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G Series Servomotors/Drives w/Mechatrolink

1. Terminals Terminals L1 C B3 Internal regeneration resistor L2 g B2 L3 IKA AKA K C2 ag i a i 7 TERRA w FUSE m To a q lt lt lt L2C a jl A A an ne 7 SW power Vv Vv lt gt 15V lt lt GR supply Relay Regene Voltage Gate drive Current OT Mangreut arive _ nro detection peton SS PRE EE SE RRSH x i 777 vcci lt Internal J E5V lt __ control Display VCC lt power MPU amp ASIC setting circuits G2 lt supply Position speed and torque processor x PWM control y as IHI 5 2 gt oe SD S S O K Encoder i RS ae r J communications lt gt interface 485 D O E MECHATROLINK II E5V 5 WS Control I O interface interface EG 8 R5292 BAT gt 5 f interface a Cooling fan G Z 1 7 CN1 control I O connector CN6A CN6B connector connector CN3 connector MECHATROLINK II communications line RS 232 computer 1 4 System Block Diagrams R88D GN30H ML2 GN50H ML2
2. Terminals Terminals c B1 fe L1 C B3 L2 R N Internal regeneration resistor B2 5 L3 A A E EET 7 oe Eine w FUSE 4 A JH 4 a a lt g LAG gt o L2C tT Ba o A lt iadi i ae Oo L N I GR c 7 y m L 15V lt SW power S9 wi lt 4 GR suppl Relay Gate Regene voltage Current P Ge Main teat ay rative detection Gate drive PAEA L control Ea contro L 2 VCC1 lt Internal T J i E5V lt control Display re VCC lt _ power MPU amp ASIC setting circuits G2 lt supply Position speed and torque processor il PWM control 7 a IH blo 3 2 gt S Encod S 8 O communleatons gt fo s interface 2 ony E5V gt 5 O Cooling fan ae EG 8 Cao interface BAT A a i os o CN6A CN6B CN3 CN1 control I O connector connectorf connector connector MECHATROLINK II RS 232 communications line computer 1 8 Features and System Configuration 1 4 System Block Diagrams R88D GN75H ML2 Terminals Terminals pi L1 B2 L2 E 4 Ll TH lt WH FELIN Lf KEKEKE gt O iy
3. Dimensions 97 34 77 20 4 30 q4 2 50 15 6_ 14 10 ie I JH fe il 1O K 1a sort H a Ci TH m H am a MES __ i oy 7 Lael VT i He ao Ee lo e HE H T I ij L J H D ol wo M 48 4 8 fo 4 8 121 50 L15 Dimensions Bottom Mounting Back Mounting 50 M4 ta 14 35 M4 tap 150 150 2 66 Standard Models and Dimensions Chapter 3 Specifications 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 Servo Drive Specifications cccccceeeee 3 1 General Specifications S E E OE 3 1 CharacteniStiCS aay nare rere E E E A EA A 3 2 Main Circuit and Servomotor Connector Specifications 3 7 Control I O Connector Specifications CN1 eee 3 10 O U CTICUTUS ennan o E 3 14 Control Output Circuits m a a a a E eee 3 14 Controksoqgu oncom A 3 15 Encoder Connector Specifications CN2 sssssseessseeeseeee 3 16 Parameter Unit Connector Specifications CN3 005 3 16 Servomotor Specifications ccceeeeeeeee 3 17 General Specifications n ra E E E a ER Ee EAE Eae 3 17 SIEA a EA O 3 18 Encoder Specifications aee A E 3 31 Decelerator Specifications c ccccccccceeeeeeeees 3 32 Standard Model
4. Z 130 15 100 7 200 pee 32 3 5 2 5 2 ae R26 5 2 dia R2 6 2 6 W K m 1 2S aaa AM Va a f ia i A i ss lt a 8 ap o a Wl J g a H oee A A S3 Ne i a p l Ri y R2 6 R2 6 5 2 Mounting Dimensions Reference Values 50 Six M4 t t i A 2 Square hole Q N N y Ko f V el 100 132 Le 132 Note The dimensions of the square hole are reference values 2 31 2 2 External and Mounting Hole Dimensions E Three phase 200 VAC R88D GN75H ML2 7 5 kW Front Panel Mounting Using Mounting Brackets External Dimensions 248 9 T 90 52 i H 0 339 3 a amna a nanam lE Standard Models and Dimensions A D Af A A oo a l fl f Yy lire Four 5 2 dia 000000000000000000 238880000000000000 00000000000 00080088060068R0000000 900ARR39R280000060860060000660006800 0000000000610008600006606666
5. Servomotor brake i a with key and tap t 2 Mme Eye bolt 176 x 176 90 c Encod t diameter 10 24432 g Four 13 5 dia 12 h 9 Q ncoder connector amp PE 143 5dia l Tie D a i z ooo E aes ik y lt b Q M16 depth 32 m xe Dimensions mm Model ode LL E R88M G4K510 300 5 R88M G4K510L1 B 337 5 Note The standard models have a straight shaft Models with a key and tap are indicated with U S2 at the end of the model number E 1 000 r min Servomotors S 9p 6 kW R88M G6K010T S2 G6K010T 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 ja mejt 8 96 o Encoder E Four 13 5 dia ao 12 h 9 connector 24 3 2 g Four 12 5 dia pi E jami 5 E d 5 0 al Co 3 mr S Pe Ki A 1 5 Gq nS M16 depth 32 Model Dimensions mm LL R88M G6K010 340 5 R88M G6K010L1 B 380 5 Note The standard models have a straight shaft Models with a key and tap are indicated wi
6. Model Length L Outer diameter of sheath Weight 3 R88A CAGDO03BR 3m Approx 1 6 kg R88A CAGDOO5BR 5m Approx 2 5 kg R88A CAGD010BR 10m Approx 4 7 kg no R88A CAGDO015BR 15m Approx 7 0 kg c 15 6 6 1 dia e R88A CAGD020BR 20 m Approx 9 2 kg g R88A CAGD030BR 30 m Approx 13 7 kg R88A CAGDO40BR 40m Approx 18 2 kg S R88A CAGD050BR 50 m Approx 22 7 kg Q V Connection Configuration and Dimensions 70 L c Servo Drive 5 cs Servomotor ol H ji Ni R88D GN SoS yi gs R88M G 5 m T m7 fo ae J op a K F lt SCA aA koa Wiring Servo Drive Servomotor Signal Brake Brake NC Phase U Phase V Phase W Ground Ground NC IlO lnm ololw gt Cable AWG20 x 2C UL2464 Cable AWG10 x 4C UL2501 Crimp terminals Servomotor Connector Straight plug N MS3106B24 11S Japan Aviation Electronics Cable clamp N MS3057 16A Japan Aviation Electronics 3 63 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 Model Length L Outer diameter of sheath Weight R88A CAGA003B 3m Approx 0 1 kg R88A CAGA005B 5m Approx 0 2 kg R88A CAG
7. Maxi Maxi Rated 5 mum Allow Allow Effi mum Decelera rota Rated momen able able F 7 cien momen tor Weight Model tion torque tary Fae radial thrust cy tary inertia speed rotation load load torque speed r min Nm r min N m kg m N N kg R88G 16 0 5 1 5 HPG14A05400B 600 5 66 87 1000 15 7 2 07 x 10 221 883 1 09 R88G 33 1 5 1 11 HPG20A11400B 273 11 7 82 454 32 5 5 70 x 10 659 2320 2 9 400 R88G 66 5 5 Ww 1 21 HPG20A21400B 143 23 5 86 238 65 2 4 90 x 10 800 2547 2 9 R88G 98 2 5 1 33 HPG32A33400B 91 34 7 81 151 96 3 6 20 x 10 1565 6240 7 5 R88G 133 9 5 1 45 HPG32A45400B 67 47 4 81 111 131 4 6 10 x 10 1718 6848 7 5 R88G 5 1 5 HPG20A05750B 600 9 94 83 1000 29 2 6 80 x 10 520 1832 2 9 R88G 5 1 11 HPG20A11750B 273 23 2 88 454 68 1 6 00 x 10 659 2320 3 1 750 R88G 4 Ww 1 21 HPG32A21750B 143 42 3 84 238 124 3 3 00 x 10 1367 5448 7 8 R88G 4 1 33 HPG32A33750B 91 69 7 88 151 204 7 2 7010 1565 6240 7 8 R88G 4 1 45 HPG32A45750B 67 95 0 88 111 279 2 2 7010 1718 6848 7 8 R88G 4 1 5 HPG32A051K0B 600 11 5 72 1000 32 9 3 90x10 889 3542 7 3 R88G 4 1 11 HPG32A111KOBL 273 28 9 83 454 82 6 3 40x10 1126 4488 7 8 1 R88G 4 kW 1 21 HPG32A211K0B 143 58 1 87 238 166 1 3 00 x10 1367 5488 7 8 R88G 4 1 33 HPG32A331K0B 91 94 3 90
8. 2 52 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Decelerators for 1 000 r min Servomotors one Dimensions mm LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 1 5 R88G HPG32A05900TB 129 133 120 130x130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG32A11900TB 129 133 120 130x130 135 145 115 114 84 98 12 5 35 ceed 1 21 R88G HPG50A21900TBL 1 149 156 170 130x130 190 145 165 163 122 103 12 0 53 1 33 R88G HPG50A33900TB 149 156 170 130x130 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A052K0TB 129 133 120 180x180 135 200 115 114 84 98 12 5 35 sw 1 11 R88G HPG50A112KOTB 149 156 170 180x180 190 200 165 163 122 103 12 0 53 1 21 R88G HPG50A212KOTB 149 156 170 180x180 190 200 165 163 122 103 12 0 53 1 25 R88G HPG65A255K0SB 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 5 R88G HPG50A055KOSB 149 156 170 180x180 190 200 165 163 122 103 12 0 53 1 11 R88G HPG50A115KOSB 149 156 170 180x180 190
9. E3 F Four Z1 Four Z2 effective depth L nS W S a Lag RN o N p 3 5l st 5 a al d J S a Nee AN LH C2 x C2 e G T LM nF LR 2 59 2 2 External and Mounting Hole Dimensions Dimensions mm Model s tlz1 z arla Key dimensions QK b h t1 1 5 R88G VRSFO5B100PCJ 12 20 M4 M5 M3 12 16 4 4 2 5 400 W 1 9 R88G VRSFO9B100PCJ 12 20 M4 M5 M3 12 16 4 4 2 5 1 15 R88G VRSF15B100PCJ 12 20 M4 M5 M3 12 16 4 4 2 5 1 25 R88G VRSF25B100PCJ 12 20 M4 M5 M3 12 16 4 4 2 5 1 5 R88G VRSFO5B200PCJ 12 20 M5 M5 M4 12 16 4 4 2 5 200W 1 9 R88G VRSFO9C200PCJ 19 30 M5 M6 M4 20 22 6 6 35 1 15 R88G VRSF15C200PCJ 19 30 M5 M6 M4 20 22 6 6 35 1 25 R88G VRSF25C200PCJ 19 30 M5 M6 M4 20 22 6 6 35 1 5 R88G VRSFO5C400PCJ 19 30 M5 M6 M4 20 22 6 6 35 400 W 1 9 R88G VRSFO9C400PCJ 19 30 M5 M6 M4 20 22 6 6 35 1 15 R88G VRSF15C400PCJ 19 30 M5 M6 M4 20 22 6 6 35 1 25 R88G VRSF25C400PCJ 19 30 M5 M6 M4 20 22 6 6 35 Outline Drawings Set bolt AT wi Key Dimensions
10. Speed PI Processor Pn011 Speed Gain 1 Pn012 Integration Time Constant 1 Pn019 Speed Gain 2 Pn01A Integration Time Constant 2 Pn020 Inertia Ratio Speed Detection Filter Pn013 Filter 1 PnO1B Filter 2 Speed Command Speed FF MECHATRO VFF EUKI a Vibration Filter enerate Position Pn02B Command gt Frequency 1 Target Pn02C Speed FF TPOS Filter 1 Pn015 MECHATRO Target Pn02D FF Amount eed USPD Frequency 2 gt RNO IG Command Electronic PnO2E Oe an Position Gear IPOS Filter 2 n Pn205 Deviation CSPD Numerator eg Counter n ia S a Command Pn10E i B Pn018 No 2 Position Movin Yy POS g Speed Command i y Average Monit MPOS onor Position Deviation Deviation Feedback PERR Monitor Position AOPS EPOR ESPD 2ER Speed Monitor SP x Torque Command Torque Command TRQ TRQ Notch Filter Torque Limit PnO1D Filter 1 Frequency Pn003 Selection Pn01E Filter 1 Width 1 Pn028 Filter 2 Frequency PAGE Nos Torgus Limit Pn029 Filter 2 Width PnO2A Filter 2 Depth Pn02F Adaptive Filter Torque Command Filter Pn014 Filter Pn01C Filter 2 PnO5F No 2 Torque Limit Receive Encoder Signal Processor 1 1 1 1 1 1 7 1 1 1 1 Torque Monitor IM
11. v i 5 PD Parameter name Setting Explanation peau Unit Seiling 2 Sai No Setting Range value lt x Sets the operating pattern for normal mode autotuning Number ol Rotation direction rotations 0 Forward and Reverse Alternating A Repeat cycles of Reverse and Forward Normal Mode 2 rotations Alternating 025 Autotuning 2 Forward only 0 0 to 7 B Operation Setting 3 Reverse oniy 4 Forward and Reverse Alternating 5 Repeat cycles of Reverse and Forward pio Alternating 6 eee Forward only 7 Reverse only Overrun Limit Sets the Servomotor s allowable operating range x0 1 026 Settin for the position command input range 10 rota O to 1000 A g Set to 0 to disable overrun protective function tion The Instantaneous Speed Observer improves speed detection accuracy thereby improving Instantaneous responsiveness and reducing vibration when 027 Speed Observer stopping 0 Oto1 B Setting o Disabled 1 Enabled Sets the notch frequency of notch filter 2 for Notch Filter 2 _ resonance suppression 100 to 028 Frequency This parameter must be matched with the 1909 nz 1500 2 resonance frequency of the load Selects the notch width of notch filter 2 for Notch Filter 2 029 Width resonance suppression 2 Oto 4 B Increasing the value increases the notch width Selects the notch depth of notch filter 2 for Notch Filter 2 resonance suppression Oe Dep
12. Motor model 1 5 1 11 1 21 1 33 1 45 R88M R88G R88G R88G R88G R88G GP10030 HPG11B05100PBL HPG14A11100PBL HPG14A21100PBL HPG20A33100PBL HPG20A45100PB R88M R88G R88G R88G R88G R88G GP20030 HPG14A05200PBL1 HPG20A11200PBL_ HPG20A21200PBL HPG20A33200PBL HPG20A45200PB R88M R88G R88G R88G R88G R88G GP40030 HPG20A05400PBL HPG20A11400PBL HPG20A21400PBL_ HPG32A33400PBL HPG32A45400PB 2 000 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 1 45 No 65 No 65 No 65 R88G R88G R88G R88M HPG32A053K0B HPG32A112KOSBL_ R88G HPG50A332K0SBL R88G G1K020T Also used with Also used with HPG32A211KOSBL Also used with HPG50A451KOSB R88M G3K030T R88M G2K020T R88M G2K020T R88G R88G R88G R88G R88M HPG32A053K0B HPG32A112KOSBL HPG50A213K0B HPGS0A332KOSBL __ G1K520T Also used with Also used with Also used with Also used with R88M G3K030T R88M G2K020T R88M G3K030T R88M G2K020T R88G R88G R88M HPG32A053K0B R88G HPG50A213K0B R88G na G2K020T Also used with HPG32A112KOSBL Also used with HPG50A332K0SB R88M G3K030T R88M G3K030T R88G R88G R88M HPG32A054K0B HPG50A115KO0B R88G R88G ce G3K020T Also used with Also used with HPG50A213KOSBL HPG65A253K0SB R88M G4K030T R88M G5K030T R88M R88G R88G R88G R88G bas G4K020T HPG50A054K0SBL_
13. 100 VAC 1 D C i m i SM Single phase P TB Controller 1 1 For models with a single phase power supply input R88D GNA5L ML2 GN01L ML2 GN02L ML2 GN04L ML2 GN01H ML2 GN02H ML2 GN04H ML2 GN08H ML2 the main circuit power supply input terminals are L1 and L3 Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a ground plate for the frame ground for each Unit as shown in the above diagrams and ground to a single point 4 26 System Design System Design 4 3 Wiring Conforming to EMC Directives Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible No fuse breakers surge absorbers and noise filters should be positioned near the input terminal block ground plate and I O lines should be separated and wired at the shortest distance R88D GN75H ML2 1 3 Three phase 200 VAC SG roim Single phase aa i 100 VAC i SM Unit Details Symbol Name Manufacturer Model Remarks Okaya Electric RAV781BWZ 4 Single phase 100 VAC SG Surge absorber i Industries Co Ltd RAV781BXZ 4 Three phase 200 VAC Single phase SUP EK5 ER 6
14. 50 to 750 W R88A CAGAI S R88A CAGA B For Brake Connector 3 000 r min Servomotors 1 to 1 5 kW R88A CAGB R88A CAGB B 2 kW R88A CAGC S R88A CAGC B 3 to 5 kW R88A CAGD R88A CAGD B R88A CAGAI S 4 For Power Connector 3 000 r min Flat Servomotors 100 to 400 W R88A CAGA S R88A CAGA B For Brake Connector 1 to 1 5 kW R88A CAGB R88A CAGB B 2 kW R88A CAGC S R88A CAGC B 2 000 r min Servomotors 3to5 kW R88A CAGD R88A CAGD B 1 500 r min Servomotors R88A CAGELIOUS E For Power Connector 7 5 kW R88A CAGEOOOS R88A CAGECICUB For Brake Connector 900 W R88A CAGB R88A CAGB B 2 to 4 5 kW R88A CAGD R88A CAGD B 1 000 r min Servomotors R88A CAGE S 6 kW R88A CAGE s For Power Connector R88A CAGE B For Brake Connector Note 1 The 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 digits in the model number indicate the cable length 3 m 5 m 10 m 15 m 20 m 30 m 40 m Servomotor type Encoder Cab
15. Connector Terminal Block Cable Comments The digits in the model number XW2B 20G4 indicate the cable length 1 m and XW2B 20G5 XWe2z J B33 2m XW2D 20G6 Example model number for a 2 m cable XW2Z 200J B33 4 15 4 2 Wiring Peripheral Device Connection Examples m R88D GNA5L ML2 GN01L ML2 GNO2L ML2 GNO4L ML2 R88D GN01H ML2 GNO2H ML2 GNO4H ML2 GNO8H ML2 GN10H ML2 GN15H ML2 R T Single phase 100 to 115 VAC 50 60 Hz R88D GN Single phase 200 to 240 VAC 50 60 Hz R88D GN L ML2 H ML2 Q Q j a Q Q Noise filter t OFF ON Main circuit contactor 1 x oa Ground to 1 No D 100 Q or less Lu l o Surge killer 1 Q xX 1MC i PL z KO o Servo error display OMNUC G Series OMNUC G Series a IMC AC Servo Drive AC Servomotor Reactor Regeneration resistor 5 24VDC User control device Control Cable Power Cable CNA Pre Dh teste xB i C3 LIC E Lac CNB _ 24 VDC U CNA O L1 v L3 w CNB B1 g EEA a Ground to B3 100 Q or less CN2 B2 Encoder Cable CN1 15 ALM 1 Recommended products are listed in 4 3 Wiring Conforming
16. 70 L ta Servo Drive qH 2s B Servomotor R88D GN if R88M G Pa i u U CL N v SF lt OA Wiring Servo Drive Servomotor QO G Brake oe H Brake Red A NC ca F Phase U ite PhaseV T Wal B Phase W QO feel Cd E Ground D Ground f C NC M4 crimp terminals Cable AWG20 x 2C UL2464 Cable AWG14 x 4C UL2463 Servomotor Connector Straight plug N MS3106B20 18S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 58 Specifications 3 4 Cable and Connector Specifications R88A CAGCLIB Cable Models For 3 000 r min Servomotors of 2 kW and 2 000 r min Servomotors of 2 kW Model Length L Outer diameter of sheath Weight R88A CAGC003B 3m Approx 0 8 kg 3 R88A CAGCO005B 5m Approx 1 3 kg R88A CAGC010B 10m Approx 2 4 kg R88A CAGC015B 15m Approx 3 5 kg N 10 4 5 4 dia c R88A CAGC020B 20m Approx 4 6 kg R88A CAGC030B 30 m Approx 6 8 kg B R88A CAGC040B 40 m Approx 9 1 kg R88A CAGC050B 50m Approx 11 3 kg oO a on Connection Configuration and Dimensions 70 L TA Servo Drive a 28 Servomotor H ap R88D GN a i l Iss R88M G z lt 3 a fo Wiring Servo Drive Servomotor Brake Brake NC Phase U Phase V Phase W Ground Grou
17. a Symbol Name Function Interface 12 to 24 VDC Power Power supply input terminal 12 to 24 VDC for sequence 1 24VIN p Supply Input inputs Input for emergency stop When this signal is enabled and pin 1 is not connected to pin 2 an Emergency Stop Input error alarm code 87 oc 2 STOP Emergency Stop Input curs Set this signal to be enabled or disabled in the Emer gency Stop Input Setting Pn041 Factory default Enable 3 EXT3 External Latch Signal 3 This external signal input latches the current value feedback pulse counter 4 EXT2 External Latch Signal 2 The position data is obtained the moment the input is turned ON 5 EXT1 External Latch Signal 1 Minimal signal width must be 1 ms or more External general ae 6 IN1 purpose Input 1 This input is used as external general purpose input 1 Forward Torque Limit m f 7 PCL Input When the Torque Limit Selection Pn003 is set to 3 or 5 this signal input selects the torque limit For details refer 8 NCL ac Torque Limit to the description of the Torque Limit on page 5 16 pot _ Forward Drive Prohibit Forward and reverse rotation overtravel input 19 to 20 Input Pn004 chooses between enable and disable Reverse Drive Prohibit Pn044 sets the function assignment for pins 19 and 20 NOT Input Pn0O66 selects the operation Connect the origin proximity input signal in the origin 21 DEC Origin Proximity Input search operation Pn042 changes
18. D i 5 En Parameter name Setting Explanation Deitel Unit Seiling 2 No setting range 5 lt Sets the judgment level to switch between Gain 1 and Gain Switch Level Gain 2 when the Gain Switch Setting Pn031 is set to 3 093 Setting RT 5 6 9 or 10 The unit for the setting depends on the 609 0 t0 20090 5 condition set in the Gain Switch Setting Pn031 Sets the hysteresis of the judgment level for the Gain Gain Switch Switch Level Setting Pn033 when the Gain Switch 034 Hysteresis Setting Pn031 is set to 3 5 6 9 or 10 The unit for the 50 O to 20000 B Setting RT setting depends on the condition set in the Gain Switch Setting Pn031 This parameter can prevent the position loop gain from Position Loop increasing suddenly when the position loop gain and x166 035 Gain Switching position loop gain 2 differ by a large amount 20 k O to 10000 B Time RT When the position loop gain increases it takes the H duration of set value 1 x 166 us 036 Reserved Do not change 0 a zee 2i 037 Reserved Do not change 0 038 Reserved Do not change 0 039 Reserved Do not change 0 03A Reserved Do not change 0 03B Reserved Do not change 0 03C Reserved Do not change 0 Sets the jog operation speed with the Parameter Unit or CX Drive Note Jog operation is only available when the network is oam Jogopeed not established Do
19. 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 2 2 External and Mounting Hole Dimensions E 2 000 r min Servomotors 4 kW 5 kw R88M G4K020T S2 G5K020T S2 G4K020T B S2 G5K020T B S2 EEE Servomotor brake t an or LL R n CxC Dimensions of shaft end ncoder Nen with key and tap connector AE 1832 3 LH Four Z dia TN S i 5 wn l OS ee ore SS SS er g c J t of a 1 7 4 a a NY E erier fay Sg M depth L Dimensions mm Model am LL LR S D1 D2 C D3 KL1 Z QK b hit iIi MIL R88M G4K020 242 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20 R88M G5K020 225 70 35 200 114 3 176 233 143 13 5 50 10h9 8 5 M12 25 R88M G4K020L B 267 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20 R88M G5K020L B 250 70 35 200 114 3 176 233 143 13 5 50 10h9 8 5 M12 25 2 39 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 2 External and Mounting Hole Dimensions E 1 500 r m
20. ee Parameter name Explanation Reference page Gain Switching Pn030 Operating Mode Enable or disable gain switching 5 72 Selection Pn031 Gain Switch Sets the condition for switching between gain 1 and gain 2 5 72 Setting The conditions depend on the control mode Pn010 Position Loop Gain Sets position loop responsiveness 5 67 Pn011 Speed Loop Gain Sets speed loop responsiveness 5 67 Speed Loop Pn012 Integration Time Adjusts the speed loop integration time constant 5 67 Constant Speed Feedback Pn013 Filter Time Selects the speed detection filter time constant 5 67 Constant Torque Command Pn014 Filter Time Sets the time constant for the torque command filter 5 68 Constant Pn018 eo Loop Sets the 2nd position loop responsiveness 5 68 Pn019 Speed Loop Gain 2 Sets the 2nd speed loop responsiveness 5 68 Speed Loop Pn01A Integration Time Adjusts the speed loop integration time constant 2 5 68 Constant 2 Speed Feedback Pn01B Filter Time Selects the speed detection filter time constant 5 68 Constant 2 Torque Command Pn01C Filter Time Sets the time constant for the 2nd torque command filter 5 68 Constant 2 Gain Switch Sets the time to return from gain 2 to gain 1 z Pn032 Time Units 166 us RNE Pn033 Gain Switch Sets the judgment level for switching between gain 1 and 5 73 Level Setting gain 2 Pn034 Gain Switch Sets the hysteresis width for the judgment level set in the 5 73 Hysteresi
21. Key Dimensions QK 2 58 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 Model LM LR C1 C2 D1 D2 D3 D4 E3S F G 1 5 R88G VRSF05B100PCJ 67 5 32 60 52 70 60 50 45 1013 8 100W 1 9 R88G VRSF09B100PCJ 67 5 32 60 52 70 60 50 45 1013 8 1 15 R88G VRSF15B100PCJ 78 0 32 60 52 70 60 50 45 1013 8 1 25 R88G VRSF25B100PCJ 78 0 32 60 52 70 60 50 45 1013 8 1 5 R88G VRSFO5B200PCJ 72 5 32 80 52 90 60 50 45 10 3 12 200 W 1 9 R88G VRSFO9C200PCJ 89 5 50 80 78 90 90 70 62 17 3 12 1 15 R88G VRSF15C200PCJ 100 0 50 80 78 90 90 70 62 17 3 12 1 25 R88G VRSF25C200PCJ 100 0 50 80 78 90 90 70 62 17 3 12 1 5 R88G VRSFO5C400PCJ 89 5 50 80 78 90 90 70 62 17 3 12 400W 1 9 R88G VRSFO9C400PCJ 89 5 50 80 78 90 90 70 62 17 3 12 1 15 R88G VRSF15C400PCJ 100 0 50 80 78 90 90 70 62 17 3 12 1 25 R88G VRSF25C400PCJ 100 0 50 80 78 90 90 70 62 17 3 12 Note The standard models have a straight shaft with a key Outline Drawings
22. c 2 Returning to Auxiliary Function Mode 2 Key F operation Display example Explanation Q O The absolute encoder can be reset only for 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 Press the D key to return to Auxiliary Function Mode 6 26 Operation 6 4 Setting the Mode m Jog Operation 1 Executing Jog Operation Key operation Display example Explanation _ a c X Press the A key to display Jog Operation Mode from the alarm reset display in Auxiliary Function Mode Press the D key to switch to Jog Operation Mode DOO Press and hold the Q key until Ready is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase This completes preparations for jog operation Press and hold the key until Sev_on is displayed The decimal point will move to the left when the key is pressed for 3 s or longer a ee at E n a The Servo will turn ON OY om Forward operation will be performed while the A key is pressed and reverse operation will be perform
23. Model Specifications With incremental encoder With absolute encoder Straight shaft Straight shaft Straight shaft Straight shaft ro without key with key and tap without key with key and tap O 50 W R88M G05030H R88M G05030H S2 R88M G05030T R88M G05030T S2 c 100V 100 W R88M G10030L R88M G10030L S2 R88M G10030S R88M G10030S S2 200 W R88M G20030L R88M G20030L S2 R88M G20030S R88M G20030S S2 _ 400 W R88M G40030L R88M G40030L S2 R88M G40030S R88M G40030S S2 Q 50 W R88M G05030H R88M G05300H S2 R88M G05030T R88M G05030T S2 p 100 W R88M G10030H R88M G10030H S2 R88M G10030T R88M G10030T S2 o With 200 W R88M G20030H R88M G20030H S2 R88M G20030T R88M G20030T S2 D out 400 W R88M G40030H R88M G40030H S2 R88M G40030T R88M G40030T S2 o brake 750 W R88M G75030H R88M G75030H S2 R88M G75030T R88M G75030T S2 a 200 V 1 kW R88M G1K030T R88M G1K030T S2 1 5kW R88M G1K530T R88M G1K530T S2 OD 2 kW R88M G2K030T R88M G2K030T S2 wo 3 kW R88M G3K030T R88M G3K030T S2 xe 4 kW R88M G4K030T R88M G4K030T S2 5 kW R88M G5K030T R88M G5K030T S2 o 50 W R88M G05030H B R88M G05030H BS2_ R88M G05030T B R88M G05030T BS2 100V 100 W R88M G10030L B R88M G10030L BS2 R88M G10030S B R88M G10030S BS2 200 W R88M G20030L B R88M G20030L BS2 R88M G20030S B R88M G20030S BS2 400 W R88M G40030L B R88M G40030L BS2 R88M G40030S B R88M G40030S BS2 50 W R88M G05030H B R88M G05030H BS2 R88M G05030T B R88M G05030T BS2 100
24. 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 HPG32A053K0BJ 2 51 2 2 External and Mounting Hole Dimensions Dimensions mm Mave LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 1 5 R88G HPG50A054KOSB 149 156 170 180x180 190 165 165 163 122 103 12 0 53 AKW 1 11 R88G HPG50A114KOSB 149 156 170 180x180 190 165 165 163 122 103 12 0 53 1 20 R88G HPG65A204K0SB 231 222 230 180x180 260 165 220 214 168 165 12 0 57 1 25 R88G HPG65A254K0SB 231 222 230 180x180 260 165 220 214 168 165 12 0 57 1 5 R88G HPG50A055K0SBI 149 156 170 180x180 190 200 165 163 122 103 12 0 53 5 kW 1 11 R88G HPG50A115KOSB 149 156 170 180x180 190 200 165 163 122 103 12 0 53 1 20 R88G HPG65A205K0SB 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 25 R88G HPG65A255K0SB 231 222 230 180x180 260 200 220 214 168 165 12 0 57 75
25. Item Specifications Name Absolute Encoder Backup Battery Model R88A BAT01G Battery model ER6V Toshiba Battery voltage 3 6V 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 on page 6 6 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 may 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 to the Servo Drive ON If the battery is replaced with the control power supply to the Servo Drive OFF data held in the encoder will be lost Once the absolute encoder battery has been replaced clear the battery alarm For details on clearing the alarm refer to Alarm Reset on page 6 25 Note Ifthe absolute encoder is cleared or the absolute values are cleared using communications all error and rotation data will be lost and the absolute encoder must be set up again For details refer to Absolute Encoder Setup on page 6 6 Battery Mounting Procedure 1 Prepare the R88A BAT01G replacement battery
26. 9 11 9 1 Parameter Tables o i 5 Pu Parameter name Setting Explanation peau Unit Seiling 2 Sai No Setting Range value lt x Sets the deceleration stop operation to be per formed after the Forward Drive Prohibit Input POT or Reverse Drive Prohibit Input NOT is enabled After During de stopping Deviation celeration 30 r min counter or less Disables Cleared while torque in decelerating with Dynamic 0 drive dynamic brake brake rohibited Retained after Stop Selection for S ti tobpi RUS 066 Drive Prohibition e Stopping 0 O0to2 IC Input an Cleared while Disables rq decelerating 1 drive torque fa Retained after prohibited stoppin direction pping Retained while decelerating Emergen cleared upon cy Stop Servo f 2 completion of Torque locked Pn06E deceleration and retained after stopping Sets the operation to be performed during deceler ation and after stopping after the main power supply is turned OFF with the Undervoltage Alarm Selec tion Pn065 set to 0 The deviation counter will be reset when the power OFF is detected Stop Selection 0 and 4 Use dynamic brake to decelerate and 067 with Main Power remain stopped with dynamic brake 0 aoe Oto7 B OFF 4 and5 Use free run to decelerate and remain stopped with dynamic brake Use dynamic brake to decelerate but free 2 and 6 the motor when st
27. 5 68 Operating Functions Operating Functions 5 26 User Parameters Pn No Parameter name Setting Explanation Default setting Unit Setting range Attribute 021 Realtime Autotuning Mode Selection Sets the operating mode for realtime autotuning A setting of 3 or 6 will provide faster response to changes in inertia during operation Operation however may be unstable depending on the operating pattern Normally use a setting of 1 or 4 Set to 4 to 6 when the Servomotor is used as a vertical axis Gain switching is enabled at set values 1 to 6 Use a setting of 7 if operation changes caused by gain switching are a problem Realtime Autotuning Degree of change in load inertia 0 Disabled 1 Almost no change Horizontal axis Hode Gradual changes Sudden changes Almost no change Vertical axis mode Gradual changes OIJ AJOJN Sudden changes Gain switching k disable mode Almost no change O0to7 022 Realtime Autotuning Machine Rigidity Selection Sets the machine rigidity for realtime autotuning Increasing this value increases the responsiveness If the value 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 value and gradually increase the value while monitoring machine operation Cannot be set
28. Eio Parameter name Explanation Reference page Pn003 Torque Limit Selects the torque limit by various 5 87 Selection parameters and from the network Sets the No 1 Servomotor output torque Pn0O5E No 1 Torque Limit limit Sets the No 2 Servomotor output torque PnO5F No 2 Torque Limit rae limit E Torque limit settings for each Servomotor The setting range for the torque limit is 0 to 300 and the standard default setting is 300 except for the following combinations of Servo Drives and Servomotors Servo Drive Applicable Servomotor Maximum torque limit R88D GN15H ML2 R88M G90010T 225 R88D GN30H ML2 R88M G2K010T 230 R88M G3K010T 235 R88D GN50H ML2 R88M G4K510T 255 R88M G6K010T 256 R88D GN75H ML2 R88M G7K515T 250 5 16 Operating Functions Operating Functions 5 6 Torque Limit E Torque limit during position and speed control Pn003 Settings Explanation 1 Set the limit values for forward and reverse operations in PnO5E 2 Forward Use PnO5E Reverse Use PnO5F Switch limits by torque limit values and input signals from the network Limit in forward direction PCL is OFF PnO5E PCL is ON Pn05F Limit in reverse direction NCL is OFF PnO5E NCL is ON PnO5F Forward Use PnOSE as limit Reverse Use PnO5F as limit Only in speed control torque limits can be switched by torque limit values from the networ
29. a oa r am Confirm that 16 bit Parameter is selected 3 Switching to the Parameter Setting Display Key operation Display example Explanation ws I l r l pae Lo ma a Press the D key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display 4 Setting the Parameter Number Key operation Display example Explanation A 0S D a L a ml Use the Q A and S keys to set the parameter number If the parameter number is large the setting can be made more quickly by using the key to change the digit that is being set The decimal point will flash for the digit that can be set 6 17 6 4 Setting the Mode 5 Displaying the Parameter Setting Key operation Display example Explanation co Press the Gara key to display the setting The selected parameter number appears in the sub window LJ B J 6 Changing the Parameter Setting Key operation e OS Display example Explanation jae Use the Q A and O keys to change the setting The decimal point will flash for the digit that can be set Lt x lt Mu Press the key to save the new setting Lt ae 7 Returning
30. 071 Reserved Do not change 0 Sets the overload detection level Overload The overload detection level will be set at 115 if 072 Detection this parameter is set to 0 0 Oto500 A Level Setting Normally use a setting of 0 and set the level only when reducing the overload detection level Sets the overspeed detection level Overspeed f i F 073 Detection The overspeed detection level is 1 2 times the 0 Jimin 0 to A maximum Servomotor rotation speed when the 20000 Level Setting f parameter is set to 0 074 Reserved Do not change 0 075 Reserved Do not change 0 076 Reserved Do not change 0 077 Reserved Do not change 0 078 Reserved Do not change 0 079 Reserved Do not change 0 07A Reserved Do not change 0 07B Reserved Do not change 0 07C Reserved Do not change 0 9 13 9 1 Parameter Tables D Pn Default Setting Z Set No Parameter name Setting Explanation Setting Unit Range value lt 07D Reserved Do not change 0 a oes 07E Reserved Do not change 0 na 07F Reserved Do not change 0 oom ace Appendix 9 14 Appendix 9 1 Parameter Tables m 16 bit Positioning Parameters Parameter Numbers 100 to 13F Pn No Parameter name Set ting Explanation Default Setting Unit Settin
31. 3 26 Specifications 3 2 Servomotor Specifications ik 2 3 4 5 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 Applicable Load Inertia 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 If 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 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 rac load gt Thrust load SN Center of shaft LR 2 This is an OFF brake It is reset when excitation voltage is applied 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 2 000 r min Servomotors 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
32. a Press the A and keys to select 32 bit parameters 3 Switching to the Parameter Setting Display Key operation Display example Explanation a _ im ms J 1 E Ld LJ lo MJ Press the Gara key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display 4 Setting the Parameter Number Key operation Display example Explanation C OS J wn 1 LJ D a lo MJ Use the A and keys to set the parameter number If the parameter number is large the setting can be made more quickly by using the key to change the digit that is being set The decimal point will flash for the digit that can be set 6 19 6 4 Setting the Mode 5 Displaying the Parameter Setting Key operation Display example Explanation i n RN MJ i a a a Press the key to display the setting The selected parameter number appears in the sub window Ld Ld 32 bit parameters have many digits and thus displayed on two displays Ba Press the Q key to change the display Negative values of the parameter are indicated with a dot _ Lt Lt 6 Changing the Parameter Setting Key operation Display example Explanation
33. 6 13 6 4 Setting the Mode m Alarm History Alarm code is displayed if no alarms have occurred Current alarm mi ri am aan I Alarm 0 newest alarm I I Mn J Alarm 13 oldest alarm Up to the most recent 14 alarms including the current one can be viewed in the alarm history The display will flash when an alarm occurs If an alarm that is recorded in the history occurs the alarm code for the current alarm and for alarm O will be the same 6 14 Operation Operation 6 4 Setting the Mode Alarm Codes and Meanings Aam Meaning Aa Meaning Codes Codes 11 Control power supply undervoltage 40 PG encoder system ABS own error 12 Overvoltage 41 eer ae pie counter ABS 13 Main power supply undervoltage 42 A ABS 44 Overc rr nt 44 o encoder one turn counter er 15 Servo Drive overheat 45 Absolute encoder multi turn counter error 16 Overload 47 iii encoder status ABS 18 Regeneration overload 48 Encoder phase Z error 21 Encoder communications error 49 Encoder PS signal error 23 Encoder communications data error 82 Node address setting error 24 Deviation counter overflow 83 Communications error 26 Overspeed 84 Transmission cycle error 27 Command error 86 Watchdog data error 29 Internal deviation counter overflow 87 Emergency stop input error 34 Overrun limit err
34. Lo Lt Lt Lo l _ _ I LJ _ lt _ Use the A and keys to change the setting The decimal point will flash for the digit that can be set e 0S _ Lt Lt Ld Ld Lt Ld r l Lt Lt _ Press the key to save the new setting Ld Lt 7 Returning to Parameter Setting Mode Key operation Display example Explanation E J l I Lt Lt Y _ Press the D key to return to Parameter Setting Mode a mo r Some parameters will be displayed with an r before the number when the display returns to Parameter Setting Mode To enable the settings that for Correct Use 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 affect the motor operation significantly This is particularly true for the speed loop gain and position loop gain For details on parameters refer to Parameter Tables on page 5 61 6 20 Operation Operation 6 4 Setting the Mode E Servo Parameters 1 Displaying Parameter Setting Mode Key operat
35. 4 24 System Design 4 2 Wiring E Terminal Block Wiring Procedure 4 25 Connector type Terminal Blocks are used for Servo Drives of 1 5 kW or less R88D GNAS5L ML2 to GN15H ML2 The procedure for wiring these Terminal Blocks is explained below Connector type Terminal Block Example R88D GN01H ML2 Remove the Terminal Block from the Servo Drive before wiring The Servo Drive will be damaged if the wiring is performed with the Terminal Block in place Strip off 8 to 9 mm of the covering from the end of each wire Refer to Terminal Block Wire Sizes on page 4 23 for applicable wire sizes 8 to 9mm 3 Open the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots Pry the slot open using the lever that comes with the Servo Drive as in Fig A 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 pos
36. E 3 000 r min Servomotors 4 kW 5 kw R88M G4K030T S2 G5K030T S2 G4K030T B S2 G5SK030T B S2 EEE Servomotor brake 4 1802180 o Dimensions of shaft end A EES aa with key and tap 55 Eight h 9 y 145 dia M8 depth 20 Model Dimensions mm LL R88M G4K030 240 R88M G5K030 280 R88M G4K030L1 B 265 R88M G5K030L1 B 305 Standard Models and Dimensions 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 36 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 GP 10030H 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 Motor connector 220 3 S dia h 6 1 I er D2 dia h 7 Four Z dia KL1 es g INC D
37. Falling Servomotor operation Servomotor output torque c T oO In the output torque graph acceleration in the positive direction rising is shown as positive and m acceleration in the negative direction falling is shown as negative 3 v The regenerative energy values for each region can be derived from the following equations a ee ee ee i gi 2 60 1 D1 tt Qn Eg2 J g2 60 N2 TL2 te J 2 Eg 7 No Tpe2 ts J 2 60 Ni N2 Rotation speed at beginning of deceleration r min Tp1 Tp2 Deceleration torque N m TL Torque when falling N m ti ts 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 For Servo Drive models with internal capacitors used for absorbing regenerative energy the values for both Eg or Ego Egg 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 47 For Servo Drive models with an internal regeneration resistor used for absorbing regenerative energy the average amount of regeneration Pr unit W must be calculated and this value must be lower than the Servo Drive s regenera
38. T 4 oO q k 2 j j xe O Q i Y 3 xe G _ o Ground terminal M5 Six M4 terminal screws Terminal block 60 40 150 N 2 O 00 OO Ro RSo STo T H e U En Connection Diagram i 5041 N Four 6dia y i Notch c A Dimensions mm Model A C Y 3G3AX AL2025 130 82 67 3G3AX AL2055 140 98 75 2 64 Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E 3G3AX AL2110 AL2220 Terminal holes Six K dia A D 55 Ro R So S To OC AIT i O 00 OO Q Ro RSo STo T I Connection Diagram TE X 1 Four 6 dia Notch 9 W Terminal width Ground terminal M6 Dimensions mm eee A C D H HI1 X Y K Ww 3G3AX AL2110 160 103 70 170 106 60 80 5 3 12 3G3AX AL2220 180 113 75 190 136 90 90 8 4 16 5 2 65 2 2 External and Mounting Hole Dimensions MECHATROLINK II Repeater Dimensions m FNY REP2000
39. The Servomotor rotates at the value the number of pulses of the position command multiplied by the electronic gear ratio During speed and torque control the pulses from the Servomotor encoder are divided by the electronic gear ratio and converted into command units before being fed back Parameters Requiring Settings Parameter Reference Parameter name Explanation No page Sets the numerator for the electronic gear ratio Setting this parameter to 0 automatically sets the encoder Electronic Gear Ratio 1 resolution as the numerator 131 1072 for a 17 bit absolute Pn205 Numerator encoder and 10 000 for a 2 500 p r incremental encoder 5 85 The electronic gear ratio can be set to 1 100 to 100 times A parameter setting alarm alarm code 93 will occur if the ra tio is set outside this range Sets the denominator for the electronic gear ratio Electronic Gear Ratio 2 Pn206 A parameter setting alarm alarm code 93 will occur if the ra 5 85 Denominator ae tio is set outside this range The factory default setting for this parameter is Electronic Gear ratio 1 Electronic Gear ratio 2 1 Setting example using a 2 500 p r Incremental Encoder To make one turn using a setting unit of 5 000 Pn205 10000 _ 2 Pn206 5000 1 Setting example using a 17 bit Absolute Encoder To make one turn using a setting unit of 10 000 Pn205 _ _131072 8192 Pn206 10000 625
40. ccccceseeeee 2 5 De ceeaOS cere ceereeeree ere eeete 2 7 Accessories and Cables en n e E E e 2 14 2 2 External and Mounting Hole Dimensions 2 23 SLEAN DIETE ere AA E E iene pin Peer E 2 23 SCIVOMOLOIS e E E E E 2 33 Parameter Unit Dimensions cccccccccccececceeeeeeeeeeeeeeeees 2 43 Servomotor and Decelerator Combinations c008 2 44 Decelerator DiMeNSIONS ccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 2 47 External Regeneration Resistor Dimensions 204 2 61 REACLOnIDIMENSIONS semen e ceettee eee A eae ens 2 62 Standard Models and Dimensions 2 1 Standard Models 2 1 Standard Models Servo Drives Specifications Model Single phase 100 VAC 50 W R88D GNA5L ML2 100 W R88D GNO1L ML2 200 W R88D GNO2L ML2 400 W R88D GNO4L ML2 Single phase 200 VAC 50 W 100 W R88D GNO1H ML2 200 W R88D GNO2H ML2 400 W R88D GNO4H ML2 Single phase three phase 200 VAC Three phase 200 VAC 750 W 1 kw R88D GNO8H ML2 R88D GN10H ML2 900 W 1 kw 1 5 kW 2 kW R88D GN15H ML2 R88D GN20H ML2 2 kW 3 kW R88D GN30H ML2 3 kW 4 kW 4 5 kW 5 kW R88D GN50H ML2 6 kw 7 5 kW R88D GN75H ML2 2 1 Standard Models Servomotors E 3 000 r min Servomotors
41. 2 14 2 1 Standard Models E Servomotor Power Cables Standard Cables Standard Models and Dimensions Model Specifications For Servomotor without For Servomotor with brake brake 3m R88A CAGA003S 5m R88A CAGA005S 10m R88A CAGA010S 3 000 r min Servomotors of 50 to 750 W 15m R88A CAGA015S T 3 000 r min Flat Servomotors of 100 to 400 W 20m R88A CAGA020S 30m R88A CAGA030S 40m R88A CAGA040S 50m R88A CAGA050S 3m R88A CAGB003S R88A CAGB003B 5m R88A CAGB005S R88A CAGB005B 10m R88A CAGB010S R88A CAGB010B a E e 1 000 r min Servomotors of 900 W 20m R88A CAGB020S R88A CAGB020B 30m R88A CAGB030S R88A CAGB030B 40m R88A CAGB040S R88A CAGB040B 50m R88A CAGB050S R88A CAGB050B 3m R88A CAGC003S R88A CAGC003B 5m R88A CAGC005S R88A CAGC005B 10m R88A CAGC010S R88A CAGC010B 3 000 r min Servomotors of 2 kW 15m R88A CAGC015S R88A CAGC015B 2 000 r min Servomotors of 2 kW 20m R88A CAGC020S R88A CAGC020B 30m R88A CAGC030S R88A CAGC030B 40m R88A CAGC040S R88A CAGC040B 50m R88A CAGC050S R88A CAGC050B 3m R88A CAGD003S R88A CAGD003B 5m R88A CAGD005S R88A CAGD005B 10m R88A CAGD010S R88A CAGD010B 3 000 r min Servomotors of 3 to 5 kW 15m R88A CAGD015S R88A CAGD015B 2 000 r min Servomotors of 3 to 5 kW 1 000 r min Servomotors of 2 to 4 5 kW 20m R88A CAGD020S R88A CAGD020B 30m R88A CAGD030S
42. Torque Limit PCL NCL Current Feedback 5 2 Speed Control 5 2 Speed Control Function Performs speed control using commands from the Position Control Units for MECHATROLINK II CJ1W NCF71 CS1W NCF71 The Servomotor rotates at the command speed The current feedback value is divided by the Electronic Gear Ratio Pn205 Pn206 and expressed in the commanded units Host Controller OMNUC G Series Servo Drive MECHATROLINK II Compatible Issue Target Speed Specification Command OMNUC G Series Servomotor Speed Control Mode Position Control Unit CJ1W NCF71 CS1W NCF71 Issue Torque Feed forward Command Speed Control 2 Command e Feedback G1 Pn205 Position Speed G2 Pn206 o G1 G2 gt LL d c Parameters Requiring Settings D E Parameter name Explanation Reference page Electronic Gear Ratio 1 Numerator nes Electronic Gear Sets the electronic gear ratio G1 G2 29 Pn206 5 85 Ratio 2 Denominator Soft Start Sets the time for the Servomotor to accelerate from 0 to Pn058 i 5 74 Acceleration Time maximum speed r min Pn059 Soft Start Sets the time for the Servomotor to decelerate from maxi 5 74 Deceleration Time mum speed to 0 r min Speed Gontormity Sets the detection width for the speed conformity output Pn061 Signal Output width VCMP 5 75 Width Rotation Speed for Pno62 Motor Rotation Sets the rotations for the motor
43. a Press the D key to display Monitor Mode LI m lt Ww Z i I Press the key five times to display Copy Mode i ma is 1 Press the A key to switch to the copy display for copying from the Param eter Unit to the Servo Drive 7 1 is My 7 o 2 Checking the Servo Drive Model Code Key operation Display example Explanation Press the Gara key to switch to Copy Mode MJ 7 r 1 J Press and hold the Q key until EEP_CH is displayed If the model codes do not match DIFFER will be displayed The bar indicator will increase when the key is pressed for 3 s or longer ra ia a M 1 a I 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 on the next page to perform the procedure If the model codes match the display will proceed to the display in 4 Execut ing Copying 6 29 6 4 Setting the Mode 3 Different Model Codes Key operation Display example Explanation 1 Sm i m The decimal point will move to the left when the key is pressed for 3 s or longer 1 m 1 The model codes are being matched 1
44. deceleration times and lowering the speed with the reduced load 2 Increase the setting for Pn209 8 9 8 3 Troubleshooting Alarm Troubleshooting Alarm Name Cause Countermeasure code The rotation speed of the Servomotor Check that excessive speed exceeded the setting of the Overspeed commands have not been issued Detection Level Setting Pn073 If overshoot is occurring due to eo Overspeed improper gain adjustment adjust the gain for the position loop and the speed loop The operation command resulted in an Check that the operation commands error are correct 1 Incorrect value in position 1 Review the operation commands command and settings The amount of change in the Check the settings For example position command value calculat check that the amount of change ed with the electronic gear ratio for the position command is not too exceeded the specified value large i e interpolation function The travel distance required for the backlash compensation acceleration deceleration amount is not too large the calculated when starting backlash compensation time positioning exceeded the constant is not too small the specified value electronic gear ratio is not too large 27 amanda 2 AMECHATROLINK II link was and the acceleration deceleration established with the host while is not too small executing a standalone operation 2 Do not actuate the network while nor
45. mm Press the Gara key to cancel copying before completion 4 Executing Copying Key operation Display example Explanation i pia i J n 1 sa y Writing user parameters to the EEPROM of the Servo Drive will start a ln a WW Eee WW D 1 The positioning parameters are copied wn 2 1 ae CZ a D a c a Operation The Servo parameters are copied J 7 wn w This display indicates a normal completion 5 Returning to Copy Mode Key operation Display example Explanation a J Ll 1 Press the D key to return to Copy Mode Precautions for Correct Use If E cor beginning Press the Gara key to clear the 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 is displayed before completion repeat the
46. 8 23 replacing the Servo Drive ee ee ee ee eee eee rete 8 2 replacing the Servomotor c eee eee eeeeeee teeta 8 2 Reverse Drive Prohibit 5 10 Reverse Drive Prohibit Input NOT 3 11 5 23 Reverse Software Limit PN202 eceeeeees 5 84 Reverse Torque Limit Input NCL 2 3 11 5 23 Rotation Speed for Motor Rotation Detection PROBZ ieee ieee cea ad eda 5 75 rotational speed characteristics for 1 000 r min SOrVOMOUOSS esecececceeesseneeeeeeseeecseeesesaeeeseeneeteenenes 3 29 rotational speed characteristics for 2 000 r min SOrvOMOtOSS ecscccecceeeeceeeeeceeseeeseeeeeeeaeeeeeeneeseeeeses 3 27 rotational speed characteristics for 3 000 r min Flat SOPVOMOTOIS siisii cies dese ccheeseieavdie es ceeneeeeedeeeciaeens 3 25 rotational speed characteristics for 3 000 r min SOrvVOMOOSS E S E E RS 232 Baud Rate Setting Pn00C S Sequence Input Signals eneee 5 23 Sequence Output Signals 5 25 Servo Drive characteristiCs c cccccsseceessssteeeeees 3 2 Servo Drive dimensiOns ccccssceeeessseeesesteeeeess 2 23 Servo Drive functions cccceeeesseeeeeeeseeeeessteeeeeess 1 4 Servo Drive General Specifications cce 3 1 Servo Drive installation Conditions ccceeeees 4 1 Servo Drive models cccccccesseseeeeessteeeeessneeeeeess 2 1 Servo Drive part NAMES 1 3 Servo Drive Service life ccccesscc
47. D i 5 Pa Parameter name Setting Explanation Detek Unit Seting 2 No setting range 5 lt Sets the deceleration stop operation to be performed after the Forward Drive Prohibit Input POT or Reverse Drive Prohibit Input NOT is enabled After During stopping Er deceleration 30 r min or Deviation gounter less Disables Cleared while torque com decelerating with Dynamic Fea 0 brake mand in drive dynamic brake prohibited Retained after direction stopping Disables Cleared while f torque com Disables a decelerating 1 mand in drive h torque ee Retained after prohibited stoppin direction pping Retained while Emergency PE a or 2 Stop Torque Servo locked p 1P deceleration and Pn06E 3 retained after stopping Note1 The positioning command generation process positioning operation within the Servo Drive will be Stop Selection for forcibly stopped once it enters the deceleration 066 Drive Prohibition mode Also when the deceleration mode is 0 oe O0to2 C Input activated during speed control or torque control it will switch to position control If a positioning operation command is received during deceleration the internal positioning command generation process will be retained and after deceleration is complete positioning operation will be activated Note2 When the Servomotor rotation speed is 30 r min or less stopped the deceleration mode will not be activated even
48. Function Performs torque control using commands from the Position Control Units for MECHATROLINK II Operating Functions CJ1W NCF71 CS1W NCF71 The Servomotor operates with the commanded torque output The current feedback value is divided by the Electronic Gear Ratio Pn205 Pn206 and expressed in the commanded units Host Controller MECHATROLINK II Compatible Position Control Uni CJ1W NCF71 CS1W NCF71 Torque Control Command OMNUC G Series Servo Drive Issue Torque t Specification Command Torque Control Issue Speed Limit Command G1 Pn205 G2 Pn206 L G1 G2 y Feedback Position Speed Parameters Requiring Settings OMNUC G Series Servomotor eee Parameter name Explanation Reference page Electronic Gear Ratio 1 Pn205 Numerator 5 85 Pn206 Electronic Gear Sets the electronic gear ratio G1 G2 5 85 Ratio 2 Denominator Pn053 Speed Limit Limits the speed during torque control 5 74 Speed Limit Selects speed limit control from the network or through Pn0O5B P 5 75 Selection internal parameter Pn053 Pn003 Torque Limit Selects torque limit from the network or through 5 87 Selection parameter settings PnO5E No 1 Torque Limit Sets the No 1 Servomotor output torque limit 5 75 PnO5F No 2 Torque Limit Sets the No 2 Servomotor output torque limit 5 75 Pn01D Notch Filter 1 Sets the notch filter 1 frequency for the torque command 5 68 Freq
49. HPG50A114KOSBL1 HPG65A204KOSBL HPG65A254K0SB R88M R88G R88G R88G R88G Des G5K020T HPG50A055KOSBL HPG50A115KOSBL1 HPG65A205KOSBL_ HPG65A255KOSB R88M R88G R88G Me T a G7K515T HPG65A057K5SBL HPG65A127K5SB 2 45 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 HPG32A05900TB HPG32A11900TB HPG50A21900TB HPG50A33900TB R88G R88M R88G R88G R88G HPG65A255K0SB G2K010T HPG32A052K0TB HPG50A112KOTB HPG50A212K0TB Also used with R88M G5K020T R88G R88G R88G R88G R88M HPG50A055KO0SB HPG50A115KOSB HPG65A205K0SB HPG65A255KO0SB G3K010T Also used with R88M Also used with R88M Also used with R88M Also used with R88M G5K020T G5K020T G5K020T G5K020T R88G R88M R88G HPG65A127K5SB R88G _ G4K510T HPG50A054K5TB Also used with R88M HPG65A204K5TB G7K515T R88G R88G R88M HPG65A057K5SB HPG65A127K5SB ye Ky G6K010T Also used with R88M Also used with R88M G7K515T G7K515T 2 46 Standard Models and Dimensions Standard Models and Dime
50. M5 L1 L2 and L3 Torque N m 2 0 Rated current A 0 07 0 1 0 12 0 12 0 14 Control circuit Wire size z AWG18 power supply input L1C and L2C Screw size M5 Torque N m 2 0 Rated current A 9 4 13 4 18 6 33 0 47 0 c Servomotor D connection Wire size AWG14 AWG12 AWG8 AWG6 D terminals o Screw size M5 Q U V W and GR 2 m Torque N m 2 0 Wire size AWG14 AWG12 AWG8 g a ground Screw size M4 M5 Torque N m 1 2 2 0 N 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 Wire Sizes 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 Nominal Allowable current A for ambient temperature Configura Conductive cross sec 3 AWG size tonal area tion resistance y 7 x 2 wires mm Q km 30 C 40 C 50 C mm 20 0 5 19 0 18 39 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6 9 53 23 20 16 12 3 5 7 0 8 5 41 33 29 24 10 5 5 7 1 0 3 47 43 38 31 8 8 0 7 1 2 2 41 55 49 40 6 14 0 7 1 6 1 35 79 70 57
51. 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 37 3 3 Decelerator Specifications Decelerators for 3 000 r min Flat Servomotor Maxi Rated _ mum MEYE Allow Allow Effi mum Decelera rota Rated momen able able cien momen tor Weight Model tion torque tary jay radial thrust cy tary inertia speed rotation load load torque speed r min Nm r min N m kg m N N kg R88G 3 44 7 1 5 HPG11B05100PB 600 1 28 80 1000 3 36 5 00 x 10 135 538 0 34 R88G 7 06 6 1 11 HPG14A11100PB 273 2 63 75 454 6 89 6 00 x 10 280 1119 1 04 100 R88G 14 5 6 Ww 1 21 HPG14A21100PB 143 5 40 80 238 14 2 5 00 x 10 340 1358 1 04 R88G 18 6 5 1 33 HPG20A33100PB 91 6 91 65 151 18 1 4 50 x 10 916 3226 2 9 R88G 25 3 5 1 45 HPG20A45100PB 67 9 42 65 111 24 7 4 50 x 10 1006 3541 2 9 R88G 5 1 5 HPG14A05200PB 600 2 49 78 1000 7 01 2 07 x 10 221 883 0 99 R88G 5 1 11 HPG20A11200PB 273 4 75 68 454 13 4 5 80 x10 659 23
52. Origin Proximity 0 N C contact origin proximity detected on 042 Input Logic OPEN 1 Oto1 C Setting 4 N O contact origin proximity detected on CLOSE Sets the relationship between polarity of operation data sent over the network and the direction of f Servomotor rotation 043 n Operating Sets the reverse direction as the positive 1 Oto 1 C Direction Setting 0 are direction A Sets the forward direction as the positive direction Sets the terminal assignment for Drive Prohibit Input 044 oe 0 sooo pin 19 to POT CN1 pin 20 to 0 oe Oto f c A Sets CN1 pin 19 to NOT CN1 pin 20 to POT 045 Reserved Do not change 0 046 Reserved Do not change 0 047 Reserved Do not change 0 048 Reserved Do not change 0 049 Reserved Do not change 0 04A Reserved Do not change 0 04B Reserved Do not change 0 04C Reserved Do not change 0 04D Reserved Do not change 0 04E Reserved Do not change 0 04F Reserved Do not change 0 050 Reserved Do not change 0 051 Reserved Do not change 0 052 Reserved Do not change 0 Sets the speed limit for torque control mode ee The value is an olute val 2 to OOS Speed Limit W erie fa eee Te Oeeea 30 ane 20000 2 Detection Level Setting Pn073 054 Reserved Do not change 0 055 Reserved Do not change 0 0
53. Vibration Frequency 1 Sets the Vibration Frequency 1 for damping control to sup press vibration at the end of the load The setting frequency range and adaptive filter operation depend on the filter type se lected with the Vibration Filter Selection Pn024 Set to 0 if the damping control is not used See Note 1 5 71 Pn02C Vibration Filter 1 Setting Decrease this setting if torque saturation occurs when set ting the Vibration Frequency 1 Pn02B Increase it to make the operation faster Normally use a setting of 0 The setting range depends on the filter type selected with the Vibration Filter Selection Pn024 as shown below if Vi bration Filter 1 is enabled Note This parameter is disabled when Vibration Filter 1 is disabled Normal type Setting range 200 to 2000 Setting range 100 lt Pn02B Pn02C lt Pn02B x 2 or 2000 Low pass type Setting range 200 to 2000 Setting range 10 lt Pn02B Pn02C lt Pn02B x 6 5 71 Pn02D Vibration Frequency 2 Same function as Pn02B 5 71 Pn02E Vibration Filter 2 Setting Same function as Pn02C 5 72 5 51 5 25 Damping Control Note Details on the vibration filter settings are as follows Vibration Filter Mode Selection Description of setting Selection Vibration frequency setting range 10 0 to 200 0 Hz Normal type Disabled when set to 0 to 99 Filter type Adaptive filter can be used selectio
54. 200 165 163 122 103 12 0 53 PNN 1 20 R88G HPG65A205K0SB 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 25 R88G HPG65A255K0SB 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 5 R88G HPG50A054K5TB 149 156 170 180x180 190 200 165 163 122 103 12 0 53 4 5 kW 1 12 R88G HPG65A127K5SB 254 5 222 230 180x180 260 200 220 214 168 165 12 0 57 1 20 R88G HPG65A204K5TB 254 5 222 230 180x180 260 200 220 214 168 165 12 0 57 1 5 R88G HPG65A057K5SB 184 5 222 230 180x180 260 200 220 214 168 165 12 0 57 ake 1 12 R88G HPG65A127K5SB 254 5 222 230 180x180 260 200 220 214 168 165 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 53 2 2 External and Mounting Hole Dimensions Dimensions mm s Tap
55. 20m R88A CAGE020B 30m 40 m R88A CAGE030B R88A CAGE040B 50 m R88A CAGE050B 2 17 2 1 Standard Models E Encoder Cables Robot Cables Specifications Model 3m R88A CRGA003CR 5m R88A CRGA005CR 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 CRGBO0O3CR 5m R88A CRGBOO5CR 10m R88A CRGB0O10CR 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 CRGB020CR with an incremental encoder 30m R88A CRGBO30CR 40m R88A CRGBO40CR 50m R88A CRGBO50CR 3m R88A CRGCO03NR 5m R88A CRGCOO5NR 10m R88A CRGCO10NR Standard Models and Dimensions 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW 15m R88A CRGCO15NR 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 2 1 Standard Models E Servomotor Power Cables Robot Cables Specifications Model For Servomotor without brake For Servomotor with
56. 3 4 Cable and Connector Specifications R88A CAGCLIBR Cable Models For 3 000 r min Servomotors of 2 kW and 2 000 r min Servomotors of 2 kW Model Length L Outer diameter of sheath Weight R88A CAGCO003BR 3m Approx 0 9 kg R88A CAGCO05BR 5m Approx 1 5 kg E R88A CAGC010BR 10m Approx 2 8 kg R88A CAGC015BR 15m Approx 4 2 kg 12 7 6 1 dia o R88A CAGCO020BR 20m Approx 5 5 kg c R88A CAGC030BR 30m Approx 8 2 kg R88A CAGCO40BR 40 m Approx 10 9 kg S R88A CAGC050BR 50m Approx 13 6 kg Q Connection Configuration and Dimensions 70 L NF Servo Drive ss Servomotor R88D GN g if a ns R88M G n PE a sais oe ay eo 19 a Wiring Servo Drive Servomotor No Signal Brake Brake NC Phase U Phase V Phase W Ground Ground NC Servomotor Connector Straight plug N MS3106B20 18S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics olimi n gt IlO O Cable AWG20 x 2C UL2464 Cable AWG14 x 4C UL2501 Crimp terminals 3 62 3 4 Cable and Connector Specifications R88A CAGDL IBR 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
57. 32768 8000h 32768 nite 1 FFFFh 65535 s 10B Reserved Do not change 0 10C Reserved Do not change 0 ae 10D Reserved Do not change 0 e LAE Sets the moving average time for position commands Note Ifthe Moving Average Time is set commands may Movino Average not be executed seamlessly when switching the x0 1 10E Te 9 control mode and when switching between 0 is Oto 5100 B interpolation feed motions and positioning motions motions wherein the command waveforms are generated inside the Servo Drive Sets the direction for origin return 10F AE O Positive direction 0 Oto1 B 1 Negative direction Sets the operating speed for origin return from when the origin proximity signal is turned ON to when it is turned 100 Ongin Patum i Ger and tha laich signal is detected lomi 110 Appro ch speed This parameter can be set to a maximum value of 32767 20 mand tee nO 7AB 1 A ae units but internally the speed is limited to the Servomotor s s maximum speed Sets the operating speed for origin return from when the 100 S point after the latch signal is detected to when the Origin Origin Return Fotu Final Distance Pn204 is reached Icom 111 Approach Speed Sium Final istance 5 mand 1 to 32767 B This parameter can be set to a maximum value of 32767 2 f B units but internally the speed is limited to the Servomotor s s maximum speed 5 82 N c O O 5 iL e c
58. 5 21 5 11 Speed Limit 5 11 Speed Limit Function Set the Servomotor rotation speed limit when using torque control The speed limit value can be set by the internal parameter Pn053 or from a host controller Parameters Requiring Settings Parameter Parameter name No Explanation Reference page Sets the speed limit when torque control is used This value is the same for both forward and reverse Pn053 Speed Limit directions 5 74 The setting must be less than the maximum rotation speed of the Servomotor Speed Limit Select to perform speed limit by the Speed Limit Pn053 or Pn05B naires the smaller value of either the speed limit from MECHA 5 75 TROLINK II or the Speed Limit Pn053 5 22 Operating Functions 5 12 Sequence Input Signals 5 12 Sequence Input Signals Function Input signals for controlling the Servo Drive operation Enable or disable the connections and functions as necessary Parameters Requiring Settings ee Parameter name Explanation Reference page Emergency Stop Enables or disables the emergency stop input The default Pn041 f ai ii 5 73 Input Setting setting is enabled Pn003 Torque Limit Sets whether to select torque limit using the Forward Torque 5 87 N Selection Limit PCL or Reverse Torque Limit NCL c Pn004 Drive Prohibit Input Sets whether to enable or
59. 9 1 Parameter Tables Pn No Parameter name Set ting Description Default Setting Unit Setting Range Attribute Set val ue 204 Origin Return Final Distance Sets the distance from the latch signal input position to the origin when performing origin return The operation after detecting the latch signal input position will be determined by the origin return direction and this parameter as follows Origin Sign return direction Positive Negative Decelerates toa stop reverses then moves in the negative direction and stops Moves in the positive direction and stops Positive direction Decelerates toa stop reverses then moves in the positive direction and stops Moves in the negative direction and stops Negative direction 1 Reverses after decelerating to a stop if the final distance for origin return is short in comparison to the deceleration distance 100 Com mand units 1073741823 to 1073741823 205 Electronic Gear Ratio 1 Numerator Sets the numerator for the electronic gear ra tio Setting this parameter to 0 automatically sets the encoder resolution as the numerator 131072 for a 17 bit absolute encoder or 10000 for a 2 500 p r incremental encoder Note Set the electronic gear ratio within the range of 1 100 to 100 times A parameter setting alarm alarm code 93 will occur if the ratio is s
60. 90 80 70 60 50 40 40 30 Pn013 Speed Feed back Filter Time Constant Pn014 Torque Command Filter Time Constant 253 126 103 84 65 57 45 38 30 25 202 162 13 11 102 102 Pn015 Speed Feed forward Amount 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 Pn016 Feed forward Filter Time Constant 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 Pn018 Position Loop Gain 2 190 380 460 570 730 840 1050 1260 1570 1820 2410 2930 3560 4400 5240 6490 Pn019 Speed Loop Gain 2 90 180 220 270 350 400 500 600 750 900 1150 1400 1700 2100 2100 3100 Pn01A Speed Loop Integration Time Constant 2 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 Pn01B Speed Feed back Filter Time Constant 2 Pn01C Torque Com mand Filter Time Constant 2 253 126 103 84 65 57 45 38 30 25 202 162 132 112 102 10 Pn020 Inertia Ratio Estimated load ine rtia ratio Pn027 Instantaneous Speed Observer Setting 0 0 0 0 0 0 Pn030 Gain Switching Ope
61. 9999 9999 Pn01B Speed Feedback Filter Time on 0 0 0 0 0 0 0 0 Constant 2 Pno1C Torque Command Filter Time a 30 25 2021 462 132 47 2 40 2 10 2 Constant 2 Pn020 Inertia Ratio Estimated load inertia ratio Instantaneous Speed RNO Observer Setting 9 0 9 y 9 0 s Pn030 Gain Switching Operating Mode K A A 1 1 1 Selection ki 1 to 6 10 10 10 10 10 10 10 10 Pn031 Gain Switch Setting 7 0 0 0 0 0 0 0 0 Pn032 Gain Switch Time 30 30 30 30 30 30 30 30 Pn033 Gain Switch Level Setting 50 50 50 50 50 50 50 50 prigg4 cee omen hysteresis 33 33 33 33 33 33 33 33 Setting Pn035 Position Loop Gain Switching me 20 20 20 20 20 20 20 20 Time Parameters Pn015 016 01A 030 and 032 to 035 are set to fixed values The Servo Drive is set to rigidity No 2 as the default value 1 The lower limit is set to 10 when using a 17 bit encoder and 25 when using a 2 500 p r encoder 2 The value for a 17 bit absolute encoder The value for a 2500 p r incremental encoder is 25 3 The default setting for the Servo Drive is 2 switching from the network 7 8 Adjustment Functions E Adjustment Functions be 7 3 Normal Mode Autotuning 7 3 Normal Mode Autotuning Normal mode autotuning is used to estimate the load inertia of the machine Position data generated within the Servo Drive is used to operate the mac
62. Accumulated pulses in reverse rotation are displayed with E Servomotor Speed aa i IIJ IAI Displays the Servomotor speed unit r min Speeds in reverse rotation are displayed with E Torque Output J Fa kad LJ I I rr l _ Displays the percentage of Servomotor torque output When the rated toque output for the Servomotor is used 100 is displayed Torque outputs in reverse rotation are displayed with E Control Mode F oS mE Position Control Mode S oc mE Speed Control Mode r Gert Torque Control Mode Displays which of position control speed control and torque control is being used 6 11 E I O Signal Status Input signal No 00 ON ON OFF or disabled Signal No display 0 to 1F hex w Input 4 ZZ Output Output signal No 1A OFF or disabled 6 4 Setting the Mode Displays the status of the control input and output signals connected to CN1 Input Signals CN1 Bond Abbreviation Name le No No 00 POT Forward Drive Prohibit Input 19 01 NOT Reverse Drive Prohibit Input 20 02 DEC Origin Proximity Input 21 06 EXT1 External Latch Signal 1 5 07 EXT2 External Latch Signal 2 4 08 EXT3 External Latch Signal 3 3 0A STOP Emergency Stop input 2 OB IN2 External General purpose 23 Input 2 oC PCL Forwa
63. B 1 units detected s x100 Origin Return Sets the operating speed for origin return from Com 111 Approach Speed when the latch signal is detected to when the 5 mand 1 to 32767 B 2 Origin Return Final Distance Pn204 is reached units s 9 16 Appendix Appendix 9 1 Parameter Tables o Pn Set Default Setting Z Set No Parameter name ting Explanation Setting Unit Range value lt x Selects the function for general purpose output 1 OUTM1 0 Always OFF INP1 output 1 Turn ON when position deviation is equal to or less than Pn060 for position control VCMP output Turn ON when the deviation between 2 Servomotor speed and commanded speed is within the range set by Pn061 for speed control TGON output 3 Turn ON when the absolute value of the Servomotor speed exceeds Pn062 set tings in all control modes READY output General Turn ON when the main power is supplied ursose Outout 4 there is no alarm and Servo SYNC with a 112 Purp id host controller is established in all control 7 0to9 C 1 Function modes Selection CLIM output 5 Turn ON when torque limit is activated in all control modes VLIM output 6 Turn ON when the Servomotor speed reaches the speed limit for torque control BKIR output 7 Turn ON with the release timing of the brake release signal in all control modes WARN output 8 Turn ON when a warning
64. Servo Drive Servomotor Signal 5 No Signal 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 47 3 4 Cable and Connector Specifications Absolute Encoder Battery Cable Specifications EES Cable Models Model Length L R88A CRGDOR3C 0 3 m r N Connection Configuration and Dimensions 5 43 5 300 43 5 Servo Drive T z n Servomotor E R88D ma 3 F D z a z ee G 9 ML2 Q Wiring Servo Drive Servomotor Connector socket 54280 0609 Molex Japan Connector plug 55100 0670 Molex Japan 3 48 Specifications 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 f 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 CAGAL S Cable Models For 3 000 r min Servomotors of 50 to 750 W and 3 000 r min Flat Servomotor
65. Servomotor R88D GN y ET T R88M G a Wiring Servo Drive Servomotor Signal Red Phase U White Phase V TEA Nall Phase W OO reen Yellow FG Cable AWG20x4C UL2464 M4 crimp terminals Servomotor Connector Connector 172159 1 Tyco Electronics AMP KK Connector pins 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK 3 54 Specifications Specifications 3 4 Cable and Connector Specifications R88A CAGBLISR 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 Weight R88A CAGB003SR 3m Approx 0 8 kg R88A CAGBO05SR 5m Approx 1 3 kg R88A CAGB010SR 10m Approx 2 4 kg R88A CAGB015SR 15m on Approx 3 5 kg R88A CAGB020SR 20m Approx 4 6 kg R88A CAGB030SR 30m Approx 6 9 kg R88A CAGB040SR 40m Approx 9 2 kg R88A CAGBO50SR 50m Approx 11 4 kg Connection Configuration and Dimensions Servo Drive i N gt Ts Wiring Servo Drive Red White Blue M4 crimp terminals 3 55 Green Yellow Cable AWG14x4C UL2501 Servomotor R88M G Signal Phase U Phase V Phase W FG Servomotor Connector Straight plug N MS3106B20 4S Japan Aviation Electronics Cable clamp N MS3057 12A Japan A
66. UE External Dimensions 5 2 dia R2 6 70 172 oooog Q0000 BRO ale oo zazo 150 0000 oo0esq 170 180 N a Mounting Hole Dimensions Two M4 KX Oo 7 a VT A i D z y re 50 e gt 65 Front Panel Mounting Using Mounting Brackets 172 170 Mounting Dimensions Reference Values Square hole 158 67 ol Note The dimensions of the square hole are reference values 2 26 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E Single phase Three phase 200 VAC R88D GN10H ML2 GN15H ML2 900 W to 1 5 kW Wall Mounting External Dimensions Mounting Hole Dimensions 85 70 172 gt Fees Two M4 Dinne e zed ve o i A z ye La o E 3 g JA ee T Rtg i Eem 000 zA o la a en al y Tio if 7 5 70 J iS 85 Front Panel Mounting Usin
67. j 5 67 Constant Normally use a setting of 0 Setting range 0 to 5 Speed Feedback re Pn01B Filter Time Selects the 2nd speed detection filter time constant 5 68 Constant 2 Normally use a setting of 0 Setting range 0 to 5 The settings and cut off frequencies of Pn013 and Pn0O1B are as follows Setting Frequency Hz 0 eae 1 1820 2 1120 3 740 4 680 5 330 5 40 Operating Functions Operating Functions 5 20 P Control Switching 5 20 P Control Switching Function This function switches speed loop control from PI control to P control Switching to P control reduces the servo rigidity and eliminates vibration The absence of the integration time results in greater speed and position deviations due to external forces and load torques Parameters Requiring Settings There are no parameters to set This is set by command from the network 5 21 Torque Command Filter Time Constant 5 21 Torque Command Filter Time Constant Function Set the primary filter applied to the torque command The 1st and 2nd filter is switched by gain switching The torque command filter can suppress machine vibration that occurs when a servo loop is configured Adjusting the time constant of the torque command filter may be able to suppress vibration Responsiveness worsens by increasing the time constant Overshoots may occur as the servo rigidity decreases Depending
68. 2 There is excessive load The effective values of the torque Check that the torque current wave commands have exceeded the over form is not oscillating and that it is not load level set by the Overload Detec fluctuating significantly in the vertical tion Level Setting Pn072 Operation direction Check the overload warning is performed with reverse time charac display and the load ratio teristics 1 Increase the capacity of the Servo 1 The load is excessive and the Drive and Servomotor or reduce effective torque has exceeded the the load Or increase the set level and operation has been acceleration deceleration time to performed for a long time reduce the effective torque 16 Overload 2 Oscillation hunching and vibration 2 Readjustthe gain to stop oscillation are occurring due to improper gain adjustment 3 Servomotor phases are incorrectly wired and or are disconnected 4 The mechanical load is increasing There is a problem with the mechanics 5 The holding brake is ON 6 The Servomotor lines are incorrectly wired between multiple axes and hunching 3 Connect the Servomotor lines as specified in the wiring diagram Replace the cables 4 Check that the mechanics operate smoothly 5 Measure the voltage at the brake terminal Turn OFF the brake Note You cannot reset the warning for at least 10 seconds after it occurred 8 8 Troubleshooting Troubleshooting 8 3 Troubleshootin
69. 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 Model Dimensions mm Model elsitiz zo att Key dimensions Poon QK b h tt M L 1 5 R88G HPG11B05100B 5 8 20 3 4 M4x9 M3 15 3 3 18 M3 6 1 9 R88G HPG11B09050B 5 8 20 3 4 M4x9 M3 15 3 3 18 M3 6 50 W 1 21 R88G HPG14A21100B 8 16 28 5 5 M4x10 M3 25 5 5 3 M4 8 1 33 R88G HPG14A33050B 8 16 28 5 5 M4x10 M3 25 5 5 3 M4 8 1 45 R88G HPG14A45050B 8 16 28 5 5 M4x10 M3 25 5 5 3 M4 8 1 5 R88G HPG11B05100B 5 8 20 3 4 M4x9 M3 15 3 3 18 M3 6 1 11 R88G HPG14A11100B 8 16 28 5 5 M4x10 M3 25 5 5 3 M4 8 100 W 1 21 R88G HPG14A21100B 8 16 28 5 5 M4x10 M3 25 5 5 3 M4 8 1 33 R88G HPG20A33100B 10 25 42 9 0 M4x10 M4 36 8 7 40 M6 12 1 45 R88G HPG20A45100B 10 25 42 9 0 M4x10 M4 36 8 7 40 M6 12 1 5 R88G HPG14A05200B 8 16 28 5 5 M4x10 M4 25 5 5 3 M4 8 1 11 R88G HPG14A11200B 8 16 28 5 5 M4x10 M4 25 5 5 3 M4 8 200 W 1 21 R88G HPG20A21200B 10 25 42 9 0 M4x10 M4 36 8 7 40 M6 12 1 33 R88G HPG20A3
70. Allowable thrust load S N 58 98 98 58 98 98 Weight Without brake kg Approx 0 7 Approx 1 3 Approx 1 8 Approx 0 7 Approx 1 3 Approx 1 8 With brake kg Approx 0 9 Approx 2 Approx 2 5 Approx 0 9 Approx 2 Approx 2 5 jase shield dimensions eae ra 170 x 160 x t12 Al ie A X 170 x 160 x t12 Al Applicable Servo Drives R88D ea ee ee ae pei Pea Brake inertia a 3x106 9x108 9x108 3x106 9x10 9x108 Excitation voltage 4 V 24 VDC 10 24 VDC 10 a eo w 7 10 10 7 10 10 Goce A 0 29 0 41 0 41 0 29 0 41 0 41 Static friction torque N m 0 29 min 1 27 min 1 27 min 0 29 min 1 27 min 1 27 min E Attraction time ms 50 max 60 max 60 max 50 max 60 max 60 max 5 Release time ms 15 max 15 max 15 max 15 max 15 max 15 max Backlash 1 reference value 1 reference value oO E E work p r J 137 196 196 137 196 196 Allowable total work J 44 1 x 108 147 x 10 147 x 10 44 1 x 108 147 x 10 147 x 103 Allowable angular rad s2 l 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 Rating Continuous Continuous Insulation grade o Type B Type B 3 24 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
71. DEC 21 MA A y 4 7kQ General purpose 1ka AY lt Input O INO 122 E 4 7KQ 1 WW Preseason scebeetwscvuee ony General purpose 1kO AY w Input 2 IN2 23 in oe Note Inputs for pins 19 and 20 are determined by parameter settings The diagram shows the default configuration 5 24 Operating Functions 5 13 Sequence Output Signals 5 13 Sequence Output Signals Function Sequence output signals that output the Servo Drive status Parameters Requiring Settings EER Parameter name Explanation Reference page General purpose Pn112 Output 1 Function Selects the function for general purpose output 1 OUTM1 5 83 Selection General purpose Pn113 Output 2 Function Selects the function for general purpose output 2 OUTM2 5 83 Selection General purpose Pn114 Output 3 Function Selects the function for general purpose output 3 OUTM3 5 83 Selection m CN1 Control Output Signals ee Symbol Name Function Interface 15 ALM The output is OFF when an alarm is generated in the ABT Oupu Servo Drive 16 ALMCOM 29 OUTM2 General purpose Output 2 READY of a This is a general purpose output The function for this 31 OUTM3 General purpose ie is sig by ps ee m efer to Output Signal Assignment Details on the nex 32 OUTM3COM Output 3 CLIM ee P g g 36 OUTM1 General purpose 35 OUTM1COM Output 1 BKIR 5 13 Sequence Output Signals Output Signal As
72. Dimensions mm Model Gls Ilza z2 aT Key dimensions nie hte QK b h ti M L 1 5 R88G HPG11B05100PBL 5 8 20 3 4 M4x9 M3 15 3 3 18 M3 6 1 11 R88G HPG14A11100PB 8 16 28 5 5 M4x10 M3 25 5 5 3 0 M4 8 100 W 1 21 R88G HPG14A21100PB 8 16 28 5 5 M4x10 M3 25 5 5 3 0 M4 8 1 33 R88G HPG20A33100PB 10 25 42 9 0 M4x10 M3 36 8 7 4 0 M6 12 1 45 R88G HPG20A45100PB 10 25 42 9 0 M4x10 M3 36 8 7 4 0 M6 12 Dimensions mm Model LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 1 5 R88G HPG14A05200PB 65 0 58 60 80x80 70 90 56 0 55 5 40 37 2 5 21 1 11 R88G HPG20A11200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 200 W 1 21 R88G HPG20A21200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 1 33 R88G HPG20A33200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 1 45 R88G HPG20A45200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 Dimensions mm Model e lsltiaz zo lat Key dimensions PL ae QK b h tt M L 1 5 R88G HPG14A05200PB 8 16 28 5 5 M5x12 M4 25 5 5 3 0 M4 8 1 11 R88G HPG20A11200PB 10 25 42 9 0 M5x12 M4 36 8 7 40 M6 12 200 W 1 21 R88G HPG20A21200PB 10 25 42 9 0 M5x12 M4 36 8 7 40 M6 12 1 33 R88G HPG20A33200PB 10 25 42 9 0 M5x12 M4 36 8 7 40 M6 12 1 45 R88G HPG20A45200PB 10 25 42 9 0 M5x12 M4 36 8 7 40 M6
73. G1K520T B S2 WN Servomotor brake connector LL 55 130 x 130 Encoder with key and tap enue i 12 6 E A Four 9 dia Eight h 9 Dimensions of shaft end 22 dia h 6 84 4 LLII a i 110 dia h 7 M5 depth 12 Dimensions mm Model oqe LL R88M G1K020 150 R88M G1K520 175 R88M G1K020Ll B R88M G1K520Ll B 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 Standard Models and Dimensions E 2 000 r min Servomotors 2 kW 3 kW R88M G2K020T S2 G3K020T S2 G2K020T B S2 G3K020T B S2 ESE Servomotor brake Dimensions of shaft end connector 7 LL LR 130 x 130 with key and tap Encoder S Lw p connector 2e k LLA Four 9 dia TNN l 5 Eight h 9 2 s N l ld t D ss ed Moct Dimensions mm LL LR S LW QK MIJIL R88M G2K020 200 55 22 45 41 M5 12 R88M G3K020 250 65 24 55 51 M8 20 R88M G2K020L B 225 55 22 45 41 M5 12 R88M G3K020L B 275 65 24 55 51 M8 20
74. If the Servomotor exceeds the limit the network re sponse status NSOT will turn ON 1 Note1 Be sure to set the limits so that Forward Software Limit gt Reverse Software Limit Note2 NSOT is not turned ON when origin return is incomplete 500000 Com mand units 1073741823 to A 1073741823 203 Final Distance for External Input Positioning Sets the distance to travel after detecting the latch signal input position when performing external input positioning The operation after detecting the latch signal input position will be determined by the external input posi tioning direction and this parameter as follows External input positioning direction Sign Positive Negative Positive direction Moves in the positive direction and stops Decelerates to a stop reverses then moves in the negative direction and stops Negative direction Decelerates to a stop reverses then moves in the posi tive direction and stops Moves in the negative direction and stops 1 Reverses after decelerating to a stop if the final distance for external input positioning is short in comparison to the deceleration distance 100 Com mand units 1073741823 to B 1073741823 5 84 Operating Functions Operating Functions 5 26 User Parameters D Pin Paramet
75. M4 M5 M3 12 16 4 4 2 5 50W 1 9 R88G VRSF09B100CJ 12 20 M4 M5 M3 12 16 4 4 25 1 15 R88G VRSF15B100CJ 12 20 M4 M5 M3 12 16 4 4 25 1 25 R88G VRSF25B050CJ 12 20 M4 M5 M3 12 16 4 4 2 5 1 5 R88G VRSF05B100CJ 12 20 M4 M5 M3 12 16 4 4 25 400 W 1 9 R88G VRSFO9B100CJ 12 20 M4 M5 M3 12 16 4 4 2 5 1 15 R88G VRSF15B100CJ 12 20 M4 M5 M3 12 16 4 4 2 5 1 25 R88G VRSF25B100CJ 12 20 M4 M5 M3 12 16 4 4 2 5 1 5 R88G VRSFO5B200CJ 12 20 M4 M5 M4 12 16 4 4 2 5 200W 1 9 R88G VRSFO9C200CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 15 R88G VRSF15C200CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 25 R88G VRSF25C200CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 5 R88G VRSFO5C400CJ 19 30 M4 M6 M4 20 22 6 6 3 5 400 W 1 9 R88G VRSFO9C400CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 15 R88G VRSF15C400CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 25 R88G VRSF25C400CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 5 R88G VRSF05C750CJ 19 30 M5 M6 M4 20 22 6 6 3 5 750 W 1 9 R88G VRSFO9D750CJ 24 40 M5 M8 M4 20 30 8 7 4 1 15 R88G VRSF15D750CJ 24 40 M5 M8 M4 20 30 8 7 4 1 25 R88G VRSF25D750CJ 24 40 M5 M8 M4 20 30 8 7 4 Outline Drawings Set bolt AT
76. Model Gls lez 70 AT Key dimensions dimensions QK b h tt M L 1 5 R88G HPG32A05900TB 13 40 82 11 M8x25 M6 70 12 8 5 0 M10 20 900 W 1 11 R88G HPG32A11900TB 13 40 82 11 M8x25 M6 70 12 8 5 0 M10 20 1 21 R88G HPG50A21900TB 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 1 33 R88G HPG50A33900TB 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A052KOTB 13 40 82 11 M12x25 M6 70 12 8 5 0 M10 20 2 kW 1 11 R88G HPG50A112KOTB 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 1 21 R88G HPG50A212K0OTB 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 1 25 R88G HPG65A255K0SB 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 5 R88G HPG50A055K0SB 16 50 82 14 M12x25 M6 70 14 9 15 5 M10 20 3 kW 1 11 R88G HPG50A115KOSB 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 1 20 R88G HPG65A205KOSB 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 25 R88G HPG65A255KOSB 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 5 R88G HPG50A054K5TB 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 4 5 kW 1 12 R88G HPG65A127K5SB 25 80 130 18 M12x25 M8 110 22 14 19 0 M16 35 1 20 R88G HPG65A204K5TB 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 6 kW 1 5 R88G HPG65A057K5SB 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 12 R88G HPG65A127K5SB 25 80 130 18 M12x25 M8
77. P CL are OFF E Torque Feed forward Function Selection 1to3 Enabled only during speed control Disabled if not using speed control 4to5 Always disabled 1to5 5 63 5 26 User Parameters Pn No Parameter name Setting Explanation Default setting Unit Setting range Attribute 004 Drive Prohibit Input Selection Sets the function for the Forward and Reverse Drive Prohibit Inputs CN1 POT pin 19 NOT pin 20 Decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibition Input Pn066 when both POT and NOT inputs are enabled When both POT and NOT inputs are OPEN the Drive Prohibit Input Error alarm code 38 will occur Both POT and NOT inputs disabled When either POT or NOT input becomes OPEN the Drive Prohibit Input Error alarm code 38 will occur Oto2 5 64 Operating Functions Operating Functions 5 26 User Parameters 4 a Parameter name Setting Explanation Detar Unit Seiling a o setting range 5 x Controls errors and warnings for MECHATROLINK II communications Note Use with this parameter set to 0 Program to stop immediately if using a value other than 0 Set the Consecutive Communications Error Detection Count in COM_ERR bit 8 to 11 The communications error alarm code 83 will occur when a communications error w
78. PNO53 eee ceeeeeeeeeeeeeeeseeeteeeeeee 5 74 Speed Limit Selection PNO5B cceeeeeeeeeeees 5 74 speed limit values 0 eee ee eeeeeeeeeeeneeeeeeeneeeeeeeaeeee 7 21 Speed Loop Gain PNO11 cceeeeeeeeeeeeeeteneeeeee 5 67 Speed Loop Gain 2 PN019 e cc eeeeeeeeeeeeeeeeeeeee 5 68 Speed Loop Integration Time Constant Pn012 5 67 Speed Loop Integration Time Constant 2 Pn01A 5 68 Speed monitor SP Selection Pn007 s s s 5 66 Stop Selection for Alarm Generation Pn068 5 78 5 96 Stop Selection for Drive Prohibition Input PnO66 ade tateh tele ets a eee 5 77 5 95 Stop Selection with Main Power OFF Pn067 RE GRAAL AERA ete Bee eae ites oe 5 78 5 96 Stop Selection with Servo OFF Pn069 5 78 5 96 SUIGE ADSOMDETS eee eee eaten etree irienn 4 33 surge SUPPICSSOMS araeir aeaee ie aisis 4 38 system block diagrams nssnnssnnsnnennsrinsrnsennsee 1 5 system configuration s seseseeeeesrsrrerrsrrerrerrereerrenee 1 2 T Terminal Block Wire SizesS eee 4 23 Terminal Block Wiring c cece eee teen enee 4 25 Torque Command Filter Time Constant 0 5 42 Torque Command Filter Time Constant Pn014 5 68 Torque Command Filter Time Constant 2 Pn01C ad Sia EE EN E E A E acetate 5 68 Forqu Control is sete havea aapa 5 7 torque control mode adjustment 7 21 Torque Feed forward uu eee eee eee eeseteeeeeeetees 5 39 Torque Liit ian ann ars
79. QK ay 2 60 Standard Models and Dimensions 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 1 5 dia 0 3mm e1 R88A RR22047S __ Thermal switch output I d E 3 amp OS A 6 t 2 20 R88A RR50020S 2 61 2 2 External and Mounting Hole Dimensions Reactor Dimensions E 3G3AX DL2002 i 1 A PON KA DPD P PA NIS amp gQ Two M4 E e i 1 X Ground terminal N M4 E Four 5 2x8 85 EES l a PAE i 1 yj g g O o V E 3G3AX DL2004 I ri SOE PD P PORE NS S tela 3 pA Two M4 Ground terminal 1 Qe i M4 E
80. Rated output W 1000 1500 2000 3000 4000 5000 Rated torque K N m 3 18 4 77 6 36 9 54 12 6 15 8 Rated rotation speed r min 3000 Max momentary rotation inin 5000 4500 speed Max momentary torque Nm 9 1 12 8 18 4 27 0 36 3 45 1 Rated current A rms 7 2 9 4 13 18 6 24 7 28 5 Max momentary current A rms 21 4 28 5 40 57 1 75 85 7 m2 Rotor inertia aan 1 69 x 10 4 2 59 x 104 3 46 x 104 6 77 x 104 1 27 x 10 9 1 78 x 10 Applicable load inertia 15 times the rotor inertia max 2 Torque constant 4 N m A 0 44 0 51 0 48 0 51 0 51 0 57 Power rate kW s 60 88 117 134 125 140 Mechanical ane ms 0 78 0 54 0 53 0 46 0 51 0 46 constant Electrical time constant ms 6 7 10 10 8 20 20 20 Allowable radial load 3 N 392 490 490 490 784 784 Allowable thrust load S N 147 196 196 196 343 343 Without brake kg Approx 4 5 Approx 5 1 Approx 6 5 Approx 9 3 a ee Weight Zl rm With brake kg Approx 5 1 Approx 6 5 Approx 7 9 Approx 11 et a Radiation shield dimensions 170 x 160 x 320 x 300 x 320 x 300 x material t12 Al 130 Al t20 Al 380 F50 KIOLA GN15H GN15H GN20H GN30H GN50H GN50H Applicable Servo Drives R88D ML2 ML2 ML2 ML2 ML2 ML2 m2 Brake inertia eos 2 5x10 3 3x 10 3 3x 10 3 3 x108 1 35 x 1041 35 x 104 Excitation voltage 4 V 24 VDC 10 Power consumption at 20 C W 18 19 19 19 22 22 Current consumption at 20 C A 0 74 0 81 0 81 0 81 0 9 0 9 no 6 Static friction torque N m
81. Settings changed in the Parameter Setting Mode must be saved to the EEPROM To do so the following procedure must be performed 1 Saving Changed Settings Key operation Display example Explanation _ Press the key to display Parameter Write Mode Press the D key to switch to Parameter Write Mode ODO Press the A key for 5 s or longer The bar indicator will increase CLD i Writing will start This display will appear only momentarily This display indicates a normal completion In addition to the n 5 either 5 Jor E may be displayed If E 5et 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 E a r_ is displayed if there is a writing error Write the data again rc J g J Operation 2 Returning to Parameter Write Mode Key operation ec GEL Press the D key to return to the Parameter Write Mode Display Display example Explanation 3 If a write error occurs write the data again If write errors continue to occur Precautions there may be a fault in the Servo Drive Do not turn OFF the power supply while writing to EE
82. The overspeed detection level is 1 2 times the maximum Servomotor rotation speed when the parameter is set to 0 Overspped Normally use a setting of 0 and set the level only when 073 Detection aY JA y 0 r min 0 to 20000 A Level Settin reducing the overspeed detection level 9 Note 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 074 Reserved Do not change 0 075 Reserved Do not change 0 076 Reserved Do not change 0 077 Reserved Do not change 0 5 79 5 26 User Parameters oO i 5 Bn Parameter name Setting Explanation Default Unit Setting 2 No setting range z lt 078 Reserved Do not change 0 aad sia 079 Reserved Do not change 0 a ete as 07A Reserved Do not change 0 aes s oe 07B Reserved Do not change 0 ede 07C Reserved Do not change 0 z zs 07D Reserved Do not change 0 sia Si iia 07E Reserved Do not change 0 s iz e 07F Reserved Do not change 0 aye ise aay 5 80 Operating Functions Operating Functions 5 26 User Parameters E 16 bit Positioning Parameters Parameter No 100 to 13F Pn No Parameter name Set ting Explanation Default setting Unit Setting range Attribute 100 Backlash Compensation Selection Enables or disables the backlash compensat
83. al l w L1C L2C OJ OS SW power supply Main circuit control Internal control power 9 a 1 9 IKA AKA KA MPU amp ASIC Position speed and torque processor X ra Regene R Current Relay Gate 9s Voltage Gate drive detection drive control detection Display setting circuits CN2 encoder signal connector supply PWM control E H Sr Encoder RS S gt communications gt 485 interface E E5V Cooling fan Control I O interface ee 2 EG RS 232 BAT gt interface ii Ga CN6A CN6B CN3 CN1 control I O connector connector connector connector MECHATROLINK II RS 232 communications line computer 1 5 Applicable Standards 1 5 Applicable Standards c 3 Oo EC Directives 5 g EC Dir Trade Product Applicable standards Comments D tives Saf for el f O afety requirements for electrical equipment for Eeg Voltage AC Servo Drive EN S9178 measurement control or laboratory use O irective AC Servomotors IEC 60034 1 5 Rotating electrical machines E Limits of radio disturbance and m
84. fan x J gt lt T c a m LI ma Lo gt lt an M J tan Ln T gt lt an i wr u cr a I rm Cc N 1 z i ln ont T J l Ne TN eM li ma LI I i mu Z aS gt lt I a c wie Position deviation 8 pulses 1000 r min Torque output 100 Position control display Input signal No 0 enabled No current errors Software version 1 01 No current warnings Operation 30 of allowable regeneration energy Overload load ratio 28 Inertia ratio 100 Total feedback pulses 50 Total command pulses 10 Automatic Servomotor recognition enabled 6 10 Operation 6 4 Setting the Mode 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 Pn001 For details refer to Default Display on page 5 62 E Position Deviation ml wy I ae Displays the number of accumulated pulses in the deviation counter unit pulse
85. i Q Q O Operating Functions 5 26 User Parameters Pn Set Default Setting 3 No Parameter name ting Explanation setting Unit range lt Selects the function for general purpose output 1 OUTM1 0 Always OFF INP1 output 1 Turn ON when position deviation is equal to or less than Pn060 for position control Undefined when not using position control VCMP output Turn ON when the deviation between the Servo 2 motor speed and commanded speed is within the range set by Pn061 for speed control Undefined when not using speed control TGON output 3 Turn ON when the absolute value of the Servomo tor speed exceeds Pn062 setting in all control modes READY output General purpose 4 Turn ON when the main power is supplied there Output 1 is no alarm and Servo SYNC with a host controller 112 i 7 Oto9 C Function is established in all control modes Selection CLIM output 5 Turn ON when torque limit is activated in all control modes VLIM output 6 Turn ON when the Servomotor speed reaches the speed limit for torque control Unde fined when not using torque control BKIR output 7 Turn ON with the release timing of the brake release signal in all control modes WARN output 8 Turn ON when a warning is issued in all control modes INP2 output Turn ON when the position deviation is equal to or 9 less than the Positioning Completion Range 2 Pn063
86. that makes the least fluctuation while monitoring the position deviation waveform and the actual speed waveform If changes are made to the Position Loop Gain Pn010 Speed Loop Gain Pn011 or Speed Loop Integration Time Constant Pn012 the optimum value for the Inertia Ratio Pn020 may have changed Readjust the value in the Inertia Ratio Pn020 so that the fluctuation will be minimal 5 25 Damping Control 5 25 Damping Control Function Damping control is used to reduce vibration when the end of the machine exhibits vibration This function is effective on vibration in machines with low rigidity The normal type is suitable for frequencies from 10 to 200 Hz the low pass type is for 1 to 200 Hz The adaptive filter 300 Hz or more can be used for the normal type but not for the low pass type Damping control works with position commands and thus cannot be used for speed and torque control gt Vibration at the end Servo Drive Vibration frequency changes depending on position PLC 2 NCF71 R88D GN c ML2 ro Q c lt gt gt Move I O The control block diagram for Damping Control is shown below P 5 Speed Command a Speed FF oO VFF ibration Fi MECHATRO
87. which may result in malfunction Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of Servo Drives 4 2 System Design System Design 4 1 Installation Conditions Servomotors E Operating Environment The environment in which the Servomotor is operated must meet the following conditions Operating the Servomotor outside of the following ranges may result in malfunction of the Servomotor Ambient operating temperature 0 to 40 C 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 E Impact and Load The Servomotor is resistant to impacts of up to 98 m s Do not apply heavy impacts or loads during transport installation or removal When transporting hold the Servomotor 7 S body itself and do not hold the encoder cable or connector areas Doing so may damage the Servomotor Always use a pulley remover to remove pulleys couplings or other objects from the shaft Secure cables so that there is no impact or load placed on the cable connector areas m Connecting to Mechanical Systems The axial loads for Servomotors are specified in Characteristics on page 3 18 If Ball screw center line an axial load greater than that specified is applied to a Servomotor
88. 0 10 UON JoJOWeled Jejeweled PON PUON Asewixny j Ss Cc 34 5 0 gs S Es o o asd 6 4 Setting the Mode 6 4 Setting the Mode Changing the Mode uoeiado 6 9 6 4 Setting the Mode Monitor Mode Position deviation Servomotor speed Torque output Control mode I O signal status Alarm history Software version Warning display Regeneration load ratio Overload load ratio Inertia ratio Total feedback pulses Total command pulses Not used Not used Automatic Servomotor recognition enabled disabled display Communications method display i m wr u t T J L ra a D T gt O I T m lo m lo J lo co E Jd rv T gt gt AT gen LIT ge FT T rr gt C C a a mr gt A M lt gt La gt Z a I 1 J J ont gt A cz 4 gt lt q r I J J Ww C N gt lt Le z I oO r
89. 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 2 The overload time constant s depends on the Servomotor The standard overload level is 115 Overload alarm code 16 cannot be reset for approximately 10 seconds after its occurrence Precautions for Correct Use 8 20 Troubleshooting Troubleshooting 8 5 Periodic Maintenance 8 5 D Periodic Maintenance 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 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 applicat
90. 0 36 n 5 Static friction torque N m 0 29 min 0 29 min 1 27 min 1 27 min E Attraction time gt ms 35 max 35 max 50 max 50 max 5 Release time ms 20 max 20 max 15 max 15 max 3 Backlash 1 reference value x lt Allowable work per J 39 2 39 2 137 137 braking Allowable total work J 4 9 x 10 4 9 x 10 44 1 x 10 44 1 x 108 Allowable angular rad s2 30 000 max Speed of 2 800 r min or more must not be changed in less than 10 ms Brake life 10 000 000 operations Rating Continuous Insulation grade Type B 3 18 Specifications 3 2 Servomotor Specifications 200 VAC Model R88M Go5030H G10030H G20030H G40030H G75030H Item Unit G05030T G10030T G20030T G40030T G75030T Rated output W 50 100 200 400 750 Rated torque 1 N m 0 16 0 32 0 64 1 3 2 4 Rated rotation speed r min 3000 n a rotation rhin 5000 4500 Max momentary torque a N m 0 45 0 90 1 78 3 67 7 05 Rated current A rms 1 1 1 1 1 6 2 6 4 Max momentary current A rms 3 4 3 4 4 9 7 9 12 1 Rotor inertia oe 25x106 51x106 1 4x108 26x108 87x10 20 times the Applicable load inertia 30 times the rotor inertia max rotor inertia max Torque constant a N m A 0 14 0 19 0 41 0 51 0 64 Power rate kW s 10 4 20 1 30 3 62 5 66 tea une ms 1 56 1 1 0 71 0
91. 10 1126 4488 8 4 Ww R88G 4 1 21 HPG50A21900TB 47 169 8 94 95 362 4 7 00 x 10 3611 12486 19 1 R88G 4 1 33 HPG50A33900TB 30 268 5 94 60 573 2 5 90x10 4135 14300 19 1 R88G 4 1 5 HPG32A052K0TB 200 90 2 95 400 196 1 4 90x 10 889 3542 8 9 R88G 4 5 1 11 HPGS50A112KOTB 90 198 4 94 182 430 9 8 40x10 2974 10285 20 1 i 1 21 P88G 47 320 0 95 95 786 8 6 50x10 3611 12486 20 1 HPG50A212K0TB R88G 3 1 25 HPG65A255KO0SB 40 446 7 94 80 971 1 2 81 x10 7846 28654 55 4 R88G 3 1 5 HPG50A055K0SB 200 133 9 94 400 282 9 1 10 x 10 2347 8118 22 0 R88G 4 3 1 11 HPGS50A115K0SB 90 246 0 95 182 684 0 8 40x10 2974 10285 23 5 o 1 20 forse 50 534 7 94 100 1129 2 2 85 x108 7338 26799 55 4 HPG65A205K0SB i i R88G 3 1 25 HPG65A255K0SB 40 669 9 94 80 1411 5 2 81x10 7846 28654 55 4 R88G 3 1 5 HPGS50A054K5TB 200 203 5 95 400 479 2 1 20 x 10 2347 8118 22 0 4 5 R88G 2 kW 1 12 HPG65A127K5SB 83 485 6 94 166 1142 9 2 02 x10 6295 22991 52 0 R88G 2 1 20 HPG65A204K5TB 50 813 1 95 100 1915 0 1 92 x10 7338 26799 52 0 R88G 2 1 5 HPG65A057K5SB 200 268 1 94 400 609 7 2 07 x10 4841 17681 48 0 oe 1 12 RSSG 83 650 3 95 166 1477 3 2 02 x10 6295 22991 52 0 HPG65A127K5SB i 1 Rated torque indicates the allowable rated torque for the decelerator Do not exceed this value
92. 110 22 14 19 0 M16 35 1 This is the set bolt Outline Drawings C1xC1 E Set bolt AT Four Z2 all Ft TAT va N N S S ec ch O TO Fy l J dlto g 5 SAAS B a wn ai ba A 7 aE NS Four Z1 dia e C2 x C2 F2 G at mj a LR LM Key and Tap Dimensions QK 2 With the R88G HPG50 HPG60 the height tolerance is 8 mm D3 dia h 8 2 54 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Decelerators for 3 000 r min Flat Servomotors Sec Dimensions mm LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 1 5 R88G HPG11B05100PB 39 5 42 40 60x60 46 70 40 0 39 5 29 27 2 2 15 1 11 R88G HPG14A11100PB 64 0 58 60 60x60 70 70 56 0 55 5 40 37 2 5 21 100 W 1 21 R88G HPG14A21100PB 64 0 58 60 60x60 70 70 56 0 55 5 40 37 2 5 21 1 33 R88G HPG20A33100PB 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 45 R88G HPG20A45100PB 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27
93. 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 R88G HPG11B05100PBJ 2 55 2 2 External and Mounting Hole Dimensions Dimensions mm M l gae LM LR c1 c2 b1 bD2 D3 D4 D5 E Fi F2 1 5 R88G HPG20A05400PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 1 11 R88G HPG20A11400PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 400 W 1 21 R88G HPG20A21400PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 1 33 R88G HPG32A33400PB 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 1 45 R88G HPG32A45400PB 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 Dimensions mm Tap Model Gls Tliz z2 lat Key dimensions dimensions QK b h t1 M L 1 5 R88G HPG20A05400PB 10 25 42 9 0 M5x12 M4 36 8 7 4 0 M6 12 1 11 R88G HPG20A11400PB 10 25 42 9 0 M5x12 M4 36 8 7 4 0 M6 12 400 W 1 21 R88G HPG20A21400PB 10 25 42 9 0 M5x12 M4 36 8 7 4 0 M6 12 1 33 R88G HPG32A33400PB 13 40 82 11 0 M5x12 M6 70 12 8 5 0 M10 20 1 45 R88G HPG32A4
94. 13 40 82 11 M6x12 M6 70 12 8 5 0 M10 20 1 kW 1 21 R88G HPG32A211KO0B 13 40 82 11 M6x12 M6 70 12 8 5 0 M10 20 1 33 R88G HPG32A331K0B 13 40 82 11 M6x12 M6 70 12 8 5 0 M10 20 1 45 R88G HPG50A451K0B 16 50 82 14 M6x10 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A052K0B 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A112K0B 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 1 5 kW 1 21 R88G HPG32A211K5B 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 1 33 R88G HPG50A332K0B 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 1 45 R88G HPG50A451K5B 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A052K0B 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A112K0B 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 ae 1 21 R88G HPG50A212K0B 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 1 33 R88G HPG50A332K0B 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A053K0B 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 3 kW 1 11 R88G HPG50A113K0B 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 1 21 R88G HPG50A213K0B 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 A kW 1 5 R88G HPG32A054K0B 13 40 82 11 M8x25 M6 70 12 8 5 0 M10 20 1 11 R88G HPG50A115KOB 16 50
95. 14300 19 0 3 35 3 3 Decelerator Specifications Maxi Rated mum Maximum Allow Allow rota Rated Effi momen momen Decelerator able able A EENE gt Weight Model tion torque ciency tary tary inertia radial thrust speed rotation torque load load speed r min Nm r min N m kg m N N kg R88G 4 1 5 HPG32A054KOB 400 66 0 92 600 190 1 3 80x 10 889 3542 7 9 R88G 4 4 1 11 HPGS50A115KOB 182 145 2 92 273 418 3 8 80x10 2974 10285 19 1 i 1 21 RBG 95 260 0 93 143 806 4 6 90x107 3611 12486 19 1 HPG50A213KO0SB 3 R88G 3 1 25 HPG65A253K0SB 80 322 9 90 120 930 1 3 00 x10 7846 28654 52 0 R88G 3 1 5 HPG50A054K0SB 400 85 8 91 600 250 3 1 20x10 2347 8118 18 6 R88G 4 4 1 11 HPGS50A114KOSB 182 192 7 93 273 562 8 8 70x 10 2974 10285 20 1 ii 1 20 ROBO 100 342 2 91 150 999 2 3 28x10 7338 26799 52 0 HPG65A204K0SB i i R88G 3 1 25 HPG65A254KOSBUI 80 430 9 92 120 1258 6 3 24 x10 7846 28654 52 0 R88G 3 1 5 HPGS50A055KOSB 400 109 8 92 600 325 5 1 1010 2347 8118 22 0 R88G 4 7 1 11 HPG50A115K0SB 182 200 0 93 273 723 8 8 40x10 2974 10285 23 5 sis 1 20 ROSG 100 438 2 92 150 1300 5 2 85 x10 7338 26799 55 4 HP
96. 2 5 2 R2 6 i 5 2 R2 6 foe sd bad y R2 6 R2 6 5 2 17 5 Mounting Dimensions Reference Values Four M4 2 j A 8 Square hole y reer j o o 20 5 L 50 J 89 Note The dimensions of the square hole are reference values 2 29 70 200 L an i j i gt lt raed Iq i d iE 2 2 External and Mounting Hole Dimensions E Three phase 200 VAC R88D GN30H ML2 GN50H ML2 2 to 5 kW Wall Mounting External Dimensions 3 5 R2 6 K es SS 2 C as es b Ss el YE a So uf _ Ss li f TEN gt D i me oD Mm O ab D l E N J p S25 te g gt i tA J eamh ss a li em C5 3 ce Ee Sos oS A R2 6 5 2 Mounting Hole Dimensions 50 Six M4 p ae g S y D p 15 100 130 E gt 2 30 Standard Models and Dimensions imensions Standard Models and D 2 2 External and Mounting Hole Dimensions Front Panel Mounting Using Mounting Brackets External Dimensions
97. 2 Servomotor Specifications Precautions for Correct Use R88M G05030H T 50 W Without Oil Seal Rated Torque 100 With brake 95 Use the following Servomotors in the ranges shown in the graphs below Using outside of these ranges may cause the Servomotor to generate heat which could result in encoder malfunction R88M G05030H T 50 W With Oil Seal Rated Torque 100 Without brake R88M G10030H T 100 W Without Oil Seal Rated Torque With brake With brake 100 95 70 60 Ambient Ambient Ambient t t temperature temperature o 10 20 30 are 9 40 20 30 40 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 Rated Torque Without brake Rateg Torque Without brake Rated Torque With brake 100 With brake 100 With brake 100 i 30 90 S E E E ae cep E 70 Ambient Ambient Ambient t t temperature ae eo 3G qg emperature o 10 20 3049 emperature o 2030 0 emperatu R88M G40030H T 400 W With Oil Seal Rated Torque 100 With brake Ambient 0 10 R88M G3KO030T 3 kW temperature Without brake Rated Torque 100 With brake 90 85 Ambient 3 23 temperature 0 R88M G1K530T 1 5 kW R88M G2KO030T 2 kW Without brake Rated Torque 0 Without brake Rated
98. 3 1 Servo Drive Specifications Characteristics E Servo Drives with 100 VAC Input Power Item R88D GNA5L R88D GNO1L R88D GNO2L R88D GNO4L ML2 ML2 ML2 ML2 Continuous output current rms 1 3A 1 8A 2 4A 4 9A Momentary maximum output current rms 3 9A 5 4A 7 2 A 14 7 A E Power supply 0 4 KVA 0 4 KVA 0 5 KVA 0 9 KVA capacity Main circuit Power 2 supply Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz O voltage Input power 14 Rated Q supply current 1 4 A 2 2 A 3 7 A 6 6 A Q Power supply Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz O Control circuit voltage Rated 0 09 A 0 09 A 0 09 A 0 09 A current Heat Main circuit 10 1 W 14 4 W 18 4 W 41 4 W generated Control circuit 4 4 W 4 4 W 4 4 W 4 4 W 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 50 W 100 W 200 W 400 W H 1 L 2 L 4 L 3 000 r min INC G05030 G10030 G20030 G40030 Servomotors ABS G05030T G10030S G20030S G40030S Applicable 3 000 r min INC GP10030L GP20030L GP40030L Servomo Flat Servomo tors tors ABS GP10030S GP20030S GP40030S 2 000 r min Servomotors ABS T T 1 000 r min Servomotors ABS pi Speed control range 1 5000 Speed variability
99. 4 9min 7 8min 7 8min 11 8 min 16 1 min 16 1 min E Attraction time ms 50 max 50 max 50 max 80 max 110 max 110 max E Release time ms 15 max 15 max 15 max 15 max 50 max 50 max 3 Backlash 1 reference value x lt ge Allowable work per J 392 392 392 392 1470 1470 braking Allowable total work J 2 0x10 4 9x 10 4 9x 10 4 9x10 2 2x 108 2 2 x 108 Allowable angular rad s2 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 Rating Continuous Insulation grade Type F 3 20 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 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 If 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 temperatur
100. 4000 5000 r min 0 R88M G40030H T 400 W 1000 2000 3000 4000 5000 r min 0 R88M G1K530T 1 5 kW N m 15 412 9 12 9 3500 Repetitive usage 7514 77 4 77 Continuous usage T T R88M G10030H T 100 W 0 93 0 93 Repetitive usage 0 32 0 32 Continuous usage 1000 2000 3000 4000 5000 r min 0 R88M G75030H T 750 W N m 7 05 3600 R88M G20030H T 200 W N m 1 78 204 1 78 4500 Repetitive usage 0 64 0 64 Continuous usage 0 1000 2000 3000 4000 Sane r min R88M G1KO30T 1 kW N m 9 1 9 1 4000 104 Repetitive usage Specifications oe 513 18 3 18 1 0 Continuous usage 0 1000 2000 3000 4000 5000 O 1000 2000 3000 4000 5000 r min r min R88M G2KO030T 2 kW N m 18 4 3600 Continuous usage r r R88M G3K030T 3 kW N m 30 27 0 27 0 3400 Repetitive usage 1579 54 9 54 Continuous usage 1000 2000 3000 4000 5000 r min 0 R88M G4KO30T 4 kW N m 10 0 Continuous usage 1000 2000 3000 4000 5000 0 r min 1000 2000 3000 4000 5000 r min 0 R88M G5KO30T 5 kW N m 45 1 47 6 50 7 Repetitive usage 15 8 15 8 Continuous usage 254 15 0 1000 2000 3000 4000 5000 r min 0 1000 2000 3000 4000 5000 r min 0 3 22 Specifications 3
101. 42 Connector Terminal Block Cables 2 21 3 75 Connector Terminal Blocks n 2 21 CONMOCHONS aise seciceiant seein is eens eens ened 2 21 Connector Terminal Block Conversion Unit 3 76 Connector Terminal Blocks and Cables 4 15 COMA COIS aces enine r i ane 4 38 Control Cables ccccccccccsccceceesessssssseeeeeees 2 21 3 42 Control I O connector specifications cee 3 10 Control I O Connectol ccccccccccccceseeeeseeeeee 3 70 4 14 Control Input Circuits 00 2 eee cece eee eeeeeeeeeeeeeee 3 14 Control input Signals 0 eee eee eee eee eeeeeeetees 3 11 Control INPUtS 2 c se cece siecsecesescpteseeaseaceapinaescstneecrcease 3 14 Control Output Circuits 20 0 2 eect eeeeeeeeeeeeeeeeeee 3 14 Control OUtpUtS 0 0 0 eee eeeteeeeeeeeeeeeteeeeeeeeeeteaeeteee 3 14 Control Sequence Timing e eee eee eee tees 3 15 Index 1 COpy Mode iv ices cescevessesreeseavisnoesesareneadeseevigeebinseneesies 6 28 D Damping Control eee eee ceeeteeeeeneteneteneeenes 5 50 Decelerator GIMENSIONS eeeeeeeeeeeteeteeeneeeeeeeaee 2 47 Decelerator installation Conditions 4 7 Decelerator Specifications ceceeeeeeeeeeeeneeeenees 3 32 Deceleratorsiiiis ceawacddadavsaiianiiadiiiwtA 2 7 Decelerators for 1 000 r min Servomotors Backlash 3 MaX cccsscccesseseeeesesseeeeseeee 2 53 3 37 Decelerators for 2 000 r min Servomotors B
102. 70 90 70 62 17 3 8 1 15 R88G VRSF15C200CJ 100 0 50 60 78 70 90 70 62 17 3 8 1 25 R88G VRSF25C200CJ 100 0 50 60 78 70 90 70 62 17 3 8 1 5 R88G VRSFO5C400CJ 89 5 50 60 78 70 90 70 62 17 3 8 400 W 1 9 R88G VRSFO9C400CJ 89 5 50 60 78 70 90 70 62 17 3 8 1 15 R88G VRSF15C400CJ 100 0 50 60 78 70 90 70 62 17 3 8 1 25 R88G VRSF25C400CJ 100 0 50 60 78 70 90 70 62 17 3 8 1 5 R88G VRSF05C750CJ 93 5 50 80 78 90 90 70 62 17 3 10 750 W 1 9 R88G VRSFO9D750CJ 97 5 61 80 98 90 115 90 75 18 5 10 1 15 R88G VRSF15D750CJ 110 0 61 80 98 90 115 90 75 18 5 10 1 25 R88G VRSF25D750CJ 110 0 61 80 98 90 115 90 75 18 5 10 Note The standard models have a straight shaft with a key Outline Drawings T In Four Z2 effective depth L Four Z1 a F i W w N D2 kS Diy A Pa dia d A dia Ee g z 3 2 H 1 N N a Bj a y a 8 A icf Z SY C1 x C1 fal T C2 x C2 LM LR 2 57 2 2 External and Mounting Hole Dimensions Dimensions mm Model Key dimensions S uv 4 4 Ar QK b fh t1 1 5 R88G VRSFO5B100CJ 12 20
103. AC Reactors 4 40 Adaptive Filter 5 45 Adaptive Filter Selection Pn023 5 69 5 92 Adaptive Filter Table Number Display Pn02F E EA A 5 72 5 93 Address Display Time at Power Up Pn006 5 65 Alarm Output ALM cceeeeseeeeeeeeeeeeeeeees 3 12 5 25 Alarm Reset cnn tien deanna Nae dian 6 25 alarms table n ahaa eine e 8 4 allowable current 0 ceceeeeseeeeeeeeneeeeeeeneeeeeeeneeeetees 4 24 applicable standards ecscceecesseeeeseeneeeeeeeneeeees 1 10 B Backlash Compensation cccceesseeeeeeeteeeeeee 5 27 Backlash Compensation PN101 eeeeeeeeeeee 5 81 Backlash Compensation Selection Pn100 5 81 Backlash Compensation Time Constant Pn102 5 81 Backup Battery Input BAT 3 11 Brake Cables Robot Cables 2 20 3 66 Brake Cables Standard Cables 0 2 17 3 64 Brake Interlock eeceeeesceeeeeseeeeeeesseeeeeeeseeeeeeeneeee 5 11 Brake Timing during Operation PnO6B 5 78 Brake Timing When Stopped PnO6A 00 5 78 C Check PiS eneen ee nie a E 1 4 Clamp COr S srsriniiecei siiu iiiaae a eae aa 4 36 Communications Cables eeeeeeeeeeeeee 2 20 3 69 Communications Control Pn005 5 65 5 88 Computer Monitor Cable cc ccccceseees 3 69 4 14 Connecting Cables ee eeeeeeeseeeseeeseeeeeeseeeaes 4 11 connector specifications cecceeeeeeeeeeeeeeeteneeeeee 3
104. Ball screw horizontal Medium Medium 40 80 20 100 Ball screw horizontal Small High 80 60 15 80 Ball screw vertical Large Low 20 160 45 160 Ball screw vertical Medium Medium 40 80 30 120 Ball screw vertical Small High 60 60 20 100 Ball screw nut rotation horizontal Large Low 20 140 40 160 Ball screw nut rotation horizontal Medium Medium 40 100 30 120 Ball screw nut rotation vertical Large Low 20 160 45 160 Ball screw nut rotation vertical Medium Medium 40 120 25 120 Timing belt Large Low 20 160 60 160 Timing belt Medium Medium 30 120 40 120 Rack amp pinion Large Low 20 160 60 160 Rack amp pinion Large Medium 30 120 40 120 Rack amp pinion Medium Medium 40 100 20 100 Index table Large Medium 40 120 25 120 Index table Small High 80 120 20 100 Robot arm cylindrical Large Low 15 160 60 160 Robot arm cylindrical Medium Medium 25 120 40 120 General purpose Medium Medium 30 100 30 150 The Inertial Ratio Pn020 is fixed at 300 7 17 7 4 Manual Tuning Inertial Estimations Small inertia 5 times the rotor inertia or less Medium inertia 5 to 10 times the rotor inertia or less Large inertial 10 to 20 times the rotor inertia or less Pn010 Pn018 Position Loop Gain This loop controls the pulse count from the encoder so that the count will become a specified value When the deviation counter s pulse count drops below the specified value positioning is completed and a
105. COMME COIS eeeeceeeeesneeeeeeeneeeeeeeeeeeeeeeaae 3 70 Encoder Dividing cccctcccsscccccesivesecesceneseneeiens 5 10 Encoder specifications ereere 3 31 Error Diagnosis Using the Displayed Alarm Codes EE E E A ATE 8 7 Error Diagnosis Using the Displayed Warning Codes EE E EE E E EE ETE 8 14 Error Diagnosis Using the Operating Status 8 15 Error Processing eee enaere apara irn aai 8 1 External dimensions eeeeeerresrrreerrrenn 2 23 External General purpose Input 0 INO 3 11 5 23 External General purpose Input 1 IN1 3 11 5 23 External General purpose Input 2 IN2 3 11 5 23 External latch signal 1 EXT1 eseeeeee 3 11 5 23 External latch signal 2 EXT2 eee 3 11 5 23 External latch signal 3 EXT3 eceeeeee 3 11 5 23 External Regeneration Resistor dimensions 2 61 External Regeneration Resistor specifications 3 81 External Regeneration Resistors cceeeee 2 21 Index F Feed forward Filter Time Constant Pn016 5 68 Final Distance for External Input Positioning Pn203 Forward Drive Prohibit Forward Drive Prohibit Input POT Forward Software Limit Pn201 Forward Torque Limit Input PCL G Gain AdjUStMENT henes iraran teisei ise nieni eais 7 1 Gain Switch Hysteresis Setting Pn034 5 73 Gain Switch Level Setting PN033 0 e eee 5 72 Gain Swit
106. Connector Molex Japan 172161 1 Tyco Electronics AMP KK Connector pins Connector pins 50639 8028 Molex Japan 170365 1 Tyco Electronics AMP KK 3 45 3 4 Cable and Connector Specifications 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 CRGBO003CR 3m Approx 0 2 kg R88A CRGBO05CR 5m Approx 0 4 kg R88A CRGB010CR 10m 7 5 dia Approx 0 8 kg R88A CRGB015CR 15m Approx 1 1 kg R88A CRGB020CR 20m Approx 1 5 kg R88A CRGBO030CR 30m Approx 2 8 kg R88A CRGB040CR 40m 8 2 dia Approx 3 7 kg R88A CRGBO50CR 50m Approx 4 6 kg Connection Configuration and Dimensions L Servo Drive x y 3 Servomotor os R88D GN j R88M G Wiring 3 to 20 m Servo Drive Signal No Blue Red Blue Black Servo Drive Connector AWG24x4P UL20276 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 Wiring 30 to 50 m Servo Drive Servomotor Signal ESV ue EOV S S FG Servo Drive Connector AWG25 x 6P UL2517 Servomotor Connector Connector Conn
107. Doing so may result in electric shock When turning OFF the main circuit power supply turn OFF the RUN command RUN at the same time Residual voltage may cause the Servomotor to continue rotating and result in injury or equipment damage even if the main circuit power supply is turned OFF externally e g with an emergency stop Do not remove the front cover terminal covers cables or optional items while the power is being supplied Doing so may result in electric shock gt gt Ee 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 st
108. E F Pn010 Position Loop Gain 1350 1620 2060 2510 3050 3770 4490 5570 Pn011 Speed Loop Gain 750 900 1150 1400 1700 2100 2500 3100 Pn012 Speed Loop Integration Time i 90 80 70 60 50 40 40 30 Constant Pn013 Speed Feedback Filter Time ae 0 0 0 0 0 0 0 0 Constant Torque Command EN 2 9 9 o Pn014 Filter Time Constant 30 25 20 16 13 11 10 10 Pn015 Speed Feed forward Amount 300 300 300 300 300 300 300 300 Pn016 Feed forward Filter Time _ 50 50 50 50 50 50 50 50 Constant Pn017 Reserved 0 0 0 0 0 0 0 0 Pn018 Position Loop Gain 2 1570 1820 2410 2930 3560 4400 5240 6490 Pn019 Speed Loop Gain 2 750 900 1150 1400 1700 2100 2100 3100 Saban Speed Loop Integration Time 1 2 3 7 10000 1 0000 1 0000 1 0000 10000 1 0000 1 0000 1 0000 n01 Constant 2 4 5 6 9999 9999 9999 9999 9999 9999 9999 9999 Pn01B Speed Feedback Filter Time 0 0 0 0 0 0 0 0 Constant 2 Pno1C Torque command Filter Time _ 30 25 202 16 21 132 1172 10 2 10 2 Constant 2 Pn020 Inertia Ratio Estimated load inertia ratio Instantaneous Speed Pn027 Observer Setting 0 0 0 0 0 0 0 0 Gain Switching ence Operating Mode Selection 1 I l 1 3 1 1 1 F 1to6 10 10 10 10 10 10 10 10 Pn031 Gain Switch Setting 7 0 0 0 0 0 0 0 0 Pn032 Gain Switch Time 30 30 30 30 30 30 30 30 Pn033 Gain Switch Level Setting 50 50 50 50 50 50 5
109. FF VFF Speed Command Unit Conversion Target Speed VREF TSPD Command Speed Monitor CSPD Feedback Position AOPS LPOS Feedback Speed Soft Start Acceleration Deceleration Pn058 Acceleration Pn059 Deceleration FSPD i Torque Command Monitor lt j _ _ Electronic Gear Pn205 Numerator Pn206 Denominator Speed Command Monitor Speed PI Processor Pno11 Speed Gain 1 Pn012 Integration Time Constant 1 Pn019 Speed Gain 2 Pn01A oll Integration Time Constant 2 Pn020 Inertia Ratio TRQ Speed Detection Filter Pn013 Filter 1 Pn01B Filter 2 CW Torque Limit CCW Torque Limit PTLIM NTLIM Aa Torque Command TRQ Speed Monitor SP Receive Encoder 4 Notch Filter Pn0O1D Filter 1 Frequency PnO1E Filter 1 Width Pn028 Filter 2 Frequency Pn029 Filter 2 Width PnO2A Filter 2 Depth PnO2F Adaptive Filter Torque Limit Pn003 Selection PnO5SE No 1 Torque Limit PnO5SF No 2 Torque Limit Torque Command Filter Pn014 Filter PnO1C Filter 2 Vv T 1 1 1 1 1 j 1 1 1 1 Signal Torque Pl Processor Current Feedback Torque Mo nitor IM Torque Limit PCL NCL Operating Functions 5 3 Torque Control 5 3 Torque Control
110. Four 5 2 x 8 _ 95 r i a a il T H I b a g ql O o V 2 62 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E 3G3AX DL2007 Ground terminal M4 Ez f I SS p ag pale oa R 72 90 Two M4 Hiio dhe 98 E 3G3AX DL2015 Ground terminal M4 2 63 i i y 56 66 Four 5 2 x 8 72 90 Two M4 L Y Four 5 2 x 8 E 98 115 AL ip 2 2 External and Mounting Hole Dimensions E 3G3AX DL2022 E 3G3AX AL2025 AL2055 A i TADY PD P OH fo aid aq o G Two M4 round terminal y T q M4 M4 PA ee o 1 71 A 86 our 6 x 9 LL 105 J C N xe A a
111. GNLIL ML2 Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D GNLIH ML2 Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz If the voltage is outside of this range there is a risk of operation failure so be sure that the power supply is correct Check the voltage of the sequence input power supply 24 VIN Terminal CN1 pin 1 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 Evaluate the problem using the 7 segment LED display on the front panel You can also evaluate the problem by using the R88A PR0O2G Parameter Unit CX Drive can also be used for the display The operation status can also be monitored Check the load status including data trace When an alarm has occurred Check the alarm code that is displayed OLI and evaluate the problem based on the alarm that is indicated When an alarm has not occurred Make an analysis according to the problem 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 assume that anything not described in this manual is not possible with this product E Precautions Disconnect the cable before
112. General purpose Input 1 Reverse Torque Forward Torque Limit Input Limit Input Forward Drive Prohibit Input Origin Proximity Input External General purpose Input2 OUTM2COM General purpose Output 2 General purpose Output 2 OUTM3COM General purpose Output 3 General purpose Output 3 Alarm Output ALMCOM Alarm Output Backup Battery Input Backup Battery Input Note 1 Do not connect anything to unused pins Note 2 Inputs for pins 19 and 20 are determined by parameter settings The diagram shows the default configuration E Connector for CN1 36 Pins General purpose Output 1 General purpose Output Name Model Manufacturer 52986 3679 10136 3000PE 10336 52A0 008 Servo Drive Connector Molex Japan Cable Connector Cable Case Shell Kit Sumitomo 3M 3 13 3 1 Servo Drive Specifications Control Input Circuits E Control Inputs For the relay contact use either a switch or a transistor with an open collector output External power supply 12 VDC 5 to 24VIN 4 70 24 VDC 5 Power supply capacity 50 mA min per Unit z EA Photocoupler input F To other input circuit ground commons Signal Levels ON level 10 V min OFF level 3 V max Control Output Circuits E Control Outputs Serv
113. Increase the Torque Com mand Filter Time Constant Pn014 to stop the vibration Vibration occurs due to machine resonance Check if the resonance frequency is high or low If the resonance frequency is high set an adaptive filter to stop the resonance or mea sure the resonance frequen cy and set Notch Filters 1 and 2 The Position Loop Gain Pn010 is too large Poor balance between the Speed Loop Integration Time Constant Pn012 and the Speed Loop Gain Pn011 Review the Position Loop Gain Pn010 Speed Loop Integration Time Constant Pn012 and the Speed Loop Gain Pn011 Use CX Drive and analog monitors SP IM to measure the response and adjust the gain The Speed Feedback Filter Time Constant Pn013 does not match the load Check the Speed Feedback Filter Time Constant Pn013 The parameter is usually set to 0 Increase the Speed Feed back Filter Time Constant Pn013 and operate Vibration occurs due to low mechanical rigidity Check whether the vibration fre quency is 100 Hz or below If the vibration frequency is 100 Hz or below stop the vibration by setting the vibra tion frequency for the vibra tion filter Vibration occurs due to mechanical installation Check whether the coupling with the load is unbalanced Make adjustments to balance the rotation Check for eccentricity of the load Eliminate eccentricity Eccentricity of the l
114. J a MJ Press the D key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display 4 Setting the Parameter Number Key operation Display example Explanation e 0S J 7 I wr 1 Lt Wi MJ Set the number of the parameter to be set or checked 5 Displaying the Parameter Setting Key operation Display example Explanation mw 1J i D Pa D Ld Ld Press the Gara key to display the setting The selected parameter number appears in the sub window Lt Lt _ 32 bit parameters have many digits and thus displayed on two displays Press the key to change the display Negative values of the parameter are indicated with a dot 5 57 5 26 User Parameters 6 Changing the Parameter Setting The following operation is not required if you are only checking a parameter setting Key operation Display example Explanation poa La a ZI Sa ZJ ZJ _ Ld Lt Use the Q A keys to change the setting The decimal point will flash for the digit that can be set e OS Ld Lt _ l l Lo Lo Lt Ld _ WJ Lt Press the key
115. Load characteristic 0 01 or less at 0 to 100 at rated speed Speed variability Voltage characteristic 0 at 10 of rated voltage at rated speed Speed variability Temperature characteristic Performance 0 1 or less at 0 to 50 C at rated speed Torque control reproducibility 3 at 20 to 100 of rated torque 3 2 Specifications 3 1 Servo Drive Specifications E Servo Drives with Single phase 200 VAC Input Power R88D R88D R88D R88D R88D R88D Item GNO1H GNO2H GNO4H GNO8H GN10OH GN15H ML2 ML2 ML2 ML2 ML2 ML2 Continuous output current rms 1 16 A 1 6A 2 7 A 4 0 A 5 9 A 9 8 A Momentary maximum output current rms 3 5 A 5 3A 7 1A 14 1A 21 2A 28 3 A Powersupply os Kva 0 5KVA 0 9KVA 1 3KVA 1 8KVA 2 3KVA capacity i Single phase or Three phase Main circuit re aren esta aie AG 200 to 240 VAC 170 to 264 V g i 50 60 Hz Input power Rated supply 1 3 A 2 0 A 3 7A 5 0 3 3 A 7 5 4 1 1A 11 8 0 1A current a Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Control circuit Bled 0 05A 0 05A 0 05A 0 05A 007A 007A current Heat Main circuit 14 3 W 14 8 W 23 6 W 38 7 W 52 9 W 105 9 W generated Control circuit 4 5W 4 5W 4 5W 4 3W 6 1 W 6 1 W PWM frequency 12 0 kHz 6 0 kHz Weight Approx Approx Approx Approx Approx Approx g 0 8 kg 0 8 kg 1 1 kg 1 5kg 1 7k
116. M L 1 5 R88G HPG32A053K0B 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A112K0SB 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 1 kW 1 21 R88G HPG32A211K0SB 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 1 33 R88G HPG50A332K0SB 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 1 45 R88G HPG50A451KOSB 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A053K0B 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A112K0SB 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 KDN 1 21 R88G HPG50A213K0B 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 1 33 R88G HPG50A332K0SB 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A053K0B 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A112K0SB 13 40 82 11 M8x18 M6 70 12 8 15 0 M10 20 ERW 1 21 R88G HPG50A213K0B 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 1 33 R88G HPG50A332K0SB 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 1 5 R88G HPG32A054K0B 13 40 82 11 M8x25 M6 70 12 8 5 0 M10 20 1 11 R88G HPG50A115K0B 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 AN 1 21 R88G HPG50A213K0SB 16 50 82 14 M8x25 M6 70 14 9 15 5 M10 20 1 25 R88G HPG65A253K0SB 25 80 130 18 M8x25 M8 110 22 14 9 0 M16 35
117. MECHATROLINK II communications alarm Node address setting error alarm code 82 Note If a communications error occurs at the same time as a non communications error the MECHATROLINK II status LED indicator COM will still follow the above rule Turning ON Power 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 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 Operation 6 4 Operation 6 2 Preparing for Operation Checking the Displays E 7 segment LED The display of the 7 segment LED on the front panel is shown below When the power is turned ON the node address set with the rotary switch is displayed followed by the display content set by the Default Display Pn001 parameter When an alarm occurs the alarm code will be displayed When a warning occurs the warning code will be displayed Turn ON Control Power Supply All OFF All ON approx 0 6 s lt Node Address Display gt nA Node Address approx 0 6 s Rotary switch setting for MSD 0 LSD 3 Time set by the Power ON Address Display Duration Setting PnO06 lt Normal Display when the Default Display P
118. ML2 SUP EK5 ER 6 5A Single at 250 VAC R88D GNO02L ML2 3 5 mA R88D GNO4L ML2 3SUP HQ10 ER 6 10A Three at 500 VAC R88D GNO01H ML2 1 0 mA R88D GNO2H ML2 SUP EK5 ER 6 5A Single at 250 VAC R88D GNO4H ML2 Okaya Electric ATT Industries Co 3 5 ER oT Ltd R88D GNO8H ML2 3SUP HQ10 ER 6 10A Three at 500 VAC R88D GN10H ML2 3 5 mA R88D GN15H ML2 3SUP HU30 ER 6 30A Three at 500 VAC R88D GN20H ML2 R88D GN30H ML2 8 0 mA R88D GNS50H ML2 3SUP HL50 ER 6B 50A Three at 500 VAC R88D GN75H ML2 System Design 4 3 Wiring Conforming to EMC Directives If no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease Wire the noise filter as shown at the left in the following illustration The noise filter must be installed as close as possible to the entrance of the control box O Correct Separate input and output x Wrong Noise not filtered effectively AC input AC output AC input Ground AC output Use twisted pair cables for the power supply cables or bind the cables Correct Properly twisted Correct Cables are bound Servo Drive Servo Drive LIC Ou IK XX Gi Ow O L3 anda Separate power supply cables and signal cables when wiring E Con
119. NC A Fan Stop Output a when the fan inside the Servo Drive stops 3 9 3 1 Servo Drive Specifications Control I O Connector Specifications CN1 E Control I O Signal Connections and External Signal Processing 12 to 24 VDC 24VIN 1 4 7kQ Emergency Stop tf STOP External Latch 3 p External Latch 2 B External Latch 1 General purpose Input 1 4 EXT1 6 Forward Torque Limit Input Reverse Torque Limit Input a NCL 8 Forward Drive oe Input Pot 19 Reverse Drive Prohibit Input li mM 0 Origin Proximity Input General purpose InputO 2 21 2 i 2 General purpose Input 2 a ALM Alarm Output ALMCOM OUTM1 General purpose Output 1 OUTM1COM OUTM2 General purpose Output 2 OUTM2COM OUTM3 1 If a backup battery is connected a cable with a battery is not required 2 Inputs for pins 19 and 20 are determined by parameter settings The diagram shows the default configuration General purpose Output 3 OUTM3COM Backup Battery 1 33 BATCOM Specifications 3 10 Specifications 3 1 Servo Drive Specifications E Control I O Signals 3 11 CN1 Control Input Signals
120. NC contact RR50020S ane on ed 090000 Rated output Thickness 3 0 250 VAC 0 2 A max 24 VDC 0 2 A max 3 7 Reactor Specifications 3 7 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 Reactor specifications Servo Drive Model Model Rea Inductance Weight Reece current type 7 R88D GNA5L ML2 Approx Single c R88D GN01H ML2 PASAULES PEA PIRON 0 8kg phase O p R88D GN01L ML2 Approx Single gt HeD CNO 3G3AX DL2004 3 2 A 10 7 mH LOK hace 2 R88D GNO2L ML2 Approx Single O EBRD CNOAR MIZ 3G3AX DL2007 6 1 A 6 75 mH akg ices D R88D GN04L ML2 pear Seas o R88D GNO8H ML2 3G3AX DL2015 9 3A 3 51 mH pprox gle R88D GN10H ML2 1 6 kg phase Approx Single R88D GN15H ML2 3G3AX DL2022 13 8A 2 51 mH 2 1 kg phase R88D GNO8H ML2 Approx Three R88D GN10H ML2 3G3AX AL2025 10 0 A 2 8 mH pase R88D GN15H ML2 9 g panase R88D GN20H ML2 Approx Three PEON NI 3G3AX AL2055 20 0 A 0 88 mH pe ieee R88D GN50H ML2 3G3AX AL2110 34 0A 0 35 mH Approx Three 5 0 kg phase R88D GN75H ML2 3G3AX AL2220 67 0A 0 18 mH Approx Three 10 0 kg phase 3 82 Specifications 3 8 MECHATROLINK II Repeater Specifications 3 8 MECHATROLINK II Repeater Specifications A MECHATROLINK II Repeater is required to extend the ME
121. 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 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 Speed Monitor SP Selection Pn007 and Torque Monitor IM Selection Pn008 For details refer to Parameter Tables on page 5 61 OMRON AC SERVO DRIVE oO D 1kQ 1kQ 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 RS 232 connection cable Connect to CN3 e 7 14 Adjustment Functions w Adjustment Functions 7 4 Manual Tuning E Position Control Mode Adjustment Use the following procedure to make adjustments in position control for the OMNUC G Series C Start of adjustment Disable realtime autotuning Pn021 0 Never make extreme adjustment or changes to settings Doing so will result y in
122. PnO5F are too small Check that the torque limits PnO5E and PnO5F are not set to a value close to 0 Set the maximum torque to be used for each Torque control is used for the control from the host controller and the torque command value is too small Check the control mode and the torque command value for the host controller Set the control mode for the host controller to position control mode and check Servo lock The Speed Limit Pn053 is set to 0 for torque control mode Check the Speed Limit Pn053 value Increase the value for the Speed Limit Pn053 Servo Drive failure Replace the Servo Drive The Servomotor operates momentarily but it does not oper ate after that The Servomotor Power Cable is wired incorrectly Check the wiring of the Servomotor Power Cable phases U V and W Correctly wire the Servomo tor Power Cable phases U V and W Not enough position com mand data Check the position data electronic gear and others for NCF71 Set the correct data 8 16 Troubleshooting Troubleshooting 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasure The Servomotor rotates without a command There is a small input for speed command mode Check that there is no input for speed command mode Set the speed command to 0 or switch to position con trol mode There is a small inpu
123. R88D GNO1L ML2 SUP EK5 ER 6 5A at 250 VAC R88D GNO2L ML2 3 5 mA R88D GNO4L ML2 3SUP HQ10 ER 6 10A at 500 VAC R88D GNO1H ML2 1mA R88D GNO2H ML2 SUP EK5 ER 6 5A at 250 VAC R88D GNO4H ML2 ine carats ea Industries Co l ace om Ltd R88D GNO8H ML2 3SUP HQ10 ER 6 10A at 500 VAC R88D GN10H ML2 R88D GN15H ML2 3SUP HU30 ER 6 30 A eel at 500 VAC R88D GN20H ML2 R88D GN30H ML2 8 mA R88D GN50H ML2 3SUP HL50 ER 6B 50 A at 500 VAC R88D GN75H ML2 Dimensions SUP EK5 ER 6 3SUP HQ10 ER 6 f 100 2 0 7 p 59 142 0 ae 108 70 75 0 1 5 0 7 7 95 n 5 5 O j tein Pe 6 terminal za l 10000 rr Jo ina pA F ee Cover mounting Two 4 5 x 6 75 dia Two 4 5 dia Six M4 0000000 52 000000 screw M3 FPS eaves Noise Filter 4 34 System Design 4 3 Wiring Conforming to EMC Directives 3SUP HU30 ER 6 3SUP HL50 ER 6B E 115 150 286 3 0 2
124. Servo Drive output and power cable ZCAT3035 1330 TDK Encoder cable and I O cable 1 Generally used for 1 5 kW or higher 2 Generally used for 1 5 kW or lower The maximum number of windings is three turns 3 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 S O Q Dimensions a 3G3AX ZCL1 3G3AX ZCL2 E pete ste area lt S v S 130 85 o selg L Pai 180 2 160 2 Li 9 i o 7 x 14 oval hole 7 dia ESD R 47B ZCAT 3035 1330 S 39 30 34 13 B E Ceto 5 E m 4 36 4 3 Wiring Conforming to EMC Directives Impedance Characteristics 3G3AX ZCL1 3G3AX ZCL2 1000 20 i 100 a 2 15T Pe 40 O Q 10 ke O D 2 60 EE A 80 c 3 100 oe 10 100 1000 10000 3 0 1 1 10 100 QO Frequency kHz Frequency kHz g ESD R 47B ZCAT 3035 1330 gt ZOT Eres a a a 10000 1000 1000 G D G S 8 100 3 100 2 oO O
125. Setting PN043 eee 5 73 Operation Switch When Using Absolute Encoder PNOOB sciatica inde TE 5 67 Origin Proximity Input DEC sse 3 11 5 23 Origin Proximity Input Logic Setting Pn042 5 73 Origin Range PN105 eee ee ee eee eect eeeeeeaee 5 81 Origin Return Approach Speed 1 Pn110 5 82 Origin Return Approach Speed 2 Pn111 5 82 Origin Return Final Distance PN204 eeee 5 85 Origin Return Mode Settings Pn10F s es 5 82 Overload Characteristics ccceeeceeeeeeeeeeeteeeeeeee 8 20 Overload Detection Level Setting Pn072 5 79 Overrun Limit Setting PNO26 eee eeeeeee 5 70 Overrun Protection ccceeeeeeeeeeeeeeteeeeteteeeeeeeeeeee 5 29 Overspeed Detection Level Setting Pn073 5 79 P P Control Switching 0 0 eee ee eee eee eee teeta Parameter Details Parameter Setting Mode Parameter Tables eceseceeeeeneeeeeeeseeeeeeeeee Parameter Unit Connector Specifications CN93 3 16 Parameter Unit dimensions Parameter Unit specifications Parameter Write Mode Periodic Maintenance pin arrangement Position Control s es Position Control Mode Position Loop Gain Pn010 Position Loop Gain 2 Pn018 eese Position Loop Gain Switching Time Pn035 5 73 Positioning Completion Range 1 Pn060 5 75 Positioning Completi
126. THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted 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 som
127. Torque With brake With brake 85 70 Ambient Ambient temperature temperature 10 20 30 40 10 20 30 40 R88M G4KO30T 4 kW R88M G5KO30T 5 kW Without brake Rated Torque Rated Torque With brake que With brake 00 90 109 85 a Ambient Ambient 40 temperature temperature 10 30 40 E 3 000 r min Flat Servomotors 3 2 Servomotor Specifications 100 VAC 200 VAC Model R88M GP10030L GP20030L GP40030L GP10030H GP20030H G40030H Item Unit GP10030S GP20030S GP40030S GP10030T GP20030T G40030T Rated output W 100 200 400 100 200 400 Rated torque z N m 0 32 0 64 1 3 0 32 0 64 1 3 Ez Rated rotation speed r min 3000 3000 Mia a rotation rte 5000 4500 5000 A Max momentary torque i N m 0 84 1 8 3 6 0 86 1 8 3 65 5 Rated current A rms 1 6 2 5 4 4 1 1 6 2 5 Max momentary current A rms 4 9 7 5 13 3 3 1 4 9 7 5 8 Rotor inertia a 1 0x 10 3 5x10 65x10 1 0x108 35x10 6 4 x108 9 Applicable load inertia 20 times the rotor inertia max 2 a Torque constant 4 N m A 0 21 0 27 0 3 0 34 0 42 0 54 Power rate kW s 10 2 11 7 26 0 10 2 11 5 25 5 Mechanical time constant ms 0 87 0 75 0 55 1 05 0 81 0 59 Electrical time constant ms 3 4 6 7 6 7 2 9 5 6 6 6 Allowable radial load 3 N 68 245 245 68 245 245
128. Torque Limit PnO5E This is not an indication of failure 2 Select the machine rigidity Set the machine rigidity number according to the rigidity of the machine Refer to the following table for the machine rigidity values Machine rigidity 0 cannot be selected for the Parameter Unit and CX Drive Set the machine rigidity starting with a low value and check the operation To improve the response increase the machine rigidity number and then check the response again If vibration occurs lower the machine rigidity number and make adjustments The setting parameters are the same as in Realtime Autotuning RTAT Parameter Tables on page 7 7 Mechanical Configuration ee Drive System Machine Rigidity Ball screw direct coupling 6toC 5 Ball screw and timing belt 4toA Timing belt 2108 Gears rack and pinion drives 2108 Machines with low rigidity etc 1to4 a Stacker crane Tune manually 2 xe lt x 3 Execute normal mode autotuning Move the load to a position where it will not interfere with the operation performed according to the operation pattern For reciprocating movement 1 or 2 rotations will be made For one way movement about 20 rotations will be made E Operating with the Parameter Unit 1 Switch to the Normal Mode Autotuning display Servo lock is performed automatically For details on switching to the Normal Mode Autotuning display refer to Normal Mode Autotuning on
129. Units x 10 000 command units s F Sets the deceleration speed for positioning Linear Deceleration Pni0A Constant moves 5 82 Units x 10 000 command units s Note 1 The factory default setting for this parameter Linear Acceleration Constant Linear Deceleration Constant 100 x 10 000 command units s Note 2 The setting will be handled after conversion to an un signed 16 bit data 0 to 65535 Example 32768 8000h 32768 1 FFFFh 65535 Setting example using a 2 500 p r Incremental Encoder When the setting is 100 x 10 000 command units s target speed is 2 400 r min and the electronic gear ratio of G1 G2 is 2 1 the acceleration and deceleration time is as follows 2 400 60 40 r s The position units for one turn is 5 000 command units The rotation speed units for 2 400 r min is 40 x 5 000 200 000 command units s The linear acceleration and deceleration time to reach 2 400 r min is 200 000 1 000 000 0 2 s Increasing the electronic gear ratio degrades the distribution accuracy of the linear acceleration and deceleration time The setting must be increased in order to reduce the acceleration time Setting example using a 17 bit Absolute Encoder When the setting is 100 x 10 000 command units s target speed is 2 400 r min and the electronic gear ratio of G1 G2 is 64 1 the acceleration and deceleration time is as follows 2 400 60 40 r s The position units for one tur
130. Use the following procedure to install the Decelerator on the Servomotor Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap Apply sealant to the installation surface on the Servomotor recommended sealant Loctite 515 Gently insert the Servomotor into 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 Bolt together the Servomotor and the Decelerator flanges Bolt Tightening Torque for Aluminum Allen head bolt size M4 M5 M6 M8 M10 M12 Tightening torque N m 3 2 6 3 10 7 26 1 51 5 89 9 Tighten the input joint bolt Bolt Tightening Torque for Duralumin Allen head bolt size M4 M5 M6 M8 M10 M12 Tightening torque N m 2 0 4 5 15 3 37 2 73 5 128 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 Tightening torque N m 0 69 Mount the supplied rubber cap to complete the installation procedure For the R88G HPG
131. Vibration Filter LINK II Position Pn02B Command Frequency 1 Speed FF Generation Pn02C Pn015 Speed Target i PI Processor Position Filter 1 FF Amount Target Pn02D p Pn016 Pn011 Speed Frequency 2 Time Speed Gain 1 MECHATRO Command PnO2E Constant Pn012 LINK II Position Integration Command Electronic Filter 2 Time Constant 1 Speed Gear Deviation Pn019 l Command Counter Speed Gain 2 4 pommand Pn205 Pn010 No 1 m a gt Z o OoOo Numerator Pn018 No 2 ntegration Torque Pn206 Time Command Denominator Constant 2 Pn10E Pn020 Moving Inertia Ratio Average Speed Detection Receive Encoder Notch Filter Signal Pn01D Pn01E Pn028 Pn029 Pn02A Pn02F Torque Limit Pn003 Selection Current gt Torque Command Pl 4 Filter PnOSE No 1 Torque Limit Processor Pn014 Pn01C PnO5F No 2 Torque Limit 5 50 Operating Functions 5 25 Damping Control Parameters Requiring Settings Parameter No Parameter name Setting Explanation Reference page Pn024 Vibration Filter Selection Selects the vibration filter type and switching mode based on the status of the equipment See Note 1 Filter type Switching mode 0 No switching Both 1 and 2 are Normal type enabled Switching with command direction 3 No switching Both 1 and 2 are 4 enabled Low pass type Switching with command 5 direction 5 92 Pn02B
132. W R88M G10030H B R88M G10030H BS2 R88M G10030T B R88M G10030T BS2 i 200 W R88M G20030H B R88M G20030H BS2 R88M G20030T B R88M G20030T BS2 Ni a 400 W R88M G40030H B R88M G40030H BS2 R88M G40030T B R88M G40030T BS2 750 W R88M G75030H B R88M G75030H BS2_ R88M G75030T B R88M G75030T BS2 200 V 1 kW R88M G1K030T B R88M G1K030T BS2 1 5kW R88M G1K530T B R88M G1K530T BS2 2 kW R88M G2K030T B R88M G2K030T BS2 3 kW R88M G3K030T B R88M G3K030T BS2 4 kW R88M G4K030T B R88M G4K030T BS2 5 kW R88M G5K030T B R88M G5K030T BS2 Note Models with oil seals are also available 2 2 Standard Models and Dimensions 2 1 Standard Models E 3 000 r min Flat Servomotors Model With incremental encoder With absolute encoder Straight shaft without key Straight shaft with key and tap Straight shaft without key Straight shaft with key and tap R88M GP10030L R88M GP10030L S2 R88M GP10030S R88M GP10030S S2 R88M GP20030L R88M GP20030L S2 R88M GP20030S R88M GP20030S S2 R88M GP40030L R88M GP40030L S2 R88M GP40030S R88M GP40030S S2 R88M GP10030H R88M GP10030H S2 R88M GP10030T R88M GP10030T S2 R88M GP20030H R88M GP20030H S2 R88M GP20030T R88M GP20030T S2 R88M GP40030H R88M GP40030H S2 R88M GP40030T R88M GP40030T S2 Specifications 100 W _ 1100 V 200 W a 400 W brake 100W 200 V 200 W 400 W 10
133. alarm code 34 will occur if the set value is exceeded Operating Conditions The overrun limit will operate under the following conditions Conditions under which the overrun limit will operate Operating mode Position Control Mode is used 1 The servo is ON osition command i Others P to zero 2 The Overrun Limit Setting Pn026 is not 0 3 The allowable operating range for both forward and reverse is within 2 147 483 647 after the nput 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 Conditions for Clearing the The position command input range will be cleared to zero under the following conditions Position Command Input Range The power supply is turned ON 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 Pn066 to 2 Normal mode autotuning starts or ends The position data is initialized such as during component setup request origin return coordinate system setup or adjustment commands Note this function is not intended to protect against abnormal position Precautions d for Correct Use co
134. and then turn ON the power supply Preparation for Check the display to see whether there are any internal errors in the 6 2 Preparing for Servo Drive operation Operation If using a Servomotor with an absolute encoder first set up the ab solute encoder e nee Setting functions By means of the user parameters set the functions according to the operating conditions 5 26 User Pa rameters Trial 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 such as the emergency stop and operational limits work properly 6 5 Trial Opera Check operation at both low speed and high speed using the system ne without a workpiece or with dummy workpieces If the servo is locked when there is no load it may cause the Servo motor to vibrate Adjust the gain as required e g by setting the in ertia ratio Pn020 to 0 Manually adjust the gain if necessary Further adjust the various Chapter Aa Adjustments A justment Func functions to improve the control performance tions Operation Operation can now be started If any problems should occur refer to Chapter 8 Troubleshooting Chapter 8 Trou
135. brake 3 000 r min Servomotors of 50 to 750 W 3 000 r min Flat Servomotors of 100 to 400 W 3m R88A CAGA003SR 5m R88A CAGA005SR 10m R88A CAGA010SR 15m R88A CAGA015SR 20m R88A CAGA020SR 30 m R88A CAGA030SR 40 m R88A CAGA040SR 50 m R88A CAGA050SR 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 min Servomotors of 900 W 3m R88A CAGB003SR R88A CAGB003BR 5m R88A CAGBO05SR R88A CAGBO05BR 10m R88A CAGB010SR R88A CAGB010BR 15m R88A CAGB015SR R88A CAGB015BR 20m R88A CAGB020SR R88A CAGBO020BR 30m R88A CAGB030SR R88A CAGBO030BR 40 m R88A CAGB040SR R88A CAGB040BR 50 m R88A CAGB050SR R88A CAGBO50BR 3 000 r min Servomotors of 2 kW 2 000 r min Servomotors of 2 kW 3m R88A CAGCO003SR R88A CAGCO03BR 5m R88A CAGCOO5SR R88A CAGCOOSBR 10m R88A CAGC010SR R88A CAGCO010BR 15m R88A CAGC015SR R88A CAGCO15BR 20m R88A CAGC020SR R88A CAGC020BR 30 m R88A CAGCO30SR R88A CAGCO30BR 40 m R88A CAGC040SR R88A CAGC040BR 50 m R88A CAGCO50SR R88A CAGCO50BR 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 3m R88A CAGD003SR R88A CAGDO03BR 5m R88A CAGDOO5SR R88A CAGDOO5BR 10m R88A CAGD010SR R88A CAGD
136. control are almost the same as adjustments for the position control mode Use the following procedure to adjust parameters 4 Start of adjustment Y Disable realtime autotuning Pn021 0 y Set each parameter to the values in Parameter Settings for Different Applications y Operate with a normal operating pattern and load 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 y Speed responsiveness and other operational performance satisfactory No Increase the Speed Loop Gain Pn011 but not so much that it causes hunting when the servo is locked but not so much that it causes WH Reduce the Speed Loop Integration Time Constant Pn012 hunting when the servo is locked Yes End of adjustment a y Does hunting vibration occur when the Servomotor is rotated 7 es No y Reduce the Speed Loop Gain Pn011 y Write the data to EEPROM in the parameter write mode End of adjustment y Increase the Speed Loop Integration Time Constant Pn012 v 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 Pn014 y Set the Not
137. depends on the filter type selected in the Vibration Filter Selection Pn024 and if Vibration Filter 1 is enabled the ranges are as follows Note This parameter is disabled when Vibration Filter 1 is disabled Normal type Setting range 100 lt Pn02B Pn02C lt Pn02B x 2 or 2000 Low pass type Setting range 10 lt Pn02B Pn02C lt Pn02B x 6 x0 1 Hz 200 to 2000 02D Vibration Frequency 2 Same function as Pn02B x0 1 Hz 0 to 2000 5 71 5 26 User Parameters Pn No Parameter name Setting Explanation Default setting Unit Setting range 02E Vibration Filter 2 Setting Same function as Pn02C x0 1 Hz 200 to 2000 w Attribute 02F Adaptive Filter Table Number Display Displays the table entry number corresponding to the frequency of the adaptive filter This parameter is set automatically when the adaptive filter is enabled i e when the Adaptive Filter Selection Pn023 is set to a value other than 0 and cannot be changed When the adaptive filter is enabled this parameter will be saved in EEPROM approximately 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 To clear this parameter and reset the adaptive operation disable the adaptive filter by setting the Adaptive Filter Selection Pn023 to
138. if not using speed control 4to5 Always disabled 1to5 9 3 9 1 Parameter Tables i 5 PD Parameter name Setting Explanation Drsieuii Unit Seiling 2 Sai No Setting Range value lt Selects the function for the Forward and Reverse Drive Prohibit Inputs CN1 POT pin 19 NOT pin 20 Decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibi Drive Prohibition Input Pn066 when both i ag As ibit 0 POT and NOT inputs are enabled c 004 Input Selection When both POT and NOT inputs are 0 Otoe2 OPEN the Drive Prohibit Input Error alarm code 38 will occur 1 Both POT and NOT inputs disabled When either POT or NOT input becomes 2 OPEN the Drive Prohibit Input Error alarm code 38 will occur Communications Controls errors and warnings for 093 Control MECHATROLINK II communications 3 acta skate whe Sets the duration to display the node address when Power ON the control power is turned ON 006 Address Display 0to6 600ms 30 ms 0to 1000 C Duration Setting 7 to 4000 set value x 100 ms Selects the output to the Analog Speed Monitor SP on the front panel Forward rotation is always positive and reverse rotation is always negative 0 Actual Servomotor speed 47 r min 6 V 1 Actual Servomotor speed 188 r min 6 V 2 Actual Servomotor speed 750 r min 6 V Actual Serv
139. if the drive prohibit input is enabled Note3 When the parameter is set to 2 and an operation command in the drive prohibited direction is received after stopping a command warning warning code 95h will be issued When the parameter is set to 0 or 1 the operation command in the prohibited direction after stopping will be accepted but the Servomotor will not operate and the position deviation will accumulate because the torque command is 0 Take measures such as issuing a command in the reverse direction from the host controller Note4 When the parameter is set to 2 MECHATROLINK II communications are interrupted and either Forward or Reverse Drive Prohibit Input POT or NOT is turned ON receiving an operation command jog operation or normal mode autotuning via RS232 will cause a Drive Prohibit Input Error alarm code 38 A Drive Prohibit Input Error alarm code 38 will also occur if either POT or NOT is turned ON while operating on an operation command received via RS232 5 77 5 26 User Parameters Pn No Parameter name Setting Explanation Default setting Unit Setting range Attribute 067 Sets the operation to be performed during deceleration and after stopping after the main power supply is turned OFF with the Undervoltage Alarm Selection Pn065 set to 0 The deviation counter will be reset when the power OFF is detected Stop Selection with Main Power Use
140. is initialized after normal mode autotuning If the load inertia is less than 3 times the rotor inertia or greater than the applicable load inertia 20 to 30 times greater there may be problems with the operation If the machine rigidity is extremely low or if the backlash is extremely large estimation cannot be performed If an error occurs or a drive prohibition input is received during normal mode autotuning a tuning error will occur If normal mode autotuning is executed and the load inertia cannot be estimated the load inertia will remain the same as it was before normal mode autotuning Executing normal mode autotuning may not cause an error but result in vibration Use caution to ensure safety and promptly turn OFF the power supply if anything unusual happens 7 12 Adjustment Functions Adjustment Functions fies 7 3 Normal Mode Autotuning Normal Mode Autotuning AT Parameter Tables Parameter No Parameter name AT Machine Rigidity Selection Pn022 4 5 6 7 8 9 A B Pn010 Position Loop Gain 120 320 390 480 630 720 900 1080 1350 1620 2060 2510 3050 3770 4490 5570 Pn011 Speed Loop Gain 90 180 220 270 350 400 500 600 750 900 1150 1400 1700 2100 2500 3100 Pn012 Speed Loop Integration Time Constant 620 310 250 210 160 140 120 110
141. is issued in all control modes INP2 output Turn ON when the position deviation is 9 equal to or less than the Positioning Completion Range 2 Pn063 for position control General Selects the function for general purpose output purpose Output 2 OUTM2 ie 3 2 Function The set values and the functions are the same 9 tog e Selection as for general purpose output 1 OUTM1 General Selects the function for general purpose output purpose Output 3 OUTMS Hg 3 Function The set values and the functions are the same 9 oe Selection as for general purpose output 1 OUTM1 115 to Reserved Do not change 0 13F 9 17 9 1 Parameter Tables E 32 bit Positioning Parameters Parameter Numbers 200 to 21F Pn No Parameter name Set ting Description Default Setting Unit Setting Range Attribute Set val ue 200 Absolute Origin Offset Sets the offset amount for the encoder posi tion and the mechanical coordinate system position when using an absolute encoder Com mand units 1073741823 to 1073741823 O 201 Forward Software Limit Sets the soft limit in the forward direction If the Servomotor exceeds the limit the network response status PSOT will turn ON 1 Note 1 Be sure to set the limits so that Forward Software Limit gt Reverse Software Limit Note 2 PSOT is not turned ON when origin return is incomplete 50000
142. it will reduce the service life of the motor bearings and may break the motor shaft Do not offset center lines When connecting to a load use couplings servomotor Shar that can sufficiently absorb mechanical eccentricity and declination For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree center line of precision for example JIS class 2 normal Backlash line pitch error of 6 um max for a pitch circle lt gt diameter of 50 mm Structure in which eee the distance between If the gear precision is not adequate allow shafts adjustable backlash to ensure that no radial load is placed on the motor shaft Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision the gear precision and temperature changes Provide appropriate backlash or take other measures to ensure that a thrust load larger than the specified level is not applied 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 movable 4 3 4 1 Installation Conditions When connecting to a V belt or timing belt consult the manufacturer for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to be placed on the mot
143. kW 1 5 R88G HPG65A057K5SB 184 5 222 230 180x180 260 200 220 214 168 165 12 0 57 1 12 R88G HPG65A127K5SB 254 5 222 230 180x180 260 200 220 214 168 165 12 0 57 Dimensions mm Model elsitiz 20 AT Key dimensions PE QK b h tt M L 1 5 R88G HPG50A054K0SB 16 50 82 14 M10x25 M6 70 14 9 5 5 M10 20 1 11 R88G HPG50A114KOSB 16 50 82 14 M10x25 M6 70 14 9 15 5 M10 20 oa 1 20 R88G HPG65A204K0SB 25 80 130 18 M10x25 M8 110 22 14 19 0 M16 35 1 25 R88G HPG65A254KOSB 25 80 130 18 M10x25 M8 110 22 14 19 0 M16 35 1 5 R88G HPG50A055K0SB 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 1 11 R88G HPG50A115KOSB 16 50 82 14 M12x25 M6 70 14 9 15 5 M10 20 aw 1 20 R88G HPG65A205K0SB 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 25 R88G HPG65A255K0SB 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 75 kW 1 5 R88G HPG65A057K5SB 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 1 12 R88G HPG65A127K5SB 25 80 130 18 M12x25 M8 110 22 14 19 0 M16 35 1 This is the set bolt Outline Drawings Ci xCi a g Set bolt AT Four Z2 LL pE Iaa al E d E ch gael HH fe 2 EE gt Fi 2 E gt Ei F2 iq lt a Key and Tap Dimensions a SM W ei i i M depth L 2 With the R88G HPG50L_1 HPG65L the height tolerance is 8 mm D3 dia h 8
144. mA 0 015 mA R88D GNO8H ML2 Three phase 200 V 1 62 mA 0 98 mA 0 009 mA R88D GN10H ML2 Three phase 200 V 1 77 mA 1 03 mA 0 008 mA R88D GN15H ML2 Three phase 200 V 2 18 mA 1 04 mA 0 003 mA R88D GN20H ML2 Three phase 200 V 2 88 mA 1 08 mA 0 008 mA R88D GN30H ML2 Three phase 200 V 2 83 mA 1 15 mA 0 011 mA R88D GN50H ML2 Three phase 200 V 3 07 mA 1 14 mA 0 011 mA R88D GN75H ML2 Three phase 200 V 6 32 mA 1 23 mA 0 013 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 32 System Design System Design 4 3 Wiring Conforming to EMC Directives E Surge Absorbers Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines When selecting surge absorbers take into account the varistor voltage the allowable surge current and the energy For 200 VAC systems use surge absorbers with a varistor voltage of 620 V The surge absorbers shown in the following table are recommended Manufacturer Model Surge immunity Type Remar
145. max 2 S Torque constant N m A 0 88 0 76 0 78 0 81 0 81 0 85 1 03 o Power rate kW s 37 3 45 8 60 91 6 83 2 93 5 230 aoh time ms 0 7 0 81 0 75 0 72 1 0 9 0 71 Electrical time constant ms 18 19 21 20 24 32 34 Allowable radial load 3 N 490 490 490 784 784 784 1176 Allowable thrust load N 196 196 196 343 343 343 490 Approx Approx Approx Approx Approx Approx Approx eee PU OONDLARG he 38 85 10 6 146 188 s ve wien aap e a ee eee eee ace shield dimensions 275 x 260 x t15 Al es A 470 x 440 x t30 Al Applicable Servo Drives R88D ae car Paes oad aoe tee pia Brake inertia kgm 1 35 x 104 4 25 x 104 4 7 x 104 4 7 x 104 GD 4 Excitation voltage 4 V 24 VDC 10 oe cee Ww 14 19 19 22 26 31 34 A A 0 59 0 79 0 79 0 9 1 1 1 3 1 4 Static friction torque N m 4 9 min 13 7 min 13 7 min 16 1 min 21 5 min 24 5 min 58 8 min 8 Attraction time ms 80 max 100 max 100 max 110 max 90 max 80 max 150 max E Release time gt ms 70 max 50 max 50 max 50 max 35 min 25 min 50 max J Backlash 1 reference value aS work p r J 588 1176 1176 1170 1078 1372 1372 Allowable total work J 7 8 x10 1 5x 108 1 5 x 108 2 2 x 108 2 5 x 108 2 9 x 108 2 9 x 10 Allowable angular rad s l 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 Rating Continuous Insulation grade Type F
146. monitor G Signal ground MECHATROLINK II communications status LED indicator COM Note 1 The node address is only loaded once when the control power supply is turned ON Changes made after turning the power ON will not be applied until the power is turned ON next time Do not change the rotary switch setting after turning the power ON Note 2 The setting range for the node address setting rotary switch is 1 to 31 The actual node address used on the network will be the sum of the rotary switch setting and the offset value of 40h If the rotary switch setting is not between 1 and 31 a node address setting error alarm code 82 will occur Rotary Switch Set Value Description 1to 31 Node address Set value 40h 41h lt Node address lt 5Fh Others Alarm code 82 occurs 6 3 6 2 Preparing for Operation m MECHATROLINK II Status LED Indicator The display status of the MECHATROLINK II status LED indicator COM is described below LED Display Description OFF No communications Flashing green Asynchronous communications established Lit green Synchronous communications established Recoverable MECHATROLINK II communications alarm Communications error alarm code 83 Transmission cycle error alarm code 84 Flashing red Watchdog data error alarm code 86 Transmission cycle setting error alarm code 90 SYNC command error alarm code 91 Lit red Irrecoverable
147. motor output shaft is viewed from the end Features and System Configuration Features and System Configuration 1 4 System Block Diagrams 1 4 System Block Diagrams R88D GNA5L ML2 GNO01L ML2 GNO2L ML2 GN01H ML2 CNB B1 CNA B2 C kH H ry A L3 PE SSS U e 3 Voltage w FUSE D detection Lic __ L2C OGR me GR 15V Relay Regene o Gate drive Turen Oo G1 SS drive Fonto aaeain detertion N nn Chee ce cs 777 VCC1 Internal T J ESV control Display VCC power MPU amp ASIC gt setting circuits G2 supply Position speed and torque processor x a PWM control y 5 T JHI 3 A S Encod S 3 communications gt ye o MECHATROLINK II ESV gt 8 Control I O interface C Pornon TE EG 2 ven 8 G 1 5 CN1 control I O connector CN6A connector CN6B connector CN3 connector MECHATROLINK II communications line RS 232 computer 1 4 System Block Diagrams R88D GNO4L ML2 GNO8H ML2 GN10H ML2 GN15
148. ms ON i i Servomotor Deenergized Energized Deenergized OFF Approx 2 ms ae Pn06B Brake Interlock ON Output BKIR 3 Brake Engaged Release Request OFF Rotation Speed A ay EPRI ASO rimin Approx 30 r min o Servomotor BKIR a i porn Servo ON Enabled _ Release Request Bieke Engaged PR EE E G Rotation Speed B L Approx 30 r min Approx 30 r min 1 The Servo ON status will not occur until the Servomotor speed drops below approximately 30 r min 2 The operation of the dynamic brake during Servo OFF depends on the Stop Selection with Servo OFF Pn069 3 The Brake Interlock BKIR signal is output on the release request command that comes first either from the Servo Controller or the MECHATROLINK II The BKIR signal is used by assigning it to the general purpose outputs on CN1 In the example above a release request was not issued from the network 4 t1 is either the Brake Timing during Operation PnO6B setting or the time for the Servomotor speed to drop below approximately 30 r min whichever occurs first Note The Servomotor will not change to Servo ON until it stops even if the Servo ON input is turned ON while it is decelerating 5 13 5 5 Brake Interlock E Operation timing during alarms during Servo ON Alarm Servomotor Dynamic Brake Relay Servo Ready Output READY Alarm Output ALM Brake Interlock Output BKIR 2 Brake Interlock Output BKIR OFF ON ON OFF ON
149. name Setting Explanation aea Unit a ae z lt Enables or disables gain switching When enabled the setting of the Gain Switch Setting Pn031 is used as the condition for f tend switching between gain 1 and gain 2 wr Scene Disabled Uses Gain 1 Pn010 to Pn014 aera Selection RT 0 PI P operation is switched from MECHATROLINK II The gain is switched between Gain 1 1 Pn010 to Pn014 and Gain 2 Pn018 to Pn01C Sets the trigger for gain switching The details depend on the control mode 0 Always Gain 1 1 Always Gain 2 2 Switching from the network 3 Degree of change in torque command Gain Switch 4 Always Gain 1 a Setting RT 5 Speed command 2 ai eee ae 6 Amount of position deviation 7 Position command pulses received 8 Positioning Completed Signal INP OFF 9 Actual Servomotor speed 10 Combination of position command pulses received and speed Enabled when the Gain Switch Setting Pn031 is 032 Gain Switch Time set to 3 or5to 10 Sets the lag time from the trigger 30 x166 0 to B RT detection to actual gain switching when switching us 10000 from gain 2 to gain 1 Sets the judgment level to switch between Gain 1 Gain Switch and Gain 2 when the Gain Switch Setting Pn031 Oto 033 Level Setting is set to 3 5 6 9 or 10 The unit for the setting 600 20000 B RT depends on the condition set in the Gain Switch Setting Pn031 Sets the hysteresis of the judgment level for the Gain Switch Gain Switch Level Setting Pn0
150. ne knee eats 8 3 8 3 Troubleshooting sssseeeeeeeeeeeeeeeeseeeeeeterrerrrrrinrrnrnrrnsssssnnsnssrennnnnn nn 8 7 8 4 Overload Characteristics Electronic Thermal Function 8 20 8 5 Periodic Mame MANO e yissaccxhecscruteducnascn ecu sucesdoute ucpexyceceuauadavsdisxaseeaebeds 8 21 Chapter 9 Appendix 9 1 Parameter Tables rne a E E E E 9 1 17 Chapter 1 Features and System Configuration le TN COV ORVIGWi E A E e a eE Ee ats ose N 1 1 OVEMIOW a ee E E EE EAA 1 1 FoatUro Saer ra EE a E E E see acaeseaeetate 1 1 1 2 System Configuration ceeeeeeeeeeeeeeeeeee 1 2 1 3 Names of Parts and Functions eeee 1 3 Servo Drive Part Names 2 cccceceeeeeeeeeeeeeeeeeeeeteneeeesenees 1 3 Seno Drives FUNCOMS ee eaaa Aea acess rare neers E E Ra A 1 4 Forward and Reverse Motor Rotation cccceeeeeseeees 1 4 1 4 System Block Diagrams cccceeeeeeeeeeeees 1 5 125 Applicable Stamdands tities esciescd ee cec harks 1 10 E sSDIneGtivesi rena ate ee are eevee eee eve ee Per 1 10 WiRandiGSAtStandand Siemrmesnecse S E 1 10 1 1 Overview 1 1 Overview Overview The OMNUC G Series AC Servo Drives with built in MECHATROLINK II communications support are a series of Servo Drives supporting the MECHATROLINK II high speed motion field network When used with the MECHATROLINK II Position Control Unit CJ1W NCF71 or CS1W NCF71 a sophisticated positioning cont
151. not provide the desired response 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 r min 2000 2000 Low Gain Setting High Gain Setting and Feed forward Setting High Gain Setting 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 L Speed Loop Gain 30 Speed Loop Gain 50 Speed Loop Gain 80 oO 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 0 Speed feed forward 500 5 Inertia Ratio 300 Inertia Ratio 300 Inertia Ratio 300 LL _ c Gain Adjustment Methods 2 Refer pe Function Explanation ence lt page Realtime autotuning estimates the load inertia of the Realtime autotuning mechanical system in realtime and automatically sets the 7 3 optimal gain according to the estimated load inertia Automatic i adjustment Normal mode autotuning automatically sets the appropriate gain by operating the Servomotor with the command pattern Normal mode autotuning a
152. not try to establish the network 200 en Oto 300 2 while using jog operation Otherwise command alarm alarm code 27 will occur 03E Reserved Do not change 0 03F Reserved Do not change 0 040 Reserved Do not change 0 Enables the Emergency Stop Input STOP Note If this function is disabled the response status will 041 a always be 0 disabled 1 oe Oto 1 c p 9 o Disabied 1 Enabled alarm code 87 issued on OPEN Origin Proximity Sets the logic for the Origin Proximity Input DEC 042 Input O _ N C contact origin proximity detected on OPEN 1 Oto1 C Logic Setting 1 IN O contact origin proximity detected on CLOSE 5 73 5 26 User Parameters o i 5 Pn Parameter name Setting Explanation Default Unit Setting 3B No setting range lt x Sets the relationship between polarity of operation data sent over the network and the direction of Servomotor rotation Note In RS 232C communications and on the analog monitor SP IM on the front panel forward 043 Operating direction is always positive and reverse 1 E Oto 1 c Direction Setting rotation is always negative 0 Sets the reverse direction as the positive direction 1 Sets the forward direction as the positive direction Sets the terminal assignment for Drive Prohibit Input 044 I
153. on the machine optimize the setting for this filter as well as the notch filter explained in the next section Parameters Requiring Settings Parameter 2 c Oo No Parameter name Explanation Reference page z T C d ae omiman Sets the time constant for the torque command filter 5 Bae Piter Tine Setting range 0 to 25 ms units 0 01 ms 9 68 u Constant grange 5 c Torque Commang Sets the 2nd time constant for the torque command filter PnoIG Fiter Time Setting range 0 to 25 ms units 0 01 ms 3 68 S Constant 2 g range oa 0 Q O ji 0 db Loop gain db Filter cut off frequency Characteristics of load resonance frequency Frequency gt to reduce loop gain to 0 db or lower a Filter time ie constant q 5 42 Operating Functions 5 22 Notch Filter 5 22 Notch Filter Function Two notch filters can be set for torque commands When resonance occurs at a ball screw or a specific location set the resonance frequency to eliminate the resonance Parameters Requiring Settings ae Parameter name Explanation Reference page Pn01D Notch Filter 1 Sets the frequency of notch filter 1 5 68 Frequency Enabled from 100 to 1499 Hz disabled at 1500 Hz Selects the width of the frequency of notch filter 1 PnO1E Notch Filter 1 Width The notch width becomes wider by increasing this value 5 68 Setting ran
154. operation However it may also cause operation to become unstable depending on the operating pattern Normally use a setting of 1 or 4 Use a setting of 4 to 6 when the vertical axis is used Gain switching is enabled for a setting of 1 to 6 If change in operation due to gain switching becomes an issue use a setting of 7 Setting Realtime autotuning Degree of change in load inertia 0 Disabled default 1 Almost no change 2 Horizontal axis mode Gradual changes 3 Sudden changes 4 Almost no change 5 Vertical axis mode Gradual changes 6 Sudden changes 7 Gain switching disable mode Almost no change Machine Rigidity Setting Method 1 Set the Realtime Autotuning Machine Rigidity Selection Pn022 as shown below Machine rigidity 0 cannot be selected for the Parameter Unit and CX Drive Set the machine rigidity starting with a low value and check the operation Mechanical Configuration Drive System E aan AR Ball screw direct coupling 6toC Ball screw and timing belt 4toA Timing belt 2 to 8 Gears rack and pinion drives 2to8 Machines with low rigidity etc 1to4 Stacker crane Tune manually 2 Turn the servo ON and operate the machine with the normal pattern To improve the response increase the machine rigidity number and then check the response again If vibration occurs enable the adaptive filter If the filter is already enabled lower the machine rigidity number and
155. operations The service life depends on the operating conditions When using the Servo Drive in continuous operation use fans or air conditioners to maintain an ambient operating temperature below 40 C 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 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 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 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 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 ZS 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
156. regeneration overload alarm code 18 operation Set this parameter to 0 if using the built in regeneration resistor If using an external regeneration resistor be sure to turn OFF the main power when the built in thermal switch is activated Setting Explanation 0 Sets the regeneration overload to match the built in regeneration resistor regeneration load ratio below 1 A The regeneration overload alarm code 18 occurs when the load ratio of the external regeneration resistor exceeds 10 2 The regeneration processing circuit by the external regeneration resistor is activated but the regeneration overload does not occur 3 The regeneration processing circuit is not activated All regenerative energy is absorbed by the built in capacitor Chapter 6 Operation 6 1 Operational Procedure ccccccceceeeeeeeeeeeeees 6 1 6 2 Preparing for Operation cccccceeeeeeeeeeeeeeees 6 2 Items to Check Before Turning ON the Powet 0 6 2 TMUNINGLON Powar a e estes cew ere rseeniererereee carers 6 4 Checking the DisplayS eaea E A Ae Ea 6 5 Absolute Encoder Setup e A a E 6 6 6 3 Using the Parameter Unit eeesoooeeeeeeeeeeeeesne 6 8 Names of Parts and Functions 6 8 6 4 lt Settinquhe Mode 2 25 2 teehee ceca 6 9 Changingitho Modom a a a e E E E arses 6 9 MonitorMo de e eea a E A A A A 6 10 Parameter Setting Mode sssssressrssnnssnrrrrnnrnnnennstnnsrnnsennne 6 17 Baramet
157. request from the network and the release request from the Servo controller Note the brake release request from the network is OFF operation request is ON at power ON 10 2 ms Oto 1000 B 06B Brake Timing during Operation When the run command RUN is turned OFF during the Servomotor rotation the Servomotor will decelerate re ducing the rotation speed and the Brake Interlock Signal BKIR will turn OFF after the time set by this parameter has elapsed BKIR turns OFF if the Servomotor speed drops below 30 r min before the set time Note The brake interlock signal is the logical OR of the brake release request from the network and the release request from the Servo controller Note the brake release request from the network is OFF operation request is ON at power ON 50 2 ms Oto 1000 B 5 78 Operating Functions Operating Functions 5 26 User Parameters i 5 En Parameter name Setting Explanation Detek Unit Seiling 2 No setting range E x Sets the regeneration resistor operation and the regener ation overload alarm code 18 operation Set this parameter to 0 if using the built in regeneration resistor If using an external regeneration resistor be sure to turn OFF the main power when the built in thermal switch is activated Sets the regeneration overload to match the O built in regeneration resistor rege
158. signal is output The ratio of the maximum speed to the deviation counter is the Position Loop Gain Command maximum speed pps Position Loop Gain 1 s Number of accumulated pulses in the deviation counter P The reciprocal of the Speed Loop Integration Time Constant Pn012 should be used as a reference for setting the Position Loop Gain For example if Pn012 is set to 100 ms set the Position Loop Gain to 10 1 s There will be no overshooting with these settings To speed up the positioning process increase the Position Loop Gain If the Position Loop Gain is too large overshooting or vibrations may occur In this case reduce the Position Loop Gain If the vibration is occurring in the Speed Loop or the Current Loop adjusting the Position Loop does not stop the vibration The response to Position Loop Gain adjustment is shown below High Position Loop Gain causes overshooting Commnaded operation pattern Actual Servomotor speed Speed r min Adjustment Functions W time Low Position Loop Gain slows down the positioning process Commanded operation pattern Actual Servomotor speed Speed J _2 r min time 7 18 Adjustment Functions be 7 4 Manual Tuning Pn011 Pn019 Speed Loop Gain The Speed Loop Gain determines the responsiveness of the Servo Drive If the Inertia Ratio Pn020 is set correctly this setting will be used as the response frequency Increasing the S
159. tence eden 5 41 5 21 Torque Command Filter Time Constant ccccceeeeeeeeeeeenteneeeees 5 42 5 22 NOW FITEN eis horain a N nineutieueiehesebearehoneeudbes 5 43 5 223 Adaptive Fiter iane a E T E E E eaa 5 45 5 24 Instantaneous Speed Observer cccccceceeeeeeeeeeessseeseeesesntaaaaeees 5 48 5 25 DAMPING COMMON istai penn enoe an ainia ai 5 50 5 26 User ParameGlersinncad reece ie exoes ie eee areaveeeteeet 5 55 5 27 Details on Important Parameters essseeseseeeeeeeeeeeeeeeeeeeeeaees 5 86 Chapter 6 Operation 6 1 Operational ProC Qure 0 ccccccccceceeeeeeeseeeeeeeeesnnnenneeeeeeeeeeeeeeeeeeees 6 1 6 2 Preparing for Operation cccscccccccscceceeeeeeeeeeeeeeesseseseeesenneaaaeees 6 2 6 3 Using the Parameter Unitlvssiecetecinais ohdavemusinvnieditiees 6 8 6 4 Setting the Mode sess casts cgsteue seaeedaesctee gs Wav etineder Gene vars enecen eee 6 9 6 5 Thal OPSrAllOMrsgisisacstresditedlors a a aaae oan ear beaa aT 6 31 Chapter 7 Adjustment Functions 7 1 Gain Adj ustment spoe iei E T e E Gach E 7 1 7 2 Realtime Autotuning ccaetecuctsieuutupicdadtarcancveuteaund riswianadauauausauuteycbeceany 7 3 2 3 Normal Mode Autotuning ietscoscectedectumsrtaxoietiivinatawasitabixamntneusueceed 7 9 PA Manual TUNING ic cries annaua i anaa dent teu ey Aa tan EE a Gaa 7 14 Chapter 8 Troubleshooting 8 1 Error PLOCESS ING cei imtacend ia a aaea a aia aein 8 1 8 2 Alarm Tabe eie e e e a e a
160. the main circuit power and the voltage of the power ON supply and voltage correctly supply Check that the inputs for POT and The Forward and Reverse NOT are not OFF Does not SOPRA Drive Prohibit Inputs POT Check the 24 VIN input for CN1 10 ON POT and NOT and and NOT are OFF input 24 VIN correctly Torque limit is 0 Check that torque limits PnO5E and PnO5F are not set to 0 Set the maximum torque to be used for each Torque control is used for the control from the host controller and the torque command value is set to 0 Check the control mode and the torque command value for the host controller Set the control mode for the host controller to position control mode and check Servo lock Servo Drive failure Replace the Servo Drive Servo lock is ON but Servomotor does not rotate No command is sent from the host controller For position commands check that speed and position are not set to 0 Input the position and speed data to start the Servomotor Cannot tell whether the Servomotor is rotating Check that the speed command from the host controller is not too slow Check the speed command from the host controller The holding brake is working Check the brake interlock BKIR signal and the 24 VDC power supply For a Servomotor with brake check that its holding brake is released by Servo lock The No 1 and No 2 Torque Limits PnO5E
161. 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 m 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 GNO1H ML2 OMNUC G Series Servo Drive Drive Type N Network type Applicable Servomotor Capacity A5 50 W 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 Network Type ML2 MECHATROLINK II Communications Items to Check When Unpacking m Understanding Servomotor Model Numbers G Series R88M GP 10030H BOS2 Servomotor Motor Type Blank Cylinder type P Servomotor Capacity 050 100 200 400 750 900 1KO 1K5 2K0 3KO 4KO 4K5 5KO 6KO 7K5 Rated Rotation Speed Applied Voltage Flat type 50 W 100 W 200 W 400 W 750 W 900 W 1 kW 1 5 kW
162. to Parameter Setting Mode Key operation Display example Explanation rae la pa lo Press the Gara key to return to Parameter Setting Mode a g F Some parameters will be displayed with an r before the number when the Precautions display returns to Parameter Setting Mode 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 affect the motor operation significantly This is particularly true for the speed loop gain and position loop gain For details on parameters refer to Parameter Tables on page 5 61 6 18 Operation Operation 6 4 Setting the Mode E 32 bit Positioning Parameters 1 Displaying Parameter Setting Mode Key operation Display example Explanation The item set for the Default Display Pn001 is displayed Lo 2 I Ww gt D c oO Press the key to display Monitor Mode a a a s a Mi Sa 0 Press the key to display Parameter Setting Mode 2 Selecting the Parameter Type Key operation Display example Explanation OO wo lo z MJ X _ ie
163. turned ON again The Instantaneous Speed Observer Setting Pn027 will automatically be disabled 0 if realtime autotuning is enabled 7 5 7 2 Realtime Autotuning Operating Procedure Insert the Parameter Unit connector into CN3 of the gp Servo Drive and turn ON the Servo Drive power supply Setting Parameter Pn021 Press the key un SPJ Press the key i5bb oik P Press the A key GEr HoP Press the key Pno OD ere 315 Select the number of the parameter to be set by Pre el using the A and keys Su Pn021 is selected in this example Press the key gp Change the value by using the A and keys Press the key Setting Parameter Pn022 l nm J MJ W uw Select Pn022 by using the A key Press the key 2 Increase the value by using the A key uw C Default setting Decrease the value by using the key Press the key Adjustment Functions Writing to EEPROM Press the key EE _ GEL Press the key cree The bars as shown in the figure on the right will EEF increase when the A key is pressed down for approx 5 s y Writing will start momentary display SELAFE End Fun GH ESEE Error Writing completed Writing error occurred Adjustment Functions fies 7 2 Realtime Autotuning Realtime Autotuning RTAT Pa
164. using the Speed Limit Pn053 or the speed limit value from MECHATROLINK II as the speed limit This section explains how to set the speed limit value Setting Speed Limit Values If the Speed Limit Selection PnO5B is set to 0 the setting for the Speed Limit Pn053 will be used as the speed limit value If the Speed Limit Selection PnO5B is set to 1 the smaller of either the Speed Limit Pn053 or the MECHATROLINK II speed limit value will be used When the Servomotor speed approaches the speed limit value the control method will switch from torque control using torque commands from MECHATROLINK II to speed control using the speed limit value determined via MECHATROLINK II or the Speed Limit Pn053 To ensure the stable operation during the speed limit parameters need to be adjusted according to Speed Control Mode Adjustment on page 7 16 If the Speed Limit Pn053 or the speed limit value from MECHATROLINK II is too low the Speed Loop Gain is too low or the Speed Loop Integration Time Constant is set to 10000 disable the input to the torque limiter will be small and the torque commanded via MECHATROLINK II may not be achieved 7 21 Chapter 8 Troubleshooting 8 1 8 2 8 3 8 4 8 5 ENO PFOCCSSING nicer ce cateuteraese rec enceactcn eres 8 1 Preliminary Checks When a Problem OccurS 006 8 1 Precautions When Troubleshooting eeeeeeeeeee 8 2 Replacing the Servomotor and Servo Dr
165. whichever is smaller Only in speed control torque limits can be switched by torque limit values and input PCL is ON PnO5E or MECHATROLINK II command option command value 1 NCL is ON Pn05F or MECHATROLINK II command option command value 2 Note 1 PCL ON When either Forward Torque Limit CN1 PCL pin 7 or MECHATROLINK II Communications Option Field P CL is ON PCL OFF When both Forward Torque Limit CN1 PCL pin 7 and MECHATROLINK II Communications Option Field P CL are OFF Note 2 For torque control always select PnO5E Torque Feed forward Function Selection 5 87 Setting Explanation 1 to3 Enabled only during speed control Disabled if not using speed control 4to5 Always disabled 5 27 Details on Important Parameters Pn No Parameter name Sailing Unit petal Attribute range setting Pn004 Drive Prohibit Input Selection O0to2 0 C Sets the function for the Forward and Reverse Drive Prohibit Inputs CN1 POT pin 19 NOT pin 20 Setting Explanation Decelerates and stops according to the sequence set in the Stop Selection for Drive 0 Prohibition Input Pn066 when both POT and NOT inputs are enabled When both POT and NOT inputs are OPEN the Drive Prohibit Input Error alarm code 38 will occur 1 Both POT and NOT inputs disabled 2 When either POT or NOT input becomes OPEN the Drive Prohibit Input Error alarm code 38 will occur
166. 0 Com mand units 1073741823 to 1073741823 202 Reverse Software Limit Sets the soft limit for the reverse direction If the Servomotor exceeds the limit the network response status NSOT will turn ON 1 Note 1 Be sure to set the limits so that Forward Software Limit gt Reverse Software Limit Note 2 NSOT is not turned ON when origin return is incomplete 500000 Com mand units 1073741823 to 1073741823 203 Final Distance for External Input Positioning Sets the distance to travel after detecting the latch signal input position when performing external input positioning The operation after detecting the latch signal input position will be determined by the external input positioning direction and this parameter as follows External Sign input position ing direction Positive Negative Decelerates toa stop reverses then moves in the negative direction and stops Moves in the positive direc _ tion and stops Positive direction Deceleratestoa stop reverses then moves in the positive direction and stops Moves in the negative direction and stops Negative direction 1 Reverses after decelerating to a stop if the final distance for external input positioning is short in comparison to the deceleration distance 100 Com mand units 1073741823 to 1073741823 9 18 Appendix
167. 0 135 145 115 114 84 98 12 5 35 1 33 R88G HPG50A332KO0SB 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 45 R88G HPG50A451K0SB 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A053K0B 107 133 120 130x130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0SB 107 133 120 130x130 135 145 115 114 84 98 12 5 35 ae 1 21 R88G HPG50A213K0B 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 33 R88G HPG50A332K0SB 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A053K0B 107 133 120 130x130 135 145 115 114 84 98 12 5 35 2 kW 1 11 R88G HPG32A112K0SB 107 133 120 130x130 135 145 115 114 84 98 12 5 35 1 21 R88G HPG50A213K0B 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 33 R88G HPG50A332K0SB 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A054K0B 129 133 120 130x130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG50A115KOB 149 156 170 130x130 190 145 165 163 122 103 12 0 53 TN 1 21 R88G HPG50A213K0SB 149 156 170 130x130 190 145 165 163 122 103 12 0 53 1 25 R88G HPG65A253K0SB 231 222 230 130x130 260 145 220 214 168 165 12 0 57 Dimensions mm Model elsitiz z2 AT Key dimensions TE QK b h ti
168. 0 50 Pn034 Gain Switch Hysteresis Setting 33 33 33 33 33 33 33 33 Pn035 Position Loop Gain Switching _ 20 20 20 20 20 20 20 20 Time Parameters Pn015 016 01A 030 and 032 to 035 are set to fixed values The Servo Drive is set to rigidity No 2 as the default value 1 The lower limit is set to 10 when using a 17 bit encoder and 25 when using a 2 500 p r encoder 2 The value for a 17 bit absolute encoder The value for a 2 500 p r incremental encoder is 25 3 The default setting for the Servo Drive is 2 switching from the network 5 91 5 27 Details on Important Parameters Pn No Parameter name Sang Unit Diaul Attribute range setting Pn023 Adaptive Filter Selection Oto2 0 B Enables or disables the adaptive filter The adaptive filter is enabled during realtime autotuning and manual tuning The adaptive filter reduces resonance point vibration in the Servomotor response by estimating the resonance frequency from the vibration component that appears in the Servomotor speed and automatically sets the frequency of the notch filter which removes the resonance component from the torque command The adaptive filter can only be used with position and speed control modes It is not available for torque control mode The adaptive filter may not operate properly under the following conditions C
169. 0 and then enable it again 0 to 4 Filter disabled 5 to 48 Filter enabled 49 to 64 Enable or disable the filter with Pn022 0 to 64 030 Gain Switching Operating Mode Selection RT Enables or disables gain switching Disabled Uses Gain 1 Pn010 to Pn014 O0 PI P operation is switched from MECHATROLINK II The gain is switched between Gain 1 Pn010 to Pn014 and Gain 2 Pn018 to Pn01C For details refer to 5 16 Gain Switching on page 5 31 Oto 1 031 Gain Switch Setting RT Sets the trigger for gain switching The details depend on the control mode For details refer to 5 16 Gain Switching on page 5 31 o Always Gain 1 k Always Gain 2 Switching from the network Amount of change in torque command Always Gain 1 Speed command Amount of position deviation Position command pulses received Positioning Completed Signal INP OFF oOo NI oJ AJAJ OJN Actual Servomotor speed Combination of position command pulses re 10 ceived and speed Oto 10 032 Gain Switch Time RT Enabled when the Gain Switch Setting Pn031 is setto 3 or 5 to 10 Sets the lag time from the trigger detection to actual gain switching when switching from gain 2 to gain 1 30 x166 us O to 10000 5 72 Operating Functions Operating Functions 5 26 User Parameters
170. 0 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 4500 r min r min r min 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 1 0 10 86 0 86 2 0 Repetitive usage Repetitive usage 0 57 9 32 0 32 0 64 0 64 Continuous usage 0 19 Continuous usage 0 38 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 25 3 2 Servomotor Specifications E 2 000 r min Servomotors 200 VAC Model R88M G1KO020T G1K520T G2KO020T G3KO020T G4KO20T G5KO20T G7K515T Item Unit Rated output W 1000 1500 2000 3000 4000 5000 7500 Rated torque N m 4 8 7 15 9 54 14 3 18 8 23 8 48 Rated rotation speed r min 2000 1500 E es ae rotation Hinin 3000 2000 Max momentary torque f Nm 13 5 19 6 26 5 41 2 54 9 70 6 111 o Rated current A rms 5 6 9 4 12 3 17 8 23 4 28 46 6 5 Max momentary current A rms 17 1 28 5 37 1 54 2 71 4 85 7 117 8 Rotor inertia ae 6 17 x 1074 1 12 x 1081 52 x 10312 23 x 10814 25 x 10 3 6 07 x 10 9 9 9 x 10 Applicable load inertia 10 times the rotor inertia
171. 0 W 100 V 200 W With 400 W brake 100 W 200 V 200 W 400 W R88M GP10030L B R88M GP10030L BS2 R88M GP10030S B R88M GP10030S BS2 R88M GP20030L B R88M GP20030L BS2 R88M GP20030S B R88M GP20030S BS2 R88M GP40030L B R88M GP40030L BS2 R88M GP40030S B R88M GP40030S BS2 R88M GP10030H B R88M GP10030H BS2 R88M GP10030T B R88M GP10030T BS2 R88M GP20030H B R88M GP20030H BS2 R88M GP20030T B R88M GP20030T BS2 R88M GP40030H B R88M GP40030H BS2 R88M GP40030T B R88M GP40030T BS2 Note Models with oil seals are also available E 2 000 r min Servomotors Model Specifications l With absolute eae Straight shaft Straight shaft without key with key and tap 1 kW R88M G1K020T R88M G1K020T S2 1 5 kW R88M G1K520T R88M G1K520T S2 With 2 kW R88M G2K020T R88M G2K020T S2 out 200 V 3 kW R88M G3K020T R88M G3K020T S2 brake 4 kW R88M G4K020T R88M G4K020T S2 5 kW R88M G5K020T R88M G5K020T S2 7 5 kW R88M G7K515T R88M G7K515T S2 1 kW R88M G1K020T B R88M G1K020T BS2 1 5 kW R88M G1K520T B R88M G1K520T BS2 i 2 kW R88M G2K020T B R88M G2K020T BS2 ee a 200 V 3 kW R88M G3K020T B R88M G3K020T BS2 4 kW R88M G4K020T B R88M G4K020T BS2 5 kW R88M G5K020T B R88M G5K020T BS2 7 5 kW R88M G7K515T B R88M G7K515T BS2 Note 1 Models with oil seals are also available Note 2 The rated rotation speed for 7 5 kW Serv
172. 000 3 15 4 00x10 392 196 0 72 R88G 6 468 1 9 VRSE09B100PCJ 333 2 29 80 556 6 048 3 50 x 10 441 220 0 72 Ww R88G 6 1 15 VRSF15B100PCJ 200 3 81 80 333 10 08 3 50 x10 588 294 0 87 R88G 6 1 25 VRSF25B100PCJ 120 6 36 80 200 16 8 3 2510 686 343 0 87 R88G 5 1 5 VRSEOSB200PCJ 600 2 70 85 1000 7 65 1 1810 392 196 0 85 R88G 5 son 1 9 VRSE09C200PCJ 333 3 77 66 556 10 692 2 75 x10 931 465 1 80 3 1 15 RBG 200 6 29 66 333 17 82 3 00x105 1176 588 2 20 VRSF15C200PCJ i i R88G 5 1 25 VRSF25C200PCJ 120 11 1 70 200 31 5 2 88x10 1323 661 2 20 R88G 1000 15 5 5 1 5 VRSEOSC400PCJ 600 5 40 85 900 15 3 3 63 x 10 784 392 1 80 R88G 556 27 3 5 o 1 9 VRSF09C400PCJ 333 9 50 83 500 26 9 2 75 x 10 931 465 1 80 w R88G 333 45 4 2 1 15 VRSF15C400PCJ 200 15 8 83 300 44 8 3 00 x 10 1176 588 2 20 R88G 200 75 7 5 1 25 VRSF25C400PCJ 120 26 4 83 180 74 7 2 88 x 10 1323 661 2 20 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 41 3 4 Cable and Connector Specifications 3 4 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the enc
173. 000800868 0000000000002200880000000000000000006 LIRO Mounting Dimensions Reference Values Six M4 2 o 1 S Square hole 3 io ___ P 38 5 p 90 L 90 J Note The dimensions of the square hole are reference values 250 2 32 Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Servomotors E 3 000 r min Servomotors 50 W 100 W R88M G05030H S2 G10030L S2 G10030H S2 G05030H B S2 G10030L B S2 G10030H B S2 INTs R88M G05030T S2 G10030S S2 G10030T S2 G05030T B S2 G10030S B S2 G10030T B S2 RES Brake connector Encoder connector a 230 Motor connector 40 x 40 8 dia h 6 30 dia h 7 Two 4 3 dia Model Dimensions mm LL LN R88M G05030 72 26 5 R88M G10030 92 46 5 R88M G05030L B 102 26 5 R88M G10030L1 B 122 46 5 Dimensions of shaft end with key and tap 14 12 5 lt gt gt 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 33 E 3 000 r min Servomotors 200 W 400 W 750 W Encoder connector R88M G20030L S2 G40030L S2 G20030H S2 G40030H S2 G75030H S2 G20030L B S2 G40030L B S2 2 2 Exter
174. 055 R88D GN50H ML2 3G3AX AL2110 R88D GN75H ML2 3G3AX AL2220 2 1 Standard Models E Mounting Brackets L Brackets for Rack Mounting Specifications Model R88D GNAS5L ML2 GNO01L ML2 GN01 H ML2 GNO2H ML2 R88A TKO1G R88D GNO02L ML2 GNO4H ML2 R88A TKO2G R88D GNO4L ML2 GNO8H ML2 R88A TKO3G R88D GN10H ML2 GN15H ML2 R88A TK04G E Absolute Encoder Backup Battery Specifications Model 2 000 mA h 3 6 V R88A BAT01G 2 22 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 GNA5L ML2 GN01L ML2 50 to 100 W Single phase 200 VAC R88D GN01H ML2 GNO02H ML2 50 to 200 W Wall Mounting External Dimensions Mounting Hole Dimensions Two M4 Pozo VZO goog OOOO ca N au EEE cae 150 J g 150 140 i J Uf oe to j Jel 28 _ Y 40 2 23 2 2 External and Mounting Hole Dimensions Front Panel Mounting Using Mounting Brack
175. 0BJ 2 9 Decelerators for 1 000 r min Servomotors 2 1 Standard Models Specifications Motor Model capacity Gear ratio 1 5 R88G HPG32A05900TB Pena 1 11 R88G HPG32A11900TB 1 21 R88G HPG50A21900TB 1 33 R88G HPG50A33900TB 1 5 R88G HPG32A052K0TB 1 11 R88G HPG50A112K0TB i 1 21 R88G HPG50A212KOTB 1 25 R88G HPG65A255K0SB 1 5 R88G HPG50A055KOSB 1 11 R88G HPG50A115KOSB ik 1 20 R88G HPG65A205K0SB 1 25 R88G HPG65A255KOSB 1 5 R88G HPG50A054K5TB 4 5 kW 1 12 R88G HPG65A127K5SB 1 20 R88G HPG65A204K5TB ay 1 5 R88G HPG65A057K5SB 1 12 R88G HPG65A127K5SB 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 HPG32A05900TBJ 2 10 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models Decelerators for 3 000 r min Flat Servomotors Specifications Motor Model capacity Gear ratio 1 5 R88G HPG11B05100PB 1 11 R88G HPG14A11100PB 100 W 1 21 R88G HPG14A21100PB 1 33 R88G HPG20A33100PB 1 45 R88G HPG20A45100PB 1 5 R88G HPG14A05200PB 1 11 R88G HPG20A
176. 1 11 R88G HPG14A11200B 200 W 1 21 R88G HPG20A21200B 1 33 R88G HPG20A33200B 1 45 R88G HPG20A45200B 1 5 R88G HPG14A05400B 1 11 R88G HPG20A11400B 400 W 1 21 R88G HPG20A21400B 1 33 R88G HPG32A33400B 1 45 R88G HPG32A45400B 1 5 R88G HPG20A05750B 1 11 R88G HPG20A11750B 750 W 1 21 R88G HPG32A21750B 1 33 R88G HPG32A33750B 1 45 R88G HPG32A45750B 2 7 Specifications Motor Model capacity Gear ratio 1 5 R88G HPG32A051KOBL 1 1 11 R88G HPG32A111KOB 1 kw 1 21 R88G HPG32A211KOB 1 33 R88G HPG32A331KOB 1 45 R88G HPG50A451K0B 1 5 R88G HPG32A052K0B 1 11 R88G HPG32A112KOB 1 5 kW 1 21 R88G HPG32A211K5B 1 33 R88G HPG50A332K0B 1 45 R88G HPG50A451K5B 1 5 R88G HPG32A052K0B SKW 1 11 R88G HPG32A112KOB 1 21 R88G HPG50A212KOB 1 33 R88G HPG50A332K0B 1 5 R88G HPG32A053K0B 3 kW 1 11 R88G HPG50A113KOB 1 21 R88G HPG50A213KOBL rr 1 5 R88G HPG32A054K0B 1 11 R88G HPG50A115KOB Zia 1 5 R88G HPG50A055KOB 1 11 R88G HPG50A115KOB Note 1 The standard models have a straight shaft 2 1 Standard Models Note 2 Models
177. 1 and 2 are enabled Switch with command direction Selects Vibration Frequency 1 in forward direction Pn02B PnO2C Selects Vibration Frequency 2 in reverse direction Pn02D Pn02E Setting Filter type Switching mode 0 No switching 1 Normal type Both filter 1 and filter 2 are enabled 2 Switching with command direction 3 No switching 4 Low pass type Both filter 1 and filter 2 are enabled 5 Switching with command direction Pn No Parameter name Senie Unit Pesto Attribute range setting Normal Mode enees Autotuning Operation Setting le 9 5 Normal mode autotuning operates on condition that the network is not established If the network is established while normal mode autotuning is in operation the command error alarm code 27 will occur Normal mode autotuning will not operate properly unless the Torque Limit Selection Pn003 is set to 1 PnO5E is the torque limit value and the Drive Prohibit Input Selection Pn004 is set to 1 disabled Setting ees ai Rotation Direction rotations 0 Forward and Reverse Alternating 1 Repeat cycles of Reverse and Forward Alternating 2 2 rotations Forward only 3 Reverse only 4 Forward and Reverse Alternating 5 Repeat cycles of Reverse and Forward Alternating 6 single rotation Forward only 7 Reverse only Pn No Parameter name Seiling Unit Deel Attribute range setting Pn02F Adaptive Filter Table Nu
178. 100 200 VAC 5 A 3SUP HQ10 ER 6 Three phase 200 VAC Pree ieee ies ees a E 3SUP HU30 ER 6 ent eevee 3SUP HL50 ER 6B ga hn YAG SV Servo Drive OMRON pee 4 SM Servomotor OMRON 1 FC Clamp core TDK ZACT305 1330 TB Controller Switch box 1 A specified combination of Servo Drive and Servomotor must be used 4 27 4 3 Wiring Conforming to EMC Directives 4 28 Cable Details Symbol Supplies from Connects to Cable name Length Remarks Shielded Ferrite Three O AC power supply Noise filter Power supply line 2m phase No No 200 VAC Noise filter Servo Drive Power supply line 2m No Yes Servo Drive Servomotor Power cable 20 m Yes Yes Servo Drive Servomotor Encoder cable 20m No Yes a Switch box Servo Drive I O cable 2m No Yes Frame ground Noise filter Frame ground line 1 5m No No c O D Frame ground Noise filter Frame ground line 1 5m No No D oO AC power supply Switch box Power supply line 1 5m No No m 3 v E Noise Filters for the Power Supply Input a Use the following noise filters for the Servo Drive power supply Noise Filters for the Power Supply Input Servo Drive model i Model pated Phases Maxmumjleakage Manufacturer current current 60 Hz R88D GNA5L ML2 1 0 mA R88D GNO1L
179. 11200PB 200 W 1 21 R88G HPG20A21200PB 1 33 R88G HPG20A33200PB 1 45 R88G HPG20A45200PB 1 5 R88G HPG20A05400PB 1 11 R88G HPG20A11400PB 400 W 1 21 R88G HPG20A21400PB 1 33 R88G HPG32A33400PB 1 45 R88G HPG32A45400PB 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 HPG11B05100PBJ 2 11 E Backlash 15 Max 2 1 Standard Models Decelerators for 3 000 r min Servomotors Straight Shaft with Key Specifications Model Motor Gear ratio capacity 1 5 R88G VRSF05B100CJ 1 9 R88G VRSF09B100CJ 50 W 1 15 R88G VRSF15B100CJ 1 25 R88G VRSF25B100CJ 1 5 R88G VRSF05B100CJ 1 9 R88G VRSF09B100CJ 100 W 1 15 R88G VRSF15B100CJ 1 25 R88G VRSF25B100CJ 1 5 R88G VRSFO5B200CJ 1 9 R88G VRSFO9C200CJ 200 W 1 15 R88G VRSF15C200CJ 1 25 R88G VRSF25C200CJ 1 5 R88G VRSF05C400CJ 1 9 R88G VRSFO9C400CJ 400 W 1 15 R88G VRSF15C400CJ 1 25 R88G VRSF25C400CJ 1 5 R88G VRSF05C750CJ 1 9 R88G VRSFO9D750CJ 750 W 1 15 R88G VRSF15D750CJ 1 25 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 Motor Model Gear ratio capacity 1 5 R88G VRS
180. 11L mount two screws with gaskets Installing the Decelerator When installing the R88G HPG are no burrs on the tap sections and then bolt on the mounting flanges 4 1 Installation Conditions o CG System Design first make sure that the mounting surface is flat and that there Mounting Flange Bolt Tightening Torque for Aluminum R88G HPG 11 14 20 32 50 65 Number of bolts 4 4 4 4 4 4 Bolt size M3 M5 M8 M10 M12 M16 Mounting PCD mm 46 70 105 135 190 260 Tightening torque N m 1 4 6 3 26 1 51 5 103 255 4 8 System Design 4 1 Installation Conditions Installing an R88G VRSF Backlash 15 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 Make sure the set bolts are loose 2 Gently insert the Servomotor into the Decelerator As shown in the figures below stand the Decelerat
181. 151 270 0 2 80x10 1565 6240 7 8 R88G 4 1 45 HPG50A451K0B 67 124 2 87 100 355 4 4 70 x 10 4538 15694 19 0 R88G 4 1 5 HPG32A052K0B 600 19 1 80 1000 51 3 3 90 x10 889 3542 7 4 R88G 4 1 11 HPG32A112KOB 273 45 7 87 454 122 5 3 40x10 1126 4488 7 9 1 5 R88G 4 kW 1 21 HPG32A211K5B 143 90 1 90 238 241 9 3 00 x10 1367 5448 7 9 R88G a 4 1 33 HPG50A332K0B 91 141 5 90 136 379 7 4 80 x 10 4135 14300 19 0 R88G 4 1 45 HPG50A451K5B 67 192 9 90 100 517 8 4 70x10 4538 15694 19 0 3 33 3 3 Decelerator Specifications Maxi Maxi Rated mum Allow Allow Effi mum Decelera rota Rated momen able able 5 i cien momen tor Weight Model tion torque tary eee radial thrust cy tary inertia speed rotation load load torque speed r min Nm r min N m kg m N N kg R88G 4 1 5 HPG32A052K0B 600 26 7 84 1000 77 4 3 90 x 10 889 3542 7 4 R88G 4 i 1 11 HPG32A112K0B 273 62 4 89 454 180 7 3 40 x10 1126 4488 7 9 ay 1 21 R88G 143 118 91 89 2147 343 9 5 80x104 3611 12486 19 0 HPG50A212K0B R88G oe 4 1 33 HPG50A332K0B 91 191 8 91 136 555 0 4 80 x 10 4135 14300 19 0 R88G 4 1 5 HPG32A053K0B 600 42 0 88 1000 118 9 3 80x10 889 3542 7 3 3 R88G 4 4 kW 1 11 HPG50A113K0B 273 92 3 88 409 261 4 7 70
182. 19 861 41 366 63 Disabled 20 828 42 352 64 Disabled 21 796 43 339 The table number corresponding to the frequency for the adaptive filter is displayed This parameter is set automatically and cannot be changed when the adaptive filter is enabled when the Adaptive Filter Selection Pn023 is 1 or 2 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 To clear this parameter and reset the adaptive operation disable the adaptive filter by setting the Adaptive Filter Selection Pn023 to 0 and then enable it again 5 94 Operating Functions Operating Functions 5 27 Details on Important Parameters Pn No Parameter name Seime Unit Desau Attribute range setting Pn066 Stop Selection for Drive Prohibition Input O0to2 0 C 5 95 Sets the deceleration stop operation to be performed after the Forward Drive Prohibit Input POT or Reverse Drive Prohibit Input NOT is enabled j A After stopping a Setting During deceleration 30 r min or less Deviation counter Disables torau tomiman Cleared while decelerating 0 Dynamic brake ee qu SIRE with dynamic brake in drive prohibited direction Retained after stopping A Disables teraue Disables torque command Cleared whil
183. 190 115 165 163 122 103 12 0 53 1 5 R88G HPG32A053KOBL 107 133 120 130x130 135 145 115 114 84 98 12 5 35 3 kW 1 11 R88G HPG50A113K0B 123 156 170 170dia 190 145 165 163 122 103 12 0 53 1 21 R88G HPG50A213K0B 123 156 170 170dia 190 145 165 163 122 103 12 0 53 a py 5 P88G HPG32A054K0B 129 133 120 130x130 135 145 115 114 84 98 12 5 35 1 11 R88G HPGS50A115KOB 149 156 170 130x130 190 145 165 163 122 103 12 0 53 ew _1 5_ R88G HPGSOA055K0B 149 156 170 130x130 190 145 165 163 122 103 12 0 53 1 11 R88G HPGS50A115KOB 149 156 170 130x130 190 145 165 163 122 103 12 0 53 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 2 49 box Example R88G HPG32A051KOBJ 2 2 External and Mounting Hole Dimensions Dimensions mm Model elsitiz z2 aT Key dimensions PRESE QK b h iti M L 1 5 R88G HPG32A051K0B 13 40 82 11 M6x12 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A111KOB
184. 2 118 9 41 8h9 7 4 M5 12 R88M G2K010 182 80 35 200 114 3 176 233 3 2 18 143 13 5 50 10h9 8 5 M12 25 R88M G90010L B 200 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12 R88M G2K010L1 B 207 80 35 200 114 3 176 233 3 2 18 143 13 5 50 10h9 8 5 M12 25 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 3 kW R88M G3K010T S2 G3K010T B S2 FRESH Dimensions of shaft end Servomotor brake f connector LL 80 with key and tap o 176 x 176 50 Encoder connector a 18 32 g Four 13 5 dia 10 h 9 m 2 a O aes oj 3 i i co 5 T bs as ee re a ow a 4 an ERATEN EE EEE F aak L 114 3 dia h 7 M12 depth 25 Model Dimensions mm LL R88M G3K010 222 R88M G3K010L B 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 41 2 2 External and Mounting Hole Dimensions E 1 000 r min Servomotors 4 5 kw R88M G4K510T S2 G4K510T B S2 WEJ Dimensions of shaft end
185. 2 6 to 7 5 kW Three phase 200 to 230 VAC 170 to 253 V supply input 50 60Hz L3 B1 External Regeneration 6to7 5kW A regeneration resistor is not built in Resistor Connect an External Regeneration Resistor between B1 and B2 if B2 connection necessary terminals U Red V White PEINOMOION These are the output terminals to the Servomotor W connection Blue l f Be sure to wire them correctly terminals G 7 reen Yellow Frame ground This is the ground terminal Ground to 100 Q or less Main Circuit Terminal Block Specifications TB2 Symbol Name Function NC Do not connect LIC Control circuit E power supply input R88D GN75H ML2 Single phase 200 to 230 VAC 170 to 253 V 50 60Hz Frame ground This is the ground terminal Ground to 100 Q or less NC EX1 EX2 Do not connect EX3 NC a Fan Stop Output ae when the fan inside the Servo Drive stops 4 22 System Design System Design 4 2 Wiring E Terminal Block Wire Sizes 100 VAC Input RB88D GNOLIL ML2 Model R88D GNASL GNO1L GNO2L GNO4L Item Unit ML2 ML2 ML2 ML2 Power supply capacity kVA 0 4 0 4 0 5 0 9 Main circuit power Rated current A 1 4 2 2 3 7 6 6 supply input L1 andL3or Wire size AWG18 AWG16 L1 L2 and L3 Control circuit R
186. 2 kW 3 kW 4 kW 4 5 kW 5 kW 6 kW 7 5 kW 1 000 r min 1 500 r min 2 000 r min 3 000 r min 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 Decelerator for R88G HPG14A05100PBJ G Series Servomotors Backlash 3 Max Flange Size Number 11B L 40 14A L160 20A L190 32A 1120 50A L1170 65A 1230 Gear Ratio 05 1 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 050 100 200 400 750 900 1KO 1K5 2KO 3KO 4KO 4K5 5KO 6KO 7K5 Motor Type 50W 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 kW 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 t
187. 20 3 1 200 R88G 5 w 1 21 HPG20A21200PB 143 10 2 76 238 28 8 4 90 x10 800 2817 3 1 R88G 5 1 33 HPG20A33200PB 91 17 0 81 151 47 9 450x10 916 3226 3 1 R88G 5 1 45 HPG20A45200PB 67 23 2 81 111 65 4 450x 10 1006 3541 3 1 R88G 1000 13 1 5 1 5 HPG20A05400PB 600 4 67 72 900 12 9 7 10 x 10 520 1832 3 1 R88G 454 32 9 5 1 11 HPG20A11400PB 273 11 7 82 409 32 4 5 80 x 10 659 2320 3 1 400 R88G 238 66 2 5 Ww 1 21 HPG20A21400PB 143 23 5 86 214 65 2 4 90 x 10 800 2817 3 1 R88G 151 97 6 4 1 33 HPG32A33400PB 91 34 7 81 136 96 2 2 80 x 10 1565 6240 7 8 R88G 111 133 0 4 1 45 HPG32A45400PB 67 47 4 81 100 131 2 2 80 x 10 1718 6848 7 8 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 the model number the suffix in the box 3 38 Specifications Specifications 3 3 Decelerator Specifications E Backlash 15 Max Decelerators for 3 000 r min Servomotors Meet I Weg Rated A mum Allow Allow Effi mum Decelera rota Rated momen able able cien momen tor f Wei
188. 24 Instantaneous Speed Observer cccceeeeeees 5 25 DAME CANOL saonenn 5 26 User EE OS a a a EEE Setting and Checking Parameters seeeereerere Parameteniablesmct s E E E E E E ier acres 5 27 Details on Important Parameters 00 5 1 Position Control 5 1 Position Control Function Performs position control using commands from the Position Control Units for MECHATROLINK II CJ1W NCF71 CS1W NCF71 The Servomotor rotates using the value of the position command position command units multiplied by the Electronic Gear Ratio Pn205 Pn206 Host Controller OMNUC G Series Servo Drive MECHATROLINK II compatible Position Control Unit CJ1W NCF71 CS1W NCF71 Position Control ae Mode Issue Positioning Command OMNUC G Series fa aa Gear Servomotor Ke Absolute Movement atio D Command Feedback G1 Pn205 c A aeie Movement Position Speed G2 Pn206 gt ommand LL G1 G2 d c gt tI 6 Parameters Requiring Settings re Parameter name Explanation Reference page Electronic Gear Ratio 1 Pn205 Numerator 5 85 Pn206 Electronic Gear Sets the electronic gear ratio G1 G2 5 85 Ratio 2 Denominator Linear Acceleration Sets the angular acceleration command units s for Pn107 ee i 5 82 Constant positioning operations Linear Decelera Sets the angular deceleration command units s for Pn10A eas A 5 82 tion Constant positio
189. 26 28 607 50 258 Disabled when Pn022 gt F 7 1372 29 584 51 248 Disabled when Pn022 gt F 8 1319 30 562 52 239 Disabled when Pn022 gt F 9 1269 31 540 53 230 Disabled when Pn022 gt F 10 1221 32 520 54 221 Disabled when Pn022 gt E 11 1174 33 500 55 213 Disabled when Pn022 gt E 12 1130 34 481 56 205 Disabled when Pn022 gt E 13 1087 35 462 57 197 Disabled when Pn022 gt E 14 1045 36 445 58 189 Disabled when Pn022 gt E 15 1005 37 428 59 182 Disabled when Pn022 gt D 16 967 38 412 60 Disabled 17 930 39 396 61 Disabled 18 895 40 381 62 Disabled 19 861 41 366 63 Disabled 20 828 42 352 64 Disabled 21 796 43 339 Set the Notch Filter 1 Frequency Pn01D to 1 500 when disabling the adaptive filter using the above table 5 47 5 24 Instantaneous Speed Observer 5 24 Instantaneous Speed Observer Function The instantaneous speed observer improves speed detection accuracy increases responsiveness Position Command p and reduces vibratio load inertia n at stopping by estimating the speed of the Servomotor using a load model This function does not work for machines with resonance or insufficient rigidity This function can be This function is avail Speed Command used in the position and speed control modes able for Servomotors with only a high speed resolution absolute encoder Control Position Torque Command Current Loop Con
190. 3 15A E 3 UL CSA TUV Thee HFP 2303 30A phase SUP EK10 ER 6 10A SUP EK15 ER 6 15A as UL cUL T V Single SUP EK20 ER 6 20A phase Okaya Electric SUP EK30 ER 6 30A Industries Co 3SUP HL10 ER 6 10A Ltd 3SUP HL15 ER 6 15A Three 3SUP HL30 ER 6 30 A UL T V phase 3SUP HL75 ER 6 75A 3SUP HL100 ER 6 100 A ZRCS2006 00S 6A ZRCS2010 00S 10A inale UL CSA NEMKO Single ZRCS2020 00S 20A phase TDK ZRCS2030 00S 30A ZRCT5050 MF 50A ZRCT5080 MF 80 A UL CSA NEMKO era 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 to a single noise filter select a noise filter with a rated current at least two times the total rated current of all the Servo Drives 4 41 Noise Filters for Servomotor Output Use noise filters without built in capacitors on the Servomotor output lines Select a noise filter with a rated current at least two times the Servo Drive s continuous output current 4 3 Wiring Conforming to EMC Directives The following table shows the noise filters that are recommended for Servomotor output Manufacturer Model Feied Remarks current 3G3AX NF001 6A 3G3AX NF002 12A 3G3AX NF003 25A OMRON For in
191. 3200B 10 25 42 9 0 M4x10 M4 36 8 7 40 M6 12 1 45 R88G HPG20A45200B 10 25 42 9 0 M4x10 M4 36 8 7 40 M6 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 R88G HPG11B05100BW 2 47 2 2 External and Mounting Hole Dimensions Dimensions mm al LM LR C1 c2 Di D2 D3 D4 D5 E F1 F2 1 5 R88G HPG14A05400B 64 0 58 60 60x60 70 70 56 0 55 5 40 37 2 5 21 1 11 R88G HPG20A11400B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 400 W 1 21 R88G HPG20A21400B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 33 R88G HPG32A33400B 104 0 133 120 122 dia 135 70 115 0 114 0 84 98 12 5 35 1 45 R88G HPG32A45400B 104 0 133 120 122 dia 135 70 115 0 114 0 84 98 12 5 35 1 5 R88G HPG20A05750B 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 1 11 R88G HPG20A11750B 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 750 W 1 21 R88G H
192. 33 when the Gain Oto 034 Hysteresis Switch Setting Pn031 is set to 3 5 6 9 or 10 50 20000 B Setting RT The unit for the setting depends on the condition set for the Gain Switch Setting Pn031 This parameter can prevent the position loop gain Pe from increasing suddenly when the position loop Position Loop a 035 Gain Switching gain and position loop gain 2 differ by a large 20 x166 0 to B Time RT amount 7 ni us 10000 When the position loop gain increases it takes the duration of set value 1 x 166 us 036 Reserved Do not change 0 037 Reserved Do not change 0 038 Reserved Do not change 0 039 Reserved Do not change 0 03A Reserved Do not change 0 03B Reserved Do not change 0 03C Reserved Do not change 0 03D Jog Speed T e speed with the Parameter 200 r min 0to500 03E Reserved Do not change 0 03F Reserved Do not change 0 9 9 9 1 Parameter Tables o Pa Parameter name Setting Explanation ae Unit Siciline 2 Sai No Setting Range value 040 Reserved Do not change 0 Emergency Stop Enables the Emergency Stop Input STOP 041 Input 0 Disabled 1 Oto 1 C Setting 1 Enabled alarm code 87 issued on OPEN Sets the logic for the Origin Proximity Input DEC
193. 3G3AX DL2004 3 2A 10 7 mH R88D GNO2L ML2 R88D GNO4H ML2 3G3AX DL2007 6 1A 6 75 mH R88D GNO4L ML2 R88D GNO8H ML2 3G3AX DL2015 9 3A 3 51 mH R88D GN10H ML2 R88D GN15H ML2 3G3AX DL2022 13 8A 2 51 mH R88D GNO8H ML2 R88D GN10H ML2 3G3AX AL2025 10 0A 2 8 mH R88D GN15H ML2 R88D GN20H ML2 R88D GN30H ML2 3G3AX AL2055 20 0A 0 88 mH R88D GN50H ML2 3G3AX AL2110 34 0 A 0 35 mH R88D GN75H ML2 3G3AX AL2220 67 0A 0 18 mH 4 40 System Design 4 3 Wiring Conforming to EMC Directives E Selecting Other Parts for Noise Resistance This section explains the criteria for selecting other connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable conditions when selecting the components For more details contact the manufacturers directly Noise Filters for the Power Supply Input Use a noise filter to attenuate external noise and reduce noise emitted from the Servo Drive Select a noise filter with a rated current that is at least two times greater than the effective load current the rated current of the main circuit power supply input given in Main Circuit and Servomotor Connector Specifications on page 4 20 Manufacturer Model poled Applicable standards Remarks current GT 2050 5A GT 2100 10A k inale UL CSA VDE TUV Single GT 2150 15A phase NEC TOKIN GT 2150 20A HFP 215
194. 5 Speed Feed forward Amount 300 300 300 300 300 300 300 300 Pno16 Feed forward Filter Time n 50 50 50 50 50 50 50 50 Constant Pn017 Reserved 0 0 0 0 0 0 0 0 Pn018 Position Loop Gain 2 190 380 460 570 730 840 1050 1260 Pn019 Speed Loop Gain 2 90 180 220 270 350 400 500 600 prora SPeed Loop Integration Time 1 2 3 7 10000 10000 10000 10000 10000 10000 10000 10000 n Constant 2 4 5 6 9999 9999 9999 9999 9999 9999 9999 9999 Pn01B Speed Feedback Filter Time oa 0 0 0 0 0 0 0 0 Constant 2 Brie ee command Fitar time a 253 126 103 84 65 57 45 38 Constant 2 Pn020 Inertia Ratio Estimated load inertia ratio Instantaneous Speed Pno Observer Setting o R S 0 9 eg y Gain Switching pres Operating Mode Selection y 1 1 l i k t 1to6 10 10 10 10 10 10 10 10 Pn031 Gain Switch Setting 7 0 0 0 0 0 0 0 0 Pn032 Gain Switch Time 30 30 30 30 30 30 30 30 Pn033 Gain Switch Level Setting 50 50 50 50 50 50 50 50 Pn034 Gain Switch Hysteresis Setting 33 33 33 33 33 33 33 33 Pn035 coer Reon Gala SUMRY 20 20 20 20 20 20 20 20 5 90 Operating Functions Operating Functions 5 27 Details on Important Parameters Parameter AT Mode Selection AT Machine Rigidity Selection Pn022 Parameter name No Pn021 8 9 A B C D
195. 5 16 5 19 Torque Limit Selection Pn003 eee 5 63 5 87 Torque Monitor IM Selection Pn008 265 5 66 Trial Operation siie niia nipe i 6 31 troubleshootiN gsis ariii 8 7 UL and CSA standards cccccsccccssssteeesssteeeeeeees Undervoltage Alarm Selection Pn065 user parameters eee eect eeeeeeeeeeeeeeeeeeee using the parameter unit Index V W Vibration Filter 1 Setting PNO2C eee 5 71 Wire SiZeS vc eee ea aati 4 24 Vibration Filter 2 Setting PNO2E 0 ee 5 72 wiring conforming to EMC Directives 4 26 Vibration Filter Selection PnN024 0 5 70 5 92 Vibration Frequency 1 PNO2B eee 5 71 Vibration Frequency 2 Pn02D eee 5 71 Index 4 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the man ual Cat No I566 E1 02 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code July 2008 Revised content and pages Original production R 1 June 2009 Page 13 Corrected flange size number Page 14 Corrected option Page 1 4 Added definitions for forward and reverse operation Pages 1 7 to 1 9 Removed one of the lines above current detection Pages 2 7 2 11 2 44 2 45 2 47 2 55 3 29 4 7 and 4 8 Corrected model numbers Page 2 18 Added 1 500 r min Serv
196. 5 3A 63 6 A 84 8 A 170 0A Power supply 3 3 KVA 4 5 KVA 7 5 KVA 11 KVA capacity Main circuit Power supply Three phase 200 to 230 VAC 170 to 253 V 50 60 Hz voltage Input power Rated supply c rt nt 10 2 A 15 2 A 23 7 A 35 0 A 2 Power S supply Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit Voltage rs Rated 0 1 A 0 12 A 0 12 A 0 14 A 2 current dp Heat Main circuit 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 Maximum applicable motor capacity 2 kW 3 kW 5 kw 7 5 kW 3 000 r min E B B Servomotors G4K030T ABS G2K030T G3K030T G5K030T Applica 3 000 r min s a z ble Ser Flat Servomo vomotors tors ABS Se a3 dee es 2 000 r min G4K020T Sevornot rs ABS G2K020T G3K020T G5KO20T G7K515T 1 000 r min G3K010T Servomotors ABS T cee G4K510T oe 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 Speed variability Voltage characteristic 0 at 10 of rated voltage at rated speed Performance Speed variability Temperature characteristic 0 1 or less at 0 to 50 C at rated speed Torque control reproducibility 3 at 20 to 100 of rated t
197. 52 0 45 Electrical time constant ms 0 7 0 79 2 6 3 4 6 Allowable radial load 3 N 68 68 245 245 392 Allowable thrust load S N 58 58 98 98 147 Weight Without brake kg Approx 0 3 Approx 0 5 Approx 0 8 Approx 1 2 Approx 2 3 With brake kg Approx 0 5 Approx 0 7 Approx 1 3 Approx 1 7 Approx 3 1 arid shiela dimensions 100 x 80 x t10 Al 130x120x602 A 1 A x Applicable Servo Drives R88D GN01H ML2 GNO1H ML2 GNO2H ML2 GNO4H ML2 GNO8H ML2 Brake inertia ao 2x107 2x107 18x106 18x106 7 5x10 Excitation voltage 4 V 24 VDC 5 o oe w 7 7 9 9 10 a A A 0 3 0 3 0 36 0 36 0 42 Static friction torque N m 0 29 min 0 29 min 1 27 min 1 27 min 2 45 min 8 Attraction time ms 35 max 35 max 50 max 50 max 70 max 5 Release time ms 20 max 20 max 15 max 15 max 20 max amp Backlash 1 reference value o eez wokper J 39 2 39 2 137 137 196 Allowable total work J 49x108 4 9x103 44 1x108 44 1x108 147x109 Allowable angular rad s l 30 000 max l acceleration Speed of 2 800 r min or more must not be changed in less than 10 ms Brake life 10 000 000 operations Rating Continuous Insulation grade Type B 3 19 3 2 Servomotor Specifications 200 VAC Model R88M G1KO30T G1K530T G2KO30T G3KO30T G4KO30T G5KO30T Item Unit
198. 5400PB 13 40 82 11 0 M5x12 M6 70 12 8 5 0 M10 20 1 This is the set bolt Outline Drawings C1xC1 Set bolt AT Four Z2 Four Z1 dia D5 dia S dia h 7 D3 dia h 7 D4 dia Key and Tap Dimensions QK M depth L C2 x C2 jj 2 56 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E Backlash 15 Max Decelerators for 3 000 r min Servomotors oe Dimensions mm LM LR C1 C2 D1 D2 D3 D4 E3 F G 1 5 R88G VRSF05B100CJ 67 5 32 40 52 46 60 50 45 10 3 6 50 W 1 9 R88G VRSFO9B100CJ 67 5 32 40 52 46 60 50 45 10 3 6 1 15 R88G VRSF15B100CJ 78 0 32 40 52 46 60 50 45 10 3 6 1 25 R88G VRSF25B050CJ 78 0 32 40 52 46 60 50 45 1013 6 1 5 R88G VRSFO5B100CJ 67 5 32 40 52 46 60 50 45 10 3 6 400 W 1 9 R88G VRSFO9B100CJ 67 5 32 40 52 46 60 50 45 10 3 6 1 15 R88G VRSF15B100CJ 78 0 32 40 52 46 60 50 45 10 3 6 1 25 R88G VRSF25B100CJ 78 0 32 40 52 46 60 50 45 10 3 6 1 5 R88G VRSFO5B200CJ 72 5 32 60 52 70 60 50 45 10 3 10 200 W 1 9 R88G VRSFO9C200CJ 89 5 50 60 78
199. 56 Reserved Do not change 0 057 Reserved Do not change 0 Soft Start Sets the acceleration time for speed control mode 058 Acceleration Acceleration time s from O r min to maximum 0 x2 ms 0 to 5000 B Time speed r min Set value x 2 ms Soft Start Sets the deceleration time for speed control mode 059 Deceleration Deceleration time s from maximum speed r min 0 x2 ms 0 to 5000 B Time to 0 r min Set value x 2 ms 05A Reserved Do not change 0 9 10 Appendix Appendix 9 1 Parameter Tables o Pn Default Setting Z Set No Parameter name Setting Explanation Setting Unit Range E value lt x Sets the speed limit for torque control mode Speed Limit 0 Use the Speed call Pn053 05B Selection Use the speed limit value via 0 os Otol B 1 MECHATROLINK II or the Speed Limit Pn053 whichever is smaller 05C Reserved Do not change 0 05D Reserved Do not change 0 05E we Sets the No 1 Torque Limit for the Servomotor 300 0to500 B imit output torque O5E No 2 Torque Sets the No 2 Torque Limit for the Servomotor 100 0to 500 B Limit output torque Positioning Por Com i Sets the positioning completion range when 0 to 960 ae Positioning Completion 1 INP1 Output is selected 29 mand 10000 A ange 1 units Speed Conformity Sets the detection width for the speed confor
200. 6 4 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 18 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 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 E System Configuration CN6A CN6B MECHATROLINK II Communications Connector Motion Control Unit MECHATROLINK I Cable lt an SE ai CN1 Control I O Connector i 2 Connector Terminal Block and Cable Cable for Connector Terminal block Terminal Block Connector Gk A es Terminal gt Block CS1W NCF71 Programmable Controllers Control I O Connector Power Cable i 4 SYSMAC CJ1 o Power Cable SYSMAC CS1 Robot Cables Servo Drive R88D GNLI ML2 CN2 Encoder Connector L 5 Encod
201. 70 a 105 gt awo 7 255210 Two i 95 55 dia 240 5 5 dia Ground terminal Me b lll am la 0e sell ta F Caa Ee A EEE alg aF T a S ox Cover mounting 5 A ol O screw M3 j 0000000 ae 4 i d M TN oo EN D Noise Filter o a Circuit Diagrams SUP EK5 ER 6 3SUP HQ10 ER 6 CD re i ies Lo WN OUT T o L1 G AR Od ww T ww oi og O LLJ D eMn Eey oA i i h aes F oH i 7 ae 4 aa L O gt rl Cx1 Cx1 ee nee TOYI 3SUP HU30 ER 6 E Noise Filter for the Brake Power Supply Use the following noise filter for the brake power supply 4 35 Model Rated current Rated voltage Leakage current Manufacturer SUP EK5 ER 6 5A 250 V 1 0mA at 250 Vrms 60 Hz Okaya Electric Industries Co Ltd Note Noise can also be reduced by using 1 5 turns with the ZCAT3035 1330 TDK Radio Noise Filter 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 Manufacturer Application 3G3AX ZCL1 1 OMRON Servo Drive output and power cable 3G3AX ZCL2 2 OMRON Servo Drive output and power cable ESD R 47B NEC TOKIN
202. 82 14 M8x25 M6 70 14 9 5 5 M10 20 SKN 1 5 R88G HPG50A055K0B 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 1 11 R88G HPG50A115KOB 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 _ T a ln emn c GC aSa Gr Et s alAale gt ray is a a Four Z1 dia panen F2 G i LR TM Key and Tap Dimensions QK b a ae y C2 dia 2 With the R88G HPG50L the height tolerance is 8 mm D3 dia h 8 2 50 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Decelerators for 2 000 r min Servomotors ae Dimensions mm LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 1 5 R88G HPG32A053K0B 107 133 120 130x130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG32A112KOSB 107 133 120 130x130 135 145 115 114 84 98 12 5 35 1 kW 1 21 R88G HPG32A211KOSBL 1 107 133 120 130x13
203. 8404 23 7704 EA D N NY A D o SS Ss T H 2 ai A ze ANEN yN WNAT g o 2 q ANH 2 o BASA 2 A ree y o ae a St E 442 2 8 8 8 2 51 15 35 1 6 10 35 Connector housing Applicable panel thickness S 172159 1 Tyco Electronics AMP KK 0 8 to 2 0 mm Q Contact socket o 170366 1 Tyco Electronics AMP KK E Brake Cable Connector R88A CNG01B This connector is used for brake cables Use it when preparing a brake cable yourself Panel Mounting Hole 0 4 a g p R o S y qj a to y gt S iene N l n oh i ojl T T oy lt i 2 5 5 35 2 8 8 8 e 1 6 10 35 Connector housing Applicable panel thickness 172157 1 Tyco Electronics AMP KK 0 8 to 2 0 mm Contact socket 170366 1 Tyco Electronics AMP KK 3 72 Specifications 3 4 Cable and Connector Specifications MECHATROLINK II Communications Cable Specifications E MECHATROLINK Communications Cable With Connectors and ferrite cores on both ends FNY W6003 L Cable Models Model Model Length L FNY W6003 A5 0 5m FNY W6003 01 1m FNY W6003 03 3m MECHATROLINK II cable FNY W6003 05 5m FNY W6003 10 10m FNY W6003 20 20m FNY W6003 30 30m MECHATROLINK II termination resistor FNY W6022 Connection Configuration and Dime
204. 88G R88G R88G R88G G40030L HPG14A05400BL HPG20A11400BL HPG20A21400BL HPG32A33400BL HPG32A45400B R88M R88G R88G R88G R88G R88G G75030 HPG20A05750BL HPG20A11750BL HPG32A21750BL HPG32A33750BL HPG32A45750B R88M R88G R88G R88G R88G R88G G1K030T HPG32A051K0B HPG32A111KOB HPG32A211KOB HPG32A331KOB HPG50A451K0B R88G R88G R88G R88M HPG32A052K0BL HPG32A112KOBL R88G HPGS50A332K0BL R88G G1K530T Also used with Also used with HPG32A211K5BL1 Also used with HPG50A451K5B R88M G2K030T R88M G2K030T R88M G2K030T R88M R88G R88G R88G R88G ba G2K030T HPG32A052K0B HPG32A112KOB HPG50A212KOB HPG50A332K0B R88M R88G R88G R88G _ Sa G3K030T HPG32A053KOBL HPG50A113KOBL HPG50A213K0B R88G R88M R88G HPG50A115KOBL __ RS 3 G4K030T HPG32A054KOBLI Also used with R88M G5K030T R88M R88G R88G ee 2a on G5KO030T HPGS50A055KOBL HPG50A115KOB 2 44 Standard Models and Dimensions imensions Standard Models and D 2 2 External and Mounting Hole Dimensions 3 000 r min Flat Servomotors
205. 92 1 70 R88G 27 4 5 Ads 1 9 VRSF09C400CJ 333 9 50 83 556 26 8 2 75 x 10 931 465 1 70 w R88G 45 7 P 1 15 VRSF15C400CJ 200 15 8 83 333 44 8 3 00 x 10 1176 588 2 10 R88G 76 1 5 1 25 VRSF25C400CJ 120 26 4 83 200 74 7 2 88 x 10 1323 661 2 10 R88G 5 1 5 VRSFOSC750CJ 600 10 7 90 1000 31 7 7 13x10 784 392 2 10 R88G 5 nm 1 9 VRSF09D750CJ 333 18 2 85 556 53 9 6 50 x10 1176 588 3 40 w R88G 5 1 15 VRSF15D750CJ 200 30 4 85 333 89 9 7 00x10 1372 686 3 80 R88G 5 1 25 VRSF25D750CJ 120 50 7 85 200 149 8 6 80 x10 1617 808 3 80 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 40 Specifications Specifications 3 3 Decelerator Specifications Decelerators for 3 000 r min Flat Servomotors Maxi Rated _ mum Max Allow Allow Effi mum Decelera rota Rated momen able able cien momen tor Weight Model tion torque tary sey radial thrust cy tary inertia speed rotation load load torque speed r min Nm r min N m kg m N N kg R88G 6 1 5 VRSF05B100PCJ 600 1 19 75 1
206. A at 24 VDC and applicable to Aa 24VDC all G Series Servomotors with brakes xB aie 3 The brake is not affected by the polarity 2 T of the power supply 4 Connect B2 B3 for the models with a built in regeneration resistor GN20H ML2 to GN50H ML2 If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 User control device Control Cable 4 18 System Design 4 2 Wiring m R88D GN75H ML2 RST Three phase 200 to 230 VAC 50 60 Hz Noise filter 1 L OFF ON ia gontactor 1 Ground to i 7 4 UME 100 Q or less 00 Q or less LLI i Surge killer 1 1MC Servo error display OMNUC G Series OMNUC G Series AC Servo Drive AC Servomotor _Power Cable _ ABT 3 a Z l B 24VDC 1MC pore Reactor M EEE Ground to Regeneration 100 Q or less resistor 4 L a Encoder Cable E 1 Recommended products are listed in 4 3 Wiring Conforming Fan Stop to EMC Directives 2 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive ra 24 VDC load is 2 A at 24 VDC and applicable to 24 VDC all G Series Servomotors with brakes 3 The brake is not affected by the polarity of the power supply 4 The model GN75H ML2 does not h
207. A010B 10m Approx 0 4 kg R88A CAGA015B 15m Approx 0 6 kg R88A CAGA020B 20m vee Approx 0 8 kg R88A CAGA030B 30m Approx 1 2 kg R88A CAGA040B 40m Approx 1 6 kg R88A CAGA050B 50m Approx 2 1 kg Connection Configuration and Dimensions 50 L ___ 50 Servo Drive os Servomotor R88D GN a R88M G Wiring Servo Drive Servomotor M4 crimp terminals Cable AWG20 x 2C UL2464 Servomotor Connector Connector 172157 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 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 3m Approx 0 2 kg R88A CAGE005B 5m Approx 0 3 kg R88A CAGE010B 10m Approx 0 5 kg R88A CAGE015B 15m sada Approx 0 7 kg R88A CAGE020B 20 m Approx 0 9 kg R88A CAGE030B 30m Approx 1 3 kg R88A CAGE040B 40m Approx 1 7 kg R88A CAGE050B 50m Approx 2 1 kg Connection Configuration and Dimensions __ 70 L l Servo Drive os Le Servomotor R88D GN 7 SI i C El R88M G Omm Wiring Servo Drive S
208. ABANA AH y TT m 8 4 4440 15 Connector housing 172161 1 Tyco Electronics AMP Kk Contact socket 170365 1 Tyco Electronics AMP Kk R88A CNGO 2R for Servomotor Connector Fe Use the following cable Applicable wire AWG22 max Outer diameter of sheath 1 75 mm dia max 11 8 04 Nasal y a Hse T WA e 3 Y IENEN o y MANA oul ANAN ANA it rp eo E lt 4 2 _2 8 a e8 9 8 0 15 Connector housing 172160 1 Tyco Electronics AMP KK Contact socket 170365 1 Tyco Electronics AMP KK Panel Mounting Hole _ 2 28 19 1 14 55 be 14 6 5 35 1 6 14 55 1 Applicable panel thickness 0 8 to 2 0 mm Panel Mounting Hole N to N o ae 4 o Y o g y 2 5 5 35 1 6 10 35 1 Applicable panel thickness 0 8 to 2 0 mm 3 4 Cable and Connector Specifications E Power Cable Connector R88A CNGO1A This connector is used for power cables Use it when preparing a power cable yourself Panel Mounting Hole Re 11
209. Approx 6 3 kg R88A CAGD020SR 20 m Approx 8 3 kg R88A CAGD030SR 30 m Approx 12 4 kg R88A CAGD040SR 40 m Approx 16 5 kg R88A CAGD050SR 50 m Approx 20 5 kg Connection Configuration and Dimensions 70 L o Low Servo Drive ea o Servomotor R88D GN g gt R88M G o Wiring Servo Drive Servomotor Signal Phase U Phase V Phase W FG Cable AWG10x4C UL2501 M5 crimp terminals Servomotor Connector Straight plug N MS3106B22 22S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 57 3 4 Cable and Connector Speci m Power Cables for Servomotors with Brakes Standard Cables R88A CAGB 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 fications and 1 000 r min Servomotors of 900 W Model Length L Outer diameter of sheath Weight R88A CAGBO003B 3m Approx 0 8 kg R88A CAGBO05B 5m Approx 1 3 kg R88A CAGBO010B 10m Approx 2 4 kg R88A CAGB015B 15m Approx 3 5 kg R88A CAGB020B 20m pee are Approx 4 6 kg R88A CAGBO030B 30m Approx 6 8 kg R88A CAGB040B 40m Approx 9 1 kg R88A CAGBO050B 50m Approx 11 3 kg Connection Configuration and Dimensions
210. C 90 RH max with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance Smaller of either 10 to 60 Hz with double amplitude of 0 1 mm or acceleration of 5 88 m s max in X Y and Z directions Impact resistance Acceleration of 19 6m s max 2 times each in X Y and Z directions Insulation resistance Between power supply power line terminals and frame ground 0 5 MQ min at 500 VDC Dielectric strength Between power supply power line terminals and frame ground 1 500 VAC for 1 min at 50 60 Hz Between each control signal and frame ground 500 VAC for 1 min Protective structure Built into panel IP10 EMC EN 55011 Class A Group 1 EC Directive EN 61000 6 2 IEC 61000 4 2 3 4 5 6 11 Direc Interna ives Low tional 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 For details refer to 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
211. CHATROLINK II connection distance E FNY REP2000 3 83 4 Ps a ESA p yore aA TT r ts ff ia oa z Item Specifications Cable length Between Controller and Repeater 50 m max Between Repeater and Terminator 50 m max Maximum number of connectable nodes Between Controller and Repeater 14 over 50 m or 15 over 30 m Between Repeater and terminating resistance 15 over 50 m or 16 over 30 m The total number of nodes on both sides of the Repeater cannot exceed the maximum number of Units connectable to the Controller For the CS1W CJ1W NCF71 the maximum number of nodes is 16 Indicators 3 LED indicators Power CN1 sending CN2 communicating Power supply current 180 mA max External power supply 24 VDC 4 8 V 100 mA Weight 0 5 kg Repeater Part Names Power indicator POWER CN1 sending TX1 CN2 sending TX2 O MNN POWER e a Tolg Setting switch SW y a g SW Leave all bits set to OFF a5 X1 yy CN i 5 hi gt MECHATROLINK II communications connectors CN1 and CN2 T t if CN2 na E pea Control power supply terminals 5 pew m 24 VDC and 0 VDC Protective ground terminal 3 8 MECHATROLINK II Repeater Specifications Connection Method The following diagram shows an exam
212. Cables 45 mm Power cable 90 mm R88A CAGC BR Brake Cables 45 mm Power cable 100 mm R88A CAGD BR Brake Cables 45 mm 003 to 050 3 67 3 4 Cable and Connector Specifications Brake Cables Model Minimum bending radius R R88A CAGA BR 45 mm 003 to 050 Moving Bend Test Stroke 750 mm X aa Ti TAD Fae or eee wih Ke Bending J radius R o be oe te S X Tyi 3 ZS ts Q Z o 30 times min 1 Encoder cable 30 to 50 m only Stroke 550 mm 50 times min 3 68 Specifications 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 2m 4 2 dia Approx 0 1 kg Connection Configuration and Dimensions 38 2000 Personal computer r Servo Drive i a y a R88D GN Wiring Personal computer Servo Drive Cable AWG28 x 3C UL20276 PC Connector 17JE 13090 02 D8A DDK Ltd Dreca tiona Communications with the Host Device for Correct Use After confirming the startup of the Servo Drive initiate communications with the host device Note that irregular signals may b
213. F05B100PCJ 1 9 R88G VRSF09B100PCJ 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 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 CRGA005C 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 20m R88A CRGA020C with an absolute encoder 30m R88A CRGA030C 40m R88A CRGA040C 50m R88A CRGA050C 3m R88A CRGBO003C 5m R88A CRGBOO5C 10m R88A CRGB010C 3 000 r min Servomotors of 50 to 750 W with an incremental encoder 15m R88A CRGB015C 3 000 r min Flat Servomotors of 100 to 400 W 20m R88A CRGB020C with an incremental encoder Standard Models and Dimensions 30m R88A CRGBO30C 40m R88A CRGB040C 50m R88A CRGBO50C 3m R88A CRGCO03N 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 CRGCO15N 1 500 r min Servomotors of 7 5 kW 20m R88A CRGCO20N 1 000 r min Servomotors of 900 W to 6 kW 30m R88A CRGCO30N 40m R88A CRGCO40N 50m R88A CRGCOS50N
214. FS y J Raise the hooks to remove the cover 3 Put the battery into the battery box v 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 f box 8 5 Periodic Maintenance 8 24 Troubleshooting Chapter 9 Appendix OF mRarameten lables seers ree eee 9 1 Appendix 9 1 Parameter Tables 9 1 Parameter Tables The attribute indicates when the changed setting for the parameter will be enabled A Always enabled after change B Change prohibited during Servomotor operation and command issuance Itis not known when changes made during Servomotor operation and command issuance will be enabled Cc Enabled when the control power supply is reset or when a CONFIG command is executed via the network MECHATROLINK II communications R Read only and cannot be changed Note 1 Note 2 Parameters marked with RT are automatically set during realtime autotuning To set these parameters manually disable realtime autotuning by setting the Realtime Autotuning Mode Selection Pn021 to 0 before changing the parameter Parameter No is the number for MECHATROLINK II communications and CX Drive The Parameter Unit shows only the last two digits Parameter numbe
215. G1K020T 1 kW R88M G1K520T 1 5 kW R88M G2K020T 2 kW N m 154 13 5 13 5 2200 N m N m 18 5 2200 30 126 5 26 5 2200 20 104 Repetitive usage Repetitive usage 14 3 Repetitive usage 5148 5 5 1017 15 7 15 1519 54 9 54 Continuous usage 3 2 Continuous usage 4 7 0 1000 2000 3000 r min 0 1 000 2000 3000 r min 0 1000 2000 3000 r min R88M G3K020T 3 kW R88M G4K020T 4 kW R88M G5KO20T 5 kW N m N m N m 70 6 2000 50441 2 41 2 2200 50 4 70 iti Repetitive usage n Repetitive usage Repetitive usage less p g 254 5 14 3 ind 18 8 18 8 as Continuous usage 9 5 Continuous usage 12 5 Continuous usage 15 8 0 1000 2000 3000 r min 0 1000 2000 3000 r min 0 1000 2000 3000 r min R88M G7K515T 7 5 kW N m 1004 504 48 48 0 3 27 111 111 100 Repetitive usage Continuous usage 1000 1500 2000 r min 3 2 Servomotor Specifications acceleration E 1 000 r min Servomotors 200 VAC Model R88M G90010T G2K010T G3K010T G4K510T G6K010T Item Unit Rated output W 900 2000 3000 4500 6000 Rated torque z N m 8 62 19 1 28 4 42 9 57 2 Ez Rated rotation speed r min 1000 ie is rotation rimini 2000 Pa Max momentary torque E N m 18 4 41 5 60 101 130 5 Ra
216. G65A205K0SB i i i i R88G 3 1 25 HPG65A255K0SB 80 550 9 93 120 1634 4 2 81 x10 7846 28654 55 4 R88G 2 ape 1 5 HPG65A057K5SB 300 221 1 92 400 511 2 2 07x10 4841 17681 48 0 ii 1 12 ROBO 125 540 8 94 166 1250 7 2 02x10 6295 22991 52 0 HPG65A127K5SB i i 1 Rated torque indicates the allowable rated torque for the decelerator 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 36 Specifications Specifications 3 3 Decelerator Specifications Decelerators for 1 000 r min Servomotors Mele Mend Rated mum matin Allow Allow rota Rated Effi momen momen Decelerator able able Weight Model tion torque ciency tary a inertia radial thrust g speed rotation tor A load load speed q r min Nm r min N m kg m N N kg R88G 4 1 5 HPG32A05900TB 200 39 9 93 400 85 2 3 80x10 889 3542 7 9 R88G 4 sd 1 11 HPG32A11900TB 90 89 0 94 182 190 1 3 40 x
217. H ML2 Sa mW Cooling fan SW power supply Main circuit control Internal control power supply MPU amp ASIC Position speed and torque processor PWM control Display setting circuits si as CNB B1 B3 E Internal regeneration resistor B2 A ed IKA AKA KG Y AA t U 7 cra Voltage AA Ww A detection gt IRA AKA AKG A A i i T GR HS WW VW Relay Regene Over G dri Curren h rative current ate drive detection drive control detection T CN2 encoder signal connector Encod S communications k RS k interface 485 i MECHATROLINK II E5V gt Control I O interface interface ee EG l l interface BAT G gt CN6A CN6B CN3 CN1 control VO connector Pee al connector connector MECHATROLINK II RS 232 communications line computer Features and System Configuration Features and System Configuration 1 4 System Block Diagrams
218. Hole Dimensions Dimensions mm mote LM LR C1 C2 D1 D2 D3 b4 D5 E F1 F2 1 5 R88G HPG32A051KOB 104 133 120 122 dia 135 100 115 114 84 98 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 HPG32A211K0B 104 133 120 122 dia 135 100 115 114 84 98 125 35 1 33 R88G HPG32A331KOB 104 133 120 122 dia 135 100 115 114 84 98 12 5 35 1 45 R88G HPG50A451K0B 123 156 170 170 dia 190 100 165 163 122 103 12 0 53 1 5 R88G HPG32A052K0B 110 133 120 135 dia 135 115 115 114 84 98 125 35 1 11 R88G HPG32A112KOB 110 133 120 135 dia 135 115 115 114 84 98 125 35 1 5 kW 1 21 R88G HPG32A211K5B 110 133 120 135 dia 135 115 115 114 84 98 125 35 1 33 R88G HPG50A332K0B 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 45 R88G HPG50A451K5B 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 5 R88G HPG32A052K0B 110 133 120 135 dia 135 115 115 114 84 98 125 35 1 11 R88G HPG32A112KOB 110 133 120 135 dia 195 1151115 114 84 98 12 5 35 2 KW 7721 R88G HPG50A212KOB 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 33 R88G HPG50A332K0B 123 156 170 170 dia
219. INK II communications connector CN6A CN6B Analog monitor check pins SP IM G Main circuit power terminals L1 L2 L3 Control circuit power terminals L1C L2C External Regeneration Resistor connection terminals B1 B2 B3 Control I O connector CN1 Servomotor connection terminals U V W f Encoder connector CN2 Protective ground terminals 1 3 Names of Parts and Functions Servo Drive Functions E Display Area A 2 digit 7 segment LED display shows the Servo Drive status alarm codes parameters and other information E Analog Monitor Check Pins SP IM and G The actual motor speed command speed torque and number of accumulated pulses can be measured based on the analog voltage level by using an oscilloscope Set the type of signal to be output and the output voltage level by setting the Speed Monitor SP Selection Pn007 and Torque Monitor IM Selection Pn008 For details refer to User Parameters on page 5 55 E MECHATROLINK II Status LED Indicator Indicates the communications status of the MECHATROLINK II For details refer to MECHATROLINK II Status LED Indicator on page 6 4 m Rotary Switches Sets the node address For details refer to Servo Drive Display and Settings on page 6 3 Forward and Reverse Motor Rotation counterclockwise CCW rotation is forward and clockwise Forward CCW CW rotation is reverse f gt Reverse CW When the
220. If a 2 500 p r incremental encoder is used 5 48 Operating Functions 5 24 Instantaneous Speed Observer Operating Procedure 5 49 1 Set the Inertia Ratio Pn020 Set the inertia ratio as accurately as possible Input the calculated inertia ratio if it has already been calculated when selecting a Servomotor If the inertia ratio is not known perform normal mode autotuning and set the inertia ratio Use the Pn020 setting if the Inertia Ratio Pn020 is obtained using realtime autotuning that can be used in normal position control 2 Adjust the gain for the position loop and speed loop Adjust the Position Loop Gain Pn010 Speed Loop Gain Pn011 Speed Loop Integration Time Constant Pn012 and Torque Command Filter Time Constant Pn014 Use normal mode autotuning and realtime autotuning if there are no problems in doing so 3 Set the Instantaneous Speed Observer Setting Pn027 Set the Instantaneous Speed Observer Setting Pn027 to 1 The speed detection method will switch to the Instantaneous Speed Observer If the machine operating noise or vibration becomes louder or the torque monitor waveform fluctuates significantly return the setting to 0 and make sure the inertia ratio and adjustment parameters are correct If improvements are seen such as a quieter operation less vibration or less fluctuation in the torque monitor waveform make fine adjustments in the Inertia Ratio Pn020 to find the setting
221. 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 4 49 below Servo Drive Precautions for Correct Use iea External Regeneration Resistor Remove the short circuit bar between B2 and B3 Connect the thermal switch output so that the main circuit power supply is 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 4 4 Regenerative Energy Absorption m R88D GN75H ML2 If an External Regeneration Resistor is necessary connect it between B1 and B2 as shown in the diagram below Servo Drive a B1 i B2 External Regeneration Resistor a Connect the thermal switch output so that the main circuit power supply is Precautions hut OFF when th ntact en for Correct Use snu i is f pee OPEN f 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 System Design 4 4 Regenerati
222. K COM WARNG bit4 0 Data setting warning warning code 94h enabled 1 Data setting warning warning code 94h disabled bits 0 Command warning warning code 95h enabled 1 Command warning warning code 95h disabled bit6 0 ML II communications warning warning code 96h enabled 1 ML II communications warning warning code 96h disabled 5 88 Operating Functions 5 27 Details on Important Parameters Pn No Parameter name Seling Unit Deew Attribute range setting Realtime Autotuning png Mode Selection eee 9 7 Sets the operating mode for realtime autotuning A setting of 3 or 6 will provide faster response to changes in inertia during operation Operation however may be unstable depending on the operating pattern Normally set the parameter to 1 or 4 Set to 4 to 6 when the Servomotor is used as a vertical axis Gain switching is enabled at set values 1 to 6 Use a setting of 7 if operation changes caused by gain switching are a problem Setting Realtime Autotuning Degree of change in load inertia 0 Disabled 1 Almost no change 2 Horizontal axis mode Gradual changes 3 Sudden changes 4 Almost no change 5 Vertical axis mode Gradual changes 6 Sudden changes 7 Gain switching disable mode Almost no change i In realtime autotuning responses to inertia changes are derived from the Precautions for Correct Use changes in approximately 10 s Realtime autotunin
223. K030 20 35 7 R88M G3K030 24 38 7 R88M G4K030 24 38 7 R88M G5K030 24 38 7 R88M G1K020 24 38 7 R88M G1K520 24 38 7 R88M G2K020 24 38 7 R88M G3K020 24 38 7 R88M G4K020 30 45 7 R88M G5K020 40 58 7 R88M G7K515 45 62 9 R88M G90010 24 38 7 R88M G2K010 40 58 7 R88M G3K010 40 58 7 R88M G4K510 45 62 9 R88M G6K010 45 62 9 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 5 4 1 Installation Conditions E Other Precautions 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 ANANN E 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 2 gt System Design 4 6 System Design 4 1 Installation Conditions Decelerators E Installing Decelerators 4 7 Installing an R88G HPG Backlash 3 Max
224. K030T B S2 EES ai ae Dimensions of shaft end p ug LL 5 x with key and tap Encoder E canon plug g Four Z dia 45 Sic hes 2 Zj Ha SSS ip t SZS J o dls oo 48 t 4 A K M5 depth 12 Model Dimensions mm LL D1 D2 C D3 G IKL1 Z R88M G1K030 175 100 80 90 120 7 98 6 6 PROM AISA 115 95 100 135 10 103 9 R88M G2K030 205 R88M G1K030L1 BL 200 100 80 90 120 7 98 6 6 R88M G1K530L1 B 205 R88M G2KOS0 LB 530 115 95 100 135 10 103 9 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 ABS Servomotor brake Dimensions of the shaft end connector LL 55 120x120 with key and tap Encoder connector 45 22 dia h 6 Eight h 9 111 84 p 110 dia h 7 M5 depth 12 Modal Dimensions mm LL R88M G3K030 217 R88M G3K030L B 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 35 2 2 External and Mounting Hole Dimensions
225. Loop Gain Switching Time Pn035 When switching the gain the speed loop gain speed loop integration time constant torque command filter time constant and speed detection filter will change at the same time but switching is made by the time set to reduce vibration or resonance in the machine caused by changing gain from low to high The switching time is in units of 166 us of the internal cycle If the position loop gain is increased from 30 1 s to 50 1 s and Pn035 is set to 20 the gain moves up a step every 166 us 3 32 ms Conversely the gain goes down immediately when reducing the position loop gain from 50 1 s to 30 1 s High gain every 166 us Low gain Low gain 5 35 E Gain switching in position control mode In position control mode the Gain Switch Setting Pn031 changes as follows 5 16 Gain Switching O Supported x Not supported Pn031 Gain Switch Gain Switch Gain Switch Position Loop settin Switching condition Time Pn032 Level Setting Hysteresis Gain Switching 9 Pn033 Setting Pn034 Time Pn035 0 Always Gain 1 x x x x 1 Always Gain 2 x x x x 2 Switching from the network x x x O 3 Amount of change in torque o O O o command x 0 05 x 0 05 4 Always Gain 1 x x x x O O 5 Speed command O r min r min O as oo O O 6 Amount of position deviation O pulse pulse O 7 Position command pulses o x o received Positioning Completed Signal IN
226. N Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration while the power is being supplied or soon after the power is turned OFF Doing so may result in burn injuries ft Do not touch the Servo Drive radiator Servo Drive regeneration resistor or Servomotor 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 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 Do not place any load exceeding the figure indicated on the product Precautions for Safe Use E Installation and Wiring Precautions 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 specifie
227. O010BR 15m R88A CAGD015SR R88A CAGDO15BR 20m R88A CAGD020SR R88A CAGDO020BR 30 m R88A CAGD030SR R88A CAGDO30BR 40 m R88A CAGD040SR R88A CAGD040BR 50 m R88A CAGDO50SR 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 as well as a Brake Cable 2 19 E Brake Cables Robot Cables 2 1 Standard Models Specifications Model 3m_ R88A CAGA003BR 5m R88A CAGAO05BR 10m R88A CAGA010BR 3 000 r min Servomotors of 50 to 750 W 15m R88A CAGA015BR 3 000 r min Flat Servomotors of 100 to 400 W 20m R88A CAGA020BR 30m R88A CAGA030BR 40m R88A CAGA040BR 50m R88A CAGA050BR m Communications Cable Specifications Model RS 232 Communications Cable 2m R88A CCG002P2 E MECHATROLINK II Communications Cable Specifications Model 0 5 m FNY W6003 A5 1m FNY W6003 01 3m FNY W6003 03 MECHATROLINK II Cable 5m FNY W6003 05 10m FNY W6003 10 20m FNY W6003 20 30m FNY W6003 30 MECHATROLINK II termination resistor FNY W6022 E Absolute Encoder Battery Cable Specifications Model Absolute Encoder Battery Cable 0 3m R88A CRGDOR3C 2 20 Standard Models and Dimensions
228. OFF ON OFF ON OFF ON OFF Rotation Speed A Rotation Speed B Release Request Brake Engaged Normal Alarm output 0 5 to 5 ms Energized Deenergized Approx 2 ms DB Released DB Engaged 1 READY Alarm ti Pn06B Release Request _ Brake Engaged If the timing for PnO6B comes first Approx 30 r min BKIR If the timing to reach 30 r min comes first Approx 30 r min 1 The operation of the dynamic brake during alarms depends on the Stop Selection with Servo OFF Pn069 2 t1 is either the Brake Time during Operation PnO6B setting or the time for the Servomotor speed to drop below approximately 30 r min whichever occurs first t1 becomes 0 when an alarm occurs while the motor is stopped Note 1 The Servomotor will not change to Servo ON until it stops even if the Servo ON input is turned ON while it is decelerating The Brake Interlock BKIR signal is used by assigning it to the general purpose outputs on CN1 Note 2 The above operation timing is applied because of the Missing Phase alarm and Main Circuit Low Voltage alarm when the power is turned OFF while the Servomotor is rotating 5 14 Operating Functions 5 5 Brake Interlock E Operation timing at alarm reset Perform an alarm reset from CX Drive host controller via MECHATROLINK II or the Parameter Unit Alarms can also be reset by recycling the power Reset ON Alarm
229. OLINK II Communications Cable iis densa thet S E cule aval ben ade a ate 2 20 3 73 MOde SClUP ents Aeneid deri Meee tein 6 9 Momentary Hold Time PnO6D eeeeeeeeees 5 79 Monitor Mode ies ccccccschcceeceesectetestisecetescetedaeeetiendaetans 6 10 Motor Phase Current Offset Re adjustment Setting BNOG4 EA EE EEEE A EEEE AT 5 75 Mounting Brackets L brackets for rack mounting Aao ata teat E T r r E 2 22 mounting hole dimensionS ccc cece eee 2 23 Moving Average Time cece cesses eeseeeeees 5 20 Moving Average Time PN10E ee 5 82 N NO fUSe DreAakers eee eee eeeeeeeetee teense teeeeeeeeeeseeeeeee 4 31 Noise filter 4 34 4 35 4 36 4 42 noise filters for brake power Supply 4 35 noise filters for Servomotor output 4 42 noise filters for the power supply input 2 4 34 Normal Mode Autotuning 6 24 7 9 Normal Mode Autotuning Operation Setting Pn025 a E wala Avian ie eel dee eens 5 70 5 93 Notch Fitar ih sciweeeh aint h tendo janaa TKa 5 43 Notch Filter 1 Frequency Pn01 D 5 68 Notch Filter 1 Width PNO1E eeeeeeeeeeeeeeees 5 68 Notch Filter 2 Depth PNO2A sessen 5 71 Notch Filter 2 Frequency Pn028 eeeeeeeeee 5 71 Notch Filter 2 Width Pn029 ceeeeeeeeeeeeteeeeees 5 71 No 1 Torque Limit PNO5E eee eeeeeeeeeeeeeees 5 75 No 2 Torque Limit PNO5SF seeen 5 75 O Oll S al shiek eee eg en NN 4 5 Operating Direction
230. P1 OFF 9 X x Q O O 9 Actual Servomotor speed O r min r min O Combination of position 10 command pulses received O O O O and speed E Gain switching in speed control mode In speed control mode the Gain Switch Setting Pn031 changes as follows O Supported x Not supported Pn031 ee 7 Gain Switch SOT MoN aan pl S Switching condition Time Pn032 Level Setting Hysteresis 9 Pn033 Setting Pn034 0 Always Gain 1 xX x x 1 Always Gain 2 x x x 2 Switching from network x x x 3 Amount of change in torque o O O command x 0 05 x 0 05 4 Always Gain 1 x x X O O 5 Speed command O r min r min 5 36 Operating Functions Operating Functions 5 16 Gain Switching E Gain switching in torque control mode In torque control mode the Gain Switch Setting Pn031 changes as follows O Supported x Not supported Pn031 a H Gain Switch A ich Aamin Setin Switching condition Time Pn032 Level Setting Hysteresis 9 Pn033 Setting Pn034 0 Always Gain 1 x x x 1 Always Gain 2 x x x 2 Switching from network x x X 3 Amount of change in torque o O O command x 0 05 x 0 05 5 37 5 17 Speed Feed forward 5 17 Speed Feed forward Function This function shortens positioning time by adding the amount of change in position command value directly to the speed loop without passing it through the deviation counter Performi
231. PG32A21750B 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 1 33 R88G HPG32A33750B 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 1 45 R88G HPG32A45750B 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 Dimensions mm Model ele rla zo att Key dimensions PE QK b h ti M L 1 5 R88G HPG14A05400B 8 16 28 5 5 M4x10 M4 235 5 5 3 M4 8 1 11 R88G HPG20A11400B 10 25 42 9 0 M4x10 M4 36 8 7 40 M6 12 400 W 1 21 R88G HPG20A21400B 10 25 42 9 0 M4x10 M4 36 8 7 40 M6 12 1 33 R88G HPG32A33400B 13 40 82 11 0 M4x10 M4 70 12 8 5 0 M10 20 1 45 R88G HPG32A45400B 13 40 82 11 0 M4x10 M4 70 12 8 5 0 M10 20 1 5 R88G HPG20A05750B 10 25 42 9 0 M5x12 M4 36 8 7 40 M6 12 1 11 R88G HPG20A11750B 10 25 42 9 0 M5x12 M4 36 8 7 40 M6 12 750 W 1 21 R88G HPG32A21750B 13 40 82 11 0 M5x12 M6 70 12 8 5 0 M10 20 1 33 R88G HPG32A33750B 13 40 82 11 0 M5x12 M6 70 12 8 5 0 M10 20 1 45 R88G HPG32A45750B 13 40 82 11 0 M5x12 M6 70 12 8 5 0 M10 20 1 This is the set bolt Outline Drawings C1xC1 E Set bolt AT Four Z2 D3 dia h 7 D4 dia D5 dia S dia h 7 2 48 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting
232. PROM 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 Se4 to writing completion F n S54 or S5 t If the Parameter Unit is disconnected repeat the procedure from the beginning 6 23 6 4 Setting the Mode Normal Mode Autotuning For details on normal mode autotuning refer to 7 3 Normal Mode Autotuning on page 7 9 This section describes the operating procedure only 1 Displaying Normal Mode Autotuning Key operation Display example Explanation The item set for the Default Display Pn001 is displayed Press the D key to display Monitor Mode Press the key three times to display Normal Mode Autotuning 2 Executing Normal Mode Autotuning Key operation Display example Explanation Press the D key to switch to Normal Mode Autotuning Operation Press and hold the A key until Sta t is displayed a a A oe The bar indicator will increase when the key is pressed for 5 s or longer ee Se The bar indicator will increase StEAFk The Servomotor will start and normal mode autotuning will begin This display indicate
233. Parameters Requiring Settings TAN DSI Parameter name Explanation Reference page Backlash Enables or disables backlash compensation and sets the Pn100 Compensation DA f 5 81 y direction for compensation Selection Pn101 Packlast Sets the backlash compensation amount in command units 5 81 Compensation Backlash Sets the time to apply backlash compensation Pn102 Compensation The value dividing the compensation amount by the time 5 81 Time Constant constant is the speed 5 27 5 14 Backlash Compensation Compensation in the forward direction OMNUC G Series Servomotor E Compensation in the reverse direction OMNUC G Series Servomotor groteesseeoneatseny 5 28 Operating Functions 5 15 Overrun Protection 5 15 Overrun Protection Function 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 Pn026 with respect to the position command input This can be used to prevent impact on the edges of the machine because of Servomotor oscillation 5 Parameters Requiring Settings Operating Functions Refer Parameter No Parameter name Explanation ence i page Sets the Servomotor s allowable operating range for the position command input range Pn026 Overrun Limit Setting Setting range O to 100 rotations 5 70 An overrun limit error
234. Pn No Parameter name Sailing Unit Deiet Attribute range setting Pn005 Communications Control 0 to 3955 0 C Controls errors and warnings for MECHATROLINK II communications Note Use with this parameter set to 0 Program to stop immediately if using a value other than 0 Set the Consecutive Communications Error Detection Count in COM_ERR bit 8 to 11 The communications error alarm code 83 will occur when a communications error which is assessed at every MECHATROLINK II communications cycle occurs consecutively for the number of the Consecutive Communications Error Detection Count The error and warning can be masked for debug purposes Operating Functions bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Setting 0 0 0 0 X X X X 0 X X X 0 0 X Con MSK COM WARNG tent ae COM_ERR MSK COM ALM bits 8 11 COM_ERR Consecutive Communications Error Detection Count Setting range 0 to 15 Consecutive Communications Error Detection Count COM_ERR 2 Note These bits are debug functions Set to enable 0 when not debugging bits 0 3 MECHATROLINK II Communications Alarms Mask MSK COM ALM bit 0 0 Communications error alarm code 83 enabled 1 Communications error alarm code 83 disabled bit1 0 Watchdog data error alarm code 86 enabled 1 Watchdog data error alarm code 86 disabled bits 4 7 MECHATROLINK II Communications Warnings Mask MS
235. Positioning Parameters 1 Displaying Parameter Setting Mode Key operation Display example Explanation m The default display is displayed x L CI gt J 1 g z i D Press the D key to display Monitor Mode a WW on a o r Press the key to display Parameter Setting Mode 2 Selecting the Parameter Type Key operation Display example Explanation pa Confirm that 16 bit Parameter is selected 5 26 User Parameters 3 Switching to the Parameter Setting Display Key operation Display example Explanation a i I Lo _ lt _ a g Press the key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display 4 Setting the Parameter Number Key operation Display example Explanation e 0S a a amp q a Set the number of the parameter to be set or checked 5 Displaying the Parameter Setting Key operation Display example Explanation as co J Ld m Press the key to display the setting The selected parameter number appears in the sub window 6 Changing the Parameter Setting The following operation is not required if you are only checking a parameter settin
236. R R88A CAGBLILILIBR 2A 1 000 r min Servomotors dp 2 to 4 5 kW R88A CAGD SR R88A CAGD BR Note 1 The or 50 m Example model number for a 3 m cable R88A CAGA003SR 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 digits in the model number indicate the cable length 3 m 5 m 10 m 15 m 20 m 30 m 40 m Model Remarks R88A CCG002P2 Name specifications Computer Monitor Cable 2m Only a 2 meter cable is available E Control I O Connector This connector is used when the cable for the Servo Drive s control I O connector CN1 is prepared by the user Name Model Remarks This is the connector for connecting to the Control I O Connector CN1 This item is a connector only Control I O Connector R88A CNU01C 4 14 System Design 4 2 Wiring E Connector Terminal Blocks and Cables These are used to convert the Servo Drive s control I O Connector CN1 signals to a terminal block
237. R88A CAGD030B 40m R88A CAGD040S R88A CAGD040B 50m R88A CAGD050S R88A CAGD050B 2 15 2 1 Standard Models Specifications Model For Servomotor without brake For Servomotor with brake 1 500 r min Servomotors of 7 5 kW 1 000 r min Servomotors of 6 kW 3m R88A CAGE003S 5m R88A CAGE005S 10m R88A CAGE010S 15m R88A CAGE015S 20m R88A CAGE020S 30 m R88A CAGE030S 40 m R88A CAGE040S 50 m R88A CAGE050S 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 Model 3 000 r min Servomotors of 50 to 750 W 3 000 r min Flat Servomotors of 100 to 400 W 3m R88A CAGA003B 5m R88A CAGAO005B 10m R88A CAGA010B 15m R88A CAGA015B 20m R88A CAGA020B 30 m R88A CAGA030B 40m R88A CAGA040B 50m R88A CAGA050B 1 500 r min Servomotors of 7 5 kW 1 000 r min Servomotors of 6 kW 3m R88A CAGE003B 5m R88A CAGE005B 10m R88A CAGE010B 15m R88A CAGE015B
238. R88D GNCIL ML2 Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz toc IP PPY R88D GNCIH ML2 Single phase 200 to 240 VAC 170 to 264V 50 60 Hz input Servomotor Connector Specifications CNB Symbol Name Function B1 50 to 400 W These terminals normally do not need to be connected If there is high External i regenerative energy connect an External Regeneration Resistor B2 Regeneration Resistor between B1 and B2 connection 750 W to 1 5 kW Normally B2 and B3 are connected If there is high regenerative energy B3 terminals remove the short circuit bar between B2 and B3 and connect an Exter nal Regeneration Resistor between B1 and B2 U Red V White servomotor These are the output terminals to the Servomotor w connection Blue Be sure to wire them correctly terminals G 7 reen Yellow Frame ground This is the ground terminal Ground to 100 Q or less 3 7 3 1 Servo Drive Specifications m R88D GN20H ML2 GN30H ML2 GN50H ML2 Main Circuit Terminal Block Specifications Symbol Name Function L1 L2 ran al R88D GNOH ML2 2 to 5 kW Three phase 200 to 230 VAC 170 to 253 V 50 60Hz L3 LiC ircui Sanok eigdit R88D GNOH ML2 Single phase 200 to 230 VAC 170 to 253V 50 60 Hz L2C power supply input B1 External B2 Regeneration 2 to 5 kW Normally B2 and B3 are connected If there is high regenerative energy Resistor remo
239. Reset OFF 120 ms Servo Ready ON Output READY R READY ON Alarm Output ALM Alarm Alarm Reset OFF gt m0 ms min ON R fn aa Servo OFF 4 Servo ON OFF D ic Brak ON ynamic Brake DB Engaged DB Released Relay OFF Approx 40 ms ON Servomotor Deenergized Energized OFF i 2ms ON Brake Interlock Output BKIR 2 OFF Brake Engaged Release Request gt 100 ms min Operation Command ON Prohibited Enabled Input OFF 1 Servo ON status will not occur until the Servomotor speed drops below approximately 30 r min 2 The Brake Interlock BKIR signal is output on the release request command that comes first either from the Servo Controller or the MECHATROLINK II The BKIR signal is used by assigning it to the general purpose outputs on CN1 Operating Functions Note Servo OFF status occurs Servomotor is de energized after the alarm reset To go to Servo ON status issue the Servo ON command again after the alarm reset according to the operation timing shown above 5 15 5 6 Torque Limit 5 6 Torque Limit Function This function limits the torque output by the Servomotor The function can be used for pressing in press machine applications protecting a mechanical system by suppressing torque at start up and deceleration There are several methods to choose at the Torque Limit Selection Pn003 Parameters Requiring Settings
240. Servomotor response 500 Hz 30000 frequency Speed Loo Adjusts the speed loop integration time constant pos P Set 9999 to stop integration operation while x0 1 1 to 012 Integration Time ae 200 B retaining the integration value A Setting of 10000 ms 10000 Constant RT A disables integration Speed Feedback Filter Sets the type of speed detection filter time constant 013 0 Oto5 B Time Constant Normally use a setting of 0 RT Torque Adjusts the first order lag filter time constant for the Command torque command section x0 01 oa Filter Time The torque filter setting may reduce machine 80 ms 010 2999k E Constant RT vibration Speed Feed Sets the speed feed forward amount x0 4 015 forward Amount This parameter is particularly useful when fast re 300 o O to 1000 B RT sponse is required i Feed forward f 016 Filter Time F D a for the speed feed forward 100 ove 0 to 6400 B Constant RT g i 017 Reserved Do not change 0 018 Position Loop Sets the position loop gain when using gain 2 200 x0 1 0 to B Gain 2 RT _ switching 1 s 30000 019 Speed Loop Sets the speed loop gain when using gain 2 switch 800 x0 1 1 to B Gain 2 RT ling Hz 30000 Sets the speed loop integration time constant when using gain 2 switching speed Loop Same function as Pn012 x0 1 1 to 01A Integration Time i 500 B Constant 2 RT Set 9999 to stop integration operation while ms 10000 retaining the in
241. Standard Models and Dimensions 2 1 Standard Models E Connectors Specifications Model Servomotor Connector for Encoder Absolute Encoder R88A CNG01R Cable Incremental Encoder R88A CNG02R Control I O Connector CN1 R88A CNU01C Encoder Connector CN2 R88A CNW01R Power Cable Connector 750 W max R88A CNGO1A Brake Cable Connector 750 W max R88A CNG01B E Control Cables Specifications Model 1m XW2Z 100J B33 Connector Terminal Block Cables 2m XW2Z 200J B33 M3 screw type XW2B 20G4 Connector Terminal Block M3 5 screw type XW2B 20G5 M3 screw type XW2D 20G6 E External Regeneration Resistors Specifications Model Regeneration capacity 20 W 50 Q with 150 C thermal switch R88A RRO8050S Regeneration capacity 20 W 100 Q with 150 C thermal switch R88A RR080100S Regeneration capacity 70 W 47 Q with 170 C thermal switch R88A RR22047S Regeneration capacity 180 W 20 Q with 200 C thermal switch R88A RR50020S E Reactors 2 21 Specifications Model R88D GNAS5L ML2 GNO1H ML2 3G3AX DL2002 R88D GNO01L ML2 GNO2H ML2 3G3AX DL2004 R88D GNO2L ML2 GNO4H ML2 3G3AX DL2007 R88D GNO04L ML2 GNO8H ML2 GN10H ML2 3G3AX DL2015 R88D GN15H ML2 3G3AX DL2022 R88D GNO8H ML2 GN10H ML2 GN15H ML2 3G3AX AL2025 R88D GN20H ML2 GN30H ML2 3G3AX AL2
242. 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 If 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 rac load Thrust load Pa 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 3 000 r min Flat Servomotors 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 N m N m 1 0 40 84 0 84 3500 4 0 43 6 3 6 3300 Repetitive usage Repetitive usage 0510 32 0 32 2 0443 Continuous usage 0 19 Continuous usage 0 1000 200
243. a a Lt a _ Set the number of the parameter to be set or checked 5 Displaying the Parameter Setting Key operation Display example Explanation l r lt Lt Lt Lo Press the D key to display the setting The selected parameter number appears in the sub window 5 59 5 26 User Parameters 6 Changing the Parameter Setting The following operation is not required if you are only checking a parameter setting Key operation e OS Display example Explanation Ld Ld Ld _ L Use the A keys to change the setting The decimal point will flash for the digit that can be set Lo l r Lt Ld Lt Press the key to save the new setting Lt 7 Returning to Parameter Setting Mode The following operation is not required if you are only checking a parameter setting Key operation Display example Explanation a D Lt Press the Gara key to return to Parameter Setting Mode wr a 5 60 Operating Functions Operating Functions 5 26 User Parameters Parameter Tables 5 61 The Servo Drive has various parameters for setting the characteristics and functions of the Servomotor The function and purpose of each
244. able and Connector Specifications R88A CRGBLIC 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 CRGB003C 3m Approx 0 2 kg R88A CRGBO005C 5m Approx 0 3 kg R88A CRGB010C 10m 6 5 dia Approx 0 6 kg R88A CRGB015C 15m Approx 0 9 kg R88A CRGB020C 20m Approx 1 2 kg R88A CRGB030C 30m Approx 2 4 kg R88A CRGB040C 40m 6 8 dia Approx 3 2 kg R88A CRGB050C 50m Approx 4 0 kg Connection Configuration and Dimensions La L Servo Drive heed Servomotor Oo Z R88D GN Sf I R88M G A ae Wiring Servo Drive Servomotor Signal Servo Drive Connector Connector AWG22x2C AWG24x2P UL20276 3 to 20 m AWG16x2C AWG26x2P UL20276 30 to 50 m 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 3 43 Servomotor Connector Connector 172160 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 CRGCLIN Cable Models For both absolute encoders and incremental encoders 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servom
245. acitance and resistance XEB12003 0 3 uF 120 Q Thyristors and varistors are made by the following companies Refer to manufacturers documentation for details on these components Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Industrial Co E Contactors Select contactors based on the circuit s inrush current and the maximum momentary phase current The Servo Drive inrush current is covered in the preceding explanation of no fuse breaker selection and the maximum momentary phase current is approximately twice the rated current The following table shows the recommended contactors Manufacturer Model Rated current Coil voltage J7L 09 22200 11A 200 VAC J7L 12 22200 13A 200 VAC J7L 18 22200 18A 200 VAC ENRON J7L 32 22200 26 A 200 VAC J7L 40 22200 35 A 200 VAC J7L 50 22200 50 A 200 VAC J7L 65 22200 65 A 200 VAC J7L 75 22200 75A 200 VAC 4 38 System Design System Design 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 Always use the specified Encoder Cables If cables are joined midway be sure to use connectors and do not remove more than 50 mm of the cable insulation In addition always use shielded cables Do not coil cables If cables are long and are coiled mutual in
246. acklash 3 Max 0 00 cece ee eeeeeeeeeeeees 2 51 3 35 Decelerators for 3 000 r min Flat Servomotors Backlash 15 MaX eee ee eee eee eee eee 2 59 3 41 Decelerators for 3 000 r min Flat Servomotors Backlash 3 Max 0 0 cece eee eee eeeeeees 2 55 3 38 Decelerators for 3 000 r min Servomotors Backlash 15 MaX eee eee eect eens 2 57 3 39 Decelerators for 3 000 r min Servomotors Backlash 3 MaX c cseceeeeeeeseeeeeeeeeeneeeeee 2 47 3 32 Default Display PNOO1 eceeceeeeeeeeeeeteeeeteeeeeeee 5 62 Deviation Counter Overflow Level Pn209 5 85 disabling adaptive filter eee 5 47 Drive Prohibit Input Selection Pn004 5 64 5 88 Dynamic brake eee eee e eee sree eeee 5 95 5 96 E EC Directives reiret aaraa an eee AEN ESENE 1 10 Electronic G ar eeeceecceeeeeeeeeeeeeeeeteneeteseeeeeeeeeaees 5 21 Electronic Gear Ratio 1 Numerator Pn205 5 85 Electronic Gear Ratio 2 Denominator Pn206 5 85 Electronic Thermal Function 8 20 Emergency Stop Input STOP 3 11 5 23 Emergency Stop Input Setting Pn041 5 73 Emergency Stop Torque PNOGE c eeeeeeee 5 79 Encoder Cable ssicccessesesccsus nainn 3 42 Encoder cable noise resistance 4 39 Encoder Cables Robot Cables 2 18 3 45 4 13 Encoder Cables Standard Cables 2 14 3 42 4 12 Encoder connector specifications CN2 0 3 16 Encoder
247. affect this monitor output Thus forward rotation is always positive and reverse rotation is always negative 0 Torque command 100 3 V 1 Position deviation 31 pulses 3 V Position deviation 125 pulses 3 V Position deviation 500 pulses 3 V 2 3 4 Position deviation 2000 pulses 3 V 5 Position deviation 8000 pulses 3 V 6 to 10 Reserved 11 Torque command 200 3 V 12 Torque command 400 3 V 13 OV Issuing 5V Issuance com Outputs the Issuance Completion Status DEN plete 14 OV Gain 2 5V Gain 1 Outputs the Gain Selection Status 0 to 14 Operating Functions 009 Reserved Do not change 5 66 5 26 User Parameters D i 5 En Parameter name Setting Explanation Detek Unit Seting 2 No setting range 5 Allows prohibits parameter changes via the network 0 Allows parameter changes from the host controller Prohibit via the network 00A olden Prohibits parameter changes from the host 0 Oto 1 A ane controller via the network 1 Attempting to change a parameter via the network when prohibited triggers the Command Warning warning code 95h Selects how the an absolute encoder is used This parameter is disabled when using an incremental encoder Operation Switch ang When Using 0 Use as an absolut
248. age 5 48 0 Disabled 1 Enabled Oto 1 028 Notch Filter 2 Frequency Sets the notch frequency of notch filter 2 for resonance suppression This parameter must be matched with the resonance frequency of the load 100 to 1499 Filter enabled 1500 Filter disabled 1500 Hz 100 to 1500 029 Notch Filter 2 Width Selects the notch width of notch filter 2 for resonance suppression Increasing the value increases the notch width Oto 4 02A Notch Filter 2 Depth Selects the notch depth of notch filter 2 for resonance suppression Increasing this value decreases the notch depth thereby reducing the phase lag 0 to 99 02B Vibration Frequency 1 Sets the vibration frequency 1 for damping control to suppress vibration at the end of the load Measure and set the frequency of the vibration The frequency setting range depends on the filter type selected in the Vibration Filter Selection Pn024 Normal type Setting frequency range 10 0 to 200 0 Hz Disabled when set to 0 to 99 Low pass type Setting frequency range 1 0 to 200 0 Hz Disabled when set to 0 to 9 For details refer to 5 25 Damping Control on page 5 50 x0 1 Hz 0 to 2000 02C Vibration Filter 1 Setting When setting Vibration Frequency 1 Pn02B reduce this setting if torque saturation occurs or increase it to make the movement faster Normally use a setting of 0 The setting range
249. ained 5 Save the gain adjustment value Once the satisfying response is obtained switch to Parameter Write Mode and save the gain values to the EEPROM For details on the operation refer to Parameter Write Mode on page 6 23 To save the adjustment results switch to Parameter Write Mode and save the parameters to the EEPROM 7 3 Normal Mode Autotuning Precautions for Correct Use When using normal mode autotuning with a Servomotor with a brake connect the brake interlock BKIR output signal to allow the brake to be released If the Positioning Completion Range 1 Pn060 is too narrow it will cause an error By default the parameter is set to 25 for an incremental encoder When using an absolute encoder set the parameter to 250 ten times larger If the Deviation Counter Overflow Level Pn209 is too small it will cause a deviation counter overflow When using an absolute encoder increase the setting from 20 000 pulses default to 200 000 pulses Set the Torque Limit Selection Pn003 to 1 If the setting is too small it will cause an error The maximum motor output during normal mode autotuning will be limited by the No 1 Torque Limit PnO5E If the value is too small there may be problems with the operation Actuating the network during normal mode autotuning will cause a command error alarm code 27 Do not actuate the network while executing normal mode autotuning The position data
250. al Mode Autotuning Operation Setting Sets the operating pattern for normal mode autotuning Number of rotations Rotation direction Repeat cycles of 2 rotations Forward and Reverse Alternating Reverse and Forward Alternating Forward only Reverse only 6 7 Repeat cycles of single rotation Forward and Reverse Alternating Reverse and Forward Alternating Forward only Reverse only Oto7 B 026 Overrun Limit Setting Sets the Servomotor s allowable operating range for the position command input range Set to 0 to disable the overrun protective function For details refer to 5 15 Overrun Protection on page 5 29 10 x0 1 rota tion 0to1000 A 5 70 Operating Functions Operating Functions 5 26 User Parameters Pn No Parameter name Setting Explanation Default setting Unit Setting range Attribute 027 Instantaneous Speed Observer Setting RT The Instantaneous Speed Observer improves speed de tection accuracy thereby improving responsiveness and reducing vibration when stopping When the instantaneous speed observer is enabled both Speed Feedback Filter Time Constant Pn013 and Speed Feedback Filter Time Constant 2 Pn01B are disabled This feature cannot be used with realtime autotuning For details refer to 5 24 Instantaneous Speed Observer on p
251. ameters are set to the standard settings Connect the Computer Communications Cable to CN3 and write parameters from CX Drive Write the parameters to EEPROM and then turn OFF the power supply and turn it ON again Turn the status to Servo ON with jog operation via CX Drive and Servo lock the motor Perform low speed jog operation via CX Drive Check the Servomotor rotation speed Chapter 7 Adjustment Functions 7 1 7 3 7 4 Cein AUSE Aoo certesten cen eertee teens 7 1 Purpose of the Gain Adjustment ccccseseeseseeeeeeenees 7 1 Gain Adjustment Methods cccceeeeteeeeeeeeeeeeesteeeeeenees 7 1 Gain Adjustment Procedure cc ccccceetceeeeeeeeeeeeeteeeeeaes 7 2 Realtime Autotuning ccccccccceeeeeeeeees 7 3 Realtime Autotuning Setting Method l 7 4 Machine Rigidity Setting Method eee eeeeeeeseeereeees 7 4 Normal Mode Autotuning ccccceeeeeeeeeeeeeees 7 9 Setting the Parameters ccesceescceserceeeseeseereeeseeeeenerses 7 9 UE TGIUE Tha MU ai ale iaetercmrrrsreerers E E 7 14 Basic Settings eee a A stanton A A 7 14 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 Use manual tuning if autotuning does
252. asure the line voltage between control voltage converter has dropped control power supply L1C and L2C below the specified value 1 Resolve the cause of the power 1 The power supply voltage is low A supply voltage drop and or 11 Control power supply momentary power failure occurred momentary power failure undervoltage 2 The power supply capacity is 2 Increase the power supply insufficient The inrush current at capacity power ON caused the power 3 Replace the Servo Drive supply voltage to drop 3 The Servo Drive has failed The voltage between P and N in the Measure and check the line voltages main circuit has exceeded the speci between L1 L2 and L3 of the main fied value The power supply voltage is power supply Input a correct voltage too high Phase advance capacitor Remove the phase advance capacitor and or UPS uninterruptible power 1 Measure the resistance for the supply is causing a jump in voltage external regeneration resistor 12 Overvoltage 1 Regenerative energy cannot be between terminals B1 and B2 of the absorbed due to a disconnection of Servo Drive and check that the the regeneration resistor reading is normal Replace it if 2 Regenerative energy cannot be disconnected absorbed due to the use of an 2 Provide the necessary inappropriate external regeneration regeneration resistance and resistor wattage 3 The Servo Drive has failed 3 Replace the Servo Drive With the Undervoltage Alarm Selection Measure and check th
253. ated momen able able i l cien momen tor 3 Weight Model tion torque tary See radial thrust cy 3 tary inertia speed rotation load load torque speed r min Nm r min N m kgm N N kg R88G 7 1 5 HPG11B05100BC 2 600 0 50 63 1000 1 42 5 00 x 10 135 538 0 29 R88G F 1 9 HPG11B09050B 333 1 12 78 555 3 16 3 00 x 10 161 642 0 29 50 R88G 6 Ww 1 21 HPG14A21100B 143 2 18 65 238 6 13 5 00 x 10 340 1358 1 04 R88G 6 1 33 HPG14A33050B 91 3 73 71 151 10 5 440x10 389 1555 1 04 R88G 6 1 45 HPG14A45050B 67 5 09 71 111 14 3 4 40x10 427 1707 1 04 R88G 7 1 5 HPG11B05100B 600 1 28 80 1000 3 6 5 00 x 10 135 538 0 29 R88G 6 1 11 HPG14A11100B 273 2 63 75 454 7 39 6 00 x 10 280 1119 1 04 100 R88G 6 Ww 1 21 HPG14A21100B 143 5 40 80 238 15 2 5 00x10 340 1358 1 04 R88G 5 1 33 HPG20A33100B 91 6 91 65 151 19 4 6 50x10 916 3226 2 4 R88G 5 1 45 HPG20A45100B 67 9 42 65 111 26 5 6 50x10 1006 3541 2 4 R88G 5 1 5 HPG14A05200B 600 2 49 78 1000 6 93 2 07 x10 221 883 1 02 R88G 5 1 11 HPG14A11200B 273 6 01 85 454 16 7 1 93 x 10 280 1119 1 09 200 R88G 5 Ww 1 21 HPG20A21200B 143 10 2 76 238 28 5 4 90 x10 800 2817 2 9 R88G 5 1 33 HPG20A33200B 91 17 0 81 151 47 4 450x10 916 3226 2 9 R88G 5 1 45 HPG20A45200B 67 23 2 81 111 64 6 4 5010 1006 3541 2 9 3 32 Specifications Specifications 3 3 Decelerator Specifications
254. ated current A 0 09 0 09 0 09 0 09 power supply input L1C and L2C Wire size AWG18 Servomotor Rated current A 1 2 1 7 2 5 4 6 connection terminals a Wire size AWG18 U V W and GR Wire size AWG14 Frame ground GR Screw size M4 Torque N m 1 2 200 VAC Input R88D GNUIJLIH ML2 Model R88D GNO1H GNO2H GNO4H GNO8H GN10H Item Unit ML2 ML2 ML2 ML2 ML2 Power supply capacity kVA 0 5 0 5 0 9 1 3 1 8 Rated current A 1 3 2 0 3 7 5 0 3 3 7 5 4 1 Main circuit power supply input Wire size aa AWG18 AWG16 L1 and L3 or Z Screw size aui aa L1 L2 and L3 Torque N m S 5 S one Rated current A 0 05 0 05 0 05 0 05 0 07 Control circuit Wire size m AWG18 power supply input L1C and L2C Screw size a ae gag a na Torque N m aa oo Ez Rated current A 1 2 1 6 2 6 4 0 5 8 Servomotor connection Wire size _ AWG18 AWG16 terminals Screw size a Be dss ak sa aoe U V W and GR 2 Torque N m oo Wire size AWG14 Frame ground GR Screw size M4 Torque N m 1 2 4 23 4 2 Wiring Model R88D GN15H GN20H GN30H GN50H GN75H Item Unit ML2 ML2 ML2 ML2 ML2 Power supply capacity kVA 2 3 3 3 4 5 7 5 11 Rated current A 11 0 8 0 10 2 15 2 23 7 35 0 Main circuit power supply input Wire size AWG14 AWG12 AWG10 AWG8 L1 and L3 or Screw size
255. ation Constant Sets the acceleration for positioning operations A setting of 0 is regarded as 1 The setting will be handled after conversion to an unsigned 16 bit data 0 to 65535 Example 32768 8000h 32768 1 FFFFh 65535 100 32768 to 32767 108 Reserved Do not change 109 Reserved Do not change 9 15 9 1 Parameter Tables o Pn Set 5 Default s Setting Z Set No Parameter name ting Explanation Setting Unit Range value lt x Sets the deceleration for positioning operations x H n ua n u 1000 Linear A setting of 0 is regarded as 1 0 10A Deceleration The setting will be handled after conversion to 100 Com 32768 to B Constant an unsigned 16 bit data 0 to 65535 mand 32767 Example 32768 8000h 32768 units 1 FFFFh 65535 s 10B Reserved Do not change 0 10C Reserved Do not change 0 10D Reserved Do not change 0 10E Moving Sets the moving average time for position 0 x0 1 0to5100 B Average Time commands ms Sets the direction for origin return Origin Return y er 10F Mode Settings 0 Positive direction 0 Oto 1 B 1 Negative direction Sets the operating speed for origin return from x109 Origin Return when the aian ona a signal is turned ON to Com 110 Approach Speed when it is turned OFF and the latch signal is 50 mana 10 S276
256. ation Q O Mm g S 1 Press the Gara key to switch to Alarm Reset Mode ran 1 Press and hold the A key until S 4 is displayed The bar indicator will increase when the key is pressed for 5 s or longer 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 supply to clear the error 2 Returning to Auxiliary Function Mode Key operation Display example Explanation LL oe J 1 m Press the key to return to Auxiliary Function Mode 6 25 6 4 Setting the Mode m Absolute Encoder Reset ECSS 1 Executing Absolute Encoder Reset Key operation Display example Explanation Press the D key to switch to Absolute Encoder Reset Mode Press and hold the A key until Sta t is displayed The bar indicator will increase when the key is pressed for 5 s or longer ey eee The bar indicator will increase L Absolute encoder reset will start This display indicates a normal completion E a Error will be displayed if the absolute encoder reset could not be T mn 1a performed Check whether an unsupported encoder is connected and then perform the procedure again
257. ations data from the encoder The en coder is connected but there is an error in the communications data Deviation counter overflow The number of position deviation pulses exceeded the Deviation Counter Overflow Level Pn209 Overspeed The rotation speed of the Servomotor exceeded the setting of the Over speed Detection Level Setting Pn073 Command error The operation command ended in an error Internal deviation counter overflow The value of the deviation counter internal control unit exceeded 2 7 134217728 Overrun limit error The allowable range of movement set in the Overrun Limit Setting Pn026 was exceeded by the Servomotor Parameter error The data in the parameter storage area was corrupted when the data was read from EEPROM at power ON Parameter corruption The EEPROM write verification data was corrupted when the data was read from EEPROM at power ON Drive prohibit input error Both the Forward and Reverse Drive Prohibit Inputs were open when the Drive Prohibit Input Selection Pn004 was set to 0 or either the forward or reverse drive prohibit input was open when the Drive Prohibit Input Selec tion Pn004 was set to 2 Absolute encoder system down error The power supply and battery to the absolute encoder went down and the capacitor voltage dropped below the specified value Absolute encoder counter overflow error The multiturn counter for the abso
258. autions before using the products E Make sure this User s 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 precautions indicated here provide important information for safety Be sure to heed the information provided with the precautions Em 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 m 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
259. ave a built in regeneration resistor If the amount of regeneration is large an External Regeneration Resistor must be connected to B1 B2 User control device Control Cable 4 19 4 2 Wiring Main Circuit and Servomotor Connector Specifications When wiring the main circuit use proper wire sizes grounding systems and anti noise measures m R88D GNA5L ML2 GNO01L ML2 GNO2L ML2 GNO4L ML2 R88D GN01H ML2 GNO2H ML2 GNO4H ML2 GNO8H ML2 GN10H ML2 GN15H ML2 Main Circuit Connector Specifications CNA input Symbol Name Function L1 R88D GNLIL ML2 50 to 400 W Single phase 100 to 115 VAC 85 to 127 V L2 Main circuit a080 M2 c R88D GNOH ML2 50 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V power supply 50 60 Hz L3 input 750 W to 1 5 kW Three phase 200 to 240 VAC 170 to 264 V 2 50 60Hz m HG sashes R88D GNCIL ML2 Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz E toc IP PPY R88D GNOH ML2 Single phase 200 to 240 VAC 170 to 264V 50 60 Hz gt U Servomotor Connector Specifications CNB Symbol Name Function B1 External 50 to 400 W These terminals normally do not need to be connected If there is high B2 Regeneration regenerative energy connect an External Regeneration Resistor aca between B1 and B2 connection 750 W to 1 5 kW Normally B2 and B3 are connected If there is hig
260. bleshooting 6 2 Preparing for Operation 6 2 Preparing for Operation This section explains the procedure for preparing the mechanical system for operation following 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 for using a Servomotor with an absolute encoder Items to Check Before Turning ON the Power m Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below R88D GTLIL ML2 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 GN01H ML2 02H ML2 04H ML2 08H ML2 10H ML2 15H ML2 Single phase or single three phase 200 VAC input Main circuit power supply Single phase or single three phase 200 to 240 VAC 170 to 264 V 50 60 Hz Control circuit power supply Single phase or single three phase 200 to 240 VAC 170 to 264 V 50 60 Hz R88D GN20H ML2 30H ML2 50H ML2 75H ML2 three phase 200VAC 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 m Checking Terminal Block Wiring The main circuit power supply inputs L1 L3 or L1 L2 L3 must be proper
261. by Check that there is no damage to the communications error activating the error detection function encoder due to incorrect connections No response to request from the Replace the Servomotor and check Servo Drive again Communications error occurred for the Check that the encoder power supply data from the encoder Mainly a data voltage is within the range of 4 75 to error due to noise The encoder line is 5 25 VDC If the encoder line is connected but the communications long data is erroneous If the Servomotor line and the Encoder encoder line are bound together 23 communications data separate them error Check that the shield is connected to FG frame ground and that FG is grounded Attach a ferrite core to the encoder cable Attach a radio noise filter to the power cable The number of position deviation 1 Use the speed monitor and torque pulses exceeded the Deviation monitor to check that the Counter Overflow Level Pn209 Servomotor is operating as 1 The Servomotor operation is not commanded Check that torque is following the commands not saturated Check that the No 1 Me 2 The Deviation Counter Overflow Torque Limit PnO5E and the No 2 24 Deviation counter Level Pn209 is set too low Torque Limit PnO5F are not too overflow Calculate the deviation counter value based on the command speed and the position loop gain small Check by readjusting the gain increasing the acceleration
262. ch Filter 1 Frequency Pn01D and the Notch Filter 2 Frequency Pn028 to the frequency of a vibrating application 7 16 Adjustment Functions 7 4 Manual Tuning m Servo Drive Manual Tuning Procedure There are four basic adjustment parameters for the Servo Drive If the desired operating characteristics can be achieved by adjusting the following four parameters you do not need to adjust any other parameter Parameter No Parameter Name Default Value 2nd Parameter No Pn010 Position Loop Gain 40 0 1 s Pn018 Pn011 Speed Loop Gain 50 0Hz Pn019 Pn012 Speed Loop Integration Time 20 0ms Pno1A Constant Pn014 Torque Command Filter Time 0 80ms Pno1C Constant E About Parameter Adjustments There are three Servo Drive control loops the outermost Position Loop the Speed Loop and the innermost Current Loop The inner loop is affected by the outer loop and vice versa Set the initial values according to the configuration and rigidity of the machine inertia ratio and other factors Referential parameter settings for different applications are provided below Parameter Settings for Different Applications Adjustment Functions fe ee EIE Fosio Speed Loop ee eres Conia tne Application Inertia Rigidity Loop Gain 7 j Filter Time Constant Gain Hz Time Con 1 s sant x 0 01 ms Ball screw horizontal Large Low 20 140 35 160
263. ch Setting PN031 a e 5 72 Gain Switch Time PN032 cceeeeeeeeeeeeeeneeeeee 5 72 Gain Switching a eee eee ce eee eee a a a 5 31 Gain Switching Operating Mode Selection Pn030 PET EE E E TELE COC TPIT OPCERTTLOPEECTCPCORTETCCECERTLT TOPE CELTS 5 72 General purpose Output 1 OUTM1 3 12 5 25 General purpose Output 1 Function Selection Pn112 fish tilt tite LVN Ae ees ini dee ain tate S 5 83 General purpose Output 2 OUTM2 3 12 5 25 General purpose Output 2 Function Selection Pn113 PE PINO E A EEE EEEN PE haw inn Sean ied 5 83 General purpose Output 3 OUTM3 3 12 5 25 General purpose Output 3 Function Selection Pn114 e E E dici een aiwadiva en Bact aaesn ie 5 83 H harmonic current countermeasures 4 40 Incremental Encoders 3 31 Inertia Ratio Pn020 eeeeeeeeeeeeseeeeeeteeeeeeeeesaees 5 68 Input Signal Selection PN044 eseese 5 74 Instantaneous Speed Observer 5 48 Instantaneous Speed Observer Setting Pn027 5 71 J Jog Operation ietan inni a Ni 6 27 Jog Speed Pn03D seeeeeeieeeerreersrrerrreees 5 73 L Leakage Breakers eee Linear Acceleration Constant Pn107 Linear Deceleration Constant PN10A eee M Main Circuit Connector Specifications CNA E tnan aden A AT 3 7 4 20 Main Circuit Terminal Block Specifications E E E E bannge ens 3 8 3 9 4 21 4 22 Manual TUNING c csccocccivascececcancits coasieestieaconceciees 7 14 MECHATR
264. 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 If the encoder signal is lost the Servomotor may run away or an error may occur Be sure to disconnect the Servomotor from the mechanical system before checking the encoder signal When performing tests first check that there are no persons in the vicinity 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 procedure to replace the Servomotor or Servo Drive E Replacing the Servomotor 1 Replace the Servomotor 2 Perform origin position alignment for position control When the Servomotor is replaced the Servomotor s origin position phase Z may deviate so origin alignment must be performed Refer to the Position Controller s manual for details on performing origin alignment 3 Set up the absolute encoder If 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 For details refer to Abs
265. closed space such as the control box will cause the Servo Drive s ambient temperature to rise Use a fan or air conditioner to prevent the Servo Drive s ambient temperature from exceeding 55 C Servo Drive surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and keep its distance from any devices or wiring that are sensitive to heat The service life of a Servo Drive is 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 If 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 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
266. ctions 10 to 2 500 Hz Acceleration of 49 m s max in the X Y and Z directions Acceleration of 98 m s max 3 times each in the X Y and Z directions 10 to 2 500 Hz Acceleration of 24 5 m s max in the X Y and Z directions Acceleration of 98 m s max 2 times vertically 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 Insulation grade Type B Type F Type B Type F 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 o EMC EN 55011 Class A Group 1 S T Directive EN 61000 6 2 IEC 61000 4 2 3 4 5 6 11 amp tves Low voltage IEG 60034 1 5 T Directive S UL standards UL 1004 g UL g CSA standards CSA 22 2 No 100 pending 3 17 Note 1 Do not use the cable when it is laid in oil or water 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 motor sizes from 6 to 7 5 kW Note 2 Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself 3 2 Servomotor Specification
267. ctor MD S8000 10 J S T Mfg Co 3 16 Specifications Specifications 3 2 Servomotor Specifications 3 2 Servomotor Specifications The following OMNUC G Series AC Servomotors are available 3 000 r min Servomotors 3 000 r min Flat Servomotors 2 000 r min Servomotors 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 General Specifications Item 3 000 r min Servomotors 3 000 r min Flat Servomotors 1 000 r min Servomotors 2 000 r min Servomotors 50 to 750 W 1to5 kW 100 to 400 W 900 W to 5 kW 6 to 7 5 kW Ambient operating temperature and humidity 0 to 40 C 85 RH ma x with no condensation Ambient storage temperature and humidity 20 to 65 C 85 RH max with no con densation 20 to 80 C 85 max with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance 1 Impact resistance 10 to 2 500 Hz Acceleration of 49 m s max in the X Y and Z directions Acceleration of 98 m s max 3 times each in the X Y and Z directions 10 to 2 500 Hz Acceleration of 24 5 m s max in the X Y and Z directions Acceleration of 98 m s max 3 times each in the X Y and Z dire
268. d 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 cable 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 Locations subject to static electricity or other forms of noise Locations subject to s
269. d due Turn OFF the power supply and then to excessive noise turn it back ON An error occurred within the Servo If the error continues to occur there Others Other errors Drive due to the activation of its self diagnosis function may be a failure Stop the operation and replace the Servomotor and Servo Drive 8 13 8 3 Troubleshooting Error Diagnosis Using the Displayed Warning Codes Warning Error Cause Countermeasure Code Command argument setting is out of Check the setting range the range Check the control power supply 94h Data setting warning Parameter write failure voltage Command settings are wrong and Check the command settings others Command output conditions are not Send the command after the satisfied command output conditions are Received unsupported command satisfied Subcommand output conditions are Do not send unsupported 95h Command warning not satisfied commands Operation command in the drive Follow the subcommand output prohibited direction was issued after conditions and send being stopped by a POT NOT input Check the status of POT NOT input and operation command PPSS One or more MECHATROLINK II Refer to the countermeasures for 96h ML Il communications communications error occurred Communications error on page 8 12 warning alarm code 83 85 of the overload alarm trigger 90h Overload warning level has been exc
270. den changes Almost no change Vertical axis mode Gradual changes Sudden changes N OD oO BR ow hm o Gain switching disable mode Almost no change Oto7 022 Realtime Autotuning Machine Rigidity Selection Sets the machine rigidity for realtime autotuning Cannot be set to 0 when using the Parameter Unit 0 to F 023 Adaptive Filter Selection Enables or disables the adaptive filter 0 Adaptive filter disabled Adaptive filter enabled Adaptive operation performed Adaptive filter enabled Adaptive 2 operation will not be performed i e retained Oto2 024 Vibration Filter Selection Selects the vibration filter type and the switching mode E Filter type selection Normal type Vibration frequency setting range 10 0 to 200 0 Hz Low pass type Vibration frequency setting range 1 0 to 200 0 Hz E Switching mode selection No switching Both 1 and 2 are enabled Switching with command direction Selects Vibration Frequency 1 in forward direction Pn02B Pn02C Selects Vibration Frequency 2 in reverse direction Pn02D Pn02E Filter Type Switching mode Q No switching mk Normal type Switching with com mand direction No switching Low pass type Switching with com mand direction a A N Oto5 9 7 9 1 Parameter Tables
271. disable the Forward Drive Prohibit 5 88 2 Selection Input POT or Reverse Drive Prohibit Input NOT function Stop Selection for Selects the stopping method when the Forward Drive Pro Pn066 Drive Prohibition hibit Input POT or Reverse Drive Prohibit Input NOT is 5 95 LL nee input rigin Proximity i sat bos 4 Pn042 Input Logic Setting Sets the input logic for the Origin Proximity Input DEC 5 73 D m CN1 Control Input Signals Q O Pin No Symbol Name Function Interface 12 to 24 VDC Power Supply Power supply input terminal 12 to 24 VDC for sequence 1 FZAVIN Input inputs Input for emergency stop When this signal is enabled and pin 1 is not connected to pin 2 STOP Emergency Stop Input 2 an Emergency Stop Input error alarm code 87 occurs Set this signal to be enabled or disabled in the Emergency Stop Input Setting Pn041 Factory default Enable 3 EXT3 External Latch Signal 3 This external signal input latches the current value feedback pulse counter 4 EXT2 External Latch Signal 2 The position data is obtained the moment the input is turned ON 5 EXT1 External Latch Signal 1 Minimal signal width must be 1 ms or more 6 IN1 os General purpose This input is used as external general purpose input 1 7 PCL Forward Torque Limit Input When the Torque Limit Selection Pn003 is set to 3 or 5 this ae signal input selects the torque limit For details refer to the 8 NCL Reverse Torque Limit Input description of t
272. duction and inductance will increase and cause malfunctions Always use cables fully extended When installing noise filters for Encoder Cables use clamp filters The following table shows the recommended clamp filters Manufacturer Product name Model Specifications NEC TOKIN Clamp Filters ESD SR 250 For cable diameter Upto 13 mm TDK Clamp Filters ZCAT3035 1330 Reia gameter up to Do not place the Encoder Cable with the following cables in the same duct Control Cables for brakes solenoids clutches and valves Dimensions ESD SR 250 D e h 1 ee 3 Doo dia 31 5 D 38 0 Impedance Characteristics ESD SR 250 10000 p Frequency MHz 4 39 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 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 Install a noise filter on the primary side of the control power supply 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 Kee
273. dynamic brake to decelerate and remain vanes stopped with dynamic brake OFF Use free run to decelerate and remain stopped 1ands with dynamic brake Use dynamic brake to decelerate but free the gande motor when stopped Use free run to decelerate and free the motor zana when stopped Oto 7 B 068 Sets the deceleration process and stop status after an alarm is issued by the protective function The deviation counter will be reset when an alarm is issued Use dynamic brake to decelerate and remain o stopped with dynamic brake Stop Selection for Alarm Generation Use free run to decelerate and remain stopped with dynamic brake Use dynamic brake to decelerate but free the motor when stopped Use free run to decelerate and free the motor 9 when stopped Oto3 B 069 Stop Selection with Servo OFF Sets the operational conditions to apply during decelera tion and after stopping when the Servo is turned OFF The relationship between set values operation and deviation counter processing for this parameter is the same as for the Stop Selection with Main Power OFF Pn067 Oto 7 B 06A Brake Timing When Stopped Sets the duration from when the Brake Interlock BKIR signal turns OFF to when the Servomotor is de energized when the RUN command is turned OFF with the Servomo tor stopped Note The brake interlock signal is the logical OR of the brake release
274. e when control power is turned ON Note This adjustment is inaccurate if the offset is measured while the Servomotor is rotating To enable this function do not rotate the Servomotor when inputting the Servo ON command O Disabled only when turning ON control power Enabled when turning ON control power or at Servo ON Oto 1 065 Undervoltage Alarm Selection Selects whether to activate the main power supply undervoltage function alarm code 13 when the main power supply is interrupted for the duration of the Momen tary Hold Time PnO6D during Servo ON Turns the Servo OFF according to the setting for the Stop Selection with Main Power OFF Pn067 interrupting the positioning command generation process positioning operation within the Servo Drive When the main power supply is turned back ON Servo ON will resume Restart the positioning operation after performing the positioning opera tion and recovering from Servo OFF Causes an error due to main power supply undervoltage alarm code 13 This parameter is disabled if PnO6D 1 000 If PnO6D is set 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 Oto 1 5 76 Operating Functions Operating Functions 5 26 User Parameters
275. e 34 range rl 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 Position command input range Range for generating Range for generating alarm code 34 Servomotor s allowable operating range _alarm code 34 5 30 Operating Functions Operating Functions 5 16 Gain Switching 5 16 Gain Switching Function This function switches the position loop and speed loop gain Select between enable or disable with the Gain Switching Operating Mode Selection Pn030 Set the switching conditions with the Gain Switch Setting Pn031 The control can be optimized by switching gain settings when the load inertia changes or the responsiveness at stops and during operation needs to be changed Gain switching is used when realtime autotuning does not work effectively in such cases as follows When the load inertia fluctuates in 200 ms or less When the Servomotor rotation speed does not exceed 500 r min or the load torque does not exceed 50 of the rated torque When external force is constantly applied as with a vertical axis Note When gain 2 has been selected realtime autotuning will not operate normally If using the gain switching set the Realtime Autotuning Mode Selection Pn021 to 0 disabled 5 16 Gain Switching Parameters Requiring Settings
276. e decelerating q in drive prohibited direction Retained after stopping Retained while decelerating Emergency Stop Torque cleared upon completion of 2 Pn06E Servo lock g deceleration and retained after stopping Note 1 The positioning command generation process positioning operation within the Servo Drive Note 2 Note 3 Note 4 Note 5 will be forcibly stopped once it enters the deceleration mode Also when the deceleration mode is activated during speed control or torque control it will switch to position control If a positioning operation command is received during deceleration the internal positioning command generation process will be retained and after deceleration is complete positioning operation will be activated When the Servomotor rotation speed is 30 r min or less stopped the deceleration mode will not be activated even if the drive prohibit input is enabled When the parameter is set to 2 and an operation command in the drive prohibited direction is received after stopping a command warning warning code 95h will be issued When the parameter is set to 0 or 1 the operation command in the prohibited direction after stopping will be accepted but the Servomotor will not operate and the position deviation will accumulate because the torque command is 0 Take measures such as issuing a command in the reverse direction from the host controller When the parameter is set to 2 MECHATROLINK II communication
277. e encoder 3 B Sie 6 Absolute _ Use an absolute encoder as an incremental Encoder encoder 2 Use as an absolute encoder but ignore absolute oO multi turn counter overflow alarm alarm code 41 S Sets the baud rate for RS 232 communications O 0 2 400 bps 1 4 800 bps L ooc Beets Baud F gt 16 Boo bps 2 is 0to5 C e7 Rate Setting c 3 19 200 bps 4 38 400 bps 2 5 57 600 bps O 00D Reserved Do not change 0 00E Reserved Do not change 0 OOF Reserved Do not change 0 Sets the position loop responsiveness e Increasing the gain increases position control responsive 010 pe P Ines and shortens stabilization time 400 ve 0 to 30000 B Oscillation or overshoot will occur if set too high Adjust for optimum responsiveness Sets the speed loop responsiveness If the Inertia Ratio Pn020 is set correctly this parameter Speed L is set to the Servomotor response frequency 0 1 011 a ra Increasing the gain increases the speed control respon 500 oo 1 to 30000 B ain RT siveness but too much gain may cause oscillating 5 Small gain may cause overshoot in the speed response Adjust for optimum responsiveness Adjusts the speed loop integration time constant Set a large value for large load inertia Speed Loop 012 Integration Time ee the setting for fast response with small 200 oe 4 to 10000 B Constant RT z ptre Set 9999 to stop integration operation while retaining the integra
278. e examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply 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 Read and Understand This Manual 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 publish
279. e line voltages Pn065 set to 1 the main power between L1 L2 and L3 of the main supply between L1 and L3 was power supply interrupted for longer than the time set 1 Resolve the cause of the power by Momentary Hold Time PnO6D supply voltage drop and or Alternatively the voltage between P momentary power failure and N in the main circuit dropped 2 Check the setting for the below the specified value while the Momentary Hold Time PnO6D Servo Drive was ON 3 Increase the power supply 13 Main power supply 1 The power supply voltage is low capacity Refer to the Servo Drive undervoltage 2 Amomentary power failure occurred 3 The power supply capacity is insuf ficient The inrush current at power ON caused the power supply voltage to drop 4 Missing phase A single phase power supply was used for a three phase Servo Drive 5 The Servo Drive has failed specifications for the power supply capacity 4 Correctly connect the phases L1 L2 and L3 of the power supply Connect single phase 100 V and single phase 200 V to L1 and L3 5 Replace the Servo Drive 8 3 Troubleshooting Alarm SE Alarm Name Cause Countermeasure The current on the inverter circuit 1 If the alarm is triggered exceeded the specified value immediately when the Servo Drive 1 The Servo Drive has failed is turned ON with the Servomotor Failure of circuit IGBT parts etc lines disconnected replace the 2 Short circuit
280. e received from the host interface during startup For this reason take appropriate initialization measures such as clearing the receive buffer 3 69 3 4 Cable and Connector Specifications Connector Specifications E Control I O Connector R88A CNU01C This connector connects to the control I O connector CN1 on the Servo Drive Use this connector when preparing a control cable yourself Dimensions 43 6 Connector plug 10136 3000PE Sumitomo 3M Connector case Y7 10336 52A0 008 Sumitomo 3M t 18 E Encoder Connectors These connectors are used for encoder cables Use them when preparing an encoder cable yourself Dimensions R88A CNWO1R for Servo Drive s CN2 Connector This connector is a soldering type Use the following cable Applicable wire AWG16 max Insulating cover outer diameter 2 1 mm dia max Outer diameter of sheath 6 7 dia 0 5 mm Connector plug 55100 0670 Molex Japan Co 3 70 Specifications Specifications 3 4 Cable and Connector Specifications 3 71 R88A CNGO1R for Servomotor Connector EESE Use the following cable Applicable wire AWG22 max Outer diameter of sheath 1 75 mm dia max 46 0 4 23 7 0 4 y Ai n D NaN aN NWANANY 2 3 AWE amp d oi ROOF amp AIA B
281. e the Reverse Software Limit Pn202 Enable the Forward Software Limit Pn201 disable the Reverse Software Limit Pn202 Disable both the Forward Reverse Software Limits Pn201 and Pn202 0to3 105 Origin Range Sets the threshold for detecting the origin ZPOINT in absolute values ZPOINT 1 when the return to origin completes coordi nate system setup is complete and the feedback position is within the setting range of this parameter 10 Com mand units 0 to 250 106 Reserved Do not change 5 81 5 26 User Parameters v Pn Set Default Setting 3 No Parameter name ting Explanation setting Unit range lt Sets the acceleration for positioning operations H n LEH n n 1000 Linear A setting of 0 is regarded as 1 0 107 Rerelataiion The setting will be handled after conversion to an 100 com 32768 to B Constant unsigned 16 bit data 0 to 65535 man 32767 Example 32768 8000h 32768 units 1 FFFFh 65535 s 108 Reserved Do not change 0 E 109 Reserved Do not change 0 Sets the deceleration for positioning operations gt H n ud n n 1000 lih ear A setting of 0 is regarded as 1 0 10A Hecclaration The setting will be handled after conversion to an 100 com 32768 to B Constant unsigned 16 bit data 0 to 65535 mand 32767 Example
282. eadson50058 4 48 Connecting an External Regeneration Resistor 4 49 System Design 4 1 Installation Conditions 4 1 Installation Conditions Servo Drives E Space around Drives Install Servo Drives according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel If the Servo Drives are to be installed side by side install a fan for air circulation to prevent uneven temperatures from developing inside the panel gt a _ Fan Fan 100 mm min Air Servo Servo Servo Side Drive Drive Drive panel W W a 100 mm min Air 40 mm min W 10 mm min E Mounting Direction Mount the Servo Drives in a direction perpendicular so that the model number can be seen properly E Operating Environment The environment in which Servo Drives are operated must meet the following conditions Servo Drives may malfunction if operated under any other conditions Ambient operating temperature 0 to 55 C Take into account temperature rises in the individual Servo Drives themselves Ambient operating humidity 90 RH max with no condensation Atmosphere No corrosive gases Altitude 1 000 m max E Ambient Temperature Control Servo Drives should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability Temperature rise in any Unit installed in a
283. eae OMRON Milf USER S MANUAL R88M GL AC Servomotors R88D GNLIJ ML2 AC Servo Drives AC SERVOMOTORS SERVO DRIVES WITH BUILT IN MECHATROLINK II COMMUNICATIONS Trademarks and Copyrights e Product names and system names in this manual are trademarks or registered trademarks of their respective companies e MECHATROLINK is a registered trademark of the MECHATROLINK Members Association 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 User s Manual describes installation wiring methods and parameter setting procedures required for the operation of the OMNUC G Series as well as troubl
284. easurement a EN 55011 Class A Group 1 methods for industrial scientific and medical gt radio frequency equipment a Electromagnetic compatibility EMC Immunity j EN 61000 6 2 standard for industrial environments EMC AC Servo Drive IEC 61000 4 2 Electrostatic discharge immunity testing a a i Directive AC Servomotors IEC 61000 4 3 Radio frequency radiation field immunity testing 2 IEC 61000 4 4 Electrical fast transient burst immunity testing S IEC 61000 4 5 Lightning surge immunity testing u IEC 61000 4 6 High frequency conduction immunity testing IEC 61000 4 11 Momentary power interruption immunity testing Note To conform to the EMC Directives the Servomotor and Servo Drive must be installed under the conditions described in Wiring Conforming to EMC Directives on page 4 26 UL and CSA Standards Standard Product Applicable standards File number Comments UL AC Servo Drive UL 508C E179149 Power conversion equipment standards AC Servomotors UL 1004 E179189 Electric motor Can AC Servomotors CSA22 2 No 100 E179189 Motor and generator standards 1 UL approval is pending for motor capacities of 6 to 7 5 kW Chapter 2 Standard Models and Dimensions Bal eStandarGiMOodels scree a A E E vos 2 1 SCIVOSDIIVOS catorcssi sets cectecma as tas te nsecngusns sens seagcu Mpeeraieny ceatee nee vegan 2 1 SCIVOMOLOlS teers E S A E 2 2 Servo Drive Servomotor Combinations
285. ecifications XW2D 20G6 M3 screw terminal block C e B91 S Two 4 5 dia 176 S l Q V Si C G 39 st al F When using crimp terminals use crimp terminals with the following Precautions di for Correct Use IMEnSIONS l 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 rd 5 8 mm max ELC 3Zinm 5 8 mm max Applicable Crimp Terminals Applicable Wires AWG22 16 Round Crimp Terminals 1 25 3 0 3 to 1 25 mm2 AWG22 16 Fork Terminals 1 25Y 3 0 3 to 1 25 mm2 The diagram on the next page shows a typical connection between a host device and the Servo Drive using a MECHATROLINK II communications cable 3 78 Specifications 3 4 Cable and Connector Specifications Terminal Block Wiring Example common for XW2B 20G4 20G5 XW2D 20G6 BAT DEC EXT2 COM I ij 4 i 24 VDC 24 VDC 1 Absolute encoder backup battery 3 6 to 4 5 V 2 The XB contacts are used to turn ON OFF the electromagnetic brake 3 Assign BKIR brake interlock to CN1 36 pin to use Note 1 The absolute encoder backup ba
286. ect Use dissipation Surface temperatures 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 Chapter 5 Operating Functions I FOSI CANNA ta carci cemeactenreaste ts tne cancen tee Men 5 2 Speed Comnolenwixicnte eet rr en a eetevete B23 MOLQUes OMG a r tees canes tem teeters 5 4 Forward and Reverse Drive Prohibit 5p hak OUitenOCh E cesta ehe ets A mma g cdr SO orgue Tein een ee ee ern ace sree eat Bat OOE IN aao nat ate nee aereani nat a tera ocaeet ee ener 5 8 Acceleration Deceleration Time Settings 5 9 Moving Average Time cccccccceeeeeeeeeeeeeeees SNOPES CtrOMIGIMEe Ah can eee E E ees Sa eo gg aera meen A enna eee Perce s 5 12 Sequence Input Signals cceseeeeeeees 5 13 Sequence Output Signals eee 5 14 Backlash Compensation cccccccceeeeeeeeeees 521 5 OVemumiPKOleGtlOMe sect ceecen ees seach ee 510 Cain SRANN eet nate hed ne te tora teen eae tee 57S OCCCIRGEO TOMVANG ermine concent cael etceuiterrten 5 18 Torque Feed forwatd cccccccccecsssseeeeeeeneeeees 5 19 Speed Feedback Filter Selection 00 5 20 P COMPO SWILG ING socee ee secsnoedeneteyesecenSerensessceee 5 21 Torque Command Filter Time Constant p224Note Miter Aa cement keener S B 2 STAG AptUve Ae E 5
287. ector 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 46 Specifications Specifications 3 4 Cable and Connector Specifications R88A CRGCLINR 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 3m Approx 0 4 kg R88A CRGCOO5NR 5m Approx 0 5 kg R88A CRGCO10NR 10m 7 5 dia Approx 0 9 kg R88A CRGCO15NR 15m Approx 1 3 kg R88A CRGCO20NR 20m Approx 1 6 kg R88A CRGCO010NR 30m Approx 2 9 kg R88A CRGCO15NR 40m 8 2 dia Approx 3 8 kg R88A CRGCO20NR 50m Approx 4 7 kg Connection Configuration and Dimensions 7 5 8 2 dia Servomotor i H R88M G Servomotor No Signal Servo Drive R88D GN 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 N MS3057 12A Japan Aviation Electronics Wiring 30 to 50 m
288. ed 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 establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions Precautions for Safe Use Precautions for Safe Use E To ensure safe and proper use of the 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 prec
289. ed while the amp key is pressed The Servomotor will stop when the key is released The speed set for the Jog Speed Pn03D will be used for jogging 2 Returning to Auxiliary Function Mode Key operation Display example Explanation 5 L 0 C7 Press the key to return to Auxiliary Function Mode The Servo lock will be released 6 27 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 All parameters Servo 16 bit and 32 bit will be copied collectively E Copying from the Servo Drive to the Parameter Unit 1 Displaying Copy Mode Key operation Display example Explanation The item set for the Default Display Pn001 is displayed Press the D key to display Monitor Mode D J s ace 2 Executing Copying Press the key five times to display Copy Mode Key operation Display example Explanation Z Press the key to switch to Copy Mode MJ mr Press and hold the A key until EEPCLR is displayed The bar indicator will increase when the key is pressed for 3 s or longer 7 ia a Og The i
290. eeded Refer to Overload on page 8 8 85 of the regeneration overload 91h Regeneration alarm trigger level has been Refer to Regeneration overload on overload exceeded page 8 9 Voltage of absolute encoder battery Replace the absolute encoder battery 92h Battery warning has dropped below 3 2 V while the control power supply is being input The built in cooling fan stopped or If the warning continues to occur rotated abnormally the fan may have failed Models with a built in fan If so the internal temperature of the 93h Fan lock warning R88D GN10H ML2 GN20H ML2 GN30H ML2 GN40H ML2 GN50H ML2 GN75H ML2 Servo Drive will rise causing a failure Replace the fan 8 14 Troubleshooting Troubleshooting 8 3 Troubleshooting Error Diagnosis Using the Operating Status Symptom Probable cause Items to check Countermeasure Check that the control power supply Ensure that power is voltage is within the specified 7 segment N trol i range supplied properly LED is not lit o control power supply i i eck that the power supply input Wire correctly is wired correctly Check that the network cable Check that the host LED COM ME Ore is connected correctly controller is running f communications not is not lit actuated Check that the terminator is Check the connector and connected connection Asynchronous communica TPE oie tions on the Can be controlled from the hos
291. eessseeeeessteeeeees 8 22 Servo Drive Servomotor combinations 086 2 5 Servomotor and Decelerator Combinations 2 44 Servomotor characteristics c ccccessseeessseeeees 3 18 Servomotor connector specifications CNB 3 7 4 20 Servomotor general specifications ee 3 17 Servomotor installation CONItIONS cceeeeeeeees 4 3 Index 3 Servomotor models ccecceeeeeeeceeeeeeeeeeseeeeeneeseneees 2 2 Servomotor power cable 3 49 Servomotor Power Cables Robot Cables 2 19 Servomotor Power Cables Standard Cables 2 15 Servomotor Service life eeeeeeeeeeeeteeeeeeeeteeeeeeees 8 21 Soft Limit P1104 0 0 0 ceeececeeeeeeeeeeeeeeeeeeeeeeeeeeeaes 5 81 Soft SAM cess aeea a roddai ia Na en EEr 5 18 Soft Start Acceleration Time Pn058 eeeeeee 5 74 Soft Start Deceleration Time Pn059 ee 5 74 Speed Conformity Signal Output Width Pn061 5 75 Speed Control eeecceccceeceseeeeeeeeeeeeeeeseeeeneeesseeeseaees 5 4 speed control mode adjustment ce eeeeeeeeees 7 16 Speed Feedback Filter Selection 5 40 Speed Feedback Filter Time Constant Pn013 5 67 Speed Feedback Filter Time Constant 2 Pn01B 5 68 Speed Feed forward cceescceeseeeeeeeeeeeeeeeeeeeeeeeneae 5 38 Speed Feed forward Amount Pn015 eeee 5 68 Speed Limite av esse eeccecsesigaespecdeschabceepaccesdbesteensaaet 5 22 Speed Limit
292. egeneration resistor Communications between the encoder and es the Servo Drive failed for a specified number 21 PR Encoder communications error i ine i of times thereby activating the error detection function 23 PR Encoder communications dats erst Communications error occurred for the data from the encoder The number of position deviation pulses 24 Deviation counter overflow exceeded the Deviation Counter Overflow Level Pn209 The rotation speed of the Servomotor 26 Overspeed exceeded the setting of the Overspeed Detection Level Setting Pn073 27 PR Command error The operation command resulted in an error The value of the internal deviation counter 29 Internal deviation counter overflow internal control unit exceeded 2 7 134217728 The Servomotor exceeded the allowable E operating range set in the Overrun Limit af Overrunilimit error Setting Pn026 with respect to the position command input PR Data in the parameter save area was 36 xX Parameter error corrupted when the data was read from the EEPROM at power ON PR The EEPROM write verification data was 37 xX Parameter corruption corrupted when the data was read from the EEPROM at power ON PeR Forward and Reverse Drive Prohibit Inputs 38 X Drive prohibit input error NOT and POT both became OPEN Absolute encoder The voltage supplied to the absolute encoder 40 R system down error LABS dropped below the specified value Absolute encoder counter The multi turn c
293. election Pn024 parameter is enabled at power ON Turn OFF the control power and turn it ON again after setting this parameter If the low pass type filter is selected the Adaptive Filter Selection Pn023 is forcibly set to 0 and cannot be used If the low pass type filter is selected when the adaptive filter is operating correctly the resonance that has been suppressed will reappear and noise or vibration may occur 5 54 Operating Functions 5 26 User Parameters 5 26 User Parameters Set and check the user parameters in Parameter Setting Mode Fully understand what the param according to the system eters mean and the setting procedures and set the parameters Some parameters are enabled by turning the power OFF and then ON again After changing these parameters turn OFF the power the power again confirm that the power indicator has gone OFF and then turn ON Setting and Checking Parameters 5 E Overview Use the following procedure to set or check parameters Operating Functions Go to Parameter Setting Mode Select the Parameter Type Switch to the Parameter Settin Set the parameter number Pn Press the key and then press the key once O O g Display Display the parameter setting Change the parameter setting Save the changed setting to m 8 emory and return to Parameter Setting Mode E Operating Procedures for 16 bit
294. ent The following table lists the Servo Drive inrush currents With low speed no fuse breakers an inrush current 10 times the rated current can flow for 0 02 second When multiple Servo Drives are turned ON simultaneously select a no fuse breaker with a 20 ms allowable current that is greater than the total inrush current shown in the following table Servo Drive model Inrush current Ao p Main circuit power supply Control circuit power supply R88D GNA5L ML2 7 Fi R88D GNO1L ML2 7 4 R88D GN02L ML2 7 A R88D GNO4L ML2 a a R88D GN01H ML2 14 ae R88D GNO2H ML2 14 28 R88D GN04H ML2 T R88D GNO8H ML2 50 R88D GN10H ML2 29 28 R88D GN15H ML2 29 Ba R88D GN20H ML2 29 rm R88D GN30H ML2 29 F R88D GN50H ML2 29 J R88D GN75H ML2 88 a 4 31 E Leakage Breakers Select leakage breakers designed for protection against grounding faults 4 3 Wiring Conforming to EMC Directives 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 When selecting
295. eodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s maximum momentary torque increases and as the temperature rises the Servomotor s maximum momentary torque decreases The maximum momentary torque rises by 4 at a normal temperature of 20 C compared to a temperature of 10 C Conversely the maximum momentary torque decreases about 8 when the magnet warms up to 80 C from the normal temperature Generally when the temperature drops in a mechanical system the friction torque and the load torque increase For that reason overloading may occur at low temperatures In particular in systems that use a Decelerator the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures Check whether overloading may occur at low temperature startup Also check to see whether abnormal Servomotor overheating or alarms occur at high temperatures An increase in load friction torque seemingly increases load inertia Therefore even if the Servo Drive gains are adjusted at a normal temperature the Servomotor may not operate properly at low temperatures Check to see whether there is optimal operation even at low temperatures 3 30 Specifications Specifications 3 2 Servomotor Specifications Encoder Specifications E Incremental Encoders Item Specifications Encoder system Optical e
296. er Cable 1 Encoder Cable Robot Cables 1 Use a robot cable when the cable must be flexible 4 11 Servomotor R88M GL 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 50 to 750 W ABS R88A CRGA C 3 000 r min Servomotors 50 to 750 W R88A CRGB The digits in the model 1 to 5 kW R88A CRGC 3 000 r min Flat Servomotors 100 to 400 W ABS 100 to 400 W C N R88A CRGA Cc C R88A CRGB 2 000 r min Servomotors 1 500 r min Servomotors 1 to 7 5 kW R88A CRGC N 1 000 r min Servomotors 900 W to 6 kW R88A CRGC N 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 CRGA003C 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 Power Cables for Servomotors Without Brakes Power Cables for Servomotors With Brakes R88A CAGA S For Power Connector
297. er name Si Explanation Deew Unit Setting range 2 No ting setting lt Sets the distance from the latch signal input position to the origin when performing origin return The operation after detecting the latch signal input position will be determined by the origin return direction and this parameter as follows Origin Sign return direction Positive Negative Decelerates to a i si Moves in the stop reverses then Com 1073741823 204 E Fe positive direction moves in the 100 mand to B and stops 1 negative direction units 1073741823 and stops Decelerates to a t Moves in the stop reverses then Negative cone a direction negative drecton moves in the l and stops positive direction and stops 1 Reverses after decelerating to a stop if the final travel distance for origin return is short in comparison to the deceleration distance Sets the numerator for the electronic gear ratio Setting this parameter to 0 automatically sets the en coder resolution as the numerator 131072 for a 17 bit Electronic Gear absolute encoder or 10000 for a 2 500 p r incremental 205 Ratio 1 encoder 1 Oto 131072 C Numerator Note Set the electronic gear ratio within the range of 1 100 to 100 times A parameter setting alarm alarm code 93 will occur if the ratio is set outside of this range Sets the denominator for the electronic gear ratio Electronic Gear Note Set the electronic gear ratio within the range of 206 Ratio 2 1 100 to 100 ti
298. er of sheath Weight R88A CRGA003CR 3m Approx 0 2 kg R88A CRGA005CR 5m Approx 0 4 kg o R88A CRGA010CR 10m 7 5 dia Approx 0 8 kg S R88A CRGA015CR 15m Approx 1 1 kg R88A CRGA020CR 20m Approx 1 5 kg R88A CRGA030CR 30m Approx 2 8 kg 9 R88A CRGA040CR 40m 8 2 dia Approx 3 7 kg O R88A CRGA050CR 50m Approx 4 6 kg Connection Configuration and Dimensions L TE Servo Drive N S Servomotor R88D GN i D R88M G Wiring 3 to 20 m Servo Drive Servomotor Signal No Blue Red No Signal p E5y q Blue Black _ pet zT Esy QO EOV 2 Pink Black 8 EOV Bate S e OOC H BAT 4 2 BAT Sq 5 Orange Red i 4 Se So 6 Orange Black XxX ___ 5 S FG Shi L 3 FG S Cable _ S Servo Drive Connector AWG24x4P UL20276 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 Wiring 30 to 50 m Servo Drive Servomotor Signal No Signal E5V 7 E5V EOV 8 EOV BAT 1 BAT BAT 2 BAT S 4 S G 5 S FG 3 FG Servo Drive Connector AWG25 x 6P UL2517 Servomotor Connector Connector Connector Crimp type I O
299. erWiiteMode a a E A E N 6 23 Normal Mode Autotuning sssssssesssrnsernressrenesrnnnssrnnnssrrnnsrnnn 6 24 Auxiliary Function Mode esseesseesseesseessrrnsesssessnnnneesreeeenne 6 25 Copy Mode maae e e aea E A AEE AE EE AE REA 6 28 Oea Opera teense cniccnansaraaarnee 6 31 Preparation for Trial Operation ccccccceeeeteeeeeesteeeeeeeees 6 31 Trial Operation with CX Drive sessessessesrserierrisrirsrrrsrrrerreses 6 31 Operation o 6 1 Operational Procedure 6 1 Operational Procedure After mounting and wiring connect a power supply and check the operation of the Servomotor and Servo Drive individually 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 Item Contents Reference Mounting and Install the Servomotor and Servo Drive according to the installation conditions Do not connect the Servomotor to the mechanical sys 4 1 Installation installation tem before checking the no load operation Gonaltions Connect the Servomotor and Servo Drive to the power supply and Wiring and peripheral devices 4 2 Wirin connections Specified installation and wiring requirements must be satisfied 9 particularly if conforming to the EC Directives Check the necessary items
300. eration faster For a vertical axis torque feed forward can compensate heavy loads to eliminate the difference up and down in the torque command amount by the speed command calculation Parameters Requiring Settings There are no parameters to set This is set by command from the network To control during acceleration and deceleration differential operations will be required for the speed command via the host controller Torque Command TFF Speed Command Unit Conversion Target Speed r min Torque Feed forward MECHATRO LINK II Notch Filter Soft Start Acceleration Deceleration P Torque Command n058 Acceleration Pn059 Filter Deceleration Current Feedback Torque Limit Speed Feedback PCL NCL 5 39 5 19 Speed Feedback Filter Selection 5 19 Speed Feedback Filter Selection Function Selects the speed feedback filter Normally use a setting of 0 This is used when the speed loop gain cannot be raised any more due to vibration in the machine Increasing the value reduces the noise of the Servomotor but also reduces its responsiveness first order lag filter When the Instantaneous Speed Observer Setting is enabled Pn027 1 Pn013 and Pn01B are disabled and processed as 0 Parameters Requiring Settings Parameter Parameter name No Explanation Reference page Speed Feedback Selects the speed detection filter time constant Pn013 Filter Time
301. erative energy values for each region can be derived from the following equations 1 Qn x x J Eg 60 Ni Tpi t1 J 1 27 Eg 7 60 N2 Tp2 t2 J Ni N2 Rotation speed at beginning of deceleration r min Tp1 Tp2 Deceleration torque N m ti 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 44 System Design 4 4 Regenerative Energy Absorption For Servo Drive models with internal capacitors used for absorbing regenerative energy the values for both Eg or Ego 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 47 For Servo Drive models with an internal regeneration resistor used for absorbing regenerative energy 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 47 The average regeneration power Pr is the regeneration power produced in one cycle of operation W Pr Eg1 Eg2 IT W T Operation cycle s 4 45 4 4 Regenerative Energy Absorption E Vertical Axis N1
302. ervomotor Cable AWG20 x 2C UL2464 M4 crimp terminals Servomotor Connector Straight plug N MS3106B14S 2S Japan Aviation Electronics Cable clamp N MS3057 6A Japan Aviation Electronics 3 65 E Brake Cables Robot Cables R88A CAGAL IBR Cable Models 3 4 Cable and Connector Specifications 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 L Outer diameter of sheath Weight R88A CAGA003BR 3m Approx 0 1 kg R88A CAGAO005BR 5m Approx 0 2 kg R88A CAGA010BR 10m Approx 0 4 kg R88A CAGA015BR 15m Approx 0 7 kg R88A CAGA020BR 20m nee Approx 0 9 kg R88A CAGA030BR 30m Approx 1 3 kg R88A CAGA040BR 40m Approx 1 8 kg R88A CAGAO050BR 50m Approx 2 2 kg Connection Configuration and Dimensions 50 L 50 Servo Drive os o a R88D GN o eA l Wiring Servo Drive Servomotor M4 crimp terminals Cable AWG20 x 2C UL2464 Servomotor Connector Connector Servomotor D R88M G 172157 1 Tyco Electronics AMP KK Connector pins 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK 3 66 Specifications Specifications 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 radi
303. es The allowable radial loads are applied as shown in the following diagram rac load Thrust load Pia 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 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 GO5030H T 50 W R88M G10030L S 100 W R88M G20030L S 200 W N m N m N m 0 5 10 48 0 48 1 0 0 83 0 83 3600 7 2 044 78 1 78 3500 Repetitive usage Repetitive usage Repetitive usage 0 251 0 16 0 16 0 5 10 32 0 32 1 01 064 0 64 0 9 Continuous usage oi Continuous usage 0 28 Continuous usage 0 6 O 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 r min r min r min R88M G40030L S 400 W 3 6 3000 0 1000 2000 3000 4000 5000 r min 3 21 3 2 Servomotor Specifications 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 N m 0 5 70 45 0 45 Repetitive usage 9257 6 16 0 16 Continuous usage 0 1 1000 2000 3000
304. eshooting and inspection methods Intended Readers This manual is intended for the following personnel Those with knowledge of electrical systems a qualified electrical engineer or the equivalent as follows Personnel in charge of introducing FA equipment Personnel in charge of designing FA systems Personnel in charge of managing FA systems and facilities NOTICE This manual contains information necessary to ensure safe and proper use of the 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 as 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
305. et outside of this range 0 to 131072 Appendix 206 Electronic Gear Ratio 2 Denominator Sets the denominator for the electronic gear ratio Note Set the electronic gear ratio within the range of 1 100 to 100 times A parameter setting alarm alarm code 93 will occur if the ratio is set outside of this range 1 to 65535 207 Reserved Do not change 208 Reserved Do not change 209 Deviation Counter Overflow Level Sets the deviation counter overflow level The value will become saturated at 134217728 2 pulse after multiplying with the electronic gear ratio Setting this parameter to 0 will disable deviation counter overflow 20000 Com mand units 0 to 2147483647 20A to 21F Reserved Do not change 9 19 Index Numerics 1 000 r MiN ServomotorS ccccccccceeceeeeeeeeeeee 2 4 3 28 12 to 24 VDC Power Supply Input 24VIN 3 11 16 bit Positioning Parameters eee 5 81 9 15 2 000 r MiN SErVvOMOtONS ccceeeeeesseeeeeeeees 2 3 3 26 3 000 r min Flat ServomotorSs ccccceeeeees 2 3 3 24 3 000 r Min ServoMotors ccccceeeesseeeeeeees 2 2 3 18 32 bit Positioning Parameters e 5 84 9 18 A Absolute Encoder Battery Cable 3 48 2 20 Absolute Encoders ccseceeeeeeeeeeeeeeees 3 31 Absolute Origin Position Offset Pn200 we 5 84
306. ets External Dimensions Mounting Dimensions Reference Values 70 132 21 24 4 L 2 6 Two M4 5 2 dia gt 7 a a wO i G szp AA Be oO u S ia Pee ae oO B H N pA So Sok 5 w Sa Af a Square 5 TERE La in e hole 8 Sy Nye ea O lei o of MH 0 ED asl e f 4 o sell ee e J woe oo 28 X 1 foe cd fea ow L a ath J R26 CR Nog i ie FI y Ng v i y 2 5 2 l 2 6 J a 7 EA Note The dimensions of the square hole are reference values 2 24 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions E Single phase 100 VAC R88D GNO2L ML2 200 W Single phase 200 VAC R88D GNO4H ML2 400 W Wall Mounting External Dimensions Mounting Hole Dimensions 55 z 70 132 4 Two M4 o N N iN ay
307. ets the deceleration stopping method when POT NOT 5 95 D turns OFF Pad Input p yo pe cc Q O Operation Stopping method when Pn004 0 and either POT or NOT turns OFF Stop Selection for Drive Deceleration Method Stopped Status Prominin inpol Png66 Decelerates with dynamic brake Disables torque 0 in drive prohibited direction POT NOT turns OFF 1 Use free run to decelerate 2 Use Emergency Stop Torque PnO6E to decelerate Servo lock status Drive Prohibit Input Error alarm code 38 occurs when Pn004 0 and both Forward Drive Prohibit and Reverse Drive Prohibit inputs turn OFF When Pn004 1 the inputs for both Forward Drive Prohibit and Reverse Drive Prohibit are disabled Drive Prohibit Input Error alarm code 38 occurs when Pn004 2 and either Forward Drive Prohibit input or Reverse Drive Prohibit input turns OFF After stopping a command in the direction of the drive prohibit input will cause a command warning 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 10 Operating Functions 5 5 Brake Interlock 5 5 Brake Interlock Function This function sets the output ti
308. filter may not function properly under the following for Correct Use conditions Conditions under which the adaptive filter does not function properly Control Mode n Torque Control Mode Operates in position and speed control modes If the resonance frequency is 300 Hz or lower Resonating load If there are multiple points of resonance status If the resonance peak or control gain is low and the Servomotor speed is not affected by it If the Servomotor speed with high frequency components changes due to Load status backlash or other non linear elements play Command If the acceleration deceleration suddenly changes i e 3 000 r min or more in pattern 0 1 s z Unusual noise or vibration may occur until the adaptive filter stabilizes after Precautions F startup immediately after the first servo ON or when the Realtime Autotuning Machine Rigidity Selection Pn022 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 the following measures in any order you can Write the parameters used during normal operation to the EEPROM Lower the Realtime Autotuning Machine Rigidity Selection Pn022 Disable the adaptive filter by setting the Adaptive Filter Selection Pn023 to 0 Reset the inertia estimate and adaptive operation Set the notch filter manually Once unus
309. for position control Undefined when not using position control General purpose Selects the function for general purpose output 2 Output 2 OUTM2 3 Function The set values and the functions are the same as for 9 ona g Selection general purpose output 1 OUTM1 General purpose Selects the function for general purpose output 3 Output 3 OUTMS3 a oe Function The set values and the functions are the same as for S pice C Selection general purpose output 1 OUTM1 115 to Reserved Do not change 0 E 13F 5 83 5 26 User Parameters E 32 bit Positioning Parameters Parameter No 200 to 21F Pn No Parameter name Set ting Explanation Default setting Unit Setting range Attribute 200 Absolute Origin Offset Sets the offset amount for the encoder position and the mechanical coordinate system position when using an absolute encoder Com mand units 1073741823 to 1073741823 O 201 Forward Software Limit Sets the soft limit in the forward direction If the Servomotor exceeds the limit the network re sponse status PSOT will turn ON 1 Note1 Be sure to set the limits so that Forward Software Limit gt Reverse Software Limit Note2 PSOT is not turned ON when origin return is incomplete 500000 Com mand units 1073741823 to A 1073741823 202 Reverse Software Limit Sets the soft limit for the reverse direction
310. for the Servomotor or decelerator s output Use gears with small backlash The specific vibration resonance frequency of the mechanical system has a large impact on gain adjustment The responsiveness of the servo system cannot be set high for machines with a low resonance frequency low machine rigidity 7 2 Adjustment Functions W Adjustment Functions be 7 2 Realtime Autotuning 7 2 Realtime Autotuning Realtime autotuning estimates the load inertia of the mechanical system in realtime and operates the system by automatically setting the gain according to the estimated load inertia By executing autotuning with the adaptive filter enabled you can also reduce vibration and resonance Realtime autotuning adjusts the PI control for the speed loop and is thus effective for all controls Speed Command i Torque Speed Command PI Control Position Command gt Position Control Current Loop Control Estimate Load Inertia Speed Feedback Position Feedback Realtime autotuning may not function properly under the conditions Tarau ane described in the following table If realti totuning does not function for Correct Use escribed in the following table If realtime autotuning does not functio properly use normal mode autotuning or manual tuning Conditions under which realtime autotuning does not function properly If
311. g Alarm Alarm Name Cause Countermeasure code The regenerative energy exceeded the Check the regeneration resistance capacity of the regeneration resistor load ratio Continuous regenerative 1 The converter voltage was braking is not acceptable increased by regenerative energy 1 Check the operation pattern speed during deceleration due to a large monitor Check the regeneration load inertia The voltage was resistance load ratio and the over further increased due to insufficient regeneration warning display energy absorption of the Increase the capacity of the regeneration resistance Servomotor and the Servo Drive to 2 Because the Servomotor s rotation slow down the deceleration time R speed is too high regenerative Use an External Regeneration egeneration i 18 overload energy cannot be fully absorbed Resistor within the specified deceleration 2 Check the operation pattern speed time monitor Check the regeneration 3 The operating limit of the External resistance load ratio and the over Regeneration Resistor is limited to regeneration warning display 10 Increase the capacity of the Servomotor and the Servo Drive to slow down the deceleration time Lower the Servomotor rotation speed Use an External Regeneration Resistor 3 Set PnO6C to 2 Communications between the encoder Check that the encoder line is properly and the Servo Drive failed for a connected 21 Encoder specified number of times there
312. g Key operation Display example Explanation e OS Wu lt lt Lt a Use the A keys to change the setting The decimal point will flash for the digit that can be set Mu Lt he Press the key to save the new setting 7 Returning to Parameter Setting Mode The following operation is not required if you are only checking a parameter setting Key operation Display example Explanation A a pa I a I LI ua a Press the D key to return to Parameter Setting Mode 5 56 Operating Functions Operating Functions 5 26 User Parameters E Operating Procedures for 32 bit Positioning Parameters 1 Displaying Parameter Setting Mode Key operation Display example Explanation The default display is displayed a Mg Aa _ g Press the key to display Monitor Mode ai on I r Si a a Press the key to display Parameter Setting Mode 2 Selecting the Parameter Type Key operation Display example Explanation OO a MJ PRA R a rc i aa o Press the A keys to select 32 bit parameters 3 Switching to the Parameter Setting Display Key operation Display example Explanation l r ZJ ZI
313. g 1 7kg Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1 kW 1 5 kW G05030H INC G20030H G40030H G75030H 3 000 r min G10030H Servomotors G05030T G1K030T EEEE Gioogor 20080T G40030T G75030T Caeser Applicable 3 000 r min GP10030H GP20030H GP40030H Servomo Flat Servomo tors tors ABS GP10030T GP20030T GP40030T 2 000 r min Servomotors ABS GIK020T G1K520T 1 000 r min Servomotors ABS Capolat 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 Speed variability Voltage characteristic 0 at 10 of rated voltage at rated speed Performance Speed variability Temperature characteristic 0 1 or less at 0 to 50 C at rated speed 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 3 3 3 1 Servo Drive Specifications E Servo Drives with Three phase 200 VAC Input Power item R88D GN20H R88D GN30H R88D GN50H R88D GN75H ML2 ML2 ML2 ML2 Continuous output current rms 14 3A 17 4A 31 0A 45 4A Momentary maximum output current rms 4
314. g Range Attribute Set value 100 Backlash Compensation Selection Enables or disables the backlash compensation for position control and sets the compensation direction 0 Disabled Compensates in the initial forward i direction after the Servo ON Compensates in the initial forward direction after the Servo ON O0to2 101 Backlash Compensation Sets the backlash compensation amount for position control Com mand units 32768 to 32767 102 Backlash Compensation Time Constant Sets the backlash compensation time constant for position control 0 01 ms 0 to 6400 103 Reserved Do not change 104 Soft Limit Enables or disables the soft limit Enable both the Forward Reverse 0 Software Limits Pn201 and Pn202 Disable the Forward Software Limit Pn201 enable the Reverse Software Limit Pn202 Enable the Forward Software Limit Pn201 disable the Reverse Software Limit Pn202 Disable both the Forward Reverse Soft 3 ware Limits Pn201 and Pn202 0to3 105 Origin Range Sets the threshold for detecting the origin ZPOINT in absolute values ZPOINT 1 when the return to origin completes coordinate system setup is complete and the feedback position is within the setting range of this parameter 10 Com mand units 0 to 250 106 Reserved Do not change 107 Linear Acceler
315. g Mounting Brackets External Dimensions Mounting Dimensions Reference Values Four M4 KA g 85 70 172 Ji 3 7 i ojl ojo o T i D N Square hole 19 i 1 y z Lo NED R2 6 l 11 40 5 2 5 2 1 40 87 Note The dimensions of the square hole are reference values 2 27 2 2 External and Mounting Hole Dimensions E Three phase 200 VAC R88D GN20H ML2 2 kW Wall Mounting External Dimensions 70 200 3 5 Mounting Hole Dimensions Four M4 f 8 z 2 We _ 17 5 J 50 85 2 28 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Front Panel Mounting Using Mounting Brackets External Dimensions 175 50 42 5 5 2 5
316. g may not be able to follow sharp changes in inertia In this case the vibrations may occur in the operation Disable realtime autotuning by setting O when the operation has become normal Pn No Parameter name Seime Unit Pies Attribute range setting Realtime Autotuning Pno22 Machine Rigidity Selection DOE B 5 89 Sets the machine rigidity for realtime autotuning When realtime autotuning is enabled each parameter in the table is automatically set to the machine rigidity values in Realtime Autotuning RTAT Parameter Tables on the next page Autotuning adjusts the response by estimating the load inertia based on these values Thus if the value is too large and not suitable for the load vibration or resonance may occur If this occurs lower the setting 5 27 Details on Important Parameters Realtime Autotuning RTAT Parameter Tables Parameter AT Mode Selection AT Machine Rigidity Selection Pn022 Parameter name No Pn021 0 2 3 4 5 6 7 Pn010 Position Loop Gain 120 320 390 480 630 720 900 1080 Pn011 Speed Loop Gain 90 180 220 270 350 400 500 600 puia pera Coop Iniegration Time 620 310 250 210 160 140 120 110 Constant Pn013 Speed Feedback Filter Time Ta 0 0 0 0 0 0 0 0 Constant Paaid TOrque Command ss 253 126 103 84 65 57 45 38 Filter Time Constant Pn01
317. ge 0 to 4 normally use a setting of 2 Pn028 Notch Filter 2 Sets the frequency of notch filter 2 5 71 Frequency Enabled from 100 to 1499 Hz disabled at 1500 Hz Selects the width of the frequency of notch filter 2 Pn029 Notch Filter 2 Width The notch width becomes wider by increasing this value 5 71 Setting range 0 to 4 normally use a setting of 2 Selects the depth of the frequency of notch filter 2 Pn02A Notch Filter 2 Increasing this value decreases the notch depth and 5 71 Depth reduces the phase lag Setting range 0 to 99 normally use a setting of 2 5 43 Notch filter width settings and depths Setting Depth Fc fw Width at 500 Hz 0 0 41 408 to 613 Hz 1 0 56 380 to 659 Hz 2 0 71 354 to 707 Hz 3 0 86 330 to 758 Hz 4 1 01 308 to 811 Hz Notch filter depths and attenuation Depth Output Input 0 O cut off 30 15 16 5 db 50 50 6 db 99 99 pass through 5 22 Notch Filter A notch filter is a filter that eliminates a designated component of a frequency Width fw Depth Fc fw Frequency Hz Cut off frequency Fc A notch filter is used to eliminate resonance occurring in a machine Machine resonance Operating Functions Va Vy Vy LE L y 1 y Characteristics Notch Filter after filtering Notch Filter 1 Notch Filter 2 5 44 Operating Functions 5 23 Adaptive Filter 5 23 Adaptive Filter Func
318. ght Model tion torque cy tary tary nenia radial thrust speed rotation load load torque speed r min Nm r min N m kg m N N kg R88G 6 1 5 VRSFO5B100CJ 600 0 52 65 1000 1 46 4 00x10 392 196 0 55 R88G 6 1 9 VRSF09B100CJ 333 0 93 65 556 2 63 3 50 x 10 441 220 0 55 w R88G 6 1 15 VRSE15B100CJ 200 1 67 70 333 4 73 3 50 x 10 588 294 0 70 R88G 6 1 25 VRSF25B100CJ 120 2 78 70 200 7 88 3 25 x 10 686 343 0 70 R88G 6 1 5 VRSFO5B100CJ 600 1 19 75 1000 3 38 4 00 x 10 392 196 0 55 R88G 6 ne 1 9 VRSFO9B100CJ 333 2 29 80 556 6 48 3 50x10 441 220 0 55 Ww R88G 6 1 15 VRSF15B100CJ 200 3 81 80 333 10 8 3 50 x10 588 294 0 70 R88G 6 1 25 VRSF25B100CJ 120 6 36 80 200 18 0 3 2510 686 343 0 70 R88G 5 1 5 VRSFO5B200CJ 600 2 70 85 1000 7 57 1 18x 10 392 196 0 72 R88G 5 S00 1 9 VRSF09C200CJ 333 3 77 66 556 10 6 2 75x10 931 465 1 70 Ww R88G 5 1 15 VRSF15C200CJ 200 6 29 66 333 17 6 3 00 x 10 1176 588 2 10 R88G 5 1 25 VRSF25C200CJ 120 11 1 70 200 31 2 2 88 x 10 1323 661 2 10 3 39 3 3 Decelerator Specifications Maxi Rated mum vaxi Allow Allow Effi mum Decelera rota Rated momen able able F cien momen tor Weight Model tion torque tary Fey radial thrust cy tary inertia speed rotation load load torque speed r min Nm r min N m kg m N N kg R88G 15 6 5 1 5 VRSF05C400CJ 600 5 40 85 1000 15 3 3 63 x 10 784 3
319. h regenerative ener B3 t rminalg gy remove the short circuit bar between B2 and B3 and connect an Ex ternal Regeneration Resistor between B1 and B2 U Red V White a These are the output terminals to the Servomotor Ww ternninals Blue Be sure to wire them correctly Green Yellow Frame ground This is the ground terminal Ground to 100 Q or less 4 20 System Design 4 2 Wiring m R88D GN20H ML2 GN30H ML2 GN50H ML2 Main Circuit Terminal Block Specifications Symbol Name Function L1 L2 ale id R88D GNOH ML2 2 to 5 kW Three phase 200 to 230 VAC 170 to 253 V 50 60Hz L3 LIC Control circuit R88D GNUJH ML2 Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz L2C power supply input B1 External B2 Regeneration 2 to 5kW Normally B2 and B3 are connected If there is high regenerative energy Resistor remove the short circuit bar between B2 and B3 and connect an External B3 connection Regeneration Resistor between B1 and B2 terminals U Red V White servomotor These are the output terminals to the Servomotor w connection Blue Be sure to wire them correctly terminals G 7 reen Yellow Frame ground This is the ground terminal Ground to 100 Q or less 4 21 4 2 Wiring m R88D GN75H ML2 Main Circuit Terminal Block Specifications TB1 Symbol Name Function L1 L2 Main circuit power R88D GN75H ML
320. hanged between the master and slave nodes 86 Watchdog data error during each MECHATROLINK II communications cycle resulted in an error 87 X Emergency stop input error The emergency stop input became OPEN The transmission cycle setting error when 90 Transmission cycle setting error the MECHATROLINK II CONNECT command is received A SYNC related command was issued while 91 SYNC command error MECHATROLINK II was in asynchronous communications mode 93 Parameter setting error Parameter setting exceeded the allowable range R A The combination of the Servomotor and 95 Servomotor non conformity regan X Servo Drive is not appropriate The control circuit malfunctioned due to excessive noise Others R Other Srrors An error occurred within the Servo Drive due to the activation of its self diagnosis function Note The alarm display is in decimal For example if a SYNC command error occurs 91 will flash on the front panel of the G series Servo Drive The warning code read from the host Position Control Unit CJ1W NCL I71 or CS1W NCL171 would be 405B 8 2 Alarm Table E Warnings Priority race ba ST Warning Details Command argument setting is out of the range 94h Data setting warning Parameter write failure High Command settings are wrong and others i Command output conditions are not satisfied 95h Command warning Received unsupported command Subcommand
321. he 5 6 Torque Limit on page 5 16 POT Forward Drive Prohibit Input Forward reverse drive rotation overtravel Input 191620 Pn004 chooses between enable and disable hi Pn044 sets the function assignment for pins 19 and 20 Reverse Drive Prohibit Input NOT p PnO66 selects the operation Connect the origin proximity input signal in the origin search 21 DEC Origin Proximity Input operation Pn042 changes the logic of the sensor 22 INO a General p rpos This input is used as external general purpose input 0 23 IN2 a Gen ralk purpose This input is used as external general purpose input 2 5 12 Sequence Input Signals m CN1 Control Input Signal Connection Diagram OMNUC G Series Servo Drive 12 to 24 VDC 24VIN 11 ZKO o Emergency Stop 1k22 AY j STOP 12 E i T 4 7kQ External Latch 3 1o AWC EXT3 3 T 4 7KQ i Me RRENA sey External Latch 2 i 1k22 AY EXT2 4 a gt f i 47KO M ExternalLatch1 koZ AY 2 EXT1 5 a O i 4 7kQ i a ee oy General purpose 1kQ AY Input 1 IN1 6 aR D LL f x 4 7K D Rp c Forward Torque 1kQ AY p Limit Input PCLi7 S a f T 47KO O L AM e3 Reverse Torque i KO iy O Limit Input NCL ae 47KO Forward Drive ToO K 1kQS AVA oo Input POT 19 EFINI 1 4 7kQ Reverse Drive 1 a r 1kQ AY C e Input NOT 20 ee 4 7kQ Origin Proximity e AY lt q
322. heating will depend on the material of the mounting surface and on the installation environment Be sure to check the Servomotor temperature under actual operating conditions The Servomotor temperature may rise sharply if the Servomotor is installed in an environment such as near a heat source Take the following countermeasures as required by the installation environment Reduce the load ratio Modify the Servomotor s heat dissipation conditions Forcibly cool the Servomotor by installing a cooling fan Radiator plate 4 4 System Design System Design 4 1 Installation Conditions E Oil Seal The Servomotor oil seal dimensions are given below The expected service life of an oil seal is approximately 5 000 hours The actual life depends on the application conditions and environment Oil seal installation and replacement are treated as repair work For inquiries consult your OMRON representative Motor model Shaft diameter mm Outer diameter mm Width mm R88M G05030 8 9 17 4 R88M G10030 8 9 17 4 R88M G20030 14 28 4 R88M G40030 14 28 4 R88M G75030 19 8 30 4 R88M GP10030 8 9 22 4 R88M GP20030 14 28 4 R88M GP40030 14 28 4 R88M G1K030 20 35 7 R88M G1K530 20 35 7 R88M G2
323. hich is assessed at every MECHATROLINK II communications cycle occurs consecutively for the number of the Consecutive Communications Error Detection Count The error and warning can be masked for debug purposes bits 15 12 bits 11 8 bits 7 4 bits 3 0 MSK COM MSK COM COM_ERR WARNG ALM bits 8 11 COM_ERR Consecutive Communications Error Detection Count Setting range 0 to 15 Consecutive Communications Error Detec tion Count COM_ERR 2 Cae Note These bits are debug functions Set to enable 0 005 Communications when not debugging at 0 0t0 3955 C Control bits 0 3 MECHATROLINK II Communications Alarms Mask MSK COM ALM bit0 0 Communications error alarm code 83 enabled 1 Communications error alarm code 83 disabled bit1 0 Watchdog data error alarm code 86 enabled 1 Watchdog data error alarm code 86 disabled bits 4 7 MECHATROLINK II Communications Warnings Mask MSK COM WARNG bit4 0 Data setting warning warning code 94h enabled 1 Data setting warning warning code 94h disabled bit5 0 Command warning warning code 95h enabled 1 Command warning warning code 95h disabled bit6 0 ML II communications warning warning code 96h enabled 1 ML II communications warning warning code 96h disabled Sets the duration to display the node address when the control power is turned ON P Note The node address display has priority even if there ower ON 006 Address Display are alarms or warn
324. hine for the estimation thereby achieving greater accuracy in estimating the load inertia Normal mode autotuning can be used from the Parameter Unit or CX Drive Internal Position Command Pn025 y Torque Position Control Speed Position Feedback Setting of internal position command Pn025 Torque command PI Control Command Estimate Load Inertia Current Loop Control Speed Feedback Repeat Setting the Parameters 1 Set the operating pattern Set the operating pattern using the Normal Mode Autotuning Operation Setting Pn025 Setting Number of rotations Direction of rotation 0 Forward and Reverse Alternating 1 Two rotations Reverse and Forward Alternating Repeat 2 Multiple Times Forward only 3 Reverse only 4 Forward and Reverse Alternating 5 One rotation Reverse and Forward Alternating Repeat 6 Multiple Times Forward only 7 Reverse only 7 9 7 3 Normal Mode Autotuning The following graph shows the speed operating pattern when the set value is 0 The operating pattern starts with 3 or 4 reciprocating operations followed by up to 3 cycles of 2 reciprocations with each cycle accelerated twice as much as the previous cycle The acceleration will stop changing as it is limited by the No 1
325. i i m Warning Function Alarms can be reset via the network CX Drive or the Parameter Unit Overload alarm code 16 cannot be reset for approximately 10 s after its occurrence If HH hh or yy is displayed on the Alarm Number display the built in MPU is malfunctioning Turn OFF the power supply The Servo Drive issues a warning before a protective function is activated allowing you to check overload and other status in advance A warning is also issued for a network error allowing you to check the network status 8 2 Alarm Table E Alarms Troubleshooting Aenm Aam Error Detection Function Detection Details and Cause of Error Display Type 11 xX Control power supbly undervoltada The DC voltage of the main circuit has p PPly g dropped below the specified value 12 Overvoltage The DC voltage of the main circuit is abnormally high 13 X Main power supply undervoltage The DC voltage of the main circuit is low Overcurrent flowed to the IGBT Servomotor 14 PR Overcurrent ree power line ground fault or short circuit 15 PR Servo Drive cucieat The temperature of the Servo Drive radiator exceeded the specified value Operation was performed with torque 16 Overload significantly exceeding the rating for several seconds to several tens of seconds The regenerative energy exceeded the 18 PR Regeneration overload processing capacity of the r
326. iation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 51 3 4 Cable and Connector Specifications R88A CAGDL 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 R88A CAGD003S 3m Approx 1 3 kg R88A CAGDO005S 5m Approx 2 1 kg R88A CAGD010S 10m Approx 4 0 kg R88A CAGD015S 15m Approx 6 0 kg R88A CAGD020S 20m ee Approx 8 0 kg R88A CAGD030S 30m Approx 11 9 kg R88A CAGD040S 40m Approx 15 8 kg R88A CAGD050S 50m Approx 19 7 kg Connection Configuration and Dimensions 70 L Servo Drive 5 Servomotor R88D GN 5 R88M G eo Wiring Servo Drive Servomotor Phase U Phase V Phase W FG Cable AWG10x4C UL2463 M5 crimp terminals Servomotor Connector Straight plug N MS3106B22 22S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 52 Specifications 3 4 Cable and Connector Specifications R88A CAGEL 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 diamete
327. imensions of shaft end with key and tap M depth L Model Dimensions mm LL LR D1 D2 F G KL1 Z QK R88M GP10030L R88M GP10030H 60 5 R88M GP10030S R88M GP10030T 87 5 25 70 50 60 43 4 5 12 5 3h9 1 8 M3 R88M GP20030L R88M GP20030H 67 5 R88M GP20030S R88M GP20030T 94 5 11 R88M GP40030L R88M GP40030H 82 5 R88M GP40030S R88M GP40030T 109 5 30 14 90 70 80 53 4h9 2 5 M4 22 5 5h9 M5 R88M GP10030L B R88M GP10030H B 84 5 R88M GP10030S B R88M GP10030T B 111 5 25 70 50 60 43 4 5 12 5 3h9 1 8 M3 R88M GP20030L B R88M GP20030H B 100 R88M GP20030S B R88M GP20030T B 127 11 R88M GP40030L B R88M GP40030H B 115 R88M GP40030S B R88M GP40030T B 142 30 14 90 70 80 53 5 5 4h9 2 5 M4 22 5 5h9 M5 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 E 2 000 r min Servomotors 1 kW 1 5 kW R88M G1K020T S2 G1K520T S2 G1K020T B S2
328. in Servomotors 7 5 kW R88M G7K515T S2 G7K515T B S2 WN Brake connector Motor Eye bolt Dimensions of shaft end connector Nominal diameter 10 with key and tap LL 113 176 x 176 lt an a ra cote 96 o E Encoder E g i p20 12 h 9 connector lt 24 2 g 29 Ah Four 13 5 dia fi e gt r g ET go 0 ots Tio q e e A 4 SS S De Y EZS M16 depth 32 Di z Model imensions mm LL R88M G7K515 340 5 R88M G7K515Ll B 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 40 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 JES Encoder connector Servomotor brake connector LL LR CxC Dimensions of shaft end with key and tap Four Z dia QK S dia h 6 KL1 84 D2 dia h 7 Model Dimensions mm LL LR S D1 D2 C D3 F G IKL1 Z QK b hit Ii MIJL R88M G90010 175 70 22 145 110 130 165 6 1
329. in malfunction PEPE EEE 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 2 D Precautions for Safe Use E Warning Label Position Warning labels are located on the product as shown in the following illustration Be sure to follow the instructions given there Location of warning label R88D GNO1H ML2 m Warning Label Contents Is DBF DRBABERACHERICHITE B BBGEO OREI Omteesoce AN f SARRERAK BETHE CPM ATi EER DANGER Read the manual and follow the safety instructions before use Never fail to connect Protective Earth PE terminal x REQTRNGI AERE gpeqo ea soMuMrsicMst gt PRIES SATE BETS MTB BMT ESRAS Hazardous Do not touch terminals within 15 minutes after Voltage disconnect the power Risk of electric shock k PU E ORNS emit E bY ICSE EE RATES All AMEE Ser a sry High Do not touch heatsink when power is ON Temperature Risk of bum 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
330. indow Ld 6 Changing the Parameter Setting Key operation e OS Display example Explanation Lt I Ld _ L Use the Q A and O keys to change the setting The decimal point will flash for the digit that can be set Ld L c Ld m LJ _ Press the key to save the new setting Lt 7 Returning to Parameter Setting Mode Key operation Display example Explanation a Ld al Press the Gara key to return to Parameter Setting Mode g x F Some parameters will be displayed with an r before the number when the n display returns to P ter Setting Mode To enable the settings that for Correct Use isplay returns to Parameter Setting Mode To enable the settings tha 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 affect the motor operation significantly This is particularly true for the speed loop gain and position loop gain For details on parameters refer to Parameter Tables on page 5 61 6 22 Operation 6 4 Setting the Mode Parameter Write Mode
331. ing Pn031 6 Switching by the Position Deviation Switches the gain based on the accumulated value in the deviation counter 2 e Position deviation amount To S c gt LL O c yo ben 3 Q Pn032 O Gain 1 Gain 2 Gain 1 Gain Switch Setting Pn031 7 Switching based on position command pulses received Switches the gain when one or more position command pulse exists Position command Pn032 Gain 1 Gain 2 Gain 1 5 34 Operating Functions 5 16 Gain Switching Gain Switch Setting Pn031 8 Switching when the positioning completed signal turns OFF Switches to gain 2 when the accumulated pulses in the deviation counter exceed Positioning Completion Range 1 Pn060 Amount of accumulated pulses in the deviation counter INP1 ON INP1 OFF INP1 ON pa Pn032 Canceled because time condition is not satisfied Gain 1 Gain 2 Gain 1 Gain Switch Setting Pn031 10 Switching by the combination of position command pulses received and speed Switches to gain 2 when there are position command pulses received Switches to gain 1 when there are no position commands for the time specified in the Gain Switch Time Pn032 and when the speed is equal to or less than the Gain Switch Level Setting Pn033 the Gain Switch Hysteresis Setting Pn034 r min Position command Actual Servomotor speed Pn032 p i Pn032 Gain 1 Gain 2 Gain 1 E Timing for Position
332. ing Functions Position COTO sis ssecuntnassnsiessinirencreacriussineanstiassiaarnianasbagsnvantronttn sidai 5 1 Speed Controle esns ao E ENS EN 5 4 TOrg S COMO jet tatiana tea it 5 7 Forward and Reverse Drive Prohibit cccccceeeeeeeeeeeeeeeeeseeeeees 5 10 Brake IMTGNOCK nnc a maiaenlgenteeheeanstntoedin 5 11 ForquS Limitea a a 5 16 SOME Sled A aN TE A AT AE 5 18 Acceleration Deceleration Time SettingS ccccceeeeeeeeeeeeeeeees 5 19 Moving Average TMG cic anu ceca Wii didtsodai dich ia 5 20 5 9 16 Table of Contents 5210 Electroni Geata enna enad ar EEE EEEo Ca r igat 5 21 S I Speed LEIIT UBL sncate lies se cas sanctan a a anita anole a a Seth 5 22 5 12 Sequence lnput Signals wecissa ei eciteerccacararwceare walinaauedeecnedids 5 23 5 13 Sequence Output Signals secets ies Mebiosesetinrinsinaialvedeteteueesbeemeroees 5 25 5 14 Backlash Compensation cccccscccccccceceeeeeeeeeeeeeeeeesssseeseseenenaaees 5 27 5 15 Overrun Protection sssseeeeeeeeeeeeeeretettttttrttnnrnnnnnnnnnnnnnneneeeeeee enn 5 29 5 16 Galm SWItCNING i asksins nnn aen nibni 5 31 5 17 Speed Feed forward ccsccsssssssseccccecceeceeeeeeeeeeeeeeeeseeeseeesesnensaeees 5 38 5 18 Torque Feed forward iccic cass rewscareeahacncitncaenceevarunts eateebeeereatanminenes 5 39 5 19 Speed Feedback Filter Selection cccccccccceeeeeeeesseeeseeeesnsetaaeees 5 40 5 20 P Control Switching se ceec fete eer ay aaah oon
333. ings at power ON 30 m Oto 1000 C Duration Setting 0 to 6 600 ms ae set value x 100 ms 5 65 5 26 User Parameters Pn No Parameter name Setting Explanation Default setting Unit Setting range Attribute 007 Speed monitor SP Selection front p Selects the output to the Analog Speed Monitor SP on the anel Note This monitor output has a delay due to filtering The Operating Direction Setting Pn043 does not affect this monitor output Thus forward rotation is always positive and reverse rotation is always negative Actual Servomotor speed 47 r min 6 V a Actual Servomotor speed 188 r min 6 V Actual Servomotor speed 750 r min 6 V Actual Servomotor speed 3000 r min 6 V Actual Servomotor speed 12000 r min 6 V Command speed 47 r min 6 V Command speed 188 r min 6 V Command speed 750 r min 6 V Command speed 3000 r min 6 V oloo NI Oo a BR wy PY Command speed 12000 r min 6 V o Outputs the Issuance Completion Status DEN OV Issuing 5V Issuance complete 11 Outputs the Gain Selection Status OV Gain 2 5V Gain 1 Oto 11 gt 008 Torque Monitor IM Selection Note Selects the output to the Analog Torque Monitor IM on the front panel This monitor output has a delay due to filtering The Operating Direction Setting Pn043 does not
334. ion Display example Explanation The item set for the Default Display Pn001 is displayed ea a wi nae D g Press the key to display Monitor Mode 7 J mT 5 1 a a Press the key to display Parameter Setting Mode 2 Selecting the Parameter Type Key operation Display example Explanation OO Press the A and keys to select the servo parameter 3 Switching to the Parameter Setting Display Key operation Display example Explanation Q ra I en Lo ss Lo lm as a Press the Gara key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display 4 Setting the Parameter Number Key operation Display example Explanation C OS zs ay ma WW J 1 as a Use the Q A and keys to set the parameter number If the parameter number is large the setting can be made more quickly by using the key to change the digit that is being set The decimal point will flash for the digit that can be set 6 21 6 4 Setting the Mode 5 Displaying the Parameter Setting Key operation Display example Explanation l r L Lt J Press the key to display the setting The selected parameter number appears in the sub w
335. ion conditions of the 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 8 21 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 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 5 Periodic Maintenance Servo Drive Service Life 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
336. ion for position control and sets the compensation direction 0 Disabled Compensates in the initial positive direction after the Servo ON Compensates in the initial negative direction after the Servo ON 0to2 101 Backlash Compensation Sets the backlash compensation amount for position control Com mand units 32768 to 32767 102 Backlash Compensation Time Constant Sets the backlash compensation time constant for posi tion control Value of Pn100 Pn101 Positive number Pn101 Negative number Compensates in positive direction during rotation in positive direction Compensates in negative direction during rotation in positive direction Compensates in positive direction during rotation in negative direction Compensates in negative direction during rotation in negative direction 0 01 ms 0 to 6400 103 Reserved Do not change 104 Soft Limit Enables or disables the soft limit When enabled the soft limit values are set in Forward Software Limit Pn201 and Reverse Software Limit Pn202 Note The response value for limit signals disabled by this setting will be set to 0 The response value for limit signals is also set to 0 when the Servomotor does not complete its return to origin Enable both the Forward Reverse Software Limits Pn201 and Pn202 Disable the Forward Software Limit Pn201 enabl
337. is not appropriate for the Set Pn026 to 0 to disable the load protective function 2 The setting for Pn026 is too small Data in the parameter save area was If the warning continues to occur even corrupted when the data was read from after retransferring all parameters the 36 Parameter error the EEPROM at power ON Servo Drive may have failed Replace the Servo Drive 8 10 Troubleshooting 8 3 Troubleshooting Alarm God Alarm Name Cause Countermeasure The EEPROM write verification data If the warning continues to occur even 37 Parameter corruption was corrupted when the data was read after retransferring all parameters the from the EEPROM at power ON Servo Drive may have failed Replace the Servo Drive 1 The Drive Prohibit Input Selection Check the sensors power supply and Pn004 is set to 0 and both wiring for the Forward and Reverse Forward and Reverse Drive Drive Prohibit Inputs Prohibit Inputs POT and NOT Also check that the response of the became OPEN power supply 12 to 24 VDC is not too 2 The Drive Prohibit Input Selection slow Pn004 is set to 2 and either Check that there is no command input Forward or Reverse Drive Prohibit in the direction of the Drive Prohibit In Input POT or NOT became put OPEN 3 With the Drive Prohibit Input Drive prohibit input Selection Pn004 set to 0 38 iat MECHATROLINK II communications interrupted and either Forward or Re
338. isplay will switch to the error display Displays the parameter type servo 16 bit or 32 bit In Parameter Setting Mode displays the 2 digit parameter number ModeKey S SE 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 Shifts the digit being changed to the left Operation Switches between the parameter and setting displays saves settings etc co TI l l 1 m a5 J HIU WSA E a an J om a 77 Li Le RE Gy ly 73 Qe E L L it JL JL G JL L r S R OO L lt lt gt lt gt E Oo u ue afta 3 joc D O J Lu D J Y a U iry Pe ey an oun T en aS O un a r Ba E My ou g i gt a gt Z i CC i ccoo T eoee 1 k c wo WU l Y A cj E ju 5 Lu n oc E P te a a a ue aad Sa L Bumes SUM Bulunjoyny uoloun4 kd a
339. ith absolute encoder Sono Bie 50 W__ R88M G05030H R88M G05030T R88D GNA5L ML2 100 V 100W R88M G10030L R88M G10030S R88D GNO1L ML2 200 W R88M G20030L R88M G20030S R88D GNO2L ML2 400 W_ R88M G40030L R88M G40030S R88D GNO4L ML2 50W R88M G05030H R88M G05030T R88D GN01H ML2 Single 100W R88M G10030H R88M G10030T R88D GNO1H ML2 phase 200 V 200W R88M G20030H R88M G20030T R88D GNO2H ML2 400 W_ R88M G40030H R88M G40030T R88D GNO4H ML2 Single 750W R88M G75030H R88M G75030T R88D GNO8H ML2 phase three 1 kW R88M G1K030T R88D GN15H ML2 phase 200 V 1 5 kW R88M G1K530T R88D GN15H ML2 2 kW R88M G2K030T R88D GN20H ML2 Three phase 3 kW R88M G3K030T R88D GN30H ML2 200 V 4 kW R88M G4K030T R88D GN50H ML2 5 kW R88M G5K030T R88D GN50H ML2 E 3 000 r min Flat Servomotors and Servo Drives Servomotor Melee ee With incremental encoder With absolute encoder Sao Dive 100W R88M GP10030L R88M GP10030S R88D GNO1L ML2 100 V 200 W_ R88M GP20030L R88M GP20030S R88D GNO2L ML2 400W R88M GP40030L R88M GP40030S R88D GNO4L ML2 gen 100W R88M GP10030H R88M GP10030T R88D GNO1H ML2 fe 200 y _200 W_ R88M GP20030H R88M GP20030T R88D GNO2H ML2 400W R88M GP40030H R88M GP40030T R88D GNO4H ML2 2 5 E 2 000 r min Servomotors and Servo Drives Se
340. ition on the Servo Drive 4 3 Wiring Conforming to EMC Directives 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 following are the requirements for EMC Directive conformance The Servo Drive must be installed in a metal case control panel The Servomotor does not however have to be covered with a metal plate Noise filters and surge absorbers must be installed on power supply lines Shielded cables must be used for all I O signal lines and encoder lines Use tin plated mild steel wires for the shielding All cables I O wiring and power lines connected to the Servo Drive must have clamp filters installed The shields of all cables must be directly connected to a ground plate Wiring Method R88D GNA5L ML2 GN01L ML2 GNO02L ML2 GN04L ML2 GN01H ML2 GNO2H ML2 GN0O4H ML2 GNO8H ML2 GN10H ML2 GN15H ML2 GN20H ML2 GN30H ML2 GN50H ML2 Single phase 100 VAC i Three phase 200 VAC 1 FC
341. ity No 5 E Stop bits 1 bit 3 80 Specifications Specifications 3 6 External Regeneration Resistor Specifications 3 6 External Regeneration Resistor Specifications External Regeneration Resistor Specifications m R88A RRO8050S 7 Regeneration i Model Resistance PE absorption for 120 C eee TUE o s Pacuy temperature rise Py SPECTA NOTS Operating tempera R88A Aluminum ture 150 C 5 RRO8050S 50 Q 80 W 20 W 250 x 250 NC contact Thickness 3 0 Rated output 30 VDC 50 mA max m R88A RRO080100S Regeneration nae Model Resistance Nominal absorption for 120 C Ligat radiation aL A Synch capacity condition output specifications temperature rise Operating tempera R88A Aluminum ture 150 C 5 RR080100S 100 Q 80 W 20 W 250 x 250 NC contact Thickness 3 0 Rated output 30 VDC 50 mA max E R88A RR22047S Regeneration Meee Model Resistance Nominal absorption for 120 C ieat radianon ue maith capacity 3 condition output specifications temperature rise Operating tempera R88A Aluminum ture 170 C 7 C RR22047S 47 Q 220 W 70 W 350 x 350 NC contact Thickness 3 0 Rated output 250 VAC 0 2 A max m R88A RR50020S Regeneration ae d Model Resistance Nomipa absorption for 120 C Feci daon hema Sls capacity 3 condition output specifications temperature rise Operating tempera Aluminum ture 200 C 7 C R88A
342. ive 00 8 2 Aa 2 sts eecteercee eaten eran rer nent ea einen 8 3 TrOUBIESHOOUING kee ee ee e 8 7 Error Diagnosis Using the Displayed Alarm Codes 8 7 Error Diagnosis Using the Displayed Warning Codes 8 14 Error Diagnosis Using the Operating Status 8 15 Overload Characteristics Electronic Thermal Function 0csee 8 20 Overload Characteristics Graphs ccccceceeeeeeeeeeeeeeeees 8 20 Periodic Maintenance ssseseeseeeeeeeeees 8 21 Servomotor Service Life ccccecceeeeeeteeeeeeeeeeeeeseeeeeeeaees 8 21 Servo Drive Service Life a A 8 22 Replacing the Absolute Encoder Battery eee 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 E Checking the Power Supply Voltage Check the voltage at the power supply input terminals Main Circuit Power Supply Input Terminals L1 L3 R88D GNLIL ML2 50 W to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D GNLIH ML2 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Main Circuit Power Supply Input Terminals L1 L2 L3 R88D GNLIH ML2 750 W to 7 5 kW Three phase 200 to 240 VAC 170 to 264 V 50 60 Hz Control Circuit Power Supply Input Terminals L1C L2C R88D
343. k as below Limit in forward direction Use PnO5E or MECHATROLINK II command option command value 1 whichever is smaller Limit in reverse direction Use PnO5F or MECHATROLINK II command option command value 2 whichever is smaller Forward Use PnOSE as limit Reverse Use PnO5F as limit Only in speed control torque limits can be switched by torque limit values and input signals from the network as below Limit in forward direction PCL is OFF PnOSE PCL is ON PnO5E or MECHATROLINK II command option command value 1 whichever is smaller Limit in reverse direction NCL is OFF PnO5F NCL is ON Pn05F or MECHATROLINK II command option command value 2 whichever is smaller Always select the No 1 Torque Limit PnO5E as the torque limit when using torque control For the torque limit when Torque Feed forward is selected settings of 1 to 3 are enabled only in speed control These settings are disabled if not in speed control Settings of 4 to 5 are always disabled Note PCL ON When either Forward Torque Limit CN1 PCL pin 7 or MECHATROLINK II Communications Option Field P CL is ON PCL OFF When both Forward Torque Limit CN1 PCL pin 7 and MECHATROLINK II 5 17 Communications Option Field P CL are OFF 5 7 Soft Start 5 7 Soft Start Function Set the acceleration and deceleration time for speed command values from the host controller Set the acceleration and deceleration time f
344. ks Okaya Electric 7 Single phase Industries Co Ltd P AV 781BWZ 4 700 V 20 2 500 A 100 200 VAC Block Okaya Electric Industries Co Ltd Three phase R A V 781BXZ 4 700 V 20 2 500 A 200 VAC Note 1 Refer to the manufacturers documentation for operating details Note 2 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber Dimensions Single phase BWZ Series Three phase BXZ Series 4 2 dia oj 4 2 dia 10 wj ol y to to 0 o0 Q foo O O O o N N S 7 8 N N y Nae nasa H A 2 X a 41 E 41 Equalizing Circuits Single phase BWZ Series Three phase BXZ Series TO 9 P 4 33 4 3 Wiring Conforming to EMC Directives E Noise Filters for the Power Supply Input Use the following noise filters for the Servo Drive s power supply Noise filter for the Power Supply Input Servo Drive model Model Reales Heke lealege Manufacturer current current 60 Hz R88D GNA5L ML2 1mA
345. lamp N MS3057 16A Japan Aviation Electronics 3 60 Specifications 3 4 Cable and Connector Specifications E Power Cables for Servomotors with Brakes Robot Cables R88A CAGB BR 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 Weight R88A CAGBO03BR 3m Approx 0 9 kg R88A CAGBOO5BR 5m Approx 1 5 kg R88A CAGB010BR 10m Approx 2 8 kg R88A CAGB015BR 15m Approx 4 2 kg R88A CAGB020BR 20 m aa Approx 5 5 kg R88A CAGB030BR 30 m Approx 8 2 kg R88A CAGB040BR 40 m Approx 10 9 kg R88A CAGB050BR 50 m Approx 13 6 kg Connection Configuration and Dimensions Signal Brake Brake NC Phase U Phase V Phase W Ground 70 L Ns Servo Drive Ss R88D GN lt A A op L Fk CAAA Oa Wiring Servo Drive Servomotor os Biggs G Co White H Red A ec F White i Blue B Exo Green Yellow E D M4 crimp terminals Cable AWG20 x 2C UL2464 Cable AWG14 x 4C UL2501 3 61 Ground O NC Servomotor Connector Straight plug N MS3106B20 18S Servomotor R88M G Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics
346. le Comments 50to750W RYE R884 CRGA CR 3 000 r min Servomotors 50 to 750 W R88A CRGB CR The digits in thie model number indicate the cable 1to5 kw R88A CRGC NR 3 000 r min Flat Servomotors 100 to 400 W ABS R88A CRGA CR 100 to 400 W R88A CRGB CR 2 000 r min Servomotors 1 to 5 kW R88A CRGC NR 1 000 r min Servomotors 900 W to 4 5 kW R88A CRGC NR length 3m 5m 10m 15m 20 m 30 m 40 m or 50 m Example model number for a 3 m cable R88A CRGA003CR 4 13 4 2 Wiring m Power Cables Robot Cables Use a robot cable when the power cable must be flexible eN OOO DE Power Cables for Servomotors Power Cables for Servomotors yp without Brakes with Brakes R88A CAGA SR i For Power Connector 50 to 750 W R88A CAGAI SR R88A CAGA BR For Brake Connector 3 000 r min Servomotors 1 to 1 5 kW R88A CAGB SR R88A CAGB BR 2 kW R88A CAGC SR R88A CAGC BR Zz 3 to 5 kW R88A CAGD SR R88A CAGD BR R88A CAGA SR 3 000 r min For Power Connector c Flat Servomotors INO tO 00 MY R88A CAGA SR R88A CAGA BR o For Brake Connector O 1 to 1 5 kw R88A CAGB SR R88A CAGB BR 8 2 000 r min Servomotors 2 kW R88A CAGC SR R88A CAGC BR 3 to 5 kW R88A CAGD SR R88A CAGD BR S 900 W R88A CAGBLILILIS
347. 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 The leakage breaker is activated at 50 of the rated current Allow leeway when selecting a leakage breaker For details on leakage breakers refer to the manufacturer s catalog The following table shows the Servomotor leakage current for each Servo Drive model Servo Drive model Input power Leakage current Resistance method Resistor plus capacitor Clamping method Measurement filter ON at H10K13283 Motor cable length 3m Motor cable length 3 m Per meter of motor cable R88D GNAS5L ML2 Single phase 100 V 0 42 mA 0 33 mA 0 003 mA R88D GNO1L ML2 Single phase 100 V 0 45 mA 0 35 mA 0 002 mA R88D GNO2L ML2 Single phase 100 V 0 46 mA 0 35 mA 0 002 mA R88D GNO4L ML2 Single phase 100 V 0 48 mA 0 35 mA 0 002 mA R88D GNO1H ML2 Single phase 200V 0 92 mA 1 04 mA 0 016 mA R88D GNO2H ML2 Single phase 200V 0 94 mA 1 06 mA 0 013 mA R88D GNO4H ML2 Single phase 200V 1 15 mA 1 13 mA 0 013 mA R88D GNO8H ML2 Single phase 200V 1 27 mA 1 09 mA 0 014 mA R88D GN10H ML2 Single phase 200V 1 27mA 1 19 mA 0 015 mA R88D GN15H ML2 Single phase 200V 1 51 mA 1 20
348. lectronic Gear k 4Pn205 Numerator Pn206 Denominator Feedback Speed la FSPD Speed Monitor SP Torque Command Monitor 1 z Receive TRO Encoder Signal Notch Filter Torque Limit Pn01D Filter 1 Frequency Pn003 Selection gt PROIE Fiter Width PnO5E No 1 Torque Limit ml Pn028 Filter 2 Frequency Processor Pn029 Filter 2 Width PnO2A Filter 2 Depth Pn0O2F Adaptive Filter PnO5F No 2 Torque Limit A T 1 1 1 1 1 1 1 1 1 1 1 Current Feedback Y Torque Command Filter Pn014 Filter Pn01C Filter 2 Torque Monitor IM Torque Limit PCL NCL 5 4 Forward and Reverse Drive Prohibit 5 4 Forward and Reverse Drive Prohibit Function This function sets the Forward Drive Prohibit Input POT and Reverse Drive Prohibit Input NOT operation at the control I O connector CN1 on the Servo Drive You can stop the Servomotor from rotating beyond the machine s operating range with the drive prohibition inputs Parameters Requiring Settings aca Parameter name Explanation Reference page Pn004 Drive Prohibit Input Chooses whether to enable or disable this function when 5 88 2 Selection POT NOT turns OFF ro Pn044 Input Signal Sets the POT NOT assignment By default CN1 pin 19 is 5 74 rT Selection set to POT and CN1 pin 20 is set to NOT 5 Stop Selection for LL Pno66 Drive Prohibition S
349. lekeereseyeecehotesbvendyeiceceesieeds tees 1 5 1 5 Applicable Standard yiacinsctoutes devon mn vantala nea neon 1 10 Chapter 2 Standard Models and Dimensions 2 1 Stam are MOGOIS EE 2 1 2 2 External and Mounting Hole Dimensions eeeeeeeeeeeeeees 2 23 Chapter 3 Specifications 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 Chapter 4 System Design 4 1 4 2 4 3 4 4 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 Servo Drive SPSCiIiCAlONS aszieirererayrensadninedcoayehapesiadasaaduteapdeaysccnadoce 3 1 Servomotor Specifications cccccscsccsssceeeeeeeeeeeeeeeeeeeseeeeeeeeeeeeees 3 17 Decelerator SpecifiCations ccccccccccccccceeeeeeeeeeeeeseeeeeencnnnnaeeeeeees 3 32 Cable and Connector Specifications cccccccccceceeeeeeeseseessseeeeees 3 42 Parameter Unit Specifications cccccccccceeeeeeeeesseeeeeeeesntenstaeeeeeees 3 80 External Regeneration Resistor Specifications cceeeeeeeee 3 81 Reactor SPOCINC ANON S rigs csaeaiaea cistishtacidudiatucsaycasitaateecuduceehenaneeeaes 3 82 MECHATROLINK II Repeater Specifications cc ssssseeeeees 3 83 Installation Conditions sci wnertaned Serta sactea rautuduardene terete ones 4 1 WHIGUING ose ceresteeast pa a a here a a a cee 4 11 Wiring Conforming to EMC Directives cccceeeeeeeeeeeeeeeeeeteeees 4 26 Regenerative Energy ADSOrption ceseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 4 44 Chapter 5 Operat
350. life 10 000 000 operations Rating Continuous Insulation grade Type F 3 28 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 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 If 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 rac load Thrust load Pa 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 1 000 r min Servomotors with 200 VAC Power Input The following graphs show the characteristics
351. limit as follows Use PnO5E as the limit value for forward and reverse operations Forward Use PnO5E Reverse Use PnO5F Switch limits by torque limit values and input signals from the network Limit in forward direction PCL is OFF PnO5E PCL is ON PnO5F Limit in reverse direction NCL is OFF PnO5E NCL is ON PnO5F Forward Use PnO5E as limit Reverse Use PnO5F as limit Only in speed control torque limits can be switched by torque limit values from the network as follows Limit in forward direction Use PnO5E or MECHATROLINK II command option command value 1 whichever is smaller Limit in reverse direction Use PnO5F or MECHATROLINK II command option command value 2 whichever is smaller Forward Use PnOSE as limit Reverse Use PnO5F as limit Only in speed control torque limits can be switched by torque limit values and input signals from the network as follows Limit in forward direction PCL is OFF PnOSE PCL is ON PnO5E or MECHATROLINK II command option command value 1 whichever is smaller Limit in reverse direction NCL is OFF PnOSF NCL is ON PnO5F or MECHATROLINK II command option command value 2 whichever is smaller Note PCL ON When either Forward Torque Limit CN1 PCL pin 7 or MECHATROLINK II Communications Option Field P CL is ON PCL OFF When both Forward Torque Limit CN1 PCL pin 7 and MECHATROLINK II Communications Option Field
352. lute encoder has exceeded the specified value Absolute encoder overspeed error The Servomotor speed exceeded the specified value when the power to the absolute encoder was interrupted and power was supplied only from the battery Absolute encoder one turn counter error An error was detected in the one turn counter for the absolute encoder Absolute encoder multi turn counter error An error was detected in the multiturn counter for the absolute encoder Absolute encoder status error The number of rotations of the encoder exceeded the specified value when the power supply was turned ON 3 5 3 1 Servo Drive Specifications Error detection Description Encoder phase Z error A phase Z pulse was not detected regularly for the serial encoder Encoder PS signal error A logic error in the PS signal was detected for the serial encoder Node address setting error The rotary switch for setting the node address of the Servo Drive was out of range when the control power was turned ON Communications error The expected data during the MECHATROLINK II communications cycle was not received continuously exceeding the number of times set in the Communications Control Pn005 Transmission cycle error While actuating MECHATROLINK II communications synchronization frames SYNC were not received in accordance with the transmission cycle Watchdog data error The synchroni
353. ly connected to the terminal block The control circuit power supply inputs L1C L2C must be properly connected to the terminal block The Servomotor s red U white V and blue W power lines and the green yellow ground wire must be properly connected to the terminal block m Checking the Servomotor There should be no load on the Servomotor Do not connect the mechanical system The Servomotor s power lines and the power cables must be connected securely m Checking the Encoder Connectors The Encoder Cable must be connected securely to the Encoder Connector CN2 at the Servo Drive The Encoder Cable must be connected securely to the Encoder Connector at the Servomotor m Checking the Control I O Connectors The Control Cable must be connected securely to the Control I O Connector CN1 The RUN command RUN must be OFF m Checking Parameter Unit Connections When using the Parameter Unit R88A PRO2G the enclosed cable must be connected securely to the CN3 connector Operation 6 2 Preparing for Operation Servo Drive Display and Settings The display for the Servo Driver R88D GNL1 is illustrated below The display shows the node address setting for MECHATROLINK II alarm display for the Servo Drive and the communications status Rotary switches for setting a node address 7 segment LED 2 digits OMRON AC SERVO DRIVER Analog monitor pins SP Speed monitor IM Torque
354. make adjustments 3 If there is no problem with the operation turn the servo OFF and disable the Realtime Autotuning Mode Selection Pn021 by setting it to 0 The adaptive filter can be left enabled To disable the adaptive filter read the frequency on the Adaptive Filter Table Number display and set the Notch Filter 1 Frequency to the same value 7 4 Adjustment Functions E Adjustment Functions fe 7 2 Realtime Autotuning S Unusual noise or vibration may occur until the load inertia is estimated or Precautions el Nee the adaptive filter stabilizes after startup immediately after the first servo ON or when the Realtime Autotuning Machine Rigidity Selection Pn022 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 can Write the parameters used during normal operation to the EEPROM Lower the Realtime Autotuning Machine Rigidity Selection Pn022 Manually set the notch filter Once unusual noise or vibration occurs the Inertia Ratio Pn020 may have changed to an extreme value In this case also take the measures described above Out of the results of realtime autotuning the Inertia Ratio Pn020 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
355. mal mode autotuning and jog executing normal mode autotuning operation and jog operation Note Ifthe alarms are cleared 3 Alarm code 27 is issued when immediately after actuating clearing the multi turn data on the communications this alarm absolute encoder via RS 232 may be cleared immediately communications This is for safety after it has been issued and purposes not an error When cannot be read executing the multi turn clear 3 Multi turn data on the absolute command via the network an encoder was cleared via RS 232 alarm will not be issued but be sure communications after actuating the to reset the control power supply MECHATROLINK II link The value of the internal deviation Check that the speed monitor and counter internal control unit exceeded torque monitor values are indicated as 2 7 134217728 commanded by the Servo Drive Check that torque is not saturated Check that Internal deviation the No 1 Torque Limit Pn05E and the 29 No 2 Torque Limit Pn05F are not too counter overflow small Check by readjusting the gain increasing the acceleration decelera tion times and lowering the speed with the reduced load The Servomotor exceeded the 1 Check the position loop gain allowable operating range set by the speed loop gain integration time Overrun Limit Setting Pn026 with constant and inertia ratio 34 Overrun limit error respect to the position command input 2 Increase the setting for Pn026 1 The gain
356. mber Display 0 to 64 0 R 5 93 The number corresponding to the resonance frequency detected by the adaptive filter is entered If the adaptive filter is not used set the Adaptive Filter Selection Pn023 to 0 and set the number in this parameter to the notch filter Or set the Adaptive Filter Selection Pn023 to 2 to retain the Adaptive Filter Table Number The Adaptive Filter Table is shown on the next page Adaptive Filter Table 5 27 Details on Important Parameters PnO2F Notch Filter 1 Frequency PnO2F Notch Filter 1 Frequency Pn02F Notch Filter 1 Frequency 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn022 gt F 6 1426 28 607 50 258 Disabled when Pn022 gt F 7 1372 29 584 51 248 Disabled when Pn022 gt F 8 1319 30 562 52 239 Disabled when Pn022 gt F 9 1269 31 540 53 230 Disabled when Pn022 gt F 10 1221 32 520 54 221 Disabled when Pn022 gt E 11 1174 33 500 55 213 Disabled when Pn022 gt E 12 1130 34 481 56 205 Disabled when Pn022 gt E 13 1087 35 462 57 197 Disabled when Pn022 gt E 14 1045 36 445 58 189 Disabled when Pn022 gt E 15 1005 37 428 59 182 Disabled when Pn022 gt D 16 967 38 412 60 Disabled 17 930 39 396 61 Disabled 18 895 40 381 62 Disabled
357. mes A parameter setting alarm 1 1 to 65535 C Denominator Alarm code 93 will occur if the ratio is set outside of this range 207 Reserved Do not change 0 208 Reserved Do not change 0 Sets the deviation counter overflow level Ra The value will become saturated at 134217728 Deviation 227 pul ft Itiolvi ith the electroni Com Ot 209 Counter Overflow pulses after multiplying wi e electronic gear 20000 mand s A Level ratio l A a unif 2147483647 Setting this parameter to 0 will disable deviation counter overflow 20A to Reserved Do not change 0 21F 5 85 5 27 Details on Important Parameters 5 27 Details on Important Parameters This section provides an explanation for the particularly important parameters Be sure to fully understand the meanings of these parameters before making changes to the parameter settings Do not set or change the default values for user parameters listed as Reserved The attribute indicates when the changed setting for the parameter will be enabled Attribute Timing when changes will be enabled A Always enabled after change Change prohibited during Servomotor operation and command issuance Itis not known when changes made during Servomotor operation and command issuance will be enabled Enabled when the control power is reset or when CONFIG command is executed via the network MECHATROLINK II communication
358. ming of the Brake Interlock BKIR signal used to activate the holding brake during servo ON alarms and servo OFF Parameters Requiring Settings aa Parameter name Explanation Reference page Brake Timing when Sets the delay time from the Servo OFF command to the PnO6A 9 Brake Interlock BKIR signal OFF and power stoppage 5 78 Stopped during a servo lock stop Sets the delay time from the Servo OFF command to the Pno6B Brake Timing Brake Interlock BKIR signal OFF and power stoppage 5 78 during Operation while the Servomotor is operating BKIR turns OFF if the speed drops below 30 r min before the set time Precautions on the holding brake The brake on a Servomotor with a brake is a nonexcitation brake designed for holding during stops Set the time so that the brake is activated after the Servomotor is stopped If the brake is applied while the Servomotor is rotating the brake disk may be damaged or wear out and cause damage to the Servomotor bearings and encoder 5 5 Brake Interlock E Operation timing during Servo ON or OFF when Servomotor is stopped ON Run Command RUN Servo OFF 1 Servo ON Servo OFF OFF Approx 2 ms Dynamic Brake ON R DB Engaged DB Released DB Engaged 2 elay OFF Approx 40 ms Pn06A ON i Servomotor Deenergized Energized i Deenergized OFF j Approx 2 ms 1to5ms Break Release Request ON Li O a OOOO i Rel R t
359. mity 10 to Oe Signal Output detection VCMP signal ap r min 20000 Width Rotation Speed for Motor Sets the threshold level for the speed reached 10 to oo Rotation TGON signal 50 r min 20000 Detection Positioning RS f Com i Sets the positioning completion range when 0 to 063 AA Positioning Completion 2 INP2 is selected 199 mand 10000 A ange 2 units Enables or disables the offset component readjust ment function of the Motor Phase Current Detector Motor Phase CT for Servo ON command inputs The readjust 064 Current Offset ment is made when control power is turned ON 0 Oto A Re adjustment 9 Disabled only when turning ON control e Setting power A Enabled when turning ON control power or at Servo ON Selects whether to activate the main power supply undervoltage function alarm code 13 when the main power supply is interrupted for the duration of the Momentary Hold Time Pn06D during Servo ON Turns the Servo OFF according to the setting for the Stop Selection with Main Power OFF Pn067 interrupting the 065 Undervoltage positioning command generation process i Oto 1 B Alarm Selection positioning operation within the Servo 0 Drive When the main power supply is turned back ON Servo ON will resume Restart the positioning operation after performing the positioning operation and recovering from Servo OFF Causes an error due to main power supply undervoltage alarm code 13
360. mmence When the overrun limit error occurs the Servomotor is decelerated and stopped according to the Stop Selection for Alarm Generation Pn068 Set Pn026 to a range taking into account the deceleration operation Otherwise the loads may hit and cause damage to the machine ends during deceleration 5 29 5 15 Overrun Protection 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 Pn026 An overrun limit error will occur if the load enters the range for generating alarm code 34 range of slanted lines due to oscillation t CEE Load VIITITILLILILILLLLLILLLLLL IL LLLL LL LLLT LL Lh motor N Pn026 Pn026 lt i _ Range for generating aoe Range for generating alarm code 34 gperating range alarm code 34 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 the range of rotations set in Pn026 will be added to both sides of the position command input range gt Servo E A DLIILLLLIIIITIIII TETIT MTT Load ZAZI LLL motor Z Poole Position command Pn026 _ input range Pn026 Range for generating Servomotor s allowable operating Range for generating alarm cod
361. n Low pass type Vibration frequency setting range 1 0 to 200 0 Hz Disabled when set to 0 to 9 Adaptive filter cannot be used forcibly set to disabled Switching mode selection No switching Both Vibration Frequency 1 and 2 are enabled Switching with command direction Selects Vibration Frequency 1 in forward direction Pn02B Pn02C Selects Vibration Frequency 2 in reverse direction Pn02D Pn02E Precautions for Correct Use The damping control may not function properly or may not be effective under the following conditions Conditions under which damping control does not function properly Control Mode In speed and torque control modes Load status If forces other than position commands such as external forces cause vibration If the vibration frequency is outside the range of 1 to 200 Hz If the ratio of the resonance frequency to anti resonance frequency is large If the vibration frequency is greater than the response frequency in position control the value of position loop gain 1 s divided by 27 6 28 10 Hz when the position loop gain is 63 1 s Operating Procedure 1 Adjust the gain for the position loop and speed loop Adjust the Position Loop Gain Pn010 Speed Loop Gain Pn011 Speed Loop Integration Time Constant Pn012 and Torque Command Filter Time Constant Pn014 Use normal mode autotuning and realtime autotuning if there are no problem
362. n Pn021 to 0 before changing the parameter Note 2 Parameter No is the number for MECHATROLINK II communications and CX Drive The Parameter Unit shows only the last two digits Parameter numbers in the 100s specify 16 bit parameters and numbers in the 200s specify 32 bit parameters MECHATROLINK II Com munications Parameter No Calgoo oih Servo parameter numbers 10h 16 bit positioning parameters 2UUh 32 bit positioning parameters Note 3 A command refers to data sent from the host controller to the Servo Drive via the network MECHATROLINK II communications A response refers to data sent from the Servo Drive to the host controller via the network MECHATROLINK II communications 5 26 User Parameters User parameters are set and checked on CX Drive or the Parameter Unit R88A PRO2G E Parameter Tables Pn No Parameter name Setting Explanation Default setting Unit Setting range Attribute 000 Reserved Do not change 1 001 Default Display Selects display on the front panel the data to be displayed on the 7 segment LED 0 Normal status Servo OFF 00 Servo ON Indicates the machine angle from 0 to FF hex 0 is the zero position of the encoder The angle increases when the Servomotor turns forward The count continues from 0 after exceeding FF When using an incremental encoder the display show
363. n if the settings are inappropriate m High speed Positioning via Resonance Suppression Control The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain The adaptive filter automatically suppresses vibration caused by resonance Two independent notch filters make it possible to reduce the vibration of a mechanism with multiple resonance frequencies E Command Control Mode Switching Operations can be performed by switching between two of the following control modes Position control speed control and torque control Therefore a variety of applications can be supported by one Servo Drive 1 2 System Configuration 1 2 System Configuration Controller MECHATROLINK II type MECHATRO LINK II Programmable Controller Position Control Unit SYSMAC CJ1 CJ1W NCF71 DI A OMNUC G Series AC Servo Drive R88D GNO ML2 MECHATRO LINK II Features and System Configuration Controller MECHATROLINK II type 7 i OMNUC G Series Programmable Controller Position Control Unit AC Servomotor SYSMAC CS1 CS1W NCF71 R88M G Features and System Configuration 1 3 Names of Parts and Functions 1 3 Names of Parts and Functions Servo Drive Part Names Display area Rotary switches MECHATROLINK II communications status LED indicator RS 232 communications connector CN3 MECHATROL
364. n is 8 192 command units The rotation speed units for 2 400 r min is 40 x 8 192 327 680 command units s The linear acceleration and deceleration time to reach 2 400 r min is 327 680 1 000 000 0 32768 s Increasing the electronic gear ratio degrades the distribution accuracy of the linear acceleration and deceleration time The setting must be decreased in order to reduce the acceleration time In this example set 328 for an acceleration time of 0 1 s 5 9 Moving Average Time 5 9 Moving Average Time Function This function applies the Moving Average Filter FIR to the linear acceleration and deceleration time for position commands This function can reduce vibration and impact during acceleration and deceleration Time setting range 0 to 510 ms Parameters Requiring Settings Parameter No Parameter name Explanation Reference page Sets the moving average time for the position command Note Ifthe Moving Average Time is set speed commands may not be executed seamlessly when switching the control modes and when switching between 5 82 interpolation feed motions and positioning motions motions wherein the command waveforms are generated inside the Servo Drive Moving Average Pn10E Time Pn10E Pn10E i Command speed pattern Servomotor speed pattern 5 20 Operating Functions Operating Functions 5 10 Electronic Gear 5 10 Electronic Gear Function
365. n001 is set to 0 gt 4 Main Power Supply ON Main Power Supply OFF and Network Established 4p or Network Not Established right dot ON Servo ON 4p Servo OFF 00 right dot ON H lt Alarm Display gt Alarm code flashes in decimal display Below is an example for overload lt Warning Display gt Alternates between warning code hex and normal display Below is an example for overload om iA ae I 5 Warning code 2 s Normal Display approx 4 s 6 5 6 2 Preparing for Operation Absolute Encoder Setup ZEEE When the power is turned OFF multi turn data for the absolute value data will be retained using the battery for the absolute encoder Hence when turning ON the machine for the first time after loading the battery you will need to clear the encoder at the origin and set the multi turn data to 0 To clear the encoder use the Parameter Unit CX Drive or via MECHATROLINK II Note Be sure to turn OFF and turn ON the control power supply again after clearing the absolute value data A command error alarm code 27 will occur when the absolute encoder is cleared from the Parameter Unit or CX Drive This is for safety purposes not an indication of failure Note that the one turn data cannot be cleared E Absolute Encoder Setup Procedure for the Parameter Unit 1 Turn ON the power supply and align to the origin Turn ON the power supply perform the origin alignment operation and mo
366. n031 Gain Switch Setting 7 0 0 0 0 0 0 0 0 Pn032 Gain Switch Time 30 30 30 30 30 30 30 30 Pn033 Gain Switch Level Setting 50 50 50 50 50 50 50 50 proga oo i owen aleleete 33 33 33 33 33 33 33 33 Setting Pn035 Sei SPRA AEA 20 20 20 20 20 20 20 20 7 7 7 2 Realtime Autotuning Parameter AT Mode Selection AT Machine Rigidity Selection Pn022 Parameter name No Pn021 8 9 A B C D E F Pn010 Position Loop Gain 1350 1620 2060 2510 3050 3770 4490 5570 Pn011 Speed Loop Gain 750 900 1150 1400 1700 2100 2500 3100 Page Speed Loop Integration Time A 90 80 70 60 50 40 40 30 Constant Pn013 Speed Feedback Filter Time oe 0 0 0 0 0 0 0 0 Constant Torque Command a 9 9D 9D 9 9 9 Pn014 Filter Time Constant 30 25 20 16 13 11 10 10 Pn015 Speed Feed forward Amount 300 300 300 300 300 300 300 300 piigi meee ovale Pilon Tine 50 50 50 50 50 50 50 50 Constant Pn017 Reserved 0 0 0 0 0 0 0 0 Pn018 Position Loop Gain 2 1570 1820 2410 2930 3560 4400 5240 6490 Pn019 Speed Loop Gain 2 750 900 1150 1400 1700 2100 2100 3100 AIA Speed Loop Integration Time 1 2 3 7 10000 100001 0000 1 0000 10000 10000 10000 10000 n01 Constant 2 4 5 6 9999 9999 9999 9999 9999 9999
367. nal and Mounting Hole Dimensions G20030H B S2 G40030H B S2 G75030H B S2 INC 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 FEES Brake connector Motor connector S dia h 6 Four Z dia CxC Dimensions of shaft end with key and tap QK a Mese Dimensions mm LL LR S D1 D2 C G IKLI Z QK b h Mi tt Ll R88M G20030 79 5 30 11 76 eoleo leel aa las 18 4h9 4 M4 2 5 8 R88M G40030 99 14 22 5 5h9 5 M5 3 10 R88M G75030 112 2 35 19 90 70 80 8 53 6 22 6h9 6 3 5 R88M G20030L B 116 30 11 70 50 60 165 43145 18 4h9 4 M4 2 5 8 R88M G40030L1 B 135 5 14 22 5 5h9 5 M5 3 10 R88M G75030L B 149 2 35 19 90 70 80 8 53 6 22 6h9 6 3 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 34 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 G1K030T S2 G1K530T S2 G2K030T S2 G1K030T B S2 G1K530T B S2 G2
368. ncoder No of output pulses Phases A and B 2 500 pulses rotation Phase Z 1 pulse rotation Power supply voltage 5 VDC 5 Power supply current 180 mA max Output signals S S Output interface RS 485 compliance E Absolute Encoders 3 31 Item Specifications Encoder system Optical encoder 17 bits No of output pulses Phases A and B 32 768 pulses rotation Phase Z 1 pulse rotation Maximum rotations 32 768 to 32 767 rotations or 0 to 65 534 rotations Power supply voltage 5 VDC 5 Power supply current 110 mA max Applicable battery voltage 3 6 VDC Current consumption of battery 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 Output signals S S Output interface RS 485 compliance 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 Decelerators for 3 000 r min Servomotors Me svat Rated mum Allow Allow Effi mum Decelera rota R
369. nction due to noise 44 Also take EMC measures one turn counter error Initial setup of the absolute encoder must be performed to clear the alarm An absolute encoder multi turn counter Replace the Servomotor Absolute encoder or incremental encoder phase AB sig Check for malfunction due to noise 45 multi turn counter nal error was detected Also take EMC measures error Initial setup of the absolute encoder must be performed to clear the alarm 8 11 8 3 Troubleshooting Troubleshooting NET Alarm Name Cause Countermeasure code Absolute encoder The encoder s detection values were Do not rotate the Servomotor when the 47 status error higher than the specified value at power is turned ON TABS power ON A phase Z pulse of the 2500 p r 5 line Replace the Servomotor serial encoder was not detected Check for malfunction due to noise 48 Encoder phase Z error regularly Also take EMC measures The encoder has failed Logic error was detected in the PS Replace the Servomotor 49 Encoder PS signal signal magnetic pole of the 2500 p r error 5 line serial encoder The encoder has failed The rotary switch for setting the node Check the value of the rotary switch for address of the Servo Drive was set out setting the node address 82 Node address setting of range Value is read at power ON Set the rotary switch correctly set to 1 error to 31 and then turn OFF the control po
370. nd NC ojom w mn S z Cable AWG20 x 2C UL2464 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 59 3 4 Cable and Connector Specifications R88A CAGDL B 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 R88A CAGD003B 3m Approx 1 5 kg E R88A CAGD005B 5m Approx 2 4 kg R88A CAGD010B 10m Approx 4 5 kg R88A CAGD015B 15m Approx 6 7 kg 2 14 7 5 4 dia c R88A CAGD020B 20 m Approx 8 8 kg e R88A CAGD030B 30 m Approx 13 1 kg T S R88A CAGD040B 40 m Approx 17 4 kg _ R88A CAGD050B 50m Approx 21 8 kg S Q V Connection Configuration and Dimensions o L Ne Servo Drive s Servomotor al H Ni R88D GN yi R88M G 5 t i Y9 F Ja Wiring Servo Drive Servomotor Brake Brake NC Phase U Phase V Phase W Ground Ground NC A B C D E F G H Cable AWG20 x 2C UL2464 Crimp terminals Cable AWG10 x 4C UL2463 Servomotor Connector Straight plug N MS3106B24 11S Japan Aviation Electronics Cable c
371. nd the same number of marks form a twisted pair No Wire mark color Blue Red 1 24VIN 24VIN OV STOP DEC POT OJCO N O O1 0o Po NOT EXT1 EXT2 EXT3 1 EE N oi N H renne es STOP lue Black 1 Pink Black 1 Green Black 1 Orange Red 1 STOP 21 Orange Black 1 19 Gray Red 1 5 Blue Red 2 EXT1 4 Blue Black 2 EXT2 3 Pink Red 2 EXT3 Example A yellow black 1 wire and pink black 1 wire form a twisted pair Servo Drive Connector Connector plug 10136 3000PE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M pi pi Gray Black 1 NOT H e Gray Black 1 NOT pi EAE BATCOM Green Red 2 BATCOM _ L33 Green Red 2 BATCOM Terminal Block Connector BAT 34 Green Black 2 OUTMICOM Fi fas lOtanecd 2 OUTMIGOR Connector socket XG4M 2030 OUTM1 PPV 1 38 Orange Black 2 OUT OMRON ALMCOM a 6 IGravied 2 ALMCOM Strain relief XG4T 2004 JALM HV OMRON FG Shel E c Cable 3 75 AWG28x10P UL2464 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 1J B33 to convert the Servo Drive s control I O connector CN1 to a terminal block XW2B 20G4 M3 screw terminal block Dimensi
372. ndicator bar will increase Initialization of the EEPROM in the Parameter Unit will start a a X D a I The positioning parameters are copied o r 1 a WW g 1 The Servo parameters and the model code are copied a r i This display indicates a normal completion g M 6 28 Operation 6 4 Setting the Mode 3 Returning to Copy Mode Key operation Display example Explanation Press the Gara key to return to Copy Mode i Ma I Ii le Z lf E o jis displayed before completion repeat the procedure from the beginning Press the 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 lf 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 m Copying from the Parameter Unit to the Servo Drive Operation 1 Displaying Copy Mode Key operation Display example Explanation The item set for the Default Display Pn001 is displayed 1 sa Loa
373. nditions for Servo Drives Servomo tors and Decelerators EMC conforming wiring methods calcula Chapter 4 System Design 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 oe gain adjustment functions setting methods and precau Describes items to check for troubleshooting error diagnoses us Chapter 8 Troubleshooting ing alarm LED displays and the countermeasures error diagnoses based on the operation status and the countermeasures and peri odic maintenance Chapter9 Appendix Provides the parameter tables Table of Contents WFO OUGHIO Nisscat terriers aad a uted E a viccnad e E a 1 Read and Understand This Manual ccccccceeseeeeeeeeeeeeeeeeeeeens 2 Precautions for Safe USC x21 fee en coe coasted ete ed 5 Items to Check When Unpacking cccceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeees 11 Abo t This Man al asec pads esate twos d ects e dd tient i 15 Chapter 1 Features and System Configuration 1 1 OAEI AYTEN 522 us E N E EE EEN 1 1 1 2 System Configuration i x vesccerei ceases tice erates eee oe 1 2 1 3 Names of Parts and Functions cceceeeeeeeeeeeeeeeeeeeeeeeeneeeeees 1 3 1 4 System Block Diagrams eos secsiscnnesfsdes sb
374. ne 7 9 generated automatically 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 f due to restrictions on the control mode or load conditions or Manual tuning 7 14 if maximum responsiveness needs to be ensured to match Manual each load adjustment Position control mode adjustment 7 15 Basic procedure Speed control mode adjustment 7 16 Torque control mode adjustment 7 21 Note 1 Take sufficient care for safety Note 2 If there is oscillation e g abnormal sound or vibration immediately turn OFF the power supply or let the servo OFF status occur 7 1 7 1 Gain Adjustment Gain Adjustment Procedure Start of adjustment Use automatic adjustment No Yes Is command input possible No Yes Realtime autotuning setting Realtime autotuning Normal mode autotuning Is operation OK 7 Yes Is operation OK Yes Default setting Is operation OK Yes Writing in EEPROM End of adjustment Consult your OMRON representative E Gain Adjustment and Machine Rigidity Do the following to increase the machine rigidity Install the machine on a secure base so that it does not wobble Use couplings that have a high rigidity and that are designed for servo systems Use a wide timing belt and use a tension within the allowable axial load
375. neration load Regeneration ratio below 1 ooe Resisior The regeneration overload alarm code 18 occurs oie Selection A 1 when the load ratio of the external regeneration resistor exceeds 10 The regeneration processing circuit by the external regeneration resistor is activated but the 2 regeneration overload alarm code 18 does not occur The regeneration processing circuit is not activat 3 Jed All regenerative energy is absorbed by the built in capacitor Sets the amount of time required to detect shutoff when Momentary Hold the main power supply continues to shut off 96D Time The main power OFF detection will be disabled if this 39 Ses 39 t0 1000_ G parameter is set to 1000 Sets the torque limit during deceleration because of the Drive Prohibition Input when the Stop Selection for Drive Emergency Sto Prohibition Input Pn066 is set to 2 06E E a p When this parameter is set to 0 the normal torque limit will 0 0 to 300 B q be set The maximum value of the setting range depends on the Servomotor O6F Reserved Do not change 0 070 Reserved Do not change 0 071 Reserved Do not change 0 Sets the overload detection level Overload The overload detection level will be set at 115 if this 072 Detection parameter is set to 0 0 Oto500 A Level Setting Normally use a setting of 0 and set the level only when reducing the overload detection level Sets the overspeed detection level
376. nertia Ratio TEE H is Displays the inertia ratio as a percentage I a I E Total Feedback Pulses and Total Command Pulses wm LER oe ie a Displays the total number of pulses after the power supply is turned ON The display will overflow as shown in the following figure 2 147 483 647 pulses 0 2 147 483 647 pulses 2 147 483 647 pulses Power ON Forward Use the key to switch the display between the upper and lower digits of the total number of pulses Upper digits D OI T wee Z i 71 1 gt i Reverse lt Lower digits vt Hold down the key for 5 s or longer to reset the total pulses to 0 eo ae E Automatic Servomotor Recognition l om Automatic recognition enabled Always this indication is displayed 6 16 Operation Operation 6 4 Setting the Mode Parameter Setting Mode E 16 bit Positioning Parameters 1 Displaying Parameter Setting Mode Key operation Display example Explanation The item set for the Default Display Pn001 is displayed wn ia D i L a Press the key to display Monitor Mode l Mg oa r a Press the key to display Parameter Setting Mode 2 Selecting the Parameter Type Key operation Display example Explanation
377. ng feed forward compensation effectively increases the position loop gain and improves responsiveness However this function is not so effective in a system where the position loop gain is already sufficiently high Parameters Requiring Settings ea Parameter name Explanation Reference page Pn015 Speed Feed Sets the speed feed forward amount from the position 5 68 forward Amount command Setting range 0 to 100 Feed forward Pn016 Filter Time Constant Sets the time constant for the speed feed forward first order lag filter Setting range 0 to 64 ms Pn02D Pn02E Position Command ommand Encoder Feedback Adjust the feed forward after completing the gain adjustment The Servomotor will overshoot if the feed forward amount is too large Increase the feed forward amount but not so much that it causes overshooting The feed forward filter is the first order lag filter Set this filter according to the acceleration and deceleration time Feed forward amount 63 2 Pn016 The figure above shows step response but the positioning time will be delayed accordingly if acceleration or deceleration occurs 5 38 Operating Functions Operating Functions 5 18 Torque Feed forward 5 18 Torque Feed forward Function In speed commanded control using the torque feed forward command reduces the delay caused by the speed loop integration time and thereby makes acceleration and decel
378. ning operations Moving Average Sets the moving average time for the position command Pn10E F 9 9 Reduces the angular acceleration when starting and stop 5 82 Time ping and when approaching and leaving target speed Deviation Counter Sets the level to detect the deviation counter overflow in Pn209 command units Setting is based on the encoder to be 5 85 Overflow Level used and the electronic gear ratio Pn101 Backlash Sets the mechanical backlash in command units 5 81 Compensation 5 1 Related Functions 5 1 Position Control The main functions related to position control are as follows Function Explanation Reference page This function issues direct speed commands without going Speed Feed forward through the deviation counter 5 38 Sets the speed command ratio Damping Control Sets the vibration frequencies 1 2 and vibration filters 1 2 5 50 for damping control Sets the moving average time for the position command Moving Average Time Reduces the acceleration when starting and stopping and 5 20 when approaching and leaving target speed Soft Limit Sets the maximum position command and position feed 5 84 back current value during position control Backlash Compensation Sets the mechanical backlash in command units 5 27 5 2 Operating Functions Operating Functions 5 1 Position Control Parameter Block Diagram for Position Control Mode
379. not exceeded 40 C Radiate heat and cool Reduce the load ratio The Servomotor rotation is unstable Load and gain do not match Check the response waveforms for speed and torque Adjust the speed loop gain so that the rotation is stabilized Load inertia exceeds the specified range Calculate the load inertia Check if the adjustments can be made via manual tuning Increase the capacity of the Servomotor Low rigidity is resulting in vibration Measure the vibration frequency of the load Enable damping control and set the vibration filter fre quencies Loose coupling with the machine and or large gaps Check coupling with the machine Tighten the coupling with the machine 8 17 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasure Machine position is misaligned Problem with the coupling between the Servomotor axis and the machine Check that the coupling of the Ser vomotor and the machine is not misaligned Re tighten the coupling Replace with a tight coupling Deceleration stop command is received from the host controller Check the control ladder on the host controller Review the control on the host controller The Servomotor is slow to stop even if the RUN command is turned OFF while the Servomotor is rotating Load inertia is too large Check the load inertia D
380. nput Signal 0 Sets CN1 pin 19 to POT CN1 pin 20 to NOT 0 se 0 to 1 Selection ee pin 19 to POT pin 20 to 1 Sets CN1 pin 19 to NOT CN1 pin 20 to POT 045 Reserved Do not change 0 s abe 046 Reserved Do not change 0 an i Som 047 Reserved Do not change 0 an i e 048 Reserved Do not change 0 zst ea nee 049 Reserved Do not change 0 aa 04A Reserved Do not change 0 a ate pee 04B Reserved Do not change 0 ee see on 04C Reserved Do not change 0 I ate a 04D Reserved Do not change 0 z ee se 04E Reserved Do not change 0 s as i 04F Reserved Do not change 0 Zi oem men 050 Reserved Do not change 0 23 iig ae 051 Reserved Do not change 0 a ne ws 052 Reserved Do not change 0 Ess 23 om Sets the speed limit for torque control mode The value is tee an absolute value 20000 to 053 Speed Limit lig parameter is limited by the Overspeed Detection 50 r min 20000 B Level Setting Pn073 054 Reserved Do not change 0 eee ao os 055 Reserved Do not change 0 e 056 Reserved Do not change 0 a a i 057 Reserved Do not change 0 s fa as Soft Start Sets the acceleration time for speed control mode 058 a __ Acceleration time s from O r min to maximum speed 0 x2 ms Oto5000 B Acceleration Time r min Set value x 2 ms Soft Start Sets the deceleration time for speed control mode 059 Deceleration Deceleration time s from maximum speed r min 0 x2 ms Oto5000 B Time to 0 r min Set value x 2 ms 05A Reserved Do no
381. nsions 2 2 External and Mounting Hole Dimensions Decelerator Dimensions E Backlash 3 Max Decelerators for 3 000 r min Servomotors Dimensions mm LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 1 5 R88G HPG11B05100B 39 5 42 40 40x40 46 46 40 0 39 5 29 27 2 2 15 1 9 R88G HPG11B09050B 39 5 42 40 40x40 46 46 40 0 39 5 29 27 2 2 15 50 W 1 21 R88G HPG14A21100B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 1 33 R88G HPG14A33050B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 1 45 R88G HPG14A45050B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 1 5 R88G HPG11B05100B 39 5 42 40 40x40 46 46 40 0 39 5 29 27 2 2 15 1 11 R88G HPG14A11100B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 100 W 1 21 R88G HPG14A21100B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 1 33 R88G HPG20A33100B 66 5 80 90 55 dia 105 46 85 0 84 0 59 53 7 5 27 1 45 R88G HPG20A45100B 66 5 80 90 55 dia 105 46 85 0 84 0 59 53 7 5 27 1 5 R88G HPG14A05200B 64 0 58 60 60x60 70 70 56 0 55 5 40 37 2 5 21 1 11 R88G HPG14A11200B 64 0 58 60 60x60 70 70 56 0 55 5 40 37 2 5 21 200 W 1 21 R88G HPG20A21200B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 33 R88G HPG20A33200B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 45 R88G HPG20A45200B 71 0 80
382. nsions MECHATROLINK II Communications Cable L W with ferrite core MECHATROLINK II termination resistor 21 L 3 73 3 4 Cable and Connector Specifications Wiring The diagram below shows a typical connection between a host device and the Servo Drive using a MECHATROLINK II communications cable NC Unit ERRERREI Termination resistor Note 1 Cable length between nodes L1 L2 Ln should be 0 5 m or longer Note 2 Total cable length should be L1 L2 Ln lt 50 m 3 74 Specifications Specifications 3 4 Cable and Connector Specifications Control Cable Specifications E Connector Terminal Block Cables XW2Z J B33 This is the connector terminal block cable for the G Series Servo Drive with built in MECHATROLINK II Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B33 im Approx 0 1 kg 8 0 dia XW2Z 200J B33 2m Approx 0 2 kg Connection Configuration and Dimensions 6 L 39 Connector terminal i l block XW2B 2064 Servo Drive XW2B 20G5 C 8 R88D GN XW2D 20G6 Wiring Terminal block Connector Servo Drive Wires with the same wire color a
383. nt gasket Conductive gasket Control panel Cross sectional view of A B Oil resistant gasket Conductive gasket System Design Door interior view 4 30 System Design 4 3 Wiring Conforming to EMC Directives Selecting Connection Components This section explains the criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable conditions when selecting the components For more details contact the manufacturers directly m No fuse Breakers NFB When selecting a no fuse breaker consider the maximum input current and the inrush current Maximum Input Current The Servo Drive s maximum momentary output is approximately three times the rated output and can be output for up to three seconds Therefore select 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 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 Connector Specifications on page 4 20 Add the current consumption of other controllers and any other components when selecting the NFB Inrush Curr
384. o Q pel 2 10 1 10 1 10 100 1000 10 100 1000 Frequency MHz Frequency MHz 4 37 4 3 Wiring Conforming to EMC Directives E Surge Suppressors Install surge suppressors for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows the types of surge suppressors and recommended products Type Features Recommended products Diodes are used for relatively small loads when the reset time is not an issue such Use a fast recovery diode with a short re Diode as relays verse recovery time e g RU2 of Sanken At power shutoff the surge voltage is the ii Electric Co Ltd lowest but the reset time takes longer Used for 24 48 VDC systems Thyristors and varistors are used for loads Select the varistor voltage as follows with large induction coils as in electro i Thyristor or magnetic brakes solenoids etc and 24 VDO Syster Varist r Vi 39V hia foo oe EDAN 100 VDC system Varistor V 200 V varistor when reset time is an issue The surge i voltage at power shutoff is approximatel 100 VAG Systems Vanistor V 20 V g p pp Y 200 VAC system Varistor V 470 V 1 5 times the varistor voltage The capacitor plus resistor combination is Capacitor used to absorb vibration in the surge at Okaya Electric Industries Co Ltd x anes power shutoff The reset time can be XEB12002 0 2 uF 120 Q shortened by selecting the appropriate ca p
385. o Check When Unpacking E Understanding Decelerator Model Numbers Backlash 15 Max Decelerator for R88G VRSF09B100PCJ G Series Servomotors Backlash 15 Max Gear Ratio 05 1 5 09 1 9 15 1 15 25 1 25 Flange B C D Applicable Servomotor Capacity Size Number 152 LI78 198 050 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 Overview Chapter 1 Features and System Describes the features and names of parts of the product as well p Configuration as the EC Directives and the UL standards Provides the model numbers external and mounting hole dimen Standard Models and _ Chapter 2 sions for Servo Drives Servomotors Decelerators and peripheral Dimensions 3 devices Provides the general specifications characteristics connector ae specifications and I O circuit specifications for Servo Drives and Chapter 3 Specifications POF a the general specifications and characteristics for Servomotors as well as specifications for accessories such as encoders Describes the installation co
386. o Drive To other output circuits To other input circuits o Di External power supply 24 VDC 1 V Maximum operating voltage 30 VDC Maximum output current 50 mA Di Di Diode for preventing surge voltage Use high speed diodes 3 14 Specifications 3 1 Servo Drive Specifications Control Sequence Timing Power ON operation timing ON Control power supply L1C L2C OFF m Approx 100 to 300 ms ON Internal control power supply fo Orr L Approx 2 s a ON 4 MPU initialization completed Initialize 2 o OFFL Q i 0 ms min O Main circuit power supply ON A L1 L2 L3 OFF 7p Approx 10 ms after the main circuit power is ON turned ON after initialization is completed Servo Ready Output READY 1 OFF ON Alarm Output ALM OFF Positioning Completed ON Output INP OFF RUN Command Input ON RUN OFF Dynamic brake ON OFF Servomotor ON power supply OFF Brake Interlock Output ON BKIR OFF h 00mm Servomotor position speed on or torque input OFF 1 Servo Ready READY turns ON and returns a response when these conditions are met MPU initialization is completed main power is established no alarms exist MECHATROLINK II communications are established and the servo is synchronized 2 Once the internal con
387. oad results in noise due to fluctuation of torque Check for noise from within the decelerator Check the decelerator speci fications and perform an inspection Troubleshooting 8 19 8 4 Overload Characteristics Electronic Thermal Function 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 ratio and the electronic thermal function s operation time Time s 100 PaT 100W 1 100W p00 V ___ _ 200W 400 W 10 750W 115 0 1 100 150 200 250 300 Torque Time s 5 100 R88M GLI10T 900 W to 6 kW R88M GLI20T 1 kW to 5 kW 4 R88M GLI15T 7 5 kW R88M GLI30T 1 kW to 5 kW 10 R88M GP 100 W to 400 W 1 0 1 115 100 150 200 250 300 Torque When the torque command
388. oder between a Servo Drive and Servomotor Select the Encoder Cable matching the Servomotor E Encoder Cables Standard Cables R88A CRGALIC 5 5 Cable Models Oo 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 S Q Model Length L Outer diameter of sheath Weight V R88A CRGA003C 3m Approx 0 2 kg R88A CRGA005C 5m Approx 0 3 kg R88A CRGA010C 10m 6 5 dia Approx 0 6 kg R88A CRGA015C 15m Approx 0 9 kg R88A CRGA020C 20m Approx 1 2 kg R88A CRGA030C 30m Approx 2 4 kg R88A CRGA040C 40m 6 8 dia Approx 3 2 kg R88A CRGA050C 50m Approx 4 0 kg Connection Configuration and Dimensions Servo Drive R88D GNL 92 Servomotor R88M G Wiring Servo Drive Servomotor Signal E5V EOV BAT BAT S S Blue White FG Shell S00 Cable AWG22x2C AWG24x2P UL20276 3 to 20 m AWG16x2C AWG26x2P_ UL20276 30 to 50 m On B OO Po O Servo Drive Connector Servomotor 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 42 Specifications 3 4 C
389. oducts are listed in 4 3 Wiring Conforming to EMC Directives 2 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 3 The brake is not affected by the User polarity of the power supply a 4 Connect B2 B3 for the models with a built in regeneration resistor GNO8H ML2 to GN15H ML2 If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 Control Cable 4 17 4 2 Wiring m R88D GN20H ML2 GN30H ML2 GN50H ML2 R S Three phase 200 to 230 VAC 50 60 Hz Noise filter 1 Main circuit contactor 1 xX ON P Ground to i A MS 100 Q or less L Li c Surge killer 1 5d 1MC 0 x Foi n Z S Servo error display z OMNUC G Series OMNUC G Series g AC Servo Drive AC Servomotor V Power Cable a x 3 L v4 H 1 24VWDC 1MC Reactor Ground to i ees 100 Q or less 4 Regeneration Encoder Cable resistor 1 Recommended products are listed in 4 3 Wiring Conforming PJ to EMC Directives x 2 Recommended relay MY Relay 24VDC 24 V by OMRON For example the MY2 Relay s rated inductive load is 2
390. olute Encoder Setup on page 6 6 E Replacing the Servo Drive 1 Copy the parameters Use the Parameter Unit or CX Drive to write down all the parameter settings or save them 2 Replace the Servo Drive 3 Set the parameters Use the Parameter Unit or CX Drive to set all the parameters 4 Set up the absolute encoder If 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 For details refer to Absolute Encoder Setup on page 6 6 8 2 Troubleshooting Troubleshooting 8 2 Alarm Table 8 2 Alarm Table E Protective Functions The Servo Drive has built in protective functions When a protective function is activated the Servo Drive turns OFF the alarm output signal ALM and switches to the Servo OFF status The alarm code will be displayed on the front panel Alarm type Description Protective function that allows the alarm to be reset and leaves record in the alarm history Protective function that does not allow the alarm to be reset and requires the control power supply to be turned OFF and turned ON again after resolving the problem Protective function that does not leave record in the alarm history Precautions for Correct Use U l
391. omotor speed 3000 r min 3 6V 4 Actual Servomotor speed 12000 r min 6V 007 Speed Monitor 5 Command speed 47 r min 6 V 3 Oto11 A SP Selection 6 Command speed 188 r min 6 V 7 Command speed 750 r min 6 V 8 Command speed 3000 r min 6 V 9 Command speed 12000 r min 6 V Outputs the Issuance Completion Status DEN w 0 V Issuing 5 V Issuance complete Outputs the Gain Selection Status 11 O V Gain 2 5 V Gain 1 9 4 Appendix Appendix 9 1 Parameter Tables o Pn Default Setting Z Set No Parameter name Setting Explanation Setting Unit Range value lt Selects the output to the Analog Torque Monitor IM on the front panel Forward rotation is always positive and reverse rotation is always negative 0 Torque command 100 3 V 1 Position deviation 31 pulses 3 V 2 Position deviation 125 pulses 3 V 3 Position deviation 500 pulses 3 V 4 Position deviation 2000 pulses 3 V oog Torque Monitor 5 Position deviation 8000 pulses 3 V 0 we 0to14 A IM Selection 6 to 10 Reserved 11 Torque command 200 3 V 12 Torque command 400 3 V Outputs the Issuance Completion Status DEN 13 i 0 V Issuing 5 V Issuance complete Outputs the Gain Selection Status 14 OV Gain 2 5 V Gain 1 009 Reserved Do not change 0 Allows prohibits
392. omotors Pages 2 23 to 2 32 2 48 2 50 2 52 2 54 2 56 2 57 and 2 59 Corrected fig ures and dimensions Page 2 65 Added Repeater dimensions Page 3 17 Removed decelerators at top of page Page 3 19 Corrected maximum momentary torque Page 3 22 Changed 3600 to 4000 for R88M G1KO30T 1 kW Pages 3 32 and 3 38 Corrected model numbers and specifications Page 3 34 Corrected 18 6 to 17 7 and added note Page 3 38 Changed 0 85 to 0 87 Page 3 66 Added information on robot cables Page 3 80 Added section on MECHATROLINK II Repeater specifications Page 4 4 Added information on oil resistance and heat radiation plates Page 4 5 Changed information on oil seals Page 5 10 Added information at bottom of page Page 5 53 Changed frequency to 50 Hz and the calculation result at the top of the page Pages 5 95 and 8 5 Added note Page 6 1 Added information to Trial operation Pages 6 15 8 4 and 8 11 Removed ABS from two places each page Pages 8 4 and 8 11 Rewrote description of alarm display 45 Page 8 6 Removed numbers in parentheses and changed note Page 8 14 Changed warning codes Authorized Distributor
393. omotors is 1 500 r min 2 3 2 1 Standard Models m 1 000 r min Servomotors Model eee With absolute encoder Specifications Straight shaft Straight shaft 2 without key with key and tap 900 W R88M G90010T R88M G90010T S2 With 2 kW R88M G2K010T R88M G2K010T S2 out 200 V 3 kW R88M G3K010T R88M G3K010T S2 brake 4 5 kW R88M G4K510T R88M G4K510T S2 6 kW R88M G6K010T R88M G6K010T S2 900 W R88M G980010T B R88M G90010T BS2 2 kW R88M G2K010T B R88M G2K010T BS2 ae 200 V 3 kW R88M G3K010T B R88M G3K010T BS2 4 5 kW R88M G4K510T B R88M G4K510T BS2 6 kW R88M G6K010T B R88M G6K010T BS2 Note Models with oil seals are also available Standard Models and Dimensions 2 4 2 1 Standard Models Servo Drive Servomotor Combinations The tables in this section show 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 _ at the end of the model number is for options such as the shaft type brake and Standard Models and Dimensions Decelerators E 3 000 r min Servomotors and Servo Drives Servomotor vonage a With incremental encoder W
394. ompensates the position error caused by backlash in the machine The specified amount of command units is compensated when the operation direction changes Operating Functions Note 1 Note 2 Note 3 Note 4 Note 5 The backlash compensation status will be retained when you switch from position control to speed control or torque control Backlash compensation will resume with the status retained during the previous position control To determine the actual position of the Servomotor offset the backlash compensation amount from the Servomotor position data acquired via the network Position data acquired via RS 232 is the value after the backlash compensation After the Servo ON compensation will be performed on the first position command for operation in the set direction Compensation will not be performed for prior reverse operations Compensation will however be performed on the first reverse operation after the initial backlash compensation Once backlash compensation has been performed it will not be performed again as long as operation continues in the same direction When the Servo OFF status occurs while backlash compensation is performed the backlash compensation amount will be cleared by presetting the position command data within the Servo Drive with Servomotor position data including the backlash compensation amount When the Servo ON occurs again backlash compensation will be performed as described above
395. on Je c o0 ju NI EO be Ur oO jae 2 D g i i Oi N Bi o O B2 i oOyu IC co V i oO w OP es y w 6 43 SSS SF 55 Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Dimensions Reference Values 55 70 132 28 24 4 8 7 gt A Two M4 5 2 dia I lg foMRON aoon K K ange ZI oe Je as diodu fe If A o0 je H ERT hans oO He Lf FAL ie vA sr Square 5 d olol o peas H e q KA y tO i yea hole B J oe ae E e1 fo if ag O B3 i q So lvl Hele H 50 v N ell oo lw Cee Te A oS fe elo R2 6 2 i M WJ aa Li i y t o J if t K 5 2 Li 57 e ss 7 Note The dimensions of the square hole are reference values 2 25 2 2 External and Mounting Hole Dimensions E Single phase 100 VAC R88D GNO4L ML2 400 W Single phase 200 Three phase VAC R88D GNO8H ML2 750 W Wall Mounting External Dimensions 65 oooog0 oo0e50 lt cBB 38888 P
396. on Range 2 Pn063 5 75 Power Cables Robot Cables 4 14 Index 2 Index Power Cables Standard Cables ceeeee 4 13 Power Cables for Servomotors with Brakes Robot Cables ecceeeseeseeeseeeeeeseeeereeseneneeeeees 3 61 Power Cables for Servomotors with Brakes Standard Cables cecec ee eeeeeeteeeeeeeeeeeees 3 58 Power Cables for Servomotors without Brakes Robot Cables ees e a aean 3 54 Power Cables for Servomotors without Brakes Standard Cables ceceeeee tee eeeteeeeeeeeeeees 3 49 Prohibit Parameter Changes via Network PnOOA 5 67 Protective FUNCTIONS cceeeeeseeeeeeeneeeeeeneeeeeeeeeees 3 5 R radio noise filters 20 2 eee eee ee ceeeeeeeeeteeeeeeteeeteaeeeeaeee 4 36 Reactor dimensions 2 62 Reactors ice ay ested eben te 2 21 3 82 4 40 Realtime Autotuning 0 cece eect eeee ene 7 3 Realtime Autotuning Machine Rigidity Selection PNO22 oaasi tet oe cent atin draenei 5 69 5 89 Realtime Autotuning Mode Selection Pn021 sate Haueti eed eet idtee ei arec ain aaa ea aaa 5 69 5 89 Regeneration Resistor Selection PnO6C 5 79 5 97 regenerative CNCLGY cece cece eee eee eeeeeeeeaes 4 44 regenerative energy External Regeneration Resistors g igi bacceiadatunkasstes inascqrinceet bese susehd tapas adnetadedesvansunsacetyeed tam 4 48 regenerative energy absorption eee 4 47 Replacing the Absolute Encoder Battery
397. on Servomotor lines U Servo Drive V and W 2 Check for short circuit in the 3 Ground fault on the Servomotor Servomotor lines U V and W lines Connect the Servomotor lines 4 Servomotor burnout correctly 5 Contact failure on the Servomotor 3 Check the insulation resistance lines between Servomotor lines U V W 6 The dynamic brake relay has been and the ground line If there is consequently welded insulation failure replace the 7 The Servomotor is not compatible Servomotor 14 Overcurrent with the Servo Drive 4 Measure the interphase 8 The operation command input is resistances of the Servomotor If received simultaneously with or they are unbalanced replace the before Servo ON Servomotor 5 Check the connector pins for connections U V and W of the Servomotor If they are loose or have come off securely fix them 6 Replace the Servo Drive 7 Check and match the capacity of the Servomotor and the Servo Drive 8 After the Servo ON wait for at least 100 ms before inputting an operation command The temperature of the Servo Drive 1 Reduce the Servo Drive s ambient radiator or power elements exceeded temperature and improve the the specified value cooling conditions F 1 The Servo Drive s ambient 2 Increase the capacity of the Servo ene Diive overeat temperature has exceeded the motor Reduce the effective load specified value Radiation ratio for example with a longer performance has dropped acceleration deceleration time
398. onditions under which the adaptive filter does not function properly If the resonance frequency is 300 Hz or lower Reso If there are multiple points of resonance haia If the resonance peak or control gain is low and the Servomotor speed is not affected by it If the Servomotor speed with high frequency components changes due to backlash or Load other non linear elements Com If the acceleration deceleration suddenly changes i e 3 000 r min or more in 0 1 s mand pattern If the adaptive filter does not function properly correct by setting the Notch Filter 1 Frequency Pn01D and Notch Filter 1 Width PnO1E Setting the Vibration Filter Selection Pn024 to low pass type 3 to 5 disables 0 the adaptive filter Setting Explanation 0 Adaptive filter disabled 1 Adaptive filter enabled adaptive operation ON 2 Adaptive filter retained retains the adaptive filter frequency when set to 2 Pn No Parameter name Sue Unit Delaul Attribute range setting Pn024 Vibration Filter Selection Oto5 0 C Selects the vibration filter type and switching mode Filter type Normal type Vibration frequency setting range 10 0 to 200 0 Hz Adaptive filter can be used Low pass type Vibration frequency setting range 1 0 to 200 0 Hz Adaptive filter cannot be used forcibly set to disabled 5 92 Operating Functions Operating Functions 5 27 Details on Important Parameters Switching mode selection No switching Both
399. ons Flat cable connector MIL connector Specifications 29 5 Terminal block a Use 0 30 to 1 25 mm wire AWG22 to AWG16 Precautions BDE for Correct Use The wire inlet is 1 8 mm height x 2 5 mm width Strip the insulation from the end of the wire for 6 mm as shown below ee aa 3 76 Specifications 3 4 Cable and Connector Specifications XW2B 20G5 M3 5 screw terminal block Dimensions Flat cable connector MIL connector 112 5 2 fis A a eecceecaeeiiy GEeeeE Two 3 5 dia 8 5 7 3 Terminal block Terminal block pitch 8 5 mm r When using crimp terminals use crimp terminals with the following Precautions di for Correct Use ImensIonS When connecting wires and crimp terminals to a terminal block tighten them with a tightening torque of 0 59 N m Round Crimp Terminals Fork Terminals 3 2 mm dia E F e s mm max ELC a7 mm 6 8 mm max Applicable Crimp Terminals Applicable Wires AWG22 16 1 2973 0 3 to 1 25 mm Round Crimp Terminals 5AE AWG16 14 i 1 25 to 2 0 mm AWG22 16 teers 0 3 to 1 25 mm Fork Terminals EF 2 99 1 25 to 2 0 mm 3 77 3 4 Cable and Connector Sp
400. op 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 against an unexpected restart Confirm safety after an earthquake has occurred Failure to do so may result in electric shock injury or fire PE PPEEEEEE Do not use external force to drive the Servomotor Doing so may result in fire Precautions for Safe Use A 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 Pee Caution Use the Servomotors and Servo Drives in a specified combination AAN 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 Locations subject to direct sunlight Locations subject to temperatures outside the specified range Locations subject to humidity outside the specified range A
401. opped Use free run to decelerate and free the 3 and 7 motor when stopped Sets the deceleration process and stop status after an alarm is issued by the protective function The deviation counter will be reset when an alarm is issued 0 Use dynamic brake to decelerate and Stop Selection for remain stopped with dynamic brake 068 Alarm 0 0to3 B Use free run to decelerate and remain Generation 1 i stopped with dynamic brake Use dynamic brake to decelerate but free 2 the motor when stopped 3 Use free run to decelerate and free the motor when stopped Sets the operation after a Servo OFF The relationship between set values operation Stop Selection ane 069 with Servo OFF and deviation counter processing for this parameter 0 0 to 7 B is the same as for the Stop Selection with Main Power OFF Pn067 06A Brake Timing Sets the duration from Brake Interlock BKIR sig 10 2 ms 0 to 1000 B when Stopped nal detection to Servo OFF 9 12 Appendix Appendix 9 1 Parameter Tables o RD Parameter name Setting Explanation peut Unit Seiling 2 Sai No Setting Range value Brake Timing a o E EK pee ste to oa rake Interloc signal is turne Hee d ring BKIR is also turned OFF when the speed drops to 39 ess 0 10 1000 B Operation 30 r min or less before the set time elapses Sets the regeneration resist
402. or 90 Transmission cycle setting error 36 Parameter error 91 SYNC command error 37 Parameter corruption 93 Parameter setting error 38 Drive prohibit input error 95 Servomotor non conformity Others Other errors Note The following alarms are not recorded in the history 11 13 36 37 38 87 95 Control power supply undervoltage Main power supply undervoltage Parameter error Parameter corruption Drive prohibit input error Emergency stop input error Servomotor non conformity E Software Version 6 15 pa ve I L I l I Displays the software version of the Servo Drive 6 4 Setting the Mode m Warning Display No warning m Warning i Overload 85 or more of the alarm level for overload 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 PnO6C is set to 1 Absolute encoder battery voltage dropped to 3 2 V or less Fan lock Abnormal cooling fan speed Not used E Regeneration Load Ratio ml Jud D I l bd Displays the regeneration resistance load ratio as a percentage of the detection level for the regeneration load E Overload Load Ratio li D an Zi mt U L Displays the load ratio as a percentage of the rated load E I
403. or operation and the regeneration overload alarm code 18 operation Set this parameter to 0 if using the built in regeneration resistor If using an external regeneration resistor be sure to turn OFF the main power when the built in thermal switch is activated Sets the regeneration overload to match 0 the built in regeneration resistor regen Regeneration eration load ratio below 1 06C Resistor The regeneration overload alarm code 0 O0to3 C Selection 1 18 occurs when the load ratio of the external regeneration resistor exceeds 10 The regeneration processing circuit by the 2 external regeneration resistor is activated but the regeneration overload alarm code 18 does not occur The regeneration processing circuit is not 3 activated All regenerative energy is absorbed by the built in capacitor Sets the amount of time required to detect shutoff 06D Momentary Hold when the main power supply continues to shut off 35 Sis 35 to c Time The main power OFF detection will be disabled if 1000 this parameter is set to 1000 Sets the torque limit during deceleration because of the Drive Prohibition Input when the Stop Selection Emergency Stop for Drive Prohibition Input Pn066 is set to 2 06E When this parameter is set to 0 the normal torque 0 Oto 300 B Torque Re Ee limit will be set The maximum value of the setting range depends on the Servomotor O6F Reserved Do not change 0 070 Reserved Do not change 0
404. or shaft If an excessive radial load is applied the motor shaft and bearings may be damaged Set up a movable pulley between the motor shaft and the load shaft so that the belt tension can be adjusted Pulley Tension adjustment Make adjustable Belt Sh Tension m Water and Drip Resistance The protective structure for the Servomotors is as follows IP65 except for through shaft parts and cable outlets 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
405. or the maximum rotation speed of each Servomotor Parameters Requiring Settings Parameter No Parameter name Explanation Reference page Soft Start Sets the acceleration time for the speed command Pn058 Set the time it takes to accelerate from 0 r min to the 5 74 Acceleration Time i ak Servomotor s maximum speed multiplied by 500 Soft Start Sets the deceleration time for the speed command Pn059 Set the time it takes to decelerate from the Servomotor s 5 74 Deceleration Time fan maximum speed to 0 r min multiplied by 500 If the soft start function is not used set this parameter to O default setting Speed Command Operating Functions Servomotor Speed Speed command rotation speed Acceleration time ta s Pn058 x 0 002 x Max rotation speed shes Speed command rotation speed Deceleration time td s Pn059 x 0 002 x ________ _ Max rotation speed 5 18 5 8 Acceleration Deceleration Time Settings 5 8 Acceleration Deceleration Time Settings Function Set the angular acceleration to reach the target speed and angular deceleration to stop for position commands Units of setting is x 10 000 command units s Parameters Requiring Settings Operating Functions 5 19 Parameter No Parameter name Explanation Reference page Sets the acceleration speed for positioning Linear Acceleration Pn107 Constant moves 5 82
406. or 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 M4 M5 M6 Tightening torque N m 3 0 5 8 9 8 4 Tighten the input joint bolt Bolt Tightening Torque for Duralumin Allen head bolt size M3 M4 M5 Tightening torque N m 1 5 4 5 7 1 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 5 Mount the supplied rubber cap to complete the installation procedure 4 9 4 1 Installation Conditions Installing the Decelerator When installing the R88G VRSF 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 R88G VRSF B frame C frame D frame Number of bolts 4 4 4 Bolt size M5 M6 M8 Mounting PCD mm 60 90 115 Tightening torque N m 5 8 9 8 19
407. orque 3 4 Specifications 3 1 Servo Drive Specifications E Protective Functions Error detection Description Control power supply undervoltage The voltage between P and N in the control voltage converter has dropped below the specified value Overvoltage The voltage between P and N in the converter has exceeded the specified value Undervoltage The main power supply between L1 and L3 was interrupted for longer than the time set in the Momentary Hold Time PnO6D when the Undervoltage Alarm Selection Pn065 was set to 1 Alternatively the voltage between P and N in the main power supply converter dropped below the specified val ue while the Servo Drive was ON Overcurrent The current flowing to the converter exceeded the specified value Overheating The temperature of the Servo Drive radiator or power elements exceeded the specified value Overload The torque command value exceeded the level set in the Overload Detec tion Level Setting Pn072 resulting in an overload due to the time charac teristics Regeneration overload The regenerative energy exceeded the capacity of the regeneration resis tor Encoder communications error The disconnection detection function was activated because communica tions between the encoder and Servo Drive were interrupted for a specified number of times Encoder communications data error There was an error in the communic
408. ors for 2 000 r min Servomotors Maxi Rated mum Maxi Allow Allow Effi mum rota Rated momen Decelerator able able cien momen Lae Weight Model tion torque tary inertia radial thrust cy tary speed rotation load load torque speed r min Nm r min N m kg m N N kg R88G 4 1 5 HPG32A053KOB 400 20 4 85 600 57 4 3 80x10 889 3542 7 3 R88G 4 1 11 HPG32A112K0SB 182 47 3 90 273 133 1 3 40 x10 1126 4488 7 8 1 R88G 4 kW 1 21 HPG32A211KOSB 95 92 3 92 143 259 7 2 90x10 1367 5448 7 8 R88G 4 1 33 HPG50A332K0SB 60 144 9 92 91 407 6 4 70x10 4135 14300 19 0 R88G 4 1 45 HPG50A451K0SB 44 197 7 92 67 555 9 4 70 x10 4538 15694 19 0 R88G 4 1 5 HPG32A053KOB 400 31 7 89 600 86 8 3 80x10 889 3542 7 3 R88G 4 7 1 11 HPG32A112K0SB 182 72 1 92 273 197 7 3 40x10 1126 4488 7 8 i 1 21 Roe 95 137 5 92 143 377 0 5 80x10 3611 12486 19 0 HPG50A213K0B i R88G 4 1 33 HPG50A332K0SB 60 219 4 93 91 601 5 4 70x10 4135 14300 19 0 R88G 4 1 5 HPG32A053K0B 400 43 2 91 600 119 9 3 80x10 889 3542 7 3 R88G 4 j 1 11 HPG32A112K0SB 182 97 4 93 273 270 5 3 40x10 1126 4488 7 8 o 1 21 R88G 95 185 6 93 143 515 9 5 80x10 3611 12486 19 0 HPG50A213K0B i A i i R88G 4 4 1 33 HPG50A332K0SB 60 270 0 93 91 815 0 4 70x10 4135
409. otors 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 Model Length L Outer diameter of sheath Weight R88A CRGCO03N 3m 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 CRGCO30N 30m Approx 2 5 kg R88A CRGCO40N 40m 6 8 dia Approx 3 3 kg R88A CRGCO50N 50m Approx 4 1 kg Connection Configuration and Dimensions L Servo Drive 2S Servomotor R88D GN mi A C gt Resm c i Wiring AWG22x2C AWG24x2P UL20276 3 to 20 m AWG16x2C AWG26x2P UL20276 30 to 50 m Servo Drive Connector Servomotor 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 44 Specifications 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 3 Model Length L Outer diamet
410. ounter of the absolute En overflow error LABS encoder exceeded the specified value Absol tesncoder The Servomotor rotation speed exceeded the 42 PR ABS specified value when power to the absolute overspeed error encoder is supplied by the battery only 44 PR ADSONI encoder A one turn counter error was detected one turn counter error An absolute encoder multi turn counter or in Absolute encoder f 45 PR cremental encoder phase AB signal error was multi turn counter error detected 47 _ Absolute encoder ABS The rotation of the absolute encoder is higher status error than the specified value 8 4 Troubleshooting 8 2 Alarm Table 8 5 Alarm Aeg Error Detection Function Detection Details and Cause of Error Display Type 48 R Encoder phase Z error A phase Z pulse was not detected regularly 49 R Encoder PS signal error A logic error was detected in the PS signal 82 R Node address setting error The rotary switch for setting the node address of the Servo Drive was set out of range Data received during each MECHATROLINK 83 c or Il communications cycle repeatedly failed ommunications error P exceeding the number of times set in the Communications Control Pn005 While actuating MECHATROLINK II 84 Transmission cycle error communications synchronization frames SYNC were not received according to the transmission cycle Synchronization data exc
411. output conditions are not satisfied MEY Peery One or more MECHATROLINK II communications error 96h communications occurred warning z F 90h Overload warning 85 of the overload alarm trigger level has been exceeded 91h Regeneration 85 of the regeneration overload alarm trigger level has overload warning been exceeded al 92h Battery warning ae of absolute encoder battery has dropped below Low 93h Fan lock warning The built in cooling fan stopped or rotated abnormally Note 1 All warnings are retained After resolving the problem clear the alarms and the warnings Note 2 When multiple warnings occur the warning codes are displayed on the front panel in the order of their priority shown above Note 3 The alarm display is in hexadecimal For example if a regenerative load warning occurs 91 and 00 will alternately flash on the front panel of the G series Servo Drive The warning code read from the host Position Control Unit CU1W NC 71 or CS1W NC 71 would be 4091 8 6 Troubleshooting Troubleshooting 8 3 Troubleshooting 8 3 Troubleshooting If an error occurs in the machine determine the error conditions from the alarm indicator and operating status identify the cause of the error and take appropriate countermeasures Error Diagnosis Using the Displayed Alarm Codes ly Alarm Name Cause Countermeasure code The voltage between P and N in the Me
412. p 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 wires We recommend using line drivers for the pulse command and deviation counter reset outputs Always use twisted pair shielded cable for the pulse command and deviation counter reset signal lines and connect both ends of the shield to frame grounds 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 For open collector specifications keep the length of wires to within two meters E Reactors to Reduce Harmonic Current System Design Harmonic Current Countermeasures The Reactor is used for suppressing harmonic currents It suppresses sudden and quick changes in electric currents The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose Components require that manufacturers take appropriate measures to suppress harmonic current emissions onto power supply lines Select the proper Reactor model according to the Servo Drive to be used Reactor specifications Servo Drive model Model Rated current Inductance R88D GNA5L ML2 R88D GNO1H ML2 3G3AX DL2002 1 6A 21 4 mH R88D GNO1L ML2 R88D GNO2H ML2
413. page 6 24 IL meme Normal mode autotuning display Machine rigidity No 7 10 Adjustment Functions be 7 3 Normal Mode Autotuning 7 11 2 Select the machine rigidity Press Ae to select machine rigidity No i a rr l Machine rigidity No Low rc o R lt rc Machine rigidity No High T 7 3 Switch to Normal Mode Autotuning After selecting the machine rigidity number press the key to switch to Normal Mode Autotuning For details on the operation refer to Normal Mode Autotuning on page 6 24 rc 1 I ni Normal mode autotuning 4 Execute normal mode autotuning Press and hold the A key until the display changes to 5 8 For details on the operation refer to Normal Mode Autotuning on page 6 24 The Servomotor rotates and normal mode autotuning begins The operating pattern will differ depending on the Normal Mode Autotuning Operation Setting Pn025 If Pn025 is set to 0 the Servomotor will rotate twice in the forward reverse directions for about 15 seconds This cycle is repeated up to 5 times There is no problem if operation ends before 5 cycles are completed Repeat Step 2 Select the machine rigidity to Step 4 Execute normal mode autotuning until the satisfying response can be obt
414. parameter changes via the network Prohibit 0 Allows parameter changes from the host controller via the network Parameter E 00A Changes Prohibits parameter changes from the 0 ae Otoi JA via Network host controller via the network 1 Attempting to change a parameter via the network when prohibited triggers the Command Warning warning code 95h Selects how the absolute encoder is used This parameter is disabled when using an incre __ mental encoder i eae 0 Use as an absolute encoder 00B Absolute g 1 Use an absolute encoder as incremental 0 s Oto2 C Encoder encoder Use as an absolute encoder but ignore 2 absolute multi turn counter overflow error alarm code 41 Sets the baud rate for RS 232 communications 0 2 400 bps RS ar 1 4 800 bps 00C EnA st 2 9 600 bps 2 Oto5 C Rate Setting 3 19 200 bps 4 38 400 bps 5 57 600 bps 00D Reserved Do not change 0 00E Reserved Do not change 0 OOF Reserved Do not change 0 Position Loop i x0 1 0 to 010 Gain RT Sets the position loop responsiveness 400 1 s 30000 B 9 5 9 1 Parameter Tables v i Pu Parameter name Setting Explanation Delaul Unit Siciline 2 Sai No Setting Range value lt Sets the speed loop responsiveness 011 Speed Loop Gain If the Inertia Ratio Pn020 is set correctly this x0 1 1 to B RT parameter is set to the
415. parameter is explained here Understand the parameters to optimize the Servomotor to your operating conditions Servo Drive parameters are categorized by function as follows Servo Parameters These parameters are mainly for Servomotor control such as function selection operation settings and gain adjustments Positioning Parameters These parameters are for acceleration and deceleration settings and function selection related to positioning commands started by MECHATROLINK II communications The parameters are categorized for 16 bit positioning and 32 bit positioning depending on the setting range Reserved Parameters Parameters listed as Reserved or unlisted parameter numbers cannot be used Do not change the default settings of these parameters Attributes The attribute indicates when the changed setting for the parameter will be enabled A Always enabled after change Change prohibited during Servomotor operation and command issuance B Itis not known when changes made during Servomotor operation and command issuance will be enabled Enabled when the control power is reset or when a CONFIG command is executed via c the network MECHATROLINK II communications R Read only and cannot be changed Note 1 Parameters marked with RT are automatically set during realtime autotuning To set these parameters manually disable realtime autotuning by setting the Realtime Autotuning Mode Selectio
416. peed Loop Gain will improve the response and speed up the positioning process but will also increase the likelihood of vibration Increase the Speed Loop Gain but not so much that it causes vibrations Since the Speed Loop Gain is related to the Speed Loop Integration Time Constant Pn012 increasing the Integration Time Constant can also increase the Speed Loop Gain Low Speed Loop Gain causes a slower response and large overshooting Increase the Speed Loop Gain Commanded operation pattern Speed Actual Servomotor speed r min time are Z High Speed Loop Gain increases the likelihood of vibration Vibration and resonance may not disappear in some cases Decrease the Speed Loop Gain Commanded operation pattern Speed r min time 7 19 7 4 Manual Tuning Pn012 Pn01A Speed Loop Integration Time Constant The Speed Loop Integration Time Constant also determines the responsiveness of the Servo Drive Low Speed Loop Integration Time Constant causes vibration and resonance Increase the Speed Loop Integration Time Constant Commanded operation pattern Speed r min time High Speed Loop Integration Time Constant causes a slower response and decreased Servo Drive rigidity Decrease the Speed Loop Integration Time Constant Commanded operation pattern Speed r min time Pn014 Pn01C Torque Command Filter Time Constant Input Adjustment for the Current Loop The Tor
417. ple of connections between a host Controller Servo Drives and a Repeater ina ral I 3 pe Specifications 30 m or less 15 nodes max 30m or less 16 nodes max 30 to 50 m 14 nodes max 30 to 50 m 15 nodes max ai 100 m max Maximum number of nodes connectable to Controller 16 nodes max for CJ1W CS1W NCF71 3 84 Chapter 4 System Design 4 1 Installation Conditions cccceeeeeeeeeeeeeeeeees 4 1 Servo Drive S ar aona re st eetee ecb beey E AALER AET 4 1 ServomOotorS a a a AA E E a E E 4 3 Decolerators e a sare a ot a niet een te ea E eee 4 7 Aa NINN Bees estas cates Pe nerec eee cet ant wen dimen er eae 4 11 Connecting Cables eee aa a E eeerre ies 4 11 Selecting Connecting Cables ee eeeesseeeseeeeeneereneeee 4 12 Peripheral Device Connection Examples 0sceee 4 16 Main Circuit and Servomotor Connector Specifications 4 20 4 3 Wiring Conforming to EMC Directives 4 26 WirlngyMetnogieare sina o8 conutetcr cere cen sre a sicmea tine esse 4 26 Selecting Connection Component csceeeseeereeereeees 4 31 4 4 Regenerative Energy Absorption ee 4 44 Calculating the Regenerative Energy sesser 4 44 Servo Drive Regenerative Energy Absorption Capace ease eee reer ate rir a ee men rh enon er erence 4 47 Absorbing Regenerative Energy with an External RETANA EUCN RESIS cancacinouoccsoscsondaososos soaceossa0qccosbdc
418. procedure from the 6 30 Operation 6 5 Trial Operation 6 5 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 m Checks before Trial Operation Check the following items before starting trial operation Wiring Make sure that all wiring is correct especially the power supply input and motor output Make sure that there are no short circuits Check the ground for short circuits as well Make sure that there are no loose connections Power Supply Voltage Make sure that the voltage corresponds to the rated voltage Motor Installation Make sure that the Servomotor has been securely installed Disconnection from Mechanical System If necessary make sure that the Servomotor has been disconnected from the mechanical system Brake Make sure that the brake has been released Trial Operation with CX Drive a Aa ON 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 par
419. que Command Filter applies a filter to smoothen the current commands from the Speed Loop This provides a smoother current flow thus reducing the amount of vibration The default value of the Filter Time Constant is 80 0 8 ms Increase the value to reduce vibration An increase in value however will cause a slower response Use 1 25 of the Speed Loop Integration Time Constant Pn012 as a reference for setting The Torque Command Filter also reduces vibration due to machine rigidity The Torque Command Filter Time Constant is related to the Speed Loop Gain Pn011 If Pn011 is set too large vibration cannot be reduced by increasing the Torque Command Filter Time Constant If there is machine resonance for example from a ball screw use the notch filter Pn01D and Pn01E to reduce vibration or enable the adaptive filter Adjustment Functions W 7 20 Adjustment Functions be 7 4 Manual Tuning Other Adjustments If the Torque Loop is saturated because of short acceleration time large load torque or other causes overshooting occurs in the speed response In such a case increase the acceleration time to prevent torque saturation Commanded operation pattern Overshooting occurs for the amount of delay in command Acceleration torque required for the commanded pattern SS Maximum ee instantaneous torque output of the Servomotor E Torque Control Mode Adjustment The torque control is based on the speed control loop
420. que 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 Pa Torque command Decrease this setting if torque saturation occurs when setting the Vibration Frequency 1 Pn02B Increase it to make the movement faster Normally use a setting of 0 The setting range depends on the filter type selected with the Vibration Filter Selection Pn024 as shown below if Vibration Filter 1 is enabled Normal type Setting range 200 to 2000 Setting range 100 lt Pn02B Pn02C lt Pn02B x 2 or 2000 Low pass type Setting range 200 to 2000 Setting range 10 lt Pn02B Pn02C lt Pn02B x 6 Note This parameter is disabled when Vibration Filter 1 is disabled 5 25 Damping Control 4 Set the Vibration Filter Selection Pn024 Select the vibration filter type and vibration filter switching mode depending on the status of the machine Setting Filter type Switching mode 0 No switching Both filter 1 and filter 2 are 1 Normal type enabled 2 Switching with command direction 3 No switching Both filter 1 and filter 2 are 4 Low pass type enabled 5 Switching with command direction The Vibration Filter S
421. r of sheath Weight R88A CAGE003S 3m Approx 4 0 kg 3 R88A CAGE005S 5m Approx 6 5 kg R88A CAGE010S 10m Approx 12 6 kg R88A CAGE015S 15m Approx 18 8 kg 28 5 dia c R88A CAGE020S 20m Approx 24 9 kg R88A CAGE030S 30 m Approx 37 2 kg B R88A CAGE040S 40 m Approx 49 5 kg R88A CAGE050S 50m Approx 61 8 kg 3 Q on Connection Configuration and Dimensions 70 L Servo Drive en Servomotor R88D GN oS R88M G ClL Wiring Servo Drive Phase U Phase V Phase W FG Cable AWG6x4C UL62 M5 crimp terminals Servomotor Connector Straight plug N MS3106B32 17S Japan Aviation Electronics Cable clamp N MS3057 20A Japan Aviation Electronics 3 53 3 4 Cable and Connector Specifications m Power Cables for Servomotors without Brakes Robot Cables R88A CAGAL ISR 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 L Outer diameter of sheath Weight R88A CAGA003SR 3m Approx 0 2 kg R88A CAGA005SR 5m Approx 0 3 kg R88A CAGA010SR 10m Approx 0 7 kg R88A CAGA015SR 15m Approx 1 0 kg R88A CAGA020SR 20m we Approx 1 3 kg R88A CAGA030SR 30m Approx 1 9 kg R88A CAGA040SR 40m Approx 2 6 kg R88A CAGA050SR 50m Approx 3 2 kg Connection Configuration and Dimensions 50 I 50 aa Servo Drive oS
422. rameter Tables Parameter AT Mode Selection AT Machine Rigidity Selection Pn022 Parameter name No Pn021 0 1 2 3 4 5 6 7 Pn010 Position Loop Gain 120 320 390 480 630 720 900 1080 Pn011 Speed Loop Gain 90 180 220 270 350 400 500 600 pagia eect eee IMegraton Time 620 310 250 210 160 140 120 110 Constant Pn013 Speed Feedback Filter Time _ 0 0 0 0 0 0 0 0 Constant Prova Torque Command 253 126 103 84 65 57 45 38 Filter Time Constant Pn015 Speed Feed forward Amount 300 300 300 300 300 300 300 300 Pn016 Feed forward Filter Time s 50 50 50 50 50 50 50 50 Constant Pn017 Reserved 0 0 0 0 0 0 0 0 Pn018 Position Loop Gain 2 190 380 460 570 730 840 1050 1260 Pn019 Speed Loop Gain 2 90 180 220 270 350 400 500 600 prora SPeed Loop Integration Time 1 2 3 7 10000 10000 10000 10000 10000 10000 10000 10000 n Constant 2 4 5 6 9999 9999 9999 9999 9999 9999 9999 9999 Pn01B Speed Feedback Filter Time i 0 0 0 0 0 0 0 0 Constant 2 panic oue commana Fier Tine me 253 126 103 84 65 57 45 38 Constant 2 Pn020 Inertia Ratio Estimated load inertia ratio Instantaneous Speed Ende Observer Setting S K 0 5 K 0 7 Pn030 Gain Switching Operating Mode Sa 1 1 A 1 1 1 1 Selection P 1to6 10 10 10 10 10 10 10 10 P
423. rating Mode Selection Pn031 Gain Switch Setting 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 Pn032 Gain Switch Time 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 Pn033 Gain Switch Level Setting 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 Pn034 Gain Switch Hysteresis Setting 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 Pn035 Position Loop Gain Switching Time 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 1 The lower limit is set to 10 when using a 17 bit encoder and 25 when using a 2 500 p r encoder 2 The value for a 17 bit absolute encoder The value for a 2500 p r incremental encoder is 25 7 13 7 4 Manual Tuning 7 4 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 normal mode 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 m Before Manual Setting The
424. rating tempera Aluminum ture 150 C 5 R88A RR08050S 50 Q 80 W 20 W 250 x 250 NC contact Thickness 3 0 Rated output 30 VDC 50 mA max Operating tempera Aluminum ture 150 C 5 R88A RR080100S 100 Q 80 W 20 W 250 x 250 NC contact Thickness 3 0 Rated output 30 VDC 50 mA max Operating tempera Aluminum ture 170 C 7 C R88A RR22047S 47 Q 220 W 70 W 350 x 350 NC contact Thickness 3 0 Rated output 250 VAC 0 2 A max Operating tempera F ture 200 C 7 C Aluminum NC contact R88A RR50020S 20 Q 500 W 180 W 600 x 600 Thickness 3 0 Rated output 250 VAC 0 2 A max 24 VDC 0 2 A max 4 48 System Design 4 4 Regenerative Energy Absorption Connecting an External Regeneration Resistor m R88D GNA5L ML2 GN01L ML2 GNO2L ML2 GN01H ML2 GN0O2H ML2 GNO4H ML2 If an External Regeneration Resistor is necessary connect it between B1 and B2 as shown in the System Design diagram below Servo Drive B1 _ SSS Seo a B2 Precautions for Correct Use 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 E R88D GN04L ML2 GN08H ML2 GN10H ML2 GN15H ML2 GN20H ML2 GN30H ML2 GN50H ML2
425. rd Torque Limit Input 7 oD NCL Reverse Torque Limit Input 8 OE INO External General purpose 22 Input O OF IN4 External General purpose 6 Input 1 6 12 Operation Operation 6 4 Setting the Mode Output Signals CN1 sone Abbreviation Name ie 00 READY Servo Ready 01 ALM Alarm Output 15 02 INP1 Positioning Completed 1 Output 03 BKIR Brake Interlock 04 ZSPD Zero Speed Detection 05 TLIM Torque Limiting 06 VCMP Speed Conformity 09 TGON Servomotor Rotation Speed _ Detection OF INP2 Positioning Completed 2 Output Switching between Input and Output Signals c LJ co od si 1 1 If the decimal point is at the right of the signal number the signal number can be changed Move the flashing decimal point with the Shift key Ii 1 tt J gt 1 Switches a J OTASI T I J If the decimal point is at the right of the input output indication you can switch between inputs and outputs between inputs and outputs The following procedure can also be used to switch between inputs and outputs Press 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
426. rol system can be made easily with one communications cable connecting the Servo Drive and Controller With realtime autotuning adaptive filter notch filter and damping control you can set up a system that provides stable operation by suppressing vibration in low rigidity machines Features E Data Transmission Using MECHATROLINK II Communications When used with the MECHATROLINK II Position Control Unit CJU1W NCF71 or CS1W NCF 71 all control data between the Servo Drive and Controller can be exchanged through data communications Since the various control commands are transmitted via data communications Servomotor s operational performance is maximized without being limited by interface specifications such as the response frequency of the encoder feedback pulses This makes it possible to use the Servo Drive s various control parameters and monitor data via a host controller allowing you to unify the system data control Features and System Configuration 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 the rotation Furthermore the settings can be made easily by just setting the vibration frequency and filter values and you are assured of stable operation eve
427. ronization data exchanged Check the update process for the 86 Watchdog data error between the master and slave nodes watchdog data MN on the master during each MECHATROLINK II com munications cycle resulted in an error node 8 12 Troubleshooting 8 3 Troubleshooting elen Alarm Name Cause Countermeasure code The emergency stop input became Check the power supply and wiring OPEN connected to the emergency stop input Check that the emergency stop f input is ON 87 Emergency stop input Check that the response of the error control signal power supply 12 to 24 VDC at power ON is not too slow in comparison to the startup of the Servo Drive RE The transmission cycle setting for Check the transmission cycle 90 Transmission cycle receiving the MECHATROLINK II settings and resend the CONNECT setting error CONNECT command is incorrect command A SYNC related command was Check the command sent from the SYNC issued while MECHATROLINK II was master node 91 command error in asynchronous communications mode The electronic gear ratio parameteris Check the parameter setting Parameter setting set outside the allowable setting 93 biror range Less than 1 100 or greater than 100 1 95 Servomotor The combination of the Servomotor Use the Servomotor and Servo Drive non conformity and Servo Drive is not appropriate in the correct combination The control circuit malfunctione
428. rotation detection output 5 75 7 TGON signal Detection Pn011 Speed Loop Gain Adjusts the speed loop responsiveness 5 67 Pn019 1 2 The larger the value the faster the response is Pn012 Speed Loop Sets the speed loop integration time constant Integration Time og 5 67 Pn01A Adjusts according to the inertia of the load Constant 1 2 Pn020 Inertia Ratio Sets the load inertia The speed loop responsiveness is the 5 68 value multiplied by the speed loop gain Pn013 Sp Giai F PRADA Sets the speed feedback time constant Filter Time 5 67 Pn01B Normally use a setting of 0 Constant 1 2 5 4 Operating Functions 5 2 Speed Control Related Functions The main functions related to speed control are as follows 5 5 Function Explanation Reference page This function issues direct torque commands Torque Feed forward without performing speed PI calculations 5 39 Sets the torque command ratio Soft Start Sets the soft acceleration and deceleration for 5 18 the speed command Torque Limit Limits the output torque 5 16 P Control Switching Switches from PI control to P control 5 41 Changes the time constant of the detection filter Speed Feedback Filler for the feedback speed to reduce resonance of 5 40 Selection the load 5 2 Speed Control Parameter Block Diagram for Speed Control Mode MECHATRO LINK II MECHATRO LINK II Speed Command Speed
429. rs in the 100s specify 16 bit parameters and numbers in the 200s specify 32 bit parameters 9 1 Parameter Tables User parameters are set and checked on CX Drive or the Parameter Unit R88A PRO2G E Parameter Tables L i 5 Hi Parameter name Setting Explanation Diew Unit Seung 2 Si No Setting Range value lt 000 Reserved Do not change 1 Selects the data to be displayed on the 7 segment LED display on the front panel Normal status Servo OFF 00 Servo 0 ON 1 Mechanical angle 0 to FF hex 001 Default Display 2 Electrical angle 0 to FF hex 0 0to4 lA 3 Cumulative count for MECHATROLINK II communication errors 0 to FF hex 4 Rotary switch setting node address loaded at startup in decimal 5to 32767 Reserved Do not set 002 Reserved Do not change 0 9 2 Appendix EE 003 Appendix 9 1 Parameter Tables Pn No Parameter name Setting Explanation Default Setting Unit Setting Range Attribute Set value Torque Limit Selection Selects the torque limit function or the torque feed forward function during speed control E Torque Limit Selection For torque control always select PnO5E For position control and speed control select the torque limit as follows Use PnO5E as limit value for forward and 1 reverse operations Forward Use PnO5E 2 Re
430. rvomotor vanag ace With absolute encoder Servo Drive Single 1kW R88M G1K020T R88D GN10H ML2 ioe nan 1 5 kW R88M G1K520T R88D GN15H ML2 2kW R88M G2K020T R88D GN20H ML2 3kW R88M G3K020T R88D GN30H ML2 S 4kW R88M G4K020T R88D GN50H ML2 5kW R88M G5KO020T R88D GN50H ML2 7 5kW R88M G7K515T R88D GN75H ML2 E 1 000 r min Servomotors and Servo Drives Servomotor Voltage Rated Mao ote encoder Servo Drive output Single phase three 900 W R88M G90010T L R88D GN15H ML2 phase 200 V 2kW R88M G2K010T R88D GN30H ML2 Three phase 3kW R88M G3K010T R88D GN50H ML2 200 V 4 5 kW R88M G4K510T R88D GN50H ML2 6kW_ R88M G6K010T R88D GN75H ML2 2 1 Standard Models 2 6 Standard Models and Dimensions 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 Motor Model Gear ratio capacity 1 5 R88G HPG11B05100B 1 9 R88G HPG11B09050B 50 W 1 21 R88G HPG14A21100B 1 33 R88G HPG14A33050B 1 45 R88G HPG14A45050B 1 5 R88G HPG11B05100B 1 11 R88G HPG14A11100B 100 W 1 21 R88G HPG14A21100B 1 33 R88G HPG20A33100B 1 45 R88G HPG20A45100B 1 5 R88G HPG14A05200B
431. s acceleration Characteristics E 3 000 r min Servomotors 100 VAC Model R88M G05030H G10030L G20030L G40030L Item Unit G0O5030T G10030S G20030S G40030S Rated output Ww 50 100 200 400 Ez Rated torque N m 0 16 0 32 0 64 1 3 Rated rotation speed r min 3000 i Max momentary rotation sean 5000 c speed fe Max momentary torque A N m 0 45 0 93 1 78 3 6 Rated current A rms 1 1 1 7 2 5 4 6 O Max momentary current A rms 3 4 5 1 7 6 13 9 5 m2 3 Rotor inertia kon 2 5 x 106 5 1 x 106 14x10 2 6 x 105 Q GD lt 4 Tp Applicable load inertia 30 times the rotor inertia max 2 Torque constant N m A 0 14 0 19 0 26 0 28 Power rate kW s 10 4 20 1 30 3 62 5 Mechabesttine ms 1 56 1 11 0 72 0 55 constant Electrical time constant ms 0 7 0 8 2 5 2 9 Allowable radial load 3 N 68 68 245 245 Allowable thrust load N 58 58 98 98 Weight Without brake kg Approx 0 3 Approx 0 5 Approx 0 8 Approx 1 2 ei With brake kg Approx 0 5 Approx 0 7 Approx 1 3 Approx 1 7 Padanan shield ciiensions 100 x 80 x t10 Al 130 x 120 x t12 Al material Applicable Servo Drives R88D GNAS5L ML2 GNO1L ML2 GNO2L ML2 GNO4L ML2 EN kg m 7 7 6 6 Brake inertia GD2 4 2x10 2x10 1 8 x10 1 810 Excitation voltage 4 V 24 VDC 5 Power consumption at 20 C W 7 7 9 9 Current consumption at 20 C A 0 3 0 3 0 36
432. s Read only and cannot be changed 5 86 Operating Functions Operating Functions 5 27 Details on Important Parameters Pn No Parameter name Setting Unit Default Attribute range setting Pn003 Torque Limit Selection 1to5 1 B Selects torque limit function or torque feed forward function during speed control Torque Limit Selection Select the torque limit for position control or speed control as follows Setting Explanation 1 Use PnO5E as the limit value for forward and reverse operations 2 Forward Use PnOSE as limit Reverse Use PnO5F as limit Switch limits by torque limit values and input signals from the network 3 Limit in forward direction PCL is OFF PnO5E PCL is ON PnO5F Limit in reverse direction NCL is OFF PnO5E NCL is ON PnO5F Forward Use PnO5E as limit Reverse Use PnO5F as limit as follows value 1 whichever is smaller value 2 whichever is smaller Only in speed control torque limits can be switched by torque limit values from the network Limit in forward direction Use PnO5E or MECHATROLINK II command option command Limit in reverse direction Use PnO5F or MECHATROLINK II command option command Forward Use PnO5E as limit Reverse Use PnO5F as limit signals from the network as follows Limit in forward direction PCL is OFF PnO5E whichever is smaller Limit in reverse direction NCL is OFF PnOSF
433. s nF not Fixed until detecting the zero position on the encoder after the control power is turned ON Indicates the electrical angle from 0 to FF hex O is the position where the inductive voltage on the U phase reaches the position peak The angle increases when the Servomotor turns forward The count continues from 0 after exceeding EF Indicates the number total of MECHATROLINK Il communications errors from 0 to FF hex The communications error count total saturates at the maximum of FFFFh h appears only for the lowest byte The count continues from 00 after exceeding FF Note The communications error count total is cleared by turning OFF the control power Indicates the setting on the rotary switch node address value loaded at startup in decimal This value does not change even if the rotary switch is turned after startup 5 to 32767 Reserved Do not set 0to4 002 Reserved Do not change 5 62 Operating Functions Operating Functions 5 26 User Parameters Pn No Parameter name Setting Explanation Default setting Unit Setting range Attribute 003 Torque Limit Selection Selects the torque limit function or the torque feed forward function during speed control E Torque Limit Selection For torque control always select PnO5E For position control and speed control select the torque
434. s Setting Gain Switch Level setting Pn033 Pn035 Position Loop Gain Sets the number of steps to switch from low gain to high 5 73 Switching Time gain Units 166 us 5 32 Operating Functions Operating Functions 5 16 Gain Switching E Timings for Gain Switch Setting Pn031 Switching between gain 1 and gain 2 will be performed as illustrated below Note that Position Loop Gain will be switched according to the setting for Pn035 Gain Switch Setting Pn031 2 Switching from Network Gain switches instantly when commanded from the network Position command a Gain switch command a Gain 1 Gain 2 Gain 1 Gain Switch Setting Pn031 3 Switching by an amount of change in torque command The torque command change amount angular acceleration and deceleration speed command is set in units of 0 05 166 us Gain Switch is canceled if the change amount vibrates and fails to meet the switching time The change amount is approximately 6 units when switching 4 in 2 ms 0 33 change in 166 us Speed command Torque command Pn033 Amount of change in torque Pn032 Pn032 Pno32 f _ Pno32 Gain 1 2 1 2 Gain 1 2 1 2 Gain 1 5 33 5 16 Gain Switching Gain Switch Setting Pn031 5 9 Switching by the Speed Command or Actual Servomotor Speed Speed command or actual Servomotor speed Pn034 Pn034 Pn032 Gain 1 Gain 2 Gain 1 Gain Switch Sett
435. s a normal completion Error will be displayed if a tuning error has occurred 3 Returning to Normal Mode Autotuning Key operation Display example Explanation rr o an Press the Gara key to return to Normal Mode Autotuning Precautions for Correct Use For details on normal mode autotuning refer to 7 3 Normal Mode Autotuning on page 7 9 This section describes the operating procedure only 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 normal mode autotuning error occurs the values for each gain will return to the value before executing normal mode autotuning 6 24 6 4 Setting the Mode Auxiliary Function Mode Auxiliary Function Mode includes alarm reset absolute encoder reset and jog operation Displaying Auxiliary Function Mode Key operation Display example Explanation m i w The item set for the Default Display Pn001 is displayed c D cS ae T J a Press the key to display Monitor Mode Pan 1 Jq 1 ro Press the key four times to display Auxiliary Function Mode E Alarm Reset 1 Executing Alarm Reset Display example Explanation ce ao Key ho a 0 oper
436. s and Specifications eessseeeeneeeeeee eene 3 32 Cable and Connector Specifications 3 42 Encoder Cable Specifications ccccccceeseeeeeeeesteeeesnees 3 42 Absolute Encoder Battery Cable Specifications 3 48 Servomotor Power Cable Specifications ceeee 3 49 Communications Cable Specifications ccceeeeee 3 69 Connector Specifications vooon oaeoi arogan 3 70 MECHATROLINK II Communications Cable Specifications ee aee e E A AE E AA E E 3 73 Control Cable Specifications ccccseceeeeeteeeeeeeteeeeesnees 3 75 Parameter Unit Specifications cccceee 3 80 External Regeneration Resistor Specifications a mene ae N 3 81 External Regeneration Resistor Specifications 0 3 81 Reactor Specifications cceccccccccceeeeeeeeees 3 82 MECHATROLINK II Repeater Specifications 3 83 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 OMNUC G series Servo Drives are designed specifically for use with MECHATROLINK II communication General Specifications Item Specifications Ambient operating temperature and humidity 0 to 55 C 90 RH max with no condensation Ambient storage temperature and humidity 20 to 65
437. s are interrupted and either Forward or Reverse Drive Prohibit Input POT or NOT is turned ON receiving an operation command jog operation or normal mode autotuning via RS232 will cause a Drive Prohibit Input Error alarm code 38 A Drive Prohibit Input Error alarm code 38 will also occur if either POT or NOT is turned ON while operating on an operation command received via RS232 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 Pn066 and that stopping in the servo lock state be set set value 2 5 27 Details on Important Parameters Pn No Parameter name ites Unit sae Attribute Pn067 Stop Selection with Main Power OFF 0to7 0 B Sets the operational conditions during deceleration and after stopping after the main power supply is turned OFF with the Undervoltage Alarm Selection Pn065 set to 0 The deviation counter will be reset when the power OFF is detected Setting Explanation 0 and 4 Use dynamic brake to decelerate and remain stopped with dynamic brake 1 and 5 Use free run to decelerate and remain stopped with dynamic brake 2 and 6 Use dynamic brake to decelerate but free the motor when stopped 3 and 7 U
438. s in doing so 2 Measure the vibration frequency at the end of the machine system Vibration frequency is measured using a laser displacement meter servo acceleration meter or acceleration pick up Set the measured vibration frequency to the Vibration Frequency 1 Pn02B and Vibration Frequency 2 Pn02D according to the motion Set the filter type and switching mode with the Vibration Filter Setting Pn024 5 52 Operating Functions Operating Functions 5 25 Damping Control 5 53 If no measurement device is available use the CX Drive data tracing function and read the residual vibration frequency Hz from the position deviation waveform as shown in the following figure The following gives the vibration frequency in the lt Position deviation figure Command speed Calculation of vibration frequency f Hz y T s Since the unit for the parameter is 0 1Hz Pn02B Pn02D 10 x f Example When the vibration cycle is 100 ms and 20 ms the vibration frequency is 10 Hz and 50 Hz therefore set Pn02B 100 Pn02D 500 Vibration cycle T If the vibration does not disappear with the frequency setting raise or lower the resonance frequency to find the frequency that can reduce vibration 3 Set the Vibration Filter Set Vibration Filter 1 PnO2C and Vibration Filter 2 PnO2E First set to 0 The stabilization time can be reduced by setting a large value however tor
439. s of 100 to 400 W Model Length L Outer diameter of sheath Weight R88A CAGA003S 3m Approx 0 2 kg R88A CAGA005S 5m Approx 0 3 kg R88A CAGA010S 10m Approx 0 6 kg R88A CAGA015S 15m Midis Approx 0 9 kg R88A CAGA020S 20m Approx 1 2 kg R88A CAGA030S 30m Approx 1 8 kg R88A CAGA040S 40m Approx 2 4 kg R88A CAGA050S 50m Approx 3 0 kg Connection Configuration and Dimensions _ 50 L 50 Servo Drive os Servomotor R88D GN i En R88M G o Wiring Servo Drive Servomotor Red White Phase U BI Phase V G ue Yall Phase W os reen Yellow FG Cable AWG20x4C UL2464 M4 crimp terminals 3 49 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 S 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 Weight R88A CAGBO003S 3m Approx 0 7 kg R88A CAGBO005S 5m Approx 1 0 kg R88A CAGB010S 10m Approx 2 0 kg R88A CAGB015S 15m Approx 2 9 kg R88A CAGB020S 20m ee Approx 3 8 kg R88A CAGBO030S 30m Approx 5 6 kg R88A CAGB040S 40m Approx 7 4 kg R88A CAGBO050S 50m Approx 9 2 kg Connec
440. se free run to decelerate and free the motor when stopped Za Pn No Parameter name eee Unit Bae Attribute Pn068 Stop Selection for Alarm Generation O0to3 0 B Sets the deceleration process and stop status after an alarm is issued by the protective function The FT deviation counter will be reset when an alarm is issued c T Setting Explanation 2 0 Use dynamic brake to decelerate and remain stopped with dynamic brake T 1 Use free run to decelerate and remain stopped with dynamic brake z 2 Use dynamic brake to decelerate but free the motor when stopped O 3 Use free run to decelerate and free the motor when stopped Pn No Parameter name a Unit ER Attribute Pn069 Stop Selection with Servo OFF Oto7 0 B Sets the operational conditions to apply during deceleration and after stopping when the Servo is turned OFF Setting Explanation 0 and 4 Use dynamic brake to decelerate and remain stopped with dynamic brake 1 and 5 Use free run to decelerate and remain stopped with dynamic brake 2 and 6 Use dynamic brake to decelerate but free the motor when stopped 3 and 7 Use free run to decelerate and free the motor when stopped 5 96 Operating Functions 5 27 Details on Important Parameters Pn No Parameter name pauls Unit Deew Attribute range setting PnO6C Regeneration Resistor Selection 0to3 0 C 5 97 Sets the regeneration resistor operation and the
441. signment Details Pn112 General purpose E aun a A OUTM1 General purpose Output 1 Pn113 General purpose OUTM2 General purpose Output 2 DS anton Sele on OUTMS General purpose Output 3 Pn114 General purpose Ie p Output 3 Function Selection 0 Not No output Always OFF assigned 1 INP1 Positioning Completed 1 output assignment 2 VCMP Speed Conformity Signal output assignment Servomotor Rotation Speed Detection output k TGON assignment 4 READY Servo Ready output assignment 5 CLIM Current Limit Detection output assignment 6 VLIM Speed Limit Detection output assignment 7 BKIR Brake Interlock output assignment 8 WARN Warning Signal output assignment 9 INP2 Positioning Completed 2 output assignment m CN1 Control Output Signal Connection Diagram OMNUC G Series Servo Drive eee 15 ALM wK Alarm Output z 161 ALMCOM O we JE 36 OUTM1 General purpose Output 1 35 OUTM1COM oa 29 OUTM2 EZA ai General purpose Output 2 30 OUTM2COM Peer 31 OUTM3 l TI EZA Eo 33 BATCOM O Backup Battery 1 BAT General purpose Output 3 321 OUTM3COM Shell FG 1 If a backup battery is connected a cable with a battery is not required 5 26 Operating Functions 5 14 Backlash Compensation 5 14 Backlash Compensation Function C
442. speed conformity detection VCMP signal Speed Conformity Speed conformity is achieved when the absolute value of 061 Signal the difference between the internal speed command 20 r min 10 to 20000 A Output Width before acceleration and deceleration limits are applied and the Servomotor speed is less than the set speed Note This setting has a hysteresis of 10 r min Sets the threshold level for the speed reached TGON signal Rotation Speed 062 for Motor Rotation Speed reached is determined when the absolute value of 50 t min 10 to 20000 A Detection the Servomotor speed is greater than the setting speed Note Speed reached detection has a hysteresis of 10 r min Sets the positioning completion range when Positioning Positioni Completion 2 INP2 is selected ositioning Positioning is complete when the absolute value of the Com 063 Completion ng a eile ps 100 mand 0 to 10000 A Range 2 position deviation converted into command units is less units than this setting regardless of whether position command pulses are still being processed 5 75 5 26 User Parameters Pn No Parameter name Setting Explanation Default setting Unit Setting range Attribute 064 Motor Phase Current Offset Re adjustment Setting Enables or disables the offset component readjustment function of the Motor Phase Current Detector CT for Servo ON command inputs The readjustment is mad
443. t N rm lstatus 9 MECHATROLINK II controller Normal status i green nee communications actuated Synchronous communica LED COM tions on the is lit in green MECHATROLINK II Controllable status Normal status Normal status communications actuated Reset and actuate the network LED COM Recoverable alarm related is flashing in red to MECHATROLINK II communications again from the host controller Check the network wiring Check the wiring and noise LED COM is lit in red Irrecoverable alarm related to MECHATROLINK II communications Check that there is no overlap of node address on the network and that the number of connected Servo Drives is less than 17 Correct the network address An alarm has occurred Read the alarm code and the alarm history Check details of alarm by referring to Error Diagnosis Using the Dis played Alarm Codes on page 8 7 Take countermeasures by referring to Error Diagnosis Using the Displayed Alarm Codes on page 8 7 8 15 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasure Set the Servo lock command Check the response of Not Servo locked the NCF71 Servo lock bit bit on the host controller again The power cable is Check the wiring of the Servomotor Wire the Servomotor power not properly connected power cable cable correctly Servomotor power is not Check ime wining ofthe maincircuit Input
444. t change 0 ce ao Dat Operating Functions Operating Functions 5 26 User Parameters D Pn Default r Setting 3 No Parameter name Setting Explanation setting Unit range Selects the speed limit for torque control mode er Speed Limit O Use the Speed Limit Pn053 a va 5 Selection Use the speed limit value via 1 MECHATROLINK II or the Speed Limit Pn053 whichever is smaller 05C Reserved Do not change 0 05D Reserved Do not change 0 Sets the No 1 Torque Limit for the Servomotor output torque 05E No 1 Torque Refer to information on the Torque Limit Selection Pn003 300 0 to 500 B Limit to select the torque limit The maximum value of the setting range depends on the applicable Servomotor Sets the No 2 torque limit for the Servomotor output torque OSE No 2 Torque Refer to information on the Torque Limit Selection Pn003 100 0 to 500 B Limit to select the torque limit The maximum value of the setting range depends on the applicable Servomotor Sets the positioning completion range when Positioning TA Completion 1 INP1 Output is selected Fositioning Positioning is complete when all positioning command Com 060 Completion g p p g 25 mand 0 to 10000 A pulses are exhausted and the absolute value of the Range 1 os ont ae units position deviation converted into command units is less than this setting Sets the detection width for the
445. t for torque command mode Check that there is no input for torque command mode Switch from torque control mode to position control mode The Servomotor rotates in the direction opposite to the command The Operating Direction Setting Pn043 setting is incorrect Check the Operating Direction Setting Pn043 value Change the Operating Direction Setting Pn043 value NCF71 command is incorrect Set values are inappropriate for an absolute command The polarity is incorrect for an incremental command Check the current and target values Check the rotation direction The holding brake does not work Power is supplied to the holding brake Check whether power is supplied to the holding brake Check the brake interlock BKIR signal and the relay circuit Check that the holding brake is not worn down The Servomotor is overheating The load is too large Measure the torque using the front panel IM or a tool Slow down the acceleration deceleration Lower the speed and measure the load The heat radiation condi tions for the Servomotor have worsened Check that the specified heat radiation conditions are satisfied For a Servomotor with a brake check the load ratio Improve the heat radiation conditions Reduce the load Improve ventilation The ambient temperature is too high Check that the ambient tempera ture has
446. ted current A rms 7 6 18 5 24 33 57 2 Max momentary current A rms 17 1 44 57 1 84 2 121 4 Rotor inertia o 1 12x108 3 55x108 5 57x10 8 09x108 9 9x10 9 Applicable load inertia 10 times the rotor inertia max 2 a Torque constant N m A 1 13 1 1 1 1 3 1 22 Power rate kW s 66 3 103 145 228 331 Mechanical time constant ms 0 88 0 97 0 74 0 7 0 65 Electrical time constant ms 20 25 30 31 46 2 Allowable radial load N 686 1176 1470 1470 1764 Allowable thrust load 3 N 196 490 490 490 588 Weight Without brake kg Approx 8 5 Approx 17 5 Approx 25 Approx 34 Approx 41 With brake kg Approx 10 Approx 21 Approx 28 5 Approx 39 5 Approx 45 Tan shield dimensions e x 470 x 440 x t30 Al Applicable Servo Drives R88D GN15H ML2 GN30H ML2 GN50H ML2 GN50H ML2 GN75H ML2 Brake inertia ELA 1 35x104 4 7x104 47x104 4 7x104 47x104 Excitation voltage 4 vV 24 VDC 10 oe aoe w 19 31 34 34 34 epee A 0 79 1 3 1 4 1 4 1 4 Static friction torque N m 13 7 min 24 5 min 58 8 min 58 8 min 58 8 min 8 Attraction time ms 100 max 80 max 150 max 150 max 150 max 5 Release time ms 50 max 25 max 50 max 50 max 50 max J Backlash 1 reference value a Wworleper J 1176 1372 1372 1372 1372 Allowable total work J 1 6x10 29x108 29x10 29x10 29x 10 Allowable angular rad s 10 000 max Speed of 900 r min or more must not be changed in less than 10 ms Brake
447. tegration time constant when using Speed Loop gain 2 switching x0 1 01A Integration Time Same function as Pn012 500 me 1 to 10000 B Constant 2 RT Set 9999 to stop integration operation while retaining the integration value Setting 10000 disables integration Sets the speed detection filter when using gain 2 switch Speed Feedback ing 01B Filter Time Same function as Pn013 Normally use a setting of 0 0 Oto5 B Constant 2 RT When Instantaneous Speed Observer Setting Pn027 is enabled this parameter will be disabled Torque Sets the first order lag filter time constant for the torque Command i ana x0 01 01C i command section when using gain 2 switching 100 Oto 2500 B Filter Time Same function as Pn014 a Constant 2 RT Sets the notch frequency of notch filter 1 for resonance suppression This filter must be matched with the resonance i frequency of the load ib seal 1 ROY 1500 Hz 100 to 1500 B 100 to 1499 Filter enabled 1500 Filter disabled Notch Filter 1 Selects the notch width of notch filter 1 for resonance sup 01E pression 2 0 to 4 B Width Normally use a setting of 2 01F Reserved Do not change 0 Sets the load inertia as a percentage of the Servomotor rotor inertia 020 Inertia Ratio RT Setting Load inertia Rotor inertia x 100 300 O to 10000 B The inertia ratio estimated during realtime autotuning is stored in the EEPROM every 30 minutes
448. tegration value Setting 10000 disables integration Speed Sets the speed detection filter when using gain 2 Feedback Filter switching 01B Normally use a setting of 0 0 Oto5 B Time Constant 2 RT When Instantaneous Speed Observer Setting Pn027 is enabled this parameter will be disabled Torque Sets the first order lag filter time constant for the Command Filter 4 x0 01 01C torque command section when using gain 2 100 0 to 2500 B Time Constant 2 switchin ms RT 9 Sets the notch frequency of notch filter 1 for resonance suppression Notch Filter 1 F 100to J_ 100 to 01D Frequency 4499 Filter enabled 1500 H2 a500 hB 1500 Filter disabled Selects the notch width of notch filter 1 for Notch Filter 1 01E resonance suppression 2 Oto4 B Width i Normally use a setting of 2 01F Reserved Do not change 0 Selects the load inertia as a percentage of the A 0 to VEO Inertia Ratia tT Servomotor rotor inertia 309 e 10000 B 9 6 Appendix Appendix 9 1 Parameter Tables Pn No Parameter name Setting Explanation Default Setting Unit Setting Range Attribute Set value 021 Realtime Autotuning Mode Selection Sets the operating mode for realtime autotuning Realtime Degree of change Autotuning in load inertia Disabled Almost no change Horizontal axis mode Gradual changes Sud
449. ternal capacitor be absorbed W Q Q R88D GNA5L ML2 12 a 18 R88D GNO1L ML2 12 ae ns 18 R88D GN02L ML2 18 18 R88D GN04L ML2 27 12 50 13 R88D GN01H ML2 16 fee 35 R88D GNO02H ML2 16 35 R88D GN04H ML2 25 m m 35 R88D GN08H ML2 43 12 100 27 R88D GN10H ML2 70 20 30 27 R88D GN15H ML2 70 20 30 18 R88D GN20H ML2 70 40 15 11 R88D GN30H ML2 70 40 15 11 R88D GN50H ML2 105 80 10 7 R88D GN75H ML2 250 4 Note These are the values at 100 VAC for 100 VAC models and at 200 VAC for 200 VAC models 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 connect 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 Heat radiation Thermal switch output Model Resistance eA mi Te capacity sorption at 120 C condition specifications Ope
450. th S2 at the end of the model number 2 42 Standard Models and Dimensions 2 2 External and Mounting Hole Dimensions Parameter Unit Dimensions m R88A PRO2G Hand held Parameter Unit 62 ee gt 2a M3 depth 5 114 j S gt F g MD connector 2 43 2 2 External and Mounting Hole Dimensions Servomotor and Decelerator Combinations 3 000 r min Servomotors 1 11 Motor model 1 5 1 9 for flange size 1 21 1 33 1 45 No 11 R88G R88G R88G R88M HPG11B05100B HPG11B09050B HPG14A21100B R88G R88G G05030 Also used with Gear ratio 1 9 Also used with HPG14A33050BL HPG14A45050B R88M G10030L R88M G10030L R88M R88G R88G R88G R88G R88G G10030 HPG11B05100B HPG14A11100B HPG14A21100B HPG20A33100B HPG20A45100B R88M R88G R88G R88G R88G R88G G20030 HPG14A05200B HPG14A11200B HPG20A21200B HPG20A33200B HPG20A45200B R88M R88G R
451. th Increasing the value decreases the notch depth 04093 B thereby reducing the phase lag Vibration Sets the vibration frequency 1 for damping control x0 1 02B Frequencies to suppress vibration at the end of the load 0 Hz 0 to 2000 B q y Measure and set the frequency of the vibration When setting Vibration Frequency 1 Pn02B 02C Vibration Filter 1 reduce this setting if torque saturation occurs 0 x0 1 200 to B Setting or increase it to make the movement faster Hz 2000 Normally use a setting of 0 Vibration Sets the vibration frequency 2 for damping control x0 1 tee Frequency 2 to suppress vibration at the end of the load Hz si ictal lle 02E Vibration Filter 2 Sets vibration filter 2 for damping control to 0 x0 1 200 to B Setting suppress vibration at the end of the load Hz 2000 Displays the table entry number corresponding to the frequency of the adaptive filter This parameter is set automatically when the Adaptive Filter adaptive filter is enabled i e when the Adaptive o2F Table Number Filter Selection Pn023 is set to a value other than 0 ms Oto64 R Display 0 and cannot be changed Oto 4 Filter disabled 5 to 48 Filter enabled 49 to 64 Enable or disable the filter with Pn022 9 8 Appendix Appendix 9 1 Parameter Tables o ae Parameter
452. 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 If the load inertia changes quickly i e in less than 10 seconds If the machine rigidity is extremely low Load If there is backlash or play in the system If the speed is continuously run at a low speed below 100 r min If the acceleration deceleration gradually changes at less than 2 000 r min in 1 s Operating If the acceleration deceleration torque is too small compared with the unbalanced pattern 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 With realtime autotuning the parameters are fixed to the values in the machine rigidity table when the machine rigidity is set The operating coefficients for the speed loop gain and the integration time constant are changed by estimating the load inertia based on the operating pattern Set the estimated values gradually because setting different values for the patterns may cause vibration 7 3 7 2 Realtime Autotuning Realtime Autotuning Setting Method 1 Turn the servo OFF before setting realtime autotuning 2 Set the Realtime Autotuning Mode Selection Pn021 according to the load Setting the parameter to 3 or 6 will allow the system to respond faster to inertia changes during
453. the logic of the sensor External general bed 22 INO purpose Input 0 This input is used as external general purpose input 0 External general Ek i 23 IN2 purpose Input 2 This input is used as external general purpose input 2 11 Spare input Do not connect anything to this input 12 Spare input Do not connect anything to this input 13 Spare input Do not connect anything to this input 14 Spare input Do not connect anything to this input 9 Spare input Do not connect anything to this input 10 Spare input Do not connect anything to this input 27 Spare input Do not connect anything to this input 28 Spare input Do not connect anything to this input 34 BAT Backup battery connection terminals when the absolute Backup ABS encoder s power is interrupted A cable with a battery is not Battery Input required if a backup battery is connected to this 33 BATCOM terminal Backup voltage 3 6 V 17 Spare input Do not connect anything to this input 24 Spare input Do not connect anything to this input 25 Spare input Do not connect anything to this input 26 Spare input Do not connect anything to this input 18 Spare input Do not connect anything to this input CN1 Control Output Signals 3 1 Servo Drive Specifications oe Symbol Name Function Interface 15 ALM Alarm Output The output is OFF when an alarm is generated in the Ser 16 ALMCOM vo Dri
454. tion 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 frequency of the notch filter which removes the resonance component from the torque command The automatically set notch filter frequency is set in the Adaptive Filter Table Number Display Pn02F The resonance filter frequency can be obtained by specifying the Pn02F table No Vibration suppressed Servomotor speed Adaptive filter enabled Adaptive filter disabled Filter frequency set Position Speed Command mm jf 1 i Position Speed Adaptive Control Filter Torque Command Current Loop Control Estimate Resonance Frequency Speed Feedback Estimate Load Inertia Realtime Autotuning Parameters Requiring Settings aad Parameter name Setting Explanation Reference page Adaptive filter Adaptive operation f 0 Disabled Pn023 Adaptive Filter 5 92 Selection 1 Yes Enabled 2 No retained 5 45 If the Adaptive Filter Table Number Display Pn02F has stopped changing completed a setting of 2 will be retained assuming that the resonance point does not change Write the data to the EEPROM if the results are to be saved 5 23 Adaptive Filter Precautions The adaptive
455. tion Configuration and Dimensions Servo Drive 70 L L R88D GN Wiring gt R Servo Drive Red White Blue Green Yellow Cable AWG14x4C UL2463 M4 crimp terminals Servomotor Phase U Phase V Phase W FG Servomotor Connector Straight plug N MS3106B20 4S Japan Aviation Electronics Cable clamp Servomotor R88M G N MS3057 12A Japan Aviation Electronics 3 50 Specifications 3 4 Cable and Connector Specifications R88A CAGCL S Cable Models For 3 000 r min Servomotors of 2 kW and 2 000 r min Servomotors of 2 kW Model Length L Outer diameter of sheath Weight R88A CAGC003S 3m Approx 0 7 kg 3 R88A CAGCO005S 5m Approx 1 0 kg R88A CAGC010S 10m Approx 2 0 kg R88A CAGC015S 15m Approx 2 9 kg 10 4 dia c R88A CAGC020S 20m Approx 3 8 kg R88A CAGC030S 30 m Approx 5 6 kg B R88A CAGC040S 40m Approx 7 4 kg R88A CAGC050S 50m Approx 9 2 kg 3 Q on Connection Configuration and Dimensions 70 L Servo Drive ee Servomotor R88D GN S R88M G co I Wiring Servo Drive Servomotor Signal Phase U Phase V Phase W FG f Cable AWG14x4C UL2463 M5 crimp terminals Servomotor Connector Straight plug N MS3106B20 4S Japan Av
456. tion value A setting of 10000 disables integration Sets the type of speed detection filter time constant Normally use a setting of 0 Speed Feedback Increasing the value reduces the noise of the Servomotor 013 Filter Time 5 0 Oto5 B Constant RT but also reduces its responsiveness This parameter is disabled if the Instantaneous Speed Observer Setting Pn027 is enabled 5 67 5 26 User Parameters i 5 RD Parameter name Setting Explanation paian Unit Saig a No setting range 5 lt Torque Adjusts the first order lag filter time constant for the torque Command f x0 01 014 command section 80 0 to 2500 Filter Time The torque filter setting may reduce machine vibration ne Constant RT e torque filter setting may reduce machine vibration Speed Feed Sets the speed feed forward amount x0 1 015 forward Amount This parameter is particularly useful when fast response is 300 Oto 1000 B RT required Feed forward 016 Filter Time pp ea ae for the speed feed forward 100 a 0106400 B Constant RT 9 i 017 Reserved Do not change 0 naa ae Ke3 Position Loop Sets the position loop gain when using gain 2 switching x0 1 018 Gain 2 RT Same function as Pn010 200 1 s 0 t0 80090 B Speed Loop Sets the speed loop gain when using gain 2 switching x0 1 019 Gain 2 RT Same function as Pn011 900 Hz 1 10 30000 B Sets the speed loop in
457. tive energy absorption capacity The capacity depends on the model For details refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 47 The average regeneration power Pr is the regeneration power produced in one cycle of operation W Pr Eg Eg2 Ege IT W T Operation cycle s 4 46 System Design 4 4 Regenerative Energy Absorption Servo Drive Regenerative Energy Absorption Capacity E Amount of Internal Regeneration Absorption in Servo Drives 4 47 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 Connect an External Regeneration Resistor to improve the regeneration processing capacity Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Extend the deceleration time to decrease the regenerative energy produced per time unit Extend the operation cycle i e the cycle time to decrease the average regeneration power Regenerative Internal regeneration resistance Minimum value Servo Drive model sa ay by f E Resistance i S in
458. to 0 when using the Parameter Unit 0 to F 023 Adaptive Filter Selection Enables or disables the adaptive filter The Adaptive Filter Table Number Display Pn02F will be reset to 0 when disabled Note When the Vibration Filter Selection Pn024 is set to a low pass filter type Pn024 3 to 5 the adaptive filter is forcibly set to disabled Pn023 0 O Adaptive filter disabled Adaptive filter enabled Adaptive operation performed Adaptive filter enabled Adaptive operation will not be performed i e retained O0to2 5 69 5 26 User Parameters Pn No Parameter name Setting Explanation Default setting Setting range Unit Attribute 024 Vibration Filter Selection Selects the vibration filter type and switching mode E Filter type selection Normal type Vibration frequency setting range 10 0 to 200 0 Hz Low pass type Vibration frequency setting range 1 0 to 200 0 Hz E Switching mode selection No switching Both 1 and 2 are enabled Switching with command direction Selects Vibration Frequency 1 in forward direction Pn02B Pn02C Selects Vibration Frequency 2 in reverse direction Pn02D Pn02E Filter type Switching mode Normal type No switching Switching with command direction 5 Low pass type No switching Switching with command direction Oto5 C 025 Norm
459. to EMC Directives 016 ALMCOM 2 Recommended relay MY Relay 24 V CN1 by OMRON For example the MY2 24 VDC i BKIR xB Relay s rated inductive load is 2 A at 24 3 VDC and applicable to all G Series CN1 BKIRCOM 2 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 GNO4L ML2 GNO8H ML2 GN10H ML2 and GN15H ML2 If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 5 The models GNASL ML2 to GNO2L ML2 and GNO01H ML2 to GNO4H ML2 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 4 16 System Design 4 2 Wiring m R88D GNO8H ML2 GN10H ML2 GN15H ML2 RST Three phase 200 to 240 VAC 50 60 Hz QQ Oo at oe NFB aaa Noise filter 1 L OFF ON Main circuit contactor 1 ne P w Ground to i 41 oe 100 Q or less L Le Surge killer 1 1MC Servo error display OMNUC G Series OMNUC G Series i AC S t AC Servo Drive Power Cable ervomotor we 2 Reactor Ground to 1002 or less Encoder Cable Regeneration resistor pees saa 1 Recommended pr
460. to save the new setting L _ Lt Lt 7 Returning to Parameter Setting Mode The following operation is not required if you are only checking a parameter setting Key operation Display example Explanation c s I 1 a ZI S TI Press the Gara key to return to Parameter Setting Mode Wu MJ 5 58 Operating Functions Operating Functions 5 26 User Parameters E Operating Procedures for Servo Parameters 1 Displaying Parameter Setting Mode Key operation Display example Explanation The default display is displayed a Mg Aa _ g Press the key to display Monitor Mode on cr rr i A o a Press the key to display Parameter Setting Mode 2 Selecting the Parameter Type Key operation Display example Explanation OO Press the A keys to select the servo parameter 3 Switching to the Parameter Setting Display Key operation Display example Explanation a _ Lt Lo Y a _ g a Press the Gara key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display 4 Setting the Parameter Number Key operation Display example Explanation A 0S
461. tone ae Ei p E H fi yjo o00 0 0 0 010 0 0 0 010 D 02020202020100702000 O 0 0 0 0 0 010 0 0 0 00 OKEKK KEKIC KKK vv 50 Dimensions mm Model A B C E F H J N O P 3G3AX NF003 160 145 130 80 112 120 M4 154 3G3AX NF004 200 180 160 100 162 150 120 M5 M5 210 3G3AX NF005 220 200 180 100 182 170 140 M6 M6 230 3G3AX NF006 220 200 180 100 182 170 140 M8 M8 237 4 43 4 4 Regenerative Energy Absorption ane __Megenetalive Energy ADSOrpulon 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 c N1 D m Servomotor E operation o s gt o Servomotor output torque In the output torque graph acceleration in the positive direction is shown as positive and acceleration in the negative direction is shown as negative The regen
462. trol Speed Control 2 c 2 Instantaneous rT Speed Observer c eee gt Estimated Load Model Speed Feedback LL Speed dD D Parameters Requiring Settings S En Parameter name Setting Explanation Reference page Pn020 Inertia Ratio Sets the load inertia ratio as accurately as possible 5 68 Instantaneous 0 Instantaneous Speed Observer disabled Pn027 Speed Observer 5 71 Setting 1 Instantaneous Speed Observer enabled Positioning Pn060 Completion Set this parameter when using an absolute encoder 5 75 Range 1 Precautions for Correct Use The instantaneous speed observer may not function properly or may not be effective under the following conditions Conditions under which the instantaneous speed observer does not function properly Control Mode In Torque Control Mode Operates in position and speed control modes Resonating load status If there s a large resonance point at the frequency of 300 Hz or lower If there are multiple resonance frequencies If the resonance peak or control gain is low and the Servomotor speed is not affected by it Load status If the Servomotor speed with high frequency components changes due to backlash or other non linear elements play If a large disturbance torque with high frequency components is applied If the load inertia changes Encoder
463. trol 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 selecting a control panel Case Structure Use a metal control panel with welded joints at the top bottom and sides so that the surfaces will be electrically conductive If assembly is required strip the paint off the joint areas or mask them during painting to make them electrically conductive The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws Do not leave any conductive part unconnected Ground all Units within the case to the case itself Door Structure Use a metal door Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams on the next page Use a conductive gasket between the door and the case Refer to the diagrams on the next page Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting so that they will be electrically conductive The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws 4 29 4 3 Wiring Conforming to EMC Directives Case Door Door Oil resista
464. trol power is established the protective function starts working about 1 5 s after the CPU starts initializing itself Be sure that the input signals in particular the Emergency Stop STOP and Drive Prohibit POT NOT inputs are settled before the protective function starts working 3 15 3 1 Servo Drive Specifications Encoder Connector Specifications CN2 ith Symbol Name Function Interface 1 E5V R power supply Power supply output for the encoder 5 2 V 180 mA 2 EoV Encoder power supply GND 3 BAT 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 LA when power is supplied to Ser vo Drive 5 PS4 Encoder phase S input Line driver input corresponding with the EIA RS 485 communica Encoder phase S tions method 6 PS i input Shell FG Shield ground Cable shield ground Connectors for CN2 6 Pins Name Model Manufacturer Servo Drive Connector 53460 0629 Molex Japan Cable Connector 55100 0670 Parameter Unit Connector Specifications CN3 n Symbol Name Function Interface 3 TXD RS 232 send data Send data output to the Parameter Unit or personal computer 4 GND Ground 5 RXD RS 232 receive data Receive data input from the Parameter Unit or personal computer Connector for CN3 8 Pins Name Model Manufacturer Conne
465. trong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity 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 gt gt bP EPEPEPRPEEEPEEEE Do not reverse the polarity of the battery when connecting it Reversing the polarity may damage the battery or cause it to explode Precautions for Safe Use E Operation and Adjustment Precautions 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
466. ttery is not required when using a Servomotor with an incremental encoder Note 2 Connect the absolute encoder backup battery to only one of either the connector terminal block or absolute encoder backup battery cable Note 3 Use cable clips with double sided adhesive tape to secure the absolute encoder backup battery in place 3 79 3 5 Parameter Unit Specifications 3 5 Parameter Unit Specifications E R88A PRO2G 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 Specifications Ambient operating oar 0 to 55 C 90 RH max with no condensation temperature and humidity Ambient storage vs 20 to 80 C 90 RH max with no condensation temperature and humidity Operating and storage No corrosive gases atmosphere Vibration resistance 5 9 m s max E Performance Specifications Item Specifications Type Hand held Cable length 1 5m Connectors Mini DIN 8 pin MD connector Display Seven segment LED display Outer diameter 62 W x 114 H x 15 D mm Weight Approx 0 1 kg including cable 2 Standard RS 232 S Communications method Asynchronous ASYNC G Baud rate 9 600 bps amp Start bits 1 bit 2 Data 8 bits g Par
467. ual noise or vibration occurs the Inertia Ratio Pn020 may have changed to an extreme value In this case also take the measures described above The Adaptive Filter Table Number Display Pn02F 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 5 46 Operating Functions Operating Functions 5 23 Adaptive Filter 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 Pn023 to 0 If the adaptive filter is disabled when it is operating correctly the resonance that has been suppressed will reappear and noise or vibration may occur Therefore before disabling the adaptive filter perform copying function to the Notch Filter 1 Frequency Pn01D of the Adaptive Filter Table Number Display Pn02F or manually set the Notch Filter 1 Frequency Pn01D based on the Adaptive Filter Table Number Display Pn02F in the following tables PnO2F Notch Filter 1 Frequency Pn02F Notch Filter 1 Frequency Pn02F Notch Filter 1 Frequency 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn022 gt F 6 14
468. uency Pn028 Noten Filtera Sets the notch filter 2 frequency for the torque command 5 71 Frequency 5 7 Related Functions 5 3 Torque Control Functions related to torque control are as follows Function Explanation Reference page Torque Command Filter Time Increase to decrease machine resonance 5 42 Constant Notch Filter Sets the machine specific resonance frequency 5 43 Speed Limit Limits the Servomotor speed during torque control 5 22 Torque Limit Limits the maximum output torque during torque control 5 16 Speed Feedback Selects the speed detection filter 5 40 Filter Selection 5 8 Operating Functions Operating Functions 5 3 Torque Control Parameter Block Diagram for Torque Control Mode Torque Command TQRFF Speed Limit Selection Absolute __ 2 Value MECHATRO i j Sign LINKI Unit Conversion Speed Pn053 Internal Value PI Processor PnO5B Selection Setting Pn011 i Absolute Speed Gain 1 Speed Limit Value Pn012 Integration MECHATRO VLIM TSPD Time Constant 1 _ LINK II Pn019 Command Speed Rota Gain 2 Monitor Speed Command a an CSPD Monitor Speed Detection Filter Integration Pn013 Filter 1 Time Constant 2 iti Ei Pn020 Feedback Position Pn01B Filter 2 ete i i AOPS LPOS E
469. unstable operation and may lead to Set each parameter to the values in Parameter Settings for Different Applications increments while checking Servomotor operation injuries Adjust the gain in small y Operate with a normal operating pattern and load AA Positioning time and other operational performance satisfactory No Increase the Speed Loop Gain Pn011 but not so much that it causes hunting when the servo is locked y Reduce the Speed Loop Integration Time Constant Pn012 but not so much that it causes hunting when the servo is locked e y Does hunting vibration occur when the Servomotor is rotated Yes No vy v Reduce the Speed Loop Gain Pn011 Increase the Position Loop Gain Pn010 but not so much that it causes overshooting y Increase the Speed Loop Integration Time Yy Constant Pn012 Write the data to EEPROM in the parameter write mode to End of adjustment 7 15 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 Pn014 p Set the Notch Filter 1 Frequency Pn01D and the Notch Filter 2 Frequency Pn028 to the frequency of a vibrating application 7 4 Manual Tuning E Speed Control Mode Adjustment With the OMNUC G Series adjustments for speed
470. us 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 CAGA CR 45 mm R88A CAGAHHIEICR 1 50 mm R88A CAGB CR 45 mm R88A CAGBEIEIEICR 1 50 mm R88A CAGC CR 45 mm R88A CAGCHIEICR 1 50 mm 003 to 020 MM 030 to 050 Power Cables for Servomotors without Brakes Model Minimum bending radius R R88A CAGA SR 45 mm R88A CAGB SR 90 mm R88A CAGCLILLISR 90 mm R88A CAGD SR 100 mm 003 to 050 Power Cables for Servomotors with Brakes Model Minimum bending radius R Power cable 90 mm R88A CAGB BR Brake
471. ve 29 OUTM2 General purpose This is a general purpose output The function for this Si OUIMS General purpose output is selected by changing the parameter 32 OUTM3COM Output 3 CLIM Refer to the Output Signal Assignment Details below 36 OUTM1 General purpose 35 OUTM1COM Output 1 BKIR Output Signal Assignment Details Specifications Pn112 General purpose ONLI 1 Fumaten SOG eet OUTM1 General purpose Output 1 Pn113 General purpose OUTM2 General purpose Output 2 SU AT E I OUTMS General purpose Output 3 Pn114 General purpose purk P Output 3 Function Selection 0 Pol No output Always OFF assigned 1 INP1 Positioning Completed 1 output assignment 2 VCMP Speed Conformity Signal output assignment 3 TGON Servomotor Rotation Speed Detection output assignment 4 READY Servo Ready output assignment 5 CLIM Current Limit Detection output assignment 6 VLIM Speed Limit Detection output assignment 7 BKIR Brake Interlock output assignment 8 WARN Warning Signal output assignment 9 INP2 Positioning Completed 2 output assignment 3 12 Specifications 3 1 Servo Drive Specifications m CN1 Pin Arrangement 24VIN Emergency 12 to 24 VDC Power Supply Input Stop Input External Latch External Latch Reverse Drive Prohibit Input Signal 3 Signal 2 External External Latch External General purpose Input 0 Signal 1
472. ve Energy Absorption 4 51 Combining External Regeneration Resistors Regeneration absorption 20 W 40 W 70 W 140 W capacity R88A RRO8050S R88A RRO8050S Model R88A RR080100S R88A RR080100S R88A RR22047S R88A RR22047S Resistance 2 50 2 1002 25Q 50Q 47Q 94 Q Connection R method O R O OF 7O O R O R R O R Regeneration absorption 140 W 280 W 560 W capacity Model R88A RR22047S R88A RR22047S R88A RR22047S Resistance 23 5 Q 47Q 23 5 Q R R Connection R R R O R R O method OF oO O F R R R R R R R Regeneration absorption 180 W 360 W 1440 W capacity Model R88A RR50020S R88A RR50020S R88A RR50020S Resistance 20 Q 10Q 10Q R R Connection R O R R O method O R O oF oO R R R R R 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 47 Precautions for Corr
473. ve the machine to the origin position 6 2 Go to Auxiliary Function Mode Press and on the Parameter Unit to display Auxiliary Function Mode 3 Go to Absolute Encoder Clear Mode Press again Absolute Encoder Clear Mode will be displayed Ke _ ben Auxiliary Function Mode Q o i y m _ Hm L Alarm Clear Mode Hel 1 i Motor Trial to ti L tt tt tt Operation Mode a Absolute Encoder tt Clear Mode 6 6 Operation 6 2 Preparing for Operation 6 7 4 Start clearing the absolute encoder Hold down A 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 5 Restart the Servo Drive M LN tl r c Le 4 Note If you attempt to clear an incremental encoder Error will be displayed 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 Unit Names of Parts and Functions Connector amp Parameter Unit EER as Wa Display area Operating area Cable a LED Display 6 Digits If an error occurs all digits will flash and the d
474. ve the short circuit bar between B2 and B3 and connect an External B3 connection Regeneration Resistor between B1 and B2 terminals U Red V White Senomator These are the output terminals to the Servomotor W connection Blue Be sure to wire them correctly terminals G 7 reen Yellow Frame ground This is the ground terminal Ground to 100 Q or less 3 8 Specifications Specifications 3 1 Servo Drive Specifications m R88D GN75H ML2 Main Circuit Terminal Block Specifications TB1 Symbol Name Function L1 L2 Main circuit power R88D GN75H ML2 6 to 7 5 kW Three phase 200 to 230 VAC 170 to 253 V supply input 50 60Hz L3 B1 External Regeneration 6 to 7 5 kW A regeneration resistor is not built in Resistor Connect an External Regeneration Resistor between B1 and B2 B2 connection if necessary terminals U Red V White FeomOtn These are the output terminals to the Servomotor W connection Blue Be sure to wire them correctly terminals G 7 reen Yellow Frame ground This is the ground terminal Ground to 100 Q or less Main Circuit Terminal Block Specifications TB2 Symbol Name Function NC Do not connect LIC Control circuit ee power supply input R88D GN75H ML2 Single phase 200 to 230 VAC 170 to 253 V 50 60Hz Frame ground This is the ground terminal Ground to 100 Q or less NC EX1 EX2 Do not connect EX3
475. verse Use PnO5F Switch limits by torque limit values and input signals from the network Limit in forward direction PCL is OFF PnOSE PCL is ON Pn05F Limit in reverse direction NCL is OFF PnO5E NCL is ON Pn05F Forward Use PnOS5E as limit Reverse Use PnO5F as limit Only in speed control limits can be switched by torque limit values from the network as follows Limit in forward direction 4 Use PnO5E or MECHATROLINK II command option command value 1 whichever is smaller Limit in reverse direction Use PnO5F or MECHATROLINK II command option command value 2 whichever is smaller Forward Use PnO5E as limit Reverse Use PnO5F as limit Only in speed control torque limits can be switched by torque limit values and input signals from the network as follows Limit in forward direction PCL is OFF PnO5E 5 PCL is ON PnO5E or MECHATROLINK Il command option command value 1 whichever is smaller Limit in reverse direction NCL is OFF PnOSF NCL is ON PnO5F or MECHATROLINK Il command option command value 2 whichever is smaller Note PCL ON When either Forward Torque Limit CN1 PCL pin 7 or MECHATROLINK II Communications Option Field P CL is ON PCL OFF When both Forward Torque Limit CN1 PCL pin 7 and MECHATROLINK II Communications Option Field P CL are OFF E Torque Feed forward Function Selection Enabled only during speed control ngs Disabled
476. verse Drive Prohibit Input POT or NOT turned ON an operation command jog operation or normal mode autotuning was received via RS232 Or either POT or NOT turned ON while operating on an operation command received via RS232 The power supply and battery voltage Connect the power supply for the Absolute encoder to the encoder dropped and the battery and clear the absolute encod 40 system down error Capacitor voltage dropped below the er Refer to Absolute Encoder Setup on specified value 3 0 V or less page 6 6 ABS Initial setup of the absolute encoder must be performed to clear the alarm The multi turn counter of the encoder Check the setting for the Operation exceeded the specified value Switch When Using Absolute Encoder Absolute encoder Pn00B 41 counter overflow error Set the travel distance from the me ABS chanical origin within 32767 rotations Initial setup of the absolute encoder must be performed to clear the alarm The Servomotor rotation speed ex Check the power supply voltage on the Absolute encoder ceeded the specified value when encoder side 5 V 5 42 overspeed error power to the absolute encoder is Check the connection of the CN2 supplied by the battery only during a connector ABS power outage Initial setup of the absolute encoder must be performed to clear the alarm An error was detected in the one turn Replace the Servomotor Absoluteen oder counter for the encoder Check for malfu
477. verter output 3G3AX NF004 50 A 3G3AX NF005 75A 3G3AX NF006 100 A 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 Dimensions 3G3AX NF001 NF002 Four M System Design Dimensions mm Model A B C E F G H J M P 3G3AX NFO001 140 125 110 70 95 22 50 20 4 5dia 156 3G3AX NF002 160 145 130 80 110 30 70 25 5 5dia 176 4 42 System Design 4 3 Wiring Conforming to EMC Directives 3G3AX NF003 NF004 NF005 NF006 Six O i ljolol i erore Ro Two N z 0009 252905 ofococo 0 o0 RLO Eaa 02070 05 oto 2000 00 0 of iL ue Malicowonen A o o g Poo E PoPoPoPo 4 lO oO j 000070 a52 r oLosOrCrO Lo POPPERS 0 020 02070 0 oEEECCO Kee FEISS i HONE C Four 6 5 dia B k A hk gt A join tein
478. via Servo Control OFF elease Reques 5 Break Release Request ON via MECHATROLINK II OFF Release Request Control Brake Interlock ON Output BKIR 3 OFF Release Request Attraction Time Release Time Released Holding Brake Brake Released Engaged Operating Functions 1 The Servo ON status will not occur until the Servomotor speed drops below approximately 30 r min 2 The operation of the dynamic brake during Servo OFF depends on the Stop Selection with Servo OFF Pn069 3 The Brake Interlock BKIR signal is output on the release request command that comes first either from the Servo Controller or the MECHATROLINK II The BKIR signal is used by assigning it to the general purpose outputs on CN1 Note The brake attraction and release time varies depending on the brake on the Servomotor For details refer to 3 2 Servomotor Specifications on page 3 17 5 12 Operating Functions 5 5 Brake Interlock E Operation timing during Servo ON or OFF when Servomotor is rotating Regenerative energy occurs when the Servomotor is stopped on an alarm under this operation timing For this reason the operation cannot be repeated Wait at least 10 minutes before the Servomotor cools down ON Run Command RUN Servo OFF 1 Servo ON Servo OFF OFF i Approx 2 ms 1to5ms F ON i Dynamic Brake DB Engaged DB Released DB Engaged 2 Relay OFF i Approx 40
479. viation Electronics 3 4 Cable and Connector Specifications R88A CAGCLISR Cable Models For 3 000 r min Servomotors of 2 kW and 2 000 r min Servomotors of 2 kW Model Length L Outer diameter of sheath Weight R88A CAGCO003SR 3m Approx 0 8 kg R88A CAGCO05SR 5m Approx 1 3 kg E R88A CAGC010SR 10m Approx 2 4 kg R88A CAGC015SR 15m aaa Approx 3 5 kg R88A CAGC020SR 20m Approx 4 6 kg 7 R88A CAGCO30SR 30m Approx 6 9 kg R88A CAGC040SR 40m Approx 9 2 kg S R88A CAGC050SR 50m Approx 11 4 kg 5 z Connection Configuration and Dimensions 70 L Na Servo Drive al ss Servomotor R88D GNL G a i R88M GL Wiring Servo Drive Servomotor Signal Phase U Phase V Phase W FG Cable AWG14x4C UL2501 M5 crimp terminals Servomotor Connector Straight plug N MS3106B20 4S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics 3 56 Specifications 3 4 Cable and Connector Specifications R88A CAGDLISR 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 R88A CAGDO003SR 3m Approx 1 4 kg R88A CAGDO05SR 5m Approx 2 2 kg R88A CAGD010SR 10m Approx 4 2 kg R88A CAGD015SR 15m meda
480. wer supply for the Servo Drive and turn it ON again Data received during each Check that commands are being sent MECHATROLINK II communications from the master node to the slave cycle repeatedly failed exceeding the node number of times set by the Communi Check the MECHATROLINK II cations Control Pn005 communications cable for disconnec tion or wiring problem Check the connection of the terminator 83 Communications error termination resistor Check the MECHATROLINK II communications cable for excessive noise and that the cable is laid proper ly Also check the FG wiring for the Ser vo Drive Increase the consecutive communica tions error detection count in the Com munications Control Pn005 While actuating MECHATROLINK II Check the transmission cycle of the communications synchronization synchronization frames sent from the frames SYNC were master node and ensure that it does not received according to the transmis not fluctuate and is as specified sion cycle Check the communications cable for N The synchronization frames disconnection or wiring problem 84 Transmission cycle themselves were faulty Check for excessive noise on the error The transmission cycle of the communications cable synchronization frames was not as Check the connection of the specified Includes dropped frames terminator termination resistor Check the laying of the communications cable and the FG wiring Synch
481. with a 3 m standard cable and a 200 VAC input R88M G90010T 900 W R88M G2K010T 2 kW R88M G3K010T 3 kW Nm 20418 4 18 4 1600 NM 50 441 5 41 5 1600 N m 70760 60 1350 Repetitive usage Repetitive usage 4 34 9 Repetitive usage 38 1048 62 8 62 10 0 254119 1 19 1 35728 4 28 4 Continuous usage 4 31 Continuous usage 9 5 Continuous usage 14 2 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 Nm 1007 Nm 100 Repetitive usage Repetitive usage 572 57 2 74 504142 9 42 9 40 50 Continuous usage 21 5 Continuous usage 28 6 0 1000 2000 r min 0 4000 2000 r min 3 29 3 2 Servomotor Specifications 3 Use the following Servomotors in the ranges shown in the graphs below Precautions i Fra Using outside of these ranges may cause the Servomotor to generate for Correct Use 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 100 100 Ps ene eee TS 90 Se so rr 185 Ambient i TE Ambient 0 10 20 30 4g temperature i o r z temperature E Temperature Characteristics of the Servomotor and Mechanical System OMNUC G Series AC Servomotors use rare earth magnets n
482. with a key and tap are indicated with J at the end of the model number the suffix shown in the box Example R88G HPG11A05100BJ 2 8 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models Decelerators for 2 000 r min Servomotors Specifications Motor 7 Model capacity Gear ratio 1 5 R88G HPG32A053K0B 1 11 R88G HPG32A112K0SB 1 kW 1 21 R88G HPG32A211KOSB 1 33 R88G HPG50A332K0SB 1 45 R88G HPG50A451KO0SB 1 5 R88G HPG32A053K0B ERN 1 11 R88G HPG32A112K0SB 1 21 R88G HPG50A213K0B 1 33 R88G HPG50A332K0SB 1 5 R88G HPG32A053K0B 1 11 R88G HPG32A112K0SB n 1 21 R88G HPG50A213K0B 1 33 R88G HPG50A332K0SB 1 5 R88G HPG32A054K0B an 1 11 R88G HPG50A115KOB 1 21 R88G HPG50A213KOSB 1 25 R88G HPG65A253K0SB 1 5 R88G HPG50A054K0SB 1 11 R88G HPG50A114K0SB an 1 20 R88G HPG65A204K0SB 1 25 R88G HPG65A254K0SB 1 5 R88G HPG50A055KOSB a 1 11 R88G HPG50A115KOSB 1 20 R88G HPG65A205KOSB 1 25 R88G HPG65A255K0SB Sei 1 5 R88G HPG65A057K5SB 1 12 R88G HPG65A127K5SB 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 HPG32A053K
483. x10 2974 10285 19 0 R88G 4 1 21 HPG50A213K0B 143 183 0 91 214 517 7 5 80 x10 3611 12486 19 0 R88G 4 4 i 1 5 HPG32A054K0B 600 53 9 90 900 163 4 3 80x10 889 3542 7 9 as 1 11 Hoga 273 124 6 90 409 359 0 8 80x10 2974 10285 19 1 HPG50A115KOB i R88G 3 5 1 5 HPG50A055K0B 600 69 3 88 900 197 8 1 20 x 10 2347 8118 17 7 is 1 11 R88G 273 158 4 91 409 451 9 880x104 2974 10285 19 1 HPG50A115KOB i i i 1 Keep the maximum rotation speed at 4 500 r min or less 2 With the R88G HPG11B05100B J cold start efficiency may be reduced if a 50 W motor is used When operation is first started in the morning while the Decelerator temperature is low the viscosity of the lubricant inside the Decelerator will be higher As operation continues and the Decelerator temperature rises the viscosity of the lubricant will be lowered and efficiency will improve 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 the model number the suffix in the box 3 34 Specifications Specifications 3 3 Decelerator Specifications Decelerat
484. ynamic brake resistor is disconnected Review the load inertia Replace the Servomotor and Servo Drive with appropriate models Dynamic brake is disabled Check if the dynamic brake is disabled or has failed If disabled enable it If there is a failure or disconnection of the resistor replace the Servomotor Overshoots when starting or stopping The Position Loop Gain Pn010 is too large Review the Position Loop Gain Pn010 Adjust the gain to avoid overshooting Poor balance between the Speed Loop Integration Time Constant Pn012 and the Speed Loop Gain Pn011 Review the Speed Loop Integration Time Constant Pn012 and the Speed Loop Gain Pn011 Use CX Drive and analog monitors SP IM to mea sure the response and adjust the gain Inappropriate machine rigidity setting by realtime autotuning Review the machine rigidity setting Match the machine rigidity setting to the load rigidity Inertial ratio setting differs from the load Review the Inertial Ratio Pn020 Match the Inertia Ratio Pn020 to the load 8 18 Troubleshooting 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasure Unusual noise and vibration occurs from the Servomotor or the load The Torque Command Filter Time Constant Pn014 does not match the load Review the Torque Command Filter Time Constant Pn014
485. zation data exchanged between the master and slave nodes during each MECHATROLINK II communications cycle resulted in an er ror Emergency stop input error The emergency stop input circuit opened Transmission cycle setting error The transmission cycle setting is incorrect when receiving the MECHA TROLINK II CONNECT command SYNC command error A SYNC related command was issued while MECHATROLINK II was in asynchronous communications mode Parameter setting error The electronic gear ratio is outside the allowable parameter setting range either it is smaller than 1 100 or larger than 100 1 Servomotor non conformity The Servomotor and Servo Drive do not match 3 6 Specifications Specifications 3 1 Servo Drive Specifications Main Circuit and Servomotor Connector Specifications When wiring the main circuit use proper wire sizes grounding systems and anti noise measures m R88D GNA5L ML2 GN01L ML2 GNO2L ML2 GNO4L ML2 R88D GN01H ML2 GNO2H ML2 GNO4H ML2 GNO8H ML2 GN10H ML2 GN15H ML2 Main Circuit Connector Specifications CNA Symbol Name Function L1 R88D GNLIL ML2 50 to 400 W Single phase 100 to 115 VAC 85 to 127 V L2 Main circuit 50 60 Hz R88D GNLIH ML2 50 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V power supply 50 60 Hz L3 neu 750 W to 1 5 kW Three phase 200 to 240 VAC 170 to 264 V 50 60Hz mie A ou

G Series Servomotors/Drives w/Mechatrolink

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