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1. H H 70 Ma 85 Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions Reference 85 70 170 i Four M4 F p B D Square hole B y O ig e R2 6 11 40 j 87 K gt The dimensions of the square hole are reference values Dimensions for front panel mounting are references values that provide leeway 2 29 2 2 External and Mounting Hole Dimensions E Three phase 200 VAC R88D GT20H 2 kW Wall Mounting External Dimensions R2 6 ar oo0o0000 0 mele Four M4 T 3 4 Oe a 17 5 a 50 i 2 30 Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Front Panel Mounting Using Mounting Brackets External Dimensions 85 17 5 70 op 200 32 5 2 R2 6 R2 6 D a i O ka z p 5 A da Pr O ce my c O y oO 1152 Sn R2 6 dia R2 6 5 2 5 2 42 5 Ko 175 50 V Mounting Hole Dimensions Reference Four M4 176 Square hole 188 89 The dimensions of the square hole are reference valu
2. Pim ir or c2 o1 o2 ps sos E Fi Fe 1 5 R88G HPG50A054KOSBL1 149 156 170 180x180 190 165 165 163 122 103 12 0 53 ar 1 11 R88G HPG50A114KOSBL 149 156 170 180x180 190 165 165 163 122 103 12 0 53 1 20 R88G HPG65A204K0SBL 231 222 230 180x180 260 165 220 214 168 165 12 0 57 1 25 R88G HPG65A254K0SBL 231 222 230 180x180 260 165 220 214 168 165 12 0 57 1 5 R88G HPG50A055KOSBL 149 156 170 180x180 190 200 165 163 122 103 12 0 53 ai 1 11 R88G HPG50A115KOSBL 149 156 170 180x180 190 200 165 163 122 103 12 0 53 1 20 R88G HPG65A205KOSBL 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 25 R88G HPG65A255KOSBL 231 222 230 180x180 260 200 220 214 168 165 12 0 57 ian 1 5 R88G HPG65A057K5SBL 184 5 222 230 180x180 260 200 220 214 168 165 12 0 57 1 12 R88G HPG65A127K5SBL 254 5 222 230 180x180 260 200 220 214 168 165 12 0 57 Dimensions mm Model G 70 AT Key dimensions PR x b nj nj mMm L 1 5 R88G HPG50A054KOSBO 16 50 82 14 M10x25 M6 70 14 9 5 5 M10 20 1 11 R88G HPG50A114KOSBL 16 50 82 14 M10x25 M6 70 14 9 5 5 M10 20 iii 1 20 R88G HPG65A204KOSBL _ 25 80 130 18 M10x25 M8 110 22
3. A23 B7 pi l G2 G9 OO vINININININ NIN NIN NIN NININ see ot lt 34 lt Weight Approx 0 1 kg Approx 0 2 kg Servo Relay Unit gt XW2B 40J6 2B 3 120 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A14 This Cable connects a Position Control Unit CJ1W NC113 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A14 Approx 0 1 kg 10 0 dia XW2Z 100J A14 Approx 0 2 kg Connection Configuration and Dimensions Position Control Unit CJ1W NC113 lt Wiring Position Control Unit Servo Relay Unit Crimp a Cable AWG28 x 4P AWG28 x 10C 3 121 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A15 This Cable connects a Position Control Unit CJU1W NC213 NC413 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath 10 0 dia Connection Configuration and Dimensions Position Control Unit CJ1IW NC213 CJ1IW NC413 Wiring Position Control Unit Servo Relay Unit l M ill Weight Approx 0 1 kg Approx 0 2 kg Servo Relay Unit gt XW2B 40J6 2B 3 122 Specif
4. Servomotor brake Dimensions of shaft end connector LL LR 130x130 _ with key and tap Encoder Z 2 lt 4 connector 12 6 E Four 9 dia r S Eight h 9 S lt N i oj VS oa M depth L Dimensions mm Te ERTS lwo wt R88M G2K0200 M5 12 R88M G3K0200 250 65 24 55 51 m8 20 R88M G2K0200 BO M5 12 R88M G3K0200 BO 275 65 24 55 51 M8 20 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Model 2 40 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions m 2 000 r min Servomotors 4 kW 5 kW R88M G4K020T S2 G5K020T S2 G4K020T B S2 G5K020T B S2 WEN Servomotor brake connector p LL LR a G Dimensions of shaft end Encoder oj with key and tap connector _ 18 32 3 Four Z dia OK is tO E ne La D2 dia h 7 lt a Dimensions mm ujas Or ee ospa z foxy e A THT Mt ReemGakozo 242 65 28 res 190 160 100 126 11 81 na 7 4 we 20 RaBMGsKo20 1 225 70 a6 00 114 9 76 200148185 50 rono e 5 fnaf 25 paaN GeKooo 811 267 65 28 165 90 160 100 125 11 81 ero 7 4 we 20 paav GsKo20 8 250 70 a6 oo 114 9 76 200148185 60 rono e 5 fnaf 28 Note The standard models have a straight shaft Models with a key and t
5. Yellow rr ie B12 R88A CRG Brake Cable R88A CAGALIB R88A CAGELIB 11 BKIR 10 BKIRCOM 1 The I O bits for the CS1W HCP22 depend on the memory allocations in the CIO Area Change the wiring according to the allocations e Incorrect signal wiring can cause damage to Units and the Servo Drive for Correct Use e Leave unused signal lines open and do not wire them e Use the 24 VDC power supply for command pulse signals as a dedicated power supply e The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent e Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls 9 9 9 1 Connection Examples E Connection Example 10 Connecting to a SYSMAC CS1W HCA12 22 V1 Customizable Counter Unit Main circuit power supply OFF ON MC1 MC2 fic Lu E E Main circuit contact af Surge killer 3 phase 200 to 240 VAC 50 60 Hz S lt d T 6 oO CS1W HCA12 22 V1 Groundto R88 GTL 100 Q or less Special I O connector a Reactor t MC1 MC2 Servomotor R88M GO Power Cable R88A CAGLI White DO Bue G Encoder Cable R88A CRGL S BKIR 10 BKIRCOM a ooo Brake Cable R88A CAGAL IB R88A CAGEL 1B 1 The I O bits for the CS1W HCA12 22 depend on the memory allocations in the CIO Area Change the wiring according to the alloc
6. Wiring Servo Drive Servomotor No Signal Brown OO zea lt PhaseV B Phase W ons Green Yellow E croma D Ground Cable AWG20 x 2C UL2464 M4 crimp terminals Cable AWG14 x 4C UL2463 Servomotor Connector Straight plug N MS3106B20 18S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 73 3 4 Cable and Connector Specifications R88A CAGCL B Cable Models For 3 000 r min Servomotors of 2 kW and 2 000 r min Servomotors of 2 kW R88A CAGC003B R88A CAGCO05B R88A CAGCO010B R88A CAGCO015B 10 4 5 4 dia R88A CAGC020B R88A CAGC030B R88A CAGC040B R88A CAGC050B Connection Configuration and Dimensions Servo Drive R88D GL lt B 37 3 dia Wiring Servomotor Servo Drive Black M4 O B on rown Signal rake rake O CD Red White M5 om Blue om Green Yellow hase U hase V hase W round round ole m e gt gt 0 8 QIO D I wlo Z Z O Cable AWG20 x 2C UL2464 Crimp terminals Cable AWG14 x 4C UL2463 Saivormotor Corinector Straight plug Weight Approx 0 8 kg Approx 1 3 kg Approx 2 4 kg Approx 3 5 kg Approx 4 6 kg Approx 6 8 kg Approx 9 1 kg Approx 11 3 kg Servomotor R88M GL N MS3106B20 18S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 74 Specifications Specifications 3 4 Cable and Connector Specifications
7. Frequency MHz 4 38 System Design System Design 4 3 Wiring Conforming to EMC Directives E Surge Suppressors e Install surge suppressors for loads that have induction coils such as relays solenoids brakes clutches etc e The following table shows the types of surge suppressors and recommended products Tipe Da Diodes are used for relatively small loads when the reset time is not an issue such as relays At power shutoff the surge voltage is the lowest but the rest time takes longer Used for 24 48 VDC systems Use a fast recovery diode with a short re verse recovery time e g RU2 of Sanken Electric Co Ltd Diode Thyristors and varistors are used for loads when induction coils are large as in elec Thyristor or tromagnetic brakes solenoids etc and varistor when reset time is an issue The surge voltage at power shutoff is approximately 1 5 times the varistor voltage Select the varistor voltage as follows 24 VDC system 39 V 100 VDC system Varistor V 200 V 100 VAC system Varistor V 270 V 200 VAC system Varistor V 470 V The capacitor plus resistor combination is used to absorb vibration in the surge at Okaya Electric Industries Co Ltd power shutoff The reset time can be XEB12002 0 2 uF 120 Q shortened by selecting the appropriate ca XEB12003 0 3 uF 120 Q pacitance and resistance Capacitor resistor e Thyristors and varistors are made by the following
8. t 18 t 18 e Cables for Two Axes 39 Servo Drive Motion Control Unit R88D GL CS1W MC221 421 V1 a 2 To iao Servo Drive t 18 R88D GL 3 89 3 4 Cable and Connector Specifications Wiring e Cables for One Axis Motion Control Unit Servo Drive AE ee White Black 1 oes aas e e e Eg A k veo Pee ta ae e i ee T ran acz ie paean Og Connector plug XOUT_ 17 torangeBiacki y SRP TREFVL M 10150 3000PE Sumitomo 3M a ae Orange Black 1 Connector case 10350 52A0 008 Sumitomo 3M Cable AWG26 x 5P AWG26 x 6C Connector plug 10136 3000PE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M e The Motion Control Unit signals are the DRVX and DRVY connector signals For the DRVZ and DRVU connectors X and Y are indicated as Z and U respectively e Pins marked with asterisks are for absolute encoders e Connect 24 VDC to the two lines red and black extending from the Motion Control Unit connector red 24 V black 3 90 Specifications Specifications 3 4 Cable and Connector Specifications 3 91 e Cables for Two Axes Motion Control Unit Servo Drive AWG20 Red AS Se Beane Te ieee KAM i Pine Ae seers Gray Red 1 XX He SEnenND Seno e orangea UO EN White Red 1 Xip White Black 1 OOX Yellow Red 1 Yellow Black 1 fag B Ping Red
9. 5 75 encoder CIVIGING iere a A 5 15 Encoder Output Direction Switch Pn46 5 76 encoder outputs phases A B and Z 0006 3 28 Encoder Phase A Output A ccccsseeeeeeeeeeeees 3 15 Encoder Phase A Output A cccccsseeeeeeeeeeeees 3 15 Encoder Phase B Output B c ccsseeeeeeeeeeees 3 15 Encoder Phase B Output B ccceceeeeeeeees 3 15 Encoder Phase Z Output Z ccccecssseeeeeeeeeeeees 3 15 Encoder Phase Z Output Z cccccsseeeeeeeeeeeeees 3 15 encoder SPECIFICATIONS ccceeececceeeeeseeseeeseeeeeeeaees 3 46 error diagnosis using the displayed alarm codes 8 6 error diagnosis using the operating status 8 15 SION PLOCESSING sceunecscccccceseaeeactcanieieorenatiepopesetaatianton 8 1 external GIMENSIONS cccccsscceseseeeeesseeeseeeeeenenees 2 25 External Regeneration Resistor Dimensions 2 63 External Regeneration Resistor specifications 3 130 External Regeneration Resistors 2 23 F Feed Pulse PULS ccccceseseeeeeees 3 12 3 20 3 22 Feed forward Amount PN15 ccccccsseeeeeeeneeeeeees 5 60 Feed forward Command Filter Pn16 000 5 60 TEC AI TUNCHOM stares ileitn sihert etc amen el eete eel LG Mace ee 7 7 Forward Drive Prohibit cccccscceesseeeeeeseeeeeeeeees 5 14 Forward Drive Prohibit Input POT 3
10. 3 000 r min Flat Servomotors Motor 1 5 1 11 1 21 1 33 1 45 model R88M R88G R88G R88G R88G R88G GP10030L HPG11B05100PBL HPG14A11100PBL HPG14A21100PBL HPG20A33100PBL HPG20A45100PBL R88M R88G R88G R88G R88G R88G GP20030L HPG14A05200PBL HPG20A11200PBL HPG20A21200PBL HPG20A33200PBL HPG20A45200PBL R88M R88G R88G R88G R88G R88G GP40030L HPG20A05400PBL HPG20A11400PBL HPG20A21400PBL HPG32A33400PBL HPG32A45400PBL 1 2 000 r min Servomotors Nieta 1 11 1 21 1 33 mode 1 12 for flange size 1 20 for flange size 1 25 for flange size 1 45 No 65 No 65 No 65 R88G R88G R88G R88M HPG32A053KOBL HPG32A112KOSBL R88G HPG50A332KO0SBL1 R88G G1KO20T Also used with Also used with HPG32A211KOSBL1 Also used with HPG50A451KOSBL R88M G3K030T R88M G2K020T R88M G2K020T R88G R88G R88G R88G R88M HPG32A053KOBL HPG32A112KOSBL HPG50A213KOBL HPG50A332KOSBL _ G1K520T Also used with Also used with Also used with Also used with R88M G3K030T R88M G2K020T R88M G3K030T R88M G2K020T R88G R88G R88M HPG32A053KOBL R88G HPG50A213KOBL R88G a G2K020T Also used with HPG32A112KOSBL Also used with HPG50A332K0SBL R88M G3K030T R88M G3K030T R88G R88G R88M HPG32A054KOBL HPG50A115KOBL R88G G3KO020T Also used with Also used with HPG50A213K0SBL HPG65A253KOSBL R88M G4K030T R88M G5KO030T R88M R88G R88G R88G R88G Bi G4K020T HPG50A054KOSBL HPG
11. 2 Setting the Parameter Number Key operation Display example Explanation Use the Shift Increment and Decrement keys to set the parameter number A lf the parameter number is large the setting can be made more quickly by using the Shift key to change the digit that is being set The decimal point will flash for the digit that can be set 3 Displaying the Parameter Setting Operation Key operation Display example Explanation Press the Data key to display the setting 4 Changing the Parameter Setting Key operation Display example Explanation A OS Use the Shift Increment and Decrement key to change the setting The decimal point will flash for the digit that can be set Press the Data key to save the new setting 6 17 6 4 Setting the Mode 5 Returning to Parameter Setting Mode Key operation Display example example Explanation Gar ai Press the Data key to return to Parameter Setting Mode Some parameters will be displayed with an r before the number when the display returns to the Parameter Setting Mode Display To enable the settings that have been changed for these parameters you must turn the power supply OFF and ON after saving the parameters to the EEPROM When the setting for a parameter is saved the new setting will be used for control Make gradual rather than large changes when changing values for parameters that greatly affect motor operation This is particularly true
12. C LL G Las Oto 17 Yes O l 5 32 5 16 User Parameters Power Tar MaRi Setting Explanation Deau SA mae name setting range Set the torque limit method for forward and reverse op eration Use PCL and NCL as analog torque limit in puts a i Use Pn5E as the limit value for forward and 1 0to3 Ree reverse operation Forward Use Pn5E Reverse Use Pn5F 3 GSEL TLSEL input is open Use Pn5dE Input is closed Use Pn5dF You can stop the Servomotor from rotating beyond the device s travel distance range by setting limit inputs Drive Prohibit Ez POT input and NOT input enabled mo Input Selection F POT input and NOT input disabled POT input and NOT input enabled alarm code 38 appears Select the Select the speed command when using speed control command when Select the speed command when using speed control speed control EN Speed command input REF No 1 Internally Set Speed to No 4 Internally Command Set Speed Pn53 to Pn56 aa Speed Selection No 1 Internally Set Speed to No 3 Internally Set Speed Pn53 to Pn55 and External Speed Command REF No 1 Internally Set Speed to No 8 Internally Set Speed Pn53 to Pn56 and Pn74 to Pn77 Set the function of the Zero speed Designation Input VZERO The zero speed designation input will be ig Zero Speed nored and a zero speed designation will not Designation be detected Speed O0 to 2 Command The zero speed designation inpu
13. R88A CAGDL IB Cable Models For 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW and 1 000 r min Servomotors of 2 to 4 5 kW R88A CAGD003B Approx 1 5 kg R88A CAGD005B R88A CAGD010B Approx 4 5 kg R88A CAGD015B Approx 6 7 kg 14 7 5 4 dia R88A CAGD020B Approx 8 8 kg R88A CAGD030B R88A CAGD040B R88A CAGD050B Connection Configuration and Dimensions Approx 2 4 kg Approx 13 1 kg Approx 17 4 kg Approx 21 8 kg Servomotor R88M G Servo Drive R88D GL lt Wiring Servo Drive Servomotor ia u a B Brake o Red White D PhaseU M5 D Blue ies Green Yellow e Ground _ Cable AWG20 x 2C UL2464 AJ ne Crimp terminals Cable AWG10 x 4C UL2463 Servomotor Connector Straight plug N MS3106B24 11S Japan Aviation Electronics Cable clamp N MS3057 16A Japan Aviation Electronics 3 75 3 4 Cable and Connector Specifications E Power Cables for Servomotors with Brakes Robot Cables R88A CAGB_IBR Cable Models For 3 000 r min Servomotors of 1 to 1 5 kW 2 000 r min Servomotors of 1 to 1 5 kW and 1 000 r min Servomotors of 900 W Move R88A CAGB003BR R88A CAGBO05BR R88A CAGB010BR R88A CAGBO15BR R88A CAGB020BR 12 7 6 1 dia R88A CAGB030BR R88A CAGB040BR R88A CAGB050BR Connection Configuration and Dimensions Servo Drive R88D GL Wiring Servo Drive Servomotor _ OO ih oome ad A T 1 Phase v za
14. e For Servo Drive models with internal capacitors used for absorbing regenerative energy i e models of 400 W or less the values for both Eg1 or Eg2 unit J must be lower than the Servo Drive s regenerative energy absorption capacity The capacity depends on the model For details refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 48 e For Servo Drive models with an internal regeneration resistor used for absorbing regenerative energy i e models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the Servo Drive s regenerative energy absorption capacity The capacity depends on the model For details refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 48 The average regeneration power Pr is the regeneration power produced in one cycle of operation Pr Eg1 Eg2 IT W T Operation cycle s 4 46 System Design System Design 4 4 Regenerative Energy Absorption E Vertical Axis Servomotor operation Servomotor output torque 4 47 Falling e In the output torque graph acceleration in the positive direction rising is shown as positive and acceleration in the negative direction falling is shown as negative e The regenerative energy values in each region can be derived from the following equations e 1 2 N l Eg gt 60 Ni lt To1 ti J e 2l
15. eT EPA Three phase 200 VAC C S W m aed y a o k a ee a aca Jem Sem eae Fa ee a A se a fa ee eet ee Jee ee ea Ne eet a i et es Na is eer el Je aes Net a ewe en Soe ae ete i eet fe ee Remarks Single phase 100 VAC Three phase 200 VAC Single phase 100 200 VAC 5 A Three phase 200 VAC Okaya Electric 10A Industries Co Ltd Three phase 200 VAC 30 A Three phase 200 VAC 50 A SV Servo Drive OMRON Corp 4 SM Servomotor OMRON Corp FC Clamp core ZACT305 1330 TB Controller Switch box 4 1 A specified combination of Servo Drive and Servomotor must be used 4 28 System Design 4 3 Wiring Conforming to EMC Directives Cable Details Symbol Supplies from Length Shielded Ferrite Three AC power supply Noise filter Power supply line phase No No 200 VAC Fegan inte Foner ron vo Fegora tome Fomor vem vo wm comes seni porao vem vo E Noise Filters for Power Supply Input Use the following noise filters for the Servo Drive power supply Q9 0 0 IO Noise Filter Servo Drive model Fete Phases MEDAL SEG TE Manufacturer current current 60 Hz R88D GTA5L R88D GTO1L SUP EK5 ER 6 5A Single 1 0 mA at 250 VAC R88D GT02L R88D GT04L 3SUP HQ10 ER 6 3 5 mA at 500 VAC R88D GT01H R88D GT02H SUP EK5 ER 6 5A Single 1 0 mA at 250 VAC R88D GT04H Okaya Electric Industries Co R88D GT08H 3SUP H
16. ne a ee tre eee Esti mated oy i Cel es a speed Feedback pulse To position control Servo Drive Precautions e The instantaneous speed observer cannot be used unless the following for Correct Use conditions are satisfied Conditions under which the instantaneous speed observer operates e Position control or speed control is used Pn02 0 Position control Pn02 1 Speed control Pn02 3 Position speed control Pn02 4 Position control only Pn02 5 Speed control only Control mode Encoder e A 7 core absolute encoder is used e The instantaneous speed observer may not function properly or the effect may not be apparent under the following conditions Conditions under which the instantaneous speed observer does not function properly e f the margin of error with the actual device is too large for the inertia load of the Servomotor and load combined Example If there is a large resonance point at the frequency of 300 Hz or lower eoan There is a non linear element such as large backlash e f the load inertia changes e f a large disturbance torque with high frequency elements is applied Others e f the stabilization range for positioning is extremely small 7 33 7 5 Manual Tuning E Operating Procedure 1 Set the Inertia Ratio Pn20 Set the inertia ratio as correctly as possible e Use the Pn20 setting if the Inertia Ratio Pn20 is found using realtime autotuning that can be
17. 20 Inertia Ratio the ratio between the mechanical system inertia 0 to and the Servomotor rotor inertia 10000 Operating Functions 5 37 5 16 User Parameters Power poet Seiting Explanation Deau Unit Seang OFF gt gt name setting range ON Set the operating mode for realtime autotuning EJ Realtime autotuning is not used Realtime autotuning is used in normal mode 1 Use this setting if there are almost no chang es in load inertia during operation Realtime autotuning is used in normal mode 2 Use this setting if there are gradual changes in load inertia during operation Realtime autotuning is used in normal mode r 3 Use this setting if there are sudden changes PSALIME in load inertia during operation Autotuning J OP l 0to7 Mode Selection Realtime autotuning is used in vertical axis 4 mode Use this setting if there are almost no changes in load inertia during operation Realtime autotuning is used in vertical axis 5 mode Use this setting if there are gradual changes in load inertia during operation Realtime autotuning is used in vertical axis mode Use this setting if there are sudden changes in load inertia during operation 7 Set to use realtime autotuning without switching the gain Set the machine rigidity to one of 16 levels during re Realtime altime autotuning Autotuning The higher the machine rigidity the greater the setting 22 AEA 2 Oto F al Machine Rigidity needs to be Selectio
18. 2009 Omron Electronics LLC Cat No 1562 E1 03 10 09 Specifications are subject to change without notice Printed in U S A
19. Ambient Ambient Ambient temperature temperature temperature 0 10 20 30 40 o 10 20 30 40 o 10 20 30 40 R88M GS3KO30T 3 kW R88M G4KO30T 4 kW R88M G5KOS0T 5 kW Without brake Without brake Rated Torque Rated Torque Rated Torque ss With brake evel With brake seco aver With brake 90 90 j i 85 85 70 Ambient Ambient Ambient temperature temperature temperature 3 38 Specifications 3 2 Servomotor Specifications E 3 000 r min Flat Servomotors 3 39 100 VAC 200 VAC GP10030L GP20030L G40030H Item Unit GP10030S GP20030S G40030T Rated output 1 W 100 a a 400 Rated torque 1 N m 0 32 0 64 13 0832 064 1 3 Rated rotation speed r min 3000 3000 Model R88M Max momentary rotation speed Max momentary torque r min 5000 4500 5000 lt 4 2 Rotor inertia on 1 0 x 10 8 3 5 x 10 5 6 5 x 10 5 1 0 x 10 5 3 5 x 10 5 6 4 x 10 5 Applicable load inertia o 20 times the rotor inertia max 2 EEEE constant Radiation shield dimensions 130x120 x 130 x 120x material t10 Al 170 x 160 x t12 Al t10 Al 170 x 160 x t12 Al Applicable Servo Drives R88D GTOIL GT02L GTO4L GT01H GT02H GT04H nape a 6 6 6 6 6 6 Excitation Excitation voltage 4 4 24 VDC 10 24 VDC 10 Poner sono nanny ae aE tion at 20 C 0 29 0 41 0 41 0 29 0 41 0 41 Backlash reference value reference TIE A OWAI WORA J 137 196 196 137 196 196 braking Allo
20. Bh REBA CAGALB a EC R88A CAGEDB ooo 2 e The example shows a three phase 200 VAC input to the Servo Drive for Precautions th circu V B i id d for Correct Use e main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Drive in use e Incorrect signal wiring can cause damage to Units and the Servo Drive e Leave unused signal lines open and do not wire them e Use mode 2 for origin search e The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent e Make the setting so that the Servo can be turned ON and OFF with the RUN signal Appendix 9 2 Appendix 9 1 Connection Examples E Connection Example 3 Connecting to SYSMAC CS1W NC133 233 433 Main circuit power supply NEB OFF ON MC1 MC2 Ta R 6 0 2 ic Main circuit contact D u j i eee SUP Surge killer 3 phase 200 to 240 VAC 50 60 Hz S 6 0 Q TO SD Z E G CJ1W NC133 233 433 10ers R88D GTL CNI C E PVDG a Reactor ee pf eA ail ee ee et 2 oe simi 2Y powersupply for output AB P EOT MC1 MC2 CCW ETE alH Os Hew a a a ee CW a P O Cable R88M GO a at ones Reg R88A CAGLI Peete deceit e toua ATO e ECRST Peis on re aerput_ A16 HH t 42 V e ais origin common JATA a ee a 9 INP _ oT ee 38 INPCOM ee a EE i 7 24VIN eee ie a a
21. Green Red 1 5 O Green Black 1 6 7 TOrange Black 1 8 eee GrayRed 1 9 NNT GravBlack ty 90 fT BluelRed e E o n a E E E A E a E 4 E oa Orange Black 2 20 Gray Black 2 22 Buesa 2 X Pink Red 3 ee rr Ta ta ee S srar Servo Relay Unit Connector Connector socket XG4M 3030 Strain relief XG4T 3004 Cable AWG28 x 138P UL2464 Servo Drive Connector Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M 3 113 3 5 Servo Relay Units and Cable Specifications E Servo Drive Cable XW2Z _ J B27 This Cable connects the Servo Drive to a Servo Relay Unit XW2B 80J7 12A Use this Cable only with the FQM1 MMA22 Motion Control Module Cable Models Model Length L Outer diameter of sheath Weight 9 1 dia Connection Configuration and Dimensions L Servo Relay Unit O XW2B 80J7 12A O Wiring Servo Relay Unit Servo Drive Blue Black 1 Pink Red 1 Pink Black 1 ak Ci Green Red Green Black Orange Red Pink Red 2 Jie Green Red 2 Green Black 20 Orange Red 2 Orange Black a 22 Gray Red 2 Gray Black 2 24 Blue Red 3 ea dle Oo o o 77 Oo o o ae Oo o o 2 10 kh Not specified Servo Relay Unit Connector Connector socket XG4M 3030 Strain relief XG4T 3004 Cable AWG28 x 13P UL2464 Servo Drive Conn
22. O O O o OlleO Olled Of oll o0fl o O o 0fl o N Upper terminal block Lower terminal block 3 108 Specifications 3 5 Servo Relay Units and Cable Specifications FQM1 MMA22 Signal Names a p A 0 UOWWOD ZNI LENI K A 0 UOWWOD LENI ao wo fa p A 0 UOWWOD 9NI A OLNI F A 0 UOWWOD OLNI q7 Z seyd om a q7 Z seyd ONES S G A 0 UOWWOD ENI q d eseyd ONES Ey q7 d eseyd OI8S En ns G A 0 UOWWOD ZNI q7 v eseyd ONES g q7 v aseyd 0M Et o G A 0 UOWWOD LNI indu g jeuBls yoyeq fain 0 uowuwod z jeubls y9 e7 aO om fw G A 0 UOWLWOD ONI indui yeubis youve Slano UOWWOD jeu is y3e7 aoo eare foo ao ae a a R m No 60 61 62 63 64 65 66 67 SUOI EDIJIDN9dS or as a power supply for the SEN output MMA22 pulse outputs for an Absolute Encoder Servo Drive 1 Use as a power supply for FQM1 OUTO to OUT7 or Servo Drive control signals 2 Use as a power supply for IN4 to IN11 3 Use as a power supply for INO to INS interrupt inputs or latch inputs 4 Connected to 0 V at pin O 5 Connected to 0 V at pin 1 3 109 3 5 Servo Relay Units and Cable Specifications FQM1 MMP22 Signal Names SUOI EDIJIN9dS TASTLTASD OAS oe 5 TASTLTASSD Z OMS o_o ce a ce SOO Nn fg p A 0 UOWWOD ZNI So nu H p A 0 UOWWOD LNI EO wN fa p A 0 UOWLUOD 9NI a oN fE v A 0 UOWWOD OLNI N ge Z eseyd OMA
23. e The following table shows the Servomotor leakage current for each Servo Drive model Leakage current mA Resistance method Clamping method ve Input power RERIRIOI pins Measurement filter ON at H10K13283 model capacitor pe Lea icici Per meter of motor cable 3m 3m R88D GTO1L 0 45 mA 0 002 mA R88D GT02L 0 46 mA 0 002 mA R88D GTO4L 0 48 mA 0 002 mA R88D GT01H 0 92 mA 0 016 mA R88D GT02H 0 94 mA 0 013 mA R88D GT30H Three phase 200 V 0 011 mA R88D GT50H 0 011 mA 0 013 mA N 0O 3 gt gt D D Oo gt D ep D M lt io oO J 3 gt R88D GT75H Three phase 200 V 6 32 mA Note 1 The above leakage current is for cases when Servomotor power cable length is 3 meters or shorter The leakage current depends on the power cable length and the insulation Note 2 The resistor plus capacitor method provides a yardstick to measure the leakage current that may flow through the human body when the Servomotor or Servo Drive is not grounded correctly The above leakage current is for normal temperature and humidity The leakage current depends on the temperature and humidity 4 33 4 3 Wiring Conforming to EMC Directives E Surge Absorbers e Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines e When selecting surge absorbers take into account the varistor voltage the allowable surge current and the energy e For 200 VAC systems
24. mE Understanding Servo Drive Model Numbers The model number provides information such as the Servo Drive type the applicable Servomotor Capacity and the power supply voltage R88D GT01H OMNUC G Series Servo Drive Drive Type T Three mode type Applicable Servomotor Capacity A5 50W 01 100 W 02 200 W 04 400 W 08 750 W 10 1 kW 15 1 5 kW 20 2 kW 30 3 kW 50 5 kW 75 7 5 KW Power Supply Voltage L 100 VAC H 200 VAC 11 Items to Check When Unpacking E Understanding Servomotor Model Numbers R88M GP 10030H BOS2 eseis 7 Servomotor Motor Type Blank Cylinder type Flat type P Servomotor Capacity 050 100 200 400 750 900 1KO 1K5 2KO 3KO 4KO 4K5 5KO 6KO 7K5 Rated Rotation Speed 1 000 r min 1 500 r min 2 000 r min 3 000 r min 10 15 20 30 50 W 100 W 200 W 400 W 750 W 900 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 4 5 kW 5 kW 6 kW 7 5 kW Applied Voltage H 200 VAC with incremental encoder specifications L 100 VAC with incremental encoder specifications T 200 VAC with absolute encoder specifications S 100 VAC with absolute encoder specifications Option Blank Straight shaft B With brake O With oil seal S2 With key and tap 12 Items to Check When Unpacking E Understanding Decelerator Model Numbers Backlash 3 Max R88G HPG14A05100PBJ ee Decelerator for G Series Servomotors Backlash 3 Max
25. power XW2Z L J A28 General purpose I O Connecting Cable FQM1 MMP22 Motion Control Module OMRON CM002 MMP22 MMA22 FLEXIBLE RDY A1 A1 DY RUN RUN CONTROLLER ERR ERR PRPHL COM Cy our E am COM 9 9 2 2 C m 4 PERIPHERAL 1 8 gi L 8 O 3 10 11 C el O 7 CN2 PORT CN1 eo e 6 SRo 0 Special I O Connecting Cable XW2B 80J7 12A 5 Servo Relay Unit 5 Tee g f TERM serve servol a a on ABS_CW ABS_CW T pa CNT CNT DA AD off y we O8 GOB 0 O8 oo ol of OOP 0 O9 oO o o OOP o O9 oof o o OOP 0 O o0 o op oof o O9 oof o o OOP 0 O9 0Of o op oop o O9 oof o o OOP 0 O oO o op oof o Of oof o op OOP 0j Of oO o O8 DOF 0 O8 OF o o OOP 0 O9 of o of oop o 09 oop o o OOP 0 O9 oof o Bai XW2Z L J B26 Servo Relay Unit Cables O q Gala alae Gale alae R88D GTO W OMNUC G Series mo Servo Drives O al eet z R88M GL u 5 SW gt OMNUC G Series Servomotors r alim se A WZ A p N 9 0 Terminal Block Connection e The terminal block signal names are different depending on the Controller to be connected e A total of 80 terminals are provided terminal numbers 0 to 79 e Signal names and standard connections are listed in the following table
26. 16 28 55 Maxt0 Ma 25 5 5 30 m 1183 R 8G HPG2OASST00PBL 10 25 42 9 0 mao ma 36 8 7 40 ve 1145 R 8G HPG2OAASTOOPBL 10 25 42 9 0 maio ma 36 8 7 40 we Dimensions mm EE eR a EA s rase aParanoszoore 650 58 eo soso 70 so sso sss ao sr T25 irri Re G HPG20A11200 B 780 80 e0 e00 105 o0 es0ola40 60 83 75 Model 200 w 1 21 Re6G HPG20A7r200PB 78 0 80 90 80x80 108 o0 es 0 840 59 53 75 Aas Resa HPG20As3200PB 78 0 80 90 60360 105 90 850 840 59 53 75 Jas Resa HPG2om45200PB 780 80 90 60 60 105 90 eso e40 5o 53 75 Dimensions mm F2 15 21 NO PO _ s 7 7 NO CO CO OO FT 12 12 F2 NIN 7 7 7 7 MININ Model Key dimensions Tap G S tes allie Z AT dimensions Per G5 tne 15 RBBG HPGIA4A0s200PB e 16 28 s s msxt2 ma 25 5 5 30 ma ani Ree amp HPGzoatt200PB 10 25 42 0 0 wext2 ma 36 8 7 20 ve 200 w 1721 Ra8G HPGz0A21200PB 10 25 a2 9 0 mexi2 ma a6 8 7 40 me aas Resc HPG2oass200PB 10 25 42 0 0 wsxt2 ma 2e e 7 40 me Mas Resa HPGzom4s200PB 10 25 42 00 wsxt2 ma 36 e 7 0 me Note 1 The standard models have a straight shaft 8 Note 2 Models with a key and tap are indicated with J at the end of the model number the suffix shown in the 2 57 box Example R88G HPG11B05100PBuJ 2 2
27. 5 14 Position Command Filter Function e Perform soft start processing for the command pulses using the selected filter to gently accelerate and decelerate e Select the filter characteristics using the Position Command Filter Time Constant Setting Pn4C e This function is effective in the following cases e There is no acceleration deceleration function in the command pulse controller e The command pulse frequency changes abruptly causing the machinery to vibrate during acceleration and deceleration e The electronic gear setting is high G1 G2 10 Parameters Requiring Settings Parameter Reference Parameter name Explanation No page Position This is a first order lag filter for the command pulse input section If the Command Filter command pulses change abruptly this filter can be used to reduce the Time Constant stepping movement of the Servomotor Setting The larger the setting the larger the time constant setting range 0 to 7 Pn4C 5 78 Operation Example e The characteristics for each filter are shown below e Servomotor acceleration and deceleration are delayed further than the characteristics shown below due to position loop gain Acceleration 2 Kp s Deceleration 3 Kp s Kp Position loop gain E Primary Filter Speed Command pulse input frequency Input frequency x 0 63 Input frequency x 0 37 Time lt lt _ Time constant Time constant
28. 70 12 8 5 0 M10 20 1 kW 1 21 R88G HPG32A21 1KOBL 13 40 82 11 M6x12 M6 70 12 8 5 0 M10 20 1 33 R88G HPG32A331KOBL 13 40 82 11 M6x12 M6 70 12 8 5 0 M10 20 1 45 R88G HPG50A451KOBL 16 50 82 14 M6x10 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A052KOBL 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A112KOBL 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 1 5 kW 1 21 R88G HPG32A21 1K5BL 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 1 33 R88G HPG50A332K0BL 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 1 45 R88G HPG50A451K5BL 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A052KOBL 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 Suu 1 11 R88G HPG32A112KOBL 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 1 21 R88G HPG50A212KOBL 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 1 33 R88G HPG50A332KO0BL 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A053KOBL 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 3 kW 1 11 R88G HPG50A113KOBL 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 1 21 R88G HPG50A213KOBL 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 hen 1 5 R88G HPG32A054KOBL 13 40 82 11 M8x25 M6 70 12 8 5 0 M10 20 1 11 R88G HPG50A115KOBL 16 50
29. Connect the thermal switch output so that the main circuit power supply is Precautions RUEOFF whenth taci for Correct Use shu when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch 4 50 System Design 4 4 Regenerative Energy Absorption 4 51 Combining External Regeneration Resistors Regeneration absorption 20 W 40 W 70 W 140 W capacity R88A RRO8050S R88A RRO8050S Model 288A RR0801008 RS8A RROBO1009 R88A RR22047S R88A RR22047S Resistance 50 2 100 Q 25 Q 50 Q 94 Q Connection method o R Regeneration absorption 140 W 280 W 560 W capacity Model R88A RR22047S R88A RR22047S R88A RR22047S Resistance 2 23 5 Q 23 5 Q Connection method Regeneration absorption 180 W 360 W 1440 W capacity Model R88A RR50020S R88A RR50020S R88A RR50020S Connection method O _R 0 1 Select a combination that has an absorption capacity greater than the average regeneration power Pr 2 Do not use a combination with resistance values lower than the minimum external regeneration resistance of each Servo Drive For information on the minimum external regeneration resistance refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 48 Surface temperatures
30. N MS3057 12A Japan Aviation Electronics Wiring 30 to 50 m Servo Drive Servomotor EOV ange gt lt Orange 5 BAT Blue AWG25 x 6P UL2517 Servo Drive Connector Servomotor Connector Connector Connector Crimp type I O Connector Molex Japan N MS3106B20 29S Japan Aviation Electronics Connector pins Connector pins 50639 8028 Molex Japan N MS3057 12A Japan Aviation Electronics 3 62 Specifications Specifications 3 4 Cable and Connector Specifications Absolute Encoder Battery Cable Specifications ENS 3 63 Cable Models Model Length L R88A CRGDOR3C 0 3m Connection Configuration and Dimensions 43 5 300 43 5 Servo Drive an an l Servomotor R88D GN lt 5 ML2 Wiring Servo Drive Servomotor 54280 0609 Molex Japan Connector plug 55100 0670 Molex Japan 3 4 Cable and Connector Specifications Servomotor Power Cable Specifications These cables connect the Servo Drive and Servomotor Select the cable matching the Servomotor Precautions l for Correct Use Use a robot cable if the Servomotor is to be used on moving parts E Power Cables for Servomotors without Brakes Standard Cables R88A CAGALIS Cable Models For 3 000 r min Servomotors of 50 to 750 W and 3 000 r min Flat Servomotors of 100 to 400 W Connection Configuration and Dimensions Model Weight R88A CAGA003S Approx 0 2 kg R
31. Overheating Overload Regeneration overload Encoder communications error Encoder communications data error Deviation counter overflow Overspeed Command pulse multiplying error Overrun limit error EEPROM parameter error EEPROM check code error Drive prohibit input Excessive analog input Absolute encoder system down error Absolute encoder counter overflow error Absolute encoder overspeed error Absolute encoder one turn counter error Absolute encoder multi turn counter error Absolute encoder status error Encoder phase Z error Encoder PS signal error PCL input exceeded NCL input exceeded Motor automatic recognition error CPU error Encoder error 3 1 Servo Drive Specifications Description The voltage between P and N in the control voltage converter has dropped below the spec ified value The voltage between P and N in the converter has exceeded the specified value The main power supply between L1 L3 was interrupted for longer than the time set in the Momentary Hold Time Pn6D when the Undervoltage Alarm Selection Pn65 was set to 1 Alternatively the voltage between P and N in the main power supply converter dropped be low the specified value while the Servo Drive was ON The current flowing to the converter exceeded the specified value The temperature of the Servo Drive radiator or power elements exceeded the specified val ue The torque command value exceeded the level set
32. S2 at the end of the model number Model 2 36 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E 3 000 r min Servomotors 1 kW 1 5 kW 2 kW R88M G1KO030T S2 G1K530T S2 G2K030T S2 G1K030T B S2 G1K530T B S2 G2K030T B S2 ESS noi ae Dimensions of shaft end L with key and tap Encoder ganon plug Four Z dia 45 Se ns T ix z PEN EN a 5 D2 dia h 7 M5 depth 12 Dimensions mm apee os KC 2 Reou siKEGO 175100 eo 20 fzo 7 oes R88M G2K0300 R88M G1K0300 BO 200 100 80 90 120 7 98 6 6 R88M G1K530L BL 5 R88M G2K0300 BO 230 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number E 3 000 r min Servomotors 3 kW R88M G3K030T S2 G3K030T B S2 EEJ Servomotor brake Dimensions of the shaft end connector LL 55 120x120 with key and tap Encoder connector a go oo ES g eos Eight h 9 st TNI F 2E SA n 4 KRA gt g mA o 5 GW Si a D4 Y RIA M5 depth 12 Model LL R88M G3K030L 217 R88M G3K030L BL 242 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 37 2 2 External and Mounting Hole Dimensions
33. Speed response Devices that have a resonance Devices that have a resonance Devices that have a resonance point that changes due to point with a frequency that does peak in a frequency range individual differences and age not change separated from the speed deterioration response Suppression of Large Resonance l Instantaneous Suppression Point with a Frequency that Does Lowering All Resonance Peaks Tracking the Resonance Point not Change in a High Frequency Range ra am O am m LL aed am mur da 3 O lt x Torque Torque command command after filter ir q amp Automatic frequency tracking Frequency Cut off frequency Adaptive filter Notch filter Toque filter 7 31 7 5 Manual Tuning Automatic Gain Setting Automatic gain setting initializes the control parameters and the gain switching parameters to gain settings for normal mode autotuning to match the rigidity before manual tuning is performed Precautions e Stop operation before making changes when executing the automatic gain for Correct Use setting function E Operating Procedure Refer to Front Panel Display Example on page 7 9 1 Stop operation 2 Start the automatic gain setting function in the fit gain window on the front panel If the fit gain is completed normally F 17 54 will be displayed and E o r will be displayed if it is completed with an error The display can be cleared using the ke
34. Wiring Personal computer as 7 Servo Drive AO S ee es Shel Cable AWG28 x 3C UL20276 PC Connector 17JE 13090 02 D8A DDK Ltd r e Communications with the Host Device Precautions Aft manatees tthe S Drive initiat for Correct Use er confirming he startup of the Servo Drive initiate communications with the host device Note that irregular signals may be received from the host interface during startup For this reason take appropriate initialization measures such as clearing the receive buffer 3 84 Specifications Specifications 3 4 Cable and Connector Specifications E Communications Cables 3 85 Cable Models Cables for RS 485 Communications Model Length L Outer diameter of sheath 4 2 dia Connection Configuration and Dimensions L Weight Approx 0 1 kg Wiring Servo Drive Servo Drive GND 4 4 GND ed ero RS485 RS485 5 a oar Cable AWG28 x 3C UL20276 3 4 Cable and Connector Specifications Connector Specifications E Control I O Connector R88A CNU11C This connector connects to the control I O connector CN1 on the Servo Drive Use this connector when preparing a control cable yourself Dimensions Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M E Encoder Connectors These connectors are used for encoder cables Use them when preparin
35. a Chapter 1 Features and System Describes the features and names of parts of the product as well p Configuration as the EC Directives and the UL standards Provides the model numbers external and mounting hole dimen sions for Servo Drives Servomotors Decelerators and peripheral devices Chapter 2 Standard Models and Dimensions Provides the general specifications characteristics connector specifications and I O circuit specifications for Servo Drives and the general specifications and characteristics for Servomotors as well as specifications for accessories such as encoders Chapter3 Specifications Describes the installation conditions for Servo Drives Servomo tors and Decelerators EMC conforming wiring methods calcula tions of regenerative energy and performance information on the External Regeneration Resistor Chapter5 Operating Functions Describes the control functions parameter settings and operation Chapter6 Operation Describes operating procedures and operating methods for each mode Chapter 7 Adjustment Functions ree eae gain adjustment functions setting methods and precau Describes items to check for troubleshooting error diagnoses us ing alarm LED displays and the countermeasures error diagnoses based on the operation status and the countermeasures and peri odic maintenance Chapter9 Appendix Provides examples of connections with OMRON PLCs and Posi j ji tion Controllers and the parameter
36. ata Loop Integration Time Constant 2 Speed Feedback Filter Time Constant 2 Torque Command Filter Time 253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10 Constant 2 Estimated load inertia ratio 0 Instantaneous Speed Observer Setting Gain Switching Input Operating Mode SeELION 1 Setting o_o Gain Switch 1 Time 30 30 30 30 30 kd ele 30 30 30 30 30 30 Setting aain OWA I 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 Hysteresis Setting 20 Position Loop Gain 29 2 20 20 20 20 20 20 20 20 20 20 20 20 20 Switching Time Control Gain Switch 2 Setting e The parameters Pn15 Pn16 PniA Pn30 and Pn32 to Pn36 are set to fixed values For normal mode autotun ing the default rigidity is 2 1 The value is 10 for position control and O for speed and torque control 2 The lower limit is set to 10 if a 17 bit encoder is used and to 25 if a 2 500 pulse revolution encoder is used 7 16 Adjustment Functions Adjustment Functions 7 3 Normal Mode Autotuning E Front Panel Operating Procedure 1 Switch to the Normal Mode Autotuning from the Monitor Mode Press the Data key and then press the Mode key three times to change the mode For details refer to Normal Mode Autotuning on page 6 20 co g Servomotor rotation speed display default display 2 Input the machine rigi
37. e With a vertical axis there is a risk that the load may drop when drive is prohibited by the drive prohibit input To prevent this it is recommended that the deceleration method be set to use emergency stop torque in the Drive Prohibit Input Stop Selection parameter PnO66 and that stopping in the servo lock state be set set value 2 5 87 5 16 User Parameters Pn67 Stop Selection with Main Power OFF Explanation of Settings Explanation Setting 9 e Use this parameter to set the operation to be performed after the main power supply is shut off if the Undervoltage Alarm Selection Pn65 is set to 0 e Operation during deceleration and after stopping e Clearing the deviation counter e f this parameter is set to 8 or 9 the Emergency Stop Torque Pn6E will be used to limit the torque during deceleration Pn68 Stop Selection for Alarm Generation Explanation of Settings Explanation Setting During deceleration After stopping Deviation counter 0 Dynamic brake Dynamic brake Held e Use this parameter to set the operation to be performed after stopping or during deceleration when any protective function of the Servo Drive operates and an error occurs e The deviation counter is cleared when an alarm is cleared 5 88 Operating Functions Operating Functions 5 16 User Parameters Pn69 Stop Selection with Servo OFF e Use this parameter to set the operation to be performed after Servo OFF status is entered
38. nnector B For Brake Connector Note 1 The ULIL digits in the model number indicate the cable length 3 m 5m 10 m 15 m 20 m 30 m 40 m or 50 m Example model number for a 3 m cable R88A CAGA003S Note 2 For 50 to 750 W 3 000 r min Servomotors Flat Servomotors and 6 kW and higher Servomotors there are separate connectors for power and brakes Therefore when a Servomotor with a brake is used it will require both a Power Cable for a Servomotor without a brake and a Brake Cable E Encoder Cables Robot Cables Use a robot cable when the encoder cable must be flexible Servomotor type Encoder Cable 50 to 750W BRN R88A CRGA 3 000 r min Servomotors 50 to 750 W INC R88A CRGB OU LICR LLI LICR Comments The ULI digits in the model number indicate the cable 1 to 5 kW R88A CRGCLILILINR length 100 to 400 W R88A CRGALILILICR 3m 5m 10 m 15 m 20 m aaa 100 to 400W Eie R88A CRGBLILILICR Example model number for a 3 m cable R88A CRGAO003CR 2 000 r min Servomotors 1 to 5 kW R88A CRGCLILILINR 1 000 r min Servomotors 900 W to 4 5 kW R88A CRGCLILILINR 4 13 4 2 Wiring E Power Cables Robot Cables Use a robot cable when the power cable must be flexible Power Cables for Servomo Power Cables for Servomotors tors without Brakes with Brakes R88A CAGALILILISR For Power Connector R88A CAGALILILIBR For Brake Connector
39. torque Input is enabled OFF Speed Command is regarded as 0 ON Normal operation When the Zero Speed Designation Speed Command Di rection Switch Pn06 is set to 0 Speed Command Direc tion Switch input is disabled When the Zero Speed Designation Speed Command Di rection Switch Pn0O6 is set to 2 it will determine the direc tion of the speed command OFF Forward rotation ON Reverse rotation Speed Vibration filter switch input when the Vibration Filter Selec tion Pn24 is set to 1 OFF Vibration filter 1 Pn2B Pn2C enabled ON Vibration filter 2 Pn2D Pn2E enabled Position Gain switch input when the Torque Limit Selection Pn03 is set to 0 to 2 If the Gain Switching Input Operating Mode Selection Pn30 is set to 0 OFF PI Proportional Integral operation ON P Proportional operation When the Gain Switching Input Operating Mode Selection Pn30 is set to 1 switches between Gain 1 and Gain 2 The selected Gain will differ depending on the settings for Pn31 and Pn36 All Torque limit switch input when the Torque Limit Selection PnO3 is set to 3 OFF No 1 Torque Limit Pn5E enabled ON No 2 Torque Limit Pn5F enabled All Electronic gear switch input 2 OFF Electronic Gear Ratio Numerator 1 Pn48 Position ON Electronic Gear Ratio Numerator 2 Pn49 Internally set speed selection 3 Soesi ON Internally set speed selection 3 is input p RUN Command ON Servo
40. 0 1 445 100 150 200 250 300 Torque When the torque command 0 and a constant torque command is continuously applied after three or more times the overload time constant has elapsed the overload time t s will be t s Overload time constant s x log 1 Overload level Torque command a The overload time constant s depends on the Servomotor The standard overload level is 115 Precautions for Correct Use after its occurrence 8 20 Troubleshooting Troubleshooting 8 5 Periodic Maintenance 8 5 Periodic Maintenance Resume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in equipment damage Do not attempt to disassemble or repair any of the products Any attempt to do so may result in electric shock or injury Servomotors and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly Some of the electrical and mechanical components require maintenance depending on application conditions Periodic inspection and part replacement are necessary to ensure proper long term operation of Servomotors and Servo Drives quotes from The Recommendation for Periodic Maintenance of a General purpose Inverter published by JEMA The periodic maintenance cycle depends on the installation environment and application conditions of the
41. 1 Z DTni C XZ ie Orange Red 1 24 Z__ Connector plug Orange Black 1 OT REFTTREFINUM 10150 3000PE oS TE Sumitomo 3M Orange Black 1 Shell FG Connector case ane a GrayiBlack NsiI 10350 52A0 008 y Sumitomo 3M a ae Cable AWG26 x 5P AWG26 x 6C a aoe vaim 21 hte Black 1 vsanD 26 Q amp Black 1 918 SENGND Psu Far paeit gt On ten Y GND 28 Orange Black 2 C v a 29 White Red 1 A Ho White Black i XX haa yap gx YelowBak t XX Hel B o oe vz 33 fPink Fed 1 _ 10150 3000PE Pink Black n XCS S r e nce 1 Sumitomo SM e orange OOC HH soono OO ange Back 1 10350 52A0 008 Connector plug Cable AWG26 x 5P AWG26 x 6C Sumitomo 3M 10136 3000PE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M e The Motion Control Unit signals are the DRVX and DRVY connector signals For the DRVZ and DRVU connectors X and Y are indicated as Z and U respectively e Pins marked with asterisks are for absolute encoders e Connect 24 VDC to the two lines red and black extending from the Motion Control Unit connector red 24 V black 3 4 Cable and Connector Specifications E General purpose Control Cables R88A CPGL S A General purpose Control Cable connects to the Servo Drive s control I O connector CN1 The connector for the controller is not provided When connecting to a Position Control Unit which doesn t have a specified cable or
42. 1 000 r min Servomotors of 2 to 4 5 kW 20m 30 m 40m 50 m R88A CAGBO03SR R88A CAGBO05SR R88A CAGB010SR R88A CAGB015SR R88A CAGBO20SR R88A CAGBO30SR R88A CAGB040SR R88A CAGBO050SR R88A CAGCO003SR R88A CAGCO05SR R88A CAGC010SR R88A CAGC015SR R88A CAGCO020SR R88A CAGCO030SR R88A CAGCO040SR R88A CAGCO50SR R88A CAGDO003SR R88A CAGDO05SR R88A CAGD010SR R88A CAGD015SR R88A CAGD020SR R88A CAGD030SR R88A CAGD040SR R88A CAGDO50SR For Servomotor with brake R88A CAGBO03BR R88A CAGBOO5BR R88A CAGBO010BR R88A CAGBO15BR R88A CAGBO20BR R88A CAGBO30BR R88A CAGBO40BR R88A CAGBO50BR R88A CAGCO03BR R88A CAGCO0O5BR R88A CAGCO010BR R88A CAGCO15BR R88A CAGCO20BR R88A CAGCO30BR R88A CAGCO40BR R88A CAGCO50BR R88A CAGDO03BR R88A CAGDO0O5BR R88A CAGD010BR R88A CAGD015BR R88A CAGDO020BR R88A CAGDO30BR R88A CAGDO40BR R88A CAGDO50BR Note There are separate connectors for power and brakes for 3 000 r min Servomotors of 50 to 750 W and Flat Servomotors Therefore when a Servomotor with a brake is used it will require a Power Cable for a Servomotor without a brake and a Brake Cable 2 19 E Brake Cables Robot Cables Specifications 3 000 r min Servomotors of 50 to 750 W 3 000 r min Flat Servomotors of 100 to 400 W E Communications Cable Specifications RS 232 Communications Cable RS 485 Communications Cable E Absolute Encoder Battery Cable Specifications Absolute Encoder Battery Cable E Connectors
43. 1 5 Roon 200 268 1 94 400 609 7 2 07 x 10 21 4841 17681 48 0 6 HPG65A057K5SBL 1 12 noo 83 650 3 95 166 1477 3 2 02 x 10 2 6295 22991 52 0 HPG65A127K5SBL i 1 This is the allowable rated output torque for the decelerator only Do not exceed this value Note 1 The Decelerator inertia is the Servomotor shaft conversion value Note 2 The protective structure for Servomotors with Decelerators satisfies IP44 Note 3 The allowable radial load is the value at the LR 2 position Note 4 The standard models have a straight shaft Models with a key and tap are indicated with J at the end of the model number the suffix in the box 3 52 Specifications Specifications 3 3 Decelerator Specifications 100 200 W 400 Decelerators for 3 000 r min Flat Servomotors R88G Maxi sae Decelera Rated momen fee ie tor Weight Model q fy inertia rotation speed R88G 3 44 7 5 45 L on D D op No ot oe 7 06 6 1 11 HPG14A11100PB 273 7 6 89 6 00 x 10 1119 1 04 R88G 14 5 6 1 21 HPG14A21100PBO 143 238 14 2 5 00 x 10 1358 1 04 R88G ue HPG20A33100PB O gt o L L 18 6 5 151 18 1 4 50 x 10 3226 2 9 25 3 5 24 7 4 50 x 10 1006 3541 2 9 78 1000 7 01 2 07x10 221 0 99 R88G use HPG20A45100PB 67 5 1 5 R88G HPG14A05200PBO n R88G 5 ee a 454 13 4 5 80x10 23
44. 1319 30 562 52 239 Disabled when Pn22 gt F 1269 31 540 53 230 Disabled when Pn22 gt F 1221 32 520 54 221 Disabled when Pn22 gt E 1174 33 500 55 213 Disabled when Pn22 gt E 1130 34 481 56 205 Disabled when Pn22 gt E 1087 35 462 57 197 Disabled when Pn22 gt E 1045 36 445 58 189 Disabled when Pn22 gt E 1005 37 428 59 182 Disabled when Pn22 gt D 967 38 412 60 Disabled 930 39 396 61 Disabled 895 40 381 62 Disabled 861 41 366 63 Disabled 828 42 352 64 Disabled 796 43 339 e Set the Notch Filter 1 Frequency Pn1D to 1 500 when disabling the adaptive filter using the above table 7 20 Adjustment Functions a Adjustment Functions 7 5 Manual Tuning 7 5 Manual Tuning Basic Settings As described before the OMNUC G Series Servo Drives have an autotuning function Depending on load conditions or other restrictions however readjustment may be required if the gain cannot be properly adjusted when autotuning is performed or the optimum responsiveness or stability is required to match each load This section describes how to perform manual tuning for each control mode and function E Before Manual Setting 7 21 The front panel or the Parameter Unit can be used to adjust the Servomotor machine while monitoring the operation or noise but more reliable adjustment can be performed quickly by using waveform monitoring with the data tracing function of CX Drive or by measuring
45. 170 180x130 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A052K0TBL 129 133 120 180x180 135 200 115 114 84 98 12 5 35 1 11 R88G HPG50A112KOTBL 149 156 170 180x180 190 200 165 163 122 103 12 0 53 Di 1 21 R88G HPG50A212KOTBL I 149 156 170 180x180 190 200 165 163 122 103 12 0 53 1 25 R88G HPG65A255KOSBL 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 5 R88G HPG50A055KOSBL 1 149 156 170 180x180 190 200 165 163 122 103 12 0 53 3 kW 1 11 R88G HPG50A115KOSBL 149 156 170 180x180 190 200 165 163 122 103 12 0 53 1 20 R88G HPG65A205KOSBL 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 25 R88G HPG65A255KOSBL 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 5 R88G HPG50A054K5TBL 149 156 170 180x180 190 200 165 163 122 103 12 0 53 4 5 kW 1 12 R88G HPG65A127K5SBL 254 5 222 230 180x180 260 200 220 214 168 165 12 0 57 1 20 R88G HPG65A204K5TBL 254 5 222 230 180x180 260 200 220 214 168 165 12 0 57 6 kW 1 5 R88G HPG65A057K5SBL 184 5 222 230 180x180 260 200 220 214 168 165 12 0 57 1 12 R88G HPG65A127K5SBL 254 5 222 230 180x180 260 200 220 214 168 165
46. 350 x 350 Thickness 3 0 Regeneration absorption for 120 C temperature rise Nominal capacity Heat radiation condition Resistance Aluminum 600 x 600 Thickness 3 0 Thermal switch output specifications Operating temperature 150 C 5 NC contact Rated output 30 VDC 50 mA max Thermal switch output specifications Operating temperature 150 C 5 NC contact Rated output 30 VDC 50 mA max Thermal switch output specifications Operating tempera ture 170 C 7 NC contact Rated output 250 VAC 0 2 A max Thermal switch output specifications Operating tempera ture 200 C 7 C NC contact Rated output 250 VAC 0 2 A max 24 VDC 0 2 A max 3 130 Specifications 3 8 Reactor Specifications 3 8 Reactor Specifications Connect a Reactor to the Servo Drive as a harmonic current control measure Select a model matching the Servo Drive to be used E Specifications Servo Drive current 3G3AX DL2002 1 6A 21 4mH Approx 0 8 kg 3G3AX DL2004 3 2 A 10 7 mH Approx 1 0 kg 3G3AX DL2007 6 1A 6 75 mH o Approx R88D GTA5L R88D GT01H R88D GTO1L R88D GT02H R88D GT02L R88D GT04H R88D GTO04L R88D GT08H R88D GT10H R88D GT15H R88D GT08H R88D GT10H R88D GT15H R88D GT20H R88D GT30H R88D GT75H 3G3AX DL2015 3G3AX DL2022 13 8 A 2 51 mH ae Approx 3G3AX AL2025 3G3AX AL2055 20 0A 0 88 mH AppIOX 4 0 kg R88D GT50H 3G3AX AL2110 34 0 A 0 3
47. 5 4 Torque Control Parameter Block Diagram for Torque Control Mode Torque Command TREF1 Torque Input Setting TREF2 Pn5C Torque Scale Pn5D Output Direction seed Limit PME ety VLIM Pn57 Filter Time Constant Divider Setting Phase A B Z Pn44 Numerator Pn45 Denominator Pn46 Direction Switch Notch Filter 4 Pn1D Filter 1 Frequency PniE Filter 1 Width Pn28 Filter 2 Frequency Pn29 Filter 2 Width Pn2A Notch Filter 2 Depth Pn2F Adaptive Filter Actual Speed Monitor Internally Set Speed Limit Pn56 Speed Limit Speed Command Monitor Speed PI Processor Pni1 Speed Gain 1 Pn12 Integration Time Constant 1 Pn19 Speed Gain 2 PniA Integration Time Constant 2 Pn20 Inertia Ratio Speed Detection Filter Torque Command Limit Pn14 Filter Pn1C Filter 2 Pn5E No 1 Torque Limit Pn5F No 2 Torque Limit Pn13 Filter 1 Pn1B Filter 2 Receive Encoder Signal Processor Current Feedback Torque Command Monitor Torque 1 Limit 5 10 Operating Functions Operating Functions 5 5 Switching the Control Mode 5 5 Switching the Control Mode Function e This function controls the Servomotor by switching between two control modes via external inputs e The control mode switching is performed at the Control Mode Switch Input TVSEL CN1 pin 32 OMNUC G Series Servo Drive Controller Analog voltage Speed command Switchi
48. 7 RUN Command 4 S q Input RUN 29 O A 4 7 KQ al Zero Speed ie Designation Input 4 4 VZERO 26 ae T 4 7 KQ Gain Switch Input 4 N GSEL 27 A P T7 Alarm Reset 4 Input 4 RESET 31 a E T 4 7 KQ Control Mode Switch Input 4 N TVSEL132 ARR Reverse Drive Prohibit Input Forward Drive Prohibit Input 4 YX PO Sisleie Seta Siete a ARAT westeeeseneeceseeeeseeey 11 BKIR Brake Interlock Maximum PN 10 BKIRCOM operating EEEE e voltage eae 35 READY 30 VDC FS P Servo Ready Output Maximum oN 34 READYCOM output ee ae O current ee 37 ALM 50 mA DC 3 P Alarm Output CTN 36 ALMCOM peice ean 39 TGON i O Servomotor Rotation Wa Speed Detection Output a 3 381 TG NCOM E 12 LOUTM1 General purpose Output 1 ETE E EEE N OUTM2 3 s T General purpose Output 2 PN 411COM Meee hoteteesenerec cease ee 191Z Phase Z Output ow open collector output a 251 ZCOM ETEEN SPA E 21 A Encoder Phase A l Line driver output Output 6 22 A Conforms to T EIA RS 422A 49 B Load resistance Encoder Phase B 120 Q min o Output 6 48 B O 23 Z Encoder Phase Z _Output O 42 ABAT Backup Battery Input 1 43 BATCOM 50 FG Frame ground 1 If a backup battery is connected a cable with a battery is not required 3 11 3 1 Servo Drive Specifications Control I O Signals CN1 Control Inputs No mode 424VCW
49. ATI Xaris CW imitinput A i eCe X axis emera stop input A16 hO E Coo f R88A CAGELB C I lt S r 24 VDC e The example shows a three phase 200 VAC input to the Servo Drive for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Drive in use e Incorrect signal wiring can cause damage to Units and the Servo Drive e Leave unused signal lines open and do not wire them e Use mode 2 for origin search e The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent e Make the setting so that the Servo can be turned ON and OFF with the RUN signal 9 1 Connection Examples E Connection Example 2 Connecting to SYSMAC CJ1W NC113 213 413 Main circuit power supply NEB OFF ON MC1MC2 t R lt 6 0 AG Le Main circuit contact af ae ee SUP Surge killer 3 phase 200 to 240 VAC 50 60 Hz S 6 0 9 MC1 MC2 X1 T SOD a 2 CJ1W NC113 213 413 Groundto R88D GTO 100 Q or less es Reactor 2 i T Hct XX ew ai a ee Servomotor Power oo ECRST Cable R88M G ee MT x lt kra p 8 INPCOM DE i fp 24VIN X axis external interrupt input 1 X axis CCW limit input ATS j 10 BKIRCOM axis CW imitinput A18 BS X axis emerg stop input ATG Ihor C av e Brake Cable
50. Absolute encoder battery warning output Fan lock warning output 7 Reserved EA Speed conformity output Set the operating method for the 17 bit absolute en coder Operation Switch When ej Use as absolute encoder Using Absolut 0 to 2 Yes pec ATRA AE Use as incremental encoder Encoder Operating Functions Use as absolute encoder but ignore multi turn counter overflow Select the baud rate for the RS 232 port 2 400 bps 4 800 bps 9 600 bps 2 Oto5 Yes 19 200 bps 38 400 bps 57 600 bps a o_o 0C RS 232 Baud Rate Setting 5 35 5 16 User Parameters Power poet Setting Explanation Pea Unit Saing OFF gt name setting range ON Select the baud rate for RS 485 communications 0 2 400 bps 4 800 bps RS 485 Baud 2 9 600 bps 19 200 bps 38 400 bps 57 600 bps Front panel key operation can be limited to Monitor Front Key Mode Protection ro All enabled Oto 1 Yes Setting Limited to Monitor Mode Operating Functions 5 36 5 16 User Parameters E Gain Parameters Power Parameter Setting Explanation Default Setting OFF name setting range Position Loop l E 0 to 10 Set to adjust position control system responsiveness 3000 Speed Loop l l 1 to 11 Set to adjust speed loop responsiveness 3500 Speed Loop ito Integration Time Set to adjust the speed loop integration time constant 20 ms 1000 Constant Pepe The encoder signal is converted to the s
51. C e Servo Drive surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and keep its distance from any devices or wiring that are sensitive to heat e The service life of a Servo Drive is largely determined by the temperature around the internal electrolytic capacitors The service life of an electrolytic capacitor is affected by a drop in electrostatic capacity and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements 4 1 4 1 Installation Conditions e f a Servo Drive is always operated at the ambient temperature of 55 C and with 100 of the rated torque and rated rotation speed its service life is expected to be approximately 28 000 hours excluding the axial flow fan A drop of 10 C in the ambient temperature will double the expected service life E Keeping Foreign Objects Out of Units e Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the Units during installation Be sure to remove the cover after installation is complete If the cover is left on during operation Servo Drive s heat dissipation is blocked which may result in malfunction e Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of
52. E 3 000 r min Servomotors 4 kW 5 kW R88M G4KO030T S2 G5KO30T S2 G4K030T B S2 G5K030T B S2 ENJ Servomotor brake connector LL Encoder connector 65 130x130 Dimensions of shaft end with key and tap Four 9 dia 118 Eight h 9 84 24ldia h 6 110 dia h 7 M8 depth 20 145 dia Dimensions mm Model iT R88M G4K030L 1 240 R88M G5K030L 1 280 R88M G4K030L1 BU 265 R88M G5K030 1 BU 305 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 38 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E 3 000 r min Flat Servomotors 100 W 200 W 400 W R88M GP10030L S2 GP20030L S2 GP40030L S2 GP10030H S2 GP20030H S2 GP40030H S2 GP10030L B S2 GP20030L B S2 GP40030L B S2 GP10030H B S2 GP20030H B S2 GP40030H B S2 R88M GP10030S S2 GP20030S S2 GP40030S S2 GP10030T S2 GP20030T S2 GP40030T S2 GP10030S B S2 GP20030S B S2 GP40030S B S2 GP10030T B S2 GP20030T B S2 GP40030T B S2 Encoder connector Model R88M GP10030L R88M GP10030H R88M GP10030S R88M GP10030T R88M GP20030L R88M GP20030H R88M GP20030S R88M GP20030T R88M GP40030L R88M GP40030H R88M GP40030S R88M GP40030T R88M GP10030L BL R88M GP10030H BL R8
53. L Outer diameter of sheath Weight R88A CAGA003SR Approx 0 2 kg R88A CAGAO05SR Approx 0 3 kg R88A CAGA010SR dom Approx 0 7 kg R88A CAGA015SR 15m 15m Approx 1 0 kg R88A CAGA020SR p 2m p 2m pele Approx 1 3 kg R88A CAGA030SR 80m 80m Approx 1 9 kg R88A CAGA040SR 40m 40m Approx 2 6 kg R88A CAGAO50SR 50m 50m Approx 3 2 kg Connection Configuration and Dimensions Servo Drive R88D GL Wiring Servo Drive Red White Black O Green Yellow Cable AWG20x4C UL2464 M4 crimp terminals 3 69 Servomotor B R88M GL Servomotor Servomotor Connector Connector 172159 1 Tyco Electronics AMP KK Connector pins 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK 3 4 Cable and Connector Specifications R88A CAGBL SR Cable Models For 3 000 r min Servomotors of 1 to 1 5 kW 2 000 r min Servomotors of 1 to 1 5 kW and 1 000 r min Servomotors of 900 W Model Length L R88A CAGBO05SR R88A CAGB010SR lt 10m R88A CAGB015SR 15m 15m R88A CAGBO020SR p 2m p 2m R88A CAGBO30SR 80m 80m R88A CAGB040SR p 40m p 40m R88A CAGBO50SR 50m 50m Connection Configuration and Dimensions Servo Drive R88D GL 1 Wiring Servo Drive Red White Blue Green Yellow Cable AWG14x4C UL2501 M4 crimp terminals Outer diameter of sheath 12 7 dia Servomotor B PhaseV D FG Servomotor Connector Straight plug N MS3106B20 4S Weight Appr
54. M4 neal pe _ 22 2 Gla Gla ap logs oO z k 55 Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions Reference D5 y _ 70 130 22 4 8 2 6 Two M4 5 2 dia R Square hole amp R2 6 57 The dimensions of the square hole are reference values Dimensions for front panel mounting are references values that provide leeway 2 27 2 2 External and Mounting Hole Dimensions E Single phase 100 VAC R88D GTO4L 400 W Single phase Three phase 200 VAC R88D GTO8H 750 W Wall Mounting External Dimensions Mounting Hole Dimensions Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions Reference Two M4 170 Square hole 158 The dimensions of the square hole are reference values Dimensions for front panel mounting are references values that provide leeway 2 28 Standard Models and Dimensions imensions Standard Models and D 2 2 External and Mounting Hole Dimensions E Single phase Three phase 200 VAC R88D GT10H GT15H 900 W to 1 5 kW Wall Mounting External Dimensions Mounting Hole Dimensions 85 70 170 Two M4 140
55. O 38 Drive prohibit input error 94 Encoder error 2 39 Excessive analog input 1 95 Servomotor non conformity 40 a daaasl DDN ABS 96 CPU error 9 ao loverioweror MEM y cpu eror 10 42 peal encoder overspeed ABS 99 CPU error 11 44 One turn counter error Note The following alarms are not recorded in the history 11 Control power supply undervoltage 13 Undervoltage 36 Parameter error 37 Parameter corruption 38 Drive prohibit input error 95 Servomotor non conformity E Software Version e Displays the software version of the Servo Drive 6 13 6 4 Setting the Mode E Warning Display No warning m Warning zl Over regeneration 85 or more of the alarm level for regeneration overload The alarm level will be 10 of the operating ratio of the regeneration resistance if the Regeneration Resistor Selection Pn6C is set to 1 Overload 85 or more of the alarm level for overload Absolute encoder battery voltage dropped to 3 2 V or less Fan lock Abnormal cooling fan speed Not used E Regeneration Load Ratio e Displays the regeneration resistance load ratio as a percentage of the detection level for the regeneration load E Overload Load Ratio Operation e Displays the load ratio as a percentage of the rated load E Inertia Ratio Displays the inertia ratio as a percentage E Total Feedback Pulses and Total Command Pulses e Displays the total number of pulses after the power sup
56. Pn33 Pn34 Fig Gain Switch Time ure Pn32 Switching using Gain Switch Input GSEL O 3 0 05 166 us O 3 0 05 166 us command Positioning Completed Output Actual Servomotor speed Combination of command pulse input and speed O r min O r min O 4 pulse O 4 pulse O 7 5 Manual Tuning Speed Control Mode Gain Switch Setting Setting parameters for speed control mode Conditions for switching to gain 2 O0 Always gain 1 1 Always gain 2 Switching using Gain Switch Input GSEL 3 Amount of change in torque command Amount of change in speed command 5 Command speed Torque Control Mode Pn32 37 Pn33 38 Pn34 39 pee 3 0 05 166 us O 0 05 166 ps 10 r min s O 10 r min s O r min O r min Gain Switch Setting Setting parameters for torque control mode Conditions for switching to Pn31 gain 2 O Always gain 1 1 Always gain 2 D Switching using Gain Switch Pn32 37 Pn33 38 Pn34 39 Input GSEL 3 Amount of change in torque command 1 The Gain Switch Time Pn32 Pn37 is used when returning from gain 2 to gain 1 2 The Gain Switch Hysteresis Setting Pn34 Pn39 is defined as shown in the following figure 3 A setting of 200 is used for a 10 change in torque over a period of 166 us 10 166 us setting of 200 x 0 05 166 us 4 Specify the encoder resolution based on the control mode 5 The setting is 1 given the condition
57. Recommended relay MY Relay 24 V by BKIRCOM 10 OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes 3 The brake is not affected by the polarity of the power supply 4 Connect B2 B3 for the models with a built in regeneration resistor GTO4L GT0O8H GT10H and GT15H If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 5 The models GTA5L to GTO2L and GT01H to GT04H do not have a built in regeneration resistor If the amount of regeneration is large an External Regeneration Resistor must be connected to B1 B2 X control a la Control Cable 4 17 4 2 Wiring mE R88D GT08H GT10H GT15H RS T Three phase 200 to 240 VAC 50 60 Hz Q q Q D i NFB JAQ 1 2 3 Noise filter E NF C e i Main circuit power supply 4 5 6 OFF ON 1MC 2MC Lid ay ge ee x MC 2MC X Ground to 100 Q or less OMNUC G Series AC Servo Drive 2MC 4 CNA o Reactor DE po L3 Ground to 100 Q or less P Regeneration 4 resistor ee x 6 37 ALM 24 VDC control 9 device 4 Control Cable Servo error display Power Cable RGR SRS RSS RRS SSeS NE 1 Main circuit contactor 1 Surge killer 1 OMNUC G Series AC Servomotor System Design Recommended products are listed in 4 3 Wi
58. Rg en fw G A 0 UOWWOD ENI q7 Z eseud OAIAS 07 g eseud oes q7 g aseud 1 ONES 43 44 45 46 47 4 q V eseud OAIaS q7 v aseud 1 ONES Indu z yeubis yoye7 r G A 0 uowwo z jeufis y3e7 a indui yeubis youe7 G 0 uowwo Jeubls yo e7 J ns lone di auweu jeus 2 auweu eubisS No 60 61 62 63 64 65 66 67 or as a power supply for the SEN output MMP 22 pulse outputs for an Absolute Encoder Servo Drive 2 Use as a power supply for IN4 to IN11 OUTO to OUT7 1 Use as a power supply for FQM1 or Servo Drive control signals 3 Use as a power supply for INO to INS interrupt inputs or latch inputs 4 Connected to 0 V at pin 0 5 Connected to O V at pin 1 3 110 Specifications 3 5 Servo Relay Units and Cable Specifications Wiring Example 3 111 o ape aon fra ea H sa ouro 14 outs Eons 76 38 se oure 16 oure reo ma 29 Ne am er 2r m mns 90 me rekin 68 25 Terminal block No 20 24 60 61 62 63 64 65 66 67 69 69 O CD CI I GA CO GI GI 40 41 42 43 44 45 46 47 48 49 60 61 63 63 64 65 66 67 68 69 20 21 2 23 24 G5 20 27 8 29 GO GD G2 83 B4 85 BO B7 69 GI OVMMDMODOOVDOOD NY 19319 9 16 1918 19 3 5 Servo Relay Units and Cable Specifications Servo Drive Servo Relay Unit Cable Specifications E Servo Drive Cable XW2Z _ J B25 This Cable connects the Servo Drive to a Servo Relay Unit X
59. 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 other warranties express or implied b Li
60. TDK Clamp Filters e Do not place the Encoder Cable with the following cables in the same duct Control Cables for O brakes solenoids clutches and valves 2 A Dimensions c c3 ESD SR 250 O a o Impedance Characteristics ESD SR 250 10000 1000 Impedance Q D O O 1 100 1000 E N MHZ 4 40 System Design 4 3 Wiring Conforming to EMC Directives E Improving Control I O Signal Noise Resistance Positioning can be affected and I O signal errors can occur if control I O is influenced by noise e Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular do not connect the two power supply ground wires e Install a noise filter on the primary side of the control power supply e If Servomotors with brakes are being used do not use the same 24 VDC power supply for both the brakes and the control I O Additionally do not connect the ground wires Connecting the ground wires may cause I O signal errors e Keep the power supply for pulse commands and deviation counter reset input lines separated from the control power supply as far as possible In particular do not connect the two power supply ground lines e We recommend using line drivers for the pulse command and deviation counter reset outputs e Always use twisted pair shielded cable for the pulse command and deviation counter reset signal lines and connec
61. UUILI Position Control Unit cables come in two lengths 0 5 m and 1 m example for 0 5 m cable XW2Z 050J A3 Servo Drive Cables also come in two lengths 1m and 2 m example for 1 m cable XW2Z 100J B25 Note 2 Two Servo Drive Cables are required if 2 axis control is performed using one Position Control Unit 4 15 4 2 Wiring E Motion Control Unit Cable There are special cables for 1 axis and 2 axis Motion Control Unit operation Select the appropriate cable for the number of axes to be connected For 1 The HU digits in the model number axis eee aL ene indicate the cable length Motion Control Unit Cables come in four lengths 1m 2m 3m and 5 m R88A CPG Example model number for 2 m 1 axis cable R88A CPG002M1 CS1W MC221 421 V1 For 2 axes E General purpose Control Cable and Control I O Connector These cables and connector are used when connecting to Controllers for which no specific cable is available and the cable for the Servo Drive s control I O connector CN1 is prepared by the user Name Remarks A cable for the control I O connector CN1 en eee The ULL digits in the model number indicate the purp R88A CPGLILILIS cable length either 1 m or 2 m Control Cable Example model number for 1 m cable R88A CPG001S This is the connector for connecting to the Control Control I O Connector R88A CNU11C I O Connector CN1 This item is a connector only System De
62. When at high level Approx 1 mA SENGND Input voltage 5 VDC 1 mA 7406 or the equivalent OV Signal Levels High level 4 V min Low level 0 8 V max Precautions for Correct Use A PNP transistor is recommended 3 19 3 1 Servo Drive Specifications Control Input Details Details on the input pins for the CN1 connector are described here E High speed Photocoupler Inputs Reverse Pulse Forward Pulse Inputs Feed Pulse Direction Signal Inputs or 90 Phase Difference Signal Input Pin 3 Reverse Pulse Input Pin 4 Reverse Pulse Input Pin 5 Forward Pulse Input Pin 6 Forward Pulse Input CW Feed Pulse Input PULS CW Feed Pulse Input PULS CCW Direction Signal SIGN CCW Direction Signal SIGN N or Phase A Input FA or Phase A Input FA or Phase B Input FB or Phase B Input FB SN NN as Functions e The functions of these signals depend on the settings of the Command Pulse Rotation Direction Switch Pn41 and the Command Pulse Mode Pn42 PDA ia COMNEN ellis Input pins Servomotor forward command Servomotor reverse command setting setting mode 90 phase difference signals multiplier 4 0 i Reverse pulses forward pulses Feed pulses direction signal e f the Command Pulse Rotation Direction Switch Pn41 is set to 1 the rotation direction will be reversed e If the photocoupler LED is turned ON each signal wi
63. gt XW2B 40J6 2B 3 124 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A33 This Cable connects a Programmable Controller CJ1M CPU21 CPU22 CPU23 to a Servo Relay Unit XW2B 20J6 8A or XW2B 40J6 9A Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A33 Approx 0 1 kg 10 0 dia XW2Z 100J A33 Approx 0 2 kg Connection Configuration and Dimensions CJ1M cre Servo Relay Unit CJ1M CPU21 CJ1M CPU22 a f o Mo CJ1M CPU23 p XW2B 40J6 9A Crimp terminal Cable AWG28 x 6P AWG28 x 14 3 125 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A28 This Cable connects the general purpose I O connector of a Flexible Motion Control Module FQM1 MMP22 MMA22 to a Servo Relay Unit XW2B 80J7 12A Cable Models XW2Z 050J A28 Approx 0 1 kg XW2Z 100J A28 10 0 dia Approx 0 2 kg m XW2Z 200J A28 2 Approx 0 3 kg Connection Configuration and Dimensions FQM1 FQM1 MMP22 FQM1 MMA22 Servo Relay Unit gt XW2B 80J7 12A il verzros IIN 3 126 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A30 This Cable connects the special I O connector of a Flexible Motion Control Module FQM1 MMP22 to a Servo Relay Unit XW2B 80J7 12A Cable Models Model Leng
64. imposed directly or indirectly on Omron or required to be collected directly or indirectly by Omron for the manufacture production sale delivery importa tion consumption or use of the Products sold hereunder including customs duties and sales excise use turnover and license taxes shall be charged to and remitted by Buyer to Omron Financial If the financial position of Buyer at any time becomes unsatisfactory to Omron Omron reserves the right to stop shipments or require satisfactory security or payment in advance If Buyer fails to make payment or otherwise comply with these Terms or any related agreement Omron may without liabil ity and in addition to other remedies cancel any unshipped portion of Prod ucts sold hereunder and stop any Products in transit until Buyer pays all amounts including amounts payable hereunder whether or not then due which are owing to it by Buyer Buyer shall in any event remain liable for all unpaid accounts Cancellation Etc Orders are not subject to rescheduling or cancellation unless Buyer indemnifies Omron against all related costs or expenses Force Majeure Omron shall not be liable for any delay or failure in delivery resulting from causes beyond its control including earthquakes fires floods strikes or other labor disputes shortage of labor or materials accidents to machinery acts of sabotage riots delay in or lack of transportation or the requirements of any government authority
65. 0 Speed feed forward 500 Inertia Ratio 300 Inertia Ratio 300 Inertia Ratio 300 7 1 Gain Adjustment Gain Adjustment Methods Automatic adjust ment Manual adjust ment Function Realtime autotuning Fit gain function Adaptive filter Normal Mode Autotuning l l This function disables the default settings for realtime auto Automatic gain adjustment reset eee tuning and the adaptive filter Manual tuning basic Basic procedure Gain switching Machine resonance suppression Automatic gain setting Manual tuning application Instantaneous speed observer Damping control Note 1 Take sufficient care for safety Note 2 If oscillation occurs e g abnormal sound or vibration immediately turn OFF the power supply or let the servo OFF status occur Explanation Realtime autotuning estimates the load inertia of the me chanical system in realtime and automatically sets the optimal gain according to the estimated load inertia The fit gain function automatically searches for the appropri ate rigidity setting by repeating input of an operation with a specified pattern to automatically make the rigidity setting for realtime autotuning when position control is performed The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration com ponent that appears in the Servomotor speed during actual operation and automatically sets the coefficient o
66. 1 Setting Pn31 is not met until returning to gain 1 This parameter is enabled when the Control Gain Switch 1 Setting Pn31 is 3 to 6 9 or 10 Set the Gain Switch 1 judgment level for switching between gain 1 and gain O to Level Setting 2 20000 The unit for the setting depends on the condition set in the Control Gain Switch 1 Setting Pn31 Gain Switch 1 Set the hysteresis width above and below the judg Oto Hysteresis ment level set in the Gain Switch 1 Level Setting 20000 Setting Pn33 Position Loop When switching between gain 1 and gain 2 is en O to Gain Switching abled set the phased switching time only for the posi 10000 Time tion loop gain at gain switching 5 40 Operating Functions 5 16 User Parameters 3A 3B 3C 3D SE SF 5 41 H U Setting Explanation Pau Unit Sg name setting range Select the condition for switching between gain 1 and gain 2 in the second control mode The Gain Switching Input Operating Mode Selection Pn30 must be set to 1 enabled o ren This parameter is enabled when Control Gain Switch 2 Setting Pn36 is 3 to 5 Set the delay time for return ing from gain 2 to gain 1 0to5 0 to 10000 Gain Switch 2 Time This parameter is enabled when Control Gain Switch 2 Setting PN36 is 3 to 5 Set the judgment level for switching between gain 1 and gain 2 The unit de 0 to 20000 Gain Switch 2 Level Setting pends on the setting of Contr
67. 103 255 4 8 System Design System Design 4 1 Installation Conditions Installing an R88G VRSFLJ_I_ Backlash 15 Max Use the following procedure to install the Decelerator to the Servomotor 1 Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap Make sure the set bolts are loose 2 Gently insert the Servomotor into the Decelerator As shown in the figures below stand the Decelerator upright and slide the Servomotor shaft into the input shaft joint while making sure it does not fall over If the Decelerator cannot be stood upright tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 3 Bolt together the Servomotor and the Decelerator flanges Bolt Tightening Torque Allen head bolt size M6 Tightening torque N m 9 8 4 Tighten the input joint bolt Bolt Tightening Torque for Duralumin Allen head bolt size M5 7 1 Tightening torque N m Note Always use the torque given in the table above Sliding or other problems may occur if the specified torque level is not satisfied 5 Mount the supplied rubber cap to complete the installation procedure 4 9 4 1 Installation Conditions Installing the Decelerator When installing the R88G VRSFLILIL first make sure that the mounting surface is flat and that there are no burrs on the tap sections and then bolt on the mounting fl
68. 135 70 115 0 1140 84 98 125 35 13 5 R88G HPG20A0575081 78 0 80 90 80x80 105 90 85 0 840 69 58 75 27 10 ir reec HPcz0n1175085 78 eo 20 soo 108 oo aso Bso 9 T so 75 27 0 750 W 1 21 R86G HPGS2A2T75081 104 0 133 120 122 da 195 90 115 0 1140 84 96 125 35 13 3 R68G HPGS2A3875081 104 0 183 120 122 da 195 90 115 0 1740 84 98 125 35 13 146 Re8G HPGS2A4575081 104 0 183 120 122 da 195 90 115 0 1140 84 28 12 5 35 13 Dimensions mm Model epele beter Key dimensions dimensions l Tap AT dimensions eS Sees es eae Ba cat act HPG14A05400BL oe M4x10 M4 ea 25 5 5 3 M4 8 D os a or weno we E pao we 400 W 1 21 RBeG HPG20AD14008 25 42 8 0 maio ma 36 e 7 40 Me 12 jisa ReeG HPGaeAssa008 40 e2 11 0 Maxio ma 70 12 8 50 Mio 20 jias ReeG HPGaeAAsA008 40 e2 110 maxio ma 7o 12 8 50 wo 20 25 42 o0 wexta ma 36 8 7 40 me 12 am Resa HPa20a1175080 25 42 90 msxi2 ma 36 8 7 40 me 12 750 w 1 21 Resa HPGa2A2175085 40 e2 11 0 Mext2 me 70 12 8 50 mio 20 jisa ReeG HPGseAse7s08 40 e2 110 msx12 me 70 12 8 50 Mio 20 14s RaeG HPGaeAAs75080 40 e2 110 mexia me 7o 12 8 50 mo ac 1 This is the set bolt Outline Drawings C1 xC E Set bolt AT Four Z2 D3 dia h 7 D4 dia D5 dia C2 x C2 Four Z1 dia LR LM Set
69. 14 REF TREF1 Input Torque General Command Input YOM Speed Limit Input Forward Torque PCL TREF2 Limit Input Torque Command Input Reverse Torque Limit Input Sensor ON Input Encoder Phase A Output Encoder Phase Z Output 24 V Open collector Input 1 24VCW 27 GSEL TLSEL Torque Limit Reverse Pulses Input CW Feed Pulses Input or Switch PULS FA 90 Phase Difference Pulse Input Phase A ulse Input Phase A 29 RUN RUN Forward Pulses Command CCW Direction Signal or SIGN FB_ 90 Phase Difference Pulse Input Phase B Alarm Reset 12 to 24 VDC Input read wonse Pulse Prohibit 33 IPG VSEL1 Input Internally Set Speed Forward Drive POT Prohibit Input Selection 1 Brake Servo Ready READY Output Interlock Output 37 ALM Alarm Output 11 BKIR SENGND Ground Common Positioning Completed Output Servomotor INP TGON Rotation Speed Detection Output General COM purpose Output Sensor Input a Ground Absolute Encoder 43 BATGND Backup Battery Sin eek Input collector Reverse Pulse input for line driver only Sensor Input Ground Encoder Phase A Output Forward Pulse input for line Encoder driver only Phase Z Output Encoder Phase B Phase Z Output Output open collector Common Zero Speed Designation Input Vibration Filter SEL PNSEL Switch Speed Command Rotation Direction Switch Electronic Gear 28 GESEL Switch VSEL3 In
70. 16 Overload Occurs during operation l e An unusual noise os cillation or vibration is caused by faulty gain adjustment e The Servo Drive is faulty 8 9 Countermeasure e Wire the Servomotor power cable correctly e Turn OFF the brake e Replace the Servo Drive e Review the load conditions and operating conditions e Review the Servomo tor capacity e Adjust the gain correctly e Replace the Servo Drive Alarm code Occurs when the Servo motor is decelerating Regeneration 18 overload Occurs during descent vertical axis 21 aneoaer Occurs during operation communications error 8 3 Troubleshooting e Load inertia is too great e The deceleration time is too short e The Servomotor rotation speed is too high e The operating limit of the External Regener ation Resistor is limit ed to 10 e Gravitational torque is too large e The operating limit of the External Regener ation Resistor is limit ed to 10 e The encoder is disconnected e Connector contacts are faulty e The encoder wiring is incorrect e The encoder is dam aged e The Servo Drive is faulty e The Servomotor is mechanically being held Error Status when error occurs Cause Countermeasure e Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity e Extend the deceleration time e Redu
71. 20 C Current consump tion at 20 C Static friction torque 7 7 vn ms rs 1 reference value 2 J 4 9 x 10 4 9 x 103 44 1 x 10 ee 30 000 max _ 0 36 1 27 min 50 max 15 max Brake specifications aBEELEE a S XIA D 2 Sl vipe O oJ o o D 0 gt 5 w 3 2 O o 3 D x i Q O ol D D Allowable total work acceleration 10 000 000 operations Continuous gt D W a OD 9 c aag AC S T Q sab Q 4D Type B 3 33 G40030L G40030S 400 1 3 3 6 4 6 13 9 2 6 x 10 9 0 28 62 5 0 55 2 9 245 98 Approx 1 2 Approx 1 7 130 x 120 x t12 Al GTO4L 1 8 x 10 6 9 0 36 1 27 min 50 max 15 max 137 44 1 x 10 Speed of 2 800 r min or more must not be changed in less than 10 ms 3 2 Servomotor Specifications 200 VAC Rated output t 1 50 200 750 Rated rotation speed 3000 Max momentary rotation Himin 5000 4500 speed Rotor inertia kgm 25x106 51x106 14x105 26x105 87x105 GD2 4 20 times the 30 times the rotor inertia max 2 rotor inertia max 2 58 Model R88M Applicable load inertia Specifications ia constant 4 6 Electrical time constant 0 7 NO O D ee Ei Approx 0 3 Approx 0 5 Approx 0 8 Approx 1 2 Approx 2 3 Approx 0 5 Approx 0 7 Approx 1 3 Approx 1 7 Approx 3 1 Allowable radial load 3 Allowable thrust loa
72. 32 40 52 46 60 19 Re8G vAsFoeBr00c 675 32 40 52 46 60 fires vr eero00s 780 s2 wo s2 T46 e0 40 52 46 60 ris frese vasrossioocs 675 a2 0 s2 46 e0 1e ReBG VASFO9B100G 67 5 32 40 52 46 60 ii15 Re86 VASFISB10004 78 0 32 40 52 46 60 30 s2 46 60 50 ri ress vnsraseonci 725 se eo 52 70 60 7e o 90 iris ReeG vASFisC200C 100 0 50 60 78 70 1725 R68G VASF25C20003 100 0 50 60 78 70 is ReBG VAsFOsCA00C4 69 5 50 60 78 70 90 irt5 Re8c VAsFt5Ca00C4 100 0 50 60 78 70 90 mm co 70 62 17 3 va rssa vasFoscaoocs 69 5 so 60 78 70 90 70 62 17 3 1725 R 86 VASF25C400Cs 100 0 50 60 78 70 90 70 62 17 3 5 ReBG VASFO5C7s0Cs 965 50 80 78 90 0 70 62 i7 3 62 G D1D DA AD olol M O CO s l oO wt Re86 VASFO90750Cs 97 5 61 eo 96 90 115 90 75 18 5 10 Wis ReB6 VASFI5D75003 1100 61 80 98 90 115 90 1i25 Re86 VASF25075003 1100 61 80 96 90 115 90 75 18 5 10 Note The standard models have a straight shaft with a key Outline Drawings Four Z1 7 18 5 10 Four Z2 effective depth L 100 W 200 W 400 W 750 W Model S T 2 2 External and Mounting Hole Dimensions Dimensions mm Key dimensions zel ore 15 pesavasrosB100c 12
73. 82 14 M8x25 M6 70 14 9 5 5 M10 20 Sei 1 5 R88G HPG50A055KOBL 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 1 11 R88G HPG50A115KOBL 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 1 This is the set bolt Outline Drawings E Set bolt AT Four Z2 D3 dia h 7 2 Four Z1 dia Key and Tap Dimensions M depth L C2 dia 2 With the R88G HPG50OL the height tolerance is 8 mm D3 dia h 8 2 52 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Decelerators for 2 000 r min Servomotors Dimensions mm ia mpa Ter ee or oe os oros TE F1 Fe 1 5 R88G HPG32A053KOBL 107 133 120 130x130 135 145 115 114 12 5 35 1 11 R88G HPG32A112KOSBL 107 133 120 130x130 135 145 115 114 84 98 12 5 35 1 kW 1 21 R88G HPG32A211KOSBLI 107 133 120 130x130 135 145 115 114 84 98 12 5 35 1 33 R88G HPG50A332KO0SBL 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 45 R88G HPG50A451KOSBL 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A053KOBL 107 133 120 130x130 135 145 115 114 84 98 12 5 35 15 kW 1 11 R88G HPG32A112KOSBL 107 133 120 130x130 135 145 115 114 84 98 12 5 35 1 21 R88G HPG50A213KOBL 123 156 170 1
74. B2 Regeneration tor between B1 and B2 Resistor connection 750 W to 1 5 kW Normally B2 and B3 are connected If there is high regenerative en B3 terminals ergy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 U V Servomotor These are the output terminals to the Servomotor W connection terminals Be sure to wire them correctly This is the ground terminal Ground to a 100 Q or less 4 21 4 2 Wiring E R88D GT20H GT30H GT50H Main Circuit Terminal Block Specifications L1 L2 Main circuit power R88D GTOH 2 to 5 kW Three phase 200 to 230 VAC 170 to 253 V 50 60Hz supply input L3 Control circuit power supply input B1 External Regeneration Resistor connection B3 terminals R88D GTOH Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz T NI OO 2 to 5 kW Normally B2 and B3 are connected If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an Exter nal Regeneration Resistor between B1 and B2 White Servomotor These are the output terminals to the Servomotor connection terminals Be sure to wire them correctly Green Yellow This is the ground terminal Ground to 100 Q or less 4 22 System Design System Design 4 2 Wiring m R88D GT75H Main Circuit Terminal Block Specifications TB1 L1 L2 L3 B1 Main circuit power R88D GT75H 6 to 7 5 kW T
75. B26 For FQM1 MMP22 XW2B 80J7 12A XW2Z 200J B26 2 21 2 1 Standard Models E Servo Relay Unit Cables for Position Control Units Position Control Unit Cables Model XW2Z 050J A3 XW2Z 100J A3 XW2Z 050J A6 XW2Z 100J A6 XW2Z 050J A7 XW2Z 100J A7 XW2Z 050J A10 XW2Z 100J A10 XW2Z 050J A1 1 XW2Z 100J A1 1 XW2Z 050J A14 XW2Z 100J A14 XW2Z 050J A15 XW2Z 100J A15 XW2Z 050J A18 XW2Z 100J A18 XW2Z 050J A19 XW2Z 100J A19 XW2Z 050J A33 XW2Z 100J A33 XW2Z 050J A28 XW2Z 100J A28 XW2Z 200J A28 XW2Z 050J A31 XW2Z 100J A31 XW2Z 200J A31 XW2Z 050J A28 XW2Z 100J A28 XW2Z 200J A28 XW2Z 050J A30 XW2Z 100J A30 XW2Z 200J A30 Specifications For CQM1 CPU43 V1 XW2B 20J6 3B For CS1W NC113 C200HW NC113 XW2B 20J6 1B For CS1W NC213 NC413 C200HW NC213 NC413 XW2B 20J6 2B For CS1W NC133 XW2B 20J6 1B For CS1W NC233 NC433 XW2B 20J6 2B For CJ1W NC113 XW2B 20J6 1B For CJ1W NC213 NC413 XW2B 20J6 2B For CJ1W NC133 XW2B 20J6 1B For CJ1W NC233 NC433 XW2B 20J6 2B For CJ1M CPU21 CPU22 CPU23 XW2B 20J6 8A XW2B 40J6 9A General purpose I O Cables For FQM1 MMA22 XW2B 80J7 12A Special I O Cables General purpose I O Cables For FQM1 MMP22 XW2B 80J7 12A Special I O Cables 2 22 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models E Control Cables Specifications Model 1m R88A CPG001M1 Motion Control Unit Cables f
76. CAGA015BR Approx 0 7 kg R88A CAGA020BR a Approx 0 9 kg R88A CAGA030BR Approx 1 3 kg R88A CAGA040BR Approx 1 8 kg R88A CAGAOS50BR Approx 2 2 kg Connection Configuration and Dimensions 50 50 Servo Drive Servomotor R88D GC 7 CL Reem Wiring Servo Drive Servomotor B Brake Servomotor Connector Connector 172157 1 Tyco Electronics AMP KK Connector pins 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK M4 crimp terminals Cable AWG20 x 2C UL2464 3 4 Cable and Connector Specifications Resistant to Bending of Robot Cables Use Robot Cable that can withstand at least 20 million bends to the minimum bending radius R given below or larger Note 1 The service life data for resistant to bending is based on test data Use it for reference only and provide sufficient allowance Note 2 This value is the number of bends when electricity is conducted through the conductors that will not result in cracking or damage to an extent that would affect the functionality of the sheath Broken shield strands may occur Note 3 If a bending radius smaller than the minimum bending radius is used it may result in mechanical damage or ground fault damage due to insulation breakdown If it is necessary to use a bending radius smaller than the minimum bending radius consult with your OMRON representative Encoder Cables Model Minimum bending radius R R88A CAG
77. 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 infringed intellectual property rights of an
78. Executing Copying Key operation 6 25 Display example Explanation Press the Data key to enter Copy Mode Press and hold the Increment key until EEPCLP is displayed The bar indicator will increase when the key is pressed for 3 s or longer The bar indicator will increase Initialization of the EEPROM in the Parameter Unit will start This display indicates a normal completion 3 Returning to Copy Mode Display example Explanation Press the Data key to return to Copy Mode If Error is displayed before completion repeat the procedure from the beginning Press the Data key to clear the error Do not disconnect the Parameter Unit from the Servo Drive while copying is being performed If the Parameter Unit is disconnected connect it and then repeat the procedure from the beginning If errors are repeatedly displayed the following may be the cause cable disconnection connector contact failure incorrect operation due to noise or EEPROM fault in the Parameter Unit Precautions for Correct Use 6 4 Setting the Mode E Copying from the Parameter Unit to the Servo Drive 1 Displaying Copy Mode Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key five times to display Copy Mode Press the Increment key to switch to the copy display for copying from the Parameter Unit t
79. Explanation Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 and there is no position command Positioning completion output turns ON when the zero speed detection signal is ON the po 2 sition deviation is within the Positioning Completion Range Pn60 and there is no position command Positioning completion output turns ON when the position deviation is within the Positioning 3 Completion Range Pn60 and there is no position command The ON status will be main tained until the next position command is received e Use this parameter in combination with the Positioning Completion Range Pn60 to set the operation for Positioning Completed Output INP CN1 pin 39 5 86 Operating Functions Operating Functions 5 16 User Parameters Pn65 Undervoltage Alarm Selection Explanation of Settings Setting Explanation When the main power supply is interrupted during Servo ON status a main power supply 0 undervoltage alarm alarm code 13 does not occur and the Servo OFF status is entered When the main power supply turns ON again the Servo ON status is reset When the main power supply is interrupted during Servo ON status an error occurs for a main power supply undervoltage alarm code 13 e Use this parameter to select whether to
80. External and Mounting Hole Dimensions 1s pesa HPa2oaos400PB 78 0 60 90 80x80 105 90 885 0 84 0 59 53 75 e00 105 90 e510 84 0 58 58 75 400 w 1r21 R86G HPG20AZTAOOPB 78 0 80 90 60 60 105 90 e510 84 0 59 53 75 1735 R86 HPGseAss400 8 1040 138 120 122 da 138 90 11501140 84 98 725 Jas Resc HPas2a45400PB 1040 138 120 122 da 135 90 11501140 84 98 125 i11 R8 HPG20A11400PB 78 0 0 90 Model Model Outline Drawings Four Z1 dia Key and Tap Dimensions QK M depth L Dimensions mm z Dimensions mm NO 7 7 7 5 5 ININ Q9 G S T Z1 Z2 AT dimensions xfer a wt 1s RABG HPGZOAOSAO0PBI 10 25 42 9 0 msxt2 ma 36 e 7 40 MO irri ReBG HPez0At 400PB 10 25 42 90 msxi2 ma 36 8 7 40 Mo 400 w 1r21 ReeG HPG20AzTA00PB 10 25 2 90 moz ma 36 6 7 40 me j735 Re86 HPGseAsa400pB 19 40 82 110 msx12 me 70 12 8 50 Mio i745 R86 HPGseAas400PB 19 40 82 110 msxt2 me 70 12 8 5 0 mio 1 This is the set bolt Set bolt AT C2 dia 12 12 12 20 20 Four Z2 Four Z2 2 58 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E Backlash 15 Max 100 W 200 W 400 W 2 59 Decelerators for 3 000 r min Servomotors Dimensions Model is R6BG VASFOSB1000U 67 5
81. FG T eii ek 24 VDC O 24 VDC 1 The XB contacts and YB contacts are used to turn ON OFF the electromagnetic brake 2 Do not connect unused terminals 3 The O V terminal is internally connected to the common terminals 4 The following crimp terminal is applicable R1 25 3 round with open end o c O O O D Q Y E XW2B 20J6 3B This Servo Relay Unit connects to the following OMRON Programmable Controller e CQM1 CPU43 V1 Dimensions CQM1 connector Servo Drive connector 3 5 3 5 i i lt q i A LO Tr y Two 3 5 dia 44 3 46 ma i e Terminal Block pitch 7 62 mm 3 101 24 VDC ae 2 3 4 gor 6 ST 3 5 Servo Relay Units and Cable Specifications E D 3 Q 1S O If this signal is input the output pulse from the CQM1 will be input to the high speed counter Input this output signal to a CQM1 Input Unit The XB contacts are used to turn ON OFF the electromagnetic brake The phase Z output is an open collector output Do not connect unused terminals The O V terminal is internally connected to the common terminals The following crimp terminal is applicable R1 25 3 round with open end 3 102 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications E XW2B 20J6 8A This Servo Relay Unit connects to the following OMRON P
82. LI B Motor connector 8 dia h 6 a 30 dia h 7 INC Dimensions of shaft end with key and tap 40 x 40 14 ivg Z 73 a Dimensions mm LI B LN 26 5 46 5 26 5 46 5 Three h 9 o9 M3 depth 6 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 35 2 2 External and Mounting Hole Dimensions E 3 000 r min Servomotors 200 W 400 W 750 W R88M G20030L S2 G40030L S2 G20030H S2 G40030H S2 G75030H S2 G20030L B S2 G40030L B S2 G20030H B S2 G40030H B S2 G75030H B S2 WTS R88M G20030S S2 G40030S S2 G20030T S2 G40030T S2 G75030T S2 G20030S B S2 G40030S B S2 G20030T B S2 G40030T B S2 G75030T B S2 WES Brake connector Encoder Motor connector connector Dimensions of shaft end Four Z dia Cx with key and tap QK S dia h 6 i b Z IT x M effective depth L Dimensions mm ERTS See CTS fea z oT eR R88M G200300 Pa a fofos ee 8 R88M G400300 SeaRar R88M G75030 _ 112 2 35 19 90 70 80 8 53 6 22 6h9 6 Ea R88M G200300 BO E 7o so eoles s as 18 18 4h9 4 M4 2 5 8 R88M G400300 BO 225 59 5 Te M n Pas aa a a en E Note The standard models have a straight shaft Models with a key and tap are indicated with
83. Line driver t2 gt 1 us Open collector t2 gt 2 5 us e Use this parameter to set the form of the pulse inputs sent as commands to the Servo Drive from the position controller Pn43 Command Pulse Prohibited Input Explanation of Settings Setting Explanation 0 Enabled 1 Disabled e Use this parameter to enable or disable the Pulse Prohibit Input IPG CN1 pin 33 e Command pulse inputs will be prohibited when the connection between the IPG input and COM is open e Set this parameter to 1 when the IPG input is not used This will eliminate the necessity to externally connect the IPG input CN1 pin 33 and COM CN1 pin 41 5 74 Operating Functions Operating Functions 5 16 User Parameters Pn44 Encoder Divider Numerator Setting Setting range O to 32767 Unit o Default setting 2500 Yes Pn45 Encoder Divider Denominator Setting Setting range O to 32767 Unit Default setting oc Yes e Use this parameter to set the number of encoder pulses output from the pulse outputs A CN1 pin 21 A CN1 pin 22 B CN1 pin 48 B CN1 pin 49 e If the Encoder Divider Denominator Setting Pn45 is 0 the number of output pulses for one Servomotor rotation can be set for A and B using the Encoder Divider Numerator Setting Pn44 The resolution of the pulse output after multiplication by 4 will be as follows Pulse output resolution per rotation Encoder Divider Numerator Setting Pn44 x 4 e If the Encoder Divider Denomina
84. Main Power OFF Pn67 set to 8 or 9 e Deceleration with the Stop Selection with Servo OFF Pn69 set to 8 or 9 e The normal torque limit will be used if this parameter is set to 0 Pn70 Deviation Counter Overflow Level Setting range 0 to 32767 256 x resolution Default setting e Use this parameter to set the deviation counter overflow level e The set value is calculated using the following formula Set value Deviation counter overflow detection pulses pulses 256 5 91 5 16 User Parameters e f the positioning loop gain is small and the setting of this parameter is too small a deviation counter overflow alarm code 24 may be detected even during normal operation e Deviation counter overflow alarm code 24 will not be detected if this parameter is set to O Pn71 Speed Command Torque Command Input Overflow Level Setting e Use this parameter to set the overflow level for Speed Command Input REF CN1 pin 14 or Torque Command Input TREF1 CN1 pin 14 using voltage after offset adjustment e Excessive analog input alarm code 39 will not be detected if this parameter is set to O Pn72 Overload Detection Level Setting Almoses e Use this parameter to set the overload detection level e The overload detection level will be 115 if this parameter is set to 0 e This parameter should normally be set to 0 The setting should be changed only when it is necessary to reduce the overload detection level e The setting of th
85. R88M G4K510LJ BL 337 5 Dimensions of shaft end with key and tap M16 depth 32 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number E 1 000 r min Servomotors 6 kW R88M G6K010T S2 G6K010T B S2 ABS Brake connector Motor Eye bolt connector Nominal diameter 10 Dimensions of shaft end with key and tap 113 176 x 176 i I 96 lt T 90 Encoder F Four 13 5 dia ur i la connector T S g am O g y o j l ce 114 3 dia h 7 Model LL R88M G6K010L 340 5 R88M G6K010LJ BL 380 5 M16 depth 32 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 44 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Parameter Unit Dimensions E R88A PRO02G Hand held Parameter Unit MD connector 2 45 2 2 External and Mounting Hole Dimensions Servomotor and Decelerator Combinations 3 000 r min Servomotors 1 11 Motor model 1 9 for flange size 1 21 1 33 1 45 No 11 R88G R88M G05030L R88M G10030L R88M G20030L R88M G40030L R88M G75030L R88M G1KO30T R88M G1K
86. RUN command output E S X axis alarm reset output MC1 MC2 X axis EN eigna ground E L oe ree LK X axis feedback ground Q Cable R88M GO Req R88A CAGC a Blue J sd X axis phase Z input X axis phase Z input X axis speed command X axis speed command ground 2 8 X axis phase A input E o X axis phase B input CIN E X x x x lt x x lt O n n 5 S x p O z m c S p Z G dp I w amp i gt 3 o Q 2 D Cc O T O x F no po AIA py po no no inio on S 4S 09 60 O nd cn S ao O O D o S SSS 24 V output ground 36 I O connector 10 2avoc ahe BKR i i t 24 VDC eis COW mit input 4 Battery Sa rae AATA 2 8 to 4 5 V DC RB8A CAGECB eas gh poxniy nou I0 th 24 VDC e The example shows a three phase 200 VAC input to the Servo Drive for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Drive in use e Incorrect signal wiring can cause damage to Units and the Servo Drive e Leave unused signal lines open and do not wire them e Connect terminals and wiring marked with an asterisk when using an Absolute Encoder e This wiring diagram is an example of X axis wiring only For other axes connections must be made in the same way with the Servo Drive e Always close unused NC input terminals at the Motion Control Unit s I O connectors e Make the se
87. Ratio Numerator 2 Pn4A Electronic Gear Ratio Numerator Exponent Pn4D Smoothing Filter Setting ene Denominator Any higher setting will be invalid and the numerator will be 4 194 304 Pn4D 1 If the numerator is 0 the encoder res olution will be automatically set to the value of the numerator and the number of command pulses per rotation can be set in Pn4B 1 The Electronic Gear Switch Input GESEL is used to switch between Electronic Gear Ratio Numerator 1 Pn48 and Electronic Gear Ratio Numerator 2 Pn49 Operation Calculation Method e The following equation shows the relation between the number of internal command pulses F multiplied by the electronic gear ratio and the number of command pulses f per Servomotor 5 16 5 8 Electronic Gear rotation Pn46 x 2 F f x BndB e When an encoder with a resolution of 2 500 pulses rotation is used the number of internal command pulses F in the Servo Drive will be 10 000 pulses rotation 2 500 pulses rotation x 4 e Given the conditions above the relation between the number of command pulses per Servomotor rotation f and the electronic gear ratio is as follows F 10000 Pn48 x 2 4 f Pn4B Calculation Examples For a 2 500 pulses rotation encoder e Make the following settings to operate with 2 000 pulses rotation 10000 Pn48 x 29 Pn4A 2000 Pn4B e Similarly make the following settings to operate with 1 000 pulses rotation 10000 Pn4
88. S1 gt 01 0 010 6 ee 3 40 rotational speed characteristics for 3 000 r min SERV OMOUONS seeren senn aana EEEE E 3 36 RS 232 Baud Rate Setting PNOC cceeeeeeees 5 57 RS 485 Baud Rate Setting PNOD eeeeeees 5 57 RS 485 communications Cables cccccsseeeeees 4 15 RUN Command RUN ccccceceeeeeeeeeeeeees 3 13 3 24 S S curve Acceleration Deceleration Time Settings EROA Seen er n en staweudlinacanatacdawines 5 82 sensor INDUI a a 3 19 Sensor ON Input SEN cccccsssssereeseeseeeeesees 3 12 SEQUENCE INOUE rri trend 3 19 SCGUENCE Qutp t ea eea 3 26 Servo Drive characteristics cccccccceceeeeeceeeeeeseeees 3 2 Servo Drive GIMENSIONS ccccceeceeseeeeeeeeeeeeseeees 2 25 Servo Drive FUNCTIONS ccccccceeeeeeseeeeeseeeeeeseeeeesaeees 1 4 Servo Drive general specifications c ccsseceeeeee eee 3 1 Servo Drive installation CONCItIONS ceeeeeeee ees 4 1 Servo Drive models ccccececceeeceeeseeeseeeeeeseeeeesaeees 2 1 Servo Drive part NAMES cccccseeeeeeeeeeeeeeeeeeeeeeeeeeaes 1 3 Servo Drive Service life ccc cceecceeseeeeeeeeeeeeeeeeeees 8 22 Servo Drive Servo Relay Unit Cables 3 112 Servo Drive Servomotor combinations c0006 2 5 Servo Ready Output READY ccee 3 15 3 29 Servo Relay Unit Cables for Position Control Units 2 22 Servo Rela
89. Servo Drives 4 2 System Design 4 1 Installation Conditions Servomotors E Operating Environment e The environment in which the Servomotor is operated must meet the following conditions Operating the Servomotor outside of the following ranges may result in malfunction of the Servomotor Ambient operating temperature 0 to 40 C See note Ambient operating humidity 85 RH max with no condensation Atmosphere No corrosive gases Note The ambient temperature is the temperature at a point 5 cm from the Servomotor 4 E Impact and Load e The Servomotor is resistant to impacts of up to 98 m s Do not apply heavy impacts or loads during transport installation or removal e When transporting hold the Servomotor a SA body itself and do not hold the encoder cable or connector areas Doing so may damage the Servomotor e Always use a pulley remover to remove pulleys couplings or other objects from the shaft e Secure cables so that there is no impact or load placed on the cable connector areas System Design E Connecting to Mechanical Systems e The axial loads for Servomotors are specified in Characteristics on page 3 33 Ball screw center line If an axial load greater than that specified is applied to a Servomotor it will reduce the qa service life of the motor bearings and may break the motor shaft Do not offset center lines e When connecting to a load use couplings Ser vomele
90. Set the deceleration time for internally set speed control Pie err ae ee TENON NIME Set the time setting x 2 ms until 1 000 r min is reached neve Pn5A S curve Acceleration Set the S curve time width setting x 2 ms centered on 5 82 E Selecting the Internally Set Speeds The following tables show the internally set speeds that are set with VSEL1 VSEL2 and VSEL3 Internally Set Speed Selection 1 2 and 3 Inputs 5 5 5 3 Internally Set Speed Control Pn05 1 No VSEL1 VSEL2 VSEL3 0 OFF OFF OFF OFF OFF Z sioj a A oj N O TI TI Pn05 2 X 0 OFF OFF OFF OFF OFF 2 OFF OFF 4 OFF OFF 7 1 The mode will be analog speed control Input the proper current to REF Pn05 3 5 0 OFF OFF OFF OFF OFF 2 OFF OFF 4 OFF OFF 7 E Operation Example e Internally Set Speed Control with Four Speed Changes When Pn05 1 Set speed Pn53 Pn54 Pn55 Pn56 Pn53 Pn54 Pn55 Pn56 Set speed Pn53 Pn54 Pn55 j Pn53 Pn54 Pn55 Set speed Pn53 Pn54 Pn55 Pn56 Pn74 Pn75 Pn76 Pn77 5 6 Operating Functions 5 3 Internally Set Speed Control RUN Command RUN Servo ON Stop Drive Open Closed l Open ee i Open Open Closed Closed Zero Speed Designation VZERO Internally Set Speed Selection1 VSEL1 Internally Set Speed Selection 2 VSEL2 1 The acceleration time deceleration time and S curve acceleration deceleration time can be set using parameters Pn
91. Setting Pn31 is not met until returning to gain 1 This parameter is enabled when the Control Gain Switch 1 Setting Pn31 is 3 to 6 9 or 10 Set the judgment level for switching between gain 1 and gain 0 to D 2 20000 The unit for the setting depends on the condition set in the Control Gain Switch 1 Setting Pn31 Set the hysteresis width above and below the judg Oto ment level set in the Gain Switch 1 Level Setting 20000 Pn33 When switching between gain 1 and gain 2 is en pe ee 0 to abled set the phased switching time only for the posi 40000 tion loop gain at gain switching 9 2 Parameter Tables Power poet Seiting Explanation Deau Unit Seang OFF gt gt name setting range ON Select the condition for switching between gain 1 and gain 2 in the second control mode The Gain Switching Input Operating Mode Selection Pn30 must be set to 1 enabled 0 Always gain 1 Control Gain Switch 2 Setting eae ee Switching using gain switching input GSEL Amount of change in torque command Amount of change in speed command Command speed This parameter is enabled when Control Gain Switch Gan Sees 2 Setting PN36 is 3 to 5 Set the delay time for return oe Time l 10000 ing from gain 2 to gain 1 This parameter is enabled when Control Gain Switch Gain Switch 2 2 Setting Pn36 is 3 to 5 Set the judgment level for Oto Level Settin switching between gain 1 and gain 2 The unit de 20000 g pen
92. Specifications 2 1 Standard Models 3m 5m 2 m 0 5m R88A CCGOR5P4 1m Model R88A CAGA003BR R88A CAGAO005BR 10m R88A CAGA010BR 15m R88A CAGA015BR 20m R88A CAGA020BR 30m R88A CAGA030BR 40m R88A CAGA040BR 50m R88A CAGA050BR Model R88A CCG002P2 R88A CCG001P4 Model 0 3m R88A CRGDOR3C Model Servomotor Connector for Encoder Absolute Encoder R88A CNGO1R Cable Incremental Encoder Control I O Connector CN1 Encoder Connector CN2 Power Cable Connector 750 W max Brake Cable Connector 750 W max R88A CNGO2R R88A CNU11C R88A CNW01R R88A CNGO1A R88A CNGO1B 2 20 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models E Servo Relay Units for CN1 Specifications Model For CS1W NC113 NC133 For CJU1W NC113 NC133 XW2B 20J6 1B For C200HW NC113 For CS1W NC213 NC413 NC233 NC433 For CJU1W NC213 NC413 NC233 NC433 XW2B 40J6 2B For C200HW NC213 NC413 Servo Relay Units XW2B 20J6 8A XW2B 40J6 9A For FQM1 MMA22 For FQM1 MMP22 ANAE OOUR For CQM1 CPU43 V1 XW2B 20J6 3B For CJ1M CPU21 CPU22 CPU23 E Servo Relay Unit Cables for Servo Drives Specifications Model XW2Z 100J B25 For Position Control Unit XW2B L1J6 For CQM1 XW2B 20J6 3B XW2Z 200J B25 XW2Z 100J B31 For CJ1M XW2B 20J6 8A XW2B 40J6 9A Bese ia XW2Z 200J B31 Cables XW2Z 100J B27 For FQM1 MMA22 XW2B 80J7 12A XW2Z 200J B27 XW2Z 100J
93. Unit Names of Parts and Functions Connector AS Parameter Unit Display area Operating area Operation If an error occurs all digits will flash and the display will switch to the error display Displays the selected Servo Drive s unit number set in the Unit No Setting Pn00 In Parameter Setting Mode displays the 2 digit parameter number Mode Ke Switches between the following six modes Monitor Mode Normal Mode Autotuning Parameter Setting Mode Auxiliary Function Mode Parameter Write Mode Copy Mode Increment Decrement Ke Increases or decreases parameter numbers or set values Shift Ke J Shifts the digit being changed to the left Data Ke Switches between the parameter and setting displays saves settings etc Operation 6 4 Setting the Mode 6 4 Setting the Mode Changing the Mode Parameter Unit default display 6 7 SRR PF H af 6 4 Setting the Mode Monitor Mode Position deviation i m _ E P 5 lt gt Servomotor speed Torque output in Era Control mode OyO Un EPS O4 yO Un 5Pd O4 yO PENTA O4 yO I O signal status Alarm history Software version Regeneration load ratio Overload load ratio O4 4O Inertia ratio O4 yO Pa meata Un nP aja Total d Otve gt otal comman pulses p tO e Not used OO Not used Un _ FEPS lt 4 OyO Automatic Servomoto
94. a 4 37 Command Pulse Input Selection Pn40 5 73 Command Pulse Mode Pn42 c cceceeeeeeeeeeeees 5 74 Command Pulse Prohibited Input PN49 5 74 Command Speed Rotation Direction Switch Pn51 5 80 Command Speed Selection PN05 cceccceees 5 53 Communications Cables cc0008 2 20 3 84 3 85 communications connector specifications CN3A 3 31 Computer Monitor Cables cc ccccceseeeeees 3 84 4 14 connecting cables eoira a ieni 4 11 connection EXAMPIES cccceseceseseseeeesseeseeseeeneeeeens 9 1 connector specifications cceceeeeeeeeeeeeeeeeeeeeeneees 3 57 Connector Terminal Block Cables 2 23 3 94 Connector Terminal BIOCKS ccccccsseceeseeeeeeeeees 2 23 Index 1 COrrector ian a een gett iat asia 2 20 Connector Terminal Block Conversion Unit 3 96 Connector Terminal Blocks and Cables 4 16 COMMAGCIONS cc ud sonst end ze iencnce E A A 4 39 control Cable SpecifiCatiOns ccceeceeeeeesseeeeeeeeees 3 57 Control Cape Sich eich bac i 2 23 Control Gain Switch 1 Setting PN31 ee 5 68 Control Gain Switch 2 Setting PN36 ee 5 72 control I O connector Specifications cseceeeeeeees 3 9 control I O connectors cccceeeeeecceeseeeeeceeeeeeeesaeeees 3 86 COMO MPUL CICUS somiitin aar i 3 17 CONTFOl INDUT SIGNALS anicar 3 12 Contr
95. against an unexpected restart Confirm safety after an earthquake has occurred Failure to do so may result in electric shock injury or fire Do not use external force to drive the Servomotor Doing so may result in fire Precautions for Safe Use N WARNING Do not place any flammable materials near the Servomotor Servo Drive or Regeneration Resistor Doing so may result in fire Mount the Servomotor Servo Drive and Regeneration Resistor on metal or other non flammable materials Failure to do so may result in fire Do not frequently and repeatedly turn the main power supply ON and OFF Doing so may result in product failure Caution Use the Servomotors and Servo Drives in a specified combination AN Using them incorrectly may result in fire or damage to the products Do not store or install the product in the following places Doing so may result in fire electric shock or damage to the product e Locations subject to direct sunlight e Locations subject to temperatures outside the specified range e Locations subject to humidity outside the specified range 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 exposure to water oil or chemicals e Locations subject to shock or vibration Do not touch the Servo Drive radiator Servo Dri
96. all parameters e Replace the Servo Drive Troubleshooting e Replace the Servo Drive e Correct the wiring e Replace the limit sensor e Check whether the power supply for control is input correctly e Check whether the setting for Drive Pro hibit Input Selection Pn04 is correct e Lower the input voltage e Change the value for Pn71 8 12 Troubleshooting 8 3 Troubleshooting Alarm code Absolute encoder 40 system down error Absolute encoder 41 counter overflow error Absolute encoder 42 overspeed error AA Absolute encoder one turn counter error Absolute encoder 45 multi turn counter er ror 46 Encoder error 1 Absolute encoder 47 status error 48 Encoder phase Z error 49 Encoder PS signal error 58 CPU error 1 60 CPU error 2 61 CPU error 3 62 CPU error 4 63 CPU error 5 65 Excessive analog input 2 8 13 e The voltage supplied to the absolute encoder is low Occurs when the power supply is turned ON or during operation e The multi turn counter of the absolute encoder exceeds the specified value Occurs during operation e The Servomotor rotation speed exceeds the specified value when the battery power supply is turned ON e The wiring is incorrect Occurs when the power e The encoder is faulty supply is turned ON e The encoder is faulty Occurs when the power supply is turned ON Occurs when the power supply is turned ON e The S
97. an alarm has not occurred Make an analysis according to the problem e In either case refer to 8 3 Troubleshooting for details 8 1 Error Processing Precautions When Troubleshooting When checking and verifying I O after a problem has occurred the Servo Drive may suddenly start to operate or suddenly stop so always take the following precautions You should assure that anything not described in this manual is not possible with this product E Precautions e Disconnect the cable before checking for wire breakage Even if you test conduction with the cable connected test results may not be accurate due to conduction via bypassing circuit e f the encoder signal is lost the Servomotor may run away or an error may occur Be sure to disconnect the Servomotor from the mechanical system before checking the encoder signal e When measuring the encoder output perform the measurement based on the SENGND CN1 pin 13 When an oscilloscope is used for measurement it will not be affected by noise if measurements are performed using the differential between CH1 and CH2 e When performing tests first check that there are no persons in the vicinity of the equipment and that the equipment will not be damaged even if the Servomotor runs away Before performing the tests verify that you can immediately stop the machine using an emergency stop even if the Servomotor runs away Replacing the Servomotor and Servo Drive Use the following procedu
98. and B2 as shown in the diagram below Servo Drive Dos Rare Thermal Switch Output es ee et sis Sess d External Regeneration Resistor Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch Precautions for Correct Use 4 49 4 4 Regenerative Energy Absorption E R88D GT04L GT08H GT10H GT15H GT20H GT30H GT50H If an External Regeneration Resistor is necessary remove the short circuit bar between B2 and B3 and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below Servo Drive Thermal Switch Output External Regeneration Resistor Remove the short circuit bar between B2 and B3 for Correct Use Precautions ee shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch System Design E R88D GT75H If an External Regeneration Resistor is necessary connect it between B1 and B2 as shown in the diagram below Servo Drive PR Thermal Switch Output ee A ee External Regeneration Resistor
99. but it can be driven in the reverse direction Conversely while the Reverse Drive Prohibit Input NOT is OFF the Servomotor cannot be driven in the reverse direction but it can be driven in the forward direction With a vertical axis there is a risk that the load may drop when drive is prohibited by the drive prohibit input To prevent this it is recommended that the deceleration method be set to use emergency stop torque in the Drive Prohibit Input Stop Selection parameter PnO66 and that stopping in the servo lock state be set set value 2 5 14 Operating Functions 5 7 Encoder Dividing 5 7 Encoder Dividing Function e The number of pulses can be set for the encoder signals output from the Servo Drive Parameters Requiring Settings ae Explanation Reference page Pn44 Encoder Divider Set the number of pulses to be output in combination with Numerator Setting the Encoder Divider Denominator Setting Pn45 Encoder Divider Pn45 Denominator Set the number of pulses to be output in combination with 5 7 5 the Encoder Divider Numerator Setting Pn44 Setting Pn46 Encoder Output Set the phase B logic and output source for the pulse out 5 76 Direction Switch put CN1 B pin 48 CN1 B pin 49 Operation e Incremental pulses are output from the Servo Drive through a frequency divider Phase A Phase B Phase Z e The output phases of the encoder signal output from the Servo Drive are as shown be
100. circuit Single phase 200 to 240 VAC 170 Single phase or three phase 200 to to 264 V 50 60 Hz 240 VAC 170 to 264 V 50 60 Hz Input sat 2 0A 5 0 3 3 1 A 7 5 4 1 1 A 11 8 07 1A supply current Power supply Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Control circuit VOltage 0 05 A 0 05 A 0 05 A 0 05 A 0 07 A 0 07 A current a 143w 148W 236w 387W 529W 105 9W pe E PWM frequency 12 0 kHz 6 0 kHz Weiaht Approx Approx Approx Approx Approx Approx g 0 8kg 0 8kg 1 1kg 1 5 kg 1 7 kg 1 7 kg Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1 5 kW G0O5030H INC G20030H G40030H G75030H Servomotors GO5030T G1KO30T Applicable GP10030H GP20030H GP40030H ionic 3 000 r min Flat eP1o030h aPzoosoH japsooson f tors Servomotors ABS GP10030T GP20030T GP40030T Servomotors 1 000 r min G90010T Servomotors Control method All digital servo Inverter method IGBT driven PWM method Speed control range 1 5000 Speed variability Load characteristic 0 01 or less at 0 to 100 at rated speed aa a VOlQeenalaat ie 0 at 10 of rated voltage at rated speed Brees meray temperature 0 1 or less at 0 to 50 C at rated speed characteristic Torque control reproducibility 3 at 20 to 100 of rated torque 1 The left value is for single phase input power and the right value is for three phase input power Performance 3 3 3 1 Servo Drive Specificat
101. connect Outputs a warning signal when the fan inside the Servo Drive stops patotep ae 30 VDC 50 mA max 3 8 Specifications Specifications 3 1 Servo Drive Specifications Control I O Connector Specifications CN1 E Control I O Signal Connections and External Signal Processing for Position Control TE r 2 2 kQ Reverse pulse ac TE D TAGAN K 2 2 kO Forward ccwls ere pulse D Reverse satan nly arn pulse soma e 43 KQ o 2 Mpps max B nel qo 3KO 143 kQ Forward CCWLD l pulse 2 6 SkO 143kO a DP comp ariinea gt 3 EG 143kQ 12 to 24 VDC 24VIN A 4 at kQ RUN Command Mpu RUN 29 4 kQ Vibration Filter c A Switch AY L DFSEL 1 26 OMe 2 E 4 7 KQ Gain Switch Input Y L j GSEL 2 ba Electronic Gear Switch Input GESEL12 Deviation Counter Reset Input eee 4 7kQ aoa ra asa caer at na eee aT Alarm Reset vy a Input AY p Revel Control Mode Switch Input TYSEN Pulse Prohibit Input IPG 3 Reverse Drive Prohibit ca Forward Drive Prohibit Input PO Ee redai aiea 11 LPAR Brake Interlock Maximum Ba BKIRCOM operating EEE voltage EEE 35 READY 30 VDC Be At Servo Ready Output Maximum 34 READYCOM output re Current ee ee 37 ALM 50 mA DC Ba Alarm Output 36 LALMCOM ies 39 LINP Positioning BS Completed Output 381 INPCOM perisan 12 LOUTM1 General purpose Output 1 OUTM2 General purpose Output 2 COM 191Z Phase Z Ou
102. control is used 5 81 Set Speed setting range 20 000 to 20 000 r min Limiting the Speed with Analog Voltage e The Speed Command Input REF will be the Analog Speed Limit Input terminal if the Torque Command Speed Limit Selection Pn5B is set to 1 Therefore the speed can be limited on multiple levels Parameter No Explanation Reference page Set the relation between the command input voltage and the rotation speed by using the slope Rotation speed r min Rated rotation gt Speed Command Default slope Scale Pn50 5 80 2 4 6 8 10 Speed command voltage V lt Rated rotation speed The default setting for Pn50 is 300 so the speed will be 3 000 r min for an input of 10 V 5 29 5 16 User Parameters 5 16 User Parameters Set and check the user parameters in Parameter Setting Mode Fully understand what the parameters mean and the setting procedures and set the parameters according to the control system Some parameters are enabled by turning the power OFF and then ON again After changing these parameters turn OFF the power confirm that the power indicator has gone OFF and then turn ON the power again Setting and Checking Parameters E Overview Use the following procedure to set or check parameters eGo to Parameter Setting Mode Press the Data key and then press the Mode key once eSet the parameter number PnULI using the Increment and Decrement keys eDisplay the parameter
103. counter reset occurs while normal mode autotuning is in operation Note 2 If normal mode autotuning is executed and the load inertia cannot be estimated the gain will remain the same as it was before normal mode autotuning Note 3 When normal mode autotuning is being executed the Servomotor output torque can be output to the maximum set in the No 1 Torque Limit Pn5E parameter Note 4 Take sufficient care to ensure safety If vibration occurs immediately turn OFF the power supply or the servo and return the gain to the default by using the parameter settings 7 14 Adjustment Functions 7 3 Normal Mode Autotuning E Normal Mode Autotuning Operation e Normal mode autotuning sets the responsiveness with the machine rigidity number Machine Rigidity Numbers The degree of rigidity for the machine used is set to a number from 0 to F The higher the rigidity of the machine the higher the rigidity number and gain that can be set Normally start with a low rigidity number increase the number in sequence while repeating normal mode autotuning and stop before oscillation unusual noise or vibration occurs e The operating pattern set in the Autotuning Operation Setting Pn25 is repeated for up to five cycles The operating acceleration doubles each cycle starting with the third cycle Depending on the load operation may end before completing five cycles or the operating acceleration may not change This is not an error No
104. criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable conditions when selecting the components For more details contact the manufacturers directly E No fuse Breakers NFB When selecting a no fuse breaker consider the maximum input current and the inrush current Maximum Input Current e The Servo Drive s maximum momentary output is approximately three times the rated output and can be output for up to three seconds Therefore select no fuse breakers with an operating time of at least five seconds at 300 of the rated current General purpose and low speed no fuse breakers are generally suitable e Select a no fuse breaker with a rated current greater than the total effective load current of all the Servomotors The rated current of the power supply input for each Servomotor is provided in Main Circuit and Servomotor Connections on page 4 21 e Add the current consumption of other controllers and any other components when selecting the NFB Inrush Current e The following table lists the Servo Drive inrush currents e With low speed no fuse breakers an inrush current 10 times the rated current can flow for 0 02 second e When multiple Servo Drives are turned ON simultaneously select a no fuse breaker with a 20 ms allowable current that is greater than the total inrush current shown in the following tab
105. e First set the Vibration Frequency 1 Pn2B Then reduce the setting of Pn2C if torque saturation occurs or increase the setting of Pn2C to increase operation speed Normally use a setting of O e Other than the setting range the following restriction also applies 10 0 Hz Pn2B lt Pn2C lt Pn2B e Refer to Damping Control on page 7 35 for more information Pn2D Vibration Frequency 2 e Use this parameter to set the vibration frequency 2 for damping control to suppress vibration at the end of the load e Measure the frequency at the end of the load and make the setting in units of 0 1 Hz e Setting frequency 10 0 to 200 0 Hz The function will be disabled if the setting is O to 9 9 Hz e Refer to Damping Control on page 7 35 for more information Pn2E Vibration Filter 2 Setting e First set the Vibration Frequency 2 Pn2D Then reduce the setting of Pn2E if torque saturation occurs or increase the setting of Pn2E to increase operation speed Normally use a setting of 0 e Other than the setting range the following restriction also applies 10 0 Hz Pn2D lt Pn2E lt Pn2D e Refer to Damping Control on page 7 35 for more information 5 65 Pn2F Explanation of Settings Displayed Notch Filter 1 value Frequency Hz 0 Disabled 1 Disabled 2 Disabled 3 Disabled 4 Disabled 5 1482 6 1426 7 1372 8 1319 9 1269 10 1221 11 1174 12 1130 13 1087 14 1045 15 1005 16 967 17 930 18 895 19 861 20 828 21 796 Ada
106. for the speed loop gain and position loop gain For details on parameters refer to Parameters Details on page 5 50 Precautions for Correct Use 6 18 Operation 6 4 Setting the Mode Parameter Write Mode Settings changed in Parameter Setting Mode must be saved to EEPROM To do so the following procedure must be performed 1 Saving Changed Settings Key operation Display example Explanation Press the Mode key to display Parameter Write Mode Press the Data key to enter Parameter Write Mode Press the Increment key for 5 s or longer The bar indicator will increase Writing will start This display will appear only momentarily This display indicates a normal completion In addition to the Finish either Reset or Error may be displayed If Reset is displayed writing has been completed normally but some of the changed parameters will be enabled only after the power has been turned OFF and ON again Turn OFF the Servo Drive power supply and then turn it ON again Error is displayed if there is a writing error Write the data again Operation 2 Returning to Parameter Write Mode Key operation Display example Explanation Press the Data key to return to Parameter Write Mode If a write error occurs write the data again If write errors continue to occur there may be a fault in the Servo Drive Do not turn OFF the power supply while writing to EEPROM
107. for 100 us or longer ore the deviation counter reset input ECRST is connected to COM Pn06 1 zero speed designation input enabled and the Zero speed Designation Input VZERO is open ECRST input is enabled 9 VZERO input is enabled External speed 10 command is low 14 Internal speed command is zero 40 Torque command is low 13 Speed limit is low The analog speed command is 0 06 V or smaller when the analog speed command is selected The internal speed command is 30 r min or less when the internal speed command is selected The analog torque command input REF or PCL is 5 or less of the rated torque Pn5B 0 limit speed with No 4 Internally Set Speed and the No 4 Internally a Speed Pn56 is 30 r min or lower Pn5B 1 limit speed with REF input and the analog speed command input a is 0 06 V or lower Reasons 1 to 13 do not apply but the motor is rotating at 20 r min or lower Command is low load is heavy load is locked load has hit A AA Servo Drive is faulty Servomotor is faulty etc 14 Other Note The Servomotor may rotate even if a reason number other than 0 is displayed 6 16 6 4 Setting the Mode Parameter Setting Mode 1 Displaying Parameter Setting Mode Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key to display Parameter Setting Mode
108. from CN1 pins 3 to 6 e The Servomotor rotates using the value of the pulse string input multiplied by the Electronic Gear Ratio Pn48 to Pn4B Controller with pulse string output Position Control Unit CJ1W NC113 133 CJIW NC213 233 OMNUC G Series Servo Drive CJ1W NC413 433 CS1W NC113 133 440 CWLD_ Position Control CS1W NC213 233 CS1W NC413 433 CPU Units with built in 460 CCWLD Electronic Gear Ratio pulse I O sal 47 O CCWLD Pn48 to Pn4B CJ1M CPU2 1 22 23 ulse string CP1H X XA Y OnT a ee CP1L M L 40 CW Flexible Motion 5O CCW Controller FQM1 MMP22 OMNUC G Series Servomotor Numerator x Ratio Denominator Parameters Requiring Settings Pn02 Control Mode Selection Select the control mode for position control setting 0 3 or 4 5 52 Command Pulse Input Select using a photocoupler input or a line driver input as the Pn40 l 5 73 Selection command pulse input Command Pulse Pn41 Rotation Direction 5 73 Switch Set to match the command pulse form of the controller Pn42 Command Pulse Mode 5 74 Pn48 to Pn4B Electronic Gear Ratio a U rate for command pulses and Servomotor travel 5 77 5 1 5 1 Position Control Related Functions e The main functions related to position control are as follows Function Explanation polcleice page Position command filter function Sets the soft start for the command pulse 5 28 Feed tonard iunctio Adds the command pulse differenti
109. function The larger the setting the larger the time constant Select the FIR filter time constant used for the com mand pulse input The higher the setting the smoother the command LO ves pulses Set the deviation counter reset conditions Clears the deviation counter when the signal is closed for 100 us or longer Clears the deviation counter on the falling 1 0 to 2 1 edge of the signal open and then closed for 100 us or longer Disabled Appendix 9 22 Appendix 9 2 Parameter Tables E Speed and Torque Control Parameters Default Setting Power Parameter name Setting Explanation Unit g OFF gt setting range ON Speed Command Scale Command Speed Rotation Direction Switch Speed Command Offset Adjustment No 1 Internally Set Speed No 2 Internally Set Speed No 3 Internally Set Speed No 4 Internally Set Speed No 5 Internally Set Speed No 6 Internally Set Speed No 7 Internally Set Speed No 8 Internally Set Speed Speed Command Filter Time Constant Soft Start Acceleration Time Soft Start Deceleration Time ope Set the relation between the voltage applied to the Speed Command Input REF and the Servomotor speed Set to reverse the polarity of the speed command input REF 2047 to 2047 Set to adjust the offset of the Speed Command Input REF 0 3 mV 5 k 20000 Set the No 1 internally set rotation speed r min to 20000
110. hase eae po nena 5 56 Operational PrOCECUre ccccccecsssecenseeeeessseeeseneeeees 6 1 overload characteristics ccccccceeeceeneeeeeeeeeeeeeeees 8 20 Overload Detection Level Setting Pn72 5 92 OVE TUM AIIM Misco cea cuhoretaelci nun een A 5 18 Overrun Limit Setting PN26 cccceeeceeeeeeeeeeeeeees 5 64 Overspeed Detection Level Setting Pn73 5 92 Index 2 Index P parameter AetallS ccccccsccessssececesseeeseeeeessneeesees 5 50 Parameter Setting MOde ccccceeeeeeeeeeeeeeeeeeeeees 6 17 parameter tables cccccsececseeeeseeeneeeeeeeeess 5 32 9 11 Parameter Unit Connector specifications CN3B 3 31 Parameter Unit dimensions cccceeeeeeseeeeeeeeeeees 2 45 Parameter Unit specifications cccccecsseeeeeeeees 3 129 Parameter Write Mode cccccsseceeeeeeeeeeeeeeeeeaeeees 6 19 periodic MAINTENANCE ccceeceeeeceeeeeeeeeeeeeeeaeeeeees 8 21 phase Z output open collector output 8 3 26 Phase Z Output Z enai a a 3 15 Phase Z Output Common ZCOM cceeeseeeees 3 15 DIN AANGE MeCN sa ren uit ates eared 3 16 position command filter ec ceeeceeeeeeeeeeeeeeeeeeeeeeeees 5 28 Position Command Filter Time Constant Setting PPA ee E N A N edema ieee 5 78 Position Command Pulse l a 3 17 3 18 DOSITION COMMON arii E E ENEE 5 1 Position Control Mode cc
111. i e after RUN CN1 pin 29 changes from ON to OFF e Operation during deceleration and after stopping e Clearing the deviation counter e The relations between set values operation and deviation counter processing for this parameter are the same as for the Stop Selection with Main Power OFF Pn67 Pn6A Brake Timing When Stopped e Use this parameter to set the brake timing from when the Brake Interlock Output BKIRCOM CN1 pin 10 BKIR CN1 pin 11 turns OFF i e braking held until the Servomotor is deenergized servo free when Servo OFF status is entered while the Servomotor is stopped e When the RUN Command Input is turned OFF while the Servomotor is stopped the Brake Interlock Signal BKIR will turn OFF and the Servo will turn OFF after the time set for this parameter setting x 2 ms elapses RUN Command ay ooo Brake Interlock BKIR Released Hold Actual brake Servomotor ON OFF ON OFF status Pn6A 3 tM pP e Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay in the brake operation tb Brake timing when stopped setting x 2 ms gt tb e Refer to 5 70 Brake Interlock on page 5 20 for more information 5 89 5 16 User Parameters Pn6B Brake Timing during Operation e Use this parameter to set the brake timing from when the RUN Command Input RUN CN1 pin 29 is detected to be OFF until the Brake Interlock Output BKIRCOM CN1 pin 10 BKIR CN1 pin 11
112. in ternal resistance with approximately 1 du ty Regeneration resistor used External resistor The regeneration processing circuit will oper 1 ate and regeneration overload alarm code i i 0to3 Yes 18 will cause a trip when the operating rate of the regeneration resistor exceeds 10 Regeneration resistor used External resistor D The regeneration processing circuit will oper ate but regeneration overload alarm code 18 will not occur Regeneration resistor used None The regeneration processing circuit and re 3 generation overload alarm code 18 will not operate and all regenerative energy will be processed by the built in capacitor Momentary Hold Set the amount of time required until shutoff is detected 35 to 6D l l 35 2 MS Yes Time if the main power supply continues to shut off 1000 5 48 Operating Functions 5 16 User Parameters Pn Default Setting Power Parameter name Setting Explanation Unit I OFF gt No setting range ON Set the torque limit for the following cases Drive prohibit deceleration with the Stop Selection Ee margener ele for Drive Prohibition Input Pn66 set to 2 0 to in e P sDeceleration with the Stop Selection with Main Pow 500 q er OFF Pn67 set to 8 or 9 Deceleration with the Stop Selection with Servo OFF Pn69 set to 8 or 9 Deviation x 256 0 to Counter Set the deviation counter overflow level puls 32767 Overflow Level es Omana Set the overflow le
113. in the Overload Detection Level Setting Pn72 resulting in an overload due to the time characteristics The regenerative energy exceeded the capacity of the regeneration resistor The disconnection detection function was activated because communications between the encoder and Servo Drive were interrupted for a specified number of times There was an error in the communications data from the encoder The encoder is connect ed but there is an error in the communications data The number of position deviation pulses exceeded the Deviation Counter Overflow Level Pn70 The rotation speed of the Servomotor exceeded the setting of the Overspeed Detection Level Setting Pn73 The settings of the gear ratio Pn48 to Pn4B Electronic Gear Ratio Numerator 1 Electronic Gear Ratio Numerator 2 Electronic Gear Ratio Numerator Exponent and Electronic Gear Ratio Denominator are not appropriate The allowable range of movement set in the Overrun Limit Setting Pn26 was exceeded by the Servomotor The data in the parameter storage area was corrupted when the data was read from EE PROM at power ON The EEPROM write verification data was corrupted when the data was read from EEPROM at power ON Both the forward and reverse drive prohibit inputs were open when the Drive Prohibit Input Selection Pn04 was set to 0 or either the forward or reverse drive prohibit input was open when the Drive Prohibit Input Selection Pn04 was set to 2 A
114. is displayed Values for Pn10 or other parameters related to gain are the same as before execution The Servomotor does not rotate Likely cause An alarm has occurred the servo is OFF or the deviation counter is reset The load inertia cannot be estimated The ECRST pin 30 of CN1 is input Adjustment Functions Countermeasures Do not operate the Servomotor near the Limit Switches or Origin Proximity Sensor Turn the servo ON Release the deviation counter reset Lower Pn10 to 10 and Pn11 to 50 and then execute again Make the adjustment manually Input the calculated load inertia e Turn OFF the ECRST pin 30 of CN1 7 18 Adjustment Functions 7 4 Disabling the Automatic Gain Adjustment Function 7 4 Disabling the Automatic Gain Adjustment Function This section provides precautions for disabling realtime autotuning and the adaptive filter These functions are enabled by default Precautions e When disabling the automatic adjustment function the RUN Command for Correct Use Input RUN must be turned OFF Disabling Realtime Autotuning By setting the Realtime Autotuning Mode Selection Pn21 to 0 the automatic estimation of the Inertia Ratio Pn20 will stop and realtime autotuning will be disabled However the estimated Inertia Ratio Pn20 will remain If the Pn20 value is obviously incorrect perform normal mode autotuning or calculate and set the appropriate valu
115. isa ee at eee ecru cee ea deee 5 25 SS DOM lal wiaiadiesaiansnaee saints dancosiciae eta tadonodaaiel ha macadannaae Matataanaenaearee 5 27 5 14 Position Command Filter cccccccssecceececceseeceeeeeceueeeceusecseeeessees 5 28 Do OPEC EII emery tee aon eNom E eee 5 29 Sle Mim S15 Finel CC mre ner ne ener mer ore ee er mms nr ee mtr ee a een a 5 30 Chapter 6 Operation 6 1 Operational Procedure ussen aise eekeres eaves seh Hosa whaxoeates 6 1 6 2 Preparing for Operaatio esnea a 6 2 6 3 Using the Parameter UNiit cccccccceeeceseeseseeeeeeeseeeeneneeseeeeneaees 6 6 6 4 Sening THE MOC ox ote te oe a noedesestustseicecetedeeecseenss 6 7 6 TO GS FAO MN ase tisees ies sane erect eats case eaeeeedew teint daeseaeiataiawaieceaeetonie 6 28 Chapter 7 Adjustment Functions 7 1 AI PAGS UN OI sects Serre assis atten beaut eaptawadateaecautanearaancaeaes 7 1 7 2 SAS AITIMS FAUTOLUN ING ses reciserdin at tna iatansetau hie sandy aensasd tact aaa 7 4 7 3 Normal Mode Autotuning cccccseeccecesseeseeeseeeseeeeseeenseeseeeenes 7 14 7 4 Disabling the Automatic Gain Adjustment Function 00 7 19 02 Manual TUNNO onea saan tasedutedceiahuauamticaensts 7 21 Chapter 8 Troubleshooting 8 1 ESFLOM I FOCOSSING G ctr tings cece dsiaian tet tau aamiieiatens ue tahun Use nies iene ae uence 8 1 82 Aarm ADI C ates cea es at gerieit sone teencttndysecs incon ainieicawteds eels Go ieeaeees tases 8 3 S70 IO
116. maximum momentary torque rises by 4 at a normal temperature of 20 C compared to a temperature of 10 C Conversely the maximum momentary torque decreases about 8 when the magnet warms up to 80 C from the normal temperature e Generally when the temperature drops in a mechanical system the friction torque and the load torque increase For that reason overloading may occur at low temperatures In particular in systems that use a Decelerator the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures Check whether overloading may occur at low temperature startup Also check to see whether abnormal Servomotor overheating or alarms occur at high temperatures e An increase in load friction torque seemingly increases load inertia Therefore even if the Servo Drive gains are adjusted at a normal temperature the Servomotor may not operate properly at low temperatures Check to see whether there is optimal operation even at low temperatures 3 45 3 2 Servomotor Specifications Encoder Specifications E Incremental Encoders ltem Encoder system No of output pulses Power supply voltage Power supply current Output signals Output interface E Absolute Encoders Item Encoder system No of output pulses Maximum rotations Power supply voltage Power supply current Applicable battery voltage Current consumption of battery Output signals Output interface Specifi
117. number in serial communications is set to a value from 0 to F This number is used to identify which Servo Drive the computer is accessing in RS 232 485 communications between multiple Servo Drives and a computer Forward and Reverse Motor Rotation hin Reverse CW When the motor output shaft is viewed from the end 9 counterclockwise CCW rotation is forward and clockwise Forward CCW CW rotation is reverse Features and System Configuration 1 4 System Block Diagrams mm 1 4 System Block Diagrams R88D GTA5SL GT01L GT02L GTA5H GT01H GT02H GT04H Features and System Configuration SW power E supply Regene Over Main circuit rative current control control detection Internal control power MPU amp ASIC supply Position speed and torque processor PWM control communications interface RS 232 RS 485 interface interface CN3A CN3B connector connector Control I O interface CN1 control I O connector CN2 encoder signal connector 1 5 1 4 System Block Diagrams R88D GT04L GT08H GT10H GT15H U ues on H ate it SW power E O supply Regene ver Main circuit rative current control control detection Internal control power MPU amp ASIC supply Position speed and torque processor PWM control communications interface RS 232 RS 485 interface interface CN3A CN3B connector connector ene A Cont
118. of 2 to 4 5 kW Model Length L Outer diameter of sheath Weight R88A CAGDO05SR R88A CAGD010SR lt 10m R88A CAGD015SR 15m 15m R88A CAGD020SR p 2m p 2m R88A CAGD030SR 80m 80m R88A CAGD040SR p 40m p 40m R88A CAGDO50SR 50m 50m Connection Configuration and Dimensions Servo Drive R88D GL Wiring Servo Drive Cr eo OC ite Blue Green Yellow QO I Cable AWG10x4C UL2501 M5 crimp terminals Approx 1 4 kg Approx 2 2 kg Approx 4 2 kg eda Approx 6 3 kg Approx 8 3 kg Approx 12 4 kg Approx 16 5 kg Approx 20 5 kg Servomotor R88M GL Servomotor B PhaseVv D FG Servomotor Connector Straight plug N MS3106B22 22S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 72 Specifications 3 4 Cable and Connector Specifications E Power Cables for Servomotors with Brakes Standard Cables R88A CAGBL IB Cable Models For 3 000 r min Servomotors of 1 to 1 5 kW 2 000 r min Servomotors of 1 to 1 5 kW and 1 000 r min Servomotors of 900 W R88A CAGB003B Approx 0 8 kg R88A CAGB005B R88A CAGB010B Approx 2 4 kg R88A CAGB015B Approx 3 5 kg 10 4 5 4 dia R88A CAGB020B Approx 4 6 kg R88A CAGB030B R88A CAGB040B R88A CAGB050B Connection Configuration and Dimensions Approx 1 3 kg Approx 6 8 kg Approx 9 1 kg Specifications Approx 11 3 kg Servomotor gt R88M G Servo Drive R88D G lt
119. of a change in speed of 10 r min over a period of 1 s 6 The delay level and hysteresis have different meanings when Pn31 10 Refer to figure F Adjustment Functions 3 0 05 166 us O 9 0 05 166 us D 7 28 l ey Gain Switch Level Gain Switch Hysteresis Fig Gain Switch Time Setting Setting D ure l ey Gain Switch Level Gain Switch my ieteele Fig Gain Switch Time Setting Setting 2 7 5 Manual Tuning O o 5 T LL l l ro l z Gain 2 Accumulated pulses J speed N Gain 2 ain 2 only for Speed Loop Integration Time Constant Gain 1 for othe k Gain 1 Command speed S Speed V Gain 2 Torque T suoi ppuny juawysnipy 7 29 7 5 Manual Tuning Machine Resonance Control When machine rigidity is low shaft torsion may cause resonance leading to vibration or noise thus not allowing the gain to be set to a high value In this case the resonance can be suppressed by using the two filter types Torque Command Filter Pn14 Pn1C The filter time constant is set to attenuate the resonance frequency The cut off frequency can be calculated using the following equation 1 1 Cut off frequency Hz fc e a a ont 27 x parameter setting x 10 Notch Filter e Adaptive Filter Pn23 Pn2F The OMNUC G Series Servo Drives use an adaptive filter to control vibration for loads that are difficult to handle with the previous notch filters and tor
120. of adjustment Reduce the Speed Loop Gain Pn11 Increase the Speed Loop Integration Time Constant Pn12 If vibration does not stop no matter how many times you perform adjustments or if positioning is slow Increase the Torque Command Filter Time Constant Pn14 a re ere eee 1 24 Adjustment Functions Adjustment Functions 7 5 Manual Tuning E Torque Control Mode Adjustment Torque control is based on a speed control loop using the No 4 Internally Set Speed Pn56 or the Speed Command Input Torque Command Input as the speed limit This section describes the settings for these speed limit values Setting Speed Limit Values Set the speed limit value in the No 4 Internally Set Speed Pn56 if the Torque Command Speed Limit Selection Pn5B is set to 0 or input the speed limit value to the Speed Command Input Torque Command Input REF TREF 1 if the Torque Command Speed Limit Selection Pn5B is set to 1 e When the Servomotor nears the speed limit it will switch from torque control following the analog torque command to speed control commanded with speed limit values determined by the No 4 Internally Set Speed Pn56 or the Speed Command Input Torque Command Input REF TREF 1 e Parameters must be set according to the procedure given in Speed Control Mode Adjustment to perform stable operation when the speed is limited e The input to the torque limit section will be small and the torque may not
121. of the axis to prohibit the Servomotor from traveling in the direction specified by the switch This can be used to prevent the workpiece from traveling too far and thus prevent damage to the machine e Operation will be as follows if O is set e Connection between Forward Drive Prohibit Input POT CN1 pin 9 and COM closed Forward limit switch not operating and status normal e Connection between Forward Drive Prohibit Input POT CN1 pin 9 and COM open Forward drive prohibited and reverse drive permitted e Connection between Reverse Drive Prohibit Input NOT CN1 pin 8 and COM closed Reverse limit switch not operating and status normal e Connection between Reverse Drive Prohibit Input NOT CN1 pin 8 and COM open Reverse drive prohibited and forward drive permitted e f this parameter is set to 0 the Servomotor will decelerate and stop according to the sequence set in the Stop Selection for Drive Prohibition Input Pn66 For details refer to the explanation for Stop Selection for Drive Prohibition Input PN66 on page 5 87 e f this parameter is set to 0 and the forward and reverse prohibit inputs are both open an error will be detected in the Servo Drive and a drive prohibit input error alarm code 38 will occur e f this parameter is set to 2 a drive prohibit input error alarm code 38 will occur when the connection between either the forward or reverse prohibit input and COM is open e f a limit switch above the work
122. on regeneration resistors can reach 200 C Do not place objects that tend to catch fire near the resistors To prevent people from touching them install a type of cover that enables heat dissipation Precautions for Correct Use Chapter 5 Operating Functions 51 VROSitiOmGOnitOl geaossocsencucedcec ance Need waneden 5 1 S22 eC SUCCOU CONMOlene eerie mse cca ee eaten 5 3 5 3 Internally Set Speed Control ccceeeeeeeee ees 5 5 54 TOnQue Contro l esc eee eee see eee 5 8 5 5 Switching the Control Mode ccccseeeeeeees 5 11 5 6 Forward and Reverse Drive Prohibit 5 14 5 7 ENCOGERDIVIGIING neces teresa eres eee renee eee 5 15 5 6 EICCIOMICIGCAN artes ee ee ee ee ee tae 5 16 5 9 MOVErrUMPlelii a A E tar nawercgert cnt 5 18 5 TO DraKeuliite WO Ck wane E arenes cra Semen Geeve 5 20 EEE EEAS ine eee eee me eee 5 24 Sei MORGUCTE NINN e a gaat eee ee a eee tees 5 25 SF IG SOS ae ee Mean Oe a Oren weer coe 5 27 5 14 Position Command Filt r annen 5 28 5 15 SPECEIEIMile ty ets oe ee eee 5 29 5 1 OaWSC hh Parameters es a eects eaten area ean 5 30 Setting and Checking Parameters ccccceececeeeeeeeeeeeeaes 5 30 Parameter Talesa ee en oe eet chee sen ec eee ane were ake 5 32 Parameters Detalls a an ace tee ne en ene NON Me re aon os 5 50 Operating Functions 5 1 Position Control 5 1 Position Control Function e Perform control using the pulse string input
123. responsiveness cannot be set high for machines with a low resonance frequency low machine rigidity 7 3 7 2 Realtime Autotuning 7 2 Realtim e Autotuning Realtime autotuning estimates the load inertia of the machine in realtime and automatically sets the optimal gain according to the estimated load inertia can be applied to all control modes Realtime autotuning Position speed command Position speed Adaptive control filter Operation commands for actual conditions of use gt Automatic gain Automatic filter adjustment adjustment Torque Servo motor command Current Current_ Servo control motor Realtime autotuning Servo Drive e Realtime autotuning may not function properly under the conditions described in the following table If realtime autotuning does not function properly use normal mode autotuning or manual tuning Precautions for Correct Use e Load inertia Load Conditions under which realtime autotuning does not function properly If the load inertia is too small or too large compared with the rotor inertia i e less than 3 times more than 20 times or more than the applicable load inertia ratio If the load inertia changes quickly i e in less than 10 seconds e If the machine rigidity is extremely low e f there is backlash or play in the system e f the speed is continuously run at a low speed below 100 r min e f the acceleration decelera
124. s type to match the Control command pulse type lers command pulse type The Command Pulse Mode Pn42 is incorrect e Turn ON the VZERO Input e Correct the wiring The Zero Speed Designa In monitor mode check whether the tion Input VZERO is OFF VZERO Input is ON or OFF The internally set speeds Check the settings for Pn53 to l Pn56 or Pn74 to Pn77 Set the desired speeds No 1 Torque Limit Pn5E or No 2 Torque Limit Pn5F is set to 0 Check the setting for Pn5E or Return the setting to the Pn5F default The Encoder Cable is wired incorrectly The Servomotor Power Cable is wired incorrectly er Check the wiring Correct the wiring Check the command pulse s wiring Correct the wiring Set the Servo Drive s pulse Check the command pulse type type to match the Control lers command pulse type Check the command pulse s Connect a resistor that voltage matches the voltage Check whether the power supply is ON and check the PWR LED Turn ON the power supply indicator Check the voltage across the power Wire the power supply s ON supply terminals Circuit correctly e Correctly set the external The speed command is Check if the speed command analog command disabled procedure is correct e Correctly set the internal speed The Control I O Connector CN1 is wired incorrectly The power supply is not ON 8 3 Troubleshooting Symptom Probable cause Items to check
125. setting by pressing the Data key eChange the parameter setting using the Increment Decrement and Shift keys eSave the changed setting to memory and return to the parameter number display by pressing the Data key E Operating Procedures Displaying Parameter Setting Mode PROG en pong Display example Explanation keys keys pay P p ste Fg The default display is displayed Press the Data key to display Monitor Mode Press the Mode key to display Parameter Setting Mode Setting the Parameter Number PRO2G Front panel keys keys Display example Explanation AY Set the number of the parameter to be set or checked 5 30 Operating Functions 5 16 User Parameters Displaying Parameter Settings ce Troni pang Display example Explanation keys keys play i p Pa 83 The parameter number will be displayed DATA Press the Data key The setting of the parameter will be displayed Changing Parameter Settings e The following operation is not required if you are only checking a parameter setting Bee ey pane Display example Explanation keys keys Ea p P oa The present setting will be displayed Use the Shift Increment and Decrement keys to change the setting HOHO The Shift key is used to change the digit Saving the New Setting to Memory and Returning to the Parameter Number Display e The following operation is not required if you are only checking a parameter setting Bae ont pane Display exampl
126. tables Chapter 4 System Design Chapter8 Troubleshooting 15 Table of Contents als exe 0 ey 6 9 aemeemenemste te ae ntietn aren erie ener Peete entire ceo es ety renter 1 Read and Understand This Manual cccsccseeeneeeeeeeeeeeseeeeaees 2 PreECatitiOns TOF Sale USE enr dns 5 Items to Check When Unpacking cccccsseceeeeeeeeeeeeseeeeeseeeeees 11 ADOUT FAIS WAMU Al osuere eneee E anon 15 Chapter 1 Features and System Configuration 1 1 OVC VI CW cae sie amensnaahiteieebaeieia ations 1 1 1 2 SYSTEM COMM OUIATON sssrin a R E 1 2 1 3 Names of Parts and Functions cccccccceeeeceeeeeeeeeseeeeneeeeaeeesaaees 1 3 14 OVstem BIOCK DIAGIAINS essorer 1 5 1 5 Applicable Standards vicc2cesecsesesctorivennnesnorsedeseisrudendetelesedabeseveueuvsvoes 1 10 Chapter 2 Standard Models and Dimensions 2 1 Standard Models tarre a eo 2 1 2 2 External and Mounting Hole Dimensions ccccseceeeeeneeeeeeeenes 2 25 Chapter 3 Specifications 3 1 DEVO Dive SDCCIICATONS rasiona dcteele dl eeete ese 3 1 3 2 SEVOMOLOl Specifications sponseret e E A 3 32 39 3 Decelerator SPeECifiCAtiONS ssrin 3 47 3 4 Cable and Connector Specifications cccccceeeesseeseeeteeeteneeeeens 3 57 3 5 Servo Relay Units and Cable Specifications cccccceeeeeseeeeees 3 99 3 6 Parameter Unit Specifications c cc cccccecccsececeeeeceeeeseeeeseeeeseeeeaees 3 129 3 7 External Regene
127. the Decelerator As shown in the figures on the next page stand the Decelerator upright and slide the Servomotor shaft into the input shaft joint while making sure it does not fall over If the Decelerator cannot be stood upright tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 4 Bolt together the Servomotor and the Decelerator flanges Bolt Tightening Torque for Aluminum Allen head bolt size M12 Tightening torque N m 89 9 5 Tighten the input joint bolt Bolt Tightening Torque for Duralumin Allen head bolt size M12 Tightening torque N m 128 Note Always use the torque given in the table above The Servomotor may slip or other problems may occur if the specified torque level is not satisfied The R88G HPG11L uses two set screws for the connecting section Allen head bolt size M3 0 69 Tightening torque N m 6 Mount the supplied rubber cap to complete the installation procedure For the R88G HPG11L mount two screws with gaskets 4 7 4 1 Installation Conditions i iim Installing the Decelerator When installing the R88G HPGLI_IL first make sure that the mounting surface is flat and that there are no burrs on the tap sections and then bolt on the mounting flanges Mounting Flange Bolt Tightening Torque for Aluminum Bolt size ms MS Ms Mio M12 M16 Mounting PCD mm 135 260 Tightening torque N m
128. the rated voltage Motor Installation e Make sure that the Servomotor has been securely installed Disconnection from Mechanical System e f necessary make sure that the Servomotor has been disconnected from the mechanical system Brake e Make sure that the brake has been released Trial Operation in Position Control Mode ow FF AN Connect connector CN1 Input power 12 to 24 VDC for the control signals 24VIN COM Turn ON the power supply to the Servo Drive Confirm that the parameters are set to the standard settings Set the outputs from the host device to agree with the Command Pulse Mode Pn42 Write the parameters to EEPROM and then turn OFF the power supply and turn it ON again Connect the RUN Command Input RUN CN1 pin 29 to COM CN1 pin 41 Servo ON status will be entered and the Servomotor will be activated Input a low frequency pulse signal from the host device to start low speed operation Check the Servomotor rotation speed in Monitor Mode Check to see if the Servomotor is rotating at the specified speed and to see if the Servomotor stops when the command pulses are stopped 6 28 Operation Operation 6 5 Trial Operation Trial Operation in Speed Control Mode 1 Input power 12 to 24 VDC for the control signals 24VIN COM Turn ON the power supply to the Servo Drive Confirm that the parameters are set to the standard settings Conn
129. torque limit in puts Lia i Use Pn5E as the limit value for forward and 1 0to3 gee RENAR reverse operation Forward Use Pn5E Reverse Use Pn5F 3 GSEL TLSEL input is open Use Pn5dE Input is closed Use Pn5F You can stop the Servomotor from rotating beyond the device s travel distance range by setting limit inputs Drive Prohibit EA POT input and NOT input enabled Input Selection POT input and NOT input disabled 5 POT input and NOT input enabled alarm code 38 appears Select the speed command when using speed control Speed command input REF No 1 Internally Set Speed to No 4 Internally Set Speed Pn53 to Pn56 Oto 3 No 1 Internally Set Speed to No 3 Internally Set Speed Pn53 to Pn55 and External Speed Command REF No 1 Internally Set Speed to No 8 Internally Set Speed Pn53 to Pn56 and Pn74 to Pn77 Set the function of the Zero speed Designation Input The zero speed designation input will be ig nored and a zero speed designation will not be detected ae 0 to 2 The zero speed designation input will be en abled and the speed command will be as sumed to be zero when the connection between the input and common is open 2 Used as the speed command sign 9 12 0 to 2 Yes Appendix Command Speed Selection lt N m JJ O Zero Speed Designation Speed Command Direction Switch 9 2 Parameter Tables Power Parameter Setting Explanation Default Setting OFF g
130. turns OFF when Servo OFF status is entered while the Servomotor is operating When the RUN Command Input is turned OFF while the Servomotor is operating the Servomo tor will decelerate reducing the number of rotations and the Brake Interlock Signal BKIR will turn OFF after the time set for this parameter has elapsed setting x 2 ms RUN Command RUN Brake Interlock BKIR Released Hold PELLE Servomotor ON OFF status ON OFF Servomotor speed 30 r min TB in the above figure is the brake timing during operation setting x 2 ms or the time until the speed of the Servomotor falls to 30 r min or lower whichever is shorter e Refer to 5 10 Brake Interlock on page 5 20 for more information 5 90 Operating Functions Operating Functions 5 16 User Parameters Pn6C Regeneration Resistor Selection Explanation of Settings Setting Explanation Regeneration resistor used Built in resistor 0 The regeneration processing circuit will operate and the regeneration overload alarm code 18 will operate according to the internal resistor with approximately 1 duty Regeneration resistor used External resistor 1 The regeneration processing circuit will operate and regeneration overload alarm code 18 will cause a trip when the operating rate of the regeneration resistor exceeds 10 Regeneration resistor used External resistor 2 The regeneration processing circuit will operate but regeneration overl
131. value that is set e g 3 or 6 the faster the response is for a change in inertia during operation Operation however may be unstable depending on the operating pattern Normally set the parameter to 1 or 4 e Use a Setting of 4 to 6 if a vertical axis is used e Use setting 7 if vibration is caused by gain switching Pn22 Realtime Autotuning Machine Rigidity Selection All modes e Use this parameter to set the machine rigidity to one of 16 levels when realtime autotuning is enabled Low lt Machine rigidity gt High Low lt Servo gain High Low lt Responsiveness High e f the setting is changed suddenly by a large amount the gain will change rapidly subjecting the machine to shock Always start by making small changes in the setting and gradually increase the setting while monitoring machine operation 5 62 Operating Functions Operating Functions 5 16 User Parameters Pn23 Adaptive Filter Selection Explanation of Settings Setting Explanation 0 Adaptive filter disabled 1 Adaptive filter enabled 2 Hold The adaptive filter frequency when the setting was changed to 2 will be held e Use this parameter to set the operation of the adaptive filter e The Adaptive Filter Table Number Display Pn2F will be reset to O when the adaptive filter is disabled e The adaptive filter is normally disabled in the torque control mode Pn24 Vibration Filter Selection Explanation of Se
132. voltage exceeding the Speed Command Torque Command Input Overflow Level Setting Pn71 was applied to the Speed Command Input REF CN1 pin 14 The power supply and battery to the absolute encoder went down and the capacitor voltage dropped below the specified value The multiturn counter for the absolute encoder has exceeded the specified value The Servomotor speed exceeded the specified value when the power to the absolute encod er was interrupted and power was supplied only from the battery An error was detected in the one turn counter for the absolute encoder An error was detected in the multiturn counter for the absolute encoder The number of rotations of the encoder exceeded the specified value when the power supply was turned ON A phase Z pulse was not detected regularly for the serial encoder A logic error in the PS signal was detected for the serial encoder A voltage exceeding 10 V was applied to the Forward Torque Limit Input PCL CN1 pin 16 A voltage exceeding 10 V was applied to the Reverse Torque Limit Input NCL CN1 pin 18 The Servomotor and Servo Drive do not match The Servo Drive or Servomotor failed The Servo Drive or Servomotor failed 3 1 Servo Drive Specifications Main Circuit and Servomotor Connections When wiring the main circuit use proper wire sizes grounding systems and anti noise measures E R88D GTA5L GT01L GT02L GT04L R88D GT01H GT02H GT04H GT08H GT10H GT15H Main Ci
133. voltage is reduced because the main power supply is OFF e The main power Supply is not input 14 Power supply Occurs when the power undervoltage supply is turned ON Power supply capacity e Increase the power is insufficient supply capacity e Phase loss e Connect the phases L1 L2 L3 of the power supply voltage correctly e For single phase connect to L1 and L3 correctly e The maincircuit power e Replace the Servo supply is damaged Drive e Control PCB error 8 6 Troubleshooting Troubleshooting 8 3 Troubleshooting Alarm Te Error Status when error occurs Cause Countermeasure e Main circuit power Occurs when power supply voltage is supply is turned ON outside allowable range e Load inertia is too great Occurs when Servomo tor is decelerating e Main circuit power 12 Overvoltage supply voltage is outside allowable range e Gravitational torque is too large Occurs during descent vertical axis e The power supply voltage is low e Momentary power interruption occurred e Power supply capacity Occurs when the Servo is insufficient Drive is turned ON e The power supply voltage is reduced because the main power supply is OFF Main power supply e The main power undervoltage supply is not input e Phase loss Occurs when power supply is turned ON e The main circuit power supply is damaged e Control PCB error 8 7 e Change the main circ
134. yN Eg2 60 N2 T2 t2 J Ea 3 E N2 To2 t3 J N1 N2 Rotation speed at beginning of deceleration r min Tp1 Tp2 Deceleration torque N m TL2 Torque when falling N m t1 t3 Deceleration time s t2 Constant velocity travel time when falling s Note Due to the loss of winding resistance the actual regenerative energy will be approximately 90 of the values derived from these equations e For Servo Drive models with internal capacitors used for absorbing regenerative energy i e models of 400 W or less the values for both Eg1 or Eg2 Eg3 unit J must be lower than the Servo Drive s regenerative energy absorption capacity The capacity depends on the model For details refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 48 e For Servo Drive models with an internal regeneration resistor used for absorbing regenerative energy i e models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the Servo Drive s regenerative energy absorption capacity The capacity depends on the model For details refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 48 The average regeneration power Pr is the regeneration power produced in one cycle of operation W Pr Egi Eg2 Eg2 T W T Operation cycle s 4 4 Regenerative Energy Absorption Servo Drive Regenerative Energy Absorption Capacity
135. 0 60 50 45 10 8 1 15 R88G VRSF15B100PC 78 0 32 60 se 70 60 50 45 10 3 1 2 RBsc vRsFase100PC4 780 32 60 s2 70 60 so 45 10 3 8 1s RBBG VRSFOSB200PCI 72 5 32 80 s2 90 60 60 45 10 3 12 soo w 12 R88G VRSFOaC200PCs 89 5 50 89 5 Model o Ti CO CO G 1 9 R88G VRSFO9C400PCJ ow 895 1 15 R88G VRSF15C400PCJ 100 0 1 25 R88G VRSF25C400PCJ 100 0 Note The standard models have a straight shaft with a key Outline Drawings Four Z2 effective depth L 2 61 2 2 External and Mounting Hole Dimensions Dimensions mm Model s 79 AT Key dimensions expe TR ya eames pe ee SS 25 soo w 12 Pe8G vRSFoaB100PCJ 12 20 ma ms ma 12 16 a 4 25 sfreseovnsriss1ooros 12 20 ma ms wa 12 ve a a ae i2 20 wa ms we 12 16 4 4 2s e fresc vastosezoore 12 20 we ws Me i2 16 4 4 ze soo tt R88G VASFosc200RCal 19 30 ms me ma 20 22 6 l6 35 s peeetvrisescanoecal 18 2o ms we ma 20 22 e e fas 19 90 ms we ma 20 22 6 6 35 30 ws me ma 20 22 6 6 35 soo wit REEG VASFONCAOOPCA 19 30 ms me ma 20 22 6 6 as 715 Re8G VASF15C400PC4 19 30 ms ve ma 20 22 6 6 35 j725 Re86 vsF25C400PCs 19 30 ms we ma 20 22 6 6 35 Outline Drawings Set bolt AT Key Dimensions a RD 2 62 Standard Models and Dimensions
136. 0 0000000000000000000000000 3 e 10000000000 0000000000000000000000000 0000000000000000000000000000000000000000 0000000000000000000000000000000000000000 0000000000000000000000000000000000000000 Mounting Hole Dimensions Reference Six M4 p p A N Square hole 9 N z 7 z The dimensions of o the square hole are lt 38 5 90 90 reference values 250 Dimensions for front panel mounting are references values that provide leeway ID a a a a a GB Ga ca a GG Ga ca a GB a ca S SS Sa OS aS ca a GS Ga ca aS GS Ba a 2 G D D 25 2 gt CG D c S S SS SD aH GH GB ca 2 GD CD CO tt a o oD a ni a a Lc 2 90 5 a5 2 o S So 0 2 eo a D Qa 1 a D o ca I a o o o 1 a D ca f m aS Ba BD ca ne a GG Ga ca alee a GH Ba ca a GB a ca a GB a ca ty So SS SS E i a GB a ca a GB a ca aS GD Da ca aS GS a ca a GH G ca SS a e a GB BD ca Z aan i om eS I 000 D 1 1i Oe Ca i ERE i A 2 34 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Servomotors 50 W 100 W E 3 000 r min Servomotors R88M G05030H S2 G10030L S2 G10030H S2 G05030H B S2 G10030L B S2 G10030H B S2 R88M G05030T S2 G10030S S2 G10030T S2 G05030T B S2 G10030S B S2 G10030T B S2 WES Brake connector Encoder connector Model R88M G05030 R88M G10030 R88M G05030 R88M G10030 LI L
137. 0 20 1 45 R88G HPG50A451KOSBL 16 50 82 14 M8x16 M6 70 14 9 15 5 M10 20 1 5 R88G HPG32A053KOBL 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A112KOSBL 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 en 1 21 R88G HPG50A213KOBL 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 1 33 R88G HPG50A332K0SBL 16 50 82 14 M8x16 M6 70 14 9 15 5 M10 20 1 5 R88G HPG32A053KOBL 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A112KOSBL 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 a 1 21 R88G HPG50A213KOBL 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 1 33 R88G HPG50A332K0SBL 16 50 82 14 M8x16 M6 70 14 9 15 5 M10 20 1 5 R88G HPG32A054KOBL 13 40 82 11 M8x25 M6 70 12 8 5 0 M10 20 3 kW 1 11 R88G HPG50A115KOBL 16 50 82 14 M8x25 M6 70 14 9 15 5 M10 20 1 21 R88G HPG50A213KOSBL 16 50 82 14 M8x25 M6 70 14 9 15 5 M10 20 1 25 R88G HPG65A253KO0SBL 25 80 130 18 M8x25 M8 110 22 14 9 0 M16 35 Note 1 The standard models have a straight shaft Note 2 Models with a key and tap are indicated with J at the end of the model number the suffix shown in the box Example R88G HPG32A053KOBU 2 53 2 2 External and Mounting Hole Dimensions Dimensions mm
138. 0 1000 2000 3000 4000 5000 r min R88M G40030L S 400 W N m Repetitive usage 1 3 1 3 Continuous usage 2 0 0 1000 2000 3000 4000 5000 r min R88M G10030L S 100 W N m 0 R88M G20030L S 200 W N m 1 78 3500 Repetitive usage 0 32 Repetitive usage 0 64 0 64 1000 2000 3000 4000 5000 r min Continuous usage 1000 2000 3000 4000 5000 0 r min 3 36 3 2 Servomotor Specifications e 3 000 r min Servomotors with 200 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M G05030H T 50 W R88M G10030H T 100 W R88M G20030H T 200 W N m N m N m 0 5 40 45 0 45 0 45 041 1 78 4500 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 r min r min r min R88M G40030H T 400 W R88M G75030H T 750 W R88M G1KO30T 1 kW N m N m N m 7 05 3600 1019 1 Repetitive usage Specifications 2 0143 iz 513 18 3 18 48 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 r min r min r min R88M G1K530T 1 5 kW R88M G2KO30T 2 kW R88M G3KO30T 3 kW N m ny N m 15 412 9 12 9 3500 18 4 3600 30 27 0 27 0 3400 Repetitive usage Repetitive usage 1579 54 9 54 7 974 77 4 77 Continuous usage Continuous usage 0 1000 2000 3000 4000 a 0 4000 2000 3
139. 0 9 kg R88A CRGBO020C 20m Approx 1 2 kg R88A CRGBO30C 30 m Approx 2 4 kg R88A CRGB040C 40 m 6 8 dia Approx 3 2 kg R88A CRGB050C 50 m Approx 4 0 kg to 3 Connection Configuration and Dimensions L Servo Drive S Servomotor R88D GC 0 gt R88M GO Wiring Servo Drive Servomotor 4 ESV S OV S peme _ EE j 6j FG AWG22 x 2C AWG24x2P UL20276 3 to 20 m t t AWG16 x 2C AWG26x2P UL20276 30 to 50 m ervomotor Connector Servo Drive Connector Connector Connector 3 to 20 m Crimp type I O Connector Molex Japan 172161 1 Tyco Electronics AMP KK 30 to 50 m 55100 0670 Molex Japan Connector pins Connector pins 170365 1 Tyco Electronics AMP KK 50639 8028 Molex Japan 171639 1 Tyco Electronics AMP KK for AWG16 3 58 Specifications Specifications 3 4 Cable and Connector Specifications 3 59 R88A CRGCL IN Cable Models For both absolute encoders and incremental encoders 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW 1 500 r min Servomotors of 7 5 kW and 1 000 r min Servomotors of 900 W to 6 kW R88A CRGCO03N Approx 0 3 kg R88A CRGCOO5N 5m Approx 0 4 kg R88A CRGCO10N 10m 6 5 dia Approx 0 7 kg R88A CRGCO15N 15m Approx 1 0 kg R88A CRGCO20N 20m Approx 1 5 kg R88A CRGCOSON 30 m Approx 2 5 kg R88A CRGC040N 40 m 6 8 dia Approx 3 3 kg R88A CRGCO50N 50m Approx 4 1 kg 0 3 Connection Configuration and Dimensions L S
140. 0 W R88D GT02H 400 W R88D GT04H 750 W R88D GT08H 1 kW R88D GT10H y f a 2 y m ce 14 A ce O oO 4 ce C i aed o Single phase three phase 200 VAC 900 W 1 kW R88D GT15H 1 5 kW 2 kW R88D GT20H 2 kW R88D GT30H 3 kW 3 kW Three phase 200 VAC 4 kW R88D GT50H 4 5 kW 5 kW 6 kW R88D GT75H 7 5 kW 2 1 2 1 Standard Models Servomotors E 3 000 r min Servomotors Model er With incremental encoder With absolute encoder Specifications key and tap key and tap 50 W R88M G05030H R88M G05300H S2 R88M G05030T R88M G05030T S2 100 W R88M G10030H R88M G10030H S2 R88M G10030T R88M G10030T S2 200 V BE 200 W R88M G20030H R88M G20030H S2 R88M G20030T R88M G20030T S2 With out 400 W R88M G40030H R88M G40030H S2 R88M G40030T R88M G40030T S2 brake ow o t e o e RB8M G3KO3OT R88M G3K030T S2 pe RBBM G4KO3OT R88M G4K030T S2 a a a ee R88M G2K030T R88M G2K030T S2 5 kW R88M G5KO030T R88M G5KO030T S2 50 W R88M G05030T B R88M G05030T BS2 ogy W R88M G10030S B R88M G10030S BS2 00 W R88M G20030S B R88M G20030S BS2 OW R88M G40030S B __ R88M G40030S BS2 50 W R88M G05030H B R88M G05030H BS2 R88M G05030T B R88M G05030T BS2 200 V KR ARE NO O o_o 00 W R88M G10030T B R88M G10030T BS2 200 W R88M G20030T B R88M G20030T BS2 Note Models with oil seals are also available 2 2 Standard Models and Dimensions Standard Models and Dimensions 2 1 S
141. 00 e Oto 500 Set to reverse the polarity of the Torque Command Input REF TREF1 or PCL TREF2 O O I I I Operating Functions 5 45 5 16 User Parameters E Sequence Parameters Default Setting Owe Parameter name Setting Explanation setting Unit ee OFF Positioning Completion Pulse oe 32767 r min me 20000 Range r min as 20000 E Pn No O ay Set the range for the Positioning Completed Output INP Set the rotation speed to output for the general pur pose output zero speed detection output or speed co incidence output Zero Speed Detection Rotation Speed for Motor Rotation Detection Set the rotation speed for the Servomotor Rotation Detection Output TGON for Internally Set Speed Control Completion Positioning completion output turns ON when the zero speed detection signal is ON and the position deviation is within the Positioning Completion Range Pn60 and there is no position command Condition Setting Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 and there is no position command The ON status will then be held until the next position command is received 4 Do not change setting Select whether to activate the main power supply undervoltage function alarm code 13 if the main power supply is interrupted for the Momentary Hold Time Pn6D during Servo ON Operating F
142. 000 4000 5000 0 1000 2000 3000 4000 oan R88M G4KO30T 4 kW R88M G5KOS30T 5 kW N m N m 40 36 3 l 50 45 1 Repetitive usage 25 J158 15 8 Continuous usage Repetitive usage 201196 12 6 Continuous usage O 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 r min r min 3 37 3 2 Servomotor Specifications Precautions for Correct Use Using outside of these ranges may cause the Servomotor to generate heat which could result in encoder malfunction R88M G05030H T R88M G05030H T R88M G10030H T 50 W Without Oil Seal 50 W With Oil Seal 100 W Without Oil Seal Rated Torque With brake Rated Torque Without brake Rated Torque With brake 95 100 With brake 100 Ambient temperature Ambient temperature Ambient temperature 0 10 20 30 40 0 10 20 30 40 0 10 20 30 40 R88M G10030H T R88M G20030H T R88M G40030H T 100 W With Oil Seal 200 W With Oil Seal 400 W Without Oil Seal Without brake Without brake With brake Rated Torque With brake 100 Rated Torque Rated Torque With brake 100 Specifications 90 Ambient Ambient Ambient temperat o 10 20 30 aoe 9 to 20 30 aoe 9 40 20 30 aoe R88M G40030H T R88M G1K530T 1 5 kW R88M G2KO30T 2 kW 400 W With Oil Seal Without brake Rated Torque Rated Torque Rated Torque inout Drake 100 AAL With brake 00 With brake 85 75
143. 0A054K5TBL 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 4 5 kW 1 12 R88G HPG65A127K5SBL 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 20 R88G HPG65A204K5TBL 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 N 1 5 R88G HPG65A057K5SBL 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 12 R88G HPG65A127K5SBL 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 This is the set bolt Outline Drawings E Set bolt AT Four Z2 i N al a aa i f H A a ete G LR LM M depth L 2 With the R88G HPG50L1 HPG65L the height tolerance is 8 mm D3 dia h 8 2 56 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Decelerators for 3 000 r min Flat Servomotors Dimensions mm PIM UR or e or 2 os oa ose er 11 ReBG HPG14A1t100PB 64 0 68 6o 0x60 70 70 s6 0 555 40 87 25 Model 100 w 72i B8G HPGT4A2100PB 68 0 58 60 60x60 70 70 560 555 20 97 25 1733 R86 HPGz0AsS100B 71 0 60 90 e9 aia 105 70 e50 ea0 59 59 75 i745 Rt086 HPG2OAASI00PB 71 0 60 90 e0 aia 105 70 e50 e40 59 59 75 Dimensions mm Model elsa arr semi Key dimensions Key dimensions imation Seas is RBBGHPGI1BOsT00B 5 8 20 34 moo Ma 15 3 3 18 ms iitt RaeG HPGIA4A1T100B e 16 25 55 medo ma 25 5 5 30 m 100 w 12i RB8G HPGT4A21T00PBO 8
144. 0BL R88G HPG32A112KOBL1 le R88G HPG50A212KO0BL R88G HPG50A332KOBL1 1 5 R88G HPG32A053K0BL 3 kW R88G HPG50A113KOBL_ R88G HPG50A213KOBL1 R88G HPG32A054KOBL oe R88G HPG50A115KOBL1 a R88G HPG50A055KOBL R88G HPG50A115KOBL1 Note 1 The standard models have a straight shaft Note 2 Models with a key and tap are indicated with J at the end of the model number the suffix shown in the box Example R88G HPG11B05100BUJ 2 8 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models Decelerators for 2 000 r min Servomotors Specifications Gear ratio Capacity 1 5 R88G HPG32A053K0BL 1 11 R88G HPG32A112K0OSBC 1 kW 1 21 R88G HPG32A211KOSBLI 1 33 R88G HPG50A332K0SBL1 1 45 R88G HPG50A451KOSBLI R88G HPG32A053KOBL 1 11 R88G HPG32A112KOSBC e ee 1 21 R88G HPG50A213K0BO 1 33 R88G HPG50A332K0SBC R88G HPG32A053K0BO 1 11 R88G HPG32A112KOSBC ar E 1 21 R88G HPG50A213K0BO 1 33 R88G HPG50A332K0SBC R88G HPG32A054KOBL 1 11 R88G HPG50A115KOBL ee OOM 1 21 R88G HPG50A213KOSBC 1 25 R88G HPG65A253KOSBC 1 5 R88G HPG50A054K0SBC 1 11 R88G HPG50A114KOSBO pr E 1 20 R88G HPG65A204K0SBC 1 25 R88G HPG65A254K0SBC 1 5 R88G HPG50A055KOSBL1 1 11 R88G HPG50A115KOSBL1 sey Lt 1 20 R88G HPG65A205K0SBL1 1 25 R88G HPG65A255K0SBL1 1 5 R88G HPG65A057K5SBL1 7 5 kW 1 12 R88G HPG65A127K5SBL Note 1 The standard models have a straight shaft Note 2 Models with a key and tap are indicated with J at
145. 1 Default Display Explanation of Settings Setting Explanation 0 Position deviation l Servomotor rotation speed Torque output Control mode I O signal status Alarm code and history Software version Warning display o CO NI O a A OJ N e Regeneration load ratio Q Overload load ratio c 10 Inertia ratio Ti 11 Total feedback pulses 2 12 Total command pulses 13 Reserved 14 Reserved 6 15 Automatic Servomotor recognition display 16 Analog input value 17 Reason for no rotation e Select the data to be displayed on the 7 segment display on the front panel after the power supply is turned ON e For information on the display refer to 6 4 Setting the Mode on page 6 7 5 51 5 16 User Parameters Pn02 Control Mode Selection Explanation of Settings Setting Explanation 0 Position Control Mode pulse string command 1 Speed Control Mode analog command Torque Control Mode analog command Mode 1 Position Control Mode Mode 2 Speed Control Mode 2 3 4 Mode 1 Position Control Mode Mode 2 Torque Control Mode 5 Mode 1 Speed Control Mode Mode 2 Torque Control Mode 6 Reserved e Use this parameter to set the control mode e If composite modes are set settings 3 to 5 Mode 1 or Mode 2 can be selected using the Control Mode Switch Input TVSEL e Open the Control Mode Switch Input to select Mode 1 e Close the Control Mode Switch Input to select Mode 2 e Do not input a com
146. 1 Setting Pn31 is set to 2 and the Torque Limit Selection PnO3 is set to 3 the gain is always gain 1 regardless of the gain input e For information on switching levels and timing refer to Gain Switching Function on page 7 26 Pn37 Gain Switch 2 Time Setting range O to 10000 x 166 us Default setting e Use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 2 Setting Pn36 is 3 to 5 Pn38 Gain Switch 2 Level Setting e Use this parameter to set the judgment level for switching between gain 1 and gain 2 when the Control Gain Switch 2 Setting Pn36 is set to 3 to 5 The unit depends on the setting for the Control Gain Switch 2 Setting Pn36 Pn39 Gain Switch 2 Hysteresis Setting e Use this parameter to set the hysteresis width for the judgment level set in the Gain Switch 2 Level setting PN38 The unit depends on the Control Gain Switch 2 Setting Pn36 The following shows the definitions for the Gain Switch 2 Time Pn37 Gain Switch 2 Level Setting Pn38 and Gain Switch 2 Hysteresis Setting Pn39 Ea y Pn38 gt ZF Pn39 0 l Gain 1 Gain 2 Gain 1 lt _ yi Pn37 e The settings for the Gain Switch 2 Level Setting Pn38 and the Gain Switch 2 Hysteresis Setting 5 72 Operating Functions Operating Functions 5 16 User Parameters Pn39 are effective as absolute values positive negative Pn3D Jog Speed e Use this parameter to
147. 10 0 dia XW2Z 100J A7 Approx 0 2 kg Connection Configuration and Dimensions Servo Relay Unit i gt XW2B 40J6 2B Position Control Unit Servo Relay Unit A1 B1 A2 B2 Position Control Unit CS1W NC213 CS1W NC413 Wiring 5 si ill 3 118 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A10 This Cable connects a Position Control Unit CS1W NC133 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A10 Approx 0 1 kg 10 0 dia XW2Z 100J A10 Approx 0 2 kg Connection Configuration and Dimensions Position Control Unit CS1W NC133 Servo Relay Unit 0 gt XW2B 20J6 1B Wiring Position Control Unit Servo Relay Unit Crimp terminal a Cable AWG28 x 4P AWG28 x 10C 3 119 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A11 This Cable connects a Position Control Unit CS1W NC233 433 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath 10 0 dia XW2Z 050J A11 XW2Z 100J A11 Connection Configuration and Dimensions Position Control Unit CS1W NC233 CS1W NC433 Wiring Servo Relay Unit No Position Control Unit A3 B3 A4 B4 AWG20 black lt X AWG20 red
148. 12 3 24 Forward Pulse CCW cccceseeeeeeeee 3 12 3 20 3 22 Forward Pulse CCWLD ccccssseeeeeeseeeeeeeeeeneeees 3 14 Forward Torque Limit Input PCL cceeeeeeees 3 12 Frame Ground FG ssscciscc decncsasexas anen e einan 3 15 Front Key Protection Setting PNOE cc 5 57 G CalhvadjUsimenlicctite cette 7 1 Gaim Switch GS EL sickest ota E AE 3 13 Gain Switch 1 Hysteresis Setting Pn34 5 71 Gain Switch 1 Level Setting PN33 eee 5 71 Gain Switch 1 Time PN82 ccccceecseeeeeeeeeeeeeeeeees 5 70 Gain Switch 2 Hysteresis Setting PN39 5 72 Gain Switch 2 Level Setting PN38 eeee 5 72 Gain Switch 2 Time PN37 ccccccesseeeeeeeeeeeeeeeees 5 72 gain SWIER O oies e aN A ENNAN 5 24 gain switching function essssesssserrresserrrrrerrrersenen 7 26 Gain Switching Input Operating Mode Selection PRO ea a A 5 67 General purpose Control Cables 2 23 3 92 4 16 General purpose Output 1 OUTM1 cee 3 15 General purpose Output 1 Selection PnOA 5 56 General purpose Output 2 OUTM 2 3 15 General purpose Output 2 Selection Pn09Q 5 55 General purpose Output Common COM 3 15 H harmonic current countermeasures 4 41 IM Selection PNO8 ccccsesccccesssseeeeesesseeeesseeeeees 5 55 incremental encoders cccscccceeseeesseeeeeseeeeeeseee
149. 12 0 57 Note 1 The standard models have a straight shaft Note 2 Models with a key and tap are indicated with J at the end of the model number the suffix shown in the box Example R88G HPG32A05900T Bu 2 55 2 2 External and Mounting Hole Dimensions Dimensions mm te elelr la ze fat Key dimensions sma tong x bj hnjujm L 1 5 R88G HPG32A05900TBL 13 40 82 11 M8x25 M6 70 12 8 5 0 M10 20 sao Wy 1 11 R88G HPG32A1 1900TBL 13 40 82 11 M8x25 M6 70 12 8 5 0 M10 20 1 21 R88G HPG50A21900TBL 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 1 33 R88G HPG50A33900TBL 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A052K0TBL 13 40 82 11 M12x25 M6 70 12 8 5 0 M10 20 SN 1 11 R88G HPG50A112KO0TBC 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 1 21 R88G HPG50A212KO0TBC 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 1 25 R88G HPG65A255KOSBL 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 5 R88G HPG50A055KOSBL 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 aut 1 11 R88G HPG50A115KOSBL 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 1 20 R88G HPG65A205KOSBL 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 25 R88G HPG65A255KOSBL 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 5 R88G HPG5
150. 14 9 0 M16 35 1 25 R88G HPG65A254KOSBL _ 25 80 1130 18 M10x25 M8 110 22 14 9 0 M16 35 1 5 R88G HPG50A055KOSBO 16 50 82 14 M12x25 M6 70 14 9 15 5 M10 20 1 11 R88G HPG50A115KOSBL 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 Hi 1 20 R88G HPG65A205KOSBL _ 25 80 1130 18 M12x25 M8 110 22 14 9 0 M16 35 1 25 R88G HPG65A255KOSBL _ 25 80 1130 18 M12x25 M8 110 22 14 9 0 M16 35 TERA 1 5 R88G HPG65A057K5SBL _ 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 12 R88G HPG65A127K5SBL __ 25 80 1130 18 M12x25 M8 110 22 14 9 0 M16 35 1 This is the set bolt Outline Drawings Cre E Set bolt AT Four Z2 2 With the R88G HPG50L1 HPG65L the height tolerance is 8 mm D3 dia h 8 M depth L gt N J amp O i N 0 Ooo A LR TT o_o LM C2 dia Four Z2 2 54 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Decelerators for 1 000 r min Servomotors Dimensions mm Moe oe A ee 1 5 R88G HPG32A05900TBL 129 133 120 180x130 135 145 115 114 12 5 35 1 11 R88G HPG32A11900TBL 129 133 120 130x130 135 145 115 114 84 98 12 5 35 900 W 1 21 R88G HPG50A21900TBL 149 156 170 180x130 190 145 165 163 122 103 12 0 53 1 33 R88G HPG50A33900TBL 149 156
151. 2 Pn31 is 10 when position control is used and the Realtime Autotuning Mode Selection Pn21 is set to 1 to 6 Otherwise it is O e Unusual noise or vibration may occur until the load inertia is estimated or Precautions a n a l the adaptive filter stabilizes after startup immediately after the first servo turns ON or when the Realtime Autotuning Machine Rigidity Selection Pn22 is increased This is not a problem if it disappears right away If the unusual noise or vibration however continues for three or more reciprocating operations take the following measures in any order you an e Write the parameters used during normal operation to the EEPROM e Lower the Realtime Autotuning Machine Rigidity Selection Pn22 e Manually set the notch filter e Once unusual noise or vibration occurs the Inertia Ratio Pn20 may have changed to an extreme value In this case also take the measures described above e Out of the results of realtime autotuning the Inertia Ratio Pn20 is automatically saved to the EEPROM every 30 minutes Realtime autotuning will use this saved data as the default value when the power is turned OFF and turned ON again e The Instantaneous Speed Observer Setting Pn27 will automatically be disabled 0 if realtime autotuning is enabled O Adjustment Functions 7 13 7 3 Normal Mode Autotuning 7 3 Normal Mode Autotuning Normal mode autotuning operates the Servomotor according to command patter
152. 2 1 kg Approx 4 0 kg Approx 6 0 kg 14 7 dia Approx 8 0 kg Approx 11 9 kg Approx 15 8 kg Approx 19 7 kg Servomotor R88M GL Servomotor B PhaseV_ D F Servomotor Connector Straight plug N MS3106B22 22S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 4 Cable and Connector Specifications R88A CAGE S Cable Models For 1 500 r min Servomotors of 7 5 kW and 1 000 r min Servomotors of 6 kW Model Length L Outer diameter of sheath Weight 3m R88A CAGE003S pm R88A CAGE005S R88A CAGE010S R88A CAGE015S R88A CAGE020S R88A CAGE030S R88A CAGE040S R88A CAGE050S Connection Configuration and Dimensions 70 Servo Drive R88D GU a T Wiring OO wni om ite nD Blue Green Yellow OQO Cable AWG6 x 4C UL62 M5 crimp terminals Approx 4 0 kg Approx 6 5 kg Approx 12 6 kg Approx 18 8 kg 28 5 dia Approx 24 9 kg Approx 37 2 kg Approx 49 5 kg Approx 61 8 kg Servomotor gt R88M GL B Prasev D FG Servomotor Connector Straight plug N MS3106B32 17S Japan Aviation Electronics Cable clamp N MS3057 20A Japan Aviation Electronics 3 68 Specifications Specifications 3 4 Cable and Connector Specifications E Power Cables for Servomotors without Brakes Robot Cables R88A CAGAL SR Cable Models For 3 000 r min Servomotors of 50 to 750 W and 3 000 r min Flat Servomotors of 100 to 400 W Model Length
153. 2 273 197 7 3 40 x104 1126 4488 7 8 15 HPG32A112KOSBL en 1 21 R88G 95 137 5 92 143 377 0 5 80x104 3611 12486 19 0 HPG50A213KOBL 1 33 ROSG 60 219 4 93 91 601 5 4 70x104 4135 143800 19 0 HPG50A332K0SBL 1 5 Poan 400 43 2 91 600 119 9 3 80 x104 889 3542 7 3 HPG32A053K0BL i l l i 1 11 R88G 182 97 4 93 273 270 5 3 40x104 1126 4488 7 8 D HPG32A112KOSBL l i l l va 1 21 R88G 95 185 6 93 143 515 9 5 80 x104 3611 12486 19 0 HPG50A213KOBL 1 33 R88G 60 270 0 1 93 91 815 0 4 70x104 4135 143800 19 0 HPG50A332K0SBL 1 This is the allowable rated output torque for the decelerator only Do not exceed this value 3 50 Specifications 3 3 Decelerator Specifications Specifications Allow Allow Rated Effi Decelerator able able T i Weight Model torque ciency inertia radial thrust rotation load load speed fain Nm mn wm oe N N ig R88G 4 1 5 HPG32A054KOBLI 400 66 0 92 600 190 1 3 80 x 10 889 3542 7 9 R88G 4 5 1 11 HPG50A115KOBC 182 145 2 92 273 418 3 8 80 x10 2974 10285 19 1 sa 1 21 MOa 95 260 0 93 143 806 4 6 90x10 4 3611 12486 19 1 HPG50A213KO0SBL j i R88G 3 1 25 HPG6E5A253KOSBO 80 322 9 90 120 930 1 3 00 x 10 7846 28654 52 0 R88G 3 1 5 HPG50A054K0SBO 400 85 8 91 600 250 3 1 20 x10 2347 8118 18 6 R88G 4 r 1 11 HPG50A114KOSBO 182 192 7 93
154. 20 3 1 R88G 5 S RE E 76 238 288 4 90x10 800 2817 3 1 R88G HPG20A33200PB R88G HPG20A45200PB 1 33 47 9 4 50x10 916 226 3 1 65 4 4 50x10 5 1006 3541 3 1 1000 13 1 5 900 12 9 7 10x 10 91 81 o_o O1 o_o L L 1 45 67 a NS h ok L No A ho co Go N N P P No O M on co No or h h mk 81 R88G D 1 5 HPG20A05400PBO 4 67 7 520 1832 3 1 R88G 454 32 9 5 1 11 HPG20A11400PBO 273 11 7 82 409 32 4 5 80 x 10 659 2320 3 1 R88G 238 66 2 5 1 21 HPG20A21400PBO 143 23 5 214 65 2 4 90 x 10 800 2817 3 1 R88G HPG32A33400PBL 151 97 6 136 96 2 2 111 133 0 100 131 2 1 33 91 2 80 x 10 4 amp D 7 81 1565 6240 7 8 R88G 4 HPG32A45400PBL 2 80 x 10 1 45 67 4 1718 6848 7 8 O0 oo D N Note 1 The values inside parentheses are for 100 V Servomotors Note 2 The Decelerator inertia is the Servomotor shaft conversion value Note 3 The protective structure for Servomotors with Decelerators satisfies IP44 Note 4 The allowable radial load is the value at the LR 2 position Note 5 The standard models have a straight shaft Models with a key and tap are indicated with J at the end of 3 53 the model number the suffix in the box 3 3 Decelerator Specifications E Backlash 15 Max Decelerators for 3 000 r min Servomotors Maxi mum mo Maxi mum Dec
155. 20 ma ms ma 12 16 4 4125 79 BesavnSFogBt000s 12 20 ma ms ms 12 16 4 4 28 sfReevasriseroocs 12 20 we ws ve 12 1e 4 4 es 12 20 ma v4 ris frese vastoseroocs 12 2o ma we me 12 16 4 4 ze ve Resa vasrooBtoocs 12 20 ma ms m 12 16 4 1258 pnslReevnsFiesroocs 12 20 va ve ws 12 16 4 f4 2s 12 20 ma v4 s fese vasFosezooc i2 20 m ve wa v2 ie 4 4 es vo ReecvAsroecz00c 19 30 ma me ma 20 22 6 635 isjpeecvasrrsczoocs 19 so m me w 20 22 6 6 Tos 19 90 30 ma me m4 20 ma me fwa 26 6 35 26 6 35 Ve fReec vAsFoacao0cu 19 so ma me wa 20 22 6 6 as isjpscvnsrtscwoocs 19 so m me w 20 22 6 6 Tos r9 30 Ma 30 ms Me v4 ve ma 2 e 6 38 4 20 22 6 6 35 ve Reec vAsro9D7s0cu 24 40 ms me ma 20 30 e 7 4 ans assavasFisorsoc 24 20 ms me ma 20 30 8 7 4 ji25 Re8c vAsF25075004 24 ao ms me ma 20 30 8 7 4 Outline Drawings Set bolt AT Key Dimensions y l gt 2 60 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Decelerators for 3 000 r min Flat Servomotors Dimensions mm Ps ts er ce ot be ee bel eee 1 5 RBBG VRSFOSB100PCs 67 5 32 60 s2 70 60 so 45 10 3 soo w12 R8BG VASFosBt00PCJ 67 5 32 60 s2 7
156. 20000 Set the No 2 internally set rotation speed r min to 20000 20000 r min to 20000 Set the No 4 internally set rotation speed 20000 ae 50 r min to For torque control when Pn5B 0 set the speed limit 20000 Set the No 3 internally set rotation speed 20000 Set the No 5 internally set rotation speed r min to 20000 20000 r min to 20000 20000 r min to 20000 20000 r min to 20000 0 01 O to ms 6400 r min 10 to IN 2000 Set the No 6 internally set rotation speed Set the No 7 internally set rotation speed Set the No 8 internally set rotation speed Set the first order lag filter time constant in the Speed Command Input REF CN1 pin 14 0 to Set the acceleration time for the speed command 5000 0 to Set the deceleration time for the soeed command 5000 9 2 Parameter Tables Default Setting ce Parameter name Setting Explanation Unit g See setting range acu Set the pseudo S curve acceleration deceleration val Acceleration 0 to l ue to add to the speed command to enable smooth op 2 mS Deceleration 500 eration Time Setting Torque Select the input for the torque command and speed Command limit For the settings and control mode refer to the Oto 4 E Speed Limit description of the Torque Command Speed Limit Se Selection lection on page 5 83 5C Torque Set the relation between the voltage applied to the 30 0 1 V 10to iz Command Scale Speed L
157. 24 V Open collector Input for Command Pulse Input terminals for position command pulses 2 24VCC 24 V Open collector Input These are selected by setting the Command Pulse Input W for Command Pulse Selection Pn40 to 0 CW Reverse Pulses Input PULS FA Feed Pulses Input _Cw or 90 Phase Difference PULS FA Pulse Input Phase A o_o Line Driver input Maximum response frequency 500 kpps Open collector input Position Maximum response frequency 200 kpps Any of the following can be selected by using the Pn42 set ting reverse and forward pulses CW CCW feed pulse and direction signal PULS SIGN 90 phase difference phase A B signals FA FB A CCW Forward Pulse Input SIGN EB Direction Signal _ccw or 90 Phase Difference SIGN FB Pulse Input Phase B 12 to 24 VDC Power Power supply input terminal 12 to 24 VDC for sequence 24VIN All Supply Input inputs O Reverse Drive Prohibit Reverse rotation overtravel input All Input OFF Prohibited ON Permitted O Forward Drive Prohibit Forward rotation overtravel input All Input OFF Prohibited ON Permitted T T EF Speed Command Input Analog input terminal for speed commands 1 Speed CL O1 oo O Specifications N 00 N P R Analog input terminal for torque command when Torque 14 TRER f COTOS ONANG RUI Command Speed Limit Selection Pn5B is set to 0 1 Torque N Analog input terminal for speed limi
158. 273 562 8 8 70x10 2974 10285 20 1 i 1 20 Des 100 342 2 91 150 999 2 3 28 x10 7338 26799 52 0 HPG65A204K0SBL i l l l 1 25 iarasi 80 430 9 92 120 1258 6 3 24 x10 7846 28654 52 0 HPG65A254KOSBL 1 5 ee 400 109 8 92 600 325 5 1 10x10 2347 8118 22 0 HPG50A055KOSBL l l 1 11 aona 182 200 0 1 93 273 723 8 8 40x104 2974 10285 23 5 5 HPG50A115KOSBL 1 l l sd 1 20 neo 100 488 2 92 150 1300 5 2 85 x 10 3 7338 26799 55 4 HPG65A205KOSBL l i l i 1 25 oe 80 550 9 93 120 1634 4 2 81 x10 7846 28654 55 4 HPG65A255KOSBL i l i l 1 5 bases 300 221 1 92 400 511 2 2 07x102 4841 17681 48 0 75 HPG65A057K5SBL l l on 1 12 P 125 540 8 94 166 1250 7 2 02 x 10 2 6295 22991 52 0 HPG65A127K5SBL l i l i 1 This is the allowable rated output torque for the decelerator only Do not exceed this value Note 1 The Decelerator inertia is the Servomotor shaft conversion value Note 2 The protective structure for Servomotors with Decelerators satisfies IP44 Note 3 The allowable radial load is the value at the LR 2 position Note 4 The standard models have a straight shaft Models with a key and tap are indicated with J at the end of the model number the suffix in the box 3 51 Decelerators for 1 000 r min Servomotors 3 3 Decelerator Specifications Maxi mum Al
159. 3 1 f Value set for Pn21 Perform the servo lock and set the rigidity to O and then press the key for 3 s while the dot at the far right is flashing as shown in the display above The front panel display will Fit gain will start change to 000 000 The front panel display will change along with the machine operation Time is required before the change 4 is made Completed normally Error occurred E Fit Gain Results If fit gain is completed normally 1 7 54 will be displayed and E o r will be displayed if it is completed with an error To apply the results obtained from fit gain after resetting the power supply write the data to the EEPROM Refer to the following description l r t Move the dot to this point using the key and press the key for 3 s min to write the present settings to the EEPROM ll pn l lI d 7 2 Realtime Autotuning E Automatically Set Parameters The following parameters are set automatically Parameter No Pn10 Pn11 Pn12 Pn13 Pn14 Pn18 Pn19 Pn1A Pn1B PniC Pn20 Pn22 Parameter name Position Loop Gain Speed Loop Gain Speed Loop Integration Time Constant Speed Feedback Filter Time Constant Torque Command Filter Time Constant Position Loop Gain 2 Speed Loop Gain 2 Speed Loop Integration Time Constant 2 Speed Feedback Filter Time Constant 2 Torque Command Filter Time Constant 2 Inertia Ratio Realtime Autotuning Machine Rigidity
160. 3 176 200 32 18 149 19 5 50 10n0 5 wia 28 Aeam Goo010 B1 200 70 22 148 110 180f165 6 12 11a 9 ax fero 7 4 msi RBEM GaKOTOL B 207 80 35 200 114 3 176 299 92 18 143 105 50 rong 5 mra 2s Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Model E 1 000 r min Servomotors 3 kW R88M G3K010T S2 G3K010T B S2 EEJ Dimensions of shaft end Servomotor brake with key and tap connector k LL 80 176 x 176 Encoder smacoe 18 82 gl Four 13 5 dia OF eNO JA FTN gt 35 dia h 6 143 84 l L 114 3 dia h 7 k M12 depth 25 Dimensions mm Model LL R88M G3K010L 222 R88M G3K010LJ BL 271 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 43 2 2 External and Mounting Hole Dimensions E 1 000 r min Servomotors 4 5 kW R88M G4K510T S2 G4K510T B S2 EEJ Servomotor brake connector _ 176x176 Eye bolt Nominal lominal 24 3 2 Encoder connector Sy A Four 13 5 dia 42 dia h 6 84 114 3 dia h 7 Dimensions mm Model LL R88M G4K510L 1 300 5
161. 3 000 r min Servomotors 1 to 1 5 kW R88A CAGBLILILISR R88A CAGBLILILIBR 2 kW R88A CAGCLILILISR R88A CAGCLILILIBR 3 to 5 kW R88A CAGDLILILISR R88A CAGDLILILIBR R88A CAGALILILISR For Power Connector R88A CAGALILILIBR For Brake Connector 1 to 1 5 kW R88A CAGBLILILIBR 2 000 r min Servomotors 2 kW R88A CAGCLILILIBR 3 to 5 kW R88A CAGDLILILIBR 900 W R88A CAGBLILILIBR 2 to 4 5 kW R88A CAGDLILILISR R88A CAGDLILILIBR Servomotor type R88A CAGALILILISR 50 to 750 W 3 000 r min Flat Servomotors 100 to 400 W R88A CAGA 1 000 r min Servomotors System Design Note 1 The ULIL digits in the model number indicate the cable length 3 m 5 m 10 m 15 m 20 m 30 m 40 m or 50 m Example model number for a 3 m cable R88A CAGAO003SR Note 2 For 50 to 750 W 3 000 r min Servomotors and Flat Servomotors there are separate connectors for power and brakes Therefore when a Servomotor with a brake is used it will require both a Power Cable for a Servomotor without a brake and a Brake Cable Computer Monitor Cable A Computer Monitor Cable and the Computer Monitor Software for Servo Drives CX Drive are required to set Servo Drive parameters and perform monitoring with a personal computer Name specifications Model o aac Computer Monitor Cable R88A CCG002P2 a a 2 meter cable Is avall 4 14 4 2 Wiring E RS 485 Comm
162. 32K0BL 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 5 R88G HPG32A053K0BL 107 133 120 1380x130 135 145 115 114 84 98 12 5 35 3 kW 1 11 R88G HPG50A113KOBL 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 21 R88G HPG50A213KOBL 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A054KO0BL 129 133 120 1380x130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG50A115KOBL 149 156 170 1380x130 190 145 165 163 122 103 12 0 53 1 5 R88G HPG50A055KOBL 149 156 170 1380x130 190 145 165 163 122 103 12 0 53 1 11 R88G HPG50A115KOBL 149 156 170 1380x130 190 145 165 163 122 103 12 0 53 2 kW 4 kW 5 kW Note 1 The standard models have a straight shaft Note 2 Models with a key and tap are indicated with J at the end of the model number the suffix shown in the box Example R88G HPG32A051KOBU 2 51 2 2 External and Mounting Hole Dimensions Dimensions mm Tap eee G s T z1 z2 aT Key dimensions dimensions e n u m 70 12 8 5 0 1 5 R88G HPG32A051KOBL 13 40 82 11 M6x12 M6 M10 20 1 11 R88G HPG32A111KOBL 13 40 82 11 M6x12 M6
163. 3K010T R88M G4K510T R88M G6K010T L Servo Drive R88D GT10H R88D GT15H R88D GT20H R88D GT30H R88D GT50H R88D GT50H R88D GT75H Servo Drive R88D GT15H R88D GT30H R88D GT50H R88D GT50H R88D GT75H 2 1 Standard Models 2 6 Standard Models and Dimensions 2 1 Standard Models Decelerators The following types of Decelerators are available for OMNUC G Series Servomotors Select a Decelerator based on the Servomotor capacity E Backlash 3 Max Decelerators for 3 000 r min Servomotors Specifications Model Motor capacity 1 5 R88G HPG11B05100B0 1 9 R88G HPG11B09050BL 50 W R88G HPG14A21 100BL R88G HPG14A33050BL R88G HPG14A45050BL 1 5 R88G HPG11B05100B R88G HPG14A11100BC 100 W R88G HPG14A21100BL R88G HPG20A33100BL1 R88G HPG20A45100BL 1 5 R88G HPG14A05200BC R88G HPG14A11200BL 200 W R88G HPG20A21200BL R88G HPG20A33200BL R88G HPG20A45200BL R88G HPG14A05400BL R88G HPG20A11400BL 400 W R88G HPG20A21400BL R88G HPG32A33400BL R88G HPG32A45400BL 1 5 R88G HPG20A05750BL R88G HPG20A11750BL 750 W R88G HPG32A21750BL1 R88G HPG32A33750BL R88G HPG32A45750BL 2 7 2 1 Standard Models Specifications Motor Model Capacity 1 5 R88G HPG32A051K0BL1 R88G HPG32A111KOBL1 1kW R88G HPG32A211KOBL R88G HPG32A331KOBL R88G HPG50A451KOBL1 1 5 R88G HPG32A052K0BL R88G HPG32A112KOBL1 1 5 kW R88G HPG32A211K5BL_ R88G HPG50A332KOBL1 R88G HPG50A451K5BL1 1 5 R88G HPG32A052K
164. 4 internally set rotation speed 50 For torque control when Pn5B 0 set the speed limit Set the No 5 internally set rotation speed Set the No 6 internally set rotation speed Set the No 7 internally set rotation speed Set the No 8 internally set rotation speed Set the first order lag filter time constant in the Speed Command Input REF CN1 pin 14 Set the acceleration time for the speed command 0 to Set the deceleration time for the speed command 5000 a k l r min 10 to 5 2000 5 44 N c O O 5 LL D te Q Q O 5 16 User Parameters Default Setting Power Parameter name Setting Explanation I OFF gt 0O setting range N S curve Acceleration Deceleration Time Setting Set the pseudo S curve acceleration deceleration value to add to the speed command to enable smooth opera tion O to 500 Torque Select the input for the torque command and speed Command limit For the settings and control mode refer to the Speed Limit description of the Torque Command Speed Limit Selec Selection tion on page 5 83 0 to 1 Set the relation between the voltage applied to the torque command input TREF1 or TREF2 and the Ser vomotor s output torque Torque 10 to Command Scale Torque Output Direction Switch 5E ne ae Set the limit to the Servomotor s maximum torque Oto 500 5F pe a Set the limit to the Servomotor s maximum torque 1
165. 42 Specifications 3 2 Servomotor Specifications E 1 000 r min Servomotors Max momentary torque 18 4 101 Model R88M 200 VAC reyes Unit G90010T G2K010T G3KO10T G4K510T Rated output 1 W 900 2000 3000 4500 Rated rotation speed 1000 Max momentary rotation 2000 speed z m 4 412 10 3 10 3 7 x 10 3 p24 112x 0 3 55 x 10 5 57 x 6 Rated current 1 7 6 gt 3 tA Max momentary current 2 xa 84 2 gt 3 2 Ke 3 Rotor inertia 8 09 x 10 3 ie 1 reference value 1176 1372 1372 1 6 x 106 2 9 x 106 2 9 x 106 10 000 max Allowable work per 1372 Brake specifications D D TSO Vg D D 3a D aoj a D wn 4D Applicable load inertia Lo 10 times the rotor inertia max 2 Mechanical time nE 0 88 0 97 0 74 0 7 constant l i l l Allowable radial load 3 1176 1470 1470 ei Without brake Approx 8 5 Approx 17 5 Approx 25 Approx 34 ei S With brake Approx 10 Approx 21 Approx 28 5 Approx 39 5 Radiation shield dimensions 275 x 260 x melerai 15 AN 470 x 440 x t30 Al Applicable Servo Drives R88D GT15H GTS30H GT50H GT50H me a 135x104 4 7x10 4 47x104 47x 10 4 Excitation voltage 4 V 24 VDC 10 Power consumption 20 0 Current consumption J J Allowable total work 2 9 x 106 Allowable angular alee acceleration 10 000 000 operations Continuous Insulation grade Type F 3 43 Approx 39 5 Approx 45 amp D S
166. 5 mH n 3G3AX AL2220 67 0 A 0 18 mH Approx 10 0 kg Reactor 9 3 A 10 0 A 3 51 mH 2 8 mH 1 6 kg 2 8 kg Reactor type Single phase Single phase Single phase Single phase Single phase Three phase Three phase Three phase Three phase 3 131 Specifications Chapter 4 System Design 4 1 Installation Conditions eeneioe n 4 1 SENO DIVOSE ete ee eee eee ee ere ee 4 1 SETVOMMORO IS sree ee re ee gee cutis ala cua site 4 3 DececleratorSrAawsieihataceni E e E neem 4 7 AE ZENNI A ao A ee ee ON E ree 4 11 Connecting Cables nor ses a a a ene eee eats 4 11 Selecting Connecting Cables cccccccccssssseeeeeeeseeeeeseaeees 4 12 Peripheral Device Connection Examples c 0ccccseeeee 4 17 Main Circuit and Servomotor Connections cceeee 4 21 4 3 Wiring Conforming to EMC Directives 4 27 AVAL T GTO Wl WIS nels Perea tate teen asain ety A S 4 27 Selecting Connection COMPONENNS cccccsecceeeeeeeeeeeeeees 4 32 4 4 Regenerative Energy Absorption 0008 4 45 Calculating the Regenerative Energy cccsseseeeeseeeeeees 4 45 Servo Drive Regenerative Energy Absorption Capacity 4 48 Absorbing Regenerative Energy with an External Regeneration Resistor Connecting an External Regeneration Resistor 00 4 49 4 1 Installation Conditions 4 1 Installation Conditions S
167. 50A114KOSBL HPG65A204KOSBL HPG65A254KOSBL R88M R88G R88G R88G R88G _ G5K020T HPG50A055KOSBL HPG50A115KOSBL HPG65A205KOSBL HPG65A255KOSBL R88M R88G R88G La G7K515T HPG65A057K5SBL HPG65A127K5SBL 2 47 2 2 External and Mounting Hole Dimensions 1 000 r min Servomotors 1 11 1 21 1 33 Motor model 1 5 1 12 for flange size 1 20 for flange size 1 25 for flange size No 65 No 65 No 65 R88M R88G R88G R88G R88G G90010T HPG32A05900TBL HPG382A11900TBL HPG50A21900TBL HPG50A33900TBL 1 R88G R88M R88G R88G R88G HPG65A255KOSBL G2K010T HPG32A052KOTBL HPG50A112KOTBLI HPG50A212KOTBL Also used with R88M G5K020T R88G R88G R88G R88G R88M HPG50A055KOSBL HPG50A115KOSBL HPG65A205KOSBL HPG65A255KOSBL G3K010T Also used with R88M Also used with R88M Also used with R88M Also used with R88M G5K020T G5K020T G5K020T G5K020T R88M R88G HPG65A127K5SBL R88G G4K510T HPG50A054K5TBL Also used with R88M HPG65A204K5TBL R88G R88G R88M HPG65A057K5SBL HPG65A127K5SBL M G6KO10T Also used with R88M Also used with R88M G7K515T G7K515T 2 48 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Decelerator Dimensions E Backlash 3 Max Decelerators for 3 000 r min Servomotors Dimensions mm D D4 DS E FT 5 29 27 22 20 0 39 5 29 27 2 2 sow fe pe
168. 530T R88M G2K030T R88M G3K030T R88M G4K030T R88M G5KO030T R88G HPG11B05100BL R88G HPG11B09050BL Gear ratio 1 9 HPG14A21100BL R88G R88G Also used with HPG14A33050BL HPG14A45050BL R88M G10030L _ Also used with R88M G10030L R88G R88G R88G R88G R88G HPG11B05100BL HPG14A11100BL HPG14A21100BL HPG20A33100BL HPG20A45100BL R88G R88G R88G R88G R88G HPG14A05200BL HPG14A11200BL HPG20A21200BL HPG20A33200BL HPG20A45200BL R88G R88G R88G R88G R88G HPG14A05400BL HPG20A11400BL HPG20A21400BL HPG32A33400BL HPG32A45400BL R88G R88G R88G R88G R88G HPG20A05750BL HPG20A11750BL HPG32A21750BL HPG32A33750BL HPG32A45750BL R88G R88G R88G R88G R88G HPG32A051KOBL HPG32A111KOBL HPG32A211KOBL HPG32A331KOBL HPG50A451KOBL R88G R88G HPG32A052K0BL HPG32A112KOBL R88G Also used with Also used with HPG32A211K5BL R88G HPG50A332K0BL R88G Also used with HPG50A451K5BL R88M G2K030T R88M G2K030T R88G R88G R88G R88G 2 HPG32A052K0BL HPG32A112KOBL HPG50A212KOBL HPGS50A332KOBL1 R88G R88G R88G T HPG32A053KOBL HPG50A113KOBO HPG50A213KOBO R88M G2K030T R88G R88G HPG50A115K0BO HPG32A054KOBL Also used with E R88M G5K030T R88G R88G D HPG50A055KOBL HPG50A115KOBO 2 46 Standard Models and Dimensions imensions Standard Models and D 2 2 External and Mounting Hole Dimensions
169. 58 Pn59 and Pn5A Operating Functions 5 7 5 4 Torque Control 5 4 Torque Control Function e Controls the Servomotor output torque using analog voltage input from the torque command TREF CN1 pins 14 to 17 e You can change the relation between the torque command and output torque using the Torque Command Scale Pn5C setting e The setting procedure depends on the control mode Controller with analog voltage Analog voltage output torque command OMNUC G Series Servo Drive Torque Control Mode Torque Command Scale Pn5C OMRON controllers are not OMNUC G Series i Servomotor available with torque command voltage output Parameters Requiring Settings Pn02 2 or 4 Torque Control Torque Position Switch Control Pn5B 0 Pn5B 1 TREF1 Torque command input Set the gain polar Analog speed limit input To set the gain VLIM ity offset and filter for the torque command offset and filter for the speed limit use pin 14 by using Pn5C Pn5D Pn52 and Pn57 Pn50 Pn52 and Pn57 respectively Torque command input Set the gain and polarity for the torque command by using Pn5C and Pn5D Offsets and filters cannot be used This input is disabled The speed limit will be the No 4 Internally Set Speed Pn56 TREF2 pin 16 Note Servomotor rotation speed in torque control varies according to the Servomotor load conditions e g friction external power inertia Take safe
170. 68 If a composite mode is set the setting of this parameter is valid when the first control mode is used Select the conditions for switching between gain 1 and gain Pn36 Control Gain 2 when the second control mode is used The Gain Switch 5 79 Switch 2 Setting ing Input Operating Mode Selection Pn30 must be set to 1 enabled Note Adjust Pn18 Pn19 and Pn1A with GSEL turned ON according to 7 5 Manual Tuning on page 7 21 The Realtime Autotuning Machine Rigidity Selection Pn22 cannot be applied to gain 2 Set the default values for adjustment referring to the table on page 7 16 5 24 Operating Functions N c O per O 5 LL D per _ Q Q O 5 12 Torque Limit 5 12 Torque Limit Function e The torque output by the Servomotor can be limited e This function is effective in the following cases e Pressing a moving part of a machine such as a bending machine against a workpiece with constant force e Protecting the Servomotor and mechanical system from excessive force or torque e The torque limit method depends on the setting of PnO3 Parameters Requiring Settings Pn03 0 During operation the torque is limited to the torque specified with the analog voltage or the torque set in the parameter whichever is smaller e If a positive voltage between 0 and 10 V is applied to PCL forward torque limit input the torque will be limited for forward operation 3 V 100 e f a negative voltage betw
171. 70 dia 190 145 165 163 122 103 12 0 53 1 33 R88G HPG50A332K0SBL 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A053KOBL 107 133 120 130x130 135 145 115 114 84 98 12 5 35 SRN 1 11 R88G HPG32A112KOSBL 107 133 120 130x130 135 145 115 114 84 98 12 5 35 1 21 R88G HPG50A213KOBL 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 33 R88G HPG50A332K0SBL 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A054KOBL 129 133 120 130x130 135 145 115 114 84 98 12 5 35 3 kW 1 11 R88G HPG50A115KOBL 149 156 170 130x130 190 145 165 163 122 103 12 0 53 1 21 R88G HPG50A213KOSBL 149 156 170 130x130 190 145 165 163 122 103 12 0 53 1 25 R88G HPG65A253K0SBL 1 231 222 230 130x130 260 145 220 214 168 165 12 0 57 Dimensions mm Tap Bone Galea eat ez ez Ae Key dimensions snonson a L 1 5 R88G HPG32A053KOBL 13 40 82 11 M8x18 M6 M10 20 1 11 R88G HPG32A112KOSBL 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 1 kW 1 21 R88G HPG32A211KOSBL 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 1 33 R88G HPG50A332KO0SBL 16 50 82 14 M8x16 M6 70 14 9 15 5 M1
172. 8 x 29 Pn4A 1000 Pn4B e Conversely make the following settings to increase the resolution per rotation and operate with 40 000 pulses rotation 10000 2500 Pn4g x 22 Pn4A 40000 10000 Pn4B Operating Functions The setting ranges for Pn48 Pn49 and Pn4B are from 1 to 10 000 so reduction is required in the settings Calculation Example For a 17 bit encoder e Use the following setting to operate at 5 000 pulses rotation 1 Pn4g x217 Pn4A 5000 Pn4B Related Parameter The main function provided by the parameter related to the electronic gear is given in the following table Parameter Reference Parameter name Explanation No page The command pulses are multiplied by a factor of 2 or 4 when Command Pulse Input using 90 phase difference signal inputs is selected as the in Selection put format for the command pulse in the Command Pulse Mode Pn42 Pn40 5 73 5 17 5 9 Overrun Limit 5 9 Overrun Limit Function e The Servomotor can be stopped with an alarm for an overrun limit error alarm code 34 if the Servomotor exceeds the allowable operating range set in the Overrun Limit Setting Pn26 with respect to the position command input e This can be used to prevent impact on the edges of the machine because of Servomotor oscillation Parameters Requiring Settings Parameter No Parameter name Explanation mo lelence page Set the Servomotor s allowable operating range for Pn26 Overr
173. 8 to 9 mm of the covering from the end of each wire Refer to Terminal Block Wire Sizes on page 4 24 for applicable wire sizes stom 3 Open the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots as follows e Pry the slot open using the lever that comes with the Servo Drive as in Fig A e Insert a flat blade screwdriver end width 3 0 to 3 5 mm into the opening for the screwdriver and press down firmly to open the slot as in Fig B Fig A 4 With the slot held open insert the end of the wire After inserting the wire let the slot close by releasing the pressure from the lever or the screwdriver 5 Mount the Terminal Block to the Servo Drive After all of the terminals have been wired return the Terminal Block to its original position on the Servo Drive 4 26 System Design System Design 4 3 Wiring Conforming to EMC Directives 4 3 Wiring Conforming to EMC Directives Conformance to the EMC Directives EN 55011 Class A Group 1 EMI and EN 61000 6 2 EMS can be ensured by wiring under the conditions described below These conditions are for conformance of OMNUC G Series products to the EMC Directives EMC related performance of these products however depends on the configuration wiring and other conditions of the equipment in which the products are installed The EMC conformance of the system as a whole must be confirmed by the customer The followi
174. 88A CAGA005S Approx 0 3 kg R88A CAGA010S Approx 0 6 kg R88A CAGA015S Approx 0 9 kg 6 2 dia R88A CAGA020S Approx 1 2 kg R88A CAGA030S Approx 1 8 kg R88A CAGA040S Approx 2 4 kg R88A CAGA050S Approx 3 0 kg Servo Drive Servomotor R88D GL lt gt R88M G Wiring Servo Drive Servomotor T re reen Yellow D i i j Servomotor Connector Connector 172159 1 Tyco Electronics AMP KK Connector pins 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK 3 64 Specifications Specifications 3 4 Cable and Connector Specifications 3 65 R88A CAGBLIS Cable Models For 3 000 r min Servomotors of 1 to 1 5 kW 2 000 r min Servomotors of 1 to 1 5 kW and 1 000 r min Servomotors of 900 W Model Length L Outer diameter of sheath 3m R88A CAGBO03S R88A CAGBO005S R88A CAGBO010S 10m R88A CAGB015S 15m R88A CAGBO030S 30 m R88A CAGB040S 40m R88A CAGB050S 50 m Servo Drive R88D GL C1 Wiring Servo Drive Red White Blue Green Yellow Cable AWG14 x 4C UL2463 M4 crimp terminals Weight Approx 0 7 kg Approx 1 0 kg Approx 2 0 kg Approx 2 9 kg 10 4 dia Approx 3 8 kg Approx 5 6 kg Approx 7 4 kg Approx 9 2 kg Servomotor R88M GL Servomotor B Phasev_ D FG Servomotor Connector Straight plug N MS3106B20 4S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics R88A CAGCL S Cable M
175. 88A CRGCLILILIN 1 000 r min Servomotors 900 W to 6 kW 4 12 System Design System Design 4 2 Wiring E Power Cables Standard Cables Select a Power Cable matching the Servomotor to be used Servomotor type 50 to 750 W 3 000 r min S t r min Servomotors ica kw 2 kW 3 to 5 kW 3 000 r min Flat Servomotors 100 to 400 W 1 to 1 5 kW 2 kW 2 000 r min Servomotors 3 to 5kW 1 500 r min Servomotors 7 5 kW 900 W 2 to 4 5 kW 1 000 r min Servomotors 6 kW Power Cables for Servomotors Without Brakes m R88A CAGC R88A CAGD R88A CAGD R88A CAGALILILIS R88A CAGBLILILIS OLIS L L _ ep R88A CAGALILILIS R88A CAGBLILILIS R88A CAGCLILILIS L ep R88A CAGELILILIS R88A CAGBLILILIS R88A CAGDUILILIS R88A CAGELILILIS Power Cables for Servomotors With Brakes R88A CAGALILILIS For Power Co R88A CAGAL nnector LIB R88A CAGCL 5 For Brake Connector R88A CAGBLILILIB IB R88A CAGDL T B R88A CAGCL I 5 R88A CAGALILILIS For Power Connector R88A CAGALILILIB For Brake Connector R88A CAGBLILILIB IB R88A CAGDL 1 5 IB R88A CAGEL 5 LIS For Power Co R88A CAGEL 5 nnector LIB R88A CAGEL 5 For Brake Connector R88A CAGBLILILIB R88A CAGDLILILIB LIS For Power Co R88A CAGEL Z
176. 88M GO Wiring Servo Drive Servomotor B Brake Servomotor Connector Connector 172157 1 Tyco Electronics AMP KK Connector pins 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK M4 crimp terminals Cable AWG20 x 2C UL2464 3 79 3 4 Cable and Connector Specifications R88A CAGEL B Cable Models For 1 500 r min Servomotors of 7 5 kW and 1 000 r min Servomotors of 6 kW Model Length L Outer diameter of sheath Weight R88A CAGE003B Approx 0 2 kg R88A CAGE005B Approx 0 3 kg R88A CAGE010B m Approx 0 5 kg R88A CAGE015B m Approx 0 7 kg 5 4 dia R88A CAGE020B m Approx 0 9 kg R88A CAGE030B m Approx 1 3 kg R88A CAGE040B m Approx 1 7 kg R88A CAGE050B m Approx 2 1 kg Connection Configuration and Dimensions Servo Drive Servomotor R88D G gt R88M G Wiring Servo Drive Servomotor Cable AWG20 x 2C UL2464 B Brake M4 crimp terminals Servomotor Connector Straight plug N MS3106B14S 2S Japan Aviation Electronics Cable clamp N MS3057 6A Japan Aviation Electronics 3 80 Specifications Specifications 3 4 Cable and Connector Specifications E Brake Cables Robot Cables 3 81 R88A CAGAL IBR Cable Models For 3 000 r min Servomotors of 50 to 750 W and 3 000 r min Flat Servomotors of 100 to 400 W R88A CAGA003BR Approx 0 1 kg R88A CAGAO05BR Approx 0 2 kg R88A CAGA010BR Approx 0 4 kg R88A
177. 8M GP10030S BL R88M GP10030T BL R88M GP20030L B R88M GP20030H BL R88M GP20030S BL R88M GP20030T BL R88M GP40030L B R88M GP40030H BL R88M GP40030S BL R88M GP40030T BL lero co op a on O1 O1 O1 E Le Motor connector Dimensions of shaft end with key and tap QK E 3 7 43 4 5 12 5 3h9 aso 6 l espe os eet lt T O 0 O N S O1 O1 OR o1 a O 8 O z R 00 10 on Ol h Co lt gt Co O saree oo O1 O Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 39 2 2 External and Mounting Hole Dimensions 2 000 r min Servomotors 1 kW 1 5 kW R88M G1K020T S2 G1K520T S2 G1K020T B S2 G1K520T B S2 REE Servomotor brake connector ii m ease Dimensions of shaft end Encoder 2 with key and tap connector i ee 45 S a aa ine F a ve M5 depth 12 Dimensions mm Model T R88M G1K020L 150 R88M G1K520L tae R88M G1K020L1 BL R88M G1K520L1 BL 200 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number m 2 000 r min Servomotors 2 kW 3 kW R88M G2K020T S2 G3K020T S2 G2K020T B S2 G3K020T B S2 ENJ
178. 9 3 5 Servo Relay Units and Cable Specifications 3 99 Servo Relay Units Specifications ccccccsseeeeeseeeeeeseeeeees 3 99 Servo Drive Servo Relay Unit Cable Specifications 3 112 Position Control Unit Servo Relay Unit Cable SPECIICATOMS E a A E a AN 3 116 3 6 Parameter Unit Specifications cce 3 129 3 7 External Regeneration Resistor SPCCHICANOMS ce E a cee eee te toe 3 130 External Regeneration Resistor Specifications 006 3 130 3 8 Reactor Specifications aae e 3 131 Specifications 3 1 Servo Drive Specifications 3 1 Servo Drive Specifications Select the Servo Drive matching the Servomotor to be used For details refer to Servo Drive Servomotor Combinations on page 2 5 The same OMNUC G Series Servo Drive can be used for either a pulse string input or analog input You can change the control mode according to the Controller The default setting is for position control with pulse string commands General Specifications ltem Specifications Ambient operating temperature and operating humidity Ambient storage temperature and storage humidity Storage and operating atmosphere O to 55 C 90 RH max with no condensation 20 to 65 C 90 RH max with no condensation No corrosive gasses Smaller of either 10 to 60 Hz with double amplitude of 0 1 mm or acceleration of a 5 88 m s2 max in X Y and Z directions Impact resistance Accelerati
179. A A gt A A A O O U O Q Q 0J j CO 0 CO N ee ee ee ee aa When using the Servomotor in an environment where the Servomotor shaft will be exposed to oil select a Servomotor with an oil seal Precautions Keep the oil level below the oil seal If there is no oil at all on the oil seal the oil seal which is made of rubber will be glazed Use the Servomotor in an environment with a suitable amount of oil Install the Servomotor so that oil does not accumulate around the oil seal 4 1 Installation Conditions E Other Precautions e Take measures to protect the shaft from corrosion The shafts are coated with anti corrosion oil when shipped but anti corrosion oil or grease should also be applied when connecting the shaft to a load ANAVNSINING Do not apply commercial power directly to the Servomotor Doing so may result in fire Do not dismantle or repair the product Doing so may result in electric shock or injury System Design System Design 4 1 Installation Conditions Decelerators E Installing Decelerators Installing an R88G HPGL1L _ Backlash 3 Max Use the following procedure to install the Decelerator on the Servomotor 1 Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap 2 Apply sealant to the installation surface on the Servomotor recommended sealant Loctite 515 3 Gently insert the Servomotor into
180. AC input R88M G90010T 100 W R88M G2K010T 2 kW R88M GS3KO010T 3 kW N m Nm 50 441 5 41 5 1600 Nm 70760 60 1350 Repetitive usage 34 9 Repetitive usage N 38 254119 1 19 1 351128 4 28 4 Continuous usage 9 5 Continuous usage 0 1000 2000 r min 0 1000 2000 r min 0 1000 2000 r min R88M G4K510T 4 5 kW R88M G6K010T 6 kW 130 130 1500 101 101 1300 N m 100 N m 100 Repetitive usage Repetitive usage 57 2 57 2 71 504142 9 42 9 40 50 Continuous usage Continuous usage 0 1000 2000 r min 0 1000 2000 r min 3 44 Specifications 3 2 Servomotor Specifications Precautions l for Correct Use Using outside of these ranges may cause the Servomotor to generate heat which could result in encoder malfunction R88M G4K510 R88M G6K010T 4 5 kW Without Oil Seal 6 kW With Oil Seal Without brake Without brake Rated Torque Rated Torque With brake With brake Ambient temperature Ambient temperature N O O O Q Q V E Temperature Characteristics of the Servomotor and Mechanical System e OMNUC G Series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s maximum momentary torque increases and as the temperature rises the Servomotor s maximum momentary torque decreases e The
181. AGE003S bea R88A CAGE005S one 1 500 r min Servomotors of 7 5 kW 1 000 r min Servomotors of 6 kW Note There are separate connectors for power and brakes for 3 000 r min Servomotors of 50 to 750 W Flat Servomotors and Servomotors of 6 kW or higher Therefore when a Servomotor with a brake is used it will require both a Power Cable for a Servomotor without a brake and a Brake Cable 2 16 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models E Brake Cables Standard Cables Specifications 3 000 r min Servomotors of 50 to 750 W 3 000 r min Flat Servomotors of 100 to 400 W 1 500 r min Servomotors of 7 5 kW 1 000 r min Servomotors of 6 kW 2 17 Model 3m R88A CAGA003B 5m R88A CAGA005B 10m R88A CAGA010B 15m R88A CAGA015B 20m R88A CAGA020B 30m R88A CAGA030B 40m R88A CAGA040B 50m R88A CAGA050B 3m R88A CAGE003B 5m R88A CAGE005B 10m R88A CAGE010B 15m R88A CAGE015B 20m R88A CAGE020B 30m R88A CAGE030B 40m R88A CAGE040B 50m R88A CAGE050B 2 1 Standard Models E Encoder Cables Robot Cables Specifications Model 3m R88A CRGAO003CR 5m R88A CRGAO005CR 10m R88A CRGA010CR 3 000 r min Servomotors of 50 to 750 W with an absolute encoder 15m R88A CRGA015CR 3 000 r min Flat Servomotors of 100 to 400 W 20m R88A CRGA020CR with an absolute encoder 30m R88A CRGA030CR 40m R88A CRGA040CR 50m R88A CRGA050CR 3m R88A CRGBOO3
182. ALILILICR 45 mm R88A CAGAMHEHCR 1 50 mm R88A CAGBLILILICR 45 mm R88A CAGB EHEHECR 1 50 mm R88A CAGCULILICR 45 mm R88A CAGCHHEHECR 1 50 mm LIL 003 to 020 HHH 030 to 050 Power Cables for Servomotors without Brakes Model Minimum bending radius R R88A CAGALILILISR 45mm R88A CAGBLILILISR 90 mm R88A CAGCLILILISR 90 mm R88A CAGDLILI_LISR 100 mm OLLI 003 to 050 Power Cables for Servomotors with Brakes Model Minimum bending radius R Power cable 90 mm R88A CAGBLILILIBR Brake Cables 45mm Power cable 90 mm R88A CAGCLILILIBR Brake Cables 45 mm Power cable 100 mm R88A CAGDLILILIBR Brake Cables 45 mm OLI 003 to 050 3 82 Specifications Specifications 3 4 Cable and Connector Specifications Brake Cables Minimum bending radius R R88A CAGALILILIBR OCLI 003 to 050 Moving Bend Test Stroke 750 mm VALLI iy X I NZ i AN 2222 rad hae Bending radius R NAA Pari X Lya l Y 1 Encoder cable 30 to 50 m only Stroke 550 mm 50 times min 30 times min 3 83 3 4 Cable and Connector Specifications Communications Cable Specifications Computer Monitor Cable Cable Models Cables for RS 232 Communications Model Length L Outer diameter of sheath Weight R88A CCG002P2 Approx 0 1 kg Connection Configuration and Dimensions 38 2000 4 Servo Drive FEEL R88D G C Personal computer lt
183. Amount of Internal Regeneration Absorption in Servo Drives The OMNUC G Series Servo Drives absorb regenerative energy internally with built in capacitors If the regenerative energy is too large to be processed internally an overvoltage error occurs and operation cannot continue The following table shows the regenerative energy and amount of regeneration that each Servo Drive can absorb If these values are exceeded take the following measures e Connect an External Regeneration Resistor to improve the regeneration processing capacity e Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed e Lengthen the deceleration time to decrease the regenerative energy produced per time unit e Lengthen the operation cycle i e the cycle time to decrease the average regeneration power Regenerative Internal regeneration resistance Marianna ic Average amount of regeneration that can of regeneration Resis resistance tance Q Q energy J that can Servo Drive be absorbed by internal capacitor et be absorbed W R88D GT75H 250 Note These are the values at 100 VAC for 100 VAC models and at 200 VAC for 200 VAC models 4 48 System Design System Design 4 4 Regenerative Energy Absorption Absorbing Regenerative Energy with an External Regeneration Resistor If the regenerative energy exceeds the absorption capacity of the Servo Drive conn
184. B Phasew exo GreenYellow E Ground M4 crimp terminals D Ground Cable AWG20 x 2C UL2464 Cable AWG14 x 4C UL2501 Servomotor Connector Straight plug N MS3106B20 18S gt R88M GL Weight Approx 0 9 kg Approx 1 5 kg Approx 2 8 kg Approx 4 2 kg Approx 5 5 kg Approx 8 2 kg Approx 10 9 kg Approx 13 6 kg Servomotor Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 76 Specifications Specifications 3 4 Cable and Connector Specifications R88A CAGCL IBR Cable Models For 3 000 r min Servomotors of 2 kW and 2 000 r min Servomotors of 2 kW R88A CAGC003BR Approx 0 9 kg R88A CAGCO05BR R88A CAGCO010BR R88A CAGCO015BR Approx 4 2 kg R88A CAGCO20BR peat Approx 5 5 kg R88A CAGCO030BR Approx 8 2 kg R88A CAGC040BR R88A CAGCO50BR Connection Configuration and Dimensions Approx 1 5 kg Approx 2 8 kg Approx 10 9 kg Approx 13 6 kg Servo Drive Servomotor R88D G gt R88M GL Wiring Servo Drive Servomotor a u ODE on Mite Or hes us C2 a 1 Phase V_ Oe B Phase W_ OC Green Yellow 15 Ground Cable AWG20 x 2C UL2464 Crimp terminals Cable AWG14 x 4C UL2501 Servomotor Connector Straight plug N MS3106B20 18S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 77 3 4 Cable and Connector Specifications R88A CAGD_ IBR Cable Models For 3 000 r min Servom
185. BIBR BIBI BR BiB CO C0 100 1d 100 109 109 G9 109 G0 PO DO PO DO DO DODO DO PO ft N gt N alalwln Z Connector socket XG4M 5030 OMRON 7 Strain relief XG4T 5004 GrayRed 5 B OMRON 9 50 O O Orange Black Cable U hell S FG O AWG28 x 25P UL2464 3 95 3 4 Cable and Connector Specifications E Connector Terminal Block Conversion Unit The Connector Terminal Block Conversion Unit can be used along with a Connector Terminal Block Cable XW2Z L J B24 to convert the Servo Drive s control I O connector CN1 to a terminal block XW2B 50G4 M3 screw terminal block 49 ph EEEESEET LL ESES ES See oes od mm I C aa e Use 0 30 to 1 25 mm wire AWG22 to AWG16 Precautions Sa l for Correct Use e The wire inlet is 1 8 mm height x 2 5 mm width e Strip the insulation from the end of the wire for 6 mm as shown below 3 96 Specifications 3 4 Cable and Connector Specifications Specifications 3 97 XW2B 50G5 M3 5 Screw Terminal Block dimensions 43 5 45 3 e When using crimp terminals use crimp terminals with the following Precautions for Correct Use e When connecting wires and crimp terminals to a terminal block tighten Round Crimp Terminals 3 7 mmM dia them with a tightening torque of 0 59 N m Fork Terminals i F 6 8 mm max 3 7 mm 6 8 mm max Applicable Crimp Term
186. CR 5m R88A CRGBOO5CR 10m R88A CRGBO10CR 3 000 r min Servomotors of 50 to 750 W with an incremental encoder 15m R88A CRGBO15CR 3 000 r min Flat Servomotors of 100 to 400 W 20m R88A CRGBO020CR with an incremental encoder 30m R88A CRGBO30CR 40m R88A CRGBO040CR 50m R88A CRGBO50CR 3m R88A CRGCOO3NR 5m R88A CRGCOO5NR 10m R88A CRGCO10NR 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW 15m R88A CRGCO1SNR 1 500 r min Servomotors of 7 5 kW 20m R88A CRGCO20NR 1 000 r min Servomotors of 900 W to 6 kW 30m R88A CRGCO30NR 40m R88A CRGCO40NR 50m R88A CRGCO50NR 2 18 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models E Servomotor Power Cables Robot Cables Specifications 3 000 r min Servomotors of 50 to 750 W 3 000 r min Flat Servomotors of 100 to 400 W lt O Q D For Servomotor without brake R88A CAGA003SR 5m R88A CAGAO05SR 10m R88A CAGA010SR 15m R88A CAGA015SR 20m R88A CAGA020SR 30m R88A CAGA030SR 40m R88A CAGA040SR 50m R88A CAGA050SR 3m 3m 5m 10m 3 000 r min Servomotors of 1 to 1 5 kW 15m 2 000 r min Servomotors of 1 to 1 5 kW 1 000 r min Servomotors of 900 W 20m 30 m 40m 50 m 3m 5m 10 m 3 000 r min Servomotors of 2 kW 15m 2 000 r min Servomotors of 2 kW 20 m 30 m 40m 50 m 3m 5m 10 m 3 000 r min Servomotors of 3 to 5 kW 15m 2 000 r min Servomotors of 3 to 5 kW
187. Cat No 1562 E1 03 OMRON M N U C G SERIES R88M GL AC Servomotors R88D GTL AC Servo Drives AC SERVOMOTORS SERVO DRIVES Trademarks and Copyrights e Product names and system names in this manual are trademarks or registered trademarks of their respective companies OMRON 2008 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permis sion of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the informa tion contained in this publication Introduction Introduction Thank you for choosing the OMNUC G Series This Users Manual describes installation wiring methods and parameter setting procedures required for the operation of the OMNUC G Series as well as troubleshooting and inspection methods Intended Readers This manual is intended for the following personnel Those with knowledge of electrical syste
188. Check the voltage at the power supply input terminals Main circuit Power Supply Input Terminals L1 L2 and L3 R88D GTLIL 50 W to 400 W Single phase 100 to 115 VAC R88D GTLJH 100 W to 1 5 kW Single phase 200 to 240 VAC 750 W to 1 5 kW Three phase 200 to 240 VAC 2 kW to 7 5 kW Three phase 200 to 230 VAC Control Circuit Power Supply Input Terminals L1C and L2C R88D GTLIL 50 W to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D GTLIH 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 kW to 7 5 kW Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz If the voltage is outside of this range there is a risk of operation failure so be sure that the power supply is correct 85 to 127 V 50 60 Hz 170 to 264 V 50 60 Hz 170 to 264 V 50 60 Hz 170 to 253 V 50 60 Hz ZO NZ N A e Check the voltage of the sequence input power supply 24 VIN Terminal CN1 pin 7 Within the range of 11 to 25 VDC If the voltage is outside of this range there is a risk of operation failure so be sure that the power supply is correct E Checking Whether an Alarm Has Occurred e Evaluate the problem using the 7 segment LED display on the front panel and using the operation keys You can also evaluate the problem by using the R88A PRO2G Parameter Unit e When an alarm has occurred Check the alarm code that is displayed ULI and evaluate the problem based on the alarm that is indicated e When
189. Command Input Overflow Level Setting PN71 cccccecseseeeeeeeeees 5 92 speed COMMON zeskan a RAA EA A 5 3 speed control mode adjustment ccceeeeeeeeeees 7 24 Speed Feedback Filter Time Constant Pn13 5 60 Speed Feedback Filter Time Constant 2 Pn1B 5 61 speed IMi rrsan r E 5 29 Speed Limit Input VLIM ccceccseeeeeeeeeeeeeeeeeees 3 12 speed limit VAIUCS cceeeceeceseeeeceeeeeeesseeesseeeeenaness 7 25 Speed Loop Gain PN11 cccccccsssseeeeseeeeeeeeseees 5 59 Speed Loop Gain 2 PN19 ccceccccseeeeeeeeeeeeeeeennes 5 60 Speed Loop Integration Time Constant Pn12 5 59 Speed Loop Integration Time Constant 2 Pn1A 5 61 Stop Selection for Alarm Generation Pn68 5 88 Stop Selection for Drive Prohibition Input Pn66 5 87 Stop Selection with Main Power OFF Pn67 5 88 Stop Selection with Servo OFF Pn69Q 00 5 89 SUEGE ADS OMDCIS tasciniesiacsep ici tra ecccstioousvicedentyee hades 4 34 surge SUD PICSS OMS aiie aai Ea A 4 39 Switching the Control MOde ccceeeeeseeeeeeeeeeeees 5 11 system block CGiAGrAMS ccsecccsseceeeeeeeeeeeeeeesaaeeess 1 5 system CONFIQUIATION cece eee eee cece tee eee ee ea teeeeeeeeee 1 2 T terminal block wire SIZES cccceeseeeeeeeeeeeeeeeeesaaees 4 24 terminal block wiring s sssssssesssseerrseserrrrsereresesrrrren 4 26 Torque Comman
190. Controllers e CJU1M CPU21 CPU22 CPU23 for 2 axes Dimensions X axis Servo Y axis Servo CJ1M CPU21 22 23 connector Drive connector Drive connector 3 5 180 _ B5 7 7 I LO xf f Two 3 5 dia p i o al lt wa e Terminal Block pitch 7 62 mm 3 105 3 5 Servo Relay Units and Cable Specifications Wiring The Servo Drive phase Z output signal is wired to the origin proximity signal in this Terminal Block 3 3 X axis X axis X axis X axis X axis Y axis Y axis Y axis Y axis Y axis 24V IN6 origin al lane IN8 INQ origin 39 pew mel oroximity RUN MING ALM BKIR rimit RUN MING ALM BKIR O V Common Common Common Common Common Common AARIS Panis Common Common Common Common f Common aN lees FG RESET ALMCOM RESET ALMCOM X axis Y axis Y axis CW limit CCW limit CW limit CCW limit CIO CIO CIO CIO 2960 06 2960 07 1 2960 08 2960 09 1 1 24 VDC 1 CW and CCW limit input signals can also be input through Input Units The bits for the CW CCW limit inputs in the CJ1M are as follows CW A540 08 CCW A540 09 for pulse output 0 and CW A541 08 CCW A541 09 for pulse output 1 For example the flag for the CW limit input A540 08 can be controlled with an output from the ladder diagram using a bit allocated to the actual input CIO 2960 06 on the Input Unit as shown below Exa
191. Countermeasures The torque command is Check if the torque command input Correctly set the torque disabled procedure is correct command e Input the pulse signal ei ther to the CW Input or The Servomotor does not rotate even if The CW Input and CCW CCW Input to the pulse commands are Input are ON atthe same Check the command pulse s wiring signal input from the time e Always turn OFF the ter Controller minal that is not being input to Servo Drive is faulty UU Replace the Servo Drive The Servomotor The onn R Power Check the wiring of the Servomotor Wirecoireci operates Cable is wired onn R Power Cable s phases U V and W y momentarily but then it does not The Encoder Cableiswired Check the Encoder Cable s wiring Wire correctly operate after that incorrectly Set the correct command The Servomotor The command pulse input Check ine command pulse ype Sae input rotates withouta iS Incorrect Check the command pulse s Connect a resistor that command voltage matches the voltage Servo Drive is faulty a n Replace the Servo Drive Connect the CW pulse signal Check the command Check the command pulse ype type The Servomotor rotates in the The CW input and CCW Check the Controllers command aa ee to the CW Input and the opposite direction input connections are pulse type and the Servo Drive s CCW pulse signal to the from the reversed command pulse type CCW Inp
192. EMC Directives on page 4 27 UL and CSA Standards UL AC Servo Drive UL 508C E179149 Power conversion equipment standard AC Servomotor 1 UL1004 E179189 Electric motor a AC Servomotors CSA22 2 No 100 E179189 Motor and generator standard 1 UL approval is pending for Servomotor capacities of 6 to 7 5 kW Features and System Configuration Chapter 2 Standard Models and Dimensions 2 1 Standardi Models Taraa a a A ae 2 1 SENVODIVECS ATETEA E T E T E E T rete 2 1 DCTVOMIOLO LS ee eee saat cae eae catia Baar ela 2 2 Servo Drive Servomotor Combinations ccceeeeeeeeeeeeees 2 5 DeceleratOrS reine tenn aes Nap mies men A ai an Bagh nent Aas ietor Mean ae 2 7 ACCeESSOTFIES AN Cables aa a 2 14 2 2 External and Mounting Hole Dimensions 2 25 SEVO DIVOS a E E tater tn ane 2 25 SEVOMOIOrS e e e E E hearty E E S 2 35 Parameter Unit Dimensions ccccccseceeeeeeeeeeeeteeeeeeeaeees 2 45 Servomotor and Decelerator Combinations 0 cc008 2 46 Decelerator DIMENSIONS cccceeeceeeceeeceeeeeeeeeeeeueeeeetaeeees 2 49 External Regeneration Resistor Dimensions 000008 2 63 REACIOMO IMC MASONS ani eaee te cone a mene a ON 2 64 2 1 Standard Models 2 1 Standard Models Servo Drives Specifications Model 50 W R88D GTA5L 100 W R88D GTO01L Single phase 100 VAC 200 W R88D GT02L 400 W R88D GT04L 50 W R88D GT01H 100 W Single phase 200 VAC 20
193. F for contactor welding we recommend using two magnetic contactors MC Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes The brake is not affected by the polarity of the power supply Connect B2 B3 for the models with a built in regeneration resistor GT20H to GT50H If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 mE R88D GT75H RST 4 2 Wiring Three phase 200 to 230 VAC 50 60 Hz agao E aes NFB Y dO 1 2 3 Noise filter E NF S Main circuit power supply L o 3 OFF ON 1MC 2MC Ground to 100 Q or less ea a ee X 1MC 2MC X OMNUC G Series AC Servo Drive i ps pac 1 wo SWIC ae nce OO T L1 Reactor pf oe L3 Regeneration _ Bt resistor an ee i FN FAN Stop 24 VDC O36 ALMCOM User control 2 device Control Cable Encoder Cable 24 VDC xB Main circuit contactor 1 4 Surge killer 1 Servo error display OMNUC G Series AC Servomotor Power Cable System Design Ground to 100 Q or less 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives Also to ensure safety i e to ensure that the power supply can be shut OFF for contactor welding we recommend using tw
194. F name setting range ON changes in load inertia during operation Realtime autotuning is used in vertical axis mode Use this setting if there are sudden changes in load inertia during operation Set to use realtime autotuning without switching the gain Set the machine rigidity to one of 16 levels during re Realtime altime autotuning Autotuning The higher the machine rigidity the greater the setting Machine Rigidity needs to be Selection The higher the setting the higher the responsiveness When the Parameter Unit is used 0 cannot be set mode Use this setting if there are gradual Oto F 22 Set the operating mode for realtime autotuning Oo Realtime autotuning is not used Realtime autotuning is used in normal mode 1 Use this setting if there are almost no chang es in load inertia during operation Realtime autotuning is used in normal mode 2 Use this setting if there are gradual changes in load inertia during operation Realtime autotuning is used in normal mode 3 Use this setting if there are sudden changes peailling in load inertia during operation Autotuning J OP i Mode Selection Realtime autotuning is used in vertical axis 4 mode Use this setting if there are almost no changes in load inertia during operation 0 to 7 Realtime autotuning is used in vertical axis Enable or disable the adaptive filter pO Adaptive filter disabled Adaptive Filter Adaptive filter enabled Adapti
195. Flange Size Number 11B 40 14A _J60 20A L190 32A 1120 50A 1170 65A 1230 Gear Ratio 05 21 5 09 1 9 only frame number 11A 11 1 11 except frame number 65A 12 1 12 only frame number 65A 20 1 20 only frame number 65A 21 1 21 except frame number 65A 25 1 25 only frame number 65A 33 71 33 45 1 45 Applicable Servomotor Capacity 050 50 W 100 100 W 200 200 W 400 400 W 750 750 W 900 900 W 1KO 1 kW 1K5 1 5 kW 2KO 2 kW 3KO 3 kW 4KO 4 kW 4K5 4 5 kW 5KO 5 kW 6KO 6 kW 7K5 7 5 kW Motor Type Blank 3 000 r min cylindrical Servomotors P flat Servomotors S 2 000 r min Servomotors T 1 000 r min Servomotors Backlash B 3 max Option Blank Straight shaft J With key and tap 13 Items to Check When Unpacking E Understanding Decelerator Model Numbers Backlash 15 Max R88G VRSF09B100PCJ ee Decelerator for G Series Servomotors Backlash 15 Max Gear Ratio 05 1 5 09 1 9 15 1 15 25 1 25 Flange Size Number B L152 C L178 D 198 Applicable Servomotor Capacity 050 50 W 100 100 W 200 200 W 400 400 W 750 750 W Motor Type Blank 3 000 r min cylindrical Servomotors P flat Servomotors Backlash C 15 max Option J With key 14 About This Manual About This Manual This manual consists of the following chapters Refer to this table and chose the required chapters of the manual
196. If no measurement device is available use CX Drive data tracing function and read the residual vibration frequency Hz from the position deviation waveform as shown in the following figure e The following gives the vibration frequency in the Command lt Position deviation figure speed Calculation of 1 vibration frequency f Hz T s Pn2B Pn2D 10 xf e Example When the vibration cycle is 100 ms and 20 ms the vibration frequency is 10 Hz and 40 Hz therefore set Pn2B 100 Pn2D 400 Vibration cycle T 2 Setting the Vibration Filter Filter 1 Pn2C Filter 2 Pn2E First set the Vibration Filter Pn2C Pn2E to 0 The stabilization time can be reduced by setting a large value however torque ripple will increase at the command change point as shown in the following figure Set a range that will not cause torque saturation under actual operation conditions The effects of vibration suppression will be lost if torque saturation occurs Vibration filter Vibration filter setting too large setting appropriate Torque saturation we Torque command e The vibration filter setting is restricted by the following equation 10 0 Hz Vibration frequency lt Vibration filter setting lt Vibration frequency 3 Set the Vibration Filter Selection Pn24 Vibration filters 1 and 2 can be switched according to the conditions of the machine vibration Pn24 Switching mode 0 No switching 1 and 2 bot
197. Incorrect data may be written if the power supply is turned OFF If the power supply is turned OFF perform the settings again for all parameters and write the data again Do not disconnect the Parameter Unit from the Servo Drive during the time from writing start Start to writing completion Finish or Reset If the Parameter Unit is disconnected repeat the procedure from the beginning Precautions for Correct Use 6 19 6 4 Setting the Mode Normal Mode Autotuning For details on normal mode autotuning refer to Normal Mode Autotuning on page 7 16 This section describes only the operating procedure 1 Displaying Normal Mode Autotuning Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key three times to display Normal Mode Autotuning 2 Executing Normal Mode Autotuning Key operation Display example Explanation Press the Data key to enter Normal Mode Autotuning Press and hold the Increment key until Start is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase The Servomotor will start and normal mode autotuning will begin This display indicates a normal completion Error will be displayed if a tuning error has occurred 3 Returning to Normal Mode Autotuning Key operation Display exa
198. LE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Read and Understand This Manual Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to i
199. 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 OMRON ELECTRONICS LLC e THE AMERICAS HEADQUARTERS Schaumburg IL USA e 847 843 7900 800 556 6766 www omron247 com OMRON CANADA INC HEAD OFFICE OMRON ARGENTINA e SALES OFFICE Toronto ON Canada 416 286 6465 866 986 6766 www omron247 com Cono Sur 54 11 4783 5300 OMRON ELETR NICA DO BRASIL LTDA HEAD OFFICE OMRON CHILE SALES OFFICE S o Paulo SP Brasil e 55 11 2101 6300 www omron com br Santiago 56 9 9917 3920 OMRON ELECTRONICS MEXICO SA DE CV e HEAD OFFICE OTHER OMRON LATIN AMERICA SALES Apodaca N L e 52 811 156 99 10 001 800 556 6766 mela omron com 54 11 4783 5300
200. M Numerator 2 Pn49 selected e The gear ratio is set using the following equations If the numerator equals 0 the following value is set automatically Numerator Pn48 or Pn49 x 2 44 Encoder resolution In this case the number of command pulses per revolution can be set in Pn4B Electronic gear ratio SE C Number of command pulses per Servomotor rotation Pn4B If the numerator does not equal 0 the gear ratio is as follows Electronic gear ratio numerator exponent Pn4A l Electronic gear ratio numerator Pn48 or Pn49 x 2 Electronic gear ratio Electronic gear ratio denominator Pn4B The upper limit of the calculated numerator Pn48 or Pn49 x 2 44 is 4 194 304 Pn4D setting 1 5 77 5 16 User Parameters Pn4C Position Command Filter Time Constant Setting Explanation of Settings Setting Explanation 0 No filter 1 Time constant 0 2 ms 2 Time constant 0 6 ms 3 Time constant 1 3 ms 4 Time constant 2 6 ms 5 Time constant 5 3 ms 6 Time constant 10 6 ms 7 Time constant 21 2 ms e The position command filter is the first order lag filter for the command pulse input e The time constant of the position command filter can be set to one of eight values e The position command filter can be used for the following e f the command pulses change abruptly the filter can be used to reduce the stepping movement of the Servomotor e The following are examples of when the command pu
201. Note The time constant will be as follows according to the setting of Pn4C Pn4C Time constant ms 0 Disabled 0 2 0 6 1 3 2 6 5 3 10 6 21 2 NI O1 A O N 5 28 Operating Functions Operating Functions 5 15 Speed Limit 5 15 Speed Limit Function e This function limits Servomotor rotation speed when torque control is used e Set a limit so that the Servomotor rotation speed does not exceed the maximum speed of the mechanical system e Outside of the speed limit range a torque in proportion to the difference from the speed limit value is generated to slow down the Servomotor rotation speed In such cases the number of Servomotor rotations does not necessarily match the speed limit value The number of Servomotor rotations varies depending on the load e There are two methods that can be used for limiting the speed e Apply a constant fixed speed limit in Torque Control Mode parameter settings The speed is limited using the No 4 Internally Set Speed Pn56 e Limit the speed with an analog voltage Use the Speed Command Input REF as an Analog Speed Limit Input VLIM Parameters Requiring Settings Limiting the Speed to a Constant Speed in Torque Control Mode e The speed will be limited according to the following parameter setting if the Torque Command Speed Limit Selection PN5B is set to O Parameter No Explanation Reference page Pn56 No 4 Internally Set the speed limit when torque
202. OMMO filter actual conditions of use Servo motor current Servo motor gt Realtime autotuning Servo Drive Precautions e The adaptive filter operates under the following conditions for Correct Use Conditions under which the adaptive filter operates Control mode e The control mode is not torque control e The adaptive filter may not operate correctly under the following conditions If it does not take measures against resonance by following the manual adjustment procedure using Notch Filter 1 Pn1D 1E or Notch Filter 2 Pn28 to 2A e Refer to Machine Resonance Control on page 7 30 for details on notch filters e Adaptive filter may not operate correctly under the following conditions Conditions under which the adaptive filter does not function properly e f the resonance frequency is 300 Hz or lower Resonance e f the resonance peak or control gain is low and the Servomotor speed is not af points fected by it e f there are multiple points of resonance e f the Servomotor speed with high frequency components changes due to back pag lash or other non linear elements Command e f the acceleration deceleration suddenly changes i e 3 000 r min or more pattern in 0 1 s E Operating Procedure 1 Set the Adaptive Filter Selection Pn23 to 1 The adaptive filter will be enabled Setting Adaptive filter Adaptive operation 0 Disabled Yes Enabled 2 Yes hold Set the Adapt
203. ON Starts power to Servomotor 3 All Deviation Counter Reset Input Internally Set Speed Selection 2 Deviation counter reset input 4 be Position ON The deviation counter is reset i e cleared Internally set speed selection 2 ON Internally set speed selection 2 is input Speed The control mode can be switched when the Control Mode Alara Rese innui ON Servo alarm status is reset All p Must be ON for 120 ms min All Control Mode Switch Input Pulse Prohibit Input Selection Pn02 is set to 3 to 5 Pulse prohibit input IPG when the Command Pulse Pro hibited Input Pn43 is set to O Position OFF The command pulse is ignored Internally Set Speed Internally set speed selection 1 Speed Selection 1 ON Internally set speed selection 1 is input P 42 awe oe JEA I 7 eono Pin No Symbol 3 1 Servo Drive Specifications mode Backup Battery ABS Input Reverse Pulse input for line driver only Forward Pulse input for line driver only 1 Do not apply a voltage that exceeds 10 V 2 Do not input a command pulse within 10 ms before and after switching 8 Dynamic brake operation and deviation counter clear can be selected using the Stop Selection with Servo OFF Pn69 4 Must be ON for 2 ms min 5 The deviation counter is cleared when the alarm is reset Some alarms cannot be reset with this input Backup battery connector terminals wh
204. Occurs when the power supply is turned ON Occurs when the Servo Drive is turned ON or during operation Occurs during operation 8 3 Troubleshooting Error Status when error occurs Cause Countermeasure e The speed command input is too large e The setting for the Electronic Gear Ratio Numerator Pn48 or Pn49 is not appropriate e The maximum number of rotations is exceeded due to overshooting e The encoder wiring is incorrect e The Overspeed Detection Level Setting Pn73 has been exceeded e The setting for the Electronic Gear Ratio Numerator Pn48 or Pn49 is not appropri ate e The Overrun Limit Setting Pn26 is ex ceeded during opera tion e There are data errors in the parameters that were read e The Servo Drive is faulty e The Forward Drive Prohibit Input POT and Reverse Drive Prohibit Input NOT were both OFF at the same time e The voltage input to pin 14 is too high e Set the command pulse frequency to 500 kpps max e Set Pn48 and Pn49 so that the command pulse frequency is 500 kpps max e Adjust the gain e Reduce the maximum command speed e Correct the wiring e f torque limit switching is used correctly set the allowable operating speed for Pn73 e Set Pn48 and Pn49 so that the command pulse frequency is 500 kpps max e Adjust the gain e Increase the setting for Pn26 e Set Pn26 to 0 to disable the function e Reset
205. Overflow Level Pn70 5 91 Deviation Counter Reset Condition Setting Pn4E 5 79 Deviation Counter Reset Input ECRST 3 13 3 24 Direction Signal SIGN cceceeeeeees 3 12 3 20 3 22 disabling adaptive filter cc eeeeceeeeeeeeeeeeeeeeeeeeees 7 20 disabling realtime autotuning cceeeeeee eee 7 19 disabling the automatic gain adjustment function 7 19 Drive Prohibit Input Selection PnO4 cce 5 53 E EO DIrGCUVES eee eee ee Eee oe 1 10 electr nic GOAN ananena i ai 5 16 Electronic Gear Ratio Denominator Pn4B 5 77 Electronic Gear Ratio Numerator 1 Pn48 5 77 Electronic Gear Ratio Numerator 2 Pn49 5 77 Electronic Gear Ratio Numerator Exponent Pn4A 5 77 Electronic Gear Switch GESEL cccccceseseeeees 3 13 electronic thermal fUNCTION cccecceceeeeeeeeeeeeeeees 8 20 Emergency Stop Torque PNGE ccccceseeeeeees 5 91 encoder cable noise resistance ccccceeeeeeeeeeees 4 40 Encoder Cables emesse E id 3 57 Encoder Cables Robot Cables 2 18 3 60 4 13 Encoder Cables Standard Cables 2 14 3 57 4 12 encoder connector specifications CN2 3 30 encoder Connectors cccceeccceseceeseeeeceuseeeseneeeesaues 3 86 Encoder Divider Denominator Setting Pn45 5 75 Encoder Divider Numerator Setting Pn44
206. PG20A21400PBL R88G HPG32A33400PB11 R88G HPG32A45400PBL Note 1 The standard models have a straight shaft Note 2 Models with a key and tap are indicated with J at the end of the model number the suffix shown in the box Example R88G HPG11B05100PBU 2 11 E Backlash 15 Max 2 1 Standard Models Decelerators for 3 000 r min Servomotors Straight Shaft with Key Specifications Motor capacity 50 W 100 W 200 W 400 W 750 W Gear ratio 1 5 1 9 1 15 1 25 1 5 1 9 1 15 1 25 1 5 1 9 1 15 1 25 1 5 1 9 1 15 1 25 1 5 1 9 1 15 1 25 Model R88G VRSFO05B100CJ R88G VRSFO9B100CJ R88G VRSF15B100CJ R88G VRSF25B100CJ R88G VRSF05B100CJ R88G VRSFO9B100CJ R88G VRSF15B100CJ R88G VRSF25B100CJ R88G VRSFO5B200CJ R88G VRSFO9C200CJ R88G VRSF15C200CJ R88G VRSF25C200CJ R88G VRSF05C400CJ R88G VRSFO9C400CJ R88G VRSF15C400CJ R88G VRSF25C400CJ R88G VRSF05C750CJ R88G VRSFO9D750CJ R88G VRSF15D750CJ R88G VRSF25D750CJ 2 12 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models Decelerators for 3 000 r min Flat Servomotors Straight Shaft with Key Specifications Model Motor capacity Gear ratio 1 5 R88G VRSF05B100PCJ 1 9 R88G VRSFO09B100PCJ 100 W 1 15 R88G VRSF15B100PCJ 1 25 R88G VRSF25B100PCJ 1 5 R88G VRSFO5B200PCJ 1 9 R88G VRSFO9C200PCJ 200 W 1 15 R88G VRSF15C200PCJ 1 25 R88G VRSF25C200PCJ 1 5 R88G VRSFO5C400PCJ 1 9
207. Parameter name l i i a l No without gain values as Gain conditions for Gain 1 switching 1 Pn10 to Pn30 to Pn35 when stopped Pn14 Pn10 Position Loop Gain 60 Pn11 Speed Loop Gain 50 30 Pn12 Speed Loop Integration Time 16 Constant Pn13 Speed Feedback Filter Time 0 Constant onstant r Pn15 Feed forward Amount 300 Pni6 a forward Command 50 Pn18 Position Loop Gain 2 60 n n Pn14 Torque Command Filter Time 50 85 Con te Pn19 Speed Loop Gain 2 50 Pn1A Speed Loop Integration Time 16 Constant 2 Pn1B Speed Feedback Filter Time 0 Constant 2 Pn1C Torque Command Filter Time 60 Constant 2 7 26 Adjustment Functions Adjustment Functions 7 5 Manual Tuning Set Gain 2 Perform Pn18 to Pn1C Set gain Adjust Pn11 Parameter Reames manual tuning gm tothesame switching and Pn14 No without gain values as Gain conditions for Gain 1 switching 1 Pn10 to Pn30 to Pn35 when stopped Pn14 e Enter the value for load calcu lation if already Known e Perform Pn20__ Inertia Ratio normal mode auto tuning and measure the inertia ratio e The default is 300 Gain Switching Input Setting Pn35 Position Loop Gain Switching 0 3 D E Setting Gain Switching Conditions 10 7 27 Position Control Mode O Relevant parameter enabled Disabled Gain Switch Setting Setting parameters for position control mode Gain Switch Level Gain Switch Hysteresis Setting Setting
208. Put the battery into the battery box WSS WS Insert the battery Attach the connector 4 Close the cover to the battery box Make sure that the connector wiring does not get caught when closing the cover to the battery box ALE 8 5 Periodic Maintenance 8 24 Troubleshooting Chapter 9 Appendix 9 1 gt Gonnection Examples iris a a e seers 9 1 92 Parameter ables ss ene eaten ecee eee eee eee 9 11 Appendix 9 1 Connection Examples 9 1 Connection Examples E Connection Example 1 Connecting to SYSMAC CJ1W NC133 233 433 3 phase 200 to 240 VAC 50 60 Hz S S O CJ1W NC133 233 433 Precautions for Correct Use 9 1 Ground to Main circuit power supply NFB OFF ON MC1MC2 40 R S 7 e Main circuit contact os SUR Surge killer g MC1 MC2 X1 S T So Z S S 100 Q or less Toe Contents No 5 VDC Reactor a a ae H Be Cl gas 0V power suppy roupa AZ i pmm MC1 MC2 CCW output A7 1 5 CCW L cowo tae i 1 CCW Cw output AB 3 Few a C a a R88M GO DOO o B2 4 R88A CAGO exis dx crest ouput AS H U Xass gn ine verinput A fast Z vee IIA ym X axis origin common _ At2 _ _ _ 9a Z gt ATT 39 INP C pa aac aed A Encoder Cable E ee itp R88A CRG ee X axis COW limit input
209. Q10 ER 6 3 5 mA at 500 VAC Ltd R88D GT10H R88D GT15H 3SUP HU30 ER 6 30 A Three 3 5 mA at 500 VAC R88D GT20H R88D GT30H R88D GT50H 3SUP HL50 ER 6B 50A Three 8 0 mA at 500 VAC R88D GT75H 4 29 4 3 Wiring Conforming to EMC Directives e If no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease e Wire the noise filter as shown at the left in the following illustration The noise filter must be installed as close as possible to the entrance of the control box O Correct Separate input and output x Wrong Noise not filtered effectively AC input AC output AC input Ground AC output Ground c D e Use twisted pair cables for the power supply cables or bind the cables 2 m Correct Properly twisted Correct Cables are bound c Servo Drive Servo Drive oO ae Ou gt LIC V XXXXO Oise E m Le z OL3 Binding e Separate power supply cables and signal cables when wiring E Control Panel Structure Openings in the control panel such as holes for cables operating panel mounting holes and gaps around the door may allow electromagnetic waves into the panel To prevent this observe the recommendations described below when designing or se
210. R88D GT10H R88D GT15H 3SUP HU30 ER 6 30 A oe at 500 VAC R88D GT20H R88D GT30H 8 mA R88D GT50H 8SUP HL50 ER 6B B08 veces vac R88D GT75H Dimensions SUP EK5 ER 6 3SUP HQ10 ER 6 100 2 0 53 1 2 0 Two 4 5 x 6 75 dia Two 4 5 dia Six M4 Cover 52 Noise Filter 4 35 4 3 Wiring Conforming to EMC Directives 3SUP HU30 ER 6 3SUP HL50 ER 6B 115 150 286 3 0 Two 5 5 x 7 dia Ground terminal M4 70 43 10 Cover mounting Screw M3 fo 0 Oo Cover Noise Filter Circuit Diagrams SUP EK5 ER 6 3SUP HQ10 ER 6 en a lia 3SUP HU30 ER 6 3SUP HL50 ER 6B E Noise Filter for the Brake Power Supply e Use the following noise filter for the brake power supply Model Rated current Rated voltage Leakage current current Manufacturer 1 0 a Okaya Electric SUP EKS ER 6 250 V at 250 Vrms 60 Hz Industries Co Ltd Note Noise can also be reduced by using 1 5 turns with the ZCAT3035 1330 TDK Radio Noise Filter 4 36 ke r m z Pur y gt o System Design 4 3 Wiring Conforming to EMC Directives E Radio Noise Filters and Emission Noise Prevention Clamp Cores Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal oscillation circuit Model Applica
211. R88G VRSFO9C400PCJ 400 W 1 15 R88G VRSF15C400PCJ 1 25 R88G VRSF25C400PCJ 2 13 2 1 Standard Models Accessories and Cables E Encoder Cables Standard Cables Specifications Model 3m R88A CRGA003C 5m R88A CRGAO05C 10m R88A CRGA010C 3 000 r min Servomotors of 50 to 750 W with an absolute encoder 15m R88A CRGA015C 3 000 r min Flat Servomotors of 100 to 400 W with an absolute encoder 20m R88A CRGA020C 30m R88A CRGA030C 40m R88A CRGA040C 50m R88A CRGA050C 3m R88A CRGBO03C 5m R88A CRGBOO5C 10m R88A CRGB010C 3 000 r min Servomotors of 50 to 750 W with an incremental Encoder 15m RB88A CRGB015C se Flat Servomotors of 100 to 400 W with an incremental 20m R88A CRGB020C 30m R88A CRGBO30C 40m R88A CRGB040C 50m R88A CRGBO50C 3m R88A CRGCOO3N 5m R88A CRGCOO5N 10m R88A CRGCO10N 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW 15m R88A CRGC015N 1 500 r min Servomotors of 7 5 kW l 20m R88A CRGC020N 1 000 r min Servomotors of 900 W to 6 kW 88A CRGC020 30m R88A CRGCO30N 40m R88A CRGCO40N 50m R88A CRGCO50N 2 14 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models E Servomotor Power Cables Standard Cables Specifications 3 000 r min Servomotors of 50 to 750 W 3 000 r min Flat Servomotors of 100 to 400 W 3 000 r min Servomotors of 1 to 1 5 kW 2 000 r min Servomotors of 1 to 1 5 kW 1 000 r mi
212. RESET A23 BKIRCOM axis CW imtme AZ2 ALMCOM Brake Cable Sea emerg stop input Ae Pa wae ATK R88A CAGALIB pe 11 BKIR R88A CAGELIB a Shell FG XB 24 VDC e The example shows a three phase 200 VAC input to the Servo Drive for Precautions th mereni V B i id d for Correct Use e main circuit power supply Be sure to provide a power supply and _ wiring conforming to the power supply specifications for the Servo Drive in use e Incorrect signal wiring can cause damage to Units and the Servo Drive e Leave unused signal lines open and do not wire them e Use mode 2 for origin search e The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent e Make the setting so that the Servo can be turned ON and OFF with the RUN signal 9 3 9 1 Connection Examples E Connection Example 4 Connecting to SYSMAC CS1W NC113 213 413 or C200HW NC113 213 413 Main circuit power supply LO NFB OFF ON MC1 MC2 O R 6 0 5 Eo Main circuit contact SUP Surge killer 3 phase 200 to 240 VAC 50 60 Hz S lt 0 T 2 a O CS1W NC113 213 413 C200HW NC113 213 413 Groundto R88D GTL 100 Q or less CNI oe a a oe Reactor aaa eee ee Pp el at Fi t2 ee FT at i MC1 MC2 Pa Oe CW with a resistor CW without a resistor X axis dev cntr reset output X axis positioning complete input mrn a0 T common aR axis external interrupt inpu
213. Replace the Servo Drive e Replace the Servo Drive e Reduce the input voltage e Change the value for Pn71 8 3 Troubleshooting Alarm are Error Status when error occurs Cause Countermeasure e The voltage input to e Reduce the input Excessive analog pin 18 is too high voltage 66 input 3 Occurs during operation e Change the value for Pn71 73 CPU error 6 Occurs when the power e The Servo Drive is Replace the Servo supply is turned ON faulty Drive 77 CPU error 7 Occurs when the power e The Servo Drive is e Replace the Servo supply is turned ON faulty Drive 84 CPU error 8 Occurs when the power e The Servo Drive is Replace the Servo supply is turned ON faulty Drive e The Servomotor is e Replace the Servo Occurs when the power faulty Drive supply is turned ON e Replace the Servomo tor 94 Encoder error 2 e The Servomotor and e Use a correct Servo Drive combina combination tion is incorrect Servomotor Occurs when the power non conformity supply is turned ON e The encoder wiring is e Wire the encoder disconnected e Fix the locations that are disconnected 95 96 CPU error 9 Occurs when the power e The Servo Drive is Replace the Servo supply is turned ON faulty Drive 97 CPU error 10 Occurs when the power e The Servo Drive is e Replace the Servo supply is turned ON faulty Drive 99 CPU error 11 Occurs when the power e The Servo Drive is Replace the Servo s
214. Selection The following parameters are set automatically The settings will not change even if realtime autotuning is executed Parameter No Pn15 Pn16 Pn27 Pn30 Pn31 Pn32 Pn33 Pn34 Pn35 Pn36 Precautions for Correct Use Parameter name Set value Feed forward Amount 300 Feed forward Command Filter 50 Instantaneous Speed Observer Setting 0 Gain Switching Input Operating Mode Selection 1 Control Gain Switch 1 Setting 10 Gain Switch 1 Time 1 30 Gain Switch 1 Level Setting 50 Gain Switch 1 Hysteresis Setting 33 Position Loop Gain Switching Time 20 Control Gain Switch 2 Setting O e Some degree of noise or vibration may occur during fit gain operation but this is normally not a problem because the gain is lowered automatically If the noise or vibration continues however press any key on the front panel to cancel the fit gain operation 7 10 Adjustment Functions E Adjustment Functions 7 2 Realtime Autotuning Adaptive Filter The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the Servomotor speed during actual operation and automatically sets the coefficient of the notch filter This removes the resonance component from the torque command Automatic gain Automatic filter Position speed adjustment adjustment Torque command command Position speed Adaptive poeta ntrol j contro Operation commands for C
215. Servomotor or Servo Drive Recommended maintenance times are listed below for Servomotors and Servo Drives Use these for reference in determining actual maintenance schedules Servomotor Service Life e The service life for components is listed below Bearings 20 000 hours Decelerator 20 000 hours Oil seal 5 000 hours Encoder 30 000 hours These values presume an ambient Servomotor operating temperature of 40 C shaft loads within the allowable range rated operation rated torque and rated r min and proper installation as described in this manual The oil seal can be replaced e The radial loads during operation rotation on timing pulleys and other components contacting belts is twice the still load Consult with the belt and pulley manufacturers and adjust designs and system settings so that the allowable shaft load is not exceeded even during operation If a Servomotor is used under a shaft load exceeding the allowable limit the Servomotor shaft can break the bearings can burn out and other problems can occur 8 21 8 5 Periodic Maintenance Servo Drive Service Life e Details on the service life of the Servo Drive are provided below Aluminum electrolytic capacitors 28 000 hours at an ambient Servo Drive operating temperature of 55 C the rated operation output rated torque installed as described in this manual Axial fan 10 000 to 30 000 hours Inrush current prevention relay Approx 20 000 operations The serv
216. Set the position control feed forward compensation 300 0 1 to Amount value 2000 16 Feed forward Set the time constant of the first order lag filter used Tee 0 to O Command Filter in the speed feed forward section 6400 17 Reserved Do not Do not change setting setting e tt ase Position Nisin 0 to 1 Gain 2 Set to adjust position control system responsiveness EREE 3000 Speed Loop 1 to 19 Gain 2 Set to adjust speed loop responsiveness o e 3500 Speed Loop ito Integration Time Set to adjust the speed loop integration time constant 50 ms 1000 Constant 2 Side The encoder signal is converted to the speed signal Feedback Filter Via the lowpass titer Oto5 Time Constant 2 P l Torque f l Command Filer Set to adjust the first order lag filter time constant for 100 0 01 ms 0 to O l the torque command section 2500 Time Constant 2 Notch Filter 1 Set the notch frequency of the resonance suppres 100 to 1D l 1500 Hz Frequency sion notch filter 1500 i Set the width to one of five levels for the resonance Notch Filter 1 l Width suppression notch filter Normally use the default set 2 Oto 4 ting 1F Reserved Do not Do not change setting setting Se ee 20 Inertia Ratio i the ratio between the mechanical system inertia 0 to and the Servomotor rotor inertia 10000 1 O O0 2 re D Q Q lt 9 16 9 2 Parameter Tables Power e Setting Explanation Pau ecg OF
217. Setting Pn31 is 3 to 5 e For Torque Control Mode use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1 Setting Pn31 is 3 5 70 Operating Functions 5 16 User Parameters Pn33 Gain Switch 1 Level Setting e For Position Control Mode use this parameter to set the judgment level for switching between gain 1 and gain 2 If the Control Gain Switch 1 Setting Pn31 is set to 3 5 6 9 or 10 Pn33 is enabled The unit depends on the Control Gain Switch 1 Setting Pn31 e For Speed Control Mode use this parameter to set the judgment level for switching between gain 1 and gain 2 If the Control Gain Switch 1 Setting Pn31 is set to 3 to 5 Pn33 is enabled The unit depends on the Control Gain Switch 1 Setting Pn31 e For Torque Control Mode use this parameter to set the judgment level for switching between gain 1 and gain 2 If the Control Gain Switch 1 Setting Pn31 is set to 3 Pn33 is enabled The unit depends on the Control Gain Switch 1 Setting Pn31 Pn34 Gain Switch 1 Hysteresis Setting e Use this parameter to set the hysteresis width for the judgment level set in the Gain Switch 1 Level Setting Pn33 The unit depends on the Control Gain Switch 1 Setting Pn31 The following shows the definitions for the Gain Switch 1 Time Pn32 Gain Switch 1 Level Setting Pn33 and Gain Switch 1 Hysteresis Setting Pn34 Gain 1 Gain 2 Gain 1 Pn32 Opera
218. Setting the Mode m Absolute Encoder Reset EJS 1 Executing Absolute Encoder Reset Key operation Display example Explanation Press the Data key to enter Absolute Encoder Reset Mode Press and hold the Increment key until Start is displayed The bar indicator will increase when the key is pressed for 5 s or longer Q The bar indicator will increase Absolute encoder reset will start This display indicates a normal completion Error will be displayed if the absolute encoder reset could not be performed Check whether an unsupported encoder is connected and then perform the procedure again 2 Returning to Auxiliary Function Mode Key operation Display example Explanation Press the Data key to return to Auxiliary Function Mode Operation The absolute encoder can be reset only with systems that use an absolute encoder Do not disconnect the Parameter Unit from the Servo Drive until resetting the absolute encoder has completed If the Parameter Unit is disconnected reconnect it and make the settings from the beginning Precautions for Correct Use 6 23 6 4 Setting the Mode m Jog Operation 1 Executing Jog Operation Key operation Display example Explanation Press the Increment key to display the Jog Operation Mode from the alarm reset display in Auxiliary Function Mode Press the Data key to enter Jog Operation Mode Press and hold the Increment key until Read
219. Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions External Regeneration Resistor Dimensions E External Regeneration Resistor R88A RR08050S RR080100S __ Thermal switch output a 5 amp aS o d f o Soe N S 6 t1 2 500 J 104 i 20 122 130 R88A RR22047S Thermal switch output a d E E O 40 iol DN i oe A N E n ice A SO a a T 6 t1 2 500 J 200 i 20 220 R88A RR50020S 2 63 Reactor Dimensions E 3G3AX DL2002 Ground terminal M4 E 3G3AX DL2004 Ground terminal 2 2 External and Mounting Hole Dimensions 2 64 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E 3G3AX DL2007 Two M4 Ground terminal M4 Four 5 2 x 8 E 3G3AX DL2015 Ground terminal M4 Four 5 2 x 8 2 65 2 2 External and Mounting Hole Dimensions E 3G3AX DL2022 Ground terminal M4 E 3G3AX AL2025 AL2055 Ground terminal M5 Six M4 terminal screws Terminal 3G3AX AL2025 3G3AX AL2055 b LL LI Ro RSo STo T 92 Connection Diagram 2 66 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions 2 67 Chapter 3 Specifications 3 1 Se
220. UDICSMOOUNG sisztssavpancescovacounensgenrpanzaonusiatsauiaanieecoeeneweeeenedenoebes 8 6 8 4 Overload Characteristics Electronic Thermal Function 8 20 B25 PEOGIC NIAINIGNANGS resni Re 8 21 Chapter 9 Appendix 9 1 COMMEGCHON EXAMES iz sevctecseues ccctecic A 9 1 O72 Parameter TapleS sessen enin n r 9 11 ROVISIOMPIS lO Vor EEE R 1 17 Chapter 1 Features and System Configuration HE E OVENI ON asain A A AE A 1 1 CEA A AE EEE i 4 ao antares E iet ea needs 1 1 Features of the G SENES n A sisi A a sees asvacues 1 1 1 2 System Configuration cccccscccseeecsseeeeseeees 1 2 1 3 Names of Parts and Functions c ccccee 1 3 Servo Drive Part NAMES cccceeccseeeteeeeeeeeteneeeeeeseneesseeees 1 3 Servo DIVE FUNCIONS ase a oe Sean See 1 4 Forward and Reverse Motor Rotation ccccseeeeeeeeees 1 4 1 4 System Block Diagrams ccccseeessseeeeeeeees 1 5 1 5 Applicable Standards ccccccccseeeseeeeeeeeeees 1 10 EC DInECIINGS Sia eater ee ea een eee ee 1 10 uand GCSA StandardS ccs tose ee oe ee ee ee 1 10 Features and System Configuration 1 1 Overview 1 1 Overview Overview of the G Series The OMNUC G Series has been developed for a wide range of applications with position control speed control and torque control The Series offers a wide variety of Servomotor capacities ranging from 50 W to 7 5 kW Servomotors with 2 500 pu
221. UTM1 General purpose Output 1 Specifications 4 7 kQ COM a re Zero Speed a Designation Input 4 N 4 S 191Z Phase Z Output VZERO 26 SS ow open collector output P T47 Eh 251ZCOM Gain Switch Input 4 Y GSEL 27 toot SS T 4 7 KQ 21 A C H Internally Set T sie Phase A Line driver output Speed Selection 3 4 L 6 22 a Pe Conforms to VSEL3 28 KESE A T EIA RS 422A 4 7 KQ 49 B Load resistance en Encoder Phase B 499 gj Internally Set Output min Speed Selection 2 4 s 6 48 B VSEL2 30 ie T T 4 7 KQ Alarm Reset a a Input 4 K RESET 31 ee Control Mode Switch Input TVSEL 32 HARDERNER C H Internally Set TAG VSEL1 33 ae O Speed Selection 1 N A N gt se x IE la Reverse Drive Prohibit Input Po gt P i WIE s NOT E E E E Forward Drive a a Prohibit Input 4 PO Lae Seen 231 Z Encoder Phase Z a Output 24 Z Q 42 ABAT Backup Battery Input 1 43 ABATCOM 50 FG Frame ground 1 If a backup battery is connected a cable with a battery is not required 3 10 Specifications 3 1 Servo Drive Specifications Control I O Signal Connections and External Signal Processing for Torque Control Torque Command Input or Speed Limit Input TREF1 VLIM 14 20kQ ne Q Torque Command Input TREF2 16 10kO Sensor ON SEN 20 100 Q O gt 4 7 kQ SENGND i3 1uF 7 12 to 24 VDC 4 7kQ 24VIN
222. Unit Cable Specifications E Position Control Unit Cable XW2Z J A3 This Cable connects a Programmable Controller CQM1 CPU43 V1 to a Servo Relay Unit XW2B 20J6 3B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A3 Approx 0 1 kg 7 5 dia XW2Z 100J A3 Approx 0 1 kg Connection Configuration and Dimensions L wlha on Servo Relay Unit CQM1 CPU43 V1 C X lt R gt XW2B 20J6 3B Wiring CQM1 Servo Relay Unit Cable AWG28 x 4P AWG28 x 4C Hood cover 16 3 116 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A6 This Cable connects a Position Control Unit CS1W NC113 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A6 Approx 0 1 kg 8 0 dia XW2Z 100J A6 Approx 0 1 kg Connection Configuration and Dimensions wla Servo Relay Unit 90 gt XW2B 20J6 1B Position Control Unit CS1W NC113 C1 Wiring Position Control Unit Servo Relay Unit Crimp terminal a Cable AWG28 x 4P AWG28 x 10C 3 117 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A7 This Cable connects a Position Control Unit C1W NC213 or CS1W NC413 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A7 Approx 0 1 kg
223. W2B 20J6 1B 3B XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B25 Approx 0 1 kg 8 1 dia XW2Z 200J B25 Approx 0 2 kg Connection Configuration and Dimensions L Servo Relay Unit Servo Drive XW2B 20J6 1B XW2B 40J6 2B C1 D Oo O N R88D GT XW2B 20J6 3B y0 E Wiring Servo Relay Unit Servo Drive No Bees eee Blue Red 1 E Pinea 13 o aa mM s 3 zA eee pe Pp A __ 39 OrangerBlack 9 _ CY 23 T fa EE E Pink Black 2 Green Black 2 pee pee p Servo Relay Unit Connector Connector socket XG4M 2030 Strain relief XG4T 2004 Cable AWG28 x 10P UL2464 Servo Drive Connector Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M 3 112 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications E Servo Drive Cable XW2Z _ J B26 This Cable connects the Servo Drive to a Servo Relay Unit XW2B 80J7 12A Use this Cable only with the FQM1 MMP22 Motion Control Module Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B26 Approx 0 1 kg 9 1 dia XW2Z 200J B26 Approx 0 2 kg Connection Configuration and Dimensions Servo Drive X CY resn cr LO Servo Relay Unit xwas eair 2aC Wiring Servo Relay Unit Servo Drive ooo eee ee 4 BluefBlack 1 _2 Pinned 3 Pink Black 1 4
224. ZCOM VZERO DFSEL PNSEL Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Cable AWG24 x 25P UL20276 No 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Shell Wire mark color Pink Black 3 White Black 3 Yellow Red 3 Pink Red 3 Yellow Black 3 Gray Black 4 Orange Red 4 White Red 4 White Black 4 Yellow Red 4 Yellow Black 4 Pink Red 4 Pink Black 4 Gray Red 4 Orange Black 4 Gray Red 5 Gray Black 5 White Red 5 White Black 5 Yellow Red 5 Yellow Black 5 Pink Black 5 Pink Red 5 e Wires with the same wire color and the same number of marks form a twisted pair Example An orange red 1 wire and orange black 1 wire form are a twisted pair 3 93 Signal GSEL TLSEL GESEL VSEL3 RUN ECRST VSEL2 RESET TVSEL IPG VSEL1 READYCOM READY ALMCOM ALM INPCOM TGONCOM INP TGON OUTM2 COM BAT BATGND CWLD CWLD CCWLD CCWLD B B FG 3 4 Cable and Connector Specifications E Connector Terminal Block Cables XW2Z _ J B24 This Cable is for the connector terminal block of the Servo Drive s control I O connector CN1 All of the pins in the control I O connector CN1 can be converted to terminals on the terminal block Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B24 Approx 0 2 kg 11 2 dia XW2Z 200J B24 Approx 0 4 kg Connection Configura
225. able connector screws are tightened properly Incorrect tightening torque may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to the protective ground terminal Doing so may result in burning Always use the power supply voltage specified in the Users Manual An incorrect voltage may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in equipment damage Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning Take appropriate and sufficient shielding measures when installing systems in the following locations Failure to do so may result in damage to the product 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 Connect an emergency stop cutoff relay in series with the brake control relay Failure to do so may result in injury or product failure Do not reverse the polarity of the battery when connecting it Reversing the polarity may damage the battery or cause it to explode P
226. activate the main power supply undervoltage function alarm code 13 if the main power supply is interrupted for the Momentary Hold Time Pn6D e f the Momentary Hold Time Pn6D is set to 1 000 Pn65 is disabled e f the setting of Momentary Hold Time Pn6D is too long and the voltage between P and N in the main power supply converter drops below the specified value before a main power supply interruption is detected a main power supply undervoltage alarm code 13 will occur regardless of the setting of Pn65 Pn66 Stop Selection for Drive Prohibition Input Explanation of Settings Setting Explanation During deceleration The dynamic brake is activated After stopping The torque command in the drive prohibit direction is set to 0 Deviation counter contents Held During deceleration The torque command in the drive prohibit direction is set to O After 1 stopping The torque command in the drive prohibit direction is set to 0 Deviation counter contents Held During deceleration An emergency stop is performed After stopping The servo is locked Deviation counter contents Cleared before and after deceleration e Use this parameter to set the drive conditions during deceleration or after stopping after the Forward Drive Prohibit Input POT CN1 pin 9 or Reverse Drive Prohibit Input NOT CN1 pin 8 is enabled e f this parameter is set to 2 the Emergency Stop Torque Pn6E will be used to limit the torque during deceleration
227. al mode autotuning Rotation direction Forward to reverse two rotations i Rotation direction Reverse to forward two rotations D Rotation direction Forward to forward two rotations Notch Filter 2 Set the notch frequency of the resonance suppres 100 to 28 l l 1500 Hz Frequency sion notch filter 1500 Set the notch filter width to one of five levels for the Notch Filter 2 l l resonance suppression notch filter Normally use the 2 O to 4 Width i default setting 2A Notch Filter 2 Set the depth of the resonance suppression notch fil 0 to 99 Depth ter 2B Vibration Set vibration frequency 1 to suppress vibration at the 0 1 Hz 0 to Frequency 1 end of the load in damping control l 2000 Vibration Filter 1 Set vibration filter 1 to suppress vibration at the end of 0 1 Hz m Setting the load in damping control ne 2D Vibration Set vibration frequency 2 to suppress vibration at the 04Hz 1 Hz 0 to Frequency 2 end of the load in damping control 2000 Vibration Filter 2 Set vibration filter 2 to suppress vibration at the end of a 2E l 0 1 Hz Setting the load in damping control ae Displays the table entry number corresponding to the Adaptive Filter frequency for the adaptive filter Table Number This parameter is set automatically and cannot be O to 64 Display changed if the adaptive filter is enabled i e if Real time Autotuning Mode Selection Pn21 is 1 to 3 or 7 9 39 Power 5 16 User Para
228. al to the speed loop to reduce the 5 60 positioning time Torque limit function Limits the Servomotor s torque output 5 25 Parameter Block Diagram for Position Control Mode Input Condition Electronic Gear Settin CW Pnd0 Input Pn4D Pn48 Numerator G1 Pn4C Selection S Pn49 Numerator G2 Positi moothing Filter osition CCW Pn41 Rotation Setting Pn4A Numerator Command Direction Exponent Filter Pn42 Mode Pn4B Denominator Vibration Filter Speed FF Pn2B Frequency 1 Pn15 FF Amount Pn2C Filter 1 Pn16 FF Command Filter Pn2D Frequency 2 l Speed PI Processor Pn2E Filter 2 Pn11 Speed Gain 1 Pn12 Integration Time 4 Constant 1 Pn19 Speed Gain 2 Pn1A Integration Time Constant 2 Pn20 Inertia Ratio Deviation Counter Pn10 Loop Gain 1 _ Pn18 Loop Gain 2 eee ee a Speed Detection Filter Actual Speed Pn13 Filter 1 Monitor Pn1B Filter 2 Speed Command Monitor Divider Setting Phase A B Z Pn44 Numerator Pn45 Denominator eee Receive Pn46 Direction Encoder Switch Signal Notch Filter Torque Command Limit Pn14 Filter A Pn1C Filter 2 Pn5E No 1 Torque Limit Pn5F No 2 Torque Limit 4 Pn1D Filter 1 Frequency Pn1E Filter 1 Width Pn28 Filter 2 Frequency Pn29 Filter 2 Width Pn2A Notch Filter 2 Depth Pn2F Adaptive Filter Torque Limit ae Processor Current Feedback PCL Torque Limit Input 3 V 100 Torque Limit NCL Opera
229. anges Mounting Flange Bolt Tightening Torque for Aluminum Tightening torque N m PB PB 19 6 E Using Another Company s Decelerator Reference Information If the system configuration requires another company s decelerator to be used in combination with an OMNUC G Series Servomotor select the decelerator so that the load on the motor shaft i e both the radial and thrust loads is within the allowable range Refer to Characteristics on page 3 33 for details on the allowable loads for the motors Also select the decelerator so that the allowable input rotation speed and allowable input torque of the decelerator are not exceeded 4 10 System Design 4 2 Wiring 4 2 Wiring Connecting Cables This section shows the types of connecting cables used in an OMNUC G Series servo system A wide selection of cables are available when configuring a servo system with an OMRON SYSMAC Motion Control Unit or Position Unit which makes wiring easy E System Configuration Controller LEZ 5 Motion Control Unit Motion Control Unit Cable For 1 axis os Or S pir E i E For 2 axes CN1 eo A 1 Control I O Connector a v Servo Relay Unit Cable Pasion Gono Unt Poston Convoi Servo Drive ReeD GT_ Unit Cable Cable CN CJ1W NC113 213 413 CJ1W NC133 233 433 Enc
230. ap are indicated with S2 at the end of the model number Model 2 41 2 2 External and Mounting Hole Dimensions E 1 500 r min Servomotors 7 5 kW R88M G7K515T S2 G7K515T B S2 WEJ Brake connector Motor Eye bolt Dimensions of shaft end connector Nominal diameter 10 with key and tap LL 113 176 x 176 ala pri Encoder al l 24 3 2 5 d Four 13 5 dia 12 h 9 connector a N a F s 0 a LO ze 00 4 y _y M16 depth 32 Dimensions mm Model LL R88M G7K5151 340 5 R88M G7K515 _J BL 380 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 42 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E 1 000 r min Servomotors 900 W 2 kW R88M G90010T S2 G2K010T S2 G90010T B S2 G2K010T B S2 RES Encoder connector Servomotor brake connector m LR Cue Dimensions of shaft end with key and tap QK Four Z dia KL1 84 AA D2 dia h 7 M depth L Dimensions mm PEE Uae E ee te Penson ei ae peew ceo0ia i 175 70 22 145 110 190 165 e 12 me 9 at ano 7 4 vs 1 paew caKoro 1 182 eo 35 200114
231. as dens 6 21 GODY MOJE Lr e e ees eeeaiee seeeeten se 6 25 oan PhalkvOperationn eea e a ee 6 28 Preparation for Trial Operation ccccceceeceeeeeeeeeeeesaeeeees 6 28 Trial Operation in Position Control Mode cc cccceseeeees 6 28 Trial Operation in Speed Control Mode cccceeeeeeeeeees 6 29 Trial Operation in Torque Control Mode cccccseeeeeeeees 6 29 6 1 Operational Procedure 6 1 Operational Procedure After mounting wiring and connecting a power supply check the operation of the Servomotor and Servo Drive Then make the function settings as required according to the use of the Servomotor and Servo Drive If the parameters are set incorrectly there is a risk of an unpredictable Servomotor operation Set the parameters according to the instructions in this manual Install the Servomotor and Servo Drive according to the installation conditions Do not connect the Servomotor to the mechanical system before checking the no load operation 4 1 Installation Conditions Mounting and installation Connect the Servomotor and Servo Drive to the power supply and Wiring and __ peripheral devices connections Specified installation and wiring requirements must be satisfied particularly for models conforming to the EC Directives 4 2 Wiring Check the necessary items and then turn ON the power supply Check on the display to see whether there are any internal errors in the Ser
232. ation Free run 0to3 After stopping Dynamic brake During deceleration Dynamic brake 2 i After stopping Servo free 3 During deceleration Free run After stopping Servo free Brake Timing when Stopped Brake Timing during Operation Regeneration Resistor Selection Set the operation to be performed after the Servomotor turns OFF i e RUN ON to OFF The relation between set values operation and devia 0 to 9 tion counter processing for this parameter is the same as for the Stop Selection with Main Power OFF Pn67 When the Servomotor is stopped and the RUN Com mand Input RUN is turned OFF the Brake Interlock Signal BKIR will turn OFF and the Servomotor will A turn OFF after waiting for the time period set for this pa rameter i e setting x 2 ms When the Servomotor is stopped and the RUN Com mand Input RUN is turned OFF the Servomotor will decelerate to reduce rotation speed and the Brake In 0 to terlock Signal BKIR will turn OFF after the set time for 100 the parameter i e setting x 2 ms has elapsed BKIR will also turn OFF if the speed drops to 30 r min or lower before the set time elapses Set whether to use a built in resistor or to add an Exter nal Regeneration Resistor Regeneration resistor used Built in resistor The regeneration processing circuit will oper ate and the regeneration overload alarm code 18 will be enabled according to the
233. ation direction is forward when the connection between the input and common is open and reverse when 2 the connection between the input and common is closed Torque mode The zero speed designation input will be ignored and a zero speed designation will not be detected e Use this parameter to set the function of the Zero speed Designation Input VZERO CN1 pin 26 Pn07 SP Selection All modes Explanation of Settings Setting Explanation 0 Actual Servomotor speed 6 V 47 r min l Actual Servomotor speed 6 V 188 r min Actual Servomotor speed 6 V 750 r min Actual Servomotor speed 6 V 3000 r min Actual Servomotor speed 1 5 V 3000 r min Command speed 6 V 47 r min Command speed 6 V 188 r min Command speed 6 V 750 r min Command speed 6 V 3000 r min O N OF a A WY N Command speed 1 5 V 3000 r min 5 54 Operating Functions 5 16 User Parameters Pn08 IM Selection Explanation of Settings Setting Explanation 0 Torque command 3 V rated 100 torque o_o Position deviation 3 V 31 pulses Position deviation 3 V 125 pulses Position deviation 3 V 500 pulses Position deviation 3 V 2000 pulses Position deviation 3 V 8000 pulses OO CO NI OO oa A WI N Reserved N Reserved c O Reserved O e Reserved LL 10 Reserved O e 11 Torque command 3 V 200 torque 12 Torque command 3 V 400 torque O Pn09 General purpose Output 2 Selection Explanation of Set
234. ations Maxi mum Allow Decelera Rated momen able 3 torque tar pI thrust oa Model q y inertia rotation load speed fein rem mn Nm oe oN ON ke R88G 4 1 5 HPG32A052K0BLI 600 26 7 84 1000 77 4 3 90 x 10 889 3542 7 4 1 11 R88G 273 62 4 89 454 180 7 3 40x104 1126 4488 7 9 D HPG32A112KOBL eN 1 21 R88G 143 118 9 89 214 1 343 9 5 80x104 3611 12486 19 0 HPG50A212KOBL 1 33 R88G 91 191 8 91 136 1 555 0 4 80x104 4135 14300 19 0 HPG50A332K0BL i l l 1 5 R88G 600 42 0 88 1000 118 9 3 80x104 889 3542 7 3 HPG32A053KOBL l l 3 R88G 4 4 KW 1 11 HPG50A113KOBLI 273 92 3 88 409 261 4 7 70x10 2974 10285 19 0 1 21 R88G 143 183 0 91 214 1 517 7 5 80x104 3611 12486 19 0 HPG50A213KOBL 1 5 OSG 600 53 9 90 900 1 163 4 3 80x104 889 3542 7 9 4 HPG32A054KOBL kW R88G 1 11 273 124 6 90 409 359 0 8 80x104 2974 10285 19 1 HPG50A115KOBL 1 5 R88G 600 69 3 88 9001 197 8 1 20 x 103 2347 8118 17 7 5 HPG50A055KOBL 1 11 Roga 273 158 4 91 409 1 451 9 8 80x10 4 2974 10285 19 1 HPG50A115KOBL 1 Keep the maximum Servomotor rotation speed at 4 500 r min or less 2 If a cold start is used for the R88G HPG11B05100B J when using a 50 W Servomotor the efficiency will be reduced slightly The is because the viscosity of the lubricant in the Decelerator will increase if the Decelerator is cold such as when starting after
235. ations for Correct Use e Leave unused signal lines open and do not wire them Appendix e Use the 24 VDC power supply for command pulse signals as a dedicated power supply e The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent e Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls 9 10 Appendix 9 2 Parameter Tables 9 2 Parameter Tables e Some parameters are enabled by turning the power OFF and then ON again Those parameters are indicated in the table After changing these parameters turn OFF the power confirm that the power indicator has gone OFF and then turn ON the power again e Do not change the parameters or settings marked Reserved E Function Selection Parameters Power para elo Setting Explanation Perant Unit E OFF name setting range ON 00 Unit No Setting Set the unit number p 1 Oto 1s Yes Set the data to display on the Parameter Unit when the power supply is turned ON o pemean Pi o fmen 01 Default Display 8 Regeneration load ratio 0 1 of 0to17 Yes eesti oO oO oO 9 11 9 2 Parameter Tables Power poet Seiting Explanation PAu Unit Fae OFF gt gt name setting range ON Set the control mode to be used o pam S Control Mode 2 dice Yes Es ae Set the torque limit method for forward and reverse op eration Use PCL and NCL as analog
236. be aware of the following conditions under which operation may not be performed correctly If that occurs use normal realtime autotuning Conditions under which the fit gain does not function properly e One position command is too short i e less than two revolutions Operating e Positioning is not completed after the position command is completed and before pattern the next position command starts e The acceleration deceleration is sudden i e 3 000 r min 0 1 s 1 7 7 2 Realtime Autotuning Before starting the fit gain function make the following settings using the fit gain window on the front panel parameter setting mode the Parameter Unit or CX Drive Parameter Setting Remarks Make one of the following settings Normal mode almost no change The parameters at the left Normal mode gradual change can also be set using the Normal mode sudden change execution display in the fit Vertical axis mode almost no change gain window on the front Vertical axis mode gradual change panel Vertical axis mode sudden change Realtime Autotuning Mode Selection Pn21 Realtime Autotuning Machine Rigidity Selection 0 Realtime rigidity No O Pn22 Adaptive Filter Selection Pn23 1 Enabled Positioning Completion 17 bit encoder 20 pulses min Range Pn 60 2 500 P r encoder 10 pulses min E Operating Procedure 1 Set the front panel display to the execution display of the fit gain window Re
237. be produced as specified by the analog torque command if the No 4 Internally Set Speed Pn56 or the Speed Command Input Torque Command Input REF TREF1 is too small or if the Speed Loop Gain is too low or the Speed Loop Integration Time Constant is 1000 disabled 7 25 7 5 Manual Tuning Gain Switching Function With manual tuning Gain 1 and Gain 2 can be set manually The gain can be switched according to the operation Switching from Gain 1 to Gain 2 can be used for the following applications e To increase responsiveness by increasing the gain during operation e To increase servo lock rigidity by increasing the gain when operation is stopped e To switch to an optimal gain according to the operating mode e To reduce the gain to suppress vibration when operation is stopped Command Operation speed Stop Stop Time Status Servo lock Servo lock Low gain Low gain High gain Gain Gain 1 Gain 2 Gain 1 l D 1 ms aP Vibration is suppressed by lowering the gain Application Example The example is for a case where noise is a problem when the Servomotor is stopped servo lock and the noise is reduced by switching to a lower gain setting after the Servomotor has stopped Refer to Normal Mode Autotuning on page 7 16 for information on making adjustments Set Gain 2 Perform Pn18 to PniC Set gain Adjust Pni1 Parameter manual tuning tothe same switching and Pn14
238. bolt AT Four Z2 Key and Tap Dimensions QK M depth L C2 dia 2 50 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Dimensions mm di E E E ME SES a 1 5 R88G HPG32A051KOBL 104 133 120 122 dia 135 100 115 114 12 5 35 1 11 R88G HPG32A111KOBL 104 133 120 122 dia 135 100 115 114 84 98 12 5 35 1 kW 1 21 R88G HPG32A211KOBL 104 133 120 122 dia 135 100 115 114 84 98 12 5 35 1 33 R88G HPG32A331KOBL 104 133 120 122 dia 135 100 115 114 84 98 12 5 35 1 45 R88G HPG50A451KOBLI 123 156 170 170 dia 190 100 165 163 122 103 12 01 53 1 5 R88G HPG32A052K0BL 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0BL 110 133 120 135 dia 135 115 1151114 84 98 12 5 35 1 5 kW 1 21 R88G HPG32A211K5BL 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 33 R88G HPG50A332K0BL 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 45 R88G HPG50A451K5BL 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 5 R88G HPG32A052KOBL 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 11 R88G HPG32A112KOBL 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 21 R88G HPG50A212KOBL 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 33 R88G HPG50A3
239. bsolute Encoder Setup Procedure on page 6 5 8 2 Troubleshooting Troubleshooting 8 2 Alarm Table 8 2 Alarm Table If the Servo Drive detects an error the Alarm Output ALM will turn ON the power drive circuit in the Servo Drive will turn OFF and the alarm code will be displayed 8 3 e Refer to Error Diagnosis Using the Displayed Alarm Codes on page 8 6 for Precautions for Correct Use appropriate alarm countermeasures e Reset the alarm using one of the following methods Remove the cause of the alarm first e Turn ON the Alarm Reset Input RESET e Turn OFF the power supply then turn it ON again e Reset the alarm on the Parameter Unit Note however that some alarms can only be cleared by recycling the power turn ON OFF ON Refer to the Alarms table on the next page e If you clear an alarm while the RUN Command Input RUN is turned ON the Servo Drive will start operation as soon as the alarm is cleared which is dangerous Be sure to turn OFF the RUN Command Input RUN before clearing the alarm If the RUN Command Input RUN is always ON first check safety sufficiently before clearing the alarm 8 2 Alarm Table E Alarms Alarm code 11 12 13 14 15 16 18 21 23 24 26 27 34 36 37 38 39 40 41 Error detection function Detection details and cause of error AAN i eee possible anirahpowercucaaundemollace The DC voltage of the ma
240. c brake for Alarm i During deceleration Free run Oto3 Generation After stopping Dynamic brake During deceleration Dynamic brake 2 After stopping Servo free 3 During deceleration Free run After stopping Servo free Set the operation to be performed after the Servomotor turns OFF i e RUN ON to OFF Stop Selection l l l i The relation between set values operation and devia 0to9 with Servo OFF l tion counter processing for this parameter is the same as for the Stop Selection with Main Power OFF Pn67 When the Servomotor is stopped and the RUN Com Brake Timin mand Input RUN is turned OFF the Brake Interlock 0 to g Signal BKIR will turn OFF and the Servomotor will 10 2 MS woen topped turn OFF after waiting for the time period set for this pa 199 rameter i e setting x 2 ms When the Servomotor is stopped and the RUN Com mand Input RUN is turned OFF the Servomotor will Brake Timing decelerate to reduce rotation speed and the Brake In 0 to terlock Signal BKIR will turn OFF after the set time for 50 2 mS ening Operation the parameter i e setting x 2 ms has elapsed 199 BKIR will also turn OFF if the speed drops to 30 r min or lower before the set time elapses Set whether to use a built in resistor or to add an Exter nal Regeneration Resistor Regeneration resistor used Built in resistor The regeneration processing circuit will oper ate and the regeneration over
241. cations Optical encoder Phases A and B 2 500 pulses rotation Phase Z 1 pulse rotation 5 VDC 5 180 mA max S S RS 485 compliance Specifications Optical encoder 17 bits Phases A and B 32 768 pulses rotation Phase Z 1 pulse rotation 32 768 to 32 767 rotations or 0 to 65 534 rotations 5 VDC 5 110 mA max 3 6 VDC 265 uA for a maximum of 5 s right after power interruption 100 uA for operation during power interruption 3 6 uA when power is supplied to Servo Drive S S RS 485 compliance 3 46 Specifications 3 3 Decelerator Specifications 3 3 Decelerator Specifications The following Decelerators are available for use with OMNUC G Series Servomotors Select a Decelerator matching the Servomotor capacity Standard Models and Specifications E Backlash 3 Max ra 5 Decelerators for 3 000 r min Servomotors T Maxi i 2 mum Decelera Allow Allow Rated momen able able l O tol i tor Arai thrust Weight Q Model que ary inertia radia rus Q rotation V speed R88G R88G 3 50 R88G P R88G 6 R88G 6 R88G ae R88G 6 100 R88G 6 R88G 5 R88G 5 R88G 5 R88G 5 200 R88G 5 R88G 5 R88G 5 3 47 Maxi mum momen tary 3 3 Decelerator Specifications Decelerator inertia Allow able radial Allow able thrust Weight Model i rotation l
242. ccccceeseeeeeeeeeeeeeeeeaeeeees 7 22 Position Control Unit Servo Relay Unit Cable SPECINCATIONS s miraca a E a 3 116 position feedback OUtDUL ccccceseeeeeeeeeeeeeeeeeeeees 3 26 Position Loop Gain Pn10 cccsseseeeeeeeeeeeeeeeaeeees 5 58 Position Loop Gain 2 Pn18 c ccccceeseseeeeeeeeeeees 5 60 Position Loop Gain Switching Time Pn35 5 71 Positioning Completed Output INP 3 15 3 29 Positioning Completion Condition Setting PNn63 5 86 Positioning Completion Range Pn60 0006 5 85 Power Cables Robot Cables ccccsssseeeeeeeeees 4 14 Power Cables Standard Cables cccccsseeeees 4 13 Power cables for Servomotors with brakes RODOUCAaDIES enra a E 3 76 power cables for Servomotors with brakes Standard Cables cccccccccsseeeeeeeesseeeeseeeeeeesenes 3 73 Power cables for Servomotors without brakes Robot Cables racics ceanotscssasavtas dd eoctsaveaseatoduanavtantreenens 3 69 power cables for Servomotors without brakes Standard Cables cccccccccscssseeeeeeeeeeeeeeseneeeeeeenes 3 64 preparing for operation cccceeeeecseeeeceeeeeeeeeeesaeees 6 2 protective FUN CUO S ys citeasatisstiaca dsc SoatanatacstedeouanearaSeverenaxte 3 5 Pulse Prohibit Input IPG cccccsseeeeeeeee ees 3 13 3 25 R radio NOISC TINGS lt anccsser eevee meeitennee 4 37 Reactor GIMENSIONS ccccssececeeeeeenss
243. ce the Servomo tor rotation speed e Extend the deceleration time e Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity e Set Pn6C to 2 For details refer to Parameters Details on page 5 50 e Add a counterbalance to the machine to lower gravitational torque e Reduce the descent speed e Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity Troubleshooting e Set Pn6C to 2 For details refer to Parameters Details on page 5 50 e Fix the locations that are disconnected e Correct the wiring e Correct the wiring e Replace the Servomo tor e Replace the Servo Drive e f the Servomotor shaft is held by external force release it 8 10 Troubleshooting 8 3 Troubleshooting pall Status when error occurs Countermeasure e The encoder signal e Correct the wiring wiring is incorrect e Noise on the encoder e Take measures Encoder Occurs when he power Maaa ao aa 23 communications data supply is turned ON or p i 9 error during operation e The power supply e Provide the required voltage for the encoder power supply encoder has dropped voltage 5 VDC 5 especially when the cable is long e The Servomotor e Correct the wiring power wiring or the encoder wiring is incorrect Occurs when the Servo e The Servomo
244. companies Refer to manufacturers documentation for details on these components Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Industrial Co E Contactors 4 39 e Select contactors based on the circuit s inrush current and the maximum momentary phase current e The Servo Drive inrush current is covered in the preceding explanation of no fuse breaker selection and the maximum momentary phase current is approximately twice the rated current e The following table shows the recommended contactors Manufacturer Mode Rated current Coil voltage OMRON 4 3 Wiring Conforming to EMC Directives E Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder s noise resistance e Always use the specified Encoder Cables e f cables are joined midway be sure to use connectors and do not remove more than 50 mm of the cable insulation In addition always use shielded cables e Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and cause malfunctions Always use cables fully extended e When installing noise filters for Encoder Cables use clamp filters e The following table shows the recommended clamp filters Manufacturer Product name Specifications For cable diameter up to ESD SR 250 13 mm NEC TOKIN Clamp Filters For cable diameter up to ZCAT3035 1330 13 mm
245. connecting to another company s controller prepare wiring suited for the controller to be connected e When connecting to a controller which doesn t have a specified cable either use a General purpose Control Cable or a Connector Terminal Block Cable and a Connector Terminal Block Cable Models Model Length L Outer diameter of sheath Weight R88A CPG001S Approx 0 3 kg 12 8 dia R88A CPG002S Approx 0 6 kg Connection Configuration and Dimensions sF Servo Drive Controller DE U O O N B R88D QO L 3 92 Specifications O SO N OF a A WY N Specifications 3 4 Cable and Connector Specifications No O 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Connector plug 10150 3000PE Wire mark color 1 Orange Red 1 Orange Black 1 Gray Red 1 Gray Black 1 White Red 1 White Black 1 Yellow Red 1 Pink Red 1 Pink Black 1 Orange Red 2 Orange Black 2 Yellow Black 1 Gray Black 2 White Red 2 White Black 2 Yellow Red 2 Yellow Black 2 Pink Black 2 Pink Red 2 Orange Red 5 Gray Red 2 Orange Red 3 Orange Black 3 Gray Red 3 Gray Black 3 Orange Black 5 White Red 3 Signal 24VCW 24VCCW CW PULS FA CW PULS FA CCW SIGN FB CCW SIGN FB 24VIN NOT POT BKIRCOM BKIR OUTM1 GND REF TREF1 VLIM AGND PCL TREF2 AGND NCL Z SEN A A Z Z
246. crew E gt Position controller cM oe ON N kos Coupling Moving body Machine table control m N command ae so Position mMand Current Servo speed control 1 motor dh fl ee ha ett ee a a Feedback pulse Servo Drive Precautions e The following conditions must be met to use damping control for Correct Use Conditions under which damping control operates e The Position Control Mode must be used Pn02 0 Position control Pn02 3 Control mode 1 for position speed control Pn02 4 Control mode 1 for position torque control Control Mode e Stop operation before changing the parameters or switching with DFSEL PNSEL e Under the following conditions damping control may not operate properly or may have no effect Conditions under which the effect of damping control is inhibited e f forces other than commands such as external forces cause vibration Load e f the ratio of the resonance frequency to anti resonance frequency is large e f the vibration frequency is outside the range of 10 0 to 200 0 Hz 7 35 7 5 Manual Tuning E Operating Procedure 1 Setting the Vibration Frequency Frequency 1 Pn2B Frequency 2 Pn2D Measure the vibration frequency at the end of the machine When the end vibration can be measured directly using a laser displacement sensor read the vibration frequency f Hz from the waveform measurement and set it as the Vibration Frequency Pn2B Pn2D
247. cuit contact D l a Boe Surge killer Ap e aLL ai D Servo error display Z TO Ground to En 100 Q or less ae ene T Reactor Far t2 j a a 3 1 24VCW MC1 MC2 L 2 24VCCW 6 CCW o Servomotor PORSI ie Cable ZCOM B2 3 R88A CAGL UY wni Het ane y Bue 24VIN Yello a 10 BKIRCOM H 36 ALMCOM ee ol en l I I 24 VDC Brake Cable C o R88A CAGALIB Ra R88A CAGEOB e Incorrect signal wiring can cause damage to Units and the Servo Drive e Leave unused signal lines open and do not wire them e Use mode 2 for origin search e Use the 24 VDC power supply for command pulse signals as a dedicated power supply e Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls e The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent 2 O C D Q Q lt 9 8 Appendix 9 1 Connection Examples E Connection Example 9 Connecting to a SYSMAC CS1W HCP22 V1 Customizable Counter Unit Main circuit power supply NFB OFF ON MC1 MC2 E ic Main circuit contact LLI ad Surge killer aA oe i MC1 MC2 X1 Ground to CN1 R 3 phase 200 to 240 VAC 50 60 Hz S O 6 gt Noise filter TO SD Special I O connector Contents 24 VDC power supply for output Servomotor Power Cable Red R88A CAGL
248. d 3 Without brake m m 0 79 5 k S S N N Weight kg With brake Radiation shield dimensions 170 x 160 x material 100 x 80 x t10 Al 130 x 120 x t12 Al t12 Al Applicable Servo Drives R88D GT01H GT01H GT02H GT04H GT08H m2 7 7 6 6 6 24 VDC 5 77 T Te Brake inertia N x Excitation voltage 4 Power consumption at 20 C Current consump tion at 20 C Static friction torque _ 1 reference value 7 0 3 4 9 x 103 4 9 x 103 44 1 x 10 44 1 x 10 147 x 103 30 000 max Speed of 2 800 r min or more must not be changed in less than 10 ms 10 000 000 operations Continuous V W A N m m m S S Brake specifications r p Dz o Oo gt a 2 2 o s 5 O a P DM oa amp D P o o o 72 5 ale o 3 x a gO O1 D J Allowable total work J i rad s2 acceleration gt O D e D 5 D m D D D gt a Insulation grade Type B 3 34 Specifications 3 2 Servomotor Specifications 3 35 200 VAC Model R88M G1KOSOT G1IK530T G2KOSOT GBKO30T G4KO30T G5KO30T Item Unit Rated rotation speed 3000 Max momentary rotation P 5000 4500 speed reae ve o ae e me me a oT vies ve we oe e we iret kg m 4 4 4 4 3 3 Rotor inertia GD2 4 1 69 x 10 2 59 x 10 3 46 x 10 6 77 x 1074 1 27 x 10 1 78 x 10 Applicable load inertia 15 t
249. d Filter Time Constant Pn14 5 60 Torque Command Filter Time Constant 2 Pn1C 5 61 Torque Command Input TREF1 c seeeeeeeeees 3 12 Torque Command Input TREF2 ccseeceeee eens 3 12 Torque Command Scale PN5C ccccsseeeeeeeeeeees 5 83 Torque Command Speed Limit Selection Pn5B 5 83 torge COMM Ol csceusversaricetmcveesacateausteecissan eter Seen 5 8 torque control mode adjustMent c cseseeeeeeeees 7 25 torge TN sexe cncsauccsvevsosstia r a a T 5 25 Torque Limit Selection PNO3 cccecsseeeeeeeeeeees 5 52 Torque Limit Switch TLSEL ccccccceessseeeeeeeeees 3 13 Torque Output Direction Switch Pn5D 6 5 83 trial OD CK ANON cvccnrcieutaccssncpiceuunrenncksesvemccsncaseavesigtsiates 6 28 TFOUDIESMOOUMG ics sine ranicc sneys fectveneraeeeaticeiewyerieteeees 8 6 U UL and CSA standards ccccccccsseeeeeeceeseeeeeseeeeeees 1 10 Undervoltage Alarm Selection P65 00068 5 87 Unit No Setting PNO0O ccceeeeeeeeesseeeeeeeneeeeeees 5 50 UITIE INOS WITCI nirio a aa a aa 1 4 user parameters s ssessessssssarennnnnrnnnrnrenreannnnnnnnnnne 5 30 using the Parameter Unit c ceeeeeeeeeeeeeeeeeeee eee 6 6 V Vibration Filter 1 Setting PN2C ccccceseeeeeee sees 5 65 Vibration Filter 2 Setting PN2ZE ccccseeeeeeeeeeees 5 65 Vibration Filter Selection PN24 cccccceesseeeeeeee
250. der Cables Standard Cables R88A CRGAL C Cable Models For absolute encoders 3 000 r min Servomotors of 50 to 750 W and 3 000 r min Flat Servomotors of 100 to 400 W Model Length L Outer diameter of sheath Weight R88A CRGA003C Approx 0 2 kg R88A CRGA005C Approx 0 3 kg R88A CRGA010C m 6 5 dia Approx 0 6 kg R88A CRGA015C m Approx 0 9 kg R88A CRGA020C m Approx 1 2 kg R88A CRGA030C Approx 2 4 kg R88A CRGA040C Ooo 40m m 6 8 dia Approx 3 2 kg R88A CRGA050C m Approx 4 0 kg Connection Configuration and Dimensions L Servo Drive Servomotor R88D G a gt R88M G Wiring Servo Drive Servomotor EOV 2 8 Ev AES a er ag Sk ee ee AWG22 x 2C AWG24x2P UL20276 3 to 20 m Servo Drive Connector P AWG16 x 2C AWG26x2P UL20276 30 to 50 3 to 20 m Crimp type I O Connector Molex Japan 30 to 50 m 55100 0670 Molex Japan Connector pins 50639 8028 Molex Japan m Servomotor Connector Connector 172161 1 Tyco Electronics AMP KK Connector pins 170365 1 Tyco Electronics AMP KK 171639 1 Tyco Electronics AMP KK for AWG16 3 4 Cable and Connector Specifications R88A CRGBL IC Cable Models For incremental encoders 3 000 r min Servomotors of 50 to 750 W and 3 000 r min Flat Servomotors of 100 to 400 W R88A CRGBO03C Approx 0 2 kg R88A CRGBO05C 5m Approx 0 3 kg R88A CRGBO10C 10m 6 5 dia Approx 0 6 kg R88A CRGB015C 15m Approx
251. dity number using the Increment and Decrement keys Cannot be set to 0 when using the Parameter Unit t Machine rigidity No Machine rigidity No High Press the A key to move in the direction of the arrow y Press the key to move in the opposite direction of the arrow Machine rigidity No Low Drive system Machine rigidity No Ball screw direct coupling 6toC Ball screw and timing belt 4 to A Timing belt 2to8 Gears rack and pinion drives 2to8 Machines with low rigidity etc 0 to 4 3 Press the Data key to enter the Monitor Run Mode 4 Press and hold the Increment key until the display changes to S 4 The Servo will be ON for pin 29 of connector CN1 7 17 7 3 Normal Mode Autotuning 5 Press the Increment key for approx 3 s The bar indicator will increase as shown in the following figure The Servomotor will start to rotate For a period of approximately 15 s the Servomotor will make two revolutions in the forward reverse direction which will comprise one cycle and will be repeated up to five times There is no problem if operation ends before five cycles have been completed Tuning completed normally Tuning error occurred 6 Write the data to the EEPROM so that the gain values are not lost when the power supply is shut off e Do not perform normal mode autotuning with the Servomotor or Servo Drive alone The Inertia Ratio Pn20 will become 0 Precautions for Correct Use Problem An error
252. ds on the setting of Control Gain Switch 2 Setting Pn36 l l Set the hysteresis width above and below the judg a f ment level set in the Gain Switch 2 Level Setting O to E y Pn38 The unit depends on the setting of the Control 20000 Setting Gain Switch 2 Setting Pn36 e ere eeerenrennes Zoe E ee ern Raae anoe g C a E O e a 3D Jog Speed Set the speed for jogging ae S eee eer ea E ene E RARE x 2 D Q Q lt 9 20 9 2 Parameter Tables E Position Control Parameters i Power a Setting Explanation Doou Unit petting OFF name setting range ON Selects whether to use photocoupler or line driver only Command input for the command pulse input eee oO Photocoupler Otol Yes Selection Input for line driver only Set the Servomotor rotation direction for the command pulse input Command The Servomotor rotates in the direction spec Pulse Rotation ified by the command pulse Oto 1 Yes Direction Switch or The Servomotor rotates in the opposite direc 1 tion from the direction specified by the com mand pulse Set the form of the pulse inputs sent as command to the Servo Drive from a position controller EJ 90 phase difference phase A B signal in puts Command l as Pulse Mode Forward pulse and reverse pulse inputs 0 es 90 phase difference phase A B signal in puts Feed pulses and forward reverse signal input Command Enable or disable the pulse disable inpu
253. e Explanation keys keys piay p p Press the Data key The new parameter setting will be saved and the DAIA parameter number will be displayed again Operating Functions Ka 5 31 5 16 User Parameters Parameter Tables e Some parameters are enabled by turning the power OFF and then ON again Those parameters are indicated in the table After changing these parameters turn OFF the power confirm that the power indicator has gone OFF and then turn ON the power again e Do not change the parameters or settings marked Reserved E Function Selection Parameters Parameter name 00 Unit No Setting Default Display Control Mode Selection Setting Explanation Set the unit number Set the data to display on the Parameter Unit when the power supply is turned ON Position deviation 10 11 12 13 o_o 4 15 16 17 Servomotor rotation speed Torque output Control mode I O signal status Alarm code and history Software version Warning display Regeneration load ratio Overload load ratio Inertia ratio Total feedback pulses Total command pulses Reserved Reserved Automatic Servomotor recognition display Analog input value Reason for no rotation Set the control mode to be used Position Speed Torque Position speed Position torque Speed torque Reserved Default setting Unit Pulses r min Pulses Pulses oO oO Power ON p C O
254. e control signal lines from the power supply lines or take other measures against noise e Perform normal mode autotuning e Perform manual tuning e Adjust the gain e Review the load condi tions and replace the Servomotor and Servo Drive with appropriate models 8 4 Overload Characteristics Electronic Thermal Function 8 4 Overload Characteristics Electronic Thermal Function An overload protection electronic thermal function is built into the Servo Drive to protect the Servo Drive and Servomotor from overloading If an overload does occur first eliminate the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning ON the power again If the power is turned ON again repeatedly at short intervals the Servomotor windings may burn out Overload Characteristics Graphs The following graphs show the characteristics of the load rate and electronic thermal function s operation time Time s 100 10 0 1 i i 10 150 200 250 300 Torque Time s 100 R88M GLIH10T 900 W to 6 kW R88M GLI20T 1 kW to5 kW R88M GO15T 7 5 kW R88M GO30T 1 kW to 5 kw 10 H R88M GPO 100W to 400 W
255. e encoder is higher than the specified value Encoder phase Z error A phase Z pulse was not detected regularly Encoder PS signal error pes error was detected in the PS A voltage exceeding the Speed Command Torque Command Input Overflow Level Setting Pn71 was applied to the analog command input CN1 pin 16 A voltage exceeding the Speed Com mand Torque Command Input Overflow Level Setting Pn71 was applied to the analog command input CN1 pin 18 The combination of the Servomotor and Servo Drive is not appropriate Excessive analog input 2 Excessive analog input 3 Servomotor non conformity The encoder was not connected when the power supply was turned ON CPU error 9 The Servo Drive is faulty CPU error 10 The Servo Drive is faulty CPU error 11 The Servo Drive is faulty Alarm reset possible Yes Yes Yes No 8 3 Troubleshooting 8 3 Troubleshooting If an error occurs in the machine determine the error conditions from the alarm indicator and operating status identify the cause of the error and take appropriate countermeasures Error Diagnosis Using the Displayed Alarm Codes Alarm ee Error Status when error occurs Cause Countermeasure e The power supply e Increase the power voltage is low supply capacity e Momentary power e Change the power interruption occurred supply e Powersupply capacity e Turn ON the power is insufficient supply e The power supply
256. e error If errors are repeatedly displayed the following may be the cause cable disconnection connector contact failure incorrect operation due to noise or EEPROM fault in the Parameter Unit Do not disconnect the Parameter Unit from the Servo Drive while copying is being performed If the Parameter Unit is disconnected incorrect data may be written and the data may be corrupted Copy the user parameters again from the source Servo Drive to the Parameter Unit and then copy the user parameters from the Parameter Unit to the other Servo Drive 6 5 Trial Operation Trial Operation When you have finished installation wiring and switch settings and have confirmed that status is normal after turning ON the power supply perform trial operation The main purpose of trial operation is to confirm that the servo system is electrically correct If an error occurs during the trial operation refer to Chapter 8 Troubleshooting to eliminate the cause Then check for safety and then retry the trial operation Preparation for Trial Operation E Checks before Trial Operation Check the following items before starting trial operation Wiring e Make sure that all wiring is correct especially the power supply input and motor output e Make sure that there are no short circuits Check the ground for short circuits as well e Make sure that there are no loose connections Power Supply Voltage e Make sure that the voltage corresponds to
257. e manually Precautions e To enable the Realtime Autotuning Mode Selection Pn21 turn OFF the for Correct Use RUN Command Input RUN and then turn it back ON 7 19 7 4 Disabling the Automatic Gain Adjustment Function Disabling the Adaptive Filter The adaptive filter function which performs automatic tracking in response to the load resonance can be disabled by setting the Adaptive Filter Selection Pn23 to 0 If the adaptive filter is disabled when it is correctly operating suppressed resonance will become apparent and noise or vibration may occur Therefore before disabling the adaptive filter perform copying function to the Notch Filter 1 Frequency Pn1D of the Adaptive Filter Table Number Display Pn2F from the Fit Gain Window on the front panel refer to Front Panel Display Example on page 7 9 or manually set the Notch Filter 1 Frequency Pn1D based on the Adaptive Filter Table Number Display Pn2F in the following tables Pn2F Notch Filter 1 Frequency Hz Pn2F Notch Filter 1 Frequency Hz Pn2F Notch Filter 1 Frequency Hz 0 CO NI amp 0 A O N DNI N a a a a olol N olal a gt wo pl of Disabled 22 766 44 326 Disabled 23 737 45 314 Disabled 24 709 46 302 Disabled 25 682 47 290 Disabled 26 656 48 279 1482 27 631 49 269 Disabled when Pn22 gt F 1426 28 607 50 258 Disabled when Pn22 gt F 1372 29 584 51 248 Disabled when Pn22 gt F
258. e satisfactory Yes No End of adjustment Increase the Speed Loop Gain Pn11 but not so much that it causes hunting when the servo is locked Reduce the Speed Loop Integration Time Constant Pn12 but not so much that it causes hunting when the servo is locked Does hunting vibration occur when the Servomotor is rotated No Yes Reduce the Speed Loop Gain Pn11 Increase the Position Loop Gain Pn10 but not so much that it causes overshooting Write the data to EEPROM in the parameter write mode End of adjustment If vibration does not stop no matter how many times you perform adjustments or if positioning is slow Increase the Speed Loop Integration Time Constant Pn12 Increase the Torque Command Filter Time Constant Pn14 1 22 a Adjustment Functions Adjustment Functions 7 5 Manual Tuning Set the following parameters Table 1 Parameter Adjustment Values Parameter No Parameter name Guideline Pn10 Position Loop Gain 30 Pni1 Speed Loop Gain 50 Pni2 Speed Loop Integration Time Constant 40 Pni3 Speed Feedback Filter Time Constant 0 Pn14 Torque Command Filter Time Constant 160 Pn15 Feed forward Amount 0 Pn16 Feed forward Command Filter O Pn18 Position Loop Gain 2 30 Pn19 Speed Loop Gain 2 50 PniA Speed Loop Integration Time Constant 2 40 PniB Speed Feedback Filter Time Constant 2 0 PniC Torque Command Filter Time Constant 2 160 PniD Notch Filter 1 Frequency 1500 PniE Notch Fi
259. e the values when the Servomotor is combined with a Servo Drive at room temperature 20 C 65 The maximum momentary torque indicates the standard value 2 Applicable Load Inertia e The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible e f the dynamic brake is activated frequently with high load inertia the dynamic brake resistor may burn Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled 3 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Ira load Thrust load ne Center of shaft LR 2 4 This is an OFF brake It is reset when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Specifications Torque Rotational Speed Characteristics for 3 000 r min Servomotors e 3 000 r min Servomotors with 100 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input R88M G05030H T 50 W N m Repetitive usage 0 16 Continuous usage
260. ea ePcranai0083 eso se o feoeo 7o T s s60 555 40 o7 25 139 Re66 HPG16ASs0506 6s 0 se eo feoeo 7o 46 s60 s55 20 o7 25T 2 tas pasaparamsosoB 640 s8 eo exeo 7o 46 s60 s55 20 or 25T 2r Tn Rese HeGT4ATi 008 640 56 60 60 60 7o a6 66015585 20 37 25 21 100 w 1 21 Re8G HPG14A211008 1 64 0 58 60 ox60 70 46 56055520 87 25 21 jvaa ResG HPG20A3st008 66 5 80 90 55 da 105 46 5 0 840 59 53 7 5 27 10 v4 Re8G HPG20AA51008 66 5 60 90 55 da 105 46 5 0 840 59 53 7 5 27 10 fils fRe8G HPGi4A0s2008 64 0 se 60 60x60 70 70 56 0 555 40 a7 25 21 8 fit Re8G HPG14A1 12008 640 58 60 60x60 70 70 56 0 555 40 97 2 5 2 200 w 1 21 R88G HPG20A2720081 71 0 80 90 Jeo da 105 70 a6 0 e4 0 59 53 7 5 27 133 R68G HPG20A3S2008 71 0 80 90 a9da 105 70 5 0 840 59 53 7 5 27 jv4s Re8G HPG20A452008 71 0 80 90 a9 da 105 70 5 0 840 59 53 7 5 27 eae mm AT dimensions L N Model Q9 el N NO N NO NO on NO co NO N NO NO Niej TI 01 01 N Co CO C1 CO CE CO WO 1 0 lala gt O Q N NO O1 N NO on ee ris pecene e 20 34 meo ws iss o fie we e me ReBG HPGT1Bos0s06 s 20 sa vee ws is o fofr me so w i 2i ReaG HPGT4Az1100B 16 28 55 maxio ma 25 s 5 3 va Was Rasc HPG14A33050BL 16 28 5 5 maxo ms 25 5 s s
261. ect an External Regeneration Resistor Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive Double check the terminal names when connecting the resistor because the Servo Drive may be damaged by burning if connected to the wrong terminals The External Regeneration Resistor will heat up to approximately 120 C Do not place it near equipment and wiring that is easily affected by heat Attach radiator plates suitable for the heat radiation conditions E External Regeneration Resistor Performance Specifications Nominal Regeneration ab Heatradiation Thermal switch output Model Resistance A ie Capacity sorption at 120 C condition specifications Operating temperature R88A Aluminum 150 C 5 RRO8050S 50 Q 250 x 250 NC contact Thickness 3 0 Rated output 30 VDC R88A RRO80100S 1004 cc peeks 470 220W Thickness 3 0 Rated output 250 VAC 0 2 A max Operating temperature R88A Aluminum 200 C 7 C E 202 500 W 180 W 600 x 600 NO contact Thickness 3 0 Rated output 250 VAC 0 2 A max 24 VDC 0 2 A max 50 mA max Connecting an External Regeneration Resistor Operating temperature Aluminum 170 C 7 350 x 350 NC contact Operating temperature Aluminum 150 C 5 250 x 250 NC contact Thickness 3 0 Rated output 30 VDC 50 mA max E R88D GTA5L GT01L GT02L GT01H GT02H GT04H If an External Regeneration Resistor is necessary connect it between B1
262. ect the RUN Command Input RUN CN1 pin 29 to COM CN1 pin 41 Servo ON 0 Aa OQ N Connect connector CN1 status will be entered and the Servomotor will be activated Close the Zero speed Designation Input VZERO and gradually increase the DC voltage across the Speed Command Input REF CN1 pin 14 and AGND CN1 pin 15 from 0 V Check to see if the Servomotor rotates Check the Servomotor rotation speed in Monitor Mode Check to see if the Servomotor is rotating at the specified speed and to see if the Servomotor stops when the command pulses are stopped Use the following parameters to change the Servomotor rotation speed or direction e Pn50 Speed Command Scale e Pn51 Command Speed Rotation Direction Switch Trial Operation in Torque Control Mode 6 29 1 Input power 12 to 24 VDC for the control signals 24VIN COM Turn ON the power supply to the Servo Drive Confirm that the parameters are set to the standard settings Set a low speed in the No 4 Internally Set Speed Pn56 Connect the RUN Command Input RUN CN1 pin 29 to COM CN1 pin 41 Servo ON Oo oF Q N Connect connector CN1 status will be entered and the Servomotor will be activated Apply a positive or negative DC voltage across the Torque Command Input TREF1 CN1 pin 14 and AGND CN1 pin 15 Check to see if the Servomotor rotates according to the direction forward reverse set in Pn56 Use the following parameters to c
263. ection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable conditions when selecting the components For more details contact the manufacturers directly Noise Filters for the Power Supply Input e Use a noise filter to attenuate external noise and reduce noise emitted from the Servo Drive e Select a noise filter with a rated current that is at least two times greater than the effective load current the rated current of the main circuit power supply input given in Main Circuit and Servomotor Connections on page 4 21 Manufacturer Moat S Applicable standards Remarks current phase NEC TOKIN HFP 2153 OOO ete Three HFP 2303 phase SUP EK10 ER 6 SUP EK15 ER 6 l T SUP EK15 ER 6 UL cUL T V oe SUP EK20 ER 6 phase SUP EK30 ER 6 Okaya Electric System Design Industries Co SUP HL10 ER 6 Itd SUP H15 ER 6 3SUP HL30 ER 6 UL T V ce phase 3SUP HL75 ER 6 3SUP HL100 ER 6 100 A ZRCS2006 00S ZRCS2010 008 a UL CSA NEMKO oe ZRCS2020 00S phase TDK ZRCS2030 00S ZRCT5050 MF ZRCT5080 MF UL CSA NEMKO ee phase ZRCT5100 MF 100 A Note 1 To attenuate noise at low frequencies below 200 kHz use an isolation transformer and a noise filter Note 2 To attenuate noise at high frequencies over 30 MHz use a ferrite core and a high frequency noise filter with a feed through capacitor Note 3 If multiple Servo Drives are connected t
264. ector Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Approx 0 1 kg Approx 0 2 kg Servo Drive x gt R88D GT LO 3 114 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications E Servo Drive Cable XW2Z _ J B31 This Cable connects the Servo Drive to a Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B31 Approx 0 1 kg 8 1 dia XW2Z 200J B31 Approx 0 2 kg Connection Configuration and Dimensions Servo Drive O wv X R88D GT i O E Servo Relay Unit Servo Drive Wiremark color Noa eeecetetecescees Blue Red 1 Blue Black 1 Pink Red 1 Pink Black 1 Green Red 1 Green Black 1 1 1 1 2 Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A Bee L Wiring Z O io 00 2 3 4 5 m f 3 4 7 S E OX a ET ee o E Orange Red Q O NO oo Gray Red Gray Black Blue Red ee a Buemi e 13 H POrange Black 14 Pink Black 2 Green Black 2 Servo Relay Unit Connector Connector socket XG4M 2030 Strain relief XG4T 2004 Cable AWG28 x 10P UL2464 Servo Drive Connector Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M OO O Shell 3 115 3 5 Servo Relay Units and Cable Specifications Position Control Unit Servo Relay
265. ed by Okaya Electric Industries Co Ltd Specifications Torque Rotational Speed Characteristics for 3 000 r min Flat Servomotors e 3 000 r min Flat Servomotors with 100 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input R88M GP10030L S 100 W R88M GP20030L S 200 W R88M GP40030L S 400 W N m 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 4500 r min r min r min e 3 000 r min Flat Servomotors with 200 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M GP10030H T 100 W R88M GP20030H T 200 W R88M GP40030H T 400 W N m N m N m Repetitive usage 0 32 Continuous usage 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 r min r min r min 3 40 Specifications 3 2 Servomotor Specifications E 2 000 r min Servomotors Model R88M 200 VAC tem Unit G1KO20T G1K520T G2K020T G3K020T G4KO20T G5K020T G7K515T 3 5 Rated rotation speed r min 2000 1500 Max momentary rotation 3000 2000 speed gt gt 1 m2 Rotor inertia oh 6 17 x 10 4 1 12 x 10 3 1 52 x 10 3 2 23 x 10 3 4 25 x 10 3 6 07 x 10 9 9 9 x 10 3 Applicable load inertia 10 times the rotor inertia max 2 ee el ee ee a Without brake ta Approx 6 8 Approx 8 5 ae ae pie Approx 25 ae Weight Approx A
266. eds e Select the internally set speed using the Internally Set Speed Selection 1 to 3 of the control input terminals VSEL1 CN1 pin 33 VSEL2 CN1 pin 30 VSELS3 CN1 pin 28 Controller OMNUC G Series Servo Drive Internally set speed control Speed selection nenieca command 28 VSEL3 No 1 to 8 OMNUC G Series N pane ae Internally Set Servomotor speed control can 30 VSEL2 re be performed using only digital 33 OVSEL1 I O signals Pn53 to Pn56 Pn74 to Pn77 Parameters Requiring Settings Parameter No Parameter name Explanation ae Pno Control Mode Selection Select me control mode for internally set speeds 5 59 setting 1 3 or 5 Pno5 Command Speed Selection Make A SpiING to use the internally set speeds 5 53 setting 1 2 or 3 Deceleration Time Setting the inflection points for acceleration and deceleration Pn53 No 1 Internally Set Speed Set the internally set speeds r min The settings can be made from 20 000 to 20 000 r min Pn54 No 2 Internally Set Speed Be sure to set the speeds within the allowable range of Pn55 No 3 Internally Set Speed rotation speed of the Servomotor Pn56 No 4 Internally Set Speed a 5 Pn74 No 5 Internally Set Speed Pn75 No 6 Internally Set Speed Pn76 No 7 Internally Set Speed Pn77 No 8 Internally Set Speed l Set the acceleration time for internally set speed control ene SO Stacie anomie Set the time setting x 2 ms until 1 000 r min is reached ore
267. educe vibration at stopping by improving the speed detection accuracy for devices with high rigidity e The Inertia Ratio Pn20 must be set correctly e The Instantaneous Speed Observer Setting Pn27 will be O disabled if the Realtime Autotuning Mode Selection Pn21 is not set to O enabled Pn28 Notch Filter 2 Frequency All modes Setting range 100 to 1500 Default setting 1500 e Use this parameter to set the notch frequency of notch filter 2 for resonance suppression e The notch filter will be disabled if the setting is 1500 Pn29 Notch Filter 2 Width e Use this parameter to set the notch width of notch filter 2 for resonance suppression e Increasing the setting will increase the notch width Normally use the default setting Pn2A Notch Filter 2 Depth e Use this parameter to set the notch depth of notch filter 2 for resonance suppression e Increasing the setting will decrease the notch depth and the phase lag Pn2B Vibration Frequency 1 e Use this parameter to set vibration frequency 1 for damping control to suppress vibration at the end of the load e Measure the frequency at the end of the load and make the setting in units of 0 1 Hz e Setting frequency 10 0 to 200 0 Hz The function will be disabled if the setting is O to 9 9 Hz e Refer to Damping Control on page 7 35 for more information 5 64 Operating Functions Operating Functions 5 16 User Parameters Pn2C Vibration Filter 1 Setting
268. eeeseeeeeenseeeess 2 64 REACTOS sci ote 2 23 3 131 4 41 Realtime Autotuning Machine Rigidity Selection RP22 ienee ven ecto una tue eeu eseate ch etanatanecie 5 62 Realtime Autotuning Mode Selection Pn21 5 62 Regeneration Resistor Selection PN6C 0 5 91 regenerative CNEMGY ccccseececceseeceesseeetaeeteesaneeenees 4 45 regenerative energy External Regeneration Resistors cceeeeeeeees 4 49 regenerative energy absorption 0 ceeeeeeeeeeeees 4 48 replacement ProCedure ccceceeeseeeeeeeeeeeeees 8 2 8 23 replacing the Absolute Encoder Battery 8 23 replacing the Servo Drive cccccceeeeeeeeeeeeeeeeeeeeeeees 8 2 replacing the Servomotor ceeceeeeeeeeeeeeeeaeeeeeeenes 8 2 Reverse Drive Prohibit cccccssssccssseeeseeeeenseeeees 5 14 Reverse Drive Prohibit Input NOT 3 12 3 24 Reverse Pulse CW cccccsssssceccceeeseeeeeesseeeessaeees 3 12 Index 3 Reverse Pulse CWLD cccccsseseeeeeeeeeeeeeeeaeeees 3 14 Reverse Torque Limit Input NCL cccseeeeeees 3 12 Rotation Speed for Motor Rotation Detection COPING 2 aoa tt dovide dot cuitatiads ood waa ssunbeheanchu teil On 5 86 rotational speed characteristics for 1 000 r min SEMVOMOLONS si a EEr 3 44 rotational speed characteristics for 2 000 r min SCMVOMOLON S e e a 3 42 rotational speed characteristics for 3 000 r min Flat
269. een 0 and 10 V is applied to NCL reverse torque limit input the torque will be limited for reverse operation 3 V 100 For the parameter setting the maximum torque is limited by Pn5E for both forward and reverse operation PCL forward torque limit input NCL reverse torque limit input Pn5E 300 Torque output limit 300 Pn5E 300 Torque output limit Torque command input voltage 3V 9 V 9 V Torque command input voltage 300 Pn5E 100 Torque output limit Pn5E 100 Torque output limit 300 3001 Torque command input voltage 9 V Torque command input voltage 5 25 5 12 Torque Limit Pn03 1 Torque is limited during operation to a constant torque parameter settings For both forward and reverse operation use Pn5E to limit the maximum torque Pn03 2 Torque is limited during operation to a constant torque parameter settings To limit the maximum torque use Pn5E for forward operation and Pn5F for reverse operation Pn03 3 The torque limit setting is switched by turning pin 27 ON and OFF e For both forward and reverse operation use Pn5E to limit the maximum torque when pin 27 is OFF and use Pn5dF when pin 27 is ON E Torque Limit Settings e The setting range for the torque limit is O to 300 and the standard default setting is 300 except for the following combinations of Servo Drives and Servomotors R88M G7K515T 250 Servo Drive Applicable Servomotor Ma
270. eens 3 46 Inertia Ratio Pn20 ccccccceeeceessseseeeeeeeeeeeeeeeaneeees 5 62 instantaneous speed observer ccccceeeceeeeeeeeeeees 7 33 Instantaneous Speed Observer Setting Pn27 5 64 internally Set speed CONTIO cccceeeceeeseeeeeeeeeeeseeees 5 5 Internally Set Speed Selection 1 VSEL1 3 13 Internally Set Speed Selection 2 VSEL2 3 13 Internally Set Speed Selection 3 VSEL3 3 13 J Jog Operation Mode ccccceceeeeeeseseeeseeeeeeeaaeeees 6 24 Jog Speed PN3D irate wat i eek 5 73 L leakage breakers cccsceeeeecceeeeeeeeeeeeeeeeeeeeeeeeeees 4 33 M machine resonance control cccceeeeeeeeeeeeeeeeeeeeees 7 30 machine rigidity NUMDEIS ceceeeeeeeeee eee eeeeeeeees 7 15 main circuit CONNGCION scsi mii iuec intent ti eaear nals 3 6 Main Circuit Connector Specifications CNA 3 6 4 21 Main Circuit Terminal Block Specifications PEES EEEE hada E niet 3 7 3 8 4 22 4 23 manual tunin gaes siiges peau aruansano ieee 7 21 Momentary Hold Time PN6D cccceeeeeeeeeeeees 5 91 Montor MOG Ge ea aE A 6 8 Motion Control Unit Cables cccccseeeeeees 3 89 4 16 Mounting Brackets L brackets for rack mounting 2 24 mounting hole GIMENSIONS cccceeeeeeeeeeeeeeeeeeeeees 2 25 N No 1 Internally Set Speed PN53 ccceeeeeeeeees 5 81 No 1 Torque Lim
271. elded twisted pair cable should not exceed 20 m in length 3 17 3 1 Servo Drive Specifications E Position Command Pulse Input Photocoupler Input Line Driver Input 500 kpps Maximum CW 3 CW 4 CCW 5 CCW 6 Controller Servo Drive Applicable line driver AM26LS31A or the equivalent Precautions l for Correct Use The twisted pair cable should not exceed 10 m in length Open collector Input e External 24 V power supply without a current limiting resistor 200 kpps maximum 24VCW 1 CW 4 24VCCW 2 CCW 6 Controller Servo Drive Vcc 24 V Precautions a for Correct Use The open collector wiring should not exceed 2 m in length e External control power supply 200 kpps maximum CW 3 CW 4 CCW 5 CCW 6 Controller Servo Drive 3 Input current 7 to 15 mA gt e Select a resistance R value so that the input current will be from 7 to 15 mA Refer to the following table VCC R 24V 2 KQ 1 2 W 12 V 1 KQ 1 2 W 3 18 Specifications Specifications 3 1 Servo Drive Specifications E Sequence Input External power supply 12 VDC 5 to 24 VDC 5 Power supply capacity 50 mA min per Unit N Photocopier input Minimum ON time 40 ms To other input circuit ground commons _ To other input circuits Signal Levels ON level 10 V min OFF level 3 V max E Sensor Input Sensor ON Input EEJ Servo Drive SEN 20 100 Q Q
272. elera mo tor Weight mentary inertia torque Rated torque mentary rotation speed Model R88G VRSF05B100CJ R88G VRSF09B100CJ R88G VRSF15B100CJ R88G VRSF25B100CJ R88G VRSF05B100CJ R88G VRSF09B100CJ R88G VRSF15B100CJ R88G 1 25 WRSF25B100CJ R88G VRSF05B200CJ R88G VRSF09C200CJ R88G VRSF15C200CJ R88G 1 25 VRSF25C200CJ N r min N m kg m2 kg r min it 65 1000 1 46 4 00x10 6 392 196 0 55 oO on NO 65 2 63 3 50x10 6 441 220 0 55 Z3 O1 O1 O gt gt N gt On Oo O1 Oo 70 4 73 3 50x10 6 588 294 0 70 Q io oo 70 7 88 3 25x106 686 343 0 70 NO O O 75 1000 3 38 4 00x10 6 392 196 0 55 6 48 3 50x106 441 220 0 55 O1 O1 O as 10 8 3 50x10 6 588 294 0 70 18 0 3 25x10 6 686 343 0 70 NO O O 85 1000 7 57 1 18x10 392 196 0 72 10 6 2 75x10 931 465 1 70 O1 O1 O T 17 6 3 00x10 1176 588 2 10 Q OO oo 200 31 2 2 88x10 1323 661 2 10 O Go NO 0 gt N NO a No N N Go No N O O N O O O0 N oO O Q9 Q oo 3 54 Specifications Specifications 3 3 Decelerator Specifications Decale Allow Allow Rated able able tor torque mentary TRES radial thrust mentary inertia rotation load load torque speed Model eS Bom me e e ma gen ee e B Eee ee ilo ems e e e ems a o Bae oe re 97 face e oom ee e oe we fo Bas ame e e
273. en the absolute encoder power is interrupted All When a backup battery is connected to this terminal the battery case is not required Position command pulse input when the Command Pulse Input Selection Pn40 is set to 1 Line driver input Maximum response frequency 2 Mpps Any of the following can be selected by using the Pn42 setting reverse and forward pulses CW CCW feed pulse and direction signal PULS SIGN 90 phase dif ference phase A B signals FA FB Position 3 14 Specifications Specifications 3 1 Servo Drive Specifications E CN1 Control Outputs mode Outputs holding brake timing signals Pin No 10 25 21 22 48 49 23 24 35 37 36 39 38 39 38 40 41 Shell 3 15 Symbol BKIRCOM BKIR OUTM1 Z ZCOM A A B Z Z READY READYCOM ALM ALMCOM INP INPCOM TGON TGONCOM OUTM2 COM FG arae MONOC E Culp Releases the holding brake when ON Al Used according to the setting of the General eee UUN purpose Output 1 Selection PnOA a Phase Z Output open collector Outputs the encoder phase Z signal 1 pulse All Phase Z Output open collector revolution Open collector output common Encoder Phase A Output Encoder Phase A Output Outputs encoder pulses according to the Encoda Encoder Phase B Output er Dividing Rate Setting Pn44 and Pn45 All Encoder Phase B Output This is the line driver output equivalen
274. enting surge voltage Use high speed diodes 3 26 Specifications 3 1 Servo Drive Specifications Control Output Details E Control Output Sequence Control power supply ON L1C L2C OFF gt Approx 100 to 300 ms ON OFF _L _ Approx 2 s ON j H OFF f 5 O ms min Main circuit power supply N 3 L1 L2 L3 OFF Q Approx 10 ms after the main circuit power is turned ON after initialization is completed READY Q OFF ALM OFF Positioning Completed aN Output INP OFF m 0 ms min RUN Command Input ON i RUN r OFF H hii 2 MS c Approx 40 ms Pn6A Servomotor power supply mc Approx 2 ms m 1 to 5 ms Brake Interlock Output oN a ee BKIR opp 2 lt _______ 100 ms min Servomotor position speed om or torque input OFF 3 27 3 1 Servo Drive Specifications E Encoder Outputs Phases A B and Z Pin 21 A 22 A 48 B 49 B 23 Z 24 Z Functions e Pin 21 outputs the phase A phase B and phase Z encoder signals for the Servomotor e The encoder outputs conform to the RS 422 communication method e The dividing ratio is set in the Encoder Divider Numerator Setting Pn44 and the Encoder Divider Denominator Setting Pn45 e The logical relation of phase B to the phase A pulse is set in the Encoder Output Direction Switch Pn46 e The ground for the output circuit line driver is connected to the s
275. ents whether electronic or in writing relating to the sale of products or services collectively the Products by Omron Electronics LLC and its subsidiary companies Omron Omron objects to any terms or conditions proposed in Buyers purchase order or other documents which are inconsistent with or in addition to these Terms Prices Payment Terms All prices stated are current subject to change with out notice by Omron Omron reserves the right to increase or decrease prices on any unshipped portions of outstanding orders Payments for Products are due net 30 days unless otherwise stated in the invoice Discounts Cash discounts if any will apply only on the net amount of invoices sent to Buyer after deducting transportation charges taxes and duties and will be allowed only if i the invoice is paid according to Omron s payment terms and ii Buyer has no past due amounts Interest Omron at its option may charge Buyer 1 1 2 interest per month or the maximum legal rate whichever is less on any balance not paid within the stated terms Orders Omron will accept no order less than 200 net billing Governmental Approvals Buyer shall be responsible for and shall bear all costs involved in obtaining any government approvals required for the impor tation or sale of the Products Taxes All taxes duties and other governmental charges other than general real property and income taxes including any interest or penalties thereon
276. er supply OFF ON MC1MC2 Main circuit contact Surge killer 3 phase 200 to 240 VAC 50 60 Hz S Servo error display CP1H X40DT D Ground to 100Q or less Reactor pg ar H ES oS MC1 MC2 Output terminal block o CWO CIO 0100 00 COM for CIO 0100 00 5 2 COM for CIO 0100 01 7 ee Se TT 1 Pulse COM CIO 0000 Servomotor Power Cable B2 4 R88A CAGI 24 VDC input termina 9 1 REA Input terminal block o l Cw Eep Puse o oran meu soa Cra H o i C d ne CC DE BE re 110 BKIRCOM hOr otc ee E Brake Cable EE S R88A CAGALIB et a R88A CAGELIB re XB is 24 VDC e Incorrect signal wiring can cause damage to Units and the Servo Drive for Correct Use e Leave unused signal lines open and do not wire them e Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls e The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent Precautions 9 7 9 1 Connection Examples E Connection Example 8 Connecting to SYSMAC CJ1M CJ1M Contents No O eee Output COM ee ee o CW output oS _ 55 te a a a o O S y y O5 signal OV LD Bconioni enang _DC24V output OV LD Sine DC24V signal OV LD 6 ee ee ee ee Precautions for Correct Use Main circuit power supply OFF ON MC1MC2 Main cir
277. erlock 5 10 Brake Interlock Precautions for Using the Electromagnetic Brake e The electromagnetic brake on a Servomotor with a brake is a nonexcitation brake designed for holding Set the parameter to first stop the Servomotor and then turn OFF the power supply to the brake e If the brake is applied while the Servomotor is rotating the brake disk may become damaged due to friction damaging the Servomotor Function e You can set the Brake Interlock Output BKIR timing to turn ON and OFF the electromagnetic brake Parameters Requiring Settings Pn6A Brake Timing when Use this parameter to set the output timing of the Brake In 5 89 Stopped terlock Output BKIR Pn6A Delay time setting from BKIR OFF until servo OFF Pn6B Wait time setting from servo OFF until BKIR OFF 5 90 Brake Timing Ene during Operation 5 20 Operating Functions Operating Functions 5 10 Brake Interlock Operation E RUN Command Timing When Servomotor Is Stopped ON RUN Command RUN ope d Approx 42 ms avs 1 to 5 ms Brake Interlock BKIR ON OFF ce Approx 2 ms ON OFF Brake power supply 200 ms max 100 ms max Brake operation ON OFF Speed command V or pulse command V Approx 2 ms 3 Released Engaged Dynamic brake 3 Approx 42 ms Pn6A 2 i Lr CC Servomotor Deenergized 1 The time from turning ON the brake
278. ervo Drive S Servomotor R88D QO Zo T 4 D gt R88M GO Wiring Servo Drive Servomotor R a ev H oane O e ies S_ BATA _ FG Shel Servo Drive Connector AWG22 x 2C AWG24x2P UL20276 3 to 20 m t t AWG16 x 2C AWG26x2P UL20276 30 to 50m ervomnotor Connector Connector Straight plug 3 to 20 m Crimp type I O Connector Molex Japan N MS3106B20 29S 30 to 50 m 55100 0670 Molex Japan Japan Aviation Electronics Connector pins Cable clamp 50639 8028 Molex Japan N MS3057 12A Japan Aviation Electronics 3 4 Cable and Connector Specifications E Encoder Cables Robot Cables R88A CRGAL ICR Cable Models For absolute encoders 3 000 r min Servomotors of 50 to 750 W and 3 000 r min Flat Servomotors of 100 to 400 W Model Length L Outer diameter of sheath Weight R88A CRGA003CR Approx 0 2 kg R88A CRGAO005CR Approx 0 4 kg R88A CRGA010CR p dom 7 5 dia Approx 0 8 kg R88A CRGA015CR 15m 15m Approx 1 1 kg R88A CRGA020CR p 2m p 2m Approx 1 5 kg N c Q R88A CRGA030CR 3m 3m Approx 2 8 kg T O R88A CRGA040CR 8 2 dia Approx 3 7 kg R88A CRGA050CR Approx 4 6 kg T Q o Connection Configuration and Dimensions Servomotor a gt R88M GO Servo Drive R88D GL Wiring 3 to 20 m Servo Drive i No Blue Red E5V 1 gt i EOV BAT a 2 Servo Drive Connector AWG24x4P UL20276 Servomotor Connector Connect
279. ervo Drives E Space around Drives e Install Servo Drives according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel If the Servo Drives are installed side by side install a fan for air circulation to prevent uneven temperatures from developing inside the panel D Fan Fan 100 mm min Air A Servo Servo Servo a Drive Drive Drive E r o DA Air 2 who LW W 10 mm min io ai E Mounting Direction e Mount the Servo Drives in a direction perpendicular so that the model number can be seen properly E Operating Environment e The environment in which Servo Drives are operated must meet the following conditions Servo Drives may malfunction if operated under any other conditions Ambient operating temperature O to 55 C Take into account temperature rises in the individual Servo Drives themselves Ambient operating humidity 90 RH max with no condensation Atmosphere No corrosive gases Altitude 1 000 m max E Ambient Temperature Control e Servo Drives should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability e Temperature rise in any Unit installed in a closed space such as a control box will cause the Servo Drive s ambient temperature to rise Use a fan or air conditioner to prevent the Servo Drive s ambient temperature from exceeding 55
280. ervomotor is Occurs when the power faulty supply is turned ON e The Servomotor was moving when the power supply was turned ON Occurs when the power supply is turned ON e A phase Z pulse from the encoder was not detected regularly Occurs during operation e A logic error was detected in the PS signal from the encoder Occurs when the power e The Servo Drive is supply is turned ON faulty Occurs when the power e The Servo Drive is supply is turned ON faulty Occurs when the power e The Servo Drive is supply is turned ON faulty Occurs when the power e The Servo Drive is supply is turned ON faulty Occurs when the power e The Servo Drive is supply is turned ON faulty e The voltage input to pin 16 is too high Occurs during operation Occurs during operation Error Status when error occurs Cause Countermeasure e Set up the absolute encoder e Connect the battery power supply e Properly set the Operation Switch when Using Absolute Encoder PnOB e Lower the Servomotor rotation speed and supply power e Check the wiring e Replace the Servomo tor e Replace the Servomo tor e Replace the Servo Drive e Replace the Servomo tor e Do not let the Servo motor move when the power supply is turned ON e Replace the Servomo tor e Replace the Servomo tor e Replace the Servo Drive e Replace the Servo Drive e Replace the Servo Drive e
281. es Dimensions for front panel mounting are references values that provide leeway 2 31 2 2 External and Mounting Hole Dimensions E Three phase 200 VAC R88D GT30H GT50H 2 to 5 kW Wall Mounting External Dimensions 15 100 70 200 3 5 00000000000000000000000000000000000000 pannaa annagaanssnngangaganns OUASUCBSQUASNIUASUBERYUENIUARUBEBQUESE UUUUUU l g 2 32 Standard Models and Dimensions imensions Standard Models and D 2 2 External and Mounting Hole Dimensions 2 33 Front Panel Mounting Using Mounting Brackets External Dimensions 130 15 100 70 200 65 5 2 R26 5 2 dia UUUUUT 00000000000000000000000000000000000000 Angannoanne anngaa NANABANAAA BOBBUCEERYEHNOASHESBOLONIDASUEERQUERN UUUUUT Mounting Hole Dimensions Reference Six M4 228 Square hole The dimensions of the square hole are reference values Dimensions for front panel mounting are references values that provide leeway 2 2 External and Mounting Hole Dimensions E Three phase 200 VAC R88D GT75H 7 5 kW Front Panel Mounting Using Mounting Brackets External Dimensions Four 5 2 dia 000000000000000000000000
282. es 5 63 Vibration Filter Switch DFSEL ccccsseeeeeeeeeees 3 13 Vibration Frequency 1 PN2B c0cccceeeeeeeeeeeeeees 5 64 Vibration Frequency 2 PN2D ccccccessseeeeeeeeeeees 5 65 W WIC SZOS aerator crane niatet ta rA 4 25 wiring conforming to EMC Directives 4 27 Z Zero Speed Designation Input VZERO 3 13 Zero Speed Designation Speed Command Direction Switch PNOG cccecseseeeeeeeeeeeeeeeeaeeeees 5 54 Zero Speed Detection PNG1 c cccceeeseseeeeeeeeees 5 85 Index 4 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Cat No 1562 E1 03 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Tea Revie comet and pages Revised content and pages 01 February 2008 Original production production July 2008 Changes were made throughout the manual to add information and make minor corrections October 2009 Changes were made throughout the manual to add information and make minor corrections R 1 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 catalogs manuals brochures and other docum
283. etting Pn02 is set to a composite mode 3 4 or 5 the setting of this parameter is valid when the first control mode is used Setting Gain switching conditions Gain Switch Time Pn32 37 1 The Gain Switch 1 Time Pn32 is used when returning from gain 2 to gain 1 2 The Gain Switch 1 Hysteresis Setting Pn34 is defined as shown in the following figure Gain 1 PLUE Gain 1 Ee Pn32 3 The amount of change is the value within 166 us Example When the condition is a 10 change in torque in 166 us the set value is 200 4 This is the encoder resolution 5 The meanings of the Gain Switch Time Gain Switch Level Setting and Gain Switch Hysteresis Setting are different from normal if this parameter is set to 10 Refer to Figure F 5 69 5 16 User Parameters 1 2 Gain 1 211 Gain 1 Gain 2 Gain 1 1 1 Bo o e E a a a a a a a p V Figure B Actual Figure E Command speed S Actual speed N Time Gain 1 Gain 2 Gain 1 Gain 2 Is used only during the ua Loop Integration Time Constant Pn32 Gain Switch 1 Time Setting range O to 10000 x 166 us Default setting ENC IE e For Position Control Mode use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1 Setting Pn31 is 3 or 5 to 10 e For Speed Control Mode use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1
284. etup is also required if an absolute encoder system down error alarm code 40 occurs when you turn ON the power supply for the first time or if the encoder cable is disconnected and then connected again When using an absolute encoder set PnOB to O or 2 and set Pn45 to 0 E Absolute Encoder Setup Procedure 1 Turn ON the power supply and align the origin Turn ON the power supply perform the origin alignment operation and move the machine to the Origin position 2 Go to Auxiliary Function Mode Press the Data key and Mode key on the Servo Drive Auxiliary Function Mode will be displayed 3 Go to Absolute Encoder Clear Mode Press the Data key again Absolute Encode Clear Mode will be displayed Auxiliary Function Mode Select mode D a Automatic Offset Adjustment Mode Motor Trial Operation Mode Operation Alarm Clear Mode Absolute Encoder Clear Mode 4 Start clearing the absolute encoder Hold down the Increment key Clearing the absolute encoder will be started Hold down the Increment key for approx 3 seconds The number of dashes on the display will increase Clearing the absolute encoder will be started Clearing will be finished almost immediately Note If you attempt to clear an incremental encoder Error will be displayed 5 Restart the Servo Drive Turn OFF the control power supply to the Servo Drive and then turn it back ON 6 3 Using the Parameter Unit 6 3 Using the Parameter
285. eviation counter overflow level Overflow Level x 256 0 to pulses 32767 Q O Speed Command Torque Command Input Overflow Level Setting Set the overflow level for Speed Command Input REF or Torque Command Input TREF using voltage after offset adjustment 0 to 100 Overload Detection Level Set the overload detection level Setting O to 500 Overspeed 73 Detection Level Set the overspeed detection level Setting lt t O I i I r min 20000 7 7 m m P z i Appendix Oo l l I 9 28 Index Numerics 1 000 r min ServomotorS cceeeceeeeeeeeeeeeeeeeees 2 4 3 43 12 to 24 VDC Power Supply Input 24VIN 3 12 2 000 r MIN SErVOMOTOSS ceceeceeeeeeeeeeeeeeeeees 2 3 3 41 24 V Open collector Input for Command Pulse FZAV EN Niemen nr aster Seen ane eer Pe ete renee erin 3 12 3 000 r min Flat Servomotors c cceceeeeeeeeeees 2 3 3 39 3 000 r MIN SErvOMOtOSS ceceecceeseeceeeeeeneeees 2 2 3 33 90 degree Phase Difference Pulse Input Phase A PA aie tated 3 12 90 degree Phase Difference Pulse Input Phase B PB tcsareiee oe ee ee 3 12 A Absolute Encoder Battery Cable 0 2 20 3 63 Absolute Encoder Reset Mode cccccsseeeseeeees 6 23 absolute encoder setup ccsccessseceeseseeeseeeeenseeees 6 5 absolute encoders cccceecccseeeceeeeceesesseee
286. f the notch filter which removes the resonance component from the torque command Normal mode autotuning automatically sets the appropriate gain by operating the Servomotor with the command pattern automatically generated by the Servo Drive and estimating the load inertia from the torque required at that time Manual tuning is performed if autotuning cannot be executed due to restrictions on the control mode or load conditions or if ensuring the maximum responsiveness to match each load is required Position control mode adjustment Speed control mode adjustment Torque control mode adjustment Gain switching can be used with internal data or external sig nals to perform such actions as reducing vibration at stop ping shortening stabilization time and improving command follow up It is sometimes not possible to set the gain high because of vibration or sound due to resonance caused by shaft contor tion when the machine rigidity is low In these cases two types of filters can be used to suppress resonance This function initializes control parameters and gain switch ing parameters to settings that match the normal mode auto tuning rigidity parameters before manual tuning is performed The following application functions can be used to further improve performance if the specifications cannot be satisfied using basic adjustment The instantaneous speed observer both increases respon siveness and reduces vibration at stopping by es
287. fer to the Front Panel Display Example on page 7 9 for information on using the front panel 2 With the dot at the far right flashing decrease the rigidity to 0 and press the 3 Decrement key on the front panel for 3 s min to start the fit gain function Input a position command that satisfies the operating pattern conditions given in Precautions for Correct Use under Fit Gain Function on page 7 7 If the fit gain is completed normally F 17 54 will be displayed and E o r will be displayed if it is completed with an error The E o r_ display can be cleared using the keys e Time is required for the change to be made for fit gain operation It may take approximately 2 or 3 min depending on the equipment configuration which may require up to approximately 50 reciprocating operations Normally the fit gain will be completed when the optimal realtime rigidity number is found e E a r_ will be displayed in the following cases e The INP signal becomes unstable or a realtime rigidity number without small vibration is not found e The keys on the front panel are used while fit gain is operating or the applicable conditions are not satisfied 7 8 Adjustment Functions Adjustment Functions 7 2 Realtime Autotuning E Operating Procedure Execution display Front Panel Display Example Selection display Execution display in fit Fit gain window gain window ft N Pn2
288. g an encoder cable yourself Dimensions R88A CNWO01R for Servo Drive s CN2 Connector This connector is a soldering type Use the following cable e Applicable wire AWG16 max e Insulating cover outer diameter 2 1 mm dia max e Outer diameter of sheath 6 7 dia 0 5 mm Connector plug 55100 0670 Molex Japan Co 3 86 Specifications Specifications 3 4 Cable and Connector Specifications 3 87 R88A CNGO1R for Servomotor Connector ABS Use the following cable e Applicable wire AWG22 max e Outer diameter of sheath 1 75mm dia max 4440 15 Connector housing 172161 1 Tyco Electronics AMP Kk Contact socket 170365 1 Tyco Electronics AMP Kk R88A CNGO2R for Servomotor Connector BRIN Use the following cable e Applicable wire AWG22 max e Outer diameter of sheath 1 75 mm dia max 299 7 0 4 A Connector housing 172160 1 Tyco Electronics AMP KK Contact socket 170365 1 Tyco Electronics AMP KK Panel Mounting Hole 1 Applicable panel thickness 0 8 to 2 0 mm Panel Mounting Hole 1 Applicable panel thickness 0 8 to 2 0 mm 3 4 Cable and Connector Specifications E Power Cable Connector R88A CNG01A This connector is used for power cables Use it when preparing a power cable yourself Panel Mounting Hole Connector housing 172159 1 Tyco Electronics AMP Kk Applicable panel thickness C
289. ge even if the main circuit power supply is turned OFF externally e g with an emergency stop Do not remove the front cover terminal covers cables or optional items while the power is being supplied Doing so may result in electric shock Precautions for Safe Use Installation operation maintenance or inspection must be performed by authorized personnel Not doing so may result in electric shock or injury Wiring or inspection must not be performed for at least 15 minutes after turning OFF the power supply Doing so may result in electric shock Do not damage or pull on the cables place heavy objects on them or subject them to excessive stress Doing so may result in electric shock stopping product operation or burning Do not touch the rotating parts of the Servomotor during operation Doing so may result in injury Do not modify the product Doing so may result in injury or damage to the product Provide a stopping mechanism on the machine to ensure safety The holding brake is not designed as a stopping mechanism for safety purposes Not doing so may result in injury Provide an external emergency stopping mechanism that can stop operation and shut off the power supply immediately Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart Doing so may result in injury Take appropriate measures to secure safety
290. guration 1 4 System Block Diagrams R88D GT75H 1 9 Terminals Terminals SW power supply Regene Main circuit rative control control Internal control Display satel MPU amp ASIC supply Position speed and torque processor PWM control Encoder communications interface RS 232 RS 485 interface interface CN3A CN3B connector connector Cooling fan Control I O interface CN1 control I O connector CN2 encoder signal connector 1 5 Applicable Standards 1 5 Applicable Standards EC Directives EC Directive Applicable standards Comments Safety requirements for electrical equipment for LON Voltages nee NNE NEOS measurement control or laboratory use mai Rotating electrical machines Limits of radio disturbance and measurement EN 55011 Class A Group1 methods for industrial scientific and medical radio frequency equipment EN 61000 6 2 Electromagnetic compatibility EMC Immunity standard for industrial environments EMC Directive AC Servo Drive and Electrostatic discharge immunity testing AU Servomolor Radio frequency radiation field immunity testing Electrical fast transient burst immunity testing Lightning surge immunity testing High frequency conduction immunity testing Momentary power interruption immunity testing Note To conform to EMC Directives the Servomotor and Servo Drive must be installed under the conditions described in Wiring Conforming to
291. h enabled Switching with DFSEL PNSEL input 1 Open Vibration filter 1 Closed Vibration filter 2 Switching with command direction 2 Forward operation Vibration filter 1 Reverse operation Vibration filter 2 7 36 Adjustment Functions Chapter 8 Troubleshooting 8 1 8 2 8 3 8 5 EMO FOCESSING E e a cnunctan save aresonn ieee 8 1 Preliminary Checks When a Problem OCCUTIS c000008 8 1 Precautions When TroubleShooting ccccccseeeeeeeeeeeeeeees 8 2 Replacing the Servomotor and Servo Drive c 0eee 8 2 Alarm kaple ees ee ae a eee ke ee ee 8 3 AFOUDICSMNOOUNG iat a e emetic 8 6 Error Diagnosis Using the Displayed Alarm Codes 8 6 Error Diagnosis Using the Operating Status c 8 15 Overload Characteristics Electronic Thermal Function cccee 8 20 Overload Characteristics Graph cccccccccesseeeeeseeeeeeeees 8 20 Periodic Maintenance ccsccseeceeeeeeeeeeaees 8 21 Servomotor Service Lif ne a A AeA ee ee 8 21 servo Drive Service Lifes enee o e e a a 8 22 Replacing the Absolute Encoder Battery cccceseeeeees 8 23 Troubleshooting 8 1 Error Processing 8 1 Error Processing Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical tools required to determine the cause of a problem if one occurs E Checking the Power Supply Voltage e
292. hange the amount of the torque direction of the torque or speed limit for the command voltage e Pn56 No 4 Internally Set Speed default value 50 r min ePn5C Torque Command Scale e Pn5D Torque Output Direction Switch Chapter 7 Adjustment Functions 7 1 1 2 1 3 Caine AdiUSUMEN Evceenncsts a OA 7 1 Purpose of the Gain Adjustment c ccceccecssseeeeeeeeeseaees 7 1 Gain Adjustment Methods an enre 7 2 Gain Adjustment Proced re z nrar ee eran a 7 3 Realtime Autotuning eeo n e a a 7 4 Realtime Autotuning Setting Method cccseeceesseeeeeeeees 7 5 Operating Procedure nicarenns Aubano E en cuk narrate phe ers 7 6 RIRGainEUnCHOMer cnet crac mcd E 7 7 AN F216 hi or eal 2 Germs n crt ere arr E Rens E 7 11 Automatically Set ParaMmeters ccccccccecsseeeeeseeeeeeaeeeeeenees 7 12 Normal Mode Autotuning cccsscesseeneeeneees 7 14 Normal Mode Autotuning Setting Method c cccceeeees 7 15 Automatically Set ParaMmeters cccccccccsseeeeecsseeeeeseeeeesaees 7 16 Disabling the Automatic Gain Adjustment PAU G HOM icra te tananin a e reason ee venetian tan ceae 7 19 Disabling Realtime Autotuning cccccceesseeeeseeeeseeeeseeeeees 7 19 Disabling the Adaptive Filter ccccssecesseseseseeeeeseneeeens 7 20 Manual TUNING e e cers aerachne neece iets 7 21 Basic Settings sear eure creer ene cease ean 7 21 Gail SWITCHING FUNCION s e e eter eve
293. hanical vibration or correct the Servomotor s installation e Readjust the Torque Command Filter Time Constant e f there is resonance set the Notch Filter 1 Frequency Pn1D and Notch Filter 1 Width Pn1E 8 18 Troubleshooting 8 3 Troubleshooting Symptom Vibration is occurring at the same frequency as the power supply The position is misaligned Position misalignment occurs without an alarm being output 8 19 Inductive noise is occurring There is an error in the coupling of the mechanical system and the Servomo tor Noise is entering the Devia tion Counter Reset Input ECRST The gain is wrong The load inertia is too large Probable cause Items to check Check whether the Servo Drive control signal lines are too long Check to see whether control signal lines and power supply lines are bundled together Check whether the coupling of the mechanical system and the Servo motor is misaligned Check whether the control signal lines and power supply lines are bundled together Check the following e Check whether the load is too large e Check whether the rotation speed of the Servomotor is too high Countermeasures Shorten the control signal lines e Separate control signal lines from power supply lines e Use a low impedance power supply for control signals Correct the coupling between the mechanical system and the Servomotor Separate th
294. he Adaptive Filter Selection Pn23 to 0 and then enable it again 5 66 Operating Functions Operating Functions 5 16 User Parameters Pn30 Gain Switching Input Operating Mode Selection Explanation of Settings Setting Explanation 0 Gain 1 PI P switching enabled 1 Gain 1 gain 2 switching enabled e Use this parameter to select whether to switch between PI and P operation or to switch between gain 1 and gain 2 in Speed Control Mode e PI P operation switching is performed using gain switching GSEL CN1 pin 27 Pl is not changed however if the Torque Limit Selection Pn03 is set to 3 Gain input Speed loop operation COM open PI operation COM connection P operation e For information on conditions for switching between gain 1 and gain 2 refer to Gain Switching Function on page 7 26 5 67 5 16 User Parameters Pn31 Control Gain Switch 1 Setting Explanation of Settings Position Control Mode O Enabled x Disabled Explanation Gain Switch 1 Gain Switch 1 Level Setting Hysteresis Set Pn33 ting Pn34 Setting Gain switching conditions Gain Switch 1 Time Pn32 D Switching using Gain Switch Input S v GSEL for CN1 pin 27 Amount of change in torque Oe one Th command Figure A x 0 05 x 0 05 5 c 5 Command Command speed Figure B Figure B mesoa 0 ou O r min LL P Amount of position deviation 0 oh Figure C ice Pulse c E 7 Command Comma
295. he Servomotor temperature may rise sharply if the Servomotor is installed in an environment such as near a heat source Take the following countermeasures as required by the installation environment Reduce the load ratio Modify the Servomotor s heat dissipation conditions Forcibly cool the Servomotor by installing a cooling fan Radiator plate 4 4 System Design fe System Design 4 1 Installation Conditions E Oil Seal 4 5 The Servomotor oil seal dimensions are given below The expected service life of an oil seal is approximately 5 000 hours The actual life depends on the application conditions and environment Oil seal installation and replacement are treated as repair work For inquiries consult your OMRON representative Motor model R88M G05030 R88M G10030 R88M G20030 R88M G40030 R88M G75030 R88M GP10030 R88M GP20030 R88M GP40030 R88M G1K030 R88M G1K530 R88M G2K030 R88M G3K030 R88M G4K030 R88M G5K030 R88M G1K020 R88M G1K520 R88M G2K020 R88M G3K020 R88M G4K020 R88M G5K020 R88M G7K515 LT LI LY Gy A Ea E e E E e E E E c E E NI N i i E L IA 00 R88M G90010L 1 R88M G2K010L 1 R88M G3K010L R88M G4K510L 1 R88M G6K010L 1 Shaft diameter mm Outer diameter mm Width mm a S ee a a es a ae ee a a A ee a a a FS 14 A KR A BY gt MP MP N N A O O O U u j W Co Oy OT Oo OI NI N N N N N oO A A
296. hree phase 200 to 230 VAC 170 to 253 V supply input 50 60Hz External Regeneration Resistor connection 6 kW 7 5 kW A regeneration resistor is not built in Connect an External Regeneration Resistor between B1 and B2 if necessary terminals Servomotor These are the output terminals to the Servomotor connection terminals Blue Be sure to wire them correctly Green Yellow This is the ground terminal Ground to 100 Q or less Main Circuit Terminal Block Specifications TB2 NC LiC L2C NC EX1 EX2 EX3 NC FN FN 4 23 Control circuitpower Resp GT75H Single phase 200 to 230 VAC 170 to 253 V 50 60Hz supply input This is the ground terminal Ground to 100 Q or less m Outputs a warning signal when the fan inside the Servo Drive stops pansion Vue 30 VDC 50 mA max 4 2 Wiring E Terminal Block Wire Sizes 100 VAC Input R88D GTL_ILIL Model R88D GTA5L GTOIL GTO2ZL GTO4L Item Unit Power supply capacity sae p04 supply input Lt andL3 or Wire size AWG18 AWG16 L1 L2 and L3 power supply input L1C and L2C AWG18 connection terminals U V W Wire size AWG18 and GR Frame ground System Design 200 VAC Input RB88D GTUUH Model R88D GTO1H GTO2H GTO4H GTO8H GT10H Item Unit Main circuit power supply input Wire size AWG18 AWG16 icon eee ee L1 L2 and L3 Control circuit AWG18 power supply input Ser
297. i Approx 0 6 s l Approx 0 6 s Default display Determined by the setting of parameter Pn0O1 c O re Q Q O 6 2 Preparing for Operation E Displays on the Parameter Unit e Connect the Parameter Unit to the Servo Drive and turn ON the power to the Servo Drive or alternatively connect the Parameter Unit to the Servo Drive when power to the Servo Drive is already ON The following displays will appear The Parameter Unit is initialized The display will flash every 0 6 s Servo Drive with unit number other than 0 Servo Drive with unit number 0 Communicating via RS 232 Only Communicating with Other Drives connected via RS 485 e microcomputer version is displayed version is displayed The numbers depend on cece eee ees The dot will flash if RS 485 is the sere mbdier Oh oe connected Set the unit number version AY the Increment and Decrement keys re The Drive s unit number l l The Parameter Unit set in parameter PnO0O is bee nies l version is displayed displayed e a 0 are The specified unit number is displayed Press the Data key Determined 0 6 s later of by the setting of parameter Pn01 Default Display PEE E The specified unit number is displayed of the Drive to connect to using Operation 6 4 6 2 Preparing for Operation Absolute Encoder Setup ES You must set up the absolute encoder if using a Servomotor with an absolute encoder The s
298. ial processing has been completed E Positioning Completed Output INP or Servomotor Rotation Speed Detection Output TGON Pin 39 Positioning Completed Output INP or Servomotor Rotation Speed Detection Output TGON Functions e Position Control Mode The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than the Positioning Completion Range Pn60 The output condition is set in the Positioning Completion Condition Setting PN63 e Speed Control or Torque Control Mode The TGON signal turns ON when the speed of the Servomotor exceeds the setting of the Rotation Speed for Motor Rotation Detection Pn62 3 29 3 1 Servo Drive Specifications Encoder Connector Specifications CN2 ts Symbol Function Interface i E5V o power supply Power supply output for the encoder 5 2 V 180 mA D EOV Encoder power supply GND 3 Battery Backup power supply output for the absolute encoder 3 6 V 100 uA for operation during power interruption 265 uA for 4 BAT Battery power interruption timer and 3 6 uA when power is supplied to Servo Drive 5 PS Encoder phase S input ine driver input corresponding with the EIA RS 485 communica 6 PS Encoder phaseS input tions method Shell Shield ground Cable shield ground Connectors for CN2 6 Pins Name Manufacturer Servo Drive Connector 53460 0629 Cable Connector 55100 0670 Molex Japan Co 3 30 Specifications Specificati
299. ications Specifications 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A18 This Cable connects a Position Control Unit CJ1W NC133 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A18 Approx 0 1 kg 10 0 dia XW2Z 100J A18 Approx 0 2 kg Connection Configuration and Dimensions Position Control Unit CJ1W NC133 lt Wiring Position Control Unit Servo Relay Unit Crimp terminal Cable AWG28 x 4P AWG28 x 10C 26 3 123 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A19 This Cable connects a Position Control Unit CJU1W NC233 NC433 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath 10 0 dia XW2Z 050J A19 XW2Z 100J A19 Connection Configuration and Dimensions Position Control Unit CJ1IW NC233 CJ1IW NC433 Wiring Servo Relay Unit Position Control Unit AWG20 black ae ee rr 2 a a ey ee E ee es eS Fma POE E S gt X 4 EEE ee T Xd E E E ae a ee 88 8 a ee a 3 fp Cfo 4 I a ae a ao ES S 8 P H a S S 23 l 88 oe a gees oe ee B14 26 a a sg ee sr A ee ang ee E SG ee 33 Weight Approx 0 1 kg Approx 0 2 kg Servo Relay Unit
300. ice life depends on the operating conditions e When using the Servo Drive in continuous operation use fans or air conditioners to maintain an ambient operating temperature below 40 C e We recommend that ambient operating temperature and the power ON time be reduced as much as possible to lengthen the service life of the Servo Drive e The life of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally speaking an increase of 10 C in the ambient operating temperature will reduce capacitor life by 50 e The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no power supplied If the Servo Drive is not used for a long time we recommend a periodic inspection and part replacement schedule of five years e If the Servomotor or Servo Drive is not to be used for a long time or if they are to be used under conditions worse than those described above a periodic inspection schedule of five years is recommended e Upon request OMRON will examine the Servo Drive and Servomotor and determine if a replacement is required Troubleshooting 8 22 Troubleshooting 8 5 Periodic Maintenance Replacing the Absolute Encoder Battery ES Replace the Absolute Encoder Backup Battery if it has been used for more than three years or if an absolute encoder system down error alarm code 40 has occurred E Replacement Battery Model and Specifications Item Specifica
301. ignal ground GND It is not isolated e The maximum output frequency is 4 Mpps after multiplying by 4 The output frequency equals the Servomotor encoder resolution x Pn44 Pn45 x 4 x Servomotor rotation speed r min 60 e The output phases are shown below They are the same for both incremental and absolute encoders PhaseA PhaseA_ _ L_ Phase B lef Ly PhseB f Phasez ss PhaseZ ss ss io Synched Not synched e f the Servomotor encoder resolution x Pn44 e In cases except for the one on the left phases Pn45 is a multiple of 4 phases Z and A are A and Z are not synchronized synchronized 3 28 Specifications 3 1 Servo Drive Specifications E Brake Interlock Output BKIR Pin 11 Brake Interlock Output BKIR Functions e Pin 11 outputs an external brake timing signal according to the settings of the Brake Timing When Stopped Pn6A and Brake Timing During Operation Pn6B 3 E Servo Ready Output READY Pin 35 Servo Ready Output READY Functions e This output signal indicates that the Servo Drive is turned ON and ready to start operation e This output will turn ON if no errors occur after the main circuit power supply is turned ON Specifications E Alarm Output ALM Pin 37 Alarm Output ALM Functions e The alarm output is turned OFF when the Servo Drive detects an error e This output is OFF at power ON but turns ON when the Servo Drive s init
302. ill be ignored e The shaded areas for the Positioning Completed Output INP in the time chart show that the signal is turned ON as the Servomotor Rotation Detection Output TGON The meaning of the signal depends on the control mode Position and Torque Control Switching Example Pn02 4 p 10 ms min Control Mode Switch ON Input TVSEL Torque Command Input TREF V _ Forward operation 10 ms min Reverse operation Pulse commands ON Po 3 OFF Positioning Completed via Output INP OFF r min Servomotor operation r min Impact e This time chart shows an example of torque thrust e There is a maximum delay of 10 ms in reading the input signal e When switching from torque control to position control turn OFF the Control Mode Switch Input TVSEL and wait at least 10 ms after the Positioning Completed Output INP turns ON before inputting the pulse command The pulses input before INP turns ON will be ignored 5 12 Operating Functions Operating Functions 5 5 Switching the Control Mode Speed and Torque Control Switching Example Pn02 5 Control Mode Switch a a OFF Input TVSEL V Speed Command Input REF Torque Command Input TREF Servomotor operation Torque Control Mode r min 1 Deceleration for the torque command 2 Deceleration due to load inertia energy and load friction torque e There is a maximum delay of 10 ms in reading
303. imes the rotor inertia max 2 am nm om os os oe ost on Electrical time constant ms 20 Allowable radial load 3 392 784 Allowable thrust load 3 N 147 343 Approx 4 5 Approx 5 1 Approx 6 5 Approx 9 3 Eei pai Approx 5 1 Approx 6 5 Approx 7 9 Approx 11 PPrOx Approx Without brake kg Weight With brake kg 14 8 19 2 Radiation shield dimensions 170 x 160 x 320 x 300 x 1320 x 300 x material t12 Al t30 Al t20 Al O OAN 0 5 j Applicable Servo Drives R88D GT15H GT15H GT20H GT30H GT50H GT50H Mie kg m2 e 5 5 5 4 4 Brake inertia GD2 4 2 5x1 3 3 x 10 3 3 x 10 3 3 x 10 1 35 x 107 1 35 x 10 24 VDC 10 Excitation voltage 4 Power consumption fet 20 C TETE Current consump eae o on or o o o Static friction torque N m 4 9 min 11 8 min 16 1 min 16 1 min Attraction time 5 ms 50 max 80 max 110 max 110 max 9 ms 50 max 50 max gt 1 reference value 2 0x 10 4 9x 10 4 9x10 4 9 x 10 10 000 max Speed of 900 r min or more must not be changed in less than 10 ms 10 000 000 operations Continuous T 9 1470 1470 Brake specifications gt gt gt J Q ojlo 2 2 S a Lviv ez Onaj o D D gt D 3 5 g S e A a 3 3 3 D Allowable total work J 2 2 x106 2 2 x 106 l rad s2 acceleration Insulation grade Type F D D HE a 3 2 Servomotor Specifications 1 These ar
304. imit Input VLIM and the Servomotor speed 100 100 Set to reverse the polarity of the Torque Command Input REF TREF1 or PCL TREF2 Torque Output ae E E E o DCS Set the limit to the Servomotor s maximum torque 300 os Limit 500 F NO A Torque Set the limit to the Servomotor s maximum torque 100 we Limit 500 Appendix 9 24 9 2 Parameter Tables E Sequence Parameters Default Setting Power Parameter name Setting Explanation Unit I OFF gt gt setting range ON Positioning ve Completion 25 Pulse 39767 une Range Zero Speed ose output zero speed detection output or speed co 20 rimin 10 Detection aes p p p 20000 incidence output Rotation Speed 10 to 50 r min 20000 for Motor Set the operation for positioning completion output Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 Positioning completion output turns ON when i the position deviation is within the Positioning Completion Range Pn60 and there is no eee position command Positioning Completion Positioning completion output turns ON when 0 to 3 Condition Setting the zero speed detection signal is ON and the 2 position deviation is within the Positioning Completion Range Pn60 and there is no position command Positioning completion output turns ON when the position deviation is within the Positioning 3 Completion Range Pn60 and there is
305. improve mechanical rigidity and increase the specific oscillation frequency This should be 50 to 70 1 s for ordinary machine tools 30 to 50 1 s for general use and assembly machines and 10 to 30 1 s for industrial robots The default position loop gain is 40 1 s so be sure to lower the setting for machines with low rigidity e Increasing the position loop gain in systems with low mechanical rigidity or systems with low specific oscillation frequencies may cause machine resonance resulting in an overload alarm e If the position loop gain is low you can shorten the positioning time using feed forward e This parameter is automatically changed by executing realtime autotuning To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Position loop gain is generally expressed as follows Command pulse frequency pulses s Position loop gain Kp ____Y____ Y Y Y 1 5 Deviation counter accumulated pulses pulses When the position loop gain is changed the response is as shown in the following diagram Servomotor yo position loop gain is high speed When speed loop gain is low Time e f the speed loop gain and position loop gain are optimally set the Servomotor operation for the command will be delayed 2 Kp at acceleration and delayed 3 Kp at deceleration Servomotor e e Kp speed Position m command Servomotor operation Time h W 5 58 O
306. in circuit fell Ves p PPIy g below the specified value The DC voltage in the main circuit is Overvoltage l Yes abnormally high Main power supply undervoltage The DC voltage of the main circuit is low Yes Overcurrent flowed to the IGBT Overcurrent Servomotor power line ground fault or No short circuit The temperature of the Servo Drive Servo Drive overheating yi No radiator exceeded the specified value Operation was performed with torque Ov rload significantly exceeding the rating for ves several seconds to several tens of seconds The regeneration energy exceeds the processing capacity of the regeneration No resistor Encoder communications error The encoder wiring is disconnected No Communications cannot be performed Encoder communications data error between the Encoder and the Servo No Drive Regeneration overload The number of accumulated pulses in the deviation counter exceeded the setting for the Deviation Counter Overflow Level Pn70 The Servomotor exceeded the maximum Overspeed Yes number of rotations Electone asarseimaernor The setting for the electronic gear ratio Ves g g Pn48 to 4B is not appropriate The Servomotor exceeded the allowable operating range set in the Overrun Limit Setting Pn26 with respect to the position command input Deviation counter overflow Yes Overrun limit error Yes Data in the parameter save area was corrupted when the power supply was Para
307. inals Round Crimp Terminals Fork Terminals Applicable Wires AWG22 16 0 3 to 1 25 mm2 AWG16 14 1 25 to 2 0 mm2 AWG22 16 0 3 to 1 25 mm AWG16 14 1 25 to 2 0 mm2 3 4 Cable and Connector Specifications XW2D 50G6 M3 Screw Terminal Block e Dimensions XG4A MIL Connector e When using crimp terminals use crimp terminals with the following Precautions di for Correct Use MOENS e When connecting wires and crimp terminals to a terminal block tighten them with a tightening torque of 0 7 N m Round Crimp Terminals Fork Terminals 3 2 mm dia 5 8 mm max ET C32 mm 5 8 mm max Applicable Crimp Terminals Applicable Wires AWG22 16 Round Crimp Terminals 1 25 3 0 3 to 1 25 mm AWG22 16 Fork Terminals 1 25Y 3 0 3 to 1 25 mm 3 98 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications 3 5 Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Units and Cables used for connecting to Position Control Units for OMRON Programmable Controllers SYSMAC Select the models that match the Position Control Unit to be used Servo Relay Units Specifications E XW2B 20J6 1B This Servo Relay Unit connects to the following OMRON Position Control Units e CJUIW NC113 NC133 e CS1IW NC113 NC133 e C200HW NC113 Dimensions Position Control Unit connector Servo D
308. ing installation and wiring of the Servomotor and Servo Drive It explains what you need to check both before and after turning ON the power It also explains the setup procedure required if using a Servomotor with an absolute encoder Items to Check Before Turning ON the Power E Checking Power Supply Voltage e Check to be sure that the power supply voltage is within the ranges shown below R88D GTLIL single phase 100 VAC input Main circuit power supply Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz Control circuit power supply Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D GT01H 02H 04H 08H 10H 15H single phase or single phase three phase 200 VAC input 6 Main circuit power supply Single phase or single phase three phase 200 to 240 VAC 170 to 264 V 50 60 Hz Control circuit power supply Single phase or single phase three phase 200 to 240 VAC 170 to 264 V 50 60 Hz R88D GT20H 30H 50H 75H three phase 200 VAC input Main circuit power supply Three phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Operation E Checking Terminal Block Wiring e The main circuit power supply input lines L1 L3 or L1 L2 L3 must be properly connected to the terminal block e The control circuit power supply inputs L1C L2C must be properly connected to the terminal block e The Servomotor s red U white V and blue W power lines and the green yel
309. ing Set the number of encoder pulses A A B B out Encoder Divider Put from the Servo Drive for each Servomotor rotation Denominator Yes Seiting Set the phase B logic for pulse output B B Encoder Output S Phase B output Not reversed 0 to 1 Yes Direction Switch Phase B output Reversed 9 42 Operating Functions 5 16 User Parameters Power a maa Setting Explanation Peran Seng OFF gt name setting range ON Electronic Gear Ratio Numerator Olo 1 10000 Set the pulse rate for command pulses and Servomo Electronic Gear tor travel distance If Pn48 or Pn49 is 0 the encoder 0 to RatioNumerator resolution is set to a numerator 140000 2 Electronic Gear Electronic Gear eee Pn48 e eee Ratio Numerator Electronic Gear Ratio Numerator 2 Pn49 Oto 17 Exponent Electronic Gear Ratio Denominator Pn4B Electronic Gear Ratio re 10000 Denominator Position Set the time constant for the first order lag filter for the Command Filter command pulse input 0to7 O Time Constant If the parameter is set to O the filter will not function Setting The larger the setting the larger the time constant Select the FIR filter time constant used for the com Smoothing Filter mand pulse input 0 to 31 Ves Setting The higher the setting the smoother the command pulses Set the deviation counter reset conditions n Clears the deviation counter when the signal Deviation is closed for 100 us
310. ion Control Torque Control Mode CN1 pin 16 pin 14 Torque control in Speed Control Torque Control Mode e The use of this parameter depends on the control mode Pn5C Torque Command Scale Setting range 10 to 100 0 1 V 100 Default setting e Use this parameter to set the relation between the voltage applied to the torque command input TREF1 CN1 pin 14 or TREF2 CN1 pin 16 and the Servomotor s output torque e Refer to 5 4 Torque Control on page 5 8 for information on torque command scaling Pn5D Torque Output Direction Switch Explanation of Settings Setting Explanation Direction of motor torque 9 Clockwise forward for positive commands when viewing the end of the shaft Direction of motor torque Counterclockwise reverse for positive commands when viewing the end of the shaft e Use this parameter to reverse the polarity of the Torque Command Input REF TREF1 CN1 pin 14 or PCL TREF2 CN1 pin 16 5 83 5 16 User Parameters Pnd5E No 1 Torque Limit Pn5F No 2 Torque Limit e Use these parameters to set the limit value for the output torque PN5E No 1 Torque Limit Pn5F No 2 Torque Limit of the Servomotor e Refer to information on the Torque Limit Selection Pn03 to select the torque limits e The maximum torque in the forward and reverse directions is limited in Torque Control Mode and the settings of the Torque Limit Selection Pn03 and No 2 Torque Limit Pn5F are ignored e Make the settings as a
311. ion 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 performance is subject to the Omron s Warranty and
312. ions E Servo Drives with Three phase 200 VAC Input Power Item R88D GT20H R88D GT30H R88D GT50H R88D GT75H Continuous output current rms 14 3A 17 4A 31 0A 45 4 A Momentary maximum output current 45 3 A 636A 84 8 A 170 0 A rms Power supply 3 3 KVA 4 5 KVA 7 5 KVA 11 KVA capacity Main circuit pone supply Three phase 200 to 230 VAC 170 to 253 V 50 60 Hz voltage Input power Rated 10 2A 15 2A 23 7 A 35 0 A supply current Power supply Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit Voltage Specifications current Heat 112 3 W 219 6 W 391 7 W 376 2 W generat ed Control circuit 10 7 W 13 3 W 13 3 W 13 8 W PWM frequency 6 0 kHz Weight Approx 3 2 kg Approx 6 0 kg Approx 6 0 kg Approx 16 4 kg 3 000 r min Servomotors G2K030T G3K030T eat E t P E a 7 ble Flat Servomo Servo tors os 2 000 r min G4K020T 1 000 r min G3K010T Control method All digital servo Inverter method IGBT driven PWM method Speed control range 1 5000 aan a SAAC CHETACLeLIS 0 01 or less at 0 to 100 at rated speed neoa a a 0 at 10 of rated voltage at rated speed Speed variability Temperature 0 1 or less at 0 to 50 C at rated speed characteristic Torque control reproducibility 3 at 20 to 100 of rated torque Performance 3 4 Specifications E Protective Functions Error detection Control power supply undervoltage Overvoltage Undervoltage Overcurrent
313. is parameter is limited to 115 of the Servomotor rating Pn73 Overspeed Detection Level Setting All modes e Use this parameter to set the overspeed detection level e The overspeed detection level will be 1 2 times the maximum Servomotor rotation speed if this parameter is set to 0 e This parameter should normally be set to 0 The setting should be changed only when it is necessary to reduce the overspeed detection level e The setting of this parameter is limited to 1 2 times the maximum Servomotor rotation speed e The detection margin of error for the setting is 3 r min for a 7 core absolute encoder and 36 r min for a 5 core incremental encoder 5 92 Operating Functions Chapter 6 Operation 6 1 Operational Procedure o anea a e 6 1 6 2 Preparing for Operati N oenen 6 2 Items to Check Before Turning ON the Powet 008 6 2 Turnin ON ROWE a oan rater nt aerate Mencr ores te 6 3 CHECKING DISPIAVS A sitet cars eaeetmaa a en aan 6 3 Absolute Encoder Setup n aa eee ieee 6 5 6 3 Using the Parameter Uniit ccceeeeseeeees 6 6 Names of Parts and FUNCTIONS ccccccsseeeeeeeeeeeeeeeeeeeeaees 6 6 6 4 Setting the Moder eee a 6 7 ChanginguheIMOdG anon kines ate eet a nt eaten 6 7 WIOMMOMNIGO CHM ei A e ics winahaeu tats cama E E E E 6 8 Parameter Setting Modena aa a a 6 17 Parameter WmeModo T a a nae a a R 6 19 Normal Mode Autot ning ae e a a 6 20 Auxilia FUNCIO NMOde e eera a a E rec rdar
314. ish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown Read and Understand This Manual PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions Precautions for Safe Use Precautions for Safe Use E To ensure safe and proper use of the OMNUC G Series and its peripheral devices read the Precautions for Safe Use and the rest of the manual thoroughly to acquire sufficient knowledge of the devices safety information and precautions before using the products E Make sure this Users Manual is delivered to the actual end users of the products E Please keep this manual close at hand for future reference Explanation of Signal Words E The preca
315. it PN5E ccccccsseeeeeeeeeeeeeees 5 84 No 2 Internally Set Speed PN54 cceeeeeeeee ees 5 81 No 2 Torque Limit PN5F ccccccsseseeeesseseeeeeees 5 84 No 3 Internally Set Speed PN55 ceeeeeeeeees 5 81 No 4 Internally Set Speed PN56 cccceeeeeeeees 5 81 No 5 Internally Set Speed PIN74 ccceeeeeeeeeees 5 81 No 6 Internally Set Speed PIN75 cccceeeeeeeeees 5 81 No 7 Internally Set Speed PIN76 cccccseeeeeeees 5 81 No 8 Internally Set Speed PIN77 cccccceeeeeeeeees 5 81 NO fUSE DFeAkels ccsecccesseceseeeeeesseeeceeeeeeneneeeseees 4 32 noise filters wicicccien Hanieieavewe ieee 4 35 4 36 4 37 4 43 noise filters for brake power supply ccceeeeeeees 4 36 noise filters for power Supply input ceeeeee eee 4 35 noise filters for Servomotor OUtpUt cccceeeeeeeees 4 43 Normal mode autotuning cccccseeeeeeeeees 6 20 7 14 Notch Filter 1 Frequency Pn1D cccceesseeeeeees 5 61 Notch Filter 1 Width PN1E cccccsseeeeeeeeeeeeees 5 61 Notch Filter 2 Depth PN2A ccccecseeeeeeeeeeeeeeeees 5 64 Notch Filter 2 Frequency P28 cccceceeeeeeeeees 5 64 Notch Filter 2 Width P29 cccccecssseeeeeeeeeeeeeees 5 64 O Ol Sal sea aiaitente esl rutwen e atte tn 4 5 Operation Switch When Using Absolute Encoder PHOB ea a sacs a estates
316. ive Filter Selection to 2 if the resonance point may not have changed when the adaptive operation is completed i e Pn2F does not change 2 Write the data to the EEPROM if the results are to be saved 7 11 Precautions for Correct Use 7 2 Realtime Autotuning e An unusual noise or vibration may occur until the adaptive filter stabilizes after startup immediately after the first servo ON or when the Realtime Autotuning Machine Rigidity Selection Pn22 is increased but this is not a problem if it disappears right away If the unusual noise or vibration however continues for three or more reciprocating operations take one or more of the following measures e Write the parameters used during normal operation to the EEPROM e Lower the Realtime Autotuning Machine Rigidity Selection Pn22 e Disable the adaptive filter by setting the Adaptive Filter Selection Pn23 to O resetting the inertia estimation and the adaptive operation e Manually set the notch filter e Once unusual noise or vibration occurs the Adaptive Filter Table Number Display Pn2F may have changed to an extreme value In this case also take the measures described above e The Adaptive Filter Table Number Display Pn2F is written to the EEPROM every 30 minutes and when the power supply is turned OFF and turned ON again this data is used as the initial values for the adaptive operation e The adaptive filter is normally disabled when t
317. king using dynamic brake 1 After the Servomotor is deenergized it will rotate by inertia for approximately 10 ms until the dynamic brake operates 2 The Brake Interlock BKIR signal will turn OFF when the Servomotor s rotation speed is 30 r min or lower or the time set in the Brake Timing during Operation Pn6B has elapsed 9 22 Operating Functions Operating Functions 5 10 Brake Interlock E Alarm Clear When Servo Is ON 120msmin ON OFF Approx 2 ms Dynamic brake Rapana Engaged Approx 40 ms Servomotor Energized Deenergized Approx 2 ms Brake Interlock Output ON BKIR OFF Servo Ready Output ON READY OFF Alarm Output ALM OFF 220 ms min ON Servo position speed or torque input OFF 5 23 5 11 Gain Switching 5 11 Gain Switching Function e This function switches the speed loop and position loop gain Enabled when Pn30 is set to 1 and Pn31 is not set to 1 2 or 4 or when Pn36 is not set to O or 1 under Speed Control elf GSEL gain switching signal is not input perform control using the Speed Loop Gain Pn11 Speed Loop Integration Time Constant Pn12 and Position Loop Gain Pn10 If GSEL is input perform control using the Speed Loop Gain 2 Pn19 Speed Loop Integration Time Constant 2 Pn1A and Position Loop Gain 2 Pn18 e If the mechanical system inertia fluctuates too much o
318. le Inrush current Ao p Servo Drive model Control circuit power supply R88D GTASL 14 R88D GTO1L 14 R88D GTO02L 14 R88D GTO4L 14 R88D GT01H 28 R88D GT02H 28 R88D GT04H 28 R88D GT08H eT 28 R88D GT10H 28 R88D GT15H 28 R88D GT20H 14 R88D GT30H 14 R88D GT50H 14 R88D GT75H 66 4 32 System Design System Design 4 3 Wiring Conforming to EMC Directives E Leakage Breakers e Select leakage breakers designed for protection against grounding faults e Because switching takes place inside the Servo Drives high frequency current leaks from the switching elements of the Servo Drive the armature of the motor and the cables High frequency breakers with surge withstand capability do not detect high frequency current preventing the breaker from operating with high frequency leakage current When using a general purpose leakage breaker use three times the sum of the leakage current given in the following table as a reference value e When selecting leakage breakers remember to add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on To prevent malfunction due to inrush current we recommend using a leakage breaker of ten times the total of all current values e The leakage breaker is activated at 50 of the rated current Allow leeway when selecting a leakage breaker e For details on leakage breakers refer to the manufacturer s catalog
319. lecting a control panel Case Structure e Use a metal control panel with welded joints at the top bottom and sides so that the surfaces will be electrically conductive e f assembly is required strip the paint off the joint areas or mask them during painting to make them electrically conductive e The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws e Do not leave any conductive part unconnected e Ground all Units within the case to the case itself 4 30 System Design 4 3 Wiring Conforming to EMC Directives Door Structure e Use a metal door e Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams on the next page e Use a conductive gasket between the door and the case Refer to the diagrams on the next page e Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting so that they will be electrically conductive e The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws Case A Door B Door Oil resistant gasket Conductive gasket Control panel Cross sectional view of A B Oil resistant gasket Conductive gasket Door interior view 4 31 4 3 Wiring Conforming to EMC Directives Selecting Connection Components This section explains the
320. ll go high as shown above 3 20 Specifications 3 1 Servo Drive Specifications Command Pulse Timing for Photocoupler Inputs Command pulse mode Timing Feed pulses direction Forward command Reverse command signal Direction signal Maximum Input Frequency Line driver 500 kpps Open collector 200 kpps Feed pulses W c O 200 kpps 500 kpps t1 lt 0 5 us t1 lt 0 1 us t2 gt 2 5 us t2 gt 1 0 us T2 2 5 uS t gt 1 0 us T T 25 0 us T 22 0 us Q t T x 100 lt 50 t T x 100 lt 50 o Forward command Reverse command Forward pulses reverse pulses Reverse pulses Maximum Input Frequency Line driver 500 kpps Open collector 200 kpps Forward pulses 200 kpps 500 kpps WT J ns lt 05qus t1 lt 0 1 us t2 gt 2 5 us t2 gt 1 0 us T22 5usS t2 1 0 us T 25 0 us T 22 0 us t T x 100 lt 50 t T x 100 lt 50 Forward command Reverse command 90 phase difference signals Phase A pulses E i Maximum Input Frequency H 4 Line driver 500 kpps Open collector 200 kpps Phase B pulses E l 200 kpps 500 kpps t1 lt 0 5 us t1 lt 0 1 us t2 gt 10 us T2 4 0 us T gt 20 us T 28 0 us t T x 100 lt 50 t T x 100 lt 50 3 21 3 1 Servo Drive Specifications E Line receiver Inputs Reverse Pulse Forward Pulse Inputs Feed Pulse Direction Signal Inputs or 90 Phase Difference Signal Inputs Pin 44 Rever
321. lly Set Speed Setting range 20000 to 20000 Default setting Pn75 No 6 Internally Set Speed Setting range 20000 to 20000 Default setting 600 Power OFF0N Pn76 No 7 Internally Set Speed Setting range 20000 to 20000 Default setting Pn77 No 8 Internally Set Speed Setting range 20000 to 20000 Default setting e If internally set speed settings are enabled in the Command Speed Selection Pn05 set the number 1 to 4 internal speeds in Pn53 to Pnd56 and the number 5 to 8 internal speeds in Pn74 to Pn77 Set the speed in r min e The polarity of the settings indicates the polarity of the internal command speed Clockwise forward when viewing the end of the shaft Counterclockwise reverse when viewing the end of the shaft e The absolute value of the internally set speed is limited by the Overspeed Detection Level Setting Pn73 Pn57 Speed Command Filter Time Constant e Use this parameter to set the first order lag filter time constant in the Speed Command Input REF CN1 pin 14 5 81 5 16 User Parameters Pn58 Soft Start Acceleration Time Setting range O to 5000 2 ms 1000 r min Default setting 0 Power OFF gt ON Pn59 Soft Start Deceleration Time Setting range O to 5000 2 ms 1000 r min Default setting 0 Power OFF0N e Use these parameters to set acceleration and deceleration times for the speed command inside the Servo Drive e A soft start can be set when inputti
322. load alarm code 18 will be enabled according to the in ternal resistance with approximately 1 du ty Regeneration resistor used External resistor l The regeneration processing circuit will oper Regeneration i Resistor ate and regeneration overload alarm code 0to3 Vee 18 will cause a trip when the operating rate of Selection the regeneration resistor exceeds 10 Regeneration resistor used External resistor D The regeneration processing circuit will oper ate but regeneration overload alarm code 18 will not occur Regeneration resistor used None The regeneration processing circuit and re 3 generation overload alarm code 18 will not operate and all regenerative energy will be processed by the built in capacitor Momentary Hold Set the amount of time required until shutoff is detected 35 to 6D l l i 35 2 MS Time if the main power supply continues to shut off 1000 9 27 O W Appendix lt es 9 2 Parameter Tables Default Setting Power Parameter name Setting Explanation Unit I OFF setting range ON Set the torque limit for the following cases Drive prohibit deceleration with the Stop Selection Emergency Stop for Drive Prohibition Input PN66 set to 2 l 0 to Torque Deceleration with the Stop Selection with Main Pow 500 er OFF Pn67 set to 8 or 9 Deceleration with the Stop Selection with Servo OFF Pn69 set to 8 or 9 a jodi aba oe S Deviation Counter Set the d
323. low Forward Rotation Reverse Rotation Phase A Phase A Phase B Phase B Phase Z Phase Z 5 15 5 8 Electronic Gear 5 8 Electronic Gear Function e The Servomotor can be rotated for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio e This function is effective under the following conditions e When fine tuning the position and speed of two lines that are to be synchronous e When using a position controller with a low command pulse frequency e When you want to set the machine travel distance per pulse to 0 01 mm for example Parameters Requiring Settings Parameter f Reference Parameter name Explanation No page Pn48 Electronic Gear Ratio Set the pulse rate for command pulses and Servomotor trav Numerator 1 el distance Electronic Gear Ratio Pn49 Electronic Gear Ratio Numerator 1 Pn48 or T Electronic Gear Ratio Numerator Exponent Pn4A Pn4A Secon Gea aie Electronic Gear Ratio Numerator 2 Pn49 Numerator Exponent OO Electronic Gear Ratio Denominator Pn4B Operating Functions The upper limit of the gear ratio numerator is determined by the following formulas e Electronic Gear Ratio Numerator 1 Pn48 x 2 PMA lt 4 4194 304 Pn4D 1 e Electronic Gear Ratio Numerator 2 9 77 Pn49 x 2 PMA lt 4 4194 304 Pn4D 1 Electronic Gear Ratio Pn48 Electronic Gear Ratio Numerator 1 Pn49 Electronic Gear
324. low Allow Rated Effi momen Decelerator able able BA i Weight Model torque ciency tary inertia radial thrust rotation load load speed mn nm mn um om n n R88G 4 1 5 HPG32A05900TBLI 200 39 9 93 400 85 2 3 80 x 10 889 3542 7 9 1 11 OSG 90 89 0 94 182 190 1 3 40 x 10 4 1126 4488 8 4 900 HPG32A11900TBL i i s 1 21 poo 47 169 8 94 95 362 4 7 00x104 3611 12486 19 1 HPG50A21900TBL 1 33 ROOG 30 268 5 94 60 573 2 5 90x104 4135 14800 19 1 HPG50A33900TBL 1 5 RESO 200 90 2 95 400 196 1 4 90x104 889 3542 8 9 HPG32A052KOTBL 1 11 R88G 90 198 4 94 182 430 9 8 40x104 2974 10285 20 1 D HPG50A112KOTBL i l l Sni 1 21 Roan 47 320 0 1 95 95 786 8 6 50x104 3611 12486 20 1 HPG50A212KOTBL 1 25 OSG 40 446 7 94 80 971 1 2 81x10 3 7846 28654 55 4 HPG65A255KOSBL i 1 5 R88G 200 133 9 94 400 282 9 1 10x103 2347 8118 22 0 HPG50A055KOSBL 1 11 R88G 90 246 0 1 95 182 684 0 8 40x103 2974 10285 23 5 3 HPG50A115KOSBL gi 1 20 POSG 50 534 7 94 100 1129 2 2 85 x 10 9 7338 26799 55 4 HPG65A205KOSBL 1 25 R88G 40 669 9 94 80 1411 5 2 81 x108 7846 28654 55 4 HPG65A255KOSBL 1 5 REIG 200 203 5 95 400 479 2 1 20 x10 2347 8118 22 0 HPG50A054K5TBL i 4 5 R88G 0 KW 1 12 HPG65A127K5SBU 83 485 6 94 166 1142 9 2 02 x 10 6295 22991 52 0 1 20 R88G 50 813 1 95 100 1915 0 1 92 x 10 2 7338 26799 52 0 HPG65A204K5TBL i l l
325. low ground wire must be properly connected to the terminal block E Checking the Servomotor e There should be no load on the Servomotor Do not connect the mechanical system e The Servomotor s power lines and the power cables must be securely connected E Checking the Encoder Connectors e The Encoder Cable must be securely connected to the Encoder Connector CN2 at the Servo Drive e The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor E Checking the Control I O Connectors e The Control Cable must be securely connected to the Control I O Connector CN1 e The RUN Command Input RUN must be OFF E Checking Parameter Unit Connections e When using the Parameter Unit R88A PRO2G the enclosed cable must be securely connected to the CN3B connector 6 2 Preparing for Operation Turning ON Power e First carry out the preliminary checks and then turn ON the control circuit power supply It makes no difference whether or not the main circuit power supply is turned ON e The alarm ALM output will take approximately 2 seconds to turn ON after the power has been turned ON Do not attempt to detect an alarm using the Host Controller during this time if power is turned ON while the Host Controller is connected Checking Displays m Displays on the Servo Drive e The following will appear on the display on the Servo Drive when the power supply is turned ON Approx 2 s
326. lse incremental encoders and high resolution 17 bit absolute incremental encoders are available as standard models The OMNUC G Series features realtime autotuning and adaptive filter functions that automatically perform complicated gain adjustments A notch filter can also be automatically set to suppress machine vibration by reducing mechanical resonance during operation The damping control function of the OMNUC G Series realizes stable stopping performance in a mechanism which vibrates because of the low rigidity of the load Features of the G Series The OMNUC G Series has the following features mE High speed Response The G Series AC Servomotors and Servo Drives have achieved high speed response capabilities exceeding OMRON s W Series models with a high response frequency of 1 kHz compared to 400 Hz for the W Series E Suppressing Vibration of Low rigidity Mechanisms during Acceleration Deceleration The damping control function suppresses vibration of low rigidity mechanisms or devices whose ends tend to vibrate Two vibration filters are provided to enable switching the vibration frequency automatically according to the direction of rotation and also via an external signal In addition the settings can be made easily merely by just setting the vibration frequency and filter values and you are assured of stable operation even if the settings are inappropriate E High speed Positioning via Resonance Suppression Control The realti
327. lses can change abruptly The electronic gear setting is high 10 times or higher The command pulse frequency is low 5 78 Operating Functions Operating Functions 5 16 User Parameters Pn4D Smoothing Filter Setting e Use this parameter to select the FIR filter time constant used for the command pulses FIR Finite impulse response e The higher the setting the smoother the command pulses Input position command Position command after smoothing filter processing Command Time tf Pn4E 1 x Control cycle e f the setting is 0 the control cycle will be O 1 x 166 166 us If the setting is 1 the control cycle will be 1 1 x 166 332 us Likewise if the setting is 31 the control cycle will be 31 1 x 166 5 312 us Response with position loop gain Response with position v loop gain Pn4E Deviation Counter Reset Condition Setting Explanation of Settings Setting Explanation 0 Clears the deviation counter when the signal is closed for 100 us or longer Clears the deviation counter on the falling edge of the signal open and then closed for 100 us or longer 2 Disabled 1 e f Pn4E is set to 0 the minimum time width of the ECRST signal will be as follows ECRST pin 30 a 100 in on er E us min 5 79 5 16 User Parameters E Speed and Torque Control Parameters Pn50 and Higher Pn50 Speed Command Scale Setting range 10 to 2000 r min V Default se
328. lter 1 Width 2 Pn20 Inertia Ratio A 1 Input the Inertia Ratio Pn20 The inertia ratio can be measured with normal mode autotuning or set to a calculated value When the inertia ratio is unknown enter 300 as the inertia ratio 7 23 E Speed Control Mode Adjustment With the OMNUC G Series adjustments for speed 7 5 Manual Tuning control are almost the same as adjustments for the position control mode Use the following procedure to adjust parameters except for setting the Position Loop Gain and Speed Feed forward Start of adjustment Disable realtime autotuning Pn21 0 or 7 Set each parameter to the values in Table 1 Pn11 Pn12 and Pn14 only Set the Inertia Ratio Pn20 value calculated at motor selection Operate with a normal operating pattern and load Speed responsiveness and other operational performance satisfactory No Increase the Speed Loop Gain Pn11 but not so much that it causes hunting when the servo is locked Reduce the Speed Loop Integration Time Constant Pn12 but not so much that it causes hunting when the servo is locked Does hunting vibration occur when the Servomotor is rotated No Write the data to EEPROM in the parameter write mode End of adjustment Never make extreme adjustment or changes to settings Doing so will result in unstable operation and may lead to injuries Adjust the gain in small increments while checking Servomotor operation Yes End
329. mand within 10 ms before or after switching Control Mode Closed Switch Input Open Open Mode 1 lt Mode 2 gt lt Mode 1 H H 10 ms min 10 ms min Pn03 Torque Limit Selection Explanation of Settings Setting Explanation Use PCL CN1 pin 16 as the limit value for forward operation and NCL CN1 pin 18 as the limit value for reverse operation 1 Use Pn5E as the limit value for forward and reverse operation D Use Pn5 as the limit value for forward operation and Pn5F as the limit value for reverse operation 3 Use Pn5E as the value when the GSEL TLSEL input is open and use Pn5F as the value when the GSEL TLSEL input is closed e Use this parameter to set the torque limit method for forward and reverse operation e f this parameter is set to O the torque limit input for forward and reverse operation will be limited by the No 1 Torque Limit Pn5E e When using torque control the No 1 Torque Limit PN5E will be the limit value for forward and reverse operation regardless of the setting of this parameter 5 52 Operating Functions 5 16 User Parameters Pn04 Drive Prohibit Input Selection Explanation of Settings Setting Explanation 0 Forward Drive Prohibit Input and Reverse Drive Prohibit Input enabled 1 Forward Drive Prohibit Input and Reverse Drive Prohibit Input disabled 2 Forward Drive Prohibit Input and Reverse Drive Prohibit Input enabled e Install limit switches at both ends
330. me autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain The adaptive filter automatically suppresses vibration caused by resonance Also two independent notch filters make it possible to reduce vibration of a mechanism with multiple resonance frequencies E Command Control Mode Switching Operation can be performed by switching between two of the following control modes Position control speed control including internal speed and torque control Therefore a variety of applications can be supported by one Servo Drive E Simplified Speed Control with Internal Speed Settings Eight internal speed settings allow you to change the speed easily by using external signals 1 1 1 2 System Configuration 1 2 System Configuration Controller with Voltage Output SYSMAC CS series Motion Control Unit Programmable CS1W MC221 421 V1 Controller Flexible Motion Controller SYSMAC PLC and Position Control Unit with pulse output functions SYSMAC CJ CS series Position Control Unit Programmable CJ1W NC113 213 413 Controller CJ1W NC133 233 433 CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 413 Analog voltage Pulse string G Series AC Servo Drive R88D GL OMNUC G Series AC Servomotor R88M G Servomotors with absolute encoders can be used in combi
331. meter error No turned ON and data was read from the EEPROM The checksum for the data read from the EEPROM when the power supply was No turned ON does not match Dive nrchibit input ertor The forward drive prohibit and reverse Yes p p drive prohibit inputs are both turned OFF A voltage exceeding the Speed Parameter corruption Command Torque Command Input Overflow Level Setting Pn71 was Yes applied to the Speed Command Input REF CN1 pin 14 Absolute encoder system The voltage supplied to the absolute encoder is lower than the specified value vos Absolute encoder counter ABS The multi turn counter of the absolute No overflow error encoder exceeds the specified value 8 4 Excessive analog input 1 Troubleshooting Troubleshooting 8 2 Alarm Table 8 5 Alarm code 42 44 45 46 47 48 49 58 60 61 62 63 65 66 73 77 81 94 95 96 97 99 Error detection function Detection details and cause of error The Servomotor rotation speed exceeds Absolute encoder overspeed ABS the specified value when only the battery error power supply of the absolute encoder is used Absolute encoder one turn counter error A one turn counter error was detected An absolute encoder multi turn counter or Absolute encoder multi turn counter error incremental encoder phase AB signal er ror was detected Absolute encoder status error TABS The rotation of the absolut
332. meters Power poet Setting Explanation Deau Unit Seang oe name setting range Enable or disable gain switching If gain switching is enabled the setting of the Control Gain Switch Setting Pn31 is used as the condition for switching between gain 1 and gain 2 Gain Switching Disabled The gain set in Pn10 to Pn14 is Input Operating used and the Gain Switching Input GSEL Oto 1 Mode Selection will be used to switch between PI operation and P operation Enabled The gain will be switched between gain 1 Pn10 to Pn14 and gain 2 Pn18 to PniC Select the condition for switching between gain 1 and gain 2 The details depend on the control mode If a composite mode is set the setting of this param eter is valid when the first control mode is used The Gain Switching Input Operating Mode Selection Pn30 must be set to 1 enabled E Always gain 1 Always gain 2 D Switching using Gain Switching Input GSEL 34 Control Gain 0 to 10 Switch 1 Setting Amount of change in torque command Always gain 1 Command speed Eg Amount of position deviation Command pulses received N O per O 5 LL D te Q Q O ed Positioning Completed Signal INP OFF ao Actual Servomotor speed 10 Combination of command pulse input and speed This parameter is enabled when the Control Gain Switch 1 Setting Pn31 is 3 to 10 Set the delay time Sea GA from the moment the condition set in the Control Gain aan Switch
333. mitations 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 any electrical or electronic components
334. mmand Input RUN Pin 29 RUN Command Input RUN Functions e This input turns ON the power drive circuit for the main circuit of the Servo Drive If this signal is not input i e servo OFF status the Servomotor cannot operate E Deviation Counter Reset Input ECRST Pin 30 Deviation Counter Reset Input ECRST Functions e Position Control Mode The value of the deviation counter will be reset when the deviation counter reset input turns ON The condition for resetting is selected in the Deviation Counter Reset Condition Setting Pn4E The pulse width of the Deviation Counter Reset Signal must be at least 1 ms 3 24 Specifications 3 1 Servo Drive Specifications E Alarm Reset Input RESET Pin 31 Alarm Reset Input RESET Functions e Pin 31 is the external reset signal for Servo Drive alarms The alarms are reset when this signal is input e The alarm status is reset when RESET is connected to the 24 V power supply ground for 24VIN for 120 ms or longer e The deviation counter is also reset when alarms are reset e Eliminate the cause of the alarm before resuming operation To prevent danger turn OFF the RUN Command Input first then input the alarm reset signal E Control Mode Switch Input TVSEL Pin 32 Control Mode Switch Input TVSEL Functions e If the Control Mode Selection Pn02 is set to 3 4 or 5 the control mode can be switched as given in the following table Specifications Pn02 setti
335. motors T Q oV 50 to 750 W 1 to 5 kW 100 to 400 W 900 W to 5 kW 6 to 7 5 kW AmDEntOperaung 0 to 40 C 85 RH max with no condensation temperature and humidity 20 to 65 C 85 RH max with no con 20 to 80 C 85 RH max with no condensation densation Ambient storage temperature and humidity Storage and operating No corrosive gases atmosphere 10 to 2 500 Hz and acceleration of 10 to 2 500 Hz and accelera 49 m s max inthe tion of 24 5 m s2 max in the X X Y and Z direc Y and Z directions tions 10 to 2 500 Hz and 10 to 2 500 Hz and acceleration of acceleration of 49 m s max inthe 24 5 m s2max inthe X Y and Z directions X Y and Z directions Vibration resistance 1 Acceleration of Acceleration of Acceleration of 98 m s max 3 times 98 m s2 max 3 times 98 m s2max 3 times Acceleration of 98 m s2 max each in the X Y and each in the X Y and each inthe X Y and 2 times vertically Impact resistance Z directions Z directions Z directions Insulation resistance 20 MQ min at 500 VDC between the power terminals and FG terminal Dielectric strength 1 500 VAC 50 or 60 Hz for 1 minute between the power terminals and FG terminal Operating position All directions Structure Totally enclosed self cooling Protective structure IP65 excluding the output shaft rotating section and lead wire ends Vibration grade V 15 Mounting method Flange mounting g EMC EN 55011 Cla
336. mple 2960 06 A540 08 2 The XB and YB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is invalid 4 Do not connect unused terminals 5 The O V terminal is internally connected to the common terminals 6 The following crimp terminal is applicable R1 25 3 round with open end 3 106 Specifications 3 5 Servo Relay Units and Cable Specifications E XW2B 80J7 12A This Servo Relay Unit connects to the following OMRON Programmable Controllers e FQM1 MMA22 e FQM1 MMP22 V c O Dimensions O Signal selection switch O 4 5 dia Tp o servo Drive xA phase B selection switch a O O OB OOF 0 O8 oof o Freon OP COP o OP oob o i Of OOF olon oof o i Of oof o Of oop o s LEE OD OOF o O0 oO o OD oof o O2 oof o OD 008 0 O0 008 o i i OD OOF o OD oOf o Of OOF ol lOD 008 o OD OOD o O0 oO o 1 IOl OOD ol Ol DOD o OD oof ol Of 008 o OD OOF o O0 oof o OD OOD ol ON oOf o l OD oof ol Of oof o Of OOF o OD oO o Of OOF ol lOD o0 o OD oof o O0 oof o OD OOF ol lOD o0 o i OR OOD o OD oof oj sd amp K Controller general purpose I O lt l l Controller special I O Y axis Servo Drive X axis Servo Drive 3 107 3 5 Servo Relay Units and Cable Specifications System Configuration Example for the FQM1 FQM1 Flexible Motion Controller PA202
337. mple Explanation Press the Data key to return to Normal Mode Autotuning For details on normal mode autotuning refer to Normal Mode Autotuning on page 7 16 This section describes only the operating procedure Always save each gain value changed with normal mode autotuning in the EEPROM so that the data is not lost when the power is turned OFF or for some other reason If a tuning error occurs the values for each gain will return to the values before executing the tuning Precautions for Correct Use 6 20 Operation 6 4 Setting the Mode Auxiliary Function Mode Auxiliary Function Mode includes the alarm reset automatic offset adjustment absolute encoder reset and jog operation Displaying Auxiliary Function Mode Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key four times to display Auxiliary Function Mode QD 6 E Alarm Reset 1 Executing Alarm Reset Key operation Display example Explanation Press the Data key to enter Alarm Reset Mode Press and hold the Increment key until Start is displayed The bar indicator will increase when the key is pressed for 5 s or longer Operation OJO The bar indicator will increase Alarm reset will start This display indicates a normal completion Error will be displayed if the alarm could not be reset Reset the power sup
338. mply that the uses listed may be suitable for the products e Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual e Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations e Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establ
339. ms a qualified electrical engineer or the equivalent as follows e Personnel in charge of introducing FA equipment e Personnel in charge of designing FA systems e Personnel in charge of managing FA systems and facilities NOTICE This manual contains information necessary to ensure safe and proper use of the OMNUC G Series and its peripheral devices Please read this manual thoroughly and understand its contents before using the products Please keep this manual handy for future reference Make sure this User s Manual is delivered to the actual end user of the products Read and Understand This Manual Read and Understand This Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIB
340. n Be sure to follow the instructions given there Location of warning label R88D GT01H E Warning Label Contents eS RRB RACHRICHICL REREN ORR O tit eT SCL E WHS VIER eA ABRE LPM ATRL ERR biT D ANGE R Read the manual and follow the safety instructions before use Never fail to connect Protective Earth PE terminal tmr BBORNS SEEE BRN OER1SD els F aS rie PRUA Sash aR ELS ve F es BRITT RES SAB Hazardous Do not touch terminals within 15 minutes after Voltage disconnect the power Risk of electric shock spas PUCORNSI am i E hy TICS T ana KRATES GAR A AN UME ESKE High Do not touch heatsink when power is ON Temperature Risk of burn E Disposing of the Product e Dispose of the batteries according to local ordinances and regulations Wrap the batteries in tape or other insulative material before disposing of them e Dispose of the product as industrial waste 10 Items to Check When Unpacking Items to Check When Unpacking Check the following items after removing the product from the package e Has the correct product been delivered e Has the product been damaged in shipping E Accessories Provided with Product Safety Precautions document x 1 e No connectors or mounting screws are provided They have to be prepared by the user e Should you find any problems missing parts damage to the Servo Drive etc please contact your local sales representative or OMRON sales office
341. n Servomotors of 900 W 3 000 r min Servomotors of 2 kW 2 000 r min Servomotors of 2 kW 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW 1 000 r min Servomotors of 2 to 4 5 kW 2 15 3m 5m 10m 15m 20m 30 m 40m 50 m 3m 5m 10m 15m 20m 30 m 40 m 50 m 3m 5m 10m 15m 20 m 30 m 40 m 50 m 3m 5m 10m 15m 20 m 30 m 40 m 50 m z O Q D For Servomotor without brake R88A CAGA003S R88A CAGA005S R88A CAGA010S R88A CAGA015S R88A CAGA020S R88A CAGA030S R88A CAGA040S R88A CAGA050S R88A CAGB003S R88A CAGB005S R88A CAGB010S R88A CAGB015S R88A CAGB020S R88A CAGB030S R88A CAGB040S R88A CAGB050S R88A CAGC003S R88A CAGC005S R88A CAGC010S R88A CAGC015S R88A CAGC020S R88A CAGC030S R88A CAGC040S R88A CAGC050S R88A CAGD003S R88A CAGD005S R88A CAGD010S R88A CAGD015S R88A CAGD020S R88A CAGD030S R88A CAGD040S R88A CAGD050S For Servomotor with brake R88A CAGBO003B R88A CAGBO05B R88A CAGB010B R88A CAGB015B R88A CAGB020B R88A CAGBO030B R88A CAGB040B R88A CAGB050B R88A CAGC003B R88A CAGCO005B R88A CAGC010B R88A CAGC015B R88A CAGC020B R88A CAGC030B R88A CAGC040B R88A CAGCO050B R88A CAGD003B R88A CAGDO05B R88A CAGD010B R88A CAGD015B R88A CAGD020B R88A CAGD030B R88A CAGD040B R88A CAGD050B 2 1 Standard Models Model Specifications For Servomotor without For Servomotor with brake brake R88A C
342. n The higher the setting the higher the responsiveness When the Parameter Unit is used O cannot be set Enable or disable the adaptive filter ce Adaptive filter disabled Adaptive Filter Adaptive filter enabled Adaptive operation Selection performed 2 Adaptive filter enabled Adaptive operation will not be performed i e it will be held Vibration filters 1 and 2 can be switched No switching Both filter 1 and filter 2 are en abled Selection 1 Open Vibration filter 1 0 to 2 gi Closed Vibration filter 2 Switching with command direction Forward Vibration filter 1 Reverse Vibration filter 2 5 38 Operating Functions Operating Functions 5 16 User Parameters Tar MaRi Setting Explanation Deau Unit Sg T name setting range Oto7 Autotuning 3 Rotation direction Reverse to reverse two 25 Operation rotations in setting 4 Rotation direction Forward to reverse one rotation 5 Rotation direction Reverse to forward one rotation Rotation direction Forward to forward one rotation 7 Rotation direction Reverse to reverse one rotation ee Set the allowable operating range for the Servomotor Overrun Limit saw TANS i 0 1 ro 0 to The overrun limit function is disabled if the parameter 10 Setting e setti tation 1000 Set the instantaneous speed observer Instantaneous Speed Observer pO Disabled Oto 1 Pane Enabled Set the operating pattern for norm
343. n error or warning has occurred No reason has been detected The motor operation should be possible The main power supply to the Servo Drive is not turned ON 2 No RUN input The RUN command is not connected to COM When Pn04 0 drive prohibit input enabled Dri hibit input i The Forward Drive Prohibit Input POT is open and the speed 3 ihe aaa command is in the forward direction enabled 4 Low torque limit Analog torque limit input is enabled 6 IPG input is disabled Frequency of 7 command pulse input is low The Reverse Drive Prohibit Input NOT is open and the speed command is in the reverse direction The currently effective torque limit Pn5E No 1 Torque Limit or Pn5F No 2 Torque Limit is less than 5 of the rated torque When Pn03 0 analog torque limit input The forward analog torque limit input is negative and the speed command is in the forward direction The reverse analog torque limit input is positive and the speed command is in the reverse direction Pn43 0 Command Pulse Prohibited Input Enabled and the IPG input is open The position command per control cycle is 1 pulse or less and the Operation following are some of the possible causes The command pulse is not input correctly The input specified in Pn40 is not connected correctly The type of input specified in Pn41 or Pn42 is not correct Pn4E 0 Clear deviation counter when signal is closed
344. nation with CS1W MC221 421 V1 Motion Control Units Features and System Configuration Features and System Configuration 1 3 Names of Parts and Functions 1 3 Names of Parts and Functions Servo Drive Part Names Display area Unit No switch SS a 7 N A A 4 Settings area A Analog monitor 1 check pin IM Analog monitor 2 check pin SP Check pin G GND RS 485 Communications connector CN3A Main circuit power terminals L1 L2 L3 RS 232 RORE I Communications connector Control circuit power terminals O Unie CORNET L1C L2C CN3B Control I O connector CN1 External Regeneration Resistor connection terminals gt B1 B2 B3 Servomotor connection terminals U V W Encoder connector CN2 TON Protective ground terminals 1 3 1 3 Names of Parts and Functions Servo Drive Functions mE Display Area A 6 digit 7 segment LED display shows the Servo Drive status alarm codes parameters and other information mE Check Pins IM SP and G The actual Servomotor speed command speed torque and number of accumulated pulses can be measured based on the analog voltage level by using an oscilloscope The type of signal to output and the output voltage level are set in the SP Selection Pn07 and IM Selection PnO8 parameters For details refer to 5 16 User Parameters on page 5 30 E Unit No Switch The Servo Drive
345. nd pulses received Figure D received Figure D cae E x 9 Positioning Completed Signal INP 7 So OFF Figure E O 9 Actual Servomotor speed Actual Servomotor speed Figure B B Actual Servomotor speed Figure B O O min O r min jo Combination of command pulse input Oo O and speed Figure F r min r min Speed Control Mode Explanation Gain Switch Gain Switch Level Setting Hysteresis Set Pn33 38 ting Pn34 39 Switching using Gain Switch Input GSEL for CN1 pin 27 Amount of change in torque command Figure A 0 or 66 us 0 ae us Amount of change in speed command Figure B 10 T 10 a 5 Command speed Figure C pO Olm O r min Setting Gain switching conditions Gain Switch Time Pn32 37 NO 5 68 Operating Functions 5 16 User Parameters Torque Control Mode Explanation Gain Switch Gain Switch Level Setting Hysteresis Set Pn33 38 ting Pn34 39 D Switching using Gain Switch Input X X 7 GSEL for CN1 pin 27 3 Amount of change in torque command O o gt Figure A 0 05 166 us 0 05 166 us e Use this parameter to select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input Operation Mode Selection Pn30 is set to 1 e The gain is always gain 1 regardless of the gain input if the Control Gain Switch 1 Setting Pn31 is 2 and the Torque Limit Selection Pn03 is 3 e If the Control Mode S
346. ng Gain Switch 1 Time Gain Switch 1 Level Setting Gain Switch 1 Hysteresis Setting Position Loop Gain Switching Time Power Setting Explanation Deau Unit Setting OFF gt gt setting range ON Enable or disable gain switching If gain switching is enabled the setting of the Control Gain Switch Setting Pn31 is used as the condition for switching between gain 1 and gain 2 Disabled The gain setin Pn10 to Pn14 is used and the Gain Switching Input GSEL 1 Oto 1 will be used to switch between PI operation and P operation Enabled The gain will be switched between gain 1 Pn10 to Pn14 and gain 2 Pn18 to PniC Select the condition for switching between gain 1 and gain 2 The details depend on the control mode If a composite mode is set the setting of this param eter is valid when the first control mode is used The Gain Switching Input Operating Mode Selection Pn30 must be set to 1 enabled Always gain 1 Always gain 2 D Switching using Gain Switching Input GSEL Amount of change in torque command Oto10 Always gain 1 Command speed ED Amount of position deviation Command pulses received Ea Positioning Completed Signal INP OFF Ez Actual Servomotor speed 10 Combination of command pulse input and speed This parameter is enabled when the Control Gain Switch 1 Setting Pn31 is 3 to 10 Set the delay time from the moment the condition set in the Control Gain ae Switch 1
347. ng Enabled Notch Filter 2 Set the notch frequency of the resonance suppres 100 to 28 l l 1500 Hz Frequency sion notch filter 1500 7 Set the notch filter width to one of five levels for the Notch Filter 2 resonance suppression notch filter Normally use the 2 0 to 4 Width i default setting 2A Notch Filter 2 Set the depth of the resonance suppression notch fil 0 to 99 p Depth ter 2B Vibration Set vibration frequency 1 to suppress vibration at the 0 1 Hz 0 to _ Frequency 1 end of the load in damping control l 2000 Vibration Filter 1 Set vibration filter 1 to suppress vibration at the end of 0 1 Hz pay E Setting the load in damping control r 2D Vibration Set vibration frequency 2 to suppress vibration at the 04Hz 1 Hz 0 to D Frequency 2 end of the load in damping control 2000 Vibration Filter2 Set vibration filter 2 to suppress vibration at the end of 2E l 0 1 Hz Setting the load in damping control PR Displays the table entry number corresponding to the Adaptive Filter frequency for the adaptive filter Table Number This parameter is set automatically and cannot be O to 64 Display changed if the adaptive filter is enabled i e if Real time Autotuning Mode Selection Pn21 is 1 to 3 or 7 2s re D Q Q lt 9 18 Appendix 9 2 Parameter Tables 31 9 19 Parameter name Gain Switching Input Operating Mode Selection Control Gain Switch 1 Setti
348. ng Mode 1 Mode 2 3 Position control Speed control 4 Position control Torque control 5 Speed control Torque control E Pulse Prohibit Input IPG and Internally Set Speed Selection 1 VSEL1 Pin 33 Pulse Prohibit Input IPG Internally Set Speed Selection 1 VSEL1 Functions e Position Control Mode Pin 33 is the Pulse Prohibit Input When the input is OFF inputting command pulses will be disabled The Pulse Prohibit Input can be disabled by setting the Command Pulse Prohibited Input Pn43 e Speed Control Mode Pin 33 is the Internally Set Speed Selection 1 VSEL1 This input can be used together with the ECRST VSEL2 and GESEL VSEL3 inputs to select any of eight internally set speeds e Torque Control Mode This input is disabled 3 25 3 1 Servo Drive Specifications Control Output Circuits E Position Feedback Output Servo Drive Controller R 120 to 180 Q t5 V Fi Phase A i Phase B Phase A Output line driver AM26C31 or Phase B the equivalent Phase Z Phase Z lt 0V OVY Shell FG poe lt 0V_ Applicable line receiver ae ii 1 L pG AM26C32 or the equivalent E Phase Z Output Open collector Output Servo Drive Controller Maximum operating voltage 30 VDC Maximum output current 50 mA E Sequence Output servo Drive To other output circuits External power supply EEEN i 24 VDC 1 V Maximum operating voltage 30 VDC Maximum output current 50 mA Di Diode for prev
349. ng are the requirements for EMC Directive conformance e The Servo Drive must be installed in a metal case control panel The Servomotor does not however have to be covered with a metal plate e Noise filters and surge absorbers must be installed on power supply lines e Shielded cables must be used for all I O signal lines and encoder lines Use tin plated mild steel wires for the shielding e All cables I O wiring and power lines connected to the Servo Drive must have clamp filters installed e The shields of all cables must be directly connected to a ground plate Wiring Method R88D GTA5L GT01L GT02L GT04L GT01H GT02H GT04H GT0O8H GT10H GT15H GT20H GT30H GT50H 1 For models with a single phase power supply input R88D GTA5L GT01L GT02L GT04L GT01H GT02H GT04H GT08H the main circuit power supply input terminals are L1 and L3 e Ground the motor s frame to the machine ground when the motor is on a movable shaft e Use a ground plate for the frame ground for each Unit as shown in the above diagrams and ground to a single point e Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible 4 3 Wiring Conforming to EMC Directives e No fuse breakers surge absorbers and noise filters should be positioned near the input terminal block ground plate and I O lines should be separated and wired at the shortest distance R88D GT75H
350. ng control Example Between position control and speed control OMNUC G Series Servomotor Pulse string JUUUUL Parameters Requiring Settings Parameter Reference Parameter name Explanation No page Pn02 Control Mode Selection Select control mode for switching control Settings 3 4 5 5 52 E Control Mode Selected at TVSEL Control Mode Switch Input e The following table shows the relation between TVSEL Control Mode Switch Input and the control mode selected Control Mode TVSEL Selection Pn02 3 Position control Speed control 4 Position control Position control 5 Speed control Torque control Note Use caution when switching control modes Operation may change suddenly depending on the control mode settings 5 11 5 5 Switching the Control Mode E Operation Examples Position and Speed Control Switching Example Pn02 3 10 ms min Control Mode Switch ON a Ga OFF 3 Input TVSEL V Speed Command Input REF Pulse commands Positioning Completed Output INP Motor Rotation Speed Detection Output TGON r min Servomotor operation r min e There is a maximum delay of 10 ms in reading the input signal e When switching from speed control to position control turn OFF the Control Mode Switch Input TVSEL and wait at least 10 ms after the Positioning Completed Output INP turns ON before inputting the pulse command The pulses input before INP turns ON w
351. ng speed commands of stepping movement or when using internally set speed e Do not set acceleration and deceleration times when using the Servo Drive in combination with an external position loop Set both Pn58 and Pn59 to 0 e Refer to 5 13 Soft Start on page 5 27 for more information on the soft start function Internally Set Speed 1000 r min Speed ta td Pn5A S curve Acceleration Deceleration Time Setting e Use this parameter to set the pseudo S curve acceleration deceleration value to add to the speed command to enable smooth operation This parameter is useful for applications where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration 1 Set the linear acceleration and deceleration times in Pn58 and Pn59 2 Set the time width for the S curve portion centered on the inflection points for acceleration and deceleration in Pn5A unit 2 ms ts ta Pn58 Set as follows lt gt ta td ts Pn5A 2 5 82 Operating Functions Operating Functions 5 16 User Parameters Pn5B Torque Command Speed Limit Selection Explanation of Settings Setting Control mode Speed limit Torque control TREF1 Torque control in Position Control Torque Control Mode CN1 pin 14 0 Pn5b TREF2 Torque control in Speed Control Torque Control Mode CN1 pin 16 Torque control TREF2 VLIM CN1 1 Torque control in Posit
352. no position command The ON status will then be held until the next position command is received Rotation Detection Select whether to activate the main power supply undervoltage function alarm code 13 if the main power supply is interrupted for the Momentary Hold Time Pn6D during Servo ON A main power supply undervoltage alarm Pe ie alarm code 13 is not generated and the 1 Oto 1 Servomotor turns OFF When the main power supply turns ON again the Servo ON status returns An error is generated for a main power supply 1 undervoltage alarm alarm code 13 Set the range for the Positioning Completed Output INP Set the rotation speed for the Servomotor Rotation Detection Output TGON for Internally Set Speed Control Appendix 9 25 9 2 Parameter Tables Default Setting Power Parameter name Setting Explanation Unit I OFF setting range ON Set the operation used to decelerate to a stop after the Forward Drive Prohibit Input POT or Reverse Drive Prohibit Input NOT has been received The torque in the drive prohibit direction is Stop Selection disabled and the dynamic brake is activated for Drive The torque in the drive prohibit direction is Oto2 Yes Prohibition Input disabled and free run deceleration is performed The torque in the drive prohibit direction is disabled and an emergency stop is performed Set one of the following operations to be performed after the main p
353. nrenall that can sufficiently absorb mechanical eccentricity and declination e For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree center line of precision for example JIS class 2 normal Backlash line pitch error of 6 um max for a pitch circle gt diameter of 50 mm Structure in which N the distance between e f the gear precision is not adequate allow shafts adjustable backlash to ensure that no radial load is placed on the motor shaft e Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision the gear precision and temperature changes Provide appropriate backlash or take other measures to ensure that a thrust load larger than the specified level is not applied movable e Do not put rubber packing on the flange surface If the flange is mounted with rubber packing the motor flange may crack under the tightening force 4 3 4 1 Installation Conditions e When connecting to a V belt or timing belt consult the manufacturer for belt selection and tension e A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to be placed on the motor shaft If an excessive radial load is applied the motor shaft and bearings may be damaged e Set up a movable pulley between the motor shaft and the load shaft so
354. ns automatically created in the Servo Drive then estimates the load inertia based on the torque required at that time and automatically sets the appropriate gain Motor acceleration a tic 5 gain man Current current control Servomotor torque Servo Drive Precautions l l a for Correct Use Normal mode autotuning operates under the following conditions Conditions under which normal mode autotuning operates Position command Normal mode autotuning Control mode All control modes can be used e The servo is ON Others e The deviation counter reset signal is not input Note Set the Torque Limit Selection PnO3 to 1 Operation may be incorrect if the setting is not 1 e Normal mode autotuning may not function properly under the conditions described in the following table If normal mode autotuning does not function properly use manual tuning Adjustment Functions Conditions under which normal mode autotuning does not function properly e If the load inertia is too small or too large compared with the rotor inertia i e less Load inertia than 3 times more than 20 times or more than the applicable load inertia ratio e If the load inertia changes e f the machine rigidity is extremely low Load e f there is backlash or play in the system Note 1 A tuning error will occur if an error occurs the servo turns OFF the main power supply is turned OFF drive prohibit is enabled or a deviation
355. nstant PniB Speed Feedback Filter Time Constant 2 e Use this parameter to set the second speed feedback filter time constant PniC Torque Command Filter Time Constant 2 e Use this parameter to set the second torque command filter time constant e The parameters from Pn18 to PniC are the gain and time constants to be selected when gain switching is enabled in the Gain Switching Input Operating Mode Selection Pn30 e The gain is switched according to the condition set in the Control Gain Switch 1 Setting Pn31 e If the mechanical system inertia changes greatly or if you want to change the responsiveness when the Servomotor is rotating and when it is being stopped you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions and switch them according to the condition e These parameters are automatically changed by executing realtime autotuning To set them manually set the Realtime Autotuning Mode Selection Pn21 to 0 e Gain switching is enabled only for position control PniD Notch Filter 1 Frequency Setting range 100 to 1500 Unit Hz Default setting 1500 e Use this parameter to set the frequency of notch filter 1 for resonance suppression e The notch filter function will be disabled if this parameter is set to 1500 PniE Notch Filter 1 Width e Use this parameter to set the width of notch filter 1 for resonance suppression to one of 5 levels e Increasing the se
356. ntrol Mode Internally Set Speed Setting Pn53 No 1 Speed Pn54 No 2 Speed Pn55 No 3 Speed Pn5d6 No 4 Speed Pn74 No 5 Speed Pn75 No 6 Speed Pn76 No 7 Speed Pn77 No 8 Speed ey ee Speed Speed PI Processor Speed Input Setting Soft Start Setting Command POs Pn11 Speed Gain 1 REF Pn50 Speed Scale Pn58 Acceleration Time Pn12 Integration Time 4 ee es Command _ Pn59 Deceleration Time Pn51 Rotation Direction Speed Bno Ar S curve Pn52 Offset Selection Acceleration Constant 1 Pn19 Speed Gain 2 Pn1A Integration Time Pn57 Filter Time Constant Deceleration Constant 2 Pn20 Inertia Ratio Speed Detection Filter Actual Speed Monitor Pn13 Filter 1 Divider Setting Pn1B Filter 2 Phase A B Z Pn44 Numerator Pn45 Denominator Pn46 Direction Receive Encoder Switch Signal NOTE MEINE Torque Command Limit 4 Pn1D Filter 1 Frequency Pn14 Filter ip Torque Pn1E Filter 1 Width PniC Filter 2 PI Ava Processor Pn28 Filter 2 Frequency Pn5E No 1 Torque Limit Pn29 Filter 2 Width Pn5F No 2 Torque Limit Pn2A Notch Filter 2 Depth Pn2F Adaptive Filter Torque Limit re ae Current Feedback PCL Torque Limit Input 3 V 100 Torque Limit NCL Operating Functions Operating Functions 5 3 Internally Set Speed Control 5 3 Internally Set Speed Control Function e Performs Servomotor speed control using the speeds set in the No 1 to 8 Internally Set Spe
357. o a single noise filter select a noise filter with a rated current at least two times the total rated current of all the Servo Drives 4 42 System Design 4 3 Wiring Conforming to EMC Directives 4 43 Noise Filters for Servomotor Output e Use noise filters without built in capacitors on the Servomotor output lines e Select a noise filter with a rated current at least two times the Servo Drive s continuous output current e The following table shows the noise filters that are recommended for Servomotor output Rated current 3G3AX NF001 3G3AX NF002 3G3AX NF003 OMRON For inverter output 3G3AX NF004 3G3AX NF005 3G3AX NF006 100A Note 1 Servomotor output lines cannot use the same noise filters for power supplies Note 2 Typical general purpose noise filters are made for power supply frequencies of 50 60 Hz If these noise filters are connected to the PWM output of the Servo Drive a very large about 100 times larger leakage current will flow through the noise filter s condenser and the Servo Drive could be damaged Manufacturer Remarks Dimensions 3G3AX NF001 NFO002 Four M Dimensions mm Model fetel e f nm O1 09 O N 4 3 Wiring Conforming to EMC Directives 3G3AX NF003 NF004 NF005 NF006 Model 3G3AX NF003 3G3AX NF004 3G3AX NF005 3G3AX NF006 Dimensions mm T e e e E sere pepa o nepe 20 0 reo fron ree freo f ren ws ws 2 an 0 0 ree 70 fro me w
358. o magnetic contactors MC Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes The brake is not affected by the polarity of the power supply The model GT75H does not have a built in regeneration resistor If the amount of regeneration is large an External Regeneration Resistor must be connected to B1 B2 2 as 4 4 20 System Design 4 2 Wiring Main Circuit and Servomotor Connections When wiring the main circuit use proper wire sizes grounding systems and anti noise measures E R88D GTA5L GT01L GT02L GT04L R88D GT01H GT02H GT04H GT08H GT10H GT15H Main Circuit Connector Specifications CNA Sym ee L1 R88D GTLIL 50 W to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz L2 Main circuits power R88D GTUH 50 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V supply input 50 60 Hz L3 R88D GTLIH 750 W to 1 5 kW Three phase 200 to 240 VAC 170 to 264 V 50 60 Hz L1C Control circuit power R88D GTLIL Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz L2c_ supply input R88D GTLIH Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Servomotor Connector Specifications CNB Sym ar 50 W to 400 W These terminals normally do not need to be connected If there is B1 External high regenerative energy connect an External Regeneration Resis
359. o the Servo Drive 2 Checking the Servo Drive Model Code Key operation Display example Explanation Press the Data key to enter Copy Mode Press and hold the Increment key until EEP_CH is displayed DIFFER will be displayed if a different model code is entered The bar indicator will increase when the key is pressed for 3 s or longer DG The bar indicator will increase The Servo Drive model code is being checked If a different model code has been entered refer to 3 Different Model Codes below to perform the procedure If the model codes match the display will proceed to the display in 4 Exe cuting Copying 3 Different Model Codes Key operation Display example Explanation The decimal point will move to the left when the Shift key is pressed for 3 s or longer The model codes are being matched Press the Data key to cancel copying before completion 6 26 Operation Operation 6 4 Setting the Mode 4 Executing Copying Key operation Display example Explanation Writing user parameters to the EEPROM of the Servo Drive will start 6 27 Fan sSh This display indicates a normal completion 5 Returning to Copy Mode Key operation Display example Explanation Press the Data key to return to Copy Mode Precautions for Correct Use If Error is displayed before completion repeat the procedure from the beginning Press the Data key to clear th
360. oad alarm code 18 will not Regeneration resistor used None 3 The regeneration processing circuit and regeneration overload alarm code 18 will not operate and all regenerative energy will be processed by the built in capacitor e Do not touch the External Regeneration Resistor It can be very hot and may cause burns e Always provide a temperature fuse or other protective measure when using an External Regeneration Resistor Regardless of whether the regeneration overload is enabled or disabled the External Regeneration Resistor can become extremely hot and may cause burning e Set this parameter depending on whether the built in regeneration resistor is used or the built in regeneration resistor is disconnected and an External Regeneration Resistor is connected The External Regeneration Resistor is connected between B1 and B2 e To use the built in regeneration resistor always set this parameter to 0 Pn6D Momentary Hold Time Setting range 35 to 1000 Unit 2ms Default setting a ena Yes e Use this parameter to set the amount of time required until shutoff is detected if the main power supply remains shut off e The main power OFF detection will be disabled if this parameter is set to 1000 Pn6E Emergency Stop Torque e Use this parameter to set the torque limit for the following cases e Drive prohibit deceleration with the Stop Selection for Drive Prohibition Input PN66 set to 2 e Deceleration with the Stop Selection with
361. oad load R88G 16 0 5 R88G 33 1 5 400 R88G 66 5 5 W 1 21 HPG20A21400B0 143 23 56 ES 238 65 2 4 90 x 10 800 2547 2 9 R88G 98 2 5 R88G 133 9 5 1 45 HPG324A45400BO 47 44 111 131 4 6 10 x 10 1718 6848 7 5 R88G 5 1 11 R88G 273 23 23 88 454 68 1 6 00 x 10 5 659 2320 3 1 HPG20A11750BL l l l l 750 R88G 4 W 1 21 HPG32A21750B0O 42 34 238 124 3 3 00x 10 1367 5448 7 8 1 33 R88G 91 69 70 88 151 204 7 2 70 x10 4 1565 6240 7 8 HPG32A33750BL i i l i 1 45 R88G 67 95 04 88 111 279 2 2 70 x104 1718 6848 7 8 HPG32A45750BL i l 1 5 R88G 600 11 5 72 1000 32 9 3 90 x 10 4 889 3542 7 3 HPG32A051KOBL i l 1 11 R88G 273 28 9 83 454 82 6 3 40 x104 1126 4488 7 8 HPG32A111KOBL 1 R88G 4 KW 1 21 HPG32A211KOBLI 143 58 1 87 238 166 1 3 00 x 10 1367 5488 7 8 1 33 R88G 91 94 3 90 151 270 0 2 80 x 10 4 1565 6240 7 8 HPG32A331KOBL l 1 45 R88G 67 124 2 87 100 1 355 4 4 70 x 10 4 4538 15694 19 0 HPG50A451KOBL i l l 1 5 R88G 600 19 1 80 1000 51 3 3 90 x 10 4 889 3542 7 4 HPG32A052KOBL 1 11 R88G 273 45 7 87 454 122 5 3 40 x 104 1126 4488 7 9 HPG32A112KOBL i l i 1 5 R88G 4 KW 1 21 HPG32A211K5BL 143 90 1 90 238 241 9 3 00 x 10 1367 5448 7 9 1 33 R88G 91 141 5 90 136 1 379 7 4 80 x 10 4 4135 14300 19 0 HPG50A332KOBL 1 45 R88G 67 192 9 90 10071 517 8 4 70 x 104 4538 15694 19 0 HPG50A451K5BL i i 3 48 Specifications Specifications 3 3 Decelerator Specific
362. odels For 3 000 r min Servomotors of 2 kW and 2 000 r min Servomotors of 2 kW Model R88A CAGC003S R88A CAGCO005S R88A CAGC010S R88A CAGC015S R88A CAGC020S R88A CAGC030S R88A CAGC040S R88A CAGC050S 3 4 Cable and Connector Specifications 10 4 dia Connection Configuration and Dimensions 70 Servo Drive R88D GL lt Wiring Servo Drive Servomotor E e ooi Os B PhaseV Oa reen Yellow Oo able AWG14 x 40 UL2463 D FG M5 crimp terminals Servomotor Connector Straight plug Weight Approx 0 7 kg Approx 1 0 kg Approx 2 0 kg Approx 2 9 kg Approx 3 8 kg Approx 5 6 kg Approx 7 4 kg Approx 9 2 kg R88M G Servomotor N MS3106B20 4S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 66 Specifications Specifications 3 4 Cable and Connector Specifications R88A CAGD L S Cable Models For 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW and 1 000 r min Servomotors of 2 to 4 5 kW Model Length L Outer diameter of sheath Weight 3m R88A CAGD003S pm R88A CAGD005S R88A CAGD010S R88A CAGD015S R88A CAGD020S R88A CAGD030S R88A CAGD040S R88A CAGD050S Connection Configuration and Dimensions Servo Drive R88D G Wiring Servo Drive Red O White Pt aoe Yell ext reen Yellow Cable AWG10 x 4C UL2463 M5 crimp terminals 3 67 Approx 1 3 kg Approx
363. oder Connector CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 413 CPU Units with Pulse string Outputs CQM1 CPU43 V1 lt 3 Power Cable 7 Power Cable Robot Cables Servo Relay Unit GS Encoder Cable Connector Terminal Block and Cable Other Controllers CPU Units with Pulse string Cable for Connector ll 7 Encoder Cable Robot Cables Outputs Terminal Block CP1H X40DL _ so Connector Terminal i CP1H XA40DI o ermina 1 Use a robot cable when the cable must be flexible CP1H Y20DT D CP1L DT_ D CJ1M CPU21 22 23 Block W General purpose Control Cable and Control Flexible Motion Controllers FQ1M MMA22 7 EJ Servomotor 0 FQ1M MMP22 U R88M GL 4 11 4 2 Wiring Selecting Connecting Cables E Encoder Cables Standard Cables Select an Encoder Cable matching the Servomotor to be used Servomotor type Encoder Cable Comments 50to750W WA R88A CRGAOOUOC 3 000 r min Servomotors 50 to 750 W INC R88A CRGBLILILIC The ULL digits in the model 1 to 5 kW R88A CRGCLILILIN number indicate the cable length 3m 5m 10m 15m 100 to 400 W ABS R88A CRGALILILIC 20 m 30 m 40 m or 50 m Example model number for a 100 to 400 W E R88A CRGBLILLIC 3 m cable R88A CRGAO003C 3 000 r min Flat Servomotors 2 000 r min Servomotors 1 500 r min Servomotors 1 to 7 5 kW R88A CRGCLILILIN R
364. ol Gain Switch 2 Setting Pn36 Set the hysteresis width above and below the judg ment level set in the Gain Switch 2 Level Setting Pn38 The unit depends on the setting of the Control Gain Switch 2 Setting Pn36 Jog Speed Set the speed for jogging st Gain Switch 2 Hysteresis Setting 0 to 20000 5 16 User Parameters E Position Control Parameters Power Sammer Setting Explanation pata Unit a ung OFF name setting range ON Selects whether to use photocoupler or line driver only Command input for the command pulse input Oto 1 Yes Pulse Input pO Photocoupler Selection Input for line driver only Set the Servomotor rotation direction for the command pulse input Command The Servomotor rotates in the direction spec Pulse Rotation ified by the command pulse Oto 1 Yes Direction Switch ae The Servomotor rotates in the opposite direc tion from the direction specified by the com mand pulse Set the form of the pulse inputs sent as command to the Servo Drive from a position controller ES 90 phase difference phase A B signal in puts Command i TA y Pulse Mode Forward pulse and reverse pulse inputs e D 90 phase difference phase A B signal in puts Feed pulses and forward reverse signal input Operating Functions Command Enable or disable the pulse disable input IPG Pulse Prohibited EA Enabled 1 Oto1 Input Setting Disabled Encoder Divider Numerator Yes Sett
365. ol Mode Selection Pn02 ccccecseeeeeeeeeees 5 52 Control Mode Switch Input TVSEL 3 13 3 25 Control mode switching cceeeeeeeeeeee tees eeeeeeeeeeees 5 11 Control OUTPUT CIFCUITS ccc ccc ceeeeceeeeeeeeeeeeeeeseeeees 3 26 Control output SEQUENCE cccceseeeeeeeeeeeeeeeeeeeneees 3 27 CODY MOC atena ronal ence eet eee outta 6 24 D damping CONWO a ciacisee eaters cides as seccedetilvisvcandvenlvetes 7 35 Decelerator GIMENSIONS c cecccceeeeceeeeceeeeeseeeeaees 2 49 Decelerator installation CONCItIONS cccceeeeeeeeees 4 7 Decelerator specifications ccececseeeeeeeeeeeeeeeeeees 3 47 DECCIGFATONS ierse a aa i a a 2 7 Decelerators for 1 000 r min Servomotors Backlash 3 M amp aX ccccssseseeeeeeseeeeeseaeeeeees 2 55 3 52 Decelerators for 2 000 r min Servomotors Backlash 3 Max Jrone 2 53 3 50 Decelerators for 3 000 r min Flat Servomotors Backlash 15 MaX cccsssssascesesansenvevecnessssvane 2 61 3 56 Decelerators for 3 000 r min Flat Servomotors Backlash 3 MaX cccccssseeeeeeseseeeeeeeaeeeeees 2 57 3 53 Decelerators for 3 000 r min Servomotors Backlash 15 MaX ccccsseseeeeeeeseeeeeeaeeeeees 2 59 3 54 Decelerators for 3 000 r min Servomotors Backlash 3 MaX nesnnnnennnesseereresrrrreeennn 2 49 3 47 Default Display PN01 ccccseseeeeeseeseeeeeseeeeeeees 5 51 Deviation Counter
366. on return the Realtime Autotuning Machine Rigidity Selection to a low value e g O to 3 immediately Write data to the EEPROM if the results are to be saved 7 2 Realtime Autotuning Operating Procedure Insert the Parameter Unit connector into CN3B of the Servo Drive and turn ON the Servo Drive power supply Setting Parameter Pn21 Press the key Press the key Select the number of the parameter to be set by using the A and S keys Pn21 is selected in this example Press the key Change the value by using the A and S keys Press the key Setting Parameter Pn22 Select Pn22 by using the A key Press the key Increase the value by using the A key Default setting Decrease the value by using the S key Press the key Writing to EEPROM Press he C key Press the key The bars as shown in the figure on the right will EEP increase when the A key is pressed down for i approx 5 s Vv Writing will start momentary display J J Ene Writing completed Writing error occurred Adjustment Functions Adjustment Functions 7 2 Realtime Autotuning Fit Gain Function OMNUC G Series products include a a fit gain function that automatically sets the rigidity to match the device when realtime autotuning is used at position control A fully automatic search is performed for the optimal rigidity setting by repeating a specified reciprocating operation with p
367. on of 19 6 m s2 max 2 times each in X Y and Z directions PenratER Tee ance Between power supply power line terminals and frame ground 0 5 MQ min at 500 VDC Between power supply power line terminals and frame ground 1 500 VAC for 1 min Dielectric strength at 50 60 Hz Between each control signal and frame ground 500 VAC for 1 min Protective structure Built into panel IP10 EMC EN 55011 class A group 1 EC EN 61000 6 2 IEC 61000 4 2 3 4 5 6 11 Interna Direc Low tional tives voltage EN 50178 standards Directive UL standards UL 508C CSA standards CSA 22 2 No 14 Note 1 The above items reflect individual evaluation testing The results may differ under compound conditions Note 2 Never perform withstand voltage or other megameter tests on the Servo Drive Doing so may damage the internal elements Note 3 Depending on the operating conditions some Servo Drive parts will require maintenance Refer to 8 5 Periodic Maintenance on page 8 21 Note 4 The service life of the Servo Drive is 28 000 hours at an average ambient temperature of 55 C at 100 of the rated torque 3 1 3 1 Servo Drive Specifications Characteristics E Servo Drives with 100 VAC Input Power Item R88D GTA5L R88D GTO1L R88D GT02L R88D GT04L Momentary maximum output current rms 14 7 A Power supply 0 4 KVA 0 4 KVA 0 5 KVA 0 9 KVA capacity Power NENN supply Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz voltage Input po
368. ons 3 1 Servo Drive Specifications Communications Connector Specifications CN3A Pin No 4 7 8 Symbol Name Function Interface ND B RS 485 communications data Connector for CN3A 8 Pins Communications data interface between Servo Drives Name Manufacturer Connector MD S8000 10 J S T Mfg Co Parameter Unit Connector Specifications CN3B Pin No 3 4 5 7 8 3 31 Symbol Name Function Interface TXD RS 232 send data Send data output to the Parameter Unit or personal computer GND Ground RXD RS 232 receive data Receive data input from the Parameter Unit or personal computer B RS 485 Ses ad Communications data interface between Servo Drives communications data Connector for CN3B 8 Pins Name Manufacturer Connector MD S8000 10 J S T Mfg Co 3 2 Servomotor Specifications 3 2 Servomotor Specifications The following OMNUC G Series AC Servomotors are available e 3 000 r min Servomotors e 3 000 r min Flat Servomotors e 2 000 r min Servomotors e 1 000 r min Servomotors There are various options available on the Servomotors such as models with brakes or different shaft types Select a Servomotor based on the mechanical system s load conditions and the installation environment p c O General Specifications T O 3 000 r min Flat 1 000 r min S t MIN Fla r min oervomotors 3 Item eee se Non otols Servomotors 2 000 r min Servo
369. ontact socket 0 8 to 2 0 mm 170366 1 Tyco Electronics AMP Kk E Brake Cable Connector R88A CNG0O1B This connector is used for brake cables Use it when preparing a brake cable yourself Panel Mounting Hole p 93 710 4 Connector housing 172157 1 Tyco Electronics AMP Kk Applicable panel thickness Contact socket 0 8 to 2 0 mm 170366 1 Tyco Electronics AMP Kk 3 88 Specifications Specifications 3 4 Cable and Connector Specifications Control Cable Specifications E Motion Control Unit Cables R88A CPGL ML Use this cable to connect to the Motion Control Units in OMRON SYSMAC Programmable Controllers Cables are available for either one axis or two axes The following Motion Control Units can be used CS1W MC221 421 V1 Cable Models e Cables for One Axis Model Length L Outer diameter of sheath Weight R88A CPG001M1 Approx 0 2 kg R88A CPG002M1 Approx 0 3 kg 8 3 dia R88A CPG003M1 Approx 0 4 kg R88A CPGO05M1 Approx 0 6 kg e Cables for Two Axes Model Outer diameter of sheath Weight R88A CPG001M2 Approx 0 3 kg R88A CPG002M2 Approx 0 5 kg 8 3 dia R88A CPG003M2 Approx 0 7 kg R88A CPG005M2 Approx 1 0 kg Connection Configuration and Dimensions e Cables for One Axis 39 L 39 Motion Control Unit y j 1 7 Servo Drive CS1W MC221 421 V1 a J i J3 D R88D G
370. ontrol circuit l R88D GTLIH Single phase 200 to 230 VAC 170 to 253V 50 60 Hz power supply input a e 2 to 5 kW Normally B2 and B3 are connected If there is high regenerative energy B2 J l remove the short circuit bar between B2 and B3 and connect an External Resistor connection l Regeneration Resistor between B1 and B2 B3 terminals U Red V Servomotor These are the output terminals to the Servomotor W connection terminals Blue Be sure to wire them correctly Green gt This is the ground terminal Ground to 100 Q or less 3 7 3 1 Servo Drive Specifications E R88D GT75H Main Circuit Terminal Block Specifications TB1 L1 L2 L3 B1 Main circuit power R88D GT75H 6 to 7 5 kW Three phase 200 to 230 VAC 170 to 253 V supply input 50 60Hz External Regeneration Resistor connection 6 kW 7 5 KW A regeneration resistor is not built in Connect an External Regeneration Resistor between B1 and B2 if necessary terminals Servomotor T Blue These are the output terminals to the Servomotor connection terminals Be sure to wire them correctly Green Yellow This is the ground terminal Ground to 100 Q or less Main Circuit Terminal Block Specifications TB2 NC L1C L2C NC EX1 EX2 EX3 NC FN FN Control circuit power supply input This is the ground terminal Ground to 100 Q or less R88D GT75H Single phase 200 to 230 VAC 170 to 253 V 50 60Hz Do not
371. opping Clearing the deviation counter During deceleration Dynamic brake After stopping Dynamic brake Deviation counter Clear During deceleration Free run After stopping Dynamic brake Deviation counter Clear During deceleration Dynamic brake After stopping Servo free Deviation counter Clear During deceleration Free run After stopping Servo free Stop Selection Deviation counter Clear 67 with Main Power During deceleration Dynamic brake Oto 9 After stopping Dynamic brake Deviation counter Hold During deceleration Free run After stopping Dynamic brake Deviation counter Hold During deceleration Dynamic brake After stopping Servo free Deviation counter Hold During deceleration Free run After stopping Servo free Deviation counter Hold During deceleration Emergency stop After stopping Dynamic brake Deviation counter Clear During deceleration Emergency stop After stopping Servo free Deviation counter Clear 5 47 N O per O 5 LL D per Le Q Q O Parameter name Stop Selection for Alarm Generation Stop Selection with Servo OFF 5 16 User Parameters Power Setting Explanation Default Unit Setting OFF gt gt setting range ON Set the operation to be performed after stopping or dur ing deceleration when any protective function of the Servo Drive operates and an error occurs During deceleration Dynamic brake After stopping Dynamic brake i During deceler
372. or Connector Crimp type I O Connector Molex Japan 172161 1 Tyco Electronics AMP Kk Connector pins Connector pins 50639 8028 Molex Japan 170365 1 Tyco Electronics AMP KK Wiring 30 to 50 m Servo Drive Servomotor EOV BAT S c FG AWG25 x 6P UL2517 Servo Drive Connector Servomotor Connector Connector Connector Crimp type I O Connector Molex Japan 172161 1 Tyco Electronics AMP KK Connector pins Connector pins 50639 8028 Molex Japan 170365 1 Tyco Electronics AMP KK 3 60 Specifications 3 4 Cable and Connector Specifications 3 61 R88A CRGBLICR Cable Models For incremental encoders 3 000 r min Servomotors of 50 to 750 W and 3 000 r min Flat Servomotors of 100 to 400 W Model Length L Outer diameter of sheath Weight R88A CRGB003CR Approx 0 2 kg R88A CRGBO0O5CR Approx 0 4 kg R88A CRGB0O10CR dom 7 5 dia Approx 0 8 kg R88A CRGB015CR 15m 15m Approx 1 1 kg R88A CRGBO020CR p 2m p 2m Approx 1 5 kg R88A CRGBO30CR 80m 80m Approx 2 8 kg R88A CRGBO40CR 8 2 dia Approx 3 7 kg R88A CRGBO50CR Approx 4 6 kg Connection Configuration and Dimensions L Servo Drive Servomotor R88D GO a D R88M GO Wiring 3 to 20 m Servo Drive Servomotor NO B RI smn ue Blac ee FG Shell Cable Servo Drive Connector AWG24x4P UL20276 Servomotor Connector Connector Connector Crimp type I O Connector Molex Japan 172160 1 T
373. or 1 axis 2m CS1W MC221 V1 MC421 V1 3m 5m 1m Motion Control Unit Cables for 2 axes 2m CS1W MC221 V1 MC421 V1 mae 5m 1m General purpose Control Cables with Connector on One End 2 m 1m Connector Terminal Block Cables 2 m M3 screw type Connector Terminal Block M3 5 screw type M3 screw type E External Regeneration Resistors Specifications Regeneration capacity 20 W 50 Q with 150 C thermal switch Regeneration capacity 20 W 100 Q with 150 C thermal switch Regeneration capacity 70 W 47 Q with 170 C thermal switch Regeneration capacity 180 W 20 Q with 200 C thermal switch E Reactors Specifications R88D GTA5L GT01H R88D GT01L GT02H R88D GT02L GT04H R88D GT04L GT08H GT10H R88D GT15H R88D GT08H GT 10H GT 15H R88D GT20H GT30H R88D GT50H R88D GT75H 2 23 R88A CPG002M1 R88A CPG003M1 R88A CPGO05M1 R88A CPG001M2 R88A CPG002M2 R88A CPG003M2 R88A CPGO005M2 R88A CPG001S R88A CPG002S XW2Z 100J B24 XW2Z 200J B24 XW2B 50G4 XW2B 50G5 XW2D 50G6 Model R88A RRO8050S R88A RR080100S R88A RR22047S R88A RR50020S Model 3G3AX DL2002 3G3AX DL2004 3G3AX DL2007 3G3AX DL2015 3G3AX DL2022 3G3AX AL2025 3G3AX AL2055 3G3AX AL2110 3G3AX AL2220 2 1 Standard Models E Mounting Brackets L Brackets for Rack Mounting Specifications Model R88D GTA5L GT01L GT01H GT02H R88A TKO1G R88D GT02L GT04H R88A TKO2G R88D GT04L GT08H R88A TKO3G R88D GT10H GT15H R88A TKO04G E Absol
374. or longer Counter Reset i Oto _ Condition Clears the deviation counter on the falling Setting 1 edge of the signal open and then closed for 100 us or longer Disabled 5 43 5 16 User Parameters E Speed and Torque Control Parameters Default Setting ower Parameter name Setting Explanation Unit I OFF gt 0 setting range N Set the relation between the voltage applied to the Speed Command Input REF and the Servomotor speed Speed Command Scale Set to reverse the polarity of the soeed command input Command Speed REF Rotation Forward Speed Command Offset Adjustment No 1 Internally Set Speed No 2 Internally Set Speed No 3 Internally Set Speed No 4 Internally Set Speed No 5 Internally Set Speed No 6 Internally Set Speed No 7 Internally Set Speed No 8 Internally Set Speed Speed Command Filter Time Constant Soft Start Acceleration Time Soft Start Deceleration Time 2047 IN to 2047 Set to adjust the offset of the Soeed Command Input REF 0 3 mV Set the No 1 internally set rotation speed Set the No 2 internally set rotation speed 20000 r min to 20000 20000 r min to 20000 20000 r min to 20000 20000 r min to 20000 20000 r min to 20000 20000 r min to 20000 20000 r min to 20000 0 to 0 to 5000 20000 r min to 20000 Set the No 3 internally set rotation speed i Set the No
375. orque control is performed but the adaptive filter frequency used in the control mode before switching will be held if torque control has been selected by setting the Control Mode Selection Pn02 to 4 or 5 Automatically Set Parameters The following parameters are set automatically Parameter No Pn10 Pn11 Pn12 Pn13 Pn14 Pn18 Pn19 Pn1A Pn1B PniC Pn20 Parameter name Position Loop Gain Speed Loop Gain Speed Loop Integration Time Constant Speed Feedback Filter Time Constant Torque Command Filter Time Constant Position Loop Gain 2 Speed Loop Gain 2 Speed Loop Integration Time Constant 2 Speed Feedback Filter Time Constant 2 Torque Command Filter Time Constant 2 Inertia Ratio 7 12 Adjustment Functions a 7 2 Realtime Autotuning The settings for the following parameters are automatically set and cannot be changed The settings will not change even if realtime autotuning is executed Parameter No Parameter name Set value Pn15 Feed forward Amount 300 Pn16 Feed forward Command Filter 50 Pn27 Instantaneous Speed Observer Setting 0 Pn30 Gain Switching Input Operating Mode Selection 1 Pn31 Control Gain Switch 1 Setting 10 Pn32 Gain Switch 1 Time 30 Pn33 Gain Switch 1 Level Setting 50 Pn34 Gain Switch 1 Hysteresis Setting 33 Pn35 Position Loop Gain Switching Time 20 Pn36 Control Gain Switch 2 Setting 0 Note 1 Parameters that are automatically set cannot be changed if realtime autotuning is enabled Note
376. osition control Position command reciprocating command for trapezoidal Position speed waveform deviation Position Adaptive command hea speed control filter control ele resonance i y requenc Estimated load inertia Realtime autotuning Stabilization Automatic setting of 7 Vibration time rigidity and gain table detection Fit gain function Servo Drive Precautions e To be applicable this function must satisfy the following conditions in for Correct Use addition to the conditions for realtime autotuning Conditions under which the fit gain functions properly Realtime e The realtime autotuning operates normally autotuning e The Servo is ON operation e Pn21 1 to 6 Operation is not possible if Pn21 is O or 7 e The adaptive filter is enabled Adaptive filter Pn23 1 Enabled e The control mode is position control Pn02 0 Position control Pn02 3 First control mode for position speed control Pn02 4 First control mode for position torque control Control mode e The position command is for reciprocating operation e The time per position command is at least 50 ms e The minimum frequency for the position command is 1 kpps Required to determine the start and end of the command Operating Acceleration deceleration lt 3 000 r min 0 1 s pattern Command waveform ON Positioni complete OFF Ismin e In addition to the precautions for realtime autotuning
377. other 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 between Buyer and Omron relating to the Produc
378. otors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW and 1 000 r min Servomotors of 2 to 4 5 kW MEAE R88A CAGD003BR R88A CAGD005BR R88A CAGD010BR R88A CAGD015BR R88A CAGD020BR 15 6 6 1 dia R88A CAGD030BR R88A CAGD040BR R88A CAGD050BR Connection Configuration and Dimensions Servo Drive R88D GL Wiring Servo Drive Servomotor sce Mg ODE eon Mite B Brake NC Om Fee D Phase U_ vig OO ei O OCO Green Yellow G Groma Crimp terminals Cable AWG20 x2C UL2464 _ Nc Cable AWG10 x 4C UL2501 Servomotor Connector Straight plug N MS3106B24 11S Weight Approx 1 6 kg Approx 2 5 kg Approx 4 7 kg Approx 7 0 kg Approx 9 2 kg Approx 13 7 kg Approx 18 2 kg Approx 22 7 kg Servomotor O gt R88M G Japan Aviation Electronics Cable clamp N MS3057 16A Japan Aviation Electronics 3 78 Specifications Specifications 3 4 Cable and Connector Specifications E Brake Cables Standard Cables R88A CAGAL B Cable Models For 3 000 r min Servomotors of 50 to 750 W and 3 000 r min Flat Servomotors of 100 to 400 W R88A CAGA003B Approx 0 1 kg R88A CAGA005B Approx 0 2 kg R88A CAGA010B Approx 0 4 kg R88A CAGA015B Approx 0 6 kg 5 4 dia R88A CAGA020B Approx 0 8 kg R88A CAGA030B Approx 1 2 kg R88A CAGA040B Approx 1 6 kg R88A CAGA050B Approx 2 1 kg Connection Configuration and Dimensions 50 L 50 Servo Drive Servomotor R88D GC lt a LY R
379. output Not inverted Output source Encoder position 1 Phase B output Inverted Output source Encoder position e Use this parameter to set the phase B logic for pulse output B CN1 pin 48 B CN1 pin 49 e This parameter can be used to invert the output direction of the phase B pulse to reverse the relation of the phase B pulse to the phase A pulse 5 76 Operating Functions Operating Functions 5 16 User Parameters Pn48 Electronic Gear Ratio Numerator 1 Pn49 Electronic Gear Ratio Numerator 2 Position Pn4A Electronic Gear Ratio Numerator Exponent Pn4B Electronic Gear Ratio Denominator Setting range O to 10000 Uif o Default setting 10000 e Use these parameters to set the electronic gear e The electronic gear can be used for the following e To set the amount of Servomotor rotation or movement per input command pulse e To increase the nominal command pulse frequency by using a multiplier when the desired Servomotor speed cannot be achieved due to the limited pulse oscillation capability of the host controller e Electronic Gear Block Diagram 4 Exponent Pn4A Internal OMARE pE 1 er k command To deviation f E counter Denominator Pn4B a 10 000 pulses rev pulses resolution 217 pulses rev 1 Numerator 1 or Numerator 2 is selected using the Electronic Gear Switch Input GESEL CN1 pin 28 GESEL input open Numerator 1 Pn48 selected GESEL input connected to CO
380. output a zero speed detection output or speed coincidence output from the general purpose output OUTM1 CN1 pin 12 or OUTM2 CN1 pin 40 e f a speed detection output is assigned an output will be made when the speed of the motor is lower than the value set for this parameter e If a speed coincidence output is assigned an output will be made when difference between the speed command and the speed of the motor is lower than the value set for this parameter e The setting of this parameter is valid for both forward and reverse operation regardless of the Servomotor rotation direction This setting has a hysteresis of 10 r min Speed Pn61 10 r min Pn61 1 i a ee lt j _ OUTM1 ON r min 9 85 5 16 User Parameters Pn62 Rotation Speed for Motor Rotation Detection e Use this parameter to set the rotation speed r min at which to output the Servomotor Rotation Detection Output TGON CN1 pin 39 T ONCOM CN1 pin 38 e The Servomotor Rotation Detection Output TGON will turn ON when the Servomotor speed exceeds the setting of this parameter e The setting of this parameter is valid for both forward and reverse operation regardless of the Servomotor direction This setting has a hysteresis of 10 r min Speed Pn62 10 r min Pn62 10 r min at ey Se ee es a E lt TGON OFF ON Pn63 Positioning Completion Condition Setting Explanation of Settings Setting
381. ower supply is cut off if the Undervolt age Alarm Selection Pn65 is set to O Operation during deceleration and after stopping Clearing the deviation counter During deceleration Dynamic brake After stopping Dynamic brake Deviation counter Clear During deceleration Free run After stopping Dynamic brake Deviation counter Clear During deceleration Dynamic brake After stopping Servo free Deviation counter Clear During deceleration Free run After stopping Servo free Stop Selection Deviation counter Clear 67 with Main Power During deceleration Dynamic brake Oto 9 After stopping Dynamic brake Deviation counter Hold During deceleration Free run After stopping Dynamic brake Deviation counter Hold During deceleration Dynamic brake After stopping Servo free Deviation counter Hold During deceleration Free run After stopping Servo free Deviation counter Hold During deceleration Emergency stop After stopping Dynamic brake Deviation counter Clear During deceleration Emergency stop After stopping Servo free Deviation counter Clear 9 26 Appendix 9 2 Parameter Tables Default Setting one Parameter name Setting Explanation Unit I OFF setting range ON Set the operation to be performed after stopping or dur ing deceleration when any protective function of the Servo Drive operates and an error occurs Ka During deceleration Dynamic brake ing i k Stop Selection After stopping Dynami
382. ox 0 8 kg Approx 1 3 kg Approx 2 4 kg Approx 3 5 kg Approx 4 6 kg Approx 6 9 kg Approx 9 2 kg Approx 11 4 kg Servomotor gt R88M GU Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 70 Specifications Specifications 3 4 Cable and Connector Specifications 3 71 R88A CAGCL ISR Cable Models For 3 000 r min Servomotors of 2 kW and 2 000 r min Servomotors of 2 kW Model R88A CAGCO003SR R88A CAGCO05SR R88A CAGC010SR a dom dom R88A CAGC015SR 15m 15m R88A CAGC020SR p 2m p 2m R88A CAGCO30SR 80m 80m R88A CAGCO040SR 40m 40m R88A CAGCO50SR 50m 50m Connection Configuration and Dimensions 70 L Servo Drive R88D GL 1 Wiring Servo Drive Os Red ors White nD Blue Green Yellow Om Cable AWG14x4C UL2501 M5 crimp terminals Length L Outer diameter of sheath Weight Approx 0 8 kg Approx 1 3 kg Approx 2 4 kg Approx 3 5 kg Approx 4 6 kg Approx 6 9 kg Approx 9 2 kg Approx 11 4 kg 12 7 dia Servomotor CA Phase U_ B Phase V OCP D Servomotor gt R88 M GL C E Servomotor Connector Straight plug N MS3106B20 4S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 4 Cable and Connector Specifications R88A CAGD_ SR Cable Models For 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW and 1 000 r min Servomotors
383. peed of 900 r min or more must not be changed in less than 10 ms 3 2 Servomotor Specifications 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature 20 C 65 The maximum momentary torque indicates the standard value 2 Applicable Load Inertia e The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appro priate motor and confirm that operation is possible e f the dynamic brake is activated frequently with high load inertia the dynamic brake resistor may burn Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled 3 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Ira load Thrust load ale Center of shaft LR 2 4 This is an OFF brake It is reset when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Torque Rotational Speed Characteristics for 1 000 r min Servomotors e 1 000 r min Servomotors with 200 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 200 V
384. peed signal Feedback Filter gn p g Oto5 ae via the low pass filter Time Constant Lorgue l Set to adjust the first order lag filter time constant for 0 to Command Filter 0 01 ms the torque command section 2500 Time Constant T 2000 Feed forward Set the position control feed forward compensation 300 0 1 to B Amount value 2000 16 Feed forward Set the time constant of the first order lag filter used oDi mE 0 to O Command Filter in the speed feed forward section 6400 Reserved Do not Do not change setting setting e a a halal Loop 0 to 18 Gain 2 Set to adjust position control system responsiveness Ear 3000 Speed Loop 1 to 19 Gain 2 Set to adjust speed loop responsiveness o te 3500 Speed Loop ito Integration Time Set to adjust the speed loop integration time constant 50 ms 1000 Constant 2 elec The encoder signal is converted to the speed signal Feedback Filter Wid THe low oas tilien Oto5 Time Constant 2 p l Torque l t CommandEiter Set to adjust the first order lag filter time constant for 100 0 01 ms O to O the torque command section 2500 Time Constant 2 Notch Filter 1 Set the notch frequency of the resonance suppres 100 to 1D 1500 Hz Frequency sion notch filter 1500 Set the width to one of five levels for the resonance Notch Filter 1 i Width suppression notch filter Normally use the default set 2 Oto 4 ting 1F Reserved Do not Do not change setting setting A
385. perating Functions 5 16 User Parameters Pn11 Speed Loop Gain e Use this parameter to determine speed loop responsiveness e The setting for the Speed Loop Gain must be increased to increase the Position Loop Gain and improve the responsiveness of the entire servo system Setting the Speed Loop Gain too high however may result in oscillation e The setting unit for Pn11 will be Hz if the Inertia Ratio Pn20 is set correctly When the speed loop gain is changed the response is as shown in the following diagram Overshoots when speed loop gain is Servomotor Fa high Oscillates when gain is too high speed e Use this parameter to set the speed loop integration time constant e The smaller the setting the faster the deviation will come close to 0 when stopping If 1000 is set the integral will be ineffective W O 2 Time LL 2 Pn12 Speed Loop Integration Time Constant Bass Q O When the speed loop integration time constant is changed the response is as shown in the fol lowing diagram Overshoots when speed loop integration time constant is small Servomotor speed When speed loop integration time constant is large Time 5 59 5 16 User Parameters Pn13 Speed Feedback Filter Time Constant e Use this parameter to set the time constant for the low pass filter LPF after soeed detection to one of six value 0 to 5 e Increasing the setting increases the
386. perating Functions 5 16 User Parameters PnoC RS 232 Baud Rate Setting Explanation of Settings Setting 0 1 2 3 4 5 Explanation 2 400 bps 4 800 bps 9 600 bps 19 200 bps 38 400 bps 57 600 bps e Use this parameter to select the baud rate for RS 232 communications e Baud rate error 0 5 PnOD RS 485 Baud Rate Setting All modes Explanation of Settings Setting 0 J 2 3 4 5 Explanation 2 400 bps 4 800 bps 9 600 bps 19 200 bps 38 400 bps 57 600 bps e Use this parameter to select the baud rate for RS 485 communications e Baud rate error 0 5 PnOE Front Key Protection Setting All modes Explanation of Settings Setting 0 1 Explanation All enabled Limited to Monitor Mode e Front panel key operations can be limited to Monitor Mode This function can be used to prevent unintended changes to parameters because of incorrect key operations e Even if this parameter is set to 1 parameters can be changed by using communications e Use communications to return this parameter to 0 5 57 5 16 User Parameters PnOF Reserved E Gain Parameters Pn10 to Pn3D Pn10 Position Loop Gain e Use this parameter to adjust the position loop response to suit the mechanical rigidity e The responsiveness of the servo system is determined by the position loop gain Servo systems with a high loop gain have a high responsiveness and fast positioning To increase the position loop gain you must
387. percentage of the rated torque Example Maximum torque is limited to 150 Torque 300 max Pn5E Pn5F 150 290 100 rated A A Speed 100 Rated Maximum 200 300 Reverse e Refer to 5 12 Torque Limit on page 5 25 for information on torque limits and the torque limit selection 5 84 Operating Functions Operating Functions 5 16 User Parameters Pn60 Positioning Completion Range e Use this parameter in combination with the Positioning Completion Condition Setting PN63 to set the timing to output the Positioning Completed Output INP CN1 pin 39 The Positioning Completed Output INP will turn ON when command pulse input is completed the Servomotor workpiece movement stops and the number of the accumulated pulses in the deviation counter is less than the setting of this parameter e For position control set the number of encoder pulses e The basic unit for accumulated pulses is the encoder resolution The encoder resolutions are as follows e 17 bit encoder 2 131 072 e 2 500 pulse revolution encoder 4 x 2500 10000 e If this parameter is set to a very small value the time required for the INP signal to turn ON will increase and the output may chatter The setting of the Positioning Completion Range does not affect the precision of the final position Accumulated pulses K Pn61 Zero Speed Detection e Use this parameter to set the rotation speed threshold at which to
388. piece is turned OFF when using a vertical axis the upward torque will be eliminated and there may be repeated vertical movement of the workpiece If this occurs set the Stop Selection for Drive Prohibition Input Pn66 to 2 or limit operation using the host controller rather than using this parameter Operating Functions Pn05 Command Speed Selection Explanation of Settings Setting Explanation 0 Speed Command Input REF CN1 pin 14 1 No 1 Internally Set Speed to No 4 Internally Set Speed Pn53 to Pn56 No 1 Internally Set Speed to No 3 Internally Set Speed Pn53 to Pn55 and Speed Com ei mand Input REF 3 No 1 Internally Set Speed to No 8 Internally Set Speed Pn53 to Pn56 and Pn74 to Pn77 e Use this parameter to select the speed command when using speed control The Servo Drive has internally set soeeds that can be used to easily achieve speed control by using contact inputs e For details on internally set speeds refer to 5 3 Internally Set Speed Control on page 5 5 9 53 5 16 User Parameters Pn06 Zero Speed Designation Speed Command Direction Switch Explanation of Settings Setting Explanation The zero speed designation input will be ignored and a zero speed designation will not 0 be detected The zero speed designation input will be enabled and the speed command will be assumed to be zero when the connection between the input and common is open Speed mode Use as the speed command sign The rot
389. ply is turned ON e The display on the front panel will overflow as shown in the following figure 2 147 483 647 pulses 0 2 147 483 647 pulses 2 147 483 647 pulses Reverse Power ON Forward e The display on the Parameter Unit will be as shown in the following figure e Use the Shift key to switch the display between the upper and lower digits of the total number of pulses Upper digits Lower digits e Hold down the Data key for 5 s or longer to reset the total pulses to 0 6 14 6 4 Setting the Mode E Automatic Servomotor Recognition Automatic recognition enabled Always this indication is displayed E Analog Input Value Display Front Panel Operation LE Input signal Input voltage V Press the Increment or Decrement key to select the signal to monitor The REF analog input value V after offset adjustment is displayed The PCL analog input value V is displayed The NCL analog input value V is displayed Note The displayed value will not be accurate if the voltage exceeds 10 V Operation 6 15 6 4 Setting the Mode E Reason for No Rotation Display Front Panel Operation A number is displayed to indicate the reason the Servomotor does not rotate i Position control E Torque control Speed control Control mode Reason number Relevant Reason control Description modes Flash Error or warning has ing occurred Main power supply interrupted A
390. ply to clear the error 2 Returning to Auxiliary Function Mode Key operation Display example Explanation Press the Data key to return to Auxiliary Function Mode 6 21 6 4 Setting the Mode E Automatic Offset Adjustment 1 Executing Automatic Offset Adjustment Key operation Display example Explanation Press and hold the Increment key until Start is displayed A The bar indicator will increase when the key is pressed for 5 s or longer feng The bar indicator will increase GERE Automatic offset adjustment will start This display indicates a normal completion Error will be displayed if the automatic offset adjustment could not be performed Set a valid control mode or make the setting so that the offset value does not exceed the range for the Soeed Command Offset Adjustment Pn52 and then perform the procedure again Note Do not perform this operation if a position loop has been configured with the host system Press the Data key to enter Automatic Offset Adjustment Mode 2 Returning to Auxiliary Function Mode Key operation Display example Explanation Press the Data key to return to Auxiliary Function Mode Operation Automatic offset adjustment cannot be performed in Position Control Mode Data is not written to the EEPROM simply by performing automatic offset adjustment The data must be written to the EEPROM for the results to be saved Precautions for Correct Use 6 22 6 4
391. power supply to the brake being released is 200 ms max Take this delay into account and be sure the brake has been released before providing a speed command pulse command 2 The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis take this delay into account and set the Brake Timing when Stopped Pn6A so that the Servomotor is deenergized after the brake has engaged 3 The Servo ON status will not occur until the Servomotor drops to 30 r min or less E Power Supply OFF Timing When Servomotor Is Stopped Power supply sh OFF ON nn 25 to 35 ms Brake Interlock BKIR OFF Pn6A 1 Energized Pro Servomotor Deenergized 1 The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis take this delay into account and set the Brake Timing when Stopped Pn6A so that the Servomotor is deenergized after the brake has engaged 5 21 5 10 Brake Interlock E RUN Command Errors and Power Supply OFF Timing When Servomotor Is Rotating Power supply ON OFF 25 to 35 ms ON Servo Ready READY OFF RUN Command RUN S OFF ON Alarm Output ALM oer U o Pn6B 2 ON Brake Interlock BKIR OFF Approx 1 to 5 ms Dynamic brake Engaged Energized Servomotor Deenergized Ge Approx 10 ms 1 Servomotor rotation speed Bra
392. pprox Approx Approx Approx Approx wanbrake ka aoar ME Me Mee ars aos hs Radiation shield dimensions 380 x 350 x material 275 x 260 x t15 Al t30 Al 470 x 440 x t30 Al Applicable Servo Drives R88D GT10H GT15H GT20H GT30H GT50H GT50H GT75H aa kg m2 4 A 4 4 os 1 35 x 10 4 25 x 10 4 4 7 x 10 4 4 7 x 10 Excitation voltage 4 24 VDC 10 Power consumption N O A Pe aaa da 0 59 0 79 0 79 Static friction torque N m 4 9min 13 7 min 13 7 min 16 1 min 21 5 min 24 5 min 58 8 min Oo TEET Backlash 1 reference value TAO J 588 1176 1176 1170 1078 1372 1372 m braking Allowable angular sae 10 000 max acceleration Speed of 900 r min or more must not be changed in less than 10 ms Brake life 10 000 000 operations Insulation grade Le Type F 3 41 3 2 Servomotor Specifications 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature 20 C 65 The maximum momentary torque indicates the standard value 2 Applicable Load Inertia e The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appro priate motor and confirm that operation is possible e f the dynamic brake is activated frequently with high load inertia the dynamic brake re
393. ptive Filter Table Number Display Displayed value 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 Notch Filter 1 Frequency Hz 766 737 709 682 656 631 607 584 562 540 520 500 481 462 445 428 412 396 381 366 352 339 Displayed value 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 5 16 User Parameters Notch Filter 1 Frequency Hz 326 314 302 290 279 269 Disabled when Pn22 F 258 Disabled when Pn22 gt F 248 Disabled when Pn22 gt F 239 Disabled when Pn22 F 230 Disabled when Pn22 F 221 Disabled when Pn22 gt E 213 Disabled when Pn22 gt E 205 Disabled when Pn22 gt E 197 Disabled when Pn22 gt E 189 Disabled when Pn22 gt E 182 Disabled when Pn22 D Disabled Disabled Disabled Disabled Disabled e This parameter displays the table entry number corresponding to the frequency of the adaptive filter e This parameter is set automatically and cannot be changed if the adaptive filter is enabled if the Adaptive Filter Selection Pn23 is not 0 e When the adaptive filter is enabled data will be saved in EEPROM every 30 min If the adaptive filter is enabled the next time the power supply is turned ON adaptive operation will start with the data saved in EEPROM as the default value e To clear this parameter and reset the adaptive operation disable the adaptive filter by setting t
394. que filters such as when each device has a different resonance point The adaptive filter is enabled by setting the Adaptive Filter Selection Pn23 to 1 pee Explanation Pn23 1 The adaptive filter is enabled Selection ee Adaptive Filter Table ae a number corresponding to the frequency for Number Display The setting of this parameter cannot be changed e Notch Filters 1 and 2 Pn1D Pn1E Pn28 Pn29 and Pn2A The OMNUC G Series Servo Drives provide two normal notch filters Notch Filter 1 can be used to adjust the frequency and width and Notch Filter 2 can be used to adjust frequency width and depth with parameters pie Js Set 10 lower Frequency PniE Notch Filter 1 Width Set according to the characteristics of the resonance points Pn28 poet Set 10 lower Frequency Pn29 Notch Filter 2 Width Set according to the characteristics of the resonance points Pn2A Notch Filter 2 Depth 7 30 Adjustment Functions 7 5 Manual Tuning Notch Filter Characteristics Torque Command Filter Machine characteristics at resonance Machine characteristics at resonance Resonance Gain Anti resonance Frequency Frequency Notch Filter Characteristics Torque command filter characteristics S 3dB Gain Frequency Cut off frequency Frequency Adjust a bit lower approx 0 9 f No more resonance peak Anti resonance Anti resonance Frequency Frequency Frequency Frequency _ Fre quency
395. que output e When the rated toque output for the Servomotor is used 100 is displayed e Torque outputs in reverse rotation are displayed with E Control Mode Position Control Mode Speed Control Mode Torque Control Mode e Displays whether position control speed control or torque control is being used E I O Signal Status Input signal No 00 ON Output signal No 1A OFF or disabled LJ LJ LI FH ON OFF or disabled Signal No display O to 1F hex ka n Input DZ Output 6 4 Setting the Mode e Displays the status of the control input and output signals connected to CN1 Input Signals CN1 I Z oA 6 z 8 i 15 TLSEL Torque limit switch Pin No oO N co 1 WO o 2 NO 6 MO N N WI WT WY N O N NI O O W O N Wy 6 10 Operation Operation 6 4 Setting the Mode 6 11 Output Signals CN1 Son Name k 09 TGON Servomotor Rotation Speed 39 Detection Switching between Input Signals and Output Signals If the decimal point is at the right of the signal number the signal number can be changed Q Move the flashing decimal point with the Shift key If the decimal point is at the right of the input output indication you can switch between inputs and outputs between inputs and outputs A i Switches The following procedure can also be used to switch between inputs and outputs Pre
396. r D recognition enabled A disabled display A g A Communications method display o gt Un ide Parameter Unit S e iin n Reason for no Un och rotation qm OO Ha Er rje Otto Ua nam OO Un rna Otto 4 r Otto p q Commu nications selected Front Panel Position deviation 8 pulses 1000r min Torque output 100 Position control display Input signal No O enabled No current errors Software version 0 23 No current warnings 30 of allowable regeneration energy Overload load ratio 30 Inertia ratio 100 Total feedback pulses 50 Total command pulses 10 Automatic Servomotor recognition enabled RS 232 communications Note Front panel displays Operation REF input 10 00 V No servo ON input 6 8 Operation 6 4 Setting the Mode e The Servomotor speed will be displayed the first time the power is turned ON after purchase To change the initial display when the power is turned ON change the setting for the Default Display Pn0O1 For details refer to PnO7 Default Display on page 5 51 E Position Deviation e Displays the number of accumulated pulses in the deviation counter unit pulse e Accumulated pulses in reverse rotation are displayed with E Servomotor Speed e Displays the Servomotor speed unit r min e Speeds in reverse rotation are displayed with E Torque Output e Displays the percentage of Servomotor tor
397. r if you want different responsiveness during operation and stoppage you can perform applicable control using gain switching e f realtime autotuning is not effective under the conditions shown below the gain switching function will be useful e When the load inertia fluctuates in 200 ms or less e When rotation speed does not exceed 500 r min or output torque does not exceed 50 of the rated torque e When external force is constantly applied as with a vertical axis Note When No 2 gain has been selected i e GSEL ON realtime autotuning will not operate normally If using the gain switching function set the Realtime Autotuning Mode Selection Pn21 to O not used Parameters Requiring Settings aera Explanation Reference page Position Loop Gain Set the responsiveness of the position control system when Pn18 ae 5 60 2 gain 2 is selected Pn19 Speed Loop Gain 2 a n Hi els of the speed loop when gain 2 is 5 60 Pn1A E Set the integration time constant of the speed loop when 561 Constant 2 gain 2 is selected Gain Switching Set switching between PI and P operation for speed control Pn30 Input Operating or switching between gain 1 and gain 2 This parameter can 5 67 be set if O to 2 is set for the Torque Limit Selection Pn03 Mode Selection setting 1 If 1 is set for the Gain Switching Input Operating Mode Control Gain Selection Pn30 set the switching conditions for gain 1 and Pn31 Switch 1 Setting gain 2 setting 0 5
398. ration Resistor Specifications ccccccccseeeeees 3 130 3 8 Reactor Specifications essen sseseccscecvse2cteuwsere evel e S S 3 131 Chapter 4 System Design 4 1 Stala on GONMGIIONS sanare deal sesuneiens 4 1 42 WING eei sient aah tga tal asda etal haesl Gorgias Caltule eis 4 11 4 3 Wiring Conforming to EMC Directives cccccseceeseeeeeeeeeeeeeeeeees 4 27 4 4 Regenerative Energy ADSOrption cccccscceseceseeeeeeeeeeeeneeeneeeeeeeeaes 4 45 Chapter 5 Operating Functions 5 1 POSIMOM COMO zensa sce Sotescececmnsanaseia teamed ta asuseecanedsiendetanuadsaatt 5 1 D2 OPCA COMIC cian cytes iets iene ce ieee etched ate 5 3 5 3 Internally Set Speed Control cece ccceceeeeeeeeeceeeeeeeeseesaeeesaeees 5 5 54A TOUS CONTO 5 8 5 5 Switching the Control MOde cccssscccseeeceeeeeceeeeeceeeesseeeesseeeenes 5 11 5 6 Forward and Reverse Drive Prohibit ccccccseeceeeeeeeeeeeeeeeeens 5 14 97 ENCO LOIN ICING seese eatectanienediiate utes deena andeapendn cide anaddeaed 5 15 DO ElCCIOMIC GOAN sec cecce tes esia jae ca ile Sette escent ere etched aed 5 16 5 9 OVer n EMil eee tee ere merit er celeron Mine veneer nce etr neyeeee ee eeemrneeere ee 5 18 16 Table of Contents 5 10 Brake INICNOCK atte atisde sehendceirtans ns Gleedia seen cheaaieige ent aeeeeeenaaGeee ae 5 20 DSi KGS WIC FIG ceannas a ea deaivedaeeeisticeaneadadertanad 5 24 Orie VOGUE LINN conuen tet sints banded
399. rcuit Connector Specifications CNA L1 R88D GTLIL 50 W to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz L2 Main circuit power R88D GTLIH 50 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V supply input 50 60 Hz L3 750 W to 1 5 kW Three phase 200 to 240 VAC 170 to 264 V 50 60 Hz L1C Control circuit power R88D GTUIL Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz L2C supply input R88D GTLIH Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Servomotor Connector Specifications CNB B1 50 W to 400 W These terminals normally do not need to be connected If there is External high regenerative energy connect an External Regeneration Re B2 Regeneration sistor between B1 and B2 Resistor connection 750 W to 1 5 kW Normally B2 and B3 are connected If there is high regenerative B3 terminals energy remove the short circuit bar between B2 and B3 and con nect an External Regeneration Resistor between B1 and B2 U V Servomotor These are the output terminals to the Servomotor W connection terminals Be sure to wire them correctly This is the ground terminal Ground to a 100 Q or less 3 6 Specifications rT a NI OIO Specifications 3 1 Servo Drive Specifications E R88D GT20H GT30H GT50H Main Circuit Terminal Block Specifications L1 Main circuit power R88D GTOH 2 to 5 kW Three phase 200 to 230 VAC 170 to 253 V 50 60Hz supply input L3 C
400. re or shielded twisted pair cable with wires of at least 0 08 mm Check the length of the Control I O Cable Check that the cable wires are shielded twisted pair wires that are at least 0 12 mm Check the length of the Encoder Cable Check the Encoder Cable for cuts or other damage Separate the Encoder Cables far from high current lines or check whether the lines are too close Check for ground problems loss of ground or incomplete ground at equipment such as welding machines near the Servomotor There are problems with mechani cal vibration or motor installation such as the mounting surface attachment or axial offset Check whether the machine is resonating 8 3 Troubleshooting Countermeasures Tighten the mounting screws Align the mechanical couplings Adjust the coupling s balance Contact your OMRON representative e Use normal mode autotuning e Adjust the gain manually Return the setting to 0 default or increase the setting Use Control I O Cable that meets specifications Shorten the Control I O Cable to 3 m or less Use Encoder Cable that meets specifications Shorten the Encoder Cable to less than 50 m Correct the Encoder Cable s pathway to prevent damage Troubleshooting Install the Encoder Cable where it won t be subjected to surges Ground the equipment properly and prevent currents from flowing to the encoder FG Reduce the mec
401. re to replace the Servomotor or Servo Drive E Replacing the Servomotor 1 Replace the Servomotor 2 Perform origin position alignment for position control e When the Servomotor is replaced the Servomotor s origin position phase Z may deviate so origin alignment must be performed e Refer to the Position Controller s manual for details on performing origin alignment 3 Set up the absolute encoder e f a Servomotor with an absolute encoder is used the absolute value data in the absolute encoder will be cleared when the Servomotor is replaced so setup is again required The rotation data will be different from before the Servomotor was replaced so reset the initial Motion Control Unit parameters e For details refer to Absolute Encoder Setup Procedure on page 6 5 E Replacing the Servo Drive 1 Copy the parameters Use the Parameter Unit or the operation keys on the Servo Drive to write down all the parameter settings 2 Replace the Servo Drive 3 Set the parameters Use the Parameter Unit or the operation keys on the Servo Drive to set all the parameters 4 Set up the absolute encoder e f a Servomotor with an absolute encoder is used the absolute value data in the absolute encoder will be cleared when the Servo Drive is replaced so setup is again required The rotation data will be different from before the Servo Drive was replaced so reset the initial Motion Control Unit parameters e For details refer to A
402. recautions for Safe Use E Operation and Adjustment Precautions AN Caution Confirm that no adverse effects will occur in the system before performing the test operation Not doing so may result in equipment damage Check the newly set parameters for proper operation before actually running them Not doing so may result in equipment damage Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury 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 doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Do not operate the Servomotor connected to a load that exceeds the applicable load moment of inertia Doing so may result in malfunction E Maintenance and Inspection Precautions A N Caution Resume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in equipment damage Do not attempt to disassemble or repair any of the products Any attempt to do so may result in electric shock or injury Precautions for Safe Use E Warning Label Position Warning labels are located on the product as shown in the following illustratio
403. ring Conforming to EMC Directives Also to ensure safety i e to ensure that the power supply can be shut OFF for contactor welding we recommend using two magnetic contactors MC Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes The brake is not affected by the polarity of the power supply Connect B2 B3 for the models with a built in regeneration resistor GTO8H to GT15H If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 4 18 4 2 Wiring E R88D GT20H GT30H GT50H RST Three phase 200 to 230 VAC 50 60 Hz AO Cc ee pea NFB gga 1 2 3 Noise filter E NF a F n Main circuit power supply 5 OFF ON 1MC 2MC EE Ground to 100 Q or less OMNUC G Series AC Servo Drive E 444 ee are MC 2MC X System Design Ground to 100 Q or less Regeneration i resistor p TE E aeee O avos p Oran O36 ALMCOM pan Xe User 2 control BKIRCOM 10 i device SS oe Control Cable 4 19 Power Cable 2 Main circuit contactor 1 S Ba Surge killer 1 Servo error display OMNUC G Series AC Servomotor 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives Also to ensure safety i e to ensure that the power supply can be shut OF
404. rive connector 3 5 7 135 3 3 5 7 p lt q gt s 7 LO O N LO 2 Y Two 3 5 dia e Terminal Block pitch 7 62 mm 3 99 3 5 Servo Relay Units and Cable Specifications Origin OW COW prox RUN ALM BKIR 19 stop MIE Mt fimity External O V Common Common Common interrupt Common Common RESET JALMCOM FG E 24 VDC 24 VDC 1 The XB contacts are used to turn ON OFF the electromagnetic brake 2 Do not connect unused terminals 3 The O V terminal is internally connected to the common terminals 4 The following crimp terminal is applicable R1 25 3 round with open end E XW2B 40J6 2B This Servo Relay Unit connects to the following OMRON Position Control Units e CUIW NC213 NC233 NC413 NC433 e CS1W NC213 NC233 NC413 NC433 e C200HW NC213 NC413 Dimensions X axis Servo Y axis Servo Position Control Unit connector Drive connector Drive connector 3 5 7 ed 45 Two 3 5 dia 44 3 46 e Terminal Block pitch 7 62 mm 3 100 Specifications 3 5 Servo Relay Units and Cable Specifications Wiring t emergency CW CCW forigin CW CCW forigin stop limit imit proximit RUN ALM BKIR limit limit proximit RUN ALM BKIR X axis X axis X axis Y axis Y axis Y axis pov Common Common Common Common RESET ALMCOM Common Common aer Common Common RESET ALNCOM
405. rmal Mode Autotuning Setting Method 7 15 1 2 3 Turn the servo ON Start normal mode autotuning A Set the operating pattern using the Autotuning Operation Setting Pn25 parameter Move the load to a safe position even if the Servomotor performs the operating pattern set in Pn25 Prohibit the command Start normal mode autotuning from the front panel or by using CX Drive Refer to Front Panel Display Example on page 7 9 for information on using the front panel Adjust the machine rigidity for the desired responsiveness at a level where vibration does not occur If there are no problems with the results write the data to the EEPROM 7 3 Normal Mode Autotuning Automatically Set Parameters Normal Mode Autotuning Parameter No Pn10 Pn11 Pn12 Pn13 Pn14 Pn15 Pn16 Pn18 Pn19 PniA PniB PniC Pn20 Pn27 Pn30 Pn31 Pn32 Pn33 Pn34 Pn35 Pn36 Parameter Rigidity No rye Oe eles eee ea ee eels E EENE 557 K pEr pp reee 250310 Speed Loop Integration Time 62 31 25 21 16 14 12 Constant Speed Feedback Filter Time Constant Torque Command Filter Time 2531 126 103 84 65 57 45 38 30 25 20 10 Constant Fa 300 300 300 300 300 300 300 300 300 300 Feed Onara 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 command Fiter E Loop Gain2 9 18 22 Ed 35 40 50 60 90 115 140 250 310
406. rogrammable Controllers e CJ1M CPU21 CPU22 CPU23 for 1 axis Dimensions CJ1M CPU21 22 23 connector Servo Drive connector Two 3 5 dia e Terminal Block pitch 7 62 mm 3 103 3 5 Servo Relay Units and Cable Specifications Wiring The Servo Drive phase Z output signal is wired to the origin proximity signal in this Terminal Block CW limit 1 CIO 2960 06 CCW limit 1 CIO 2960 07 24 VDC 1 CW and CCW limit input signals can also be input through Input Units The bits for the CW CCW limit inputs in the CJ1M are as follows CW A540 08 CCW A540 09 for pulse output 0 and CW A541 08 CCW A541 09 for pulse output 1 For example the flag for the CW limit input A540 08 can be controlled with an output from the ladder diagram using a bit allocated to the actual input CIO 2960 06 on the Input Unit as shown below Example 2960 06 J A540 08 2 The XB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is invalid 4 Do not connect unused terminals 5 The O V terminal is internally connected to the common terminals 6 The following crimp terminal is applicable R1 25 3 round with open end 3 104 Specifications Specifications 3 5 Servo Relay Units and Cable Specifications E XW2B 40J6 9A This Servo Relay Unit connects to the following OMRON Programmable
407. rol I O interface except for the a MRN CN1 control I O connector CN2 encoder signal connector Features and System Configuration 1 4 System Block Diagrams R88D GT20H Terminals Terminals lt lt a Ee a i a E Voltage Gate drive detection power MPU amp ASIC supply Position speed and torque processor PWM control SW power supply egene Main circuit Relay rative control drive control Internal detection Display setting circuits Features and System Configuration communications interface RS 232 RS 485 interface interface CN3A CN3B connector connector Control I O interface CN1 control I O connector CN2 encoder signal connector R88D GT30H GT50H Terminals SW power supply Main circuit control Internal control power supply Cooling fan a weenie ne iam gt ween Bj me Ld 2 a Gate arive ie goto ave getecion Gate drive MPU amp ASIC Position speed and torque processor PWM control Control I O interface CN1 control I O connector 1 4 System Block Diagrams Terminals detection Display setting circuits Encoder communications interface RS 232 RS 485 interface interface CN3A CN3B connector connector CN2 encoder signal connector Features and System Configuration Features and System Confi
408. run Limit Operating Examples E No Position Command Input Servo ON No position command is input and so the Servomotor s allowable operating range for both sides will be the range of the travel distance set in Pn26 An overrun limit error will occur if the load enters the range for generating alarm code 34 range of slanted lines due to oscillation y lt A PA Lg Load ZLM motor Gy Pn26 Pn26 E p Range for generating m a Range for generating alarm code 34 operating range alarm code 34 gt lt gt lt E Right Side Operation Servo ON When the position command to the right is input the Servomotor s allowable operating range will increase by the input position command and will be the range with the rotations set in Pn26 added on both sides of the position command input range Servo Yi 3 a Vp A ALERTER Load LILII L motor UY an ee Position command inout range Pn26 Range for generating Servomotor s allowable operating Range for generating alarm code 34 range alarm code 34 E Left Side Operation Servo ON When the position command to the left is input the position command input range will further increase Servo m m Ta T A A t LLLLLLLIILILLILLLLLLLLLLLLKLLLLLL ALISA A motor i 1 f Position command input range Pn26 Range for generating Range for generating alarm code 34 Servomotor s allowable operating range alarm code 34 5 19 5 10 Brake Int
409. rvo Drive Specifications ccccececseeeeeeees 3 1 GeneralkSpechicanons see Ey ee ee ee 3 1 Characters tcs a ann E a e E A eee a ay leo 3 2 Main Circuit and Servomotor Connections cccseeeeeee ees 3 6 Control I O Connector Specifications CN1 0ccee 3 9 ControwinpUUGireuitse ceecesasetese E a fe eteare serra eee 3 17 Gontrolinpul Detalls Torea a eee ee es er 3 20 Control Outouk CircuitS 4esaceserresc ees ect eee se cts eee ee 3 26 ComrmokOurowlDelalls cn 2 tac ae te te 3 27 Encoder Connector Specifications CN2 c ccsceeseeeees 3 30 Parameter Unit Connector Specifications CNSB 3 31 3 2 Servomotor Specifications araea a 3 32 General SpeciiiGanons oan A ee en ee 3 32 Characteristics aa e eee re ete ee eee 3 33 ENnCOdeR SDECIIICETOMNS gee na n tees os eee eens cane ative cee ee eee 3 46 3 3 Decelerator Specifications cccceceeeeeeeeeeees 3 47 Standard Models and Specifications ccccccesseeeseeeeeeees 3 47 3 4 Cable and Connector Specifications 3 57 Encoder Cable Specifications cccccccccseeeceeeeeeeeeesaeeeees 3 57 Absolute Encoder Battery Cable Specifications 3 63 Servomotor Power Cable Specifications cccccsseeeeeees 3 64 Communications Cable Specifications ccccccccesseeeeeees 3 84 Connector specications ae an aa a a 3 86 Control Cable Specifications a ana aaa A A 3 8
410. s an re ree 70 ro we we 4 44 System Design System Design 4 4 Regenerative Energy Absorption The Servo Drives have internal regenerative energy absorption circuitry which absorbs the regenerative energy produced during Servomotor deceleration and prevents the DC voltage from increasing An overvoltage error occurs however if the amount of regenerative energy from the Servomotor is too large If this occurs measures must be taken to reduce the regenerative energy by changing operating patterns or to increase the regenerative energy absorption capacity by connecting an External Regeneration Resistor Calculating the Regenerative Energy E Horizontal Axis N1 Servomotor operation N2 Servomotor output torque lt a e In the output torque graph acceleration in the positive direction is shown as positive and acceleration in the negative direction is shown as negative e The regenerative energy values for each region can be derived from the following equations Eyer neta Ul g1 5 60 1 D1 11 1 27 Eg No Tpe te J 2 60 N1 N2 Rotation speed at beginning of deceleration r min Tp1 Tp2 Deceleration torque N m t1 t2 Deceleration time s Note Due to the loss of winding resistance and PWM the actual regenerative energy will be approximately 90 of the values derived from these equations 4 45 4 4 Regenerative Energy Absorption
411. s the load too large e Is the Servomotor speed too high Replace the Servo Drive Symptom The Servomotor IS producing unusual noises or the machine is vibrating Probable cause Items to check There are problems with the machine s installation There is a problem with the bearings The gain is wrong The Speed Feedback Filter Time Constant Pn13 is wrong Noise is entering the Control I O Cable because the cable does not meet specifications Noise is entering the Con trol I O Cable because the cable is longer than the specified length Noise is entering the cable because the Encoder Cable does not meet specifications Noise is entering the Encoder Cable because the cable is longer than the specified length Noise is entering the signal wires because the Encoder Cable is stuck or the sheath is damaged Too much noise is entering the Encoder Cable The FG s potential is fluctu ating due to devices near the Servomotor such as welding machines Errors are being caused by excessive vibration or shock on the encoder The machine and the Servomotor are resonating Check whether the Servomotor s mounting screws are loose Check whether the axes are misaligned in the mechanical coupling system Check whether the coupling is unbalanced Check for noise or vibration around the bearings Check the setting of Pn13 Check that the cable wire is a twisted pair wi
412. se Pulse Input CW Feed Pulse Input PULS Pin 45 Reverse Pulse Input CW Feed Pulse Input PULS Pin 46 Forward Pulse Input CCW Direction Signal SIGN Pin 47 Forward Pulse Input CCW Direction Signal SIGN N or Phase A Input FA or Phase A Input FA or Phase B Input FB or Phase B Input FB so Functions e The functions of these signals depend on the settings of the Command Pulse Rotation Direction Switch Pn41 and the Command Pulse Mode Pn42 Pn41 Pn42 Command pulse i i Input pins Servomotor forward command Servomotor reverse command setting setting mode 90 phase difference signals multiplier 4 0 i Reverse pulse forward pulses Feed pulses direction signal e f the Command Pulse Rotation Direction Switch Pn41 is set to 1 the rotation direction will be reversed 3 22 Specifications 3 1 Servo Drive Specifications Command Pulse Timing for Line receiver Inputs Command pulse mode Feed pulses direction signal Maximum Input Frequency Line driver 2 Mpps Specifications Forward pulses reverse pulses Maximum Input Frequency Line driver 2 Mpps 90 phase difference signals Maximum Input Frequency Line driver 2 Mpps 3 23 Timing Forward command Reverse command Direction signal Feed pulses t1 lt 20 ns t2 gt 500 ns T gt 250 ns T gt 500 ns t T
413. seeeeeneeees 3 46 adaptive Mer srissec sorn a e A N 7 11 Adaptive Filter Selection PN23 ccccssseeeeeeeeees 5 63 Adaptive Filter Table Number Display Pn2F 5 66 Alarm Output ALM ccccssesseeeeseeeeeeeeeeees 3 15 3 29 Alarm Reset Input RESET ccceeeeees 3 13 3 25 Alarm Reset Mode ccccsscccsseeceeseeseseeceesesseeeees 6 21 alarm VAD cle a A E 8 4 allowable current cccccsecccseeecseeeceeeeseeeesseeesaaeess 4 25 Analog Input Ground AGND 0cccceeseeeeeeeeeeees 3 12 applicable Standards ccccccccccseceeseeceeeeeeseeeeeeees 1 10 Automatic Offset Adjustment Mode cccceeeee 6 22 Autotuning Operation Setting PN25 ccccees 5 63 autotuning tableroa iene a Aten awa 7 16 B Backup Battery Input BAT ccccsssseeeeeeeeeeeeees 3 14 Brake Cables serra a nantes 3 79 Brake Cables Robot Cables cc eccee 2 20 3 81 Brake Cables Standard Cables cccccssseeeeees 2 17 brake IMTS OCK atese anene aaa aS 5 20 Brake Interlock Output BKIR c cscceeeeeeeeeee 3 15 Brake Timing during Operation PN6B 06 5 90 Brake Timing When Stopped PnGA 00000 5 89 C Cable specifications cceceeseceeneseeeceeeeeeneeeeeeneaees 3 57 changing the mode 3 ivsncaccisvss ine csvisinststeertaersieieess 6 7 CHECK PINS nthils ntatccs sedi a e a E 1 4 clamp COLES saaa
414. sestes es ectesesee eco cn eters 7 26 Machine Resonance Control cccccsescecsseeeesseeeeeseeeeeeeeaees 7 30 A tomalc Gan Settings erties a a a eter 7 32 Instantaneous Speed Observer cccsecceceeeeseeeeeseeeesaeeens 7 33 Damping Conto onea a a sweets a a rns 7 35 7 1 Gain Adjustment 7 1 Gain Adjustment OMNUC G Series Servo Drives provide realtime autotuning and normal mode autotuning functions With these functions gain adjustments can be made easily even by those who use a servo system for the first time If you cannot obtain desired responsiveness with autotuning use manual tuning Purpose of the Gain Adjustment The Servomotor must operate in response to commands from the host system with minimal time delay and maximum reliability The gain is adjusted to bring the actual operation of the Servomotor as close as possible to the operations specified by the commands and to maximize the performance of the machine Example Ball screw High Gain Setting and Feed forward Setting Low Gain Setting High Gain Setting r min 2000 Adjustment Functions 7 1 0 0 125 250 375 0 0 125 250 375 0 0 125 250 375 Position Loop Gain 20 Position Loop Gain 70 Position Loop Gain 100 Speed Loop Gain 40 Speed Loop Gain 50 Speed Loop Gain 80 Speed Loop Integration Speed Loop Integration Speed Loop Integration Time Constant 50 Time Constant 30 Time Constant 20 Speed feed forward 0 Speed feed forward
415. set the speed for jog operation e Before use refer to Jog Operation on page 6 24 E Position Control Parameters Pn40 to Pn4E Pn40 Command Pulse Input Selection Explanation of Settings Setting Explanation Photocoupler input PULS CN1 pin 3 PULS CN1 pin 4 SIGN CN1 pin 5 SIGN CN1 pin 6 Line driver input CWLD CN1 pin 44 CWLD CN1 pin 45 CCWLD CN1 pin 46 CCWLD CN1 pin 47 0 e Use this parameter to select whether to use photocoupler or line driver input for the command pulse input Pn41 Command Pulse Rotation Direction Switch Explanation of Settings Setting Explanation 0 The Servomotor rotates in the direction specified by the command pulse The Servomotor rotates in the opposite direction from the direction specified by the command pulse e Use this parameter to set the Servomotor rotation direction used for the command pulse input 5 73 5 16 User Parameters Pn42 Command Pulse Mode Explanation of Settings Setting Command pulse mode Servomotor forward command Servomotor reverse command t1 t1 ade 90 phase difference eee Ly se Oor2 phases A and B sig Phase B A tt nal inputs t1 ti Line driver t1 gt 2 us Open collector t1 gt 5 us t2 eet EE E i Reverse pulse and for 2t ward pulse inputs HA t2 t2 Line driver t2 gt 1 us Open collector t2 gt 2 5 us Feed pulse input and t2 t2 3 forward reverse signal input t2 22 2
416. sign E Connector Terminal Blocks and Cables These are for connecting to Controllers for which no specific cable is available and are used to convert the Servo Drive s control I O Connector CN1 signals to a terminal block Connector Terminal Cable Sarre Block XW2B 50G4 Lene de in the model number indicate the XW2B 50G5 XW2Z O00J B24 ab XW2D 50G6 There are two cable lengths 1 m and 2 m Exam ple model number for 2 m cable XW2Z 200J B24 4 16 System Design 4 2 Wiring Peripheral Device Connection Examples mE R88D GTA5L GT01L GT02L GT04L R88D GT01H GT02H GT04H GT08H GT10H GT15H R T Single phase 100 to 115 VAC 50 60 Hz R88D GTLICIL Single phase 200 to 240 VAC 50 60 Hz R88D GTLILJH O E TTEA NFB Q Q Main circuit contactor 1 Noise filter 1 Main circuit power supply Guc OFF ON 1MC 2MC E Mik 4 AO f Li JE a eee Surge killer 1 X 1MC 2MC X Ground to 100 Q or less Servo error display OMNUC G Series OMNUC G Series AC Servo Drive AC Servomotor Power Cable 2MC eee Le Reactor E eee Ground to Regeneration 100 Q or less resistor 4 od 1 Recommended products are listed in 4 3 CN1 24 VDC PAM Wiring Conforming to EMC Directives 936 ALMCOM Also to ensure safety i e to ensure that the CN1 power supply can be shut OFF for contactor A la VDC welding we recommend using two magnetic BKR XB contactors MC 2 2
417. sistor may burn Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled 3 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Frac load Thrust load AE Center of shaft LR 2 4 This is an OFF brake It is reset when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Specifications Torque Rotational Speed Characteristics for 2 000 r min Servomotors e 2 000 r min Servomotors with 200 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M G1KO20T 1 kW R88M G1K520T 1 5 kW R88M G2K020T 2 kW N m N m N m 13 5 2200 18 5 2200 20 Repetitive usage 1047 15 7 15 i 1000 2000 3000 r min o 1000 2000 3000 r min g 1000 2000 3000 r min R88M G3K020T 3 kW R88M G4KO020T 4 kW R88M G5KO020T 5 kW N m N m N m 70 6 2000 50 41 2 41 2 2200 a 70 Repetitive usage Repetitive usage 29 14 3 14 3 Continuous usage Continuous usage 0 1000 2000 3000 r min 0 1000 2000 3000 r min 0 1000 2000 3000 r min R88M G7K520T 7 5 kW N m 100 507 48 0 1000 1500 2000 r min 3
418. solut 0 to 2 Yes SU ace Use as incremental encoder Encoder 2 O D Q Q lt Use as absolute encoder but ignore multi turn counter overflow Select the baud rate for the RS 232 port 2 400 bps 4 800 bps 9 600 bps 2 Oto5 Yes 19 200 bps 38 400 bps 57 600 bps 9 14 a _oh RS 232 Baud Rate Setting Appendix 9 2 Parameter Tables Power Ear MaRi Setting Explanation Deau Unit SA OFF gt gt name setting range ON Select the baud rate for RS 485 communications i J 2 400 bps 4 800 bps RS 485 Baud 2 9 600 bps 19 200 bps 38 400 bps 57 600 bps Front panel key operation can be limited to Monitor Front Key Mode Protection Ea All enabled Oto 1 Yes Setting Limited to Monitor Mode 9 15 9 2 Parameter Tables E Gain Parameters Power Parameter Setting Explanation Default Seiting OFF name setting range Position Loop se l 0 to Set to adjust position control system responsiveness 3000 Speed Loop i l 1 to 11 Set to adjust speed loop responsiveness 3500 Speed Loop ito Integration Time Set to adjust the speed loop integration time constant 20 ms 1000 Constant pear The encoder signal is converted to the speed signal Feedback Filter gn p g Oto5 ahs via the low pass filter Time Constant ZOE l Set to adjust the first order lag filter time constant for 0 to Command Filter 0 01 ms l the torque command section 2500 Time Constant eh 2000 Feed forward
419. ss A Group 1 2 an Directive EN 61000 6 2 IEC 61000 4 2 3 4 5 6 1 1 k mee IEC 60034 1 5 1 The amplitude may be amplified by mechanical resonance Do not exceed 80 of the specified value for extended periods of time 2 UL application pending for Servomotor sizes from 6 to 7 5 kW Note 1 Do not use the cable when it is laying in oil or water Note 2 Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself 3 32 Specifications 3 2 Servomotor Specifications Characteristics E 3 000 r min Servomotors 100 VAC w 200 Nem Model R88M ltem Unit Rated output 1 Rated torque 1 0 64 Rated rotation speed r min 3000 Max momentary rotation 5000 3 5 speed Rated current 1 rms gm 2 5 x 10 6 1x 10 6 1 4x 10 8 D2 4 5 x10 5 1 x 10 4x10 30 times the rotor inertia max 2 gt gt Rotor inertia N MO Oo o Applicable load inertia Torque constant 1 Power rate 1 Mechanical time constant Electrical time constant Allowable radial load 3 Allowable thrust load 3 Without brake With brake N N kg Approx 0 3 Approx 0 5 kg Approx 0 5 Approx 0 7 Radiation shield dimensions malena 100 x 80 x t10 Al Applicable Servo Drives R88D GTA5L GTOIL m2 V 24 VDC 5 l Approx 0 8 Weight Approx 1 3 OFA N3 N Ol GTO2L 3 Brake inertia 1 8 x 10 6 Excitation voltage 4 Power consumption at
420. ss the Increment or Decrement key to select the signal number to be monitored Lowest input signal number Highest input signal number Lowest output signal number Highest output signal number 6 4 Setting the Mode E Alarm History Ld CL Alarm code is displayed if no alarms have occurred Current alarm Alarm O newest alarm Alarm 13 oldest alarm e Up to the most recent 14 alarms including the current one can be viewed in the alarm history e The display will flash when an alarm occurs e If an alarm that is recorded in the history occurs the alarm code for the current alarm and for alarm 0 will be the same 6 12 Operation 6 4 Setting the Mode Alarm Codes and Meanings ate Meaning neue Meaning codes codes 11 Control power supply undervoltage 45 Multi turn counter error 12 Overvoltage 46 Encoder error 1 13 Undervoltage 47 ioe a encoder status ABS 14 Overcurrent 48 Encoder phase Z error 15 Servo Drive overheat 49 Encoder PS signal error 16 Overload 58 CPU error 1 18 Regeneration overload 60 CPU error 2 21 Encoder disconnection detected 61 CPU error 3 23 Encoder communications error 62 CPU error 4 6 24 Deviation counter overflow 63 CPU error 5 26 Overspeed 65 Excessive analog input 2 27 Electronic gear setting error 66 Excessive analog input 3 5 34 Overrun limit error 73 CPU error 6 k 36 Parameter error 77 CPU error 7 2 37 Parameter corruption 81 CPU error 8
421. stopping for a period of time If operation is continued until the temperature of the Decelerator increases the viscosity of the lubricant will decrease and the efficiency will increase Note 1 The values inside parentheses are for 100 V Servomotors Note 2 The Decelerator inertia is the Servomotor shaft conversion value Note 3 The protective structure for Servomotors with Decelerators satisfies IP44 Note 4 The allowable radial load is the value at the LR 2 position Note 5 The standard models have a straight shaft Models with a key and tap are indicated with J at the end of 3 49 the model number the suffix in the box 3 3 Decelerator Specifications Decelerators for 2 000 r min Servomotors Maxi mum Allow Allow Rated momen Decelerator able able Weiaht Model torque tary inertia radial thrust g rotation load load speed fain Nm vmn Nm o N N R88G A 1 5 HPG32A053K0BL1 400 20 4 85 600 57 4 3 80 x 10 889 3542 7 3 1 11 noe 182 47 3 90 273 133 1 3 40x104 1126 4488 7 8 HPG32A112KOSBL 1 21 ROSG 95 92 3 92 143 259 7 2 90 x104 1367 5448 7 8 kW HPG32A211KOSBL l l l i 1 33 ROOG 60 144 9 92 91 407 6 4 70 x104 4135 14300 19 0 HPG50A332KO0SB l l l l 1 45 R88G 44 197 7 92 67 555 9 4 70x104 4538 15694 19 0 HPG50A451KOSBL 1 5 ROSG 400 31 7 89 600 86 8 3 80 x 10 41 889 3542 7 3 HPG32A053K0BL l l i l 1 11 paG 182 72 1 9
422. t IPG Pulse Prohibited ie Enabled i Input Setting Disabled Encoder Divider Numerator Setting 0 to 1 1 to 0 to Set the number of encoder pulses A A B B out Encoder Divider put from the Servo Drive for each Servomotor rotation Denominator Setting Appendix Encoder Output Oto 1 Yes Direction Switch Set the phase B logic for pulse output B B Ea Phase B output Not reversed Phase B output Reversed 47 Do not change setting de 9 21 Parameter name Electronic Gear Ratio Numerator 1 Electronic Gear Ratio Numerator 2 Electronic Gear Ratio Numerator Exponent Electronic Gear Ratio Denominator Position Command Filter Time Constant Seiting Smoothing Filter Seiting Deviation Counter Reset Condition Setting Do not change setting 9 2 Parameter Tables i Power Setting Explanation Deran Unit PPHG OFF gt setting range ON 0 to B 10000 Set the pulse rate for command pulses and Servomo tor travel distance If Pn48 or Pn49 is 0 the encoder 0 to resolution is set to a numerator 10000 Electronic Gear Ratio Numerator 1 Pn48 Electronic Gear Ratio or x 2 Numerator Exponent Pn4A Electronic Gear Ratio Numerator 2 Pn49 peje O to 17 Electronic Gear Ratio Denominator Pn4B 1 to Set the time constant for the first order lag filter for the command pulse input Oto7 O If the parameter is set to O the filter will not
423. t X axis vongin proximity input M E Cable RB8A CAG yh Z O e 2 II OIO 8 TININ Z gaa 4 Sz N A WN wWJIwWININ amp 24VIN RUN RESET Servomotor Power R88M G BKIRCOM 36 ALMCOM JALM ect ame stp FA 24 VDC BKIR Brake Cable so RS8A CAGALIB eS R88A CAGELIB ff e The example shows a three phase 200 VAC input to the Servo Drive for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Drive in use e Incorrect signal wiring can cause damage to Units and the Servo Drive e Leave unused signal lines open and do not wire them e Use mode 2 for origin search e The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent e Make the setting so that the Servo can be turned ON and OFF with the RUN signal Precautions for Correct Use Appendix 9 4 2 O z D Q Q lt 9 1 Connection Examples E Connection Example 5 Connecting to a SYSMAC Motion Control Unit Main circuit power supply NFB OFF ON MC1MC2 fic R O 6 0 5 Ae 6 Main circuit contact aa SUP Surge killer 3 phase 200 to 240 VAC 50 60 Hz S S gt g MC1 MC2 ag T Od 2 CS1W MC221 421 V1 Groundto R88D GTO 100 Q or less DRV connector 24 VDC E Reactor i ez Zaxis alarm pul es m X axis
424. t gt name setting range and the speed o aenar Sovenatrspee evar mn e emmerde evnen Command speed 6 V 750 r min Ee Command speed 6 V 3000 r min 2 Command speed 1 5 V 3000 r min and the torque or number of pulses Ea Torque command 3 V rated 100 torque Postion vin 3 pues eo e resend eo Appendix Torque command 3 V 200 torque Torque command 3 V 400 torque 9 13 9 2 Parameter Tables Power poet Seiting Explanation PAu Unit Fae OFF gt gt name setting range ON Assign the function of General purpose Output 2 OUTM2 EE Output during torque limit Zero speed detection output Warning output for regeneration overload 2 overload absolute encoder battery or fan General lock oF RaOee Opu Regeneration overload warning output moe 2 Selection 4 Overload warning 5 Absolute encoder battery warning output Fan lock warning output 7 Reserved Speed conformity output Assign the function of General purpose Output 1 OUTM1 Output during torque limit 1 Zero speed detection output Warning output for regeneration overload overload absolute encoder battery or fan General lock OA puTDOSS Output Regeneration overload warning output mee 1 Selection 4 Overload warning Absolute encoder battery warning output Fan lock warning output 7 Reserved Le Speed conformity output Set the operating method for the 17 bit absolute en coder Operation Switch When ES Use as absolute encoder Using Ab
425. t both ends of the shield to frame grounds e If the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the Servo Drive input section or the controller output section e For open collector specifications keep the length of wires to within two meters E Reactors to Reduce Harmonic Current 4 41 Harmonic Current Countermeasures e The Reactor is used for suppressing harmonic currents It Suppresses sudden and quick changes in electric currents e The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose Components requires that manufacturers take appropriate measures to suppress harmonic current emissions onto power supply lines e Select the proper Reactor model according to the Servo Drive to be used Reactor specifications Model number Rated current Inductance Servo Drive R88D GTASL R88D GTO1L R88D GT02H R88D GT02L R88D GT0O4L R88D GT0O8H 3G3AX DL2015 3 51 MH R88D GT10H R88D GT15H 3G3AX DL2022 13 8 A 2 51 mH R88D GT0O8H R88D GT10H 3G3AX AL2025 10 0A 2 8 MH R88D GT15H R88D GT20H R88D GT30H 3G3AX AL2055 20 0A 0 88 mH R88D GT50H 3G3AX AL2110 34 0 A 0 35 mH R88D GT75H 3G3AX AL2220 67 0A 0 18 mH 1 6A 3G3AX DL2004 3 2 A 10 7 mH 9 3 A 4 3 Wiring Conforming to EMC Directives E Selecting Other Parts for Noise Resistance This section explains the criteria for selecting other conn
426. t setting 0 Power OFF0N e Use this parameter to adjust the offset of the Speed Command Input REF CN1 pin 14 e The offset amount is approximately the set value times 0 3 mV e There are two ways to adjust the offset e Manually e Automatically e The manual adjustment is as follows e To adjust the offset for individual Servo Drives accurately input 0 V to the Speed Torque Command Input REF TREF1 or connect REF TREF1 to the signal ground and then set this parameter so that the Servomotor does not rotate e If you use a position loop in the host controller set this parameter so that there are no accumulated pulses at servo lock status e The automatic adjustment is as follows e This parameter will be automatically set when automatic offset adjustment is executed Refer to Automatic Offset Adjustment on page 6 22 for the procedure 5 80 Operating Functions Operating Functions 5 16 User Parameters Pn53 No 1 Internally Set Speed Setting range 20000 to 20000 Default setting Pn54 No 2 Internally Set Speed Setting range 20000 to 20000 Default setting Pn55 No 3 Internally Set Speed Setting range 20000 to 20000 Default setting Pn56 No 4 Internally Set Speed Setting range 20000 to 20000 Default setting e Pn56 is also the Speed Limit in Torque Control Mode The Torque Command Speed Limit Selection Pn5B can be used to switch to an external analog limit Pn74 No 5 Interna
427. t to RS 422 Encoder Phase Z Output Encoder Phase Z Output Output signal to indicate that power can be Servo Ready Output supplied to the Servo Drive All ON if no errors are found after the power is supplied to the main circuit The output is OFF when an alarm is generated for the Servo Drive A Alarm Output Positioning completed output Positioning Completed Output ON The accumulated pulses in the deviation Position counter are within the setting for Positioning Completion Range Pn60 Servomotor rotation speed detection output ON The number of Servomotor rotations Speed exceeds the value set for Rotation Speed for Mo torque tor Rotation Detection Pn62 Used according to the setting of the General pur Genera PUNOS a AMPULA pose Output 2 Selection Pn09 ou Onera PURESA Pupul Ground common for sequence outputs All Common Fame Groid Connected to the ground terminal inside the All Servo Drive Servomotor Rotation Speed Detection Output 3 1 Servo Drive Specifications E CN1 Pin Arrangement 24 V Open collector Input 2 24VCCW for Command Pulse Reverse Pulses Input CW Feed Pulses Input or PULS FA_ 90 Phase Difference Pulse Input Phase A Forward Pulses CCW Direction Signal or SIGN FB 90 Phase Difference Pulse Input Phase B Reverse Drive por Prohibit Input Brake 10 BKIRCOM Interlock Output 12 OUTM1 purpose Output 1 Speed Command
428. t when Torque Com VENI Spoon Emai mpu mand Speed Limit Selection Pn5B is set to 1 1 Tongue 15 AGND Analog Input Ground Analog input ground All P Forward Torque Limit Input Analog input terminal for forward torque limit 1 ee Analog input terminal for torque command by setting the Torque Command Input Control Mode Selection Pn02 and Torque Command Torque Speed Limit Selection Pn5B 1 17 AGND Analog Input Ground Analog input ground All 18 NCL Reverse Torque Limit Input Analog input terminal for reverse torque limit 1 ee 0 SEN 2 ON Absolute encoder s multi turn amount and initial incre Sensor ON Input mental pulses are sent All 16 TREF2 13 SENGND Required signal when using an absolute encoder 3 12 Specifications 3 1 Servo Drive Specifications mode Pin A O 26 27 28 29 30 31 32 33 Symbol VZERO PNSEL DFSEL GSEL TLSEL GESEL VSEL3 RUN ECRST VSEL2 RESET TVSEL IPG VSEL1 3 13 Zero Speed Designation Input Speed Command Rotation Direction Switch Vibration Filter Switch Torque Limit Switch Electronic Gear Switch Internally Set Speed Selection 3 When the Zero Speed Designation Speed Command Di rection Switch Pn0O6 is set to 0 Zero Speed Designation Input is disabled When the Zero Speed Designation Speed Command Di Speed rection Switch Pn0O6 is set to 1 Zero Speed Designation
429. t will be en Direction Switch i abled and the speed command will be as sumed to be zero when the connection between the input and common is open Operating Functions E i j 5 33 Parameter name 7 SP Selection 8 IM Selection Setting Explanation and the speed 0 fetal Sovenatrspee OVI in e fommi 868 min e ommen speet evem o _ Sonmardspe revenon and the torque or number of pulses 0 Torque command 3 V rated 100 torque 1 prensesin avet pes epe e pe o pe 5 16 User Parameters Power Default Setting OFF gt gt setting range If l l 5 34 Operating Functions 5 16 User Parameters Power Tat MaRi Setting Explanation Deau Unit SA OFF gt gt name setting range ON Assign the function of General purpose Output 2 OUTM2 0 Output during torque limit Zero speed detection output Warning output for regeneration overload 2 overload absolute encoder battery or fan General lock pe PUPOSE UIP ut 3 Regeneration overload warning output eles B 2 Selection 4 Overload warning 5 Absolute encoder battery warning output Fan lock warning output 7 Reserved Speed conformity output Assign the function of General purpose Output 1 OUTM1 Output during torque limit 1 Zero speed detection output Warning output for regeneration overload overload absolute encoder battery or fan General lock eu e Hipu Regeneration overload warning output ne 1 Selection 4 Overload warning
430. tandard Models E 3 000 r min Flat Servomotors Model ARAT With incremental encoder With absolute encoder Specifications key and tap key and tap Note Models with oil seals are also available E 2 000 r min Servomotors gt R88M G4K020T B R88M G4K020T BS2 5 kW R88M G5KO020T B R88M G5K020T BS2 7 5 KW R88M G7K515T B R88M G7K515T BS2 Model Spec TENE With absolute encoder Straight shaft with key and key tap 1 kW R88M G1K020T R88M G1K020T S2 1 5 kW R88M G1K520T S2 ine 2 kW R88M G2K020T S2 out 200 V 3 kW R88M G3K020T R88M G3K020T S2 brake 4 kW R88M G4K020T S2 5 kW R88M G5K020T S2 R88M G7K515T S2 R88M G1K020T BS2 R88M G1K520T BS2 2 kW R88M G2K020T BS2 ne 200 V 3 kW R88M G3K020T BS2 R88M G4K020T B R88M G5K020T B R88M G7K515T B Note 1 Models with oil seals are also available Note 2 The rated rotation speed for 7 5 kW Servomotors is 1 500 r min 2 3 2 1 Standard Models E 1 000 r min Servomotors Model With absolute encoder Specifications SS EE SATAY men R88M G90010T S2 With APENT AEROTO TZA out 200 V R88M G3K010T S2 Drake R88M G4K510T S2 6 kW R88M G6K010T S2 900 W R88M G90010T BS2 2 kW R88M G2K010T BS2 oe 200 V 3 kW R88M G3K010T BS2 4 5 KWIR88M G4K510T B R88M G4K510T BS2 6 kW R88M G6K010T BS2 Note Models with oil seals are also available 2 4 Standard Models and Dimensions 2 1 Standard Models Servo Drive Servomotor Combinations The tables in this section show
431. ternally Set Speed Selection 3 Deviation Counter Reset Internally 30 ECRST VSEL2 Set Speed Selection 2 Control Mode ee Switch Input READYCOM Servo Ready Output ALMCOM Alarm Output Positioning Completed INPCOM Output Servomotor TGONCOM VZERO DF Rotation Speed Detection Output Common General purpose Output 2 Absolute Encoder a eee Backup Battery Input OUTM2 Reverse Pulse CWLD input for line driver only Forward Pulse CCWLD_ input for line driver only ES Phase B Output N c O O Q V Note Do not connect anything to unused pins E CN1 Connectors 50 Pins Name Servo Drive Connector Cable Plug Cable Case Shell Kit 52986 3679 Molex Japan 10150 3000PE 10350 52A0 008 Sumitomo 3M 3 16 Specifications 3 1 Servo Drive Specifications Control Input Circuits E Speed Command Torque Command Input p ti The maximum allowable input voltage is 10 V for each input The VR must d be 2 KQ with B characteristics and 1 2 W minimum R must be 200 Q and 1 2 W minimum for Correct Use E Position Command Pulse Input Line Receiver Input e When connecting with a line driver and a line receiver up to 2 Mpps will be available CWLD 44 CWLD 45 CCWLD 46 CCWLD 47 Controller Servo Drive Applicable line driver AM26LS31A GND or the equivalent Applicable line driver AM26LS32A or the equivalent Precautions l l The shi
432. th L Outer diameter of sheath Weight XW2Z 050J A30 Approx 0 1 kg XW2Z 100J A30 ptm 10 0 dia Approx 0 2 kg XW2Z 200J A30 pm Approx 0 3 kg FQM1 FQM1 MMP22 a 09 Servo Relay Unit gt XW2B 80J7 12A FQM1 Servo Relay Unit No he 1 2 3 4 6 O O 8 O O 9 a 23 24 25 26 27 40 40 3 127 3 5 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A31 This Cable connects the special I O connector of a Flexible Motion Control Module FQM1 MMA22 to a Servo Relay Unit XW2B 80J7 12A Cable Models XW2Z 050J A31 Approx 0 1 kg XW2Z 100J A31 10 0 dia Approx 0 2 kg m XW2Z 200J A31 2 Approx 0 3 kg Connection Configuration and Dimensions FQM1 FQM1 MMA22 C Servo Relay Unit gt XW2B 80J7 12A FQM1 Servo Relay Unit 40 Crimp terminal Cable AWG28 x 18P 3 128 Specifications 3 6 Parameter Unit Specifications 3 6 Parameter Unit Specifications E R88A PRO02G Hand held Parameter Unit The Parameter Unit is required to operate the Servo Drive from a distance away from the Servo Drive or to operate and monitor the Servo Drive from a control panel The cable connected to the Parameter Unit is 1 5 m long E General Specifications Item Ambient operating temperature and humidity Ambient storage temperature and humidity Operating and storage atmosphere Vibra
433. that the belt tension can be adjusted Pulley Tension adjustment Make adjustable Tension E Water and Drip Resistance e The protective structure for the Servomotors is as follows IP65 except for through shaft parts and cable outlets E Countermeasures against Oil When using the Servo Motor in an environment in which the shaft through hole is exposed to oil spray use a Servomotor with an oil seal The operating conditions for a Servomotor with an oil seal are as follows Keep the oil level below the lip of the oil seal Set up good lubricating conditions so that any oil spray falls on the oil seal If the Servomotor is used with the shaft pointing upwards be careful to not allow oil to accumulate at the lip of the oil seal E Radiator Plate Installation Conditions When the Servomotor is installed in a small space the Servomotor temperature may rise unless sufficient surface area is provided to allow heat dissipation from the Servomotor mounting surface Take measures such as inserting a radiator plate between the Servomotor mounting surface and the flange If radiator plates are not inserted the motor may be damaged by increased temperatures For radiator plate specifications refer to 3 2 Servomotor Specifications Servomotor heating will depend on the material of the mounting surface and on the installation environment Be sure to check the Servomotor temperature under actual operating conditions T
434. the analog voltage waveform with the monitor function Analog Monitor Output The actual Servomotor speed command speed torque and number of accumulated pulses can be measured in the analog voltage level using an oscilloscope or other device Set the type of signal to be output and the output voltage level by setting the SP Selection Pn07 and IM Selection Pn08 For details refer to Control I O Connector Specifications CN1 on page 3 9 and Parameter Tables on page 5 32 OMRON _Ac SERVO DRIVE BOWES ey CX Drive Data Tracing Commands to the Servomotor and Servomotor operation e g speed torque commands and position deviation can be displayed on a computer as waveforms Refer to the CX Drive Operation Manual Cat No W453 O onnect to CN3B o not connect to CN3A U 7 5 Manual Tuning E Position Control Mode Adjustment Use the following procedure to make adjustments in position control for the OMNUC G Series Start of adjustment Never make extreme adjustment or changes to settings Doing so will result Disable realtime autotuning Pn21 0 or 7 in unstable operation and may lead to injuries Adjust the gain in small increments while checking Servomotor Set each parameter to the values in Table 1 operation Set the Inertia Ratio Pn20 value calculated at motor selection Operate with a normal operating pattern and load Positioning time and other operation performanc
435. the end of the model number the suffix shown in the box Example R88G HPG32A053KOByJ 2 9 Decelerators for 1 000 r min Servomotors Specifications Motor Capacity co O O 2 kW 09 4 5 kW 6 kW Gear ratio 1 5 1 11 1 21 1 33 5 1 11 1 21 1 25 5 1 11 1 20 1 25 5 1 12 1 20 1 5 1 12 o_o h S h Model R88G HPG32A05900TBL R88G HPG32A1 1900TBL R88G HPG50A21900TBL R88G HPG50A33900TBL R88G HPG32A052K0TBL R88G HPG50A112KOTBL R88G HPG50A212KOTBL R88G HPG65A255KOSBL R88G HPG50A055KOSBL R88G HPG50A115KOSBL R88G HPG65A205KOSBL R88G HPG65A255KOSBL R88G HPG50A054K5TBL R88G HPG65A127K5SBL R88G HPG65A204K5TBL R88G HPG65A057K5SBL R88G HPG65A127K5SBL Note 1 The standard models have a straight shaft 2 1 Standard Models Note 2 Models with a key and tap are indicated with J at the end of the model number the suffix shown in the box Example R88G HPG32A05900T BJ 2 10 Standard Models and Dimensions 2 1 Standard Models Decelerators for 3 000 r min Flat Servomotors Specifications Model Motor capacity 2 1 5 R88G HPG11B05100PBO R88G HPG14A11100PBO 7 100 W R88G HPG14A21100PBL 5 R88G HPG20A33100PBL O R88G HPG20A45100PBO 1 5 R88G HPG14A05200PBL O R88G HPG20A11200PBO 200 W R88G HPG20A21200PBL O R88G HPG20A33200PBO 3 R88G HPG20A45200P B11 1 5 R88G HPG20A05400PBL R88G HPG20A11400PBL 400 W R88G H
436. the input signal e Servomotor operation in Torque Control Mode changes according to the Servomotor load conditions e g fric tion external power inertia Take safety measures on the machine side to prevent Servomotor runaway Related Functions Refer to the related functions for each control mode 5 13 5 6 Forward and Reverse Drive Prohibit 5 6 Forward and Reverse Drive Prohibit Function e When the Forward Drive Prohibit Input POT CN1 pin 9 and Reverse Drive Prohibit Input NOT CN1 pin 8 are turned OFF the Servomotor will stop rotating e You can stop the Servomotor from rotating beyond the device s operating range by connecting limit inputs Parameters Requiring Settings a Parameter name Explanation Reference page Drive Prohibit Input Enable or disable the Forward Reverse Drive Prohibit In Pn04 5 53 Selection puts Stop Selection for Set the operation for decelerating to a stop after the For Pn66 Drive Prohibition ward Reverse Drive Prohibit Input turns OFF Set whether 5 87 Input to use the dynamic brake to stop or free running Operating Functions Operation Stopping Methods When Forward Reverse Drive Prohibit Is OFF Stop Selection for Drive Deceleration Method Stopped Status eS Dynamic brake Disables torque in drive Emergency Stop Torque Pn6E Servo locked While the Forward Drive Prohibit Input POT is OFF the Servomotor cannot be driven in the forward direction
437. the possible combinations of OMNUC G Series Servo Drives and Servomotors The Servomotors and Servo Drives can only be used in the listed combinations The box L at the end of the model number is for options such as the shaft type brake and Decelerators Standard Models and Dimensions R88M G05030H L_ R88D GT01H Single R88M G10030H _ R88M G10030T R88D GT01H phase 200 V R88M G20030H 1 R88M G20030T R88D GT02H R88M G40030H _ R88M G40030T R88D GT04H Single R88M G75030H L_ R88M G75030T L_ R88D GT08H 5KW f I R8B8M G5KO3OT O1 R88D GT50H E 3 000 r min Flat Servomotors and Servo Drives eee ee 100 V R88M GP20030L R88M GP20030S L R88D GT02L R88M GP40030L 1 R88M GP40030S _ R88D GTO4L R88M GP10030H _ R88M GP10030T L R88D GT01H Fh pee0 TORH R88M GP40030H _ R88M GP40030T L R88D GT04H 2 5 E 3 000 r min Servomotors and Servo Drives E 2 000 r min Servomot ors and Servo Drives Servomotor Voltage Single phase 1KW three phase 200 V 15kW R88M G1K520T L 2kW R88M G2K020T 1 3 kW 4 kW 5 kW 7 5 kW Three phase 200 V ped cq ok O O S R88M G3K020T R88M G4K020T R88M G5K020T R88M G7K515T El E 1 000 r min Servomotors and Servo Drives Voltage Rated output E aoow 2 kW 3 kW 4 5 kW 6 kW Three phase 200 V Servomotor Standard Models and Dimensions With absolute encoder R88M G90010T L1 R88M G2K010T R88M G
438. timating the Servomotor speed using a load model and improving the speed detection accuracy Damping control reduces vibration by removing the vibration frequency component from the command when the end of mechanisms or devices vibrates Refer ence page 7 22 7 24 7 25 7 26 7 30 7 32 7 33 7 35 7 2 a Adjustment Functions Adjustment Functions 7 1 Gain Adjustment Gain Adjustment Procedure Start of adjustment Use automatic adjustment s command input possible Realtime autotuning setting Realtime autotuning Normal mode autotuning Will rigidity also be set automatically Fit gain function Is operation OK No Yes Reset of Is operation OK automatic adjustment function Default setting Manual tuning Is operation OK No Yes Reset of automatic adjustment function Writing in EEPROM End of adjustment Consult your OMRON representative E Gain Adjustment and Machine Rigidity Do the following to increase the machine rigidity e Install the machine on a secure base so that it does not wobble e Use couplings that have a high rigidity and that are designed for servo systems e Use a wide timing belt and use a tension within the allowable axial load for the Servomotor e Use gears with small backlash The specific vibration resonance frequency of the mechanical system has a large impact on the gain adjustment The servo system
439. time constant and decreases the noise generated by the Servomotor Responsiveness however also decreases e Normally use the default setting Pn14 Torque Command Filter Time Constant e Use this parameter to set the time constant for the first order lag filter inserted into the torque command e This parameter may be effective in suppressing oscillation due to torsion resonance Pn15 Feed forward Amount Setting range 2000 to 2000 0 10 Default setting e Use this parameter to set the feed forward amount in Position Control Mode e Increasing the setting decreases the position deviation and increases the responsiveness Overshooting however will occur more easily Pni6 Feed forward Command Filter e Use this parameter to set the time constant for the first order lag filter inserted into the feed forward e Setting the Feed forward Command Filter may improve operation if soeed overshooting occurs or the noise during operation is large when the feed forward is set high Operating Functions Pn17 Reserved Pn18 Position Loop Gain 2 e Use this parameter to set the responsiveness of the position control system for the second position loop Pn19 Speed Loop Gain 2 All modes e Use this parameter to set the responsiveness of the second speed loop 5 60 Operating Functions 5 16 User Parameters PniA Speed Loop Integration Time Constant 2 e Use this parameter to set the second speed loop integration time co
440. ting Functions Operating Functions 5 2 Speed Control 5 2 Speed Control Function e Performs Servomotor speed control using analog voltage input from the speed command REF CN1 pins 14 and 15 You can also perform speed control by combining with a controller that has a position control function e You can change the relation between the speed command and the rotation speed by setting the Speed Command Scale Pn50 OMNUC G Series Servo Drive Speed Control Mode Controller with analog voltage output Analog voltage Speed Command OMNUC G Series Speed command Scale Pn50 Servomotor CS1W MC221 421 V1 I PR Flexible Motion Z 7 Controller FQM1 MMA22 Motion Control Unit Parameters Requiring Settings K Explanation Reference page Pn02 Conie MOC Set the control mode for speed control Settings 1 3 5 5 52 Selection Set the REF speed command input voltage for operating at the rated rotation speed Rotation speed r min Rated rotation gt Speed Command Scale Default slope 5 80 Pn50 2 4 6 8 10 Speed command voltage V lt Rated rotation speed 5 3 5 2 Speed Control Related Functions e The main functions related to speed control are as follows Function Explanation Reference page Soft start function Sets the soft start for the soeed command 5 27 Torque limit function Limits the Servomotor s torque output 5 25 Parameter Block Diagram for Speed Co
441. ting Functions e The settings for the Gain Switch 1 Level Setting Pn33 and the Gain Switch 1 Hysteresis Setting Pn34 are effective as absolute values positive negative Pn35 Position Loop Gain Switching Time Setting range O to 10000 x 166 us Default setting se e When switching between gain 1 and gain 2 is enabled set the phased switching time only for position loop gain at gain switching Example _ 166 166us_ Kp Pn10 gt Kp2 Pn18 Kp1 Pn10 gt 0 Bold solid line Kp2 Pn18 gt Gain 1 i Gain 1 5 71 5 16 User Parameters Pn36 Control Gain Switch 2 Setting Explanation of Settings Setting Explanation 0 Always gain 1 1 Always gain 2 Gain 2 is selected when the Gain Switching Input GSEL CN1 pin 27 is ON The Gain e Switching Input Operating Mode Selection Pn30 must be set to 1 3 Gain 2 is selected as the amount of change in the torque command increases 4 Gain 2 is selected as the amount of change in speed command i e acceleration increases 5 Gain 2 is selected as the command speed increases e f the Control Mode Setting PnO2 is set to a composite mode 3 4 or 5 the setting of this parameter is valid when the second control mode is used e Use this parameter to select the conditions for switching between gain 1 and gain 2 if the second control mode is used when the Gain Switching Input Operating Mode Selection Pn30 is set to 1 e If 2 is selected the Control Gain Switch
442. tings Setting Explanation 0 Output during torque limit 1 Zero speed detection output Warning output for over regeneration overload absolute encoder battery or fan lock Over regeneration warning output Overload warning output Absolute encoder battery warning output Fan lock warning output Reserved O NI O aT A Wy N Speed conformity output e Use this parameter to assign the function of General purpose Output 2 OUTM2 CN1 pin 40 5 55 5 16 User Parameters Pn0A General purpose Output 1 Selection Explanation of Settings Setting Explanation 0 Output during torque limit 1 Zero speed detection output Warning output for over regeneration overload absolute encoder battery or fan lock Over regeneration warning output Overload warning output Absolute encoder battery warning output Fan lock warning output Reserved OI NI O a A WY N Speed conformity output e Use this parameter to assign the function of General purpose Output 1 OUTM1 CN1 pin 12 Pn0B Operation Switch When Using Absolute Encoder All modes Explanation of Settings Setting Explanation 0 Use as absolute encoder 1 Use as incremental encoder 2 Use as absolute encoder but ignore multi turn counter overflow e Use this parameter to set the operating method for the 17 bit absolute encoder e The setting of this parameter is disabled if a 5 core 2 500 pulse revolution incremental encoder is used 5 56 Operating Functions O
443. tion 3G3AX ZCL1 OMRON Servo Drive output and power cable 3G3AX ZCL2 2 OMRON Servo Drive output and power cable ESD R 47B NEC TOKIN Servo Drive output and power cable ZCAT3035 1330 4 TDK Encoder cable and I O cable 1 Generally used for 1 5 W or higher 2 Generally used for 1 5 W or lower The maximum number of windings is three turns 8 Generally used for 50 100 W The maximum number of windings is two turns 4 Also used on the Servo Drive output power lines to comply with the EMC Directives Only a clamp is used This clamp can also be used to reduce noise current on a frame ground line Dimensions 3G3AX ZCL1 3G3AX ZCL2 130 ESD R 47B ZCAT 3035 1330 39 30 34 4g 51 5 25 5 dia 4 37 Impedance Q Impedance Characteristics 3G3AX ZCL1 Impedance Q Frequency kHz ESD R 47B 10000 1000 100 1 10 100 1000 Frequency MHz 4 3 Wiring Conforming to EMC Directives 3G3AX ZCL2 1000 Impedance Q 0 1 ZCAT 3035 1330 1000 100 1000 10000 Frequency kHz Impedance Q
444. tion and Dimensions 16 1 L Connector terminal block XW2B 50G4 Servo Drive XW2B 50G5 C oe R88D GL XW2D 50G6 A 3 94 Specifications Specifications 3 4 Cable and Connector Specifications Terminal block Connector Servo Drive v1 1 Blue Red 1 24VCW__ 2 24V IN NOT POT BKIRCOM BKIR SENGND SEN REF TREF1 VLIM AGND PCL TREF2 AGND NCL QUTM1 Z ZCOM A Z Z VZERO DFSELPNSE GSEL TLSEL GESEL VSEL3 RUN RESET TVSEL IPG VSEL1 READYCOM READY ALMCOM ALM INP TGON OUTM2 COM BATGND CWLD Q Wires with the same wire color and the same number of marks form a twisted pair Example A yellow black 1 wire and pink black 1 wire form a twisted pair a i O I O G I 5 O 3 Bs w P n z D gt gt O Z op 6 m O N O JJ id JJ Q foo ae ac ALL O ONRIBR RIBIBR BIBI BR BiB CO CO 100 100 100 19 109109109 Gd DO DO PO DO POPOV DO Pf S Jf A JS N N alal 00 0 01 AIWOINi O 1 00 N Od O01 AWON CO 00 NO Go A ONIONI AO O N Q m eeoa Q O OD O Vl DIDI WIM Servo Drive Connector Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M VIVID DIO ADIO Terminal Block Connector Q AAAA BR BR BIB BOO 1G C0100 100 G 109109100100 NOP DO DODO IDO DPO PID J ft SS INS N On 4100 Ro Z ONHRIBR R
445. tion gradually changes at less than 2 000 r min in 1 s Operating pattern If the acceleration deceleration torque is too small compared with the unbalanced load and the viscous friction torque If a speed of 100 r min or an acceleration deceleration of 2 000 r min s does not continue for at least 50 ms 7 4 Adjustment Functions Adjustment Functions 7 2 Realtime Autotuning Realtime Autotuning Setting Method 1 Stop the Servomotor i e turn the servo OFF 2 Set the Realtime Autotuning Mode Selection Pn21 to 1 to 7 7 5 The default setting is 1 Setting Realtime Autotuning Degree of sacar inertia during 1 No change in load inertia Normal mode Gradual changes in load inertia Sudden changes in load inertia No change in load inertia Vertical axis mode Gradual changes in load inertia Sudden changes in load inertia No gain switching mode No change in load inertia When the degree of load inertia change is high set the value to 3 or 6 Use a setting of 4 to 6 when the vertical axis is used Use setting 7 if vibration occurs due to gain switching NI O1 A W N Set the Realtime Autotuning Machine Rigidity Selection Pn22 to 0 or a low value Turn the servo ON and operate the machine as normally To increase system responsiveness gradually increase the setting of the Realtime Autotuning Machine Rigidity Selection Pn22 If the machine produces unusual noise or oscillati
446. tion resistance E Performance Specifications Item Type Cable length Connectors Display Dimensions D amp Standard IONS UJ UIO i D aud rate tart bits Parity Stop bits Communications specificat Specifications O to 55 C 90 RH max with no condensation 20 to 80 C 90 RH max with no condensation No corrosive gases 5 9 m s2 max Specifications Hand held 1 5m Mini DIN 8 pin MD connector 7 segment LED 62 W x 114 H x 15 D mm Approx 0 1 kg including cable RS 232 Communications method Asynchronous ASYNC 9 600 bps 1 bit 8 bits None 1 bit 3 129 Specifications 3 7 External Regeneration Resistor Specifications 3 7 External Regeneration Resistor Specifications External Regeneration Resistor Specifications mE R88A RRO8050S Model R88A RRO8050S mE R88A RRO080100S Model R88A RRO80100S mE R88A RR22047S Model R88A RR22047S mE R88A RR50020S Model R88A RR50020S Regeneration absorption for 120 C temperature rise Nominal Capacity Heat radiation condition Resistance Aluminum 250 x 250 Thickness 3 0 Regeneration absorption for 120 C temperature rise Nominal Capacity Heat radiation condition Resistance Aluminum 250 x 250 Thickness 3 0 Regeneration absorption for 120 C temperature rise Nominal Capacity Heat radiation condition Resistance Aluminum
447. tions Name Absolute Encoder Backup Battery Model R88A BAT01G Battery model ER6V Toshiba Battery voltage 3 6 V Current capacity 2000 mA h E Mounting the Backup Battery 8 23 Mounting the Battery for the First Time Connect the absolute encoder battery to the Servomotor and then set up the absolute encoder Refer to Absolute Encoder Setup Procedure on page 6 5 Once the absolute encoder battery is attached it is recommended that the control power supply be turned ON and OFF once a day to refresh the battery If you neglect to refresh the battery battery errors will occur due to voltage delay in the battery Replacing the Battery If a battery alarm occurs the absolute encoder battery must be replaced Replace the battery with the control power supply of the Servo Drive ON If the battery is replaced with the control power supply of the Servo Drive OFF data held in the encoder will be lost Once the absolute encoder battery has been replaced clear the battery alarm from the front panel Refer to Alarm Reset on page 6 21 for information on clearing alarms Note If the absolute encoder is cleared using the front panel or the absolute values are cleared using communications all error and rotation data will be lost and the absolute encoder must be set up Refer to Absolute Encoder Setup Procedure on page 6 5 Battery Mounting Procedure 1 Prepare the R88A BAT01G replacement battery Raise the hooks to remove the cover 3
448. too high e The load is too large Countermeasure e Replace the Servo Drive e Repair the short cir cuited or ground fault ed wire e Measure the insulation resistance at the Servomotor and if there is a short circuit replace the Servomotor Correct the wiring Measure the winding resistance and if the winding is burned out replace the Servomo tor Do not frequently input the RUN Command Input Do not operate the system by turning the servo ON and OFF Use a Servomotor that is appropriate for use with the Servo Drive Reduce the ambient temperature of the Servo Drive to 55 C or lower If the relay doesn t click when the power supply is turned ON replace the Servo Drive O e Wait 100 ms min before inputting Oo pulses after turning O ON the RUN a Command Input 5 RUN O gt O tom e Lower the ambient temperature e Increase the capacity of the Servo Drive and Servomotor e Lighten the load e Extend the accelera tion and deceleration times 8 8 Troubleshooting 8 3 Troubleshooting Alarm Te Error Status when error occurs Cause e There is an error in the Servomotor wiring e g the wiring or the contacts are faulty Occurs when the Servo Drive is turned ON e The electromagnetic brake is ON e The Servo Drive is faulty e The actual torque exceeds the rated torque e The starting torque exceeds the maximum torque
449. tor and Servo Drive with higher capacity models Check the pulse signal wiring at the WirekeGnaall Controller and Servo Drive y Check the Controllers command Set the Servo Drive s pulse pulse type and the Servo Drive s type to match the Control command pulse type lers command pulse type Try rotating the Servomotor without a load Disconnect it from the mechanical system e Use normal mode autotuning e Adjust the gain manually Check the RUN Command Input RUN Deviation Counter Reset Input ECRST Zero Speed Designation Input VZERO Internally set Speed Selection 1 Input VSEL1 and Internally Set Speed Selection 2 Input VSEL2 Correct the wiring so that there is no chattering Check that the ambient tempera ture around the Servomotor is below 40 C Lower the ambient tempera ture to 40 C or less Use a cooler or fan Ventilation is obstructed ele S SOE WASTE any ning ls Improve ventilation blocking ventilation e Reduce the load e Replace the Servomotor and Servo Drive with higher capacity models Try rotating the Servomotor without a load Disconnect it from the Configure a circuit that cuts power to the holding brake when the motor stops and the load is held by the holding brake Check whether power is supplied to the holding brake Re evaluate the load conditions and replace the Servomotor Servo Drive with appropriate models if necessary Check the following e I
450. tor Setting Pn45 is not 0 the pulse output resolution per rotation can be set using the following encoder divider equation Pn44 Encoder Divider Numerator Setting Pn45 Encoder Divider Denominator Setting x Encoder resolution Pulse output resolution per rotation e The encoder resolution for a 17 bit absolute encoder is 131 072 pulses rotation and a 2 500 pulse rotation 5 core incremental encoder is 10 000 pulses rotation e The pulse output resolution per rotation will never exceed the encoder resolution If the above settings are used the pulse output resolution per rotation will be equal to the encoder resolution e One phase Z signal is output for each rotation of the Servomotor e f the value from the above equation is a multiple of 4 phases Z and A are synchronized In all other cases the output width of phase Z will coincide with the encoder resolution so phases A and Z will not be synchronized Encoder resolution x Hia Multiple of 4 Encoder resolution x 5 lie Pn45 Pn45 Not multiple of 4 Af LILI ty At LI LI lL BTL LI B PLE Z Z Synched Not synched e Refer to 5 7 Encoder Dividing on page 5 15 for more information on the encoder divider 5 75 5 16 User Parameters Pn46 Encoder Output Direction Switch Setting Forward motor operation Reverse motor operation ff OT JUL 1 Inverted phase B Explanation of Settings Setting Explanation 0 Phase B
451. tor is e f the Servomotor motor does not rotate mechanically being shaft is held by even when command held external force release pulses are input it e Release the electro magnetic brake e Control PCB error e Replace the Servo Drive e The Servomotor e Correct the wiring Occurs during power wiring or the high speed rotation encoder wiring is oa Deviation counter incorrect overflow e Gain adjustment is e Adjust the gain insufficient e The acceleration and e Extend the accelera deceleration rapid tion and deceleration times Occurs when a long string of command pulses is given e Reduce the load e Select a suitable Servomotor e The load is too large 8 11 Occurs during operation e The setting for the Deviation Counter Overflow Level Pn70 was exceeded e Increase the setting of Pn70 e Reduce the rotation speed e Lighten the load e Extend the accelera tion and deceleration times Alarm code 26 27 34 36 37 38 39 Overspeed Electronic gear setting error Overrun limit error Overrun limit error Occurs when the power e The parameters that Parameter corruption l supply is turned ON were read are corrupt Drive prohibit input error Excessive analog input 1 Occurs during high speed rotation Occurs when torque limit switching is used Occurs when command signal is input or com mand is input Occurs during operation
452. tput open collector output 25 4ZCOM 21 A Encoder Phase A ing driver output O pst ls Conforms to EIA RS 422A 49 B Encoder Phase B e e Output 120 amin 48 B O 23 Z Encoder Phase Z 7 Output O 100 2 20 SEN Sensor ON 14 7 kQ 1 uF 13 SENGND N 421 BAT Backup Battery Input 1 431 BATCOM A 10kQ 16 PCL Forward Torque Limit Input Q 10 kQ a i i og gt 181NCL Reverse Torque Limit Input 13 83 KQ 50 FG Frame ground 1 If a backup battery is connected a cable with a battery is not required 3 9 3 1 Servo Drive Specifications Control I O Signal Connections and External Signal Processing for Speed Control Speed Command Input REF 14 20kQ J pzta nnee 11 BKIR ao gt wy T Brake Interlock Maximum AGND is 385k OTN 10 BKIRCOM operating Forward Torque 1 TE T voltage Limit Input PCLle 10ko m ccerettttiessceeeeeey 35 READY 30 VDC ao TN Servo Ready Output Maximum AGND iz seran FPN 34 READYCOM output O eos at oad current Reverse Torque 50 mA DC ieee CCL em gea 37 ALM 10 kQ Limit Input NCL Lis TS tabs Alarm Output EE EE E EE ais k Sensor ON Input SEN 20 100 Q 39 TGON C Servomotor Rotation Y peed Detection Output 4 7 kQ oN 38 TGONCOM SENGND u3 1 pF O DSieteeoceh eee co bee mae 24VIN 7 4 7 kO EA C l TA RUN Command OUTM2 4 N L ae y BA General purpose Output 2 a ad NZ 12 to 24 VDC 12 LO
453. ts 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 Buyers application or use of the Product At Buyers 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 Buyers application product or system Buyer shall take application responsibility in all cases but the following is a non exhaustive list of applications for which particular attent
454. tting e Use this parameter to set the relation between the voltage applied to the Speed Command Input REF CN1 pin 14 and the Servomotor speed e Refer to 5 2 Speed Control on page 5 3 for information on speed control e Refer to 5 4 Torque Control on page 5 8 for information on torque control Pn51 Command Speed Rotation Direction Switch Explanation of Settings Setting Explanation Direction of motor rotation i Clockwise forward for positive commands when viewing the end of the shaft Direction of motor rotation Counterclockwise reverse for positive commands when viewing the end of the shaft e Use this parameter to reverse the polarity of the Speed Command Input REF CN1 pin 14 to change the Servomotor rotation direction without reversing the polarity of the commands from the host controller e This parameter is set to O by default counterclockwise reverse for positive commands for compatibility with all OMNUC W Series Servo Drives e This parameter is disabled if the Zero Speed Designation Speed Command Direction Switch Pn06 is set to 2 e The operation of the Servomotor may be abnormal if the polarity of the speed command signal from the Position Control Unit does not agree with the setting of this parameter when the Servo Drive is in Speed Control Mode and the Servo Drive is used in combination with an external Position Control Unit Pn52 Speed Command Offset Adjustment Setting range 2047 to 2047 Defaul
455. tting increases the notch width Normally use the default setting PniF Reserved 5 61 5 16 User Parameters Pn20 Inertia Ratio e Use this parameter to set the load inertia as a percentage of the Servomotor rotor inertia e Pn20 Load inertia Rotor inertia x 100 e When normal mode autotuning is executed the load inertia will be automatically estimated after the specified operation and this parameter will be updated with the result e When realtime autotuning is enabled the inertia ratio is continuously estimated and saved in EEPROM every 30 min e f the inertia ratio is set correctly the setting unit for the Speed Loop Gain Pn11 and Speed Loop Gain 2 Pn19 will be Hz e f the Inertia Ratio Pn20 is set larger than the actual value the setting for speed loop gain will increase If the inertia ratio is set smaller than the actual value the setting for speed loop gain will decrease Pn21 Realtime Autotuning Mode Selection Explanation of Settings Setting Explanation 0 Realtime autotuning is disabled 1 Normal mode There is almost no change 2 Normal mode There are gradual changes 3 Normal mode There are sudden changes 4 Vertical axis mode There is almost no change 5 Vertical axis mode There are gradual changes 6 Vertical axis mode There are sudden changes 7 No gain switching There is almost no change e Use this parameter to set the operating mode for realtime autotuning e The higher the
456. tting so that the Servo can be turned ON and OFF with the RUN signal Precautions for Correct Use 02 9 5 9 1 Connection Examples E Connection Example 6 Connecting to SYSMAC CP1H YL L DT D Main circuit power supply OFF ON MC1iMC2 Main circuit contact Surge killer oe 3 phase 200 to 240 VAC 50 60 Hz s X1 MC1MC2 X1 L TO O Servo error display Noise filter CP1H Y20DT D Ground to R88 GTL 100Q or less CN1 TB ee TT Reactor ee EC HO Output terminal block Oooo 2 xH ow MC1 MC e 5 cw L 2 p 5 FCCW zae __ Ree Or a nen a Sannia ECRST Power Cable 24 VDC input termina P 82 ResA caGi 24 VBC input terminal v prie y Input terminal block ZCOM Puse o og np signal 10 00ra H ope 7 P24vin di VO 0 a EC 10 BKIRCOM E L136 ALMICOM ee ior JALM vc EES Brake Cable Oy R88A CAGALIB ee eo R88A CAGELIB XB E E 24 VDC for Correct Use e Leave unused signal lines open and do not wire them e Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls e The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent Appendix 9 6 Appendix 9 1 Connection Examples E Connection Example 7 Connecting to SYSMAC CP1H X_ L DT D CP1L DT D Main circuit pow
457. ttings Setting Explanation 0 No switching Both filter 1 and filter 2 are enabled Filter 1 or filter 2 can be selected using vibration filter switching DFSEL 1 DFSEL open Vibration filter 1 Pn2B and Pn2C is selected DFSEL closed Vibration filter 2 Pn2D and Pn2E is selected Switching with position command direction 2 Forward Vibration filter 1 Pn2B and Pn2C is selected Reverse Vibration filter 2 Pn2D and Pn2E is selected Pn25 Autotuning Operation Setting All modes Explanation of Settings Setting Rotation direction Number of rotations 0 Forward to reverse 1 Reverse to forward Two rotations Forward to forward Reverse to reverse 2 3 4 Forward to reverse 5 Reverse to forward One rotation 6 Forward to forward 7 Reverse to reverse e Set the operating pattern for normal mode autotuning 5 63 5 16 User Parameters Pn26 Overrun Limit Setting Setting range O to 1000 0 1 revolution Default setting e Use this parameter to set the Servomotor s allowable operating range for the position command input range e An overrun limit error alarm code 34 will occur if the setting is exceeded e The function will be disabled if the setting is O e For details refer to Overrun Limit on page 5 18 Pn27 Instantaneous Speed Observer Setting Explanation of Settings Setting Explanation 0 Disabled 1 Enabled e The instantaneous speed observer can both increase the responsiveness and r
458. ty measures on the machine device side to prevent Servomotor runaway 5 8 Operating Functions Operating Functions 5 4 Torque Control Parameter Parameter name No function Pn52 Speed Command The speed command input will be offset by 5 80 Offset Adjustment approximately the set value times 0 3 mV Speed Command Set the time constant for the first order lag fil Pn57 l 5 81 Filter Time Constant ter Set the TREF torque command input volt age to output the rated torque Output torque rated torque ratio 300 Explanation Reference page Default setting 200 Torque Command Pn5C 5 83 Scale 9V 400 Command input voltage Pn02 5 Torque Speed Switch Control Pn5B 0 Pn5B 1 TREF1 This input is disabled Analog speed limit input To set the gain VLIM The speed limit will be the No 4 Internally offset and filter for the speed limit use pin 14 Set Speed Pn56 Pn50 Pn52 and Pn57 respectively TREF2 Torque command input The gain polarity offset and filter for the torque command can pin 16 be set using Pn5C and Pn5D Offsets and filters cannot be used Related Functions Functions related to torque control are as follows Function Explanation Reference page Torque limit function This function limits the Servomotor s torque output 5 25 This function controls the Servomotor rotation speed so Speed limit function 5 29 that it does not become too high 5 9
459. uit power supply voltage to within allowable range Calculate the regener ative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity Extend the deceleration time Change main circuit power supply voltage to within allowable range Add a counterbalance to the machine to lower gravitational torque Slow the descent speed Calculate the regener ative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity e Check the power supply capacity e Change the power supply e Turn ON the power supply e Extend the Momentary Hold Time Pn6D e Correctly connect the phases of the power supply voltage e Correctly connect the single phase e Replace the Servo Drive Alarm code 14 15 Error Status when error occurs Overcurrent Servo Drive overheating Occurs when the Servo Drive is turned ON Occurs during operation 8 3 Troubleshooting e Control PCB error Cause e Servomotor powerline is short circuited or ground faulted between phases e Miswiring between phase U phase V phase W and ground e Servomotor winding is burned out e The relay for the dynamic brake has been consequently welded e Servomotor non conformity e The pulse input timing is too fast e The resistor in the Servo Drive is abnormally overheating e The ambient tempera ture is
460. un Limit Setting the position command input range 5 64 An overrun limit error alarm code 34 will occur if the set value is exceeded Operating Conditions e The overrun limit will operate under the following conditions Conditions under which the overrun limit will operate Position Control Mode is used Pn02 0 Position control Pn02 3 First control mode for position speed control PnO2 4 First control mode for position torque control Operating mode 1 The servo is ON 2 The Overrun Limit Setting Pn26 is not O 3 The allowable operating range for both forward and reverse is within 2147483647 after the po sition command input range is cleared to zero If the condition 1 above is not met the Overrun Limit Setting will be disabled until the conditions for clearing the position command input range are satisfied as described below If the conditions 1 and 2 above are not met the position command input range will be cleared to zero Others Conditions for Clearing the Position Command Input Range The position command input range will be cleared to zero under the following conditions e The power supply is turned ON e The position deviation is cleared The deviation counter clearing is enabled and drive prohibit input is enabled by setting the Stop Selection for Drive Prohibition Input PN66 to 2 e Normal Mode Autotuning starts or ends 5 18 Operating Functions Operating Functions 5 9 Over
461. unctions A main power supply undervoltage alarm alarm code 13 is not generated and the Servomotor turns OFF When the main power Undervoltage Alarm Selection supply turns ON again the Servo ON status returns a a operation for positioning completion output Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 and there is no PERI position command Positioning i An error is generated for a main power supply undervoltage alarm alarm code 13 5 46 5 16 User Parameters Default Setting Power Parameter name Setting Explanation Unit I OFF gt setting range ON Set the operation used to decelerate to a stop after the Forward Drive Prohibit Input POT or Reverse Drive Prohibit Input NOT has been received The torque in the drive prohibit direction is Stop Selection disabled and the dynamic brake is activated for Drive The torque in the drive prohibit direction is Oto2 Yes Prohibition Input disabled and free run deceleration is performed The torque in the drive prohibit direction is disabled and an emergency stop is performed Set one of the following operations to be performed after the main power supply is cut off if the Undervolt age Alarm Selection Pn65 is set to O Operation during deceleration and after st
462. unications Cable Multiple Servo Drives can be connected by connecting one Servo Drive to a computer or a host controller using RS 232 communications and by connecting the other Servo Drives together with RS 485 communications Name specifications Model Remarks The UUL digits in the model number indicate the cable length RS 485 Communications Ca bles come in two lengths 0 5 m and 1m RS 485 Communications Cable R88A CCGLILILIP4 E Servo Relay Units and Cables Select the Servo Relay Unit and Cable according to the model of the Position Control Unit to be used Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Drive Cable CQM1 CPU43 V1 XWeZ LILILIW A3 XW2B 20J6 3B CS1IW NC113 XW2Z LILILIJ A6 XW2B 20J6 1B C200HW NC113 CS1IW NC213 CS1W NC413 XWe2Z LILILIJ A7 XW2B 40J6 2B C200HW NC213 C200HW NC413 System Design ENEI CS1W NC133 XW2Z ULLJ A10 XW2B 20J6 1B XW2Z LILIJ B25 CS1W NC233 XW2Z ULUJ A11 XW2B 40J6 2B CS1W NC433 CJ1W NC113 XW2Z ULLJ A14 XW2B 20J6 1B CJ1W NC213 XW2Z ULUJ A15 XW2B 40J6 2B CJ1W NC413 CJ1W NC133 XW2Z ULLJ A18 XW2B 20J6 1B CJ1W NC233 XW2Z ULUJ A19 XW2B 40J6 2B CJ1W NC433 CJ1M CPU21 XW2B 20J6 8A CJ1M CPU22 XW2Z 100J A33 ene XW2Z O000J B31 CJ1M CPU23 XW2z O000J A28 FQM1 MMP22 SI E E XW2Zz O000J B26 XW2Zz O000J A28 ERE eae FQM1 MMA22 eae hess XW2Zz O000J B27 Note 1 The cable length is indicated in the boxes of the model number
463. upply is turned ON faulty Drive Troubleshooting 8 14 Troubleshooting 8 3 Troubleshooting Error Diagnosis Using the Operating Status Symptom The power LED indicator PWR does not light when the power supply is turned ON The Servomotor does not rotate even if commands are input from the Controller Continued on next page 8 15 Probable cause Items to check Countermeasures Check whether the power supply input is within the allowed voltage Supply the correct voltage range The power supply cable is wired incorrectly Check whether the power supply input is wired correctly Cone ie winng e Turn ON the RUN Command Input e Correct the wiring The RUN Command Input In monitor mode check whether the is OFF RUN signal is ON or OFF e Turn ON the POT and In monitor mode check whether the NOT inputs POT input and NOT input are ONor e If the POT and NOT OFF inputs are not used disabled them The Forward Drive Prohibit Input POT and Reverse Drive Prohibit Input NOT are OFF The control mode is not Check the Control Mode Selection Set the control mode to correct Pn02 match the command type The Deviation Counter fa PGHGE mode chedaaheiherihe l Turn the ECRST Input Reset Input ECRST is OFF ON ECRST Input is ON or OFF e Correct the wiring Check the Controllers command Set the Servo Drive s pulse pulse type and the Servo Drive
464. use surge absorbers with a varistor voltage of 620 V e The surge absorbers shown in the following table are recommended Manufacturer Model Surge immunity Remarks Okaya Electric Single phase Industries Co Ltd AV 781BWZ 4 700 V 20 2500 A 100 200 VAC 5 Block Em 7 kaya Electric 5 ree phase industries Cos Eid R A V 781BXZ 4 700 V 20 2500 A 200 VAC Note 1 Refer to the manufacturers documentation for operating details Note 2 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either e decrease the current or change to a larger capacity surge absorber O N Q Dimensions Q Single phase BWZ Series Three phase BXZ Series E D 4 2 dia Aje 4 2 dia pe lt o ges J 5 N ioe 2 x 9 _ fh Equalizing Circuits Single phase BWZ Series Three phase BXZ Series 4 34 System Design 4 3 Wiring Conforming to EMC Directives E Noise Filters for the Power Supply Input e Use the following noise filters for the Servo Drive s power supply Noise filter for the power supply Input Servo Drive model Rated Max leakage i Manufacturer current current 60 Hz R88D GTA5L 1 mA R88D GTO1L SUP EK5 ER 6 5A at 250 VAC R88D GT0O2L 3 5 mA R88D GT0O4L 3SUP HQ10 ER 6 at 500 VAC R88D GT01H 1mA R88D GT02H SUP EK5 ER 6 5A at 250 VAC R88D GT04H Okaya Electric Industries Co s 7 3 5 MA Ltd R88D GTO8H 8SUP HQ10 ER 6 oe
465. used in normal position control e Input the calculated value if it is already Known by load calculation e f the inertia ratio is not Known perform normal mode autotuning and measure the inertia 2 Perform adjustments for normal position control e Refer to Position Control Mode Adjustment on page 7 22 3 Set the Instantaneous Speed Observer Setting Pn27 e Set the Instantaneous Speed Observer Setting Pn27 to 1 The speed detection method will switch to Instantaneous Speed Observer e If the change in torque waveform or the operation noise is large return the setting to 0 and check the precautions above as well as the Inertia Ratio Pn20 again e If the change in torque waveform or the operation noise is small make small adjustments in the Inertia Ratio Pn20 to find the setting that makes the smallest change while monitoring the position deviation waveform and the actual speed waveform If the Position Loop Gain or Speed Loop Gain is changed the optimal setting for the Inertia Ratio Pn20 may have changed so set it again by making small adjustments Adjustment Functions a 7 34 Adjustment Functions 7 5 Manual Tuning Damping Control When the machine end vibrates damping removes the vibration frequency from the commands reducing vibration a Vibrating end Vibration measured Set the frequency of the vibrating end i With Displacement Sensor EE Servo Drive Move Servomotor ment Ball s
466. ut command Troubleshooting 8 16 Troubleshooting 8 3 Troubleshooting Symptom The Servomotor Power Cable or Encoder Cable is wired incorrectly The coupling system between the Servomotor shaft and the mechanical system has eccentricity or loose screws or the torque is fluctuating due to engagement between pulleys or gears The load s moment of inertia exceeds the Servo Servomotor Drive s allowed value rotation is unstable The pulse signal line s connections are loose The gain is wrong The CN1 input signal is chattering The ambient temperature is too high The Servomotor is overheating The Servomotor is overloaded vibrating Ine noeng Power is supplied to the brake is l holding brake ineffective The Servomotor does not stop or is hard to stop even if the RUN Command Input RUN is turned OFF while the Servomotor is rotating The load inertia is too large The stop circuit failed 8 17 Probable cause Items to check The Servomotor is mechanical system Countermeasures Check the wiring of the Servomotor Power Cable s phases U V and W Wire correctly and check the Encoder Cable s wiring Check the mechanical system s coupling section Review and adjust the Try rotating the Servomotor without machine a load Disconnect it from the mechanical system e Lighten the load e Replace the Servomo
467. ute Encoder Backup Battery Specifications Model 2 000 mA h 3 6 V R88A BAT01G 2 24 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions 2 2 External and Mounting Hole Dimensions Servo Drives E Single phase 100 VAC R88D GTAS5L GT01L 50 to 100 W Single phase 200 VAC R88D GT01H GT02H 50 to 200 W Wall Mounting External Dimensions Mounting Hole Dimensions 2 25 2 2 External and Mounting Hole Dimensions Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions Reference 70 130 8 ll Two M4 o AG SERVO a JEEIERIEE It A Hh IA N NKA 4 ig JF 180 170 0 5 2A 0000001 The dimensions of the square hole are reference values Dimensions for front panel mounting are references values that provide leeway 2 26 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E Single phase 100 VAC R88D GTO02L 200 W Single phase 200 VAC R88D GT04H 400 W Wall Mounting External Dimensions Mounting Hole Dimensions 55 70 130 4 Two
468. utions indicated here provide important information for safety Be sure to heed the information provided with the precautions E The following signal words are used to indicate and classify precautions in this manual Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Failure to heed the precautions classified as Caution may also lead to serious results Always heed these precautions Safety Precautions E This manual may include illustrations of the product with protective covers or shields removed in order to show the components of the product in detail Make sure that these protective covers and shields are put in place as specified before using the product E Consult your OMRON representative when using the product after a long period of storage A N WARNING Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 Q or less Incorrect grounding may result in electric shock Do not touch the inside of the Servo Drive Doing so may result in electric shock When turning OFF the main circuit power supply turn OFF the RUN Command Input RUN at the same time Residual voltage may cause the Servomotor to continue rotating and result in injury or equipment dama
469. v 8 jv45 RE8G HPGT4Aa50508 1 16 28 5 5 maxo ms 25 5 5 ri reeoerarieesinss e 2 134 wee w fists e fiat we 6 fiit Re8G HPGT4A1110080 16 28 55 maqo ms 25 5 s s m o 100 w ie1 Resc HPG14A21100BL 16 28 55 macio wa 25 5 5 s ma 8 rise ReG HPGzoAGSTOOR 25 42 00 meio ma as 8 7 20 me ia 1v45 RB8G HPG2OAAS1008 25 42 9 0 maxo ma 36 8 7 40 me 12 ils RBBG HPG14A0520081 16 28 55 maxo ma 25 5 s 3 m o fit R88G HPGT4AT120080 16 28 55 maxo ma 2s s s s w 8 200 w 1 2i Re8G HPG20AZT200B1 25 42 o0 maxio ma 36 8 7 40 me 12 1as Rasc HPG20As3200B 25 42 9 0 maxo ma 36 8 7 40 me 12 jv45 RB8G HPG20AA52008 25 42 9 0 maxo ma 36 8 7 40 me 12 Note 1 The standard models have a straight shaft Note 2 Models with a key and tap are indicated with J at the end of the model number the suffix shown in the box Example RB88G HPG11B05100BJ 2 49 2 2 External and Mounting Hole Dimensions Dimensions mm _ G 1 5 R6BG HPG14A05400811 64 0 58 60 60x60 70 70 56 0 555 40 97 25 21 a7 Rssc HPG20A11400B0 71 0 80 90 89 dia 105 70 i 400 W 121 R88G HPG2O0A74008 71 0 80 80 89 da 105 70 850 40 69 53 75 27 10 ji83 R88G HPG32Ass40081 104 0 133 120 122 ia 135 70 115 0 1140 84 28 125 35 13 f as R88G HPGS2A454008 104 0 133 120 122 aia
470. ve operation 0 to 2 s Selection performed D Adaptive filter enabled Adaptive operation will not be performed i e it will be held Vibration filters 1 and 2 can be switched No switching Both filter 1 and filter 2 are en Appendix abled Vibration Filter Switching with the DFSEL PNSEL input Selection 1 Open Vibration filter 1 Closed Vibration filter 2 Oto 2 _ Switching with command direction Forward Vibration filter 1 Reverse Vibration filter 2 9 17 9 2 Parameter Tables Power poet Seiting Explanation Deau Unit Seang oe name setting range Set the operating pattern for normal mode autotuning Rotation direction Forward to reverse two rotations i Rotation direction Reverse to forward two rotations D Rotation direction Forward to forward two rotations Oto 7 a Autotuning 3 Rotation direction Reverse to reverse two 25 Operation rotations in r E seting 4 Rotation direction Forward to reverse one rotation 5 Rotation direction Reverse to forward one rotation Rotation direction Forward to forward one rotation 7 Rotation direction Reverse to reverse one rotation TE Set the allowable operating range for the Servomotor Overrun Limit foo path a te 0 1 ro 0 to l The overrun limit function is disabled if the parameter 10 Setting is setto 0 tation 1000 Set the instantaneous speed observer Instantaneous Speed Observer pO Disabled Oto 1 Seni
471. ve regeneration resistor or Servomotor while the power is being supplied or soon after the power is turned OFF Doing so may result in burn injuries E Storage and Transportation Precautions A N Caution Do not hold the product by the cables or motor shaft while transporting it Doing so may result in injury or malfunction Do not place any load exceeding the figure indicated on the product Doing so may result in injury or malfunction Use the motor eye bolts only for transporting the Servomotor Using them for transporting the machinery may result in injury or malfunction Precautions for Safe Use E Installation and Wiring Precautions A N Caution Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Covering them or not preventing entry of foreign objects may result in fire Be sure to install the product in the correct direction Not doing so may result in malfunction Provide the specified clearances between the Servo Drive and the control panel or with other devices Not doing so may result in fire or malfunction Do not subject Servomotor shaft or Servo Drive to strong impacts Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure that all the mounting screws terminal screws and c
472. vel for Speed Command Input REF Torque i 0 to or Torque Command Input TREF using voltage after 0 1 V Command Input l 100 offset adjustment Overflow Level V ti e Setting 2 Overload 0 to oO Detection Level Set the overload detection level Settin 500 g Le Overspeed 0 to 2 Detection Level Set the overspeed detection level r min 20000 Setting 5 49 5 16 User Parameters Parameters Details e This section provides an explanation for all parameters Be sure to fully understand the meanings of parameters before making changes to the parameter settings Do not change the parameters marked Reserved Do not change the settings marked Reserved E Function Selection Parameters Pn00 to PnOF Pnoo Unit No Setting e If communications with a computer or other host controller are used by multiple Units via RS 232 or RS 485 it is necessary to identify which Unit the host is accessing With this parameter the unit number can be confirmed using alphanumeric characters e The unit number is determined by the unit number switch setting on the front panel when the power supply is turned ON This number is the unit number when using serial communications e The setting of this parameter has no effect on Servomotor operation e The setting of this parameter can be changed only by using the unit number switch on the front panel 5 50 Operating Functions 5 16 User Parameters Pn0
473. vo Drive If using a Servomotor with an absolute encoder first set up the absolute encoder Preparing for operation 6 2 Preparing for Operation l By means of the user parameters set the functions according to the 5 16 User Pa Setting functions i an operating conditions rameters Operation First test operation without a load connected to the motor Then turn the power OFF and connect the mechanical system to the motor If using a Servomotor with an absolute encoder set up the absolute encoder and set the Motion Control Unit s initial parameters Turn ON the power and check to see whether protective functions 6 5 Trial Opera such as the emergency stop and operational limits work properly tion Check operation at both low speed and high speed using the system without a workpiece or with dummy workpieces Even without a load the Servomotor may vibrate If the Inertia Ratio Pn20 is set low adjust the gain as required for operation Trial operation Chapter 7 Ad justment Func tions Oeemuon Operation can now be started If any problems should occur refer to Chapter 8 Trou P Chapter 8 Troubleshooting bleshooting Manually adjust the gain if necessary Further adjust the various Adjustments functions to improve the control performance 6 1 6 2 Preparing for Operation 6 2 Preparing for Operation This section explains the procedure to prepare the mechanical system for operation follow
474. vomotor and GR 4 24 System Design 4 2 Wiring E Wire Si Model R88D GT15H GT20H GT30H GT50H GT75H Item Unit Power supply capacity 33 Main circuit power L1 L2 and L3 Fasano a ow po am ow fe Control circuit Tae Eel AWG18 power supply ti a A Servomotor and GR Frame ground EEA GR seve w 1 The left value is for single phase input power and the right value is for three phase input power 2 Use the same wire sizes for B1 and B2 3 Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals zes and Allowable Current Reference The following table shows the allowable current when there are three power supply wires Use a current below these specified values 600 V Heat resistant Vinyl Wire HIV 4 25 Nominal Allowable current A for ambient temperature E R Configura Conductive AWG size Onal area tion e resistance l l ane mm Q km 40 C 50 C 4 2 Wiring E Terminal Block Wiring Procedure Connector type Terminal Blocks are used for Servo Drives of 1 5 kW or less R88D GTAS5L to GT15H The procedure for wiring these Terminal Blocks is explained below Connector type Terminal Block m I 000000 E E C i a i Example R88D GT01H 1 Remove the Terminal Block from the Servo Drive before wiring The Servo Drive will be damaged if the wiring is done with the Terminal Block in place 2 Strip off
475. wable total work J 44 1 x 108 147 x 103 147 x 103 44 1 x 103 147 x 103 147 x 103 Allowable es d zada 10 000 max acceleration Speed of 900 r min or more must not be changed in less than 10 ms Brake Brake life 10 000 000 operations Insulation grade 2 Type B Type B i specifications 3 2 Servomotor Specifications 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature 20 C 65 The maximum momentary torque indicates the standard value 2 Applicable Load Inertia e The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appro priate motor and confirm that operation is possible e f the dynamic brake is activated frequently with high load inertia the dynamic brake resistor may burn Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled 8 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Trad load Thrust load aloe Center of shaft LR 2 4 This is an OFF brake It is reset when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufac tur
476. wer supply Rataa 1 4 A 22A 37A 6 6 A current Power supply Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz Control circuit voltage Specifications 0 09 A 0 09 A 0 09 A 0 09 A current Control method All digital servo Inverter method IGBT driven PWM method PWM frequency 12 0 kHz 6 0 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Approx 1 5 kg Maximum applicable motor capacity 100 W 200 W 400 W TN es G05030H G10030L G20030L G40030L G05030T G10030S G20030S G40030S GP10030L GP20030L GP40030L GP10030S GP20030S GP40030S 2 000 r min Servomotors 1 000 r min Servomotors Speed control range 1 5000 Speed variability Load characteristic 0 01 or less at 0 to 100 at rated speed Speed variability Voltage characteris tic Speed variability Temperature 0 1 or less at 0 to 50 C at rated speed characteristic Torque control reproducibility 3 at 20 to 100 of rated torque 3 000 r min Servomotors Applicable 3 000 r min INC Servomo Flat Servomo 0 at 10 of rated voltage at rated speed Performance 3 2 Specifications 3 1 Servo Drive Specifications E Servo Drives with Single phase 200 VAC Input Power fore R88D R88D R88D R88D R88D R88D GT01H GT02H GT04H GT08H GT10H GT15H Continuous output current rms 1 16 A 9 8 A Momentary maximum output current rms 14 1 A 21 2 A 28 3 A 1 8 KVA 0 5 KVA 0 5KVA 0 9 KVA 1 3 KVA co 2 3 KVA Main
477. wr rnc ew se mw me re er e Note 1 The values inside parentheses are for 100 V Servomotors Note 2 The Decelerator inertia is the Servomotor shaft conversion value Note 3 The protective structure for Servomotors with Decelerators satisfies IP44 Note 4 The allowable radial load is the value at the LR 2 position Note 5 The standard models have a straight shaft with a key 3 55 Weight N 10 N 10 oo 40 oo 80 oo 80 3 3 Decelerator Specifications Decelerators for 3 000 r min Flat Servomotors Maxi a teas Decelera ee tor Weight Model y inertia rotation speed R88G 6 R88G 6 R88G 6 R88G 6 R88G 5 R88G 5 R88G 5 R88G 5 R88G 1000 15 5 5 R88G 556 27 3 5 R88G ne 45 4 5 R88G ae a is 5 Note 1 The values inside parentheses are for 100 V Servomotors Note 2 The Decelerator inertia is the Servomotor shaft conversion value Note 3 The protective structure for Servomotors with Decelerators satisfies IP44 Note 4 The allowable radial load is the value at the LR 2 position Note 5 The standard models have a straight shaft with a key 3 56 Specifications Specifications 3 4 Cable and Connector Specifications 3 4 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the encoder between a Servo Drive and Servomotor Select the 3 57 Encoder Cable matching the Servomotor E Enco
478. x 100 lt 50 Forward command Reverse command Reverse pulses Forward pulses T J t1 lt 20ns t2 gt 500 ns T gt 250 ns T gt 500 ns t T x 100 lt 50 Forward command Reverse command Phase A pulses Jo tt tt Phase B pulses i SN t1 lt 20 ns T 24 0 ns T gt 8 0ns t T x 100 lt 50 3 1 Servo Drive Specifications E Reverse Drive Prohibit Input NOT and Forward Drive Prohibit Input POT Pin 8 Reverse Drive Prohibit Input NOT Pin 9 Forward Drive Prohibit Input POT Functions e These inputs are used to prohibit driving in the forward and reverse directions e f the Drive Prohibit Input Selection Pn04 is set to 1 both inputs will be disabled e The Stop Selection for Drive Prohibition Input Pn66 changes the operation when these inputs are enabled E Speed Command Input REF or Torque Command Input TREF1 Pin 14 Speed Command Input REF or Torque Command Input TREF1 Pin 15 Analog Input Ground AGND Functions e Speed Control Mode Pin 14 is the Speed Command Input when the Control Mode Selection Pn02 is set to 1 Speed Control Use the Speed Command Scale Pn50 to set the rotation speed scale for the command input e Torque Control Mode Pin 14 is the Torque Command Input when the Control Mode Selection Pn02 is set to 2 Torque Control The input gain polarity offset and filters can be set for the torque command E RUN Co
479. ximum torque limit R88D GT15H R88M G90010T 225 R88D GT30H R88M G2K010T 230 R88M G3K010T 235 R88D GT50H R88M G4K510T 255 R88M G6K010T 256 5 26 Operating Functions Operating Functions 5 13 Soft Start 5 13 Soft Start Function e This function accelerates and decelerates the Servomotor in the set acceleration and deceleration times e You can set the acceleration and deceleration independently of each other using the trapezoidal acceleration and deceleration curve e The soft start processes speed command input REF or internally set speed control switching to reduce impact during acceleration and deceleration e This function is effective for simple positioning and speed switching operations e Do not use this function for a position controller with an acceleration deceleration function Parameters Requiring Settings Set the time using the following formula Pn58 oon an Setting Acceleration time setting x 2 ms from 0 r min to 5 82 Acceleration Time l 1 000 r min Soft Start Set the time using the following formula Pn59 Setting Deceleration time setting x 2 ms from 1 000 5 82 Deceleration Time e On e f the soft start function is not used set this parameter to O default setting e The actual acceleration and deceleration time is as follows Speed command ta Pn58 x 2 ms 1000 r min i td Pn59 x 2 ms 1000 r min Seeed Y N ta 5 27 5 14 Position Command Filter
480. y is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase This completes preparations for jog operation Press and hold the Shift key until Sev_on is displayed The decimal point will move to the left when the key is pressed for 3 s or longer The Servo will turn ON Forward operation will be performed while the Increment key is pressed and reverse operation will be performed while the Decrement key is pressed The Servomotor will stop when the key is released The speed set for the Jog Speed Pn3D will be used for jogging Operation D Q 2 Returning to Auxiliary Function Mode Key operation Display example Explanation Press the Data key to return to Auxiliary Function Mode The Servo lock will be released 6 24 Operation EA 6 4 Setting the Mode Copy Mode In Copy Mode user parameters set in the Servo Drive can be copied to the Parameter Unit and user parameters stored in the Parameter Unit can be copied to the Servo Drive This function can be used to easily set the same user parameters for more than one Servo Drive E Copying from the Servo Drive to the Parameter Unit Key operation 1 Displaying Copy Mode Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key five times to display Copy Mode 2
481. y Unit Cables for Servo Drives 2 21 Servo Relay UnitS cccccecccsesssseeeeseeeeeeseeeseeeessees 2 21 Servomotor and Decelerator Combinations 2 46 Servomotor characteristics ccccceeseeeeeeeseeeeeeees 3 33 Servomotor connector specifications CNB 3 6 4 21 Servomotor general specifications ccccceeeeeees 3 32 Servomotor installation CONItIONS cceceeeeeeeees 4 3 Servomotor Models csceseccceeeeesseeecscceesesseeeees 2 2 Servomotor Power Cables Robot Cables 2 19 Servomotor Power Cables Standard Cables 2 15 Servomotor Rotation Speed Detection Output TOGON eA teataancaiteten 3 15 3 29 Servomotor service life cccecceseeecceeseeeceeeeeeeeees 8 21 Setting the mode cceeceeceeeeeeeeeeeeeeeeeeeeeeeeeeeenaeees 6 7 Smoothing Filter Setting PN4D ceeeeeeeee eee 5 79 SOM SIA e a eens a eens 5 27 Soft Start Acceleration Time PN58 ccccceeees 5 82 Soft Start Deceleration Time PN59 ccceee sees 5 82 SP Selection PNO7 erare en n cua 5 54 Speed Command Filter Time Constant Pn57 5 81 Speed Command Input REF 3 12 3 17 3 24 Speed Command Offset Adjustment Pn52 5 80 Speed Command Rotation Direction Switch FPINGEL ecen E E 3 13 Speed Command Scale PN50 cccceceseeeeeeeeees 5 80 Index Speed Command Torque
482. yco Electronics AMP Kk Connector pins Connector pins 50639 8028 Molex Japan 170365 1 Tyco Electronics AMP KK Wiring 30 to 50 m Servo Drive Servomotor ttn Cable AWG25 x 6P _UL2517 Servo Drive Connector Servomotor Connector Connector Connector Crimp type I O Connector Molex Japan 172160 1 Tyco Electronics AMP KK Connector pins Connector pins 50639 8028 Molex Japan 170365 1 Tyco Electronics AMP KK 3 4 Cable and Connector Specifications R88A CRGCL INR Cable Models For both absolute encoders and incremental encoders 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW 1 000 r min Servomotors of 900 W to 4 5 kW Model Length L Outer diameter of sheath Weight R88A CRGCO03NR Approx 0 4 kg R88A CRGCOOSNR Approx 0 5 kg R88A CRGCO10NR 7 5 dia Approx 0 9 kg R88A CRGCO15NR Approx 1 3 kg R88A CRGCO20NR Approx 1 6 kg R88A CRGCO30NR Approx 2 9 kg R88A CRGCO40NR 8 2 dia Approx 3 8 kg R88A CRGCO50NR Approx 4 7 kg Connection Configuration and Dimensions L Servo Drive Servomotor R88D GO gt R88M G Wiring 3 to 20 m Servo Drive Servomotor EOV BAT BAT S FG Shell AWG24x4P UL20276 Servo Drive Connector Servomotor Connector Connector Straight plug Crimp type I O Connector Molex Japan N MS3106B20 29S Connector pins Japan Aviation Electronics 50639 8028 Molex Japan Cable clamp
483. ys 3 Write data to the EEPROM if the results are to be saved E Automatically Set Parameters The following parameters are set automatically Parameter No Parameter name Pn10 Position Loop Gain Pn11 Speed Loop Gain Pni2 Speed Loop Integration Time Constant Pni3 Speed Feedback Filter Time Constant Pn14 Torque Command Filter Time Constant Pn18 Position Loop Gain 2 Pn19 Speed Loop Gain 2 PniA Speed Loop Integration Time Constant 2 Pn1B Speed Feedback Filter Time Constant 2 PniC Torque Command Filter Time Constant 2 Settings for the following parameters are set automatically Parameter No Parameter name Set value Pn15 Feed forward Amount 300 Pn16 Feed forward Command Filter 50 Pn27 Instantaneous Speed Observer Setting 0 Pn30 Gain Switching Input Operating Mode Selection 1 Pn31 Control Gain Switch 1 Setting 10 Pn32 Gain Switch 1 Time 30 Pn33 Gain Switch 1 Level Setting 50 Pn34 Gain Switch 1 Hysteresis Setting 33 Pn35 Position Loop Gain Switching Time 20 Pn36 Control Gain Switch 2 Setting 0 1 The setting is 10 for position control and O for speed and torque control 7 32 Adjustment Functions Adjustment Functions 7 5 Manual Tuning Instantaneous Speed Observer The instantaneous speed observer improves speed detection accuracy increases responsiveness and reduces vibration at stopping by estimating the Servomotor speed using a load model Torque command Speed command

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