 bits pulses 77 OMRON DeviceNet Option Unit for OMNUC W series AC Servo Drivers R88A NCW152 DRT Unit Descriptions DeviceNet Communications Specifications DeviceNet Unit classification Slave Unit Communications 125 250 or 500 kbps selected with rotary switch Communications Remote I O communications operates as slave and explicit message communications sends functions explicit messages Communications Remote I O e Move commands for positioning contents communications e Origin compensation when absolute encoder is used e Reading and writing Servo Driver and DeviceNet Option Unit parameters e Reading monitor items e Present position compensation e Alarm reset Explicit message e Setting trace function communications e Reading trace data e Reading and writing Servo Driver and DeviceNet Option Unit parameters Connection format Combinations of multi drop method and T branch method Maximum number of 64 This figure includes the Master Unit Slave Units and Configurator if connected connectable nodes General Specifications Applicable
75. ns Common to analog 200 VAC a inputs mmon to incre montl and abso encoders 15 KW 100 VAC AI wih 200 VAC 100 VAC 100 W R88M WP10030S BW 200 W R88M WP20030S BW 400W R88M WP40030T WS1 R88D WTASHL R88M WP75030T WS1 100 W R88D WTO1HL 1 5 R88M WP1K530T WS1 200 W R88D WT02HL 100 100 W R88M WP10030S WS1 Note When ordering the R88D WT60H 75H 150H a regenerative resis iN et tor must also be ordered With 200 100W R88M WP10030T BWS1 brake 200 W R88M WP20030T BWS1 Without 200 100 W R88M WP10030T WS1 brake 200 W R88M WP20030T WS1 100 VAG Id qc Note Precautions When Selecting Products 1 The standard cable R88A CAWIL can be connected but it is not water resistant Use a water resistant cable in locations subject to water 2 he cable attached to the Motor is water resistant but the con nector is not Do not allow water to come into contact with the connector to protect the terminals 71 Power Cables Specification Medel For motors without brakes 30 W to 750 W cylinder style mo tors 3 000 r min 100 W to 750 W flat style motors 1 5 kW flat style motors 300 W to 900 W cylinder style mo tors 1 000 r min 450 W to 1 3 kW cylinder style mo tors 1 500 r min 1 kW to 2 kW cylinder style mo tors 3 000 r min 1 2 kW to 3 kW cylinder style mo tors 1 000 r min 1 8
76. o o co co o o o O0 CO Bl ol a mn N AJIN AAA AL X S S OQ AS AX AX LAA A II OO A G O S QG Ojo OS N O OO SO A A a o ceo o o S o ooo OOO O O af a G G G G G G a jajajaja aja aa ojojo cO OMRON Servomotor and Reduction Gear Combinations Servomotor and Reduction Gear Combinations How to Use the Servomotor Combination Tables Use the table on the right Motor and Reduction Gear Combinations to check whether or not the desired combination is possible Next check the configuration details using the table for the corresponding Servomotor category The model numbers are basically configured with the motor capacity 1 and the gear ratio option specification 2 Motor and Reduction Gear Combinations R88M WO 0 1 2 Motor type Capacity Reduction gear type Standalone Reduction e The meanings of the symbols used in the tables are as follows Gear Ses note E Blank Without brake Standard Econom cs B With brake Backlash 30 Backlash pu 30 45 max J With key 3 000 r min H 200 VAC with incremental encoder da E le L 100 VAC with incremental encoder 1 500 r min T 200 VAC with abs
77. of counted input pulses in hexadecimal notation units Un00D Feedback Pulse Counter Pulses Displays the number of counted encoder feedback pulses in hexadecimal notation multiplied by 4 E Alam Displays In addition to the displays listed below error codes for the Option Unit are also output Display Alarm details ALO1 ALO2 03 RUP OFF OFF OFF Parameter destruction Servodriver EEP ROM data error RUS Main circuit detector error AS Parameter setting error ROS Motor mismatch Servomotor and Servodriver capacity mismatch RU JON Overcurrent or heat sink overheating 1 5 kW min R3 ON ON OFF Regeneration error broken resistor wiring transistor short circuit AJO Regeneration overload R33 Main circuit power supply setting error Ru OFF OFF ON Overvoltage ON OFF ON an O ON ON ON Overload maximum momentary load Rue Overload maximum continuous load n Dynamic brake overload AE 8 Inrush resistance overload RIA Radiation shield overheating Displayed for 30 W to 1 0 kW models only CES OFF OFF ee Checksum error 989 Parity error BE O o Absolute error RBS Overspeed error ABb Encoder overheating Abr o n Speed command input read error P o Torque command input read error System error 5 OMRON Monitor Item and Alarm List Display Alarm details AL01 AL02 AL03 Over
78. of power Note These input signals are used with absolute encoder only 65 OMRON Terminal Blocks and Connectors E CN1 Control Outputs Pins 16 and 17 can be reassigned using the Pn003 user parameter Pins 25 to 30 can be reassigned using the Pn50E to Pn510 user parameters Signarname Encoder Z phase output 1 pulse revolution Line driver output Conforms to RS 422A Positioning completion output ON when the position error is within the positioning completed width specified 1 2 in Pn500 while in position control mode Always OFF while in other modes I i 26 to 30 Speed conformity output ON when the speed error is within the speed coincidence signal output width specified in Pn503 while in speed control mode Always OFF while in other modes Servomotor rotation detection ON when the motor speed exceeds the motor rotation detection level specified output in Pn502 READY Servo ready output ON if no errors are detected after the main circuit power supply is turned ON Current limit detection output If PCL forward rotation current limit input or NCL reverse rotation current limit input is ON the CLIMT signal will turn ON when the output torque reaches the external torque limit specified in Pn404 405 or the torque limit specified in Pn402 403 whichever is lower If PCL forward rotation current limit input or NCL reverse rotation current limit input is OF
79. ol cables with connec im R88A CPWO01S eral pur tor at one end R88A CPWOO2S ose E R88A CTWOOTN control Cables for relay terminal lers block R88A CTWOO2N Relay terminal block XW2B 50G5 Note When using the CS1W HCP22 V 1 cables for both 24 pin con nectors and 40 pin connectors are required B Parameter Units Specification Mod Handy type for OMNUC W series R88A PRO2W with 1 m cable Cable for U series 2 m See note R88A CCWOO2C Note This cable can be used to connect the R88A PRO2U Parameter Unit for U series to the W series Servodriver omnon Ordering Information Backup Battery Unit for Absolute Encoder Specification R88D WTLIH LJ 50 or less H88A BATO1W R88D WT60H 75H 150H R88A BATO2W ll External Regenerative Resistors Specification Model 220 W 47 Q R88A RR22047S 880 W 6 25 Q R88A RR88006 Reactors Specification moa Front Panel Mounting Brackets Specification Model For R88D WTA3L to WT10H R88A TKO1W For R88D WT15H R88A TKO2W For R88D WT20H WT30H WT50H R88A TKO3W Other Peripheral Cables and Connectors Specification Model Analog monitoring cable 1 m R88A CMW001S Personal computer monitoring cable R88A CCWOO2P2 2 m Control I O connector CN1 R88A CNU11C Encoder connector CN2 R88A CNWO1R Encoder connector for R88A CRWA motor side R88A CNWO2R 74 E Equipment for Replacing S R H M series Products Moun
80. ole 42 OMRON External Dimensions Mounting hole dimensions 5 5 Two M4 Mounting hole dimensions Two M4 5 5 m E 160 49 5 05 m Mounting hole dimensions 5 5 Two M4 Y OMRON External Dimensions 43 SR HO gt ARAS C S Ir AH c CJ H WT30H 200 VAC 1 5 kW R88D WT15H 200 VAC 2 kW 3 kW R88D WT20 W 200 VAC 5 kW W 6 Two 5 7 OMRON External Dimensions 200 6 kW 7 5 kW R88D WT60H WT 75H 235 max 350 max 7 5 7 5 Two 7 dia holes Y o 00 A 230 max Mounting hole dimensions Four M6 25 r 5 335 350 7 M 180 0 5 230 max 5 44 OMRON External Dimensions 200 VAC 15 kW R88D WT150H 140 Two 7 dia holes 7 5 oft a _ Modo 433 320 293 5 151 5 Wil Z Z Hl j AN 30 LO 200 0 5 30 260 45 Cable Specifications OMRON Cable Specifications OMNUC W series Servodriver OMNUC W series Servomotor AA M C w Power Cables for Ser vomotors without Brakes Gm style Servomotors 3 000 r min 30 to
81. olute encoder style 200 to 5 100 VAC with absolute encoder a 000 r min yx H 200 VAC with incremental encoder 750 W T 200 VAC with absolute encoder Note 1 The SMARTSTEP Reduction Gear backlash 3 min max can be combined with the 3 000 r min 50 to 750 W motor The actual installation work to combine the Reduction Gear and Servomotor should be done by the customer 2 Yes represents compatible combinations Any combina tions without Yes cannot be used 30 W to 750 W Cylinder style Motors 1 kW to 5 kW Cylinder style Motors 3 000 r min 3 000 r min Basic model Reduction gear ratio Motor Basic model Reduction gear ratio it 1 11 1 21 1 33 1 5 1 9 30 W R88M W03030 k e SETS CT TM Yes Yes fe pur 50 W R88M 1 5 kW R88M Yes WO05030 t W1K030 100W R88M 2kW R88M Yes W10030 W2K0303 200 W 88 3 kW 88 W20030 W3K030 400 W 88 4 kW 88 W40030 W4K030 750 W 88 5 kW 88 W75030 W5K030x Note Yes represents compatible combinations Any combinations Note 1 Yes represents compatible combinations Any combina without Yes cannot be used tions without Yes cannot be used Economv Redu
82. on that can be displayed at W series AC Servo Drivers using monitor functions e g speed commands and speed feedback can be read by a PLC using remote I O functions e Failure Prediction and Diagnosis Up to 1 000 samples of sequential data such as speed feed back and torque commands can be recorded in units as small as 250 us to approx 8 seconds Comparison with data recorded during normal operation allows failure prediction and effective cause analysis for incorrect operation Ordering Information B List of Models Model number DeviceNet Option Unit R88A NCW152 DRT External I O Connector R88A CNUO1R Cable for Setup Tool R88A CCWO002P4 IBM PC AT or compatible 2 m 76 NEW OMRON DeviceNet Option Unit for OMNUC W series AC Servo Drivers R88A NCW152 DRT Unit Descriptions Specifications Position Control Function Specifications Fem Specifications Taxis per slave Semi closed loop full closed loop control R88D WT Servo Drivers Positioning unit User specified position units set freely The amount moved per step can be set as an electronic gear ratio set ting range 10 000 000 to 0 0000001 Operating Memory opera Step operation and point table operation specifications tion Direct operation Direct operation interrupt feeding notch signal output positioning and multi speed positioning Move com Type Incremental positioning according to relative coordinates or absolute positioning acco
83. onsumption Current consumption Static friction torque Absorption time Release time Backlash Rating Insulation 100 VAC W03030L W05030L W10030L W20030L WTASHL WTASHL WTO1HL WTO2HL 0 0955 0 159 0 318 0 637 0 286 0 477 0 955 1 91 S N N 74 24 VDC 10 _ oo General Motor Specifications Cylinder style Motors 3 000 r min Ambient humidity with no condensation Atmosphere Insulation resistance Dielectric strength Insulation class Construction Enclosure rating EC directives EMC directive Low voltage directive UL standards cUL standards 3019750 W_ 1 5 Operating 0 to 40 C Storage 20 to 60 C Operating 20 to 80 Storage 20 to 80 Any direction Type F IP67 See note EN55011 class A group I EN55011 class A group1 EN61000 6 2 IEC60034 1 5 8 9 EN60034 1 9 UL1004 cUL C22 2 No 100 Note Enclosure ratings do not include the shaft opening 17 OMRON Servomotor Specifications Torque and Rotation Speed Characteristics Cylinder style Motors with 200 VAC Power Supply 3 000 r min The following graphs show characteristics with a standard 3 m cable and 200 VAC input R88M W05030H 50 W R88M W10030H 100 W R88M W20030H 200 W Nem RBBM WOSOSOH 30 0 Nm R88M W05030T 50 W Nm R88M W10030T 100 W R88M W20030T 200 W R88M W03030T 30 W 0 5 0 477 0 477 1 0 0 955 0 955 2 0 1 91 1
84. other warranties express or implied b Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED ABOUT NON INFRINGEMENT MERCHANTABIL 14 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 Compa nies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with
85. pleted output 1 INP2 3 Command 1 to 250 Range 2 units Pn505 Deviation Counter Over Sets the detection level for the deviation counter overflow alarm 1024 Command 1 to flow Level units x 256 32767 Pn506 Brake Timing 1 Sets the amount of delay time from the brake command to the time the servomotor turns OFF Pn508 Brake Timing 2 Sets the amount of wait time from the time the servomotor turns OFF 50 until the brake command is output Pn509 Momentary Hold Time Sets the alarm detection disable time for generating a momentary EE E hold Pn50A Input Signal Selections 1 Input Signal Allocation Uses the same sequence in 8100 Mode put signal allocation setting as the R88D UT For details refer to the OMNUC W se ries AC SERVOMOTORS SERVO DRIVERS User s Manual 1531 E1 I 1 Enables any sequence input signal allocation settings Note 1 Do not change the factory settings of any Not Used parameters 2 When changing any Input Signal Selection parameters Pn50A to Pn50D always turn OFF and then ON the main circuit and control circuit power supplies to make the settings valid Pn507 Brake Command Speed Sets the r min for outputting the brake command 20 o9 OMRON User Parameters Parameter name Function name Explanation Factory Setting setting range Pn50A Signal Selections 1 RUN Signal Input Terminal Al Allocates the signal to CN1 40 pin 8100 location Enabled when low Allocates the sign
86. precision can be improved by using a high resolution serial encoder 16 384 pulses revolution or 32 768 pulses revolution Torque control precision reproduci bility has also been improved to 2 Smooth Operation Motor speed ripple has been reduced substantially Operation is smooth at low speeds Online Autotuning 0000000000000000000000000090 Automatically measures machine characteristics and sets re quired servo gains Settings can be made quickly even by first time users 4 EE I Ee Oe J A A Automatic Motor Discrimination Function e e e eee The Servodriver automatically determines the Servomotor s ca pacity and model and sets the motor parameters accordingly Personal Computer Monitoring Software eeceeoe Windows based monitoring software is available The software can be used to easily perform tasks such as setting up the sys tem monitoring operation and editing parameters Of course the U series models including the UE models can be connec ted too Series Flexibility Comprehensive Motor Line A full line of variations is available including motors with brakes motors with gears and flat profile motors Also three different rated motor speeds are available 3 000 r min 1 500 r min and 1 000 r min The wide variety allows you to choose the best model for your
87. rding to absolute coor mand specifi dinates cations Position com Signed 32 bit data setting range 99 999 999 to 99 999 999 steps mands Unsigned 32 bit data units step min setting range 1 to 240 000 steps mands Acceleration Fixed acceleration Single step linear acceleration deceleration 2 step linear acceleration deceleration asym deceleration deceleration metric linear acceleration deceleration S curve acceleration deceleration asymmetric S curve acceleration deceleration Fixed acceleration Exponential acceleration deceleration exponential acceleration deceleration with bias sin deceleration time gle step linear acceleration deceleration Acceleration 1 to 10 000 ms time taken to reach maximum speed deceleration time Coordinate sys Set whether to use the AC Servomotor as a linear axis or a rotary axis tem settings Speed changes The speed can be switched between 16 settings while positioning during multi speed operation Without lim Use the ON OFF signal of any of the following Origin proximity signal origin signal origin signal it reversal origin proximity signal phase Z or phase Z With limit Use the ON OFF signal of any of the following Origin proximity signal origin signal origin signal reversal or origin proximity signal Phase Z Backlash com O to 32 767 steps pensation Jog operation Based on the origin position when power is turned ON and after origin s
88. ringed 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 conflict of law princi ples d Amendment These Terms constitute the entire agreement betwe
89. river Reduced Wiring 0000000000000000000000000000090 When a serial encoder is used the number of encoder signal wires is 1 2 of earlier models Absolute encoder Wires reduced from 15 to just 7 Incremental encoder Wires reduced from 9 to just 5 Separate Main and Control Power Supplies e eeo The main and control power supplies have been separated completely If an alarm occurs the alarm code can be read and the appropriate countermeasures can be taken even with the main power supply turned OFF for safety lt DeviceNet Communications Series Functions Trace Puno rior cierro When trigger conditions are satisfied up to two analog ele ments and two ON OFF elements can be recorded in the De viceNet Option Unit and read from the PLC Monitor Reading Function The contents of AC Servodriver monitor display can be read from the PLC Parameter Reading Writing Function Parameters can be checked from the PLC using DeviceNet communications and reading writing performed according to the operating status Note If the DeviceNet Option Unit is mounted to an AC Servodriver the AC Servodriver will automatically be set to operate in position control mode No other operating mode can be used 5 OMRON Servomotor Servodriver Combinations Servomotor Servodriver Combinations Choose the Servomotor Servodriver for Each Application to Maximize Performance R88M Servomotors
90. rs Specifications Mod 200 VAC Without brake 4 4 kW R88M W4K415T S2 5 5 kW R88M W5K515T S2 With Without brake R88M W2K010H S2 Win R88M W4K010H BS2 5 5 kW R88M W5K510H BS2 Note 52 at the end of a model name represents models with key and tap Motors with a speed of 1 000 r min do not have the S1 or S3 type OMRON Ordering Information Cylinder style Motors 1 000 r min with Absolute Encoders Spedfcwions Mode 200 VAC Note S2 at the end of a model name represents models with key and tap Motors with a speed of 1 000 r min do not have the S1 or S3 type Flat style Motors with Incremental Encoders Specifications W R88M WP75030H B Without 200 100 W R88M WP10030H brake 200 W R88M WP20030H 400 W R88M WP40030H 7 2 2 1 5 kW R88M WP1K530H B 7 1 1 750 W R88M WP75030H 11 5 kW R88M WP1K530H 00 VAC R88M WP10030L 100 vac paa R88M WP20030L With brake 00 VAC 100 W R88M WP10030L B 200 W R88M WP20030L B Without 200 VAC R88M WP10030H S1 brake R88M WP20030H S1 R88M WP40030H S1 R88M WP75030H S1 11 5 kW R88M WP1K530H S1 100 VAC R88M WP10030L S1 pat R88M WP20030L S1 With 200 VAC 100 W R88M WP10030H BS1 brake 200 W R88M WP20030H BS1 400 W R88M WP40030H BS1 R88M WP75030H BS1 W 50 W 1 5 kW 00 VAC 100 W R88M WP10030H B R88M WP20030H B 400 W R88M WP40030H B 50 1 5 kW 50 1 5 kW 50 1 5 kW R88M WP1K530H BS1 100 VAC
91. run detection REB Excessive rotation data error Ac Encoder communications error RER Encoder parameter error lb Encoder data error JON OFF JON Multiple rotation limit mismatch 290 ON ON OFF Error counter count up T fe Motor load deviation over Note Alarm codes are output 37 ALO1 pin 38 ALO2 and pin 39 ALO3 of the CN1 connector on the Servodriver 52 OMRON User Parameters User Parameters Function Selection Parameters Parameter name Function name Explanation Factory Setting setting range Pn000 Function Selection Reverse Rotation oes forward rotation as counter 0010 Basic Switches Mode clockwise CCW rotation Defines forward rotation as clockwise CW rotation 1 Control Mode Selec Speed control analog command tion E Position control pulse train command Torque control analog command Boc Internally set speed control Internally set speed control lt gt Speed control analog command Internally set speed control Position control pulse train command Internally set speed control Torque control analog command Position control pulse train command Speed control analog command Position control pulse train command lt gt Torque control analog command Torque control analog command Speed control analog command Speed control with position lock function analog command Position control with pulse prohibit func tion pulse train
92. rvomotor side R Series 500 W 600 W 750 W 820 W R88A CRWROR5M2 1 100 W Servomotor side H Series Servodriver side R88A CRWHOR3D Control Cables Specifications Mode S R Series analog input R88A CPWROR3A S R Series pulse train input R88A CPWROR3P H Series analog pulse train input R88A CPWHOR3C M Series analog pulse train input R88A CPWMOR3C Note Refer to Replacement Set for S R and H Series 1806 1 0 for detailed specifications OMRON Ordering Information 19 Unit Descriptions OMRON DeviceNet Option Unit for OMNUC W series AC Servo Drivers R88A NCW152 DRT DeviceNet Option Unit for OMNUC W series AC Servo Drivers R88A NCW152 DRT Distributed control with a built in Single axis Position Control Unit information management via DeviceNet and a failure prediction function for servo systems can all be added to ONINUC W series AC Servo Drivers with just one Unit Two Roles Performed by One Unit The Option Unit has both DeviceNet communications functions and the positioning functions of a Position Control Unit These functions can be added to a W series AC Servo Driver simply by mounting the Option Unit directly to it e Distributed Control of up to 63 Units Using Option Units allows up to 63 W series AC Servo Drivers to be connected as DeviceNet slaves to an open field network with a total network length of 500 m e Batch Handling of Operating Information for Servo Systems Informati
93. se Negative logic 7 Phase A B signal with 90 phase dif ferential x1 Negative logic Phase A B signal with 90 phase dif ferential x2 Negative logic Phase A B signal with 90 phase dif ferential 4 Negative logic Error Counter Clear Clears the error counter when the Signal Form clear signal goes high 1 Clears the error counter on the rising edge of the clear signal 2 Clears the error counter when the clear signal goes low 3 Clears the error counter on the falling edge of the clear signal Error Counter Clear Clears the error counter when the Ser during Servo OFF or vo is turned OFF or when an alarm is Alarm generated 1 Does not clear the error counter when the Servo is turned OFF or when an alarm is generated 2 Clears the error counter only when an alarm is generated Pulse Command Filter Uses command filter for line driver sig Selection nal input BOO Kpps 1 Uses command filter for open collector signal input 200 Kpps Pn201 Encoder Divider Rate Sets the number of output pulses from the driver Pn202 Electronic Gear Ratio Sets the pulse rate for the command pulse and amount of Servomotor movement 4 1 to G1 Numerator 0 01 lt G1 G2 lt 100 65535 Pn203 Electronic Gear Ratio 1 1 to G2 Denominator 65535 Pn204 Position Command Soft start setting for command pulse soft start characteristic primary filter 0 01 ms O to 6400 Filter Time Constant 4 Pn205 Absolute Encoder Sets the multi tur
94. ternal Output torque limit percentage of rated torque for reverse rotation 100 0 to 800 Current Limit external current limit input Pn406 Emergency Stop Torque Deceleration torque percentage of rated torque for emergency to 800 stops Pn407 Speed Limit Sets the speed limit for the torque control mode 3000 Oto 10000 58 OMRON User Parameters Parameter name Function name Explanation Factory Setting setting range Torque Command Setting Selects Notch Filter None 0000 1 Function 1 Notch filter 1 used for torque commands Not Used 2 Function 1 Notch filter 2 used for torque commands B Not Used Sets the notch filter 1 frequency for the torque command Sets the notch filter 2 frequency for the torque command Sets the notch filter 2 Q value Sequence related Parameters Parameter name Function name Explanation Factory Setting setting range Pn500 Positioning Completed Sets the width for positioning completed output 1 INP1 3 Command 0 to 250 Width 1 units Pn501 Position Lock Rotation Sets the r min for position lock during speed control 10 r min 0 to Speed 10000 Pn502 Rotation Speed For Motor Sets the r min for the motor rotation detection output TGON 20 r min 0 to Rotation Detection 10000 Pn503 Speed Conformity Signal Sets the allowable variation width r min for the speed conformity 10 r min 0 to 100 Output Width output signal VCMP Pn504 Positioning Completion Sets the width for positioning com
95. the follow ing cable lengths 1m 2m XW2Z LILILIJ A6 L represents either of the follow ing cable lengths 50 cm 1 m XW2Z LILIL J A7 1 represents either of the follow ing cable lengths 50 cm 1 m XW2Z LILIL J A14 1 represents either of the follow ing cable lengths 50 cm 1m XW2Z LILIL J A15 1 represents either of the follow ing cable lengths 50 cm 1m XW2Z 100J A27 R88A CPWL IL 1S 1 represents either of the follow ing cable lengths 1m 2m 48 OMRON Cable Specifications Symbol Description Connetto Relay Terminal General purpose Controller R88A CTWLILILIN Block Cable 1 represents either of the follow ing cable lengths 1m 2m Relay Terminal XW2B 50G5 Block Control I O Con R88A CNU11C nector CN1 Options Parameter Unit with Ca R88A PR02W ble 1 m Parameter Unit Con R88A CCWOO2C necting Cable 2 m 12 Computer Connecting IBMPC AT or R88A Cable 2 m compatibles CCWOO02P2 Other Options Symbol Description Connectto Mode Backup Battery R88D WTLIH R88A BATO1W LI 50 or less R88D WT60H R88A BATO2W 75H 150H 10 Analog Monitor Cable H88A 1 m CMW001S Encoder Cable Con R88A CNWO1R a Servomotor side RBBA CNWO2R Note For details refer to Ordering Information on page 67 49 Operation and Display OMRON Operation and Display Operating Functions Parameter Unit
96. ting Brackets Specifications moai R Series 60 W 110 W R88A MF01W S Series 50 W 100 W R Series 100 W R88A MF02W H Series 50 W 100 W S Series 500 W 750 W R Series 450 W R88A MF03W min H Series 500 W 750 W 1 100 W Power Cables Specifications Mode S Series 50 W 100 W 200 W 300 W without R88A CAWROR5S1 brake R Series 60 W 100 W 110 W 200 W 300 W 450 W without brake S Series 500 W 750 W without brake R88A CAWROR5S2 R Series 500 W 600 W 750 W 820 W with out brake R Series 820 W 1 100 W with brake R88A CAWROR5S3 S Series 50 W 100 W 200 W 300 W with R88A CAWROR5B1 brake R Series 60 W 100 W 110 W 200 W 300 W 450 W with brake S Series 500 W 750 W with brake R88A CAWROR5B2 R Series 500 W 600 W 750 W 820 W with brake R Series 820 W 1 100 W with brake R88A CAWROR5B3 H Series 50 W 100 W 200 W 300 W 500W R88A CAWHOR5S1 750 W without brake H Series 1 100 W without brake R88A CAWHOR5S2 H Series 50 W 100 W 200 W 300 W 500 W R88A CAWHOR5B1 750 W with brake H Series 1 100 W with brake R88A CAWHOR5B2 Encoder Cables Specifications Model S Series Servodriver side R88A CRWSOR3D S Series 50 W 100 W 200 W 300 W Servo R88A CRWROR5M1 motor side R Series 100 W 200 W 300 W 450 W Ser vomotor side S Series 500 W 750 W Servomotor side R88A CRWSOR5M R Series Servodriver side R88A CRWROR3D R Series 60 W 110 W Servomotor side R88A CRWHOR5M H Series Se
97. tion Se y Disabled lection 2 Friction Compensa Friction compensation Dis tion Selection abled 1 Friction compensation Small rated torque ratio 2 Friction compensation Large rated torque ratio Pn111 Speed Feedback Compen Adjusts the speed loop feedback gain 100 0 to 500 sating Gain Pn124 Automatic Gain Switching Sets the switching delay following the completion of the condition 100 ms 1 to 10000 Timer when using the automatic gain switching function Pn10B 2 1 to 3 Pni25 Automatic Gain Switching Sets the position deviation amount for the switching condition when 7 Com 1 to 250 Width Position Deviation using the automatic gain switching function based on position devia mand Amount tion Pn10B 2 2 3 units Note Do not change the factory settings of any Not Used parameters 56 OMRON User Parameters Position Control related Parameters Parameter name Function name Explanation Factory Setting setting range Pn200 Position Control Command Pulse Mode Feed pulse forward reverse signal 1011 Setting 1 Positive logic 1 Forward rotation pulse reverse rota tion pulse Positive logic 2 Phase A B signal with 90 phase dif ferential x1 Positive logic 3 Phase A B signal with 90 phase dif ferential x2 Positive logic 4 Phase A B signal with 90 phase dif ferential x4 Positive logic 5 Feed pulse forward reverse signal Negative logic Forward rotation pulse reverse rota tion pul
98. uit DC Normally not connected outputterminal negative CN1 Control Inputs For Speed and Torque Control Fin No Symbot Functon nteriace Speed command input 2 to 10 V rated speed AGND Speed command input ground Can be changed using the Pn300 user parameter Speed Command Scale 9 _ TRFF Torque command input 1 to 10 V rated torque AGND Torque command input ground be changed using the Pn400 user parameter Torque Command Scale 64 OMRON Terminal Blocks and Connectors For Position Control Pin No _ Symbol Function interface Open collector command pow Used to input CW CCW and ECRST signals as open collector outputs Con er supply nect inputs to these terminals and connect inputs to open collector output 7 PULS CW A Feed pulse reverse pulse 90 Line driver input 10 mA at 3 V maximum response frequency PULS CW A phase difference pulse phase 500 kpps BU PASS A Open collector input 25 mA at 5 V maximum response frequency 200 kpps terminals SIGN CCW B Forward reverse signal for Switches between feed pulse and forward reverse signal between reverse 12 SIGN CCW B ward pulse 90 phase differ pulse and forward pulse or between phases A and B 90 phase difference puls ence pulse phase B es x1 2 4 according to the Pn200 setting Position Control Switches 1 ECRST Error counter reset Line driver input 10 mA at 3 V 15 ECRST Open collector input 2
99. ulse counter Monitor mode 50 OMRON Monitor Item and Alarm List Monitor Item and Alarm List Monitor Mode Monitor No Momitoritem Unit Explanation Un000 Speed Feedback Displays the actual motor speed Un001 Speed Command r min Displays the speed command value or internally set speed value during speed con trol O is displayed during pulse train input control Un002 Torque Command Displays the command value for a current loop that is expressed by treating the rat ed torque as 100 Un005 Input Signal Monitor Displays driver I O signal status by turning ON or OFF each signal bit Uno Output Signal Monitor Un007 Displays command pulse frequency converted in r min Counter Un008 Position Deviation Error Displays the number of pulses accumulated in the error counter Position Deviation units that are converted in reference units input pulse references Displays effective torque at intervals of 10 s that is expressed by treating the rated torque as 100 Un009 Motor Load Rate Displays the amount of regeneration energy absorbed at intervals of 10 s that is ex Un00A Regeneration Load Rate pressed by treating the Pn600 setting Regenerative Resistor Capacity as 100 Un00B Dynamic Brake Resistance Load Displays the resistance load factor at intervals of 10 s that is expressed by treating Rate the rated load factor as 100 Un00C Input Pulse Counter Displays the number
100. us usage 6 3 Continuous usage 7 8 r min O r min O r min O r min 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 B Cylinder style Motors with 100 VAC Power Supply 3 000 r min The following graphs show characteristics with a standard 3 m cable and 100 VAC input H88M WOSO03OL 30 W R88M WO5030L 50 W R88M W10030L 100 W R88M W20030L 200 W Nm R88M W03030S 30W wm R88M W05030S 50 W Nm R88M W10030S 100 W Nm R88M W20030S 200 W 0 504 0 477 1 0 0 955 0 955 2 07 1 91 1 91 0 3 0 286 0 286 0 8 4 450 Ms 0 38 1 5 0 25 T 0 6 Repetitive usage Repetitive usage Repetitive usage 1 0 Repetitive usage 0 4 0 2 0 318 0 637 0 637 0 0955 0 0955 0 153 m 0 5 0 5 0 06 0 1 0 19 0 39 Continuous usage j Continuous usage ous Continuous usage Continuous usage r min o min r min 0 r min r 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 18 OMRON Servomotor Specifications Cylinder style Motors 1 500 r min 200 VAC torque Rated speed 1 500 Max momentary r min 3 000 2 000 speed Rotor inertia 7 24 13 9 20 5 31 7 46 0 67 5 89 0 125 Bo without brake 104 Powerrate 32 209 as 5 jo or ee ws mo _ Applicable load Multiple 5 inertia Allowable radial 1 176 1 470 1 764 4 998 load on shaft Allowable thrust 2 156 load on shaft Approx we
101. without brake 10 4 Applicable load Multiple 100 Restricted WEM by the amma PPTPS process inertia ing O Allowable radial 1176 load on shaft Allowable thrust load on shaft Approx weight kg 0 3 0 4 0 5 1 1 bd 3 4 4 6 5 8 7 0 11 0 14 0 17 0 without brake Approx weight kg 0 7 1 6 2 2 4 3 7 5 8 5 14 0 17 0 20 0 with brake Encoder resolu A B phase 2 048 pulses rev A B phase 32 768 pulses rev tion ABS A B phase 16 384 pulses rev A B phase 32 768 pulses rev See note Brake specifications 10 ECCE volt V 24 VDC 10 24 VDC 10 con sumption Current con sumption Static friction Nem 0 2min 0 34 1 47 min 2 45 7 84 min 20 min torque min min time Backlash __ SS Rang man ye Note The encoder resolution for the Z phase is 1 pulse rev 16 OMRON Servomotor Specifications Cylinder style Motors 3 000 r min Servomotor R88M Servodriver R88D Rated output Rated torque Max momentary torque Rated speed Max momentary speed Rated current Rotor inertia without brake Power rate Applicable load inertia Allowable radial load on shaft Allowable thrust load on shaft ight without brake ight with brake Encoder resolution Brake specifications Inertia Excitation voltage Power c
102. ystem Configuration That Can Be Matched to the Application Controllers DeviceNet Unit DeviceNet Analog Commands Feedback Signals MC Unit Cable R88A CPWI See note i Note Refer to page 48 for details on available models 421 V1 CJ1W MCH71 CS1W MCH71 MECHATROLINK II See note Position Control NC Unit Pulse train Commands Servodriver Cable J B4 See note CJ1W NC113 213 413 CS1W NC113 213 413 CJ1W NCF71 CJ1W NC133 233 433 CS1W NC133 233 433 CS1W HCP22 V1 Customizable Counter Unit XW2Z See note SYSMAC CPM2A SYSMAC CPM2C 3F88M DRT141 Single axis Positioner Note Refer to page 48 for details on available models 12 AC Servodrivers MECHATROLINK II Interface Unit DeviceNet Option JUSP NS115 OMRON ordering model number FNY NS115 See note R88A NCW152 DRT Note Use the OMRON ordering model number FNY NS115 when ordering The product is marked only with the Yaskawa model number JUSP NS115 uw J mj 91212 E JI O ERS ax 3137 e SRE TARR VCC gore 3 L L JL E EA ce wie eee al im m m m m m T mm gt K EA laoai im m mi J ga

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