OMNUC W-series R88D-WTj AC Servodrivers R88M
Contents
1. R88D WT OMNUC W series OomRON AC Servodrivers R88M W AC Servomotors INSTRUCTION SHEET future reference Thank you for purchasing this OMRON product Please read this instruction sheet and thoroughly famil iarize yourself with the functions and characteristics of the product before use Please retain this sheet for OMRON Corporation OMRON Corporation 1999 All Rights Reserved 1615954 3A Safety Precautions Definition of Precautionary Information DANGER N WARNING N Caution Indicates an imminently hazardous situation which if not avoided will result in death or serious injury Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Indicates a potentially hazardous situation which if not avoided may result in minor or moderate in jury or property damage General Warnings The User s Manual may include illustrations of the product with protec tive covers removed in order to describe the components of the prod uct in detail Make sure that these protective covers are on the product before use Observe the following warnings when using the OMNUC Servomotor and Servodriver Consult your OMRON representative when using the product after a long period of storage N WARNING N WARNING N WARNING Always connect the frame ground terminals of the Servodriver and the Servomoto2. 30 to 400 W Single phase 200 230 VAC 170 to 253 VAC 50 60 Hz R88D WTLIH 500 W to 6 kW 3 phase 200 230 VAC 170 to 253 VAC 50 60 Hz R88D WTLIHL 30 to 200 W Single phase 100 115 VAC input L1 L2 85 to 127 VAC 50 60 Hz see note 1 Wire size Do not connect this terminal Screw ory the R88D WT60H has the terminal size Tightening Short these terminals for normal use When suppression of torque high frequencies is required connect these terminals to a DC reactor R88D WT60H does not have these terminals ase curren 0 15 Power supply capacity kVA Main circuit Rated power supply current Main circuit DC output forward rotation Connection terminals for DC reactor to suppress high frequency power supply Main circuit DC output reverse rotation Control circuit power supply input L1C L2C Wire size Screw Do not connect this terminal size Tightening torque Rated current Control circuit power supply input R88D WT 50 60 Hz R88D WT 50 60 Hz 30 to 400 W Normally no connections are required between Screw these terminals If the regenerative energy is large connect size an external regenerative resistor between B1 and B2 500 W to 5 kW Short B2 and B3 for normal use If the regenerative energy is large remove the shorting bar from between B2 and B3 and connect an external regenerative resistor between B1 and B2 H Si
3. CW D F at 26lINPICOM aE Da 5 Maximum output 27 TGON Mote current 50 mA detection 28 JTGONCOM Forward pulse CCW Error counter reset 24 VDC 24VIN 37 JALO1 Alarm code Maximum operating ALO2 voltage 30 VDC Maximum output current 20 mA Run command So al Gain deceleration m Forward rotation Pap segs d hibit i rive pronibit POT l4 4 i 43 L j4 Encoder output a e Reverse rotation Phase A Line driver output EIA RS422A conforming drive a prona NOT B ase p Load resistance 220 Q max i B Alarm reset i Z RESET 4 kT i aa Phase z Eal Forward rotation i i current limit F f PC 1 GND Ground common Reverse rotation current limit FG Frame ground Note Inputs for pins 40 to 46 and outputs for pins 25 to 30 can be changed with parameter settings The above diagram shows the settings at time of delivery Speed Control Torque Control Analog Input Speed command p REFIS am 25 IVEMP speed conformity 6 VCMPCOM Torque command TREF l9 Maximum operating voltage 30 VDC rotation Maximum output JTGONCOM current 50 mA LPF 27 JTGON Motor S ON ASON SEN 4 jo9 grz 29 READY z Servo ready iR lt i 30 READYCOM 31 ALM T Alarm output Backup battery Bar 21 RE Fal ALMCOM kA BATGND 22 2 8 4 5V f VDC F2AVIN IAT A ooo eee 9 37JALO1 ork i Alarm code
4. 82 2 Low Voltage EN50178 Directive UL standards UL508C cUL standards cUL C22 2 No 14 Note 1 The above items reflect individual evaluation testing The results may differ under compounded conditions 2 Absolutely do not conduct a withstand voltage test or a megger test on the Servodriver If such tests are con ducted internal elements may be damaged 3 Depending on the operating conditions some Servo driver parts will require maintenance Refer to the User s Manual for details 4 The service life of the Servodriver is 50 000 hours at an average ambient temperature of 40 C at 80 of the rated torque output E Installation Space Around Drivers Install Servodrivers according to the dimensions shown in the follow ing illustration to ensure proper heat dispersion and convection inside the panel Also install a fan for circulation if Servodrivers are installed side by side to prevent uneven temperatures from developing inside the panel When installing allow for the dimensions of pulled out control cables Side of Unit a 5 o 2 2 2 3 3 o f fe 2 2 Z f o no no no W 10 mm min Mounting Direction Mount the Servodrivers vertically so that the model number and writ ing can be read Operating Environment Be sure that the environment in which Servodrivers are operated meets the following conditions e Ambient operating temperature 0 C to 55 C 20 to
5. 90 with no condensation e Ambient operating humidity e Atmosphere No corrosive gases Ambient Temperature Servodrivers should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability Temperature rise in any Unitinstalled ina closed space such as a con trol box will cause the ambient temperature to rise inside the entire closed space Use a fan or a air conditioner to preventthe ambienttem perature of the Servodriver from exceeding 55 C Unit surface temperatures may rise to as much as 30 C above the am bient temperature Use heat resistant materials for wiring and keep separate any devices or wiring that are sensitive to heat The service life of a Servodriver is largely determined by the tempera ture around the internal electrolytic capacitors The service life of an electrolytic capacitor is affected by a drop in electrolytic volume and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements If a Servodriver is operated at an ambient temperature of 40 C at 80 of the rated torque output then a service life of approximately 50 000 hours can be expected A drop of 10 C in the ambient temperature will double the expected service life m Wiring Conirol I O Signal Connections e Position Control Pulse Train Input Reverse pulse CW 7 ne 25 INP1 stoning i completed1 Ma erati
6. Maximum operatin Run command iad Sal p g 5 RUN 40 exf izo i ALO2 voltage 30 VDC es i Maximum output Gain deceleration JALO3 current 20 mA MING 441 Forward rotation x Encoder output drive prohibit pot 42 s Ay Reverse rotation AM PEE peen Line driver output i bi i EIA RS422A conforming arive pronioit NOT 143 PSE K sae ee Load resistance 220 Q max f p Al t SEn esot RESET 44 IPAP iaz Forward rotation current limit los pci jas 1 GND R tati L Ground common everse rotation current limit NC Shell IFG o 0 Lise i Frame ground Note 1 Itis necessary to make parameter settings when per forming speed control or torque control control mode selection 2 Inputs for pins 40 to 46 and outputs for pins 25 to 30 can be changed with parameter settings The above diagram shows the settings at time of delivery 3 Do not connect pins 2 4 21 and 22 unless a motor with an absolute encoder is used Terminal Block Current and Wire Sizes The following tables give the rated effective currents flowing to the ter minal block and the sizes of the electrical wires Terminal Block Specifications and Wire Sizes The following table gives the specifications for the Servodriverterminal block e Terminal Block Specifications e Servodrivers with 100 VAC Input R88D WT Item WTA3HL WTASHL WTO1HL WTO2HL Unit ea ae Main circuit power supply input H
7. capacity Note 1 If terminals 1 2 B1 and B2 are used the wire sizes are the same as for L1 L2 and L3 2 Connect a special power cable made by OMRON to the motor connection terminals omRONn OMRON Corporation Systems Components Division 66 Matsumoto Mishima city Shizuoka 411 8511 Japan Tel 81 559 77 9633 Fax 81 559 77 9097 Regional Headquarters OMRON ELECTRONICS INC 1 East Commerce Drive Schaumburg IL 60173 U S A Tel 1 847 843 7900 Fax 1 847 843 8568 OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 81 2356 81 300 Fax 31 2356 81 388 OMRON ASIA PACIFIC PTE LTD 83 Clemenceau Avenue 11 01 UE Square Singapore 239920 Tel 65 835 3011 Fax 65 835 2711 Note Specifications subject to change without notice Printed in Japan 1615954 3A
8. ng the machinery may result in injury or malfunction Installation and Wiring N Caution Do not step on or place a heavy object on the product Doing so may result in injury N Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Doing so may result in fire N Caution Be sure to install the product in the correct direc tion Not doing so may result in malfunction N Caution Provide the specified clearances between the Servodriver and the control panel or with other devices Not doing so may result in fire or malfunc tion N Caution Do not apply any strong impact Doing so may result in malfunction N Caution Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunc tion N Caution Be sure that all the mounting screws terminal screws and cable connector screws are tight ened to the torque specified in the relevant manu als Incorrect tightening torque may result in mal function N Caution Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Connec tion of bare stranded wires may result in burning N Caution Always use the power supply voltage specified in the User s Manual An incorrect voltage may result in malfunction or fire N Caution Take appropriate measures to ensure that the specified power with the rated voltage and fre quency is supplied in places where the powe
9. ngle phase 200 230 VAC 170 to 253 VAC Motor connection terminals U V W see note 2 HL Single phase 100 115 VAC 85 to 127 VAC Wire size Connection terminals for externally connected regenerative resistor Tightening torque Frame ground Wire size Screw 6 kW Connect an external regenerative resistor between B1 size and B2 Tightening Rea These are the output terminals to the Servomotor torque Be careful to wire them correctly Green yellow Frame ground The ground terminal for both the motor output and power supply input Connect to a ground of 100 Q or less Motor connection terminals No fuse breaker or fuse capacity If terminals 1 2 B1 and B2 are used the wire sizes are the same as for L1 and L2 Connect a special power cable made by OMRON to the motor connection terminals Power supply capacity Main circuit power Rated current supply input L1 L2 or L1 L2 L3 see note 1 Wire size Screw size Tightening torque Control circuit Rated current power supply input L1C L2C Wire size Screw size Tightening torque Motor connection terminals U V W see note 2 Rated current Wire size Screw size Tightening torque Frame ground Wire size Screw size Tightening torque No fuse breaker or fuse
10. oing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunc tion Maintenance and Inspection N Caution N Caution Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in mal function fire or electric shock When a Unit is replaced resume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in damage to equipment General Specifications for Servodrivers Item Specification Ambient temperature Operating 0 C to 55 C Storage 20 C to 85 C Ambient humidity Operating 20 to 90 with no condensation Storage 20 to 90 with no condensation Storage and operating No corrosive gasses atmosphere Vibration resistance 10 to 55 Hz in X Y and Z directions with 0 10 mm double amplitude or acceleration of 4 9 m s max whichever is smaller Impact resistance Acceleration 19 6 m s max in X Y and Z directions three times Insulation resistance Between power supply terminals power line terminals and FG 1 MQ at 500 VDC Dielectric strength Between power supply terminals power line terminals and FG 1 500 VAC at 50 60 Hz for 1 min Between control signals and FG 500 VAC for 1 min Protective structure Built into panel IP10 EC Directives EMC EN55011 class A group 1 Directives EN500
11. r supply is unstable An incorrect power supply may result in malfunction N Caution Install external breakers and take other safety measures against short circuiting in external wir ing Insufficient safety measures against short circuiting may result in fire A Caution Take appropriate and sufficient countermeasures when installing systems in the following locations e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies N Caution Connect the battery with the correct polarity Not doing so may result in damage or explosion Operation and Adjustment N Caution Ensure that there will be no adverse effect on equipment before performing trial operation Not doing so may result in equipment damage AN Caution Check the newly set parameters for proper execu tion before actually running them Not doing so may result in equipment damage N Caution Do not make any extreme adjustments or setting changes Doing so may result in unstable opera tion and injury N Caution N Caution N Caution Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not d
12. r to a ground of 100 Q or less Not connecting to a ground of 100 Q or less may result in electric shock Do not touch the inside of the Servodriver Doing so may result in electric shock Do not remove the front cover terminal covers cables Parameter Units or optional items while the power is being supplied Doing so may result in electric shock N WARNING N WARNING N WARNING N WARNING N WARNING N WARNING N WARNING N Caution N Caution N Caution Operation maintenance or inspection must be performed by authorized personnel Not doing so may result in electric shock or injury Wiring or inspection must be performed at least 5 minutes after turning off the power supply Doing so may result in electric shock Do not damage pinch or pull on the cables Do not place excessive stress on the cables Do not place heavy objects on the cables Doing any of these may result in electric shock operation stoppage or burning Do not touch the rotating parts of the Servomotor under operation Doing so may result in injury Provide an appropriate stopping device on the machine side to secure safety A holding brake is not a stopping device for securing safety Not doing so may result in injury Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption Not doing so may result in injury Do not come close to the machine immediately after re
13. setting momentary power interruption to avoid an unexpected restart Take appropriate measures to secure safety against an unexpected restart Doing so may result in injury Use the Servomotors and Servodrivers in a speci fied combination Not doing so may resultin fire or damage to the products Do not store or install in the following places Doing so may result in fire or damage to the Prod uct e Locations subject to direct sunlight e Locations subject to temperatures or humidity outside the range specified in the specifica tions e Locations subject to condensation as the result of severe changes in temperature e Locations subject to corrosive or flammable gases e Locations subject to dust especially iron dust or salts e Locations subject to shock or vibration e Locations subject to exposure to water oil or chemicals Do not touch the Servodriver radiator regenera tive resistor or Servomotor while the power is being supplied or soon after the power is turned OFF Doing so may result in a skin burn due to the hot surface Storage and Transportation Caution N Caution N Caution Do not hold by the cables or motor shaft while transporting the product Doing so may result in injury or malfunction Do not place any load exceeding the figure indi cated on the product Doing so may result in injury or malfunction Use the motor eye bolts only for transporting the Motor Using them for transporti
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