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SmartStep Junior User`s Manual

1. 3 a a GZ Mounting Hole Dimensions ay HOO dogo ln y 000000000000000 Two M4 screw holes ie e 4 5 dia hol jd i Footprint ice E E F 4B o S E ooo i T e o S SPEE EE EN i ess 2 PCT o a E CH v re tg E e ar oe o te J E 3 0 e ha Js 7 7 28 L 19 L 5 5 35 35 75 105 B R7D ZP04H 400 W E vU ES i Mounting Hole Dimensions amp T TIT ha g Two M4 screw holes 4 5 dia hole R 238 SEE ge ee m x cz i omron D isg HE bf U d Am E AJo Li A ae als 5 E ZI p 33 19 4 5 5 Lk AH a L 40 J 75 105 2 2 External and Mounted Dimensions 2 2 1 Servo Drivers m R7D ZPO8H 750 W Mounting Hole Dimensions Two M4 screw holes 4 5 dia hole KR TES 5 dia 5i Exterior Zi 8 5 d A fe a Je wes I
2. Signal 24 V power supply input for outputs A EENEG 4 a LA SV power supply input for ouipuis B CW with resistance A Pulse F ng TE output CCW with resistance A GoW without resistance B A ov 5 e Deviation counter reset output 6 A DV B S A Origin input 1 e E A Positioning completed input 9 E A Origin proximity input D E A CCW limit input 2 e A CW limit input 3 E A External interrupt input 9 E A Emergency stop input 20 B NFB OFF ON EE fA Main circuit contact R 9 61 o 8 o O Le E o Le o sd SUP Surge suppressor i F T ED d Servo error indicator o H z TOC 4 Linear reactor Ground to 100 Q R7D ZP Fuss or less CN1 CNA R7A CPZLS Con d i i 24 vDC EI HOTS i L2 Oc i Key l d Canne a external F H 2 CW e Regeneration Resistance Unit T x 3 CCW when required t t 4 CCW 22kQ i xx 8 ECRST R7M Z AM 9 ECRST CNB n souze i i U R7A CAZOB i i White N gervomotor Power Cable t xx i t 11 ZCOM Vv Bu 7 Lio z WO ke IH ft H QD ow M EL 14 INP x tt 5 24VIN O O 4 5 00 0 it 6 RUN R7A CRZOC 1 CN2 Encoder Cable 9 i 7 OGND E 31 E H f t T e e li
3. Controller Cable connecting to the Servo Relay Unit Cable connecting to the Controller Servo Driver C200H NC112 XW2Z J A4 XW2B 20J6 1B XW2Z J B17 C200HW NC113 XW2Z J A8 CS1W NC113 CS1W NC133 XW2Z J A12 CJ1W NC113 XW2Z J A16 CJ1W NC133 XW2Z J A20 3F88M DRT 141 XW2Z J A25 C200H NC21 1 XW2Z J A5 XW2B 40J6 2B C200HW NC213 413 XW2Z J A9 CS1W NC213 413 CS1W NC233 433 XW2Z J A13 CJ1W NC213 413 XW2Z J A17 CJ1W NC233 433 XW2Z J A21 CQM1 CPU43 V1 XW2Z J A3 XW2B 20J6 3B CQM1H PLB21 CJIM CPU21 XW2Z J A26 XW2B 20J6 8A CJIM CPU22 CJIM CPU23 XW2B 40J6 9A for 2 axis connection Thank you for choosing this SMARTSTEP Junior product This manual provides information on installation wiring and switch setting for the SMARTSTEP Junior Servomotors and Servo Drivers For information about troubleshooting refer to the SMARTSTEP Junior User s Manual Cat No 1553 B intended Audiences This manual is intended for the following personnel who must also have knowledge of electrical systems an electrical engineer or the equivalent e Personnel in charge of installing FA systems e Personnel in charge of designing FA systems e Personnel in charge of managing FA systems and facilities B NOTICE This manual contains information necessary for t
4. 4 14 4 2 Wiring 4 2 5 Conforming to EMC Directives No fuse Breakers NFB When selecting a no fuse breaker consider the maximum input current and the inrush current Maximum Input Current The Servo Driver 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 maximum output General purpose and low speed no fuse breakers are generally suitable The table in 4 2 4 Wiring the Main Circuit and Servomotor Connections shows the rated power supply input current for each Servomotor Select a no fuse breaker with a rated current greater than the total effective load current when multiple Servomotors are used Add the current consumption of other controllers and any other components when selecting the NFB Inrush Current The following table lists the Servo Drivers inrush currents With low speed no fuse breakers an inrush current 10 times the rated current flows for 0 02 second When there is a simultaneous inrush for multiple Servo Drivers select a no fuse breaker with a 20 ms allowable current greater than the total inrush current for those Servo Drivers shown in the following table Inrush current Ao p Servo Driver model oe Main circuit power supply
5. NFB OFF ON Ve e cp f Main circuit contact R Q 61o 1 8 O O i 9 E ZS Le oo sd SUP 4Surge suppressor 3 phase 200 230 VAC 50 60Hz fs i X1 amp servo error indicator o i E TOC 4 Linear reactor CJ1W NC133 233 433 Ground to 100 Q R7D ZP Fuse or less CN1 CNA Signal No R7A CPZLIS 5 V power supply for pulse outputs Ad F we ra CEN H Da 1 Li LOTS 5 V ground for pulse outputs A3 i L2 OO CW output A5 1 ECW MC X axis I XX i Connect an external pulse CW 7 output A6 1 H 2 CW e Regeneration Resistance Unit outputs CCW output AT 3 FCCW o when required CCW CH output AB i XX i 4 cow 1 1 7 H 8 ECRST at X axis deviation counter reset output A10 xX 9 ECRST R7M Z X axis origin input 24 V A13 11 ZCOM CNB bL RI CAZUS T m X axis origin common A12 i gt d 10 Z U RN R7A CAZIB ote 1 Incorrect signal wiring can S ervomotor Power Cable Gauss damage to Units and X axis positioning complete input A11 14 INP V TA the Servo Driver 24 V power supply for outputs A1 i i W vest 2 Leave unused signal lines 0 V Power supply for outputs A2 i qg p open and do not wire them Common for inputs A20 VoM 5 24VIN iai 2AVDCI Sec 3 3 Use mode 2 for origin a 44 i search X axis external interrupt input A15 o Oo T 4D OO O i 6 RUN R7A CRZCIC 4 Use a dedicated power X axis origin proximity input A17
6. LED Status when error s Error Cause of error Countermeasure Indicators occurs Speed Occurs when the The Servo Driver is faulty Replace the Servo Driver error power is turned ON Occurs when the servo The U phase V phase W phase or Rewire correctly is turned ON GR wires are wired incorrectly The encoder wires are wired incorrectly Noise infiltrated the Encoder Cable Take countermeasures against AL1 and caused improper operation noise in the Encoder Cable e The Servo Driver is faulty Replace the Servo Driver Occurs when the The U phase V phase W phase or Rewire correctly as W Servomotor starts GR wires are wired incorrectly running or after The encoder wires are wired initiating high speed incorrectly rotation e Noise infiltrated the Encoder Cable Take countermeasures against and caused improper operation noise in the Encoder Cable The position command input Input the command value exceeds a rate of 4 500 rpm correctly The Servo Driver is faulty Replace the Servo Driver Overload Occurs when the The Servo Driver is faulty Replace the Servo Driver power is turned ON Occurs when the servo The U phase V phase W phase or Rewire correctly is turned ON GR wires are wired incorrectly The encoder wires are wired incorrectly The Servo Driver is faulty Replace the Servo Driver Servomotor will not The U phase V phase W phase or Rewire correctly rotate even t
7. Pulse 0 origin proximity input signal 24VIN Servo Driver Connector Pin Numbers 1 2 Shell Connecting to the SYSMAC CP1H Y20DT D CP1H Y20DT D Outpu Terminal Block Pulse putput 0 CWO0 Servo Driver Origin search O CIO 101 bit 02 24 VDC input terminal 24 VDC input terminal COM 101CH Input Terminal Block Pulse 0 origin input signal CIO 0 bit 00 COM 101CH Pulse 0 origin proximity input signal CIO 0 bit 01 B Using Servo Relay Units A Servo Relay Unit can be used when connecting to the Controllers listed in the following table Refer to this table to select the Controller Cable If there is more than one terminal block plate the nameplate with the signal names provided with the Servo Relay Unit use the one for SMARTSTEP and wire the terminals correctly Connector XW2B 20G Pin Numbers Shield SEE i H XX H4 i 2 9C 3 4 d i JI so ae ECRST 8 Mie H ECRST 9 d CH H 14 T ZCOM 11 i Q H Z 10 SSES 1 24VIN 5 24 VDC x1 oo I o 00 6 6 7 alkro i 12 24 VDC 9 18 Ge i Shell
8. m NFB OFF ON EE a A Main circuit contact RO Op 2 0 OO T T ic o Ts O O Ox SUP Surge suppressor 3 phase 200 230 VAC 50 60Hz E SC 6 4 Servo error indicator i Lo 4 o H z TOC 4 Linear reactor CS1W NC133 233 433 Ground to 100 9 R7D ZP Fuse or less CN1 CNA Signal No R7A CPZLIS 5 V power supply for pulse outputs A4 F Sp eee mud H oes A i L1 Im 5 V ground for pulse outputs A3 i L2 OO CW output A5 n 1 HCW MC X axis i i Connect an external pulse CW output A6 t XX t 2 Cw e Regeneration Resistance Unit outputs CCW output A7 xx 3 FCCW e when required CCW output Ap i i 4 CCW 1 1 T H 8 ECRST SS X axis deviation counter reset output A11 x lt 9 ECRST C R7M Z X axis origin input 24 V A15 11 ZCOM CNB AIRAS X axis origin common A14 i 7 O 410 Z U ms RTA CAZOIB X axis positioning complete input A12 i 14 INF V We yeee Power Cable 24 V power supply for outputs A1 i i W iGreen 0 V power supply for outputs A2 i Yellow Common for inputs A24 cr LL 5 LOAVIN 24 VDC ad H X axis external interrupt input A49 o O T 4D OO O i 6 RUN R7A CRZOC X axis origin proximity input A21 o G A CN2 Encoder Cable X axis CCW limit input 23 ae i 7 OGND E 31 X axis CW limit input A22 i H i 1 X axis emergency stop input A20 al GH i i 12 ALM c D C amp J 15 BKIR os Liq KN Shell FG 24 VDC B Exampl
9. Leave unused signal lines open and do not wire them origin earch se a dedicated power upply as the 24 V DC ower supply for command ulse signals he diode recommended r surge absorption is the RB44 02 Fuji Electric o not use the 24 VDC control power supply for the brake power supply 24 VDC co ooo omgcd 3 phase 200 230 VAC 50 60Hz CJ1M Signal No Input for the output power supply 37 Main circuit power supply Ground to 100 9 or less Output COM 39 CW output NEB ork LN CN Main circuit contact R Q 61o 5 O 1 9 E o Le OO sd SUP Surge suppressor i X1 S indicat H g e E 4 Servo error indicator ro i z T 606 629 4 Linear reactor R7D ZP Euch C R7A CPZUIS Foie oo MC Connect an external Pulse loutput 0 CCW output Regeneration Resistance Unit FCCW when required Deviation counter reset output CCW FECRST g R7M Z Origin input signal ECRST ZCOM B DV R7A CAZOS R7A CAZOB Z Positioning completed signal ov Servomotor Power Cable INP Origin proximity input signal
10. Servomotor SMARTSTEP Junior Servomotor Class D ground Class 3 ground 100 Q or less O 1MC ol o Main circuit power supply Main circuit contactor Linear reactor OFF ON See note 1 lt ES 2 1MC Fuse o Surge killer x See note 1 o PL Servo efror display SMARTSTEP Junior Servo Driver XB OHS Ot hi Z C1 C2 100 Q or External Regeneration Unit Note 1 Recommended products are listed See note 3 4 8 in 4 2 5 Conforming to EMC Directives Recommended Relay OMRON MY series Relay 24 V model An R88A RR22047S External Regeneration Resistor can be connected Connect the R88A RR22047S if the regenerative energy exceeds the capacity of the External Regeneration Unit Connect the R88A RR22047S so that the power supply is cut off when the hermal switch output opens The dynamic brake will operate while the main circuit power supply or the control circuit power supply is OFF User control device Control cable Encoder cable 4 2 Wiring 4 2 4 Wiring the Main Circuit and Servomotor Connections Wiring the Main Circuit and Servomotor Connections When wiring a Terminal Block use proper wire sizes grounding systems and anti noise measures B Terminal Block Names and Functions Signal Function Condition Main circuits power SUPPIY Sin
11. Name Model number Comments This cable has a connector attached to connect to the Control I O Connector CN1 R7A CPZ S The digits in the model number indicate the cable length either 1 m or 2 m Example model number R7A CPZ0018 1 m General purpose Control Cable B Servomotor Power Cables CNB There are two kinds of Servomotor Power Cables one for Servomotors with a brake and another for Servomotors without a brake Select the Cable to match the Servomotor being used Specification Model number Comments For a Servomotor R7A CAZ s The digits in the model number indicate the cable without a brake length 3 m 5 m or 10 m For a Servomotor Example model number R7A CAZO003S 3 m cable for a with a brake R7A CAZ B Servomotor without a brake B Encoder Cables CN2 Name Model number Comments The digits in the model number indicate the cable Encoder Cable R7A CRZ C length 3 m 5 m or 10 m Example model number R7A CRZOOSC 3 m 4 2 Wiring 4 2 3 Peripheral Device Connection Examples 4 2 3 Class D ground Class 3 ground Peripheral Device Connection Examples B R7D ZP01H ZP02H ZP04H ZP08H
12. Note 1 Make 1 5 turns for the ferrite core s cable winding 2 Peel the insulation off the cable at the clamp and directly connect the shield to the metal plate Ground the motor s frame to the machine ground when the motor is on a movable shaft e Use a grounding plate for the frame ground for each Unit as shown in the above diagrams and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible No fuse breakers surge absorbers and noise filters NF should be positioned near the input terminal block ground plate and I O lines should be isolated and wired using the shortest distance possible 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 and 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 should be installed at the entrance to the control box whenever possible Correct Separate input and output Wrong Noise not filtered effectively AC input AC output AC input Ground Ground AC output e Use twisted pair cables for the power supply cables whenever possible or bind the cables 4 12 4 2 Wiring 4 2 5 Conforming to EMC
13. 15 olol ol PE T O g oo S Tf ray C a sach dz SIS s omron X xa m I i E n N a 2 em nf ee CA d M NS e MN E 1 sel e A Aaa o6 Ld oO LI in ag 4 5 17 13 17 14 30 14 30 4 5 70 70 75 145 2 2 External and Mounted Dimensions 2 2 2 Servomotors 2 2 2 Servomotors m 100 W Servomotor without a Brake R7M Z10030 S1 o 3 0 025 Key Key groove 11 5 40 8 dia height 6 30 dia height 8 Two 4 3 dia m 100 W Servomotor with Brake R7M Z10030 BS1 o 3 does 0 006 3 oto 40 1 d a L eg Kan y e 3 dos Key Key groove 11 5 S x i o t B a co 2 Ei o e 30 dia height 8 Two 4 3 dia 2 7 2 2 External and Mounted Dimensions 2 2 2 Servomotors 2 8 m 200 W 400 W 750 W Servomotors without Brakes e R7M Z20030 S1 240030 S1 275030 S1 300 2 Output Section on 750 W Servomotor s ray S Qu Q ens A Deet E 5 S em L LL EM D i
14. 4 10 4 2 Wiring 4 2 5 Conforming to EMC Directives Fig B Model J FAT OT JST Mfg Co Ltd 4 Insert the wire into the slot With the slot held open insert the end of the wire Then let the slot close by releasing the pressure from the lever or the screwdriver 5 Mount the Terminal Block to the Servo Driver After all of the terminals have been wired return the Terminal Block to its original position on the Servo Driver 4 2 5 Conforming to EMC Directives Conformance to EMC Directives EN55011 class A group 1 EMI and EN61000 6 2 EMS can be ensured by wiring under the conditions described below These conditions are for conformance of SMARTSTEP Junior products to EMC Directives EMC related performance of these products however will vary depending on the configuration wiring and other conditions of the equipment in which the products are installed The customer must therefore perform final checks to confirm that devices and the overall installation conform to EMC Directives The following conditions must be met to conform to EMC Directives The Servo Driver 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 all power supply lines Shielded cables must be used for all I O signal lines and encoder lines Use tin plated soft copper wires for the shield weaving All cab
15. Note 1 Servomotor output lines cannot use the same noise filters used for power supplies 2 Typical noise filters are used with power supply frequencies of 50 60 Hz If these noise filters are connected to outputs of 11 7 kHz the Servo Drivers PWM frequency a very large about 100 times larger leakage current will flow through the noise filter s condenser and the Servo Driver could be damaged 4 3 Regenerative Energy Absorption 4 3 1 Calculating the Regenerative Energy 4 3 Regenerative Energy Absorption The Servo Drivers 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 is generated 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 produced by changing operating patterns or to increase the regenerative energy absorption capacity by connecting external regeneration resistance 4 3 1 Calculating the Regenerative Energy B Horizontal Axis N1 Servomotor operation N2 Servomotor output torque 4 Note In the output torque graph acceleration in the positive direction is shown as positive and acceleration in the negative direction is shown as negative e The regenerative energy values for each region can be derived from the following equations Ener Mann
16. OMRON USER S MANUAL unior MODELS R7M ZL Servomotors R7D ZPI Servo Drivers Servomotors Servo Drivers 69109 SMARTSTEP Junior Supplemental Information On Wiring OMRON Corporation Cat No 1553 E1 01 Thank you for your continued support of OMRON products The information provided in this document is being provided to supplement the information on wiring via a XW2B series Terminal Block Conversion Unit when connecting a SMARTSTEP Junior Servo Driver to a Controller The original information is insufficient so please use this document along with the manual B Using a Terminal Block Conversion Unit A Terminal Block Conversion Unit can be used when connecting to a general purpose Controller This document describes the Unit models and provides cable specifications and wiring examples Controller Terminal Block Conversion Unit SMARTSTEP Junior Be sure to correctly match the connector pins and the terminal block terminals General purpose xe Cable Conversion Unit Models Any of the following three models of 20 pole Conversion Units can be used as required by the application XW2B 20G4 XW2B 20G5 XW2D 20G6 Cable Specifications Use one of the following cables to connect the Connector Terminal Block Unit to the control I O connector CN1 on the Servo Driver Model Length L Outer diameter of Weight sheath XW2Z 100J B19
17. 1 5 2 UL and cUL Standards Standard Product Applicable File number Comments standards UL AC Servo Drivers UL 508C E179149 Power Conversion Equipment AC Servomotors UL 1004 E179189 Electric Motors cUL AC Servo Drivers cUL C22 2 No 14 E179149 Industrial Control Equipment AC Servomotors cUL C22 2 No 100 E179189 Motors and Generation Equipment Section 2 Standard Models and Dimensions 2 1 Standard Models 2 1 1 Servo Drivers 2 1 Standard Models Note Only the Servomotor and Servo Driver combinations listed here can be used Do not use other combinations 2 1 1 Servo Drivers Specifications Model Pulse string input 100 W R7D ZP01H 200W R7D ZP02H 400 W R7D ZP04H 750 W R7D ZP08H 2 1 2 Servomotors Specifications Model Without brake 100 W R7M Z10030 S1 200 W R7M Z20030 S1 400 W R7M Z40030 S1 750W R7M Z75030 S1 With brake 100 W R7M Z10030 BS1 200 W R7M Z20030 BS1 400 W R7M Z40030 BS1 750W R7M Z75030 BS1 2 1 3 Servo Driver Servomotor Combinations Rated Servomotor Servo Driver output Without brake With brake Pulse string input 100 W R7M Z10030 S1 R7M Z10030 BS1 R7D ZP01H 200 W R7M Z20030 S1 R7M Z20030 BS1 R7D ZP02H 400 W R7M Z40030 S1 R7M Z40030 BS1 R7D ZP04H 750 W R7M Z75030 S1 R7M Z75030 BS1 R7D ZP08H 2 1 Standard Models 2 1 4 Decelerators Straight Shaft with Key 2 1 4 Decelerators S
18. Setting GE mathod Command pulse type 0 1000 Open collector or line driver CW CCW positive logic 1 2500 cw nmn 2 5000 Line driver 3 10000 cow lll 4 1000 Open collector or line driver CW CCW negative logic 5 2500 w If 6 5000 Line driver 7 10000 ccw 8 1000 Open collector or line driver SCH pulse string positive 2 a s Uu nm A 5000 Line driver B 10000 SIGN C 1000 Open collector or line driver d pulse string negative D 2500 eus If E 5000 Line driver F 10000 SIGN 1 3 Nomenclature and Functions 1 3 1 Servo Driver Nomenclature and Functions B Rotary Switch for Setting Command Filter FIL This switch does not need to be set if the machine is not subject to vibration The switch is factory set to 0 Filter Acceleration deceleration Approx time from end of Description setting time for STEP command command to end of See See note 3 positioning settling time note 1 See note 2 0 45 ms 100 to 200 ms Smaller filter time 1 50 ms 110 to 220 ms constant 2 60 ms 130 to 260 ms short positioning time 3 65 ms 150 to 300 ms Larger filter time constant 4 70 ms 170 to 340 ms longer positioning time 5 80 ms 200 to 400 ms with little vibration 6 85 ms 250 to 500 ms 7 170 ms 500 to 1 000 ms 8 to F Do not set this switch to 8 to F Note 1 Increase the value of the filter setting if there is vibration when starting or stopping 2 The settling time depends
19. mE 3 w GR E Q VCC gt G gt EES o SW power 15V2 lt AA E GR supply VCC2 Relay BB 2 Main circuit VCC drive Phase U __ control T a Gate Current Overcurrent piso amp LL Control power gt VCC A drive detection protection SE Kaz supply G Phase W 5 Main circuit voltage PhaseZ 8 detection MPU amp ASIC lt a FAN Position speed and torque processor oG Fan alarm m VCC jndino AN indui uny yndul MOO Command Command filter format setting setting Control I O connector 1 6 1 5 Applicable Standards 1 5 1 EC Directives 1 5 Applicable Standards 1 5 1 EC Directives EC Directive Product Applicable standards Comments Safety requirements for electronic equipment for AC Servo Drivers EN 50178 Low Voltage measurement control or Directive laboratory use IE 4 1 5 8 f AC Servomotors MA LEE Rotating electric machines EN 60034 1 and 9 Limits and methods of measurement of radio EN 550011 Class A Group1 disturbance of industrial MS AC Servo Drivers and scientific and medical EMC Directive 8 AC Servomotors radio frequency equipment Electromagnetic compatibility EN 61000 6 2 EMC Immunity standard for industrial environments Note To conform to EMC Directives the Units must be installed under the conditions described in 4 2 5 Conforming to EMC Directives
20. pin 6 RUN e Functions This is the input that turns ON the power drive circuit for the main circuit of the Servo Driver If this signal is not input i e servo OFF status the Servomotor cannot operate except for JOG operations 3 9 3 1 Servo Driver Specifications 3 1 7 Control Output Circuits 3 1 7 Control Output Circuits B Phase Z Output Servo Driver Controller 11 ZCOM Maximum operating voltage 30 V DC Maximum output current 50 mA B Sequence and Alarm Outputs Servo Driver 12 ALM Os EY Se ONO Di 13 BKIR X gt SINE 14 INP cz S ys 7 0GND Di ic Maximum operating voltage 30 V DC Maximum output current 50 mA External power supply 24V DC 1V Di Diode for preventing surge voltage Use speed diodes 3 1 8 Control Output Details B Control Output Sequence Power supply input L1 and L2 ON MEu RN OFF Approx 2 s Alarm output ALM _ 30 s max Positioning Completed Output oy Ee e E OFF i j INP Deeg A OFF Brake Interlock output BKIR on oe Nm MEE OFF Run command input ON RUN OFF ppp up 3 10 3 1 9 3 1 Servo Driver Specifications 3 1 9 Encoder Connector Specifications CN2 Phase Z Output Z The following CN1 connector pins are used for the phase Z output Pin No 10 Phase Z output Z Pin No 11 Phase Z
21. tension can be adjusted Bevel aear Make moveable Pul Pulley for tension adjustment ZE Make adjustable Belt i Tension B Water and Drip Resistance The enclosure ratings for the Servomotors are as follows IP55 except for through shaft parts and cable exit holes B Other Precautions Take measures to prevent the shaft from rusting The shafts are coated with anti rust oil when shipped but anti rust oil or grease should also be applied when connecting the shaft to a load A WARNING Do not apply commercial power directly to the Servomotor N WARNING Applying commercial power directly will burn out the motor coils Do not attempt to disassemble repair or modify any Units Any attempts to do so NWARNING may result in electric shock or other injury 4 4 4 1 Installation Conditions 4 1 3 Decelerators 4 1 3 Decelerators B Installing Decelerators Use only the specified combinations of Servomotors and Decelerators The service life of the motor bearings may be shortened you use a combination that is not specified another company s reductions gear or another company s Servomotor The dimensions of the Servomotor mounting flange on the Decelerators differ for each Servomotor Do not install Decelerators on a Servomotor other than the one specified Use the following procedure when installing a Decelerator on the Servomotor When installing the Servomotor avoid
22. 196 1 9 R7G RGSF09C400 333 3 78 66 500 11 3 2 68 x 10 931 465 1 15 R7G RGSF15C400 200 6 31 66 300 18 9 2 71 x 10 1176 588 400W 1 5 R7G RGSF05C400 600 5 40 85 900 16 2 3 22 x 10 784 392 1 9 R7G RGSF09C400 333 9 49 83 500 28 5 2 68 x 10 931 465 1 15 R7G RGSF15C400 200 15 8 83 300 47 6 2 71 x 10 1176 588 Note 1 The Decelerator inertia is the Servomotor shaft conversion value 2 The enclosure rating for Servomotors with Decelerators is IP44 3 The allowable radial load is the value at the center of the shaft 3 17 3 4 Cable and Connector Specifications 3 4 1 Control Cable Specifications Cable and Connector Specifications 3 4 1 Control Cable Specifications B General purpose Control Cables R7A CPZ S A General purpose Control Cable connects to the Servo Driver s Control I O Connector CN1 There is no connector on the controller end Wire a connector to match the controller if you are connecting to a Position Control Unit and a compatible cable is not available or connecting to a controller manufactured by another company Cable Models Model Length L Outer diameter of cable Weight R7A CPZ001S 1m 5 6 dia Approx 0 1 kg R7A CPZ002S 2m f Approx 0 2 kg Connection Configuration and Dimensions Controller end Servo Driver end R7D ZPLI 212 7 Wiring No Wire c
23. 4 25 07 200W 1 5 R7G RGSF05B200 72 5 32 52 60 70 60 50 45 10 3 10 2 20 M5 M5 M4 12 16 4 4 25 0 72 1 9 R7G RGSF09C400 89 5 50 78 60 70 90 70 62 17 3 8 9 30 M5 M6 M4 20 22 6 6 3 5 1 7 145 R7G RGSF15C400 100 50 78 60 70 90 70 62 17 3 8 9 30 M5 M6 M4 20 22 6 6 35 24 400W 1 5 R7G RGSF05C400 89 5 50 78 60 70 90 70 62 17 3 8 9 30 M5 M6 M4 20 22 6 6 35 1 7 1 9 R7G RGSF09C400 89 5 50 78 60 70 90 70 62 17 3 8 9 30 M5 M6 M4 20 22 6 635 1 7 1 15 R7G RGSF15C400 100 50 78 60 70 90 70 62 17 3 8 9 30 M5 M6 M4 20 22 6 6 35 24 Note AT is the size of the set bolt Outline Drawings m E a Four Z1 Four Z2 Effective depth D2 dia i i 8 es eo a S 5 2 10 Set bolt AT LM LR la Key dimensions Ke Y i Ok GER ti C1 Section 3 Specifications 3 1 Servo Driver Specifications 3 1 1 General Specifications 3 1 Servo Driver Specifications Select the Servo Driver in combination with the Servomotor being used For details refer to 2 1 3 Servo Driver Servomotor Combinations 3 1 1 General Specifications Item Specifications Ambient operating
24. 500 VAC 50 or 60 Hz for 1 minute between the power terminals and FG terminal Operating position Any direction Insulation class Type B Construction Totally enclosed self cooling Degree of protection IP55 excluding the through shaft portion Vibration class V 15 Mounting method Flange mounting EMC Directive EC EN 550011 Class A Group1 EN 61000 6 2 International Directives standards Low Voltage Directive IEC 60034 1 5 8 and 9 EN 60034 1 and 9 UL standards UL 1004 cUL standards cUL C22 2 No 100 B Motor Rotation Directions In this manual the Servomotors rotation directions are defined as forward and reverse Viewed from the end of the motor s output shaft counterclockwise CCW rotation is forward and clockwise CW rotation is reverse Z Reverse Forward 3 13 3 2 Servomotor Specifications 3 2 2 Characteristics 3 2 2 Characteristics R7M R7M R7M R7M Item Unit Z10030 S1 Z20030 S1 Z40030 S1 Z75030 S1 Rated output See note 1 WwW 100 200 400 750 Rated torque See note 1 N m 0 318 0 637 1 27 2 39 Rated rotation speed r min 3 000 Max momentary speed r min 4 500 Max momentary torque See note 1 N m 0 955 1 91 3 82 7 16 Rated current See note 1 A rms 0 84 1 1 2 0 3 7 Max momentary cu
25. 80 of the rated torque excluding axial flow fan N WARNING N WARNING Never perform withstand voltage or other megameter tests on the Servo Driver 3 1 Servo Driver Specifications 3 1 2 Characteristics 3 1 2 Characteristics B Control Specifications R7D Item ZP01H ZP02H ZP04H ZP08H Continuous output current rms 0 84 A 1 1A 20A 3 7A Momentary maximum output current 25A 33A 60A 444A rms Input power Supply uu Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz For main circuit and control circuit Main circuit DW 8W 16 W 27 W Heat generated Control circuit 8 W 8 W 8 W 8 W Control method All digital servo Inverter method IGBT driven PWM method Maximum response frequency command pulses Es Weight 0 5 kg 1 0 kg Applicable motor capacity 100 W 200 W 400 W 750 W Applicable Servomotors R7M Z10030 S1 Z20030 S1 Z40030 S1 Z75030 S1 3 1 3 Main Circuit and Servomotor Connector Specifications CNA and CNB B R7A CNZ01P CNA Main Circuit Connector Specifications oo N 2 k IA ele Fe CNA Connector d ag Hm Main Circuit Connector CNA Pin Arrangement Signal No Signal Function Condition 1 L1 Main circuits power supply Single phase 200 230 V AC 2 L2 input 170 to 253 V AC 50 60 Hz 3 Regeneration Resistance If regenerative energy is high connect a Regeneratio
26. Dimensions on0aannnnnneeosennnnrnnreeosernnrrnrrrensernnrrrreerne 2 5 2 2 1 Servo DIIVerS dioe ee Oe t teet ee eas es 2 5 22222 FSEIVOMOLOMS een edo eroe POR ctt boe repaid adonde issee A e a 2 7 2 2 3 Decelerator Dimensions ieeeeeeeiieeeeeeesesesese sese nnne nn nnn nnn hh rh ara ra rara ra raa na na 2 9 Section 3 Specifications 3 1 Servo Driver Specifications EEN 3 2 3 1 1 General Specifications esses enne enne 3 2 31 2 ee Ee EE tah nte tre ie po Pede iud 3 3 3 1 8 Main Circuit and Servomotor Connector Specifications CNA and CNB 3 3 14 3 1 4 3 1 5 3 1 6 3 1 7 3 1 8 3 1 9 3 2 3 2 1 3 2 2 3 2 3 3 3 3 3 1 3 4 3 4 1 3 4 2 3 4 3 3 4 4 3 5 3 5 1 3 6 3 6 1 Section 4 4 1 4 1 1 4 1 2 4 1 3 4 2 4 2 1 4 2 2 4 2 3 4 2 4 4 2 5 4 3 4 3 1 4 3 2 4 3 3 Section 5 5 1 5 1 1 5 2 5 2 1 Control I O Specifications CN 3 5 GontrolInput GILCUIES s x ccce tt teet ttti epe n bebe tne tp t ve tee ner detenta 3 7 Control Mille de UE 3 8 Control Output e Le TEE 3 10 Control Output Details eseti thin ih Ga eed dne pend 3 10 Encoder Connector Specifications CN 3 11 Servomotor Specifications EE 3 13 EE e e EE 3 13 El TEE e 3 14 Encoder Specifications sesionin aa estne tnnt nnns 3 16 Decelerator Specifications sites sean rtr tr yer ee i n Eee HE OR ER 3 17 Standard Models and Specifications sssssssssssse
27. Directives Correct Properly twisted Correct Cables are bound Driver Driver ou vi XO X Xs Re Binding e Separate power supply cables and signal cables when wiring B Control Panel Construction Openings in the control panel such as holes for cables operating panel mounting holes and gaps around the door may allow electromagnetic waves into the panel To prevent this from occurring observe the 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 During assembly strip the paint off of joint areas or mask them during painting to make them electrically conductive If gaps appear in the control box case when screws are tightened make adjustments to prevent this from occurring Do not leave any conductive part unconnected Ground all Units within the case to the case itself Door Structure Use a door that is made of metal Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams below Use a conductive gasket between the door and the case as shown in the diagrams below Refer to the diagrams below Strip the paint off of 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 G
28. Models and Dimensions Specifications System Design Operation Troubleshooting 13 Read and Understand this Manual 3 Warranty and Limitations of Liability 3 Application Considerations ee te a dee E XR EAR AERE DRE RR NEES ENEE 4 Re TEE 5 General Wain CN 6 Items to Check When Unpacking aor e DR RS Ee 12 EE E 14 Section 1 Features and System Configuration 1 1 Introductions eoim coe aa ee EE 1 2 1 1 1 ite le die del WEE 1 2 1 1 2 SMARTSTEP Junior Features 1 2 1 2 System CON UP Le ME 1 3 1 3 Nomenclature and Functions ccccccccecccceeceseeeseeeeceeueuseeeeeeeuaueeneeseeaaeeenaess 1 4 1 3 1 Servo Driver Nomenclature and Funchons 1 4 1 4 System Block Diagrams eurer ent tete rese etg een n e pue ted oes 1 6 1 4 1 Pulse train Input Servo Driver 1 6 1 5 Applicable Standards PERPE 1 7 1 5 1 EC DitecliVes s eio ie en eeh Eo cx ba eder t boos ox os hand hex ct bab Ae ots 1 7 1 5 2 UL and eULE Standards 5 e ede ee ee ee i ie 1 7 Section 2 Standard Models and Dimensions 2 1 Standard Models EE 2 2 2 1 1 Zaepert enee EEN EE 2 2 2 1 2 S rvOmolors sette utu ta deg tp eer m ere ART eee 2 2 2 1 8 Servo Driver Servomotor Combinations cccceeeeececeeeeeceesseseeeceeeeeceeceeasaeseeeeseeeeas 2 2 2 1 4 Decelerators Straight Shaft with key 2 3 2 1 5 Accessories and Cables 0 ecccceesececccececseeaececeeccecsesasaeceeeesceesesaeaeceeseeeceeseseaeseeeeeees 2 4 2 2 External and Mounted
29. R7D ZP01H ZP02H ZP04H 30 R7D ZP08H 60 Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal voltages etc When selecting surge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance For 200 V AC systems use surge absorbers with a varistor voltage of 470 V The surge absorbers shown in the following table are recommended Maker Model poit Suge Type Remarks voltage immunity okaya R A V 781BYZ 2 783 V 2 500 A Between power Electric Block supply lines Industries R A V 781BWZ 4 783 V 2 500 A Between power Co Ltd supply line grounds Note 1 Refer to the manufacturers documentation for operating details 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 4 15 4 2 Wiring 4 2 5 Conforming to EMC Directives Noise Filters for the Power Supply Input e Use the following noise filters for the Servo Driver s power supply Noise filter Servo Driver model Model Rated Leakage current See note current EE 50 Hz maker R7D ZP01H ZP02H FN2070 6 07 6A 250 V 0 4 mA phase R7D ZP04H FN2070 10 07 10A 250 V 0 4 mA phase Schaffner R7D ZP08H FN2070 16 07 16A 250 V 0 4 mA phase Note The last two digits of th
30. XX 1 FOW Ee external X axi CA eee 1 H 2 CW e Regeneration Resistance Unit etd CW without resistance A5 Lem t 3 FCCW o when required sde CCW with resistance A8 h xX it 4 CCW CCW without resistance i 7 t 8 ECRST gt X axis deviation counter reset output A10 D x lt i 9 ECRST S R7M Z Note 1 Incorrect signal wiring can Xs origin input ov Als xX 11 ZCOM CNB ea R7A CAZUS cause damage to Units and LES origin common up j t He us J Les the Servo Driver X axis positioning complete input A11 t i 14 INP y e gt 2 Leave unused signal lines i W I open and do not wire them i 5 fellow 3 Use mode 2 for origin Common for inputs e F24VIN search comers pa 1 4 Use a dedicated power X axis external interrupt input 5 05 0 i A15 O O O 6 RUN R7A CRZOG supply as the 24 V DC X axis origin proximity input A17 1 CN2 Encoder Cable power supply for command E mE PANNE pulse signals X axis CCW limit input A19 t t F OGND t H 5 The diode recommended X axis CW limit input A18 H ESCH 1 for surge absorption is the X axis emergency stop input A16 Alteri t 12 ALM ERB44 02 Fuji Electric 24 VDC Gd i xB 6 Do not use the 24 VDC G r i 7 BKIR oo control power supply for the 4 4 4 E B brake power supply 24 Shell FG VDC A 1 Connection Examples B Example 3 Connecting to a SYSMAC CJ1M PLC Note 1 Use mode 2 for Incorrect signal wiring can cause damage to Units and the Servo Driver
31. are long and are coiled mutual induction and inductance will increase and will cause malfunctions Always use cables fully extended When installing noise filters for Encoder Cables use clamp filters The following table shows the recommended ferrite core clamp filter models Maker Product name Model number Specifications NEC TOKIN Clamp type EMI Core ESD SR 250 For cable diameter up to 13 mm ZCAT2032 0930 For cable diameter up to 9 mm TDK Clamp Filters for Cable ZCAT3035 1330 For cable diameter up to 13 mm ZCAT2035 0930A For cable diameter up to 9 mm e Do not place the Encoder Cable in the same duct as Control Cables for brakes solenoids clutches and valves B Improving Control UO Signal Noise Resistance Positioning can be affected and I O signal errors can occur if control I O is influenced by noise Follow the methods outlined below for the power supply and wiring Use completely separate power supplies for the control power supply especially 24 V DC 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 Keep the power supply for pulse commands and devi
32. connected securely e The Encoder Cable must be securely connected to the Encoder Connector CN2 at the Servo Driver e The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor Checking the Control Connectors The Control Cable must be securely connected to the I O Control Connector CN1 e The RUN command RUN must be OFF B Turning ON Power e First carry out the preliminary checks and then turn ON the main circuit power supply The 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 when power is being supplied with the Host Controller connected B Checking Displays Once the power has been turned ON check that the command indicator REF is lit orange or green e f the command indicator is orange turn ON the RUN command input RUN and check that the indicator changes from orange to green e f the indicator does not change to green or one of the alarm indicators is lit AL1 to AL3 refer to Section 6 Troubleshooting and correct the error 5 5 5 3 Preparing for Operation 5 3 1 Turning ON the Power and Checking Indicators Check that the command indicator is lit orange or green 5 6 5 4 Trial Operation 5 4 1 Preparing for Trial Operation 5 4 Trial Operation Once mounting wiring switch setting and connecting a power supply have been finished
33. maintain a high level of reliability Temperature rise in any Unit installed in a closed space such as a control box will cause the Servo Driver s ambient temperature to rise Use a fan or air conditioner to prevent the Servo Driver s ambient temperature from exceeding 55 C e Servo Driver surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and keep separate any devices or wiring that are sensitive to heat The service life of a Servo Driver is largely determined by the temperature around the internal electrolytic capacitors The service life of an electrolytic capacitor is affected by a drop in electrolytic volume and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements If a Servo Driver is always operated at the maximum ambient temperature of 40 C and at 80 of the rated torque then a service life of approximately 50 000 hours can be expected excluding axial flow fan A drop of 10 C in the ambient temperature will double the expected service life 4 2 4 1 2 4 1 Installation Conditions 4 1 2 Servomotors B Keeping Foreign Objects Out of Units e Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the Units during installation Be sure to remove the cover after installation is complete If the co
34. may result in electric shock N WARNING Z N WARNING Do not touch the inside of the Servo Driver Doing so may result in electric shock Do not remove the front cover terminal covers cables or optional items while the power is Z WARNING being supplied Doing so may result in electric shock Installation operation maintenance or inspection must be performed by authorized Z WARNING personnel Not doing so may result in electric shock or injury Wiring or inspection must not be performed for at least five minutes after turning OFF the WARNING power supply Doing so may result in electric shock Do not damage press or put excessive stress or heavy objects on the cables Z WARNING Doing so may result in electric shock Do not touch the rotating parts of the Servomotor in operation Doing so may result in injury WARNING gp p g y jury N WARNING 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 D WARNING designed as a stopping mechanism for safety purposes Provide an external emergency stopping mechanism that can stop operation and shutting NWARNING off the power supply immediately Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power NWARNING interruption to avoid an unexpected restart Take appropriate measures to secure safety against an
35. o 0 CN2 Encoder Cable supply as the 5 V DC x axs CCW limit input A19 ae d iD 7 oGND CHRIST power supply for command X axis CW mit input A18 1 1 1 E pulse signals x i i UE 7 5 The diode recommended S emergency Stop input A16 Alter 12 ALM for surge absorption is the 24 VDC God i XB ERB44 02 Fuji Electric amp J 13 BKIR Zo 6 Do not use the 24 VDC Love gates st 1 control power supply for the Shell FG brake power supply 24 L 24 VDC VDC B Example 2 Connecting to SYSMAC CJ1W NC113 213 413 Position Control Units Main circuit power supply NFB OFF ON qe T par s ON Main circuit contact R Q 617o 1 8 8 O O 1 T A H o MC o o 1 SUP Surge suppressor 3 phase 200 230 VAC 50 60Hz i e i X1 ay 4Servo error indicator b bo P dee 4 Linear reactor CJ1W NC113 213 413 Ground to 100 Q R7D ZP Fuse or less CN1 CNA Signal No R7A CPZOS 24V power supply for pulse outputs r NUNCA H L1 Ho Pope 0 V ground for pulse outputs i L2 t OO f 7
36. od SUP Surge suppressor 3 phase 200 230 VAC 50 60Hz i a amp Servo error indicator T 6 6 4 Linear reactor Ground to 100 9 R7D ZPO Fuse or less R7A CPZUIS OUTO00 CW pulse output OUTO1 CCW pulse output Dette o0 1 FOW anie i external 2 Cw e Regeneration Resistance Unit 3 CCW o when required 4 CCW ECRST 9 ECRST R7M ZO 11 ZCOM CNB frea R7A CAZOS R7A CAZOB 10 5 White eee Power Cable F24VIN RUN R7A CRZOC Encoder Cable OGND ALM BKIR FG Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No 1553 E1 01 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version 01 September Original production 2006
37. on the commanded acceleration deceleration the rigidity of the machine motor drive the encoder resolution and other factors 3 Usethe acceleration deceleration times as a guideline for determining the Servomotor capacity that can be driven when using STEP commands without commanded acceleration deceleration B Command Indicators REF Ingicator Power to motor Command pulse See note Lit orange OFF None Flashing orange OFF Pulse being input Lit green ON None Flashing green ON Pulse being input Note The indicator stays lit yellow for 1 s when there is a deviation counter reset input B Alarm Indicators AL1 AL2 AL3 Indicator status Alarm Indicator Alarm au RB Normal ALI Overcurrent a E g a BM AL3 A Overspeed Au i Servo Driver built in fan is stopped A iy nt pp a3 M AL3 aur i Overload AL System error aa TT AL2 a B AL3 ALI Encoder error ALI RT Rotary switch for setting CM command pulse PULSE AL2 AL2 N b has been changed AL3 DW AMT Flashing at a costam interval M Voltage error AL2 AL3 Lit Not lit W Flashing NM 1 4 System Block Diagrams 1 4 1 Pulse string Input Servo Driver 1 4 System Block Diagrams 1 4 1 Pulse string Input Servo Driver U V
38. output ground ZCOM Function e The Encoder phase Z is output e One pulse is output for each rotation Alarm Output ALM e Pin No 12 Alarm Output ALM Function e The alarm output is turned OFF when the Servo Driver detects an error e This output is OFF at startup and turns ON when the initial processing has been completed Approx 2 s is required for initial processing Brake Interlock Output BKIR Pin No 13 Brake Interlock output BKIR Function e The external brake timing signal is output Positioning Completed Output INP Pin No 14 Positioning Completed Output INP Function e The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than 10 Encoder Connector Specifications CN2 Pin No Signal Name Function interface 1 E5V Encoder power supply 5 V Power supply output for the encoder 2 EOV Encoder power supply GND 5 V 70 mA 3 Phase A Encoder phase A input Aq Differential sine wave input 4 Phase A Encoder phase A input 5 Phase B Encoder phase B input p d i Differential cos wave input 6 Phase B Encoder phase B input 7 Phase Z Encoder phase Z input Open collector input 8 Phase U Pole sensor phase U input Open collector input 9 Phase V Pole sensor phase V input Open collector input 10 Phase W Pole sensor phase W input Open collector input Shell FG Shield ground Cable shield ground B Connectors for C
39. shorting bar between the RG JP terminals and connect the resistor to the P RG terminals P External Regeneration J Resistor N Shorting BG dig bar i r Note Connect the thermal switch output just like the External Regeneration Resistance Unit s ALM output so that the power supply will be shut off when the thermal switch opens If a sequence is not added to cut off the power with this output the resistor may overheat Seco EE 4 24 Section 5 Operation 5 1 Operational Procedure 5 1 1 Operational Procedure 5 1 Operational Procedure 5 1 1 Operational Procedure After mounting wiring and connecting a power supply check the operation of the Servomotor and Servo Driver Item Description Reference Kdauntihcicand Install the Servomotor and Servo Driver according to the installation conditions H Do not connect the Servomotor to the mechanical system before checking the Section 4 1 installation no load operation Wiring and Connect to power supply and peripheral devices connacti ng Note Specified installation and wiring requirements must be satisfied Section 4 2 particularly for models conforming to the EC Directives Switch settings Make sure that the power supply is turned OFF and set the Servo Driver s Section 5 2 front panel switc
40. storage humidity 35 to 85 with no condensation EECH No corrosive gasses atmosphere Vibration resistance 4 9 m s max Impact resistance Acceleration 19 6 m s max B Characteristics Item Specifications Regeneration operating voltage 380 VDC Regeneration current 8 A DC Average internal regeneration power 12 W internal resistance 50 O 60 W Externally connected regeneration 47 Q 5 resistance Error detection functions Regeneration resistance disconnection Regeneration transistor failure and overvoltage Alarm output Single pole NC contact open when protection function is operating can handle 200 VAC Dimensions 55 x 160 x 130 mm W x H x D B LED Indicator Specifications Item Specifications POWER Lit when power is being supplied to the P and N terminals REGEN Lit during regeneration operation Lit when the regeneration resistance is disconnected or the regeneration PERBEEREGEN transistor failed ALARM OV Lit when there is an overvoltage Note 1 Ifan error is detected an alarm is output from the Regeneration Resistance Unit Set up a sequence so that the power to the Servo Driver L1 and L2 is turned OFF when an alarm occurs 2 When an error is detected and the Servo Driver s power is turned OFF the Regeneration Resistance Unit will not reset normally unless the Servo Driver s power is OFF for 2 to 3 seconds The Regeneration Res
41. temperature 0 to 55 C Ambient operating humidity 90 max with no condensation Ambient storage temperature 20 to 70 C Ambient storage humidity 90 max with no condensation No corrosive gasses no dust no iron dust no exposure to moisture or cutting oil 10 to 55 Hz in X Y and Z directions with 0 1 mm double amplitude acceleration 4 9 m s max Storage and operating atmosphere Vibration resistance Impact resistance Acceleration 19 6 m s max in X Y and Z directions three times Between power supply power line terminals and frame ground 0 5 MO min at 500 V DC Between power supply power line terminals and frame ground 1 500 V Insulation resistance Dielectric strength AC for 1 min at 50 60 Hz Between each control signal and frame ground 500 V AC for 1 min Degree of protection Built into panel IP10 EN 55011 Class A 1 EMC Directive S01 HIIS SS SOUP EC EN 61000 6 2 International Directives Low Voltage EN 50178 standards Directive UL standards UL 508C cUL standards cUL C22 2 No 14 Note 1 The above items reflect individual evaluation testing The results may differ under compound conditions 2 Depending on the operating conditions some Servo Driver parts will require maintenance Refer to 6 5 Periodic Maintenance in the User s Manual for details 3 The service life of the Servo Driver is 50 000 hours at an average ambient temperature of 40 C at
42. 0 75 8 5 10 24 40 M6 M8 M4 20 30 8 7 4 3 4 1 15 R7G VRSFPB15D750 110 61 98 80 90 115 90 75 8 5 10 24 40 M6 M8 M4 20 30 8 7 4 3 8 1 25 R7G VRSFPB25E750 135 75 125 80 90 135 110 98 7 5 10 32 55 Me M10 M4 20 45 10 8 5 7 2 Note AT is the size of the set bolt f E3 Outline Drawings E pex Four Z2 Effective depth I Four Z1 i TS D2 dia D1 dia amp l s a y4 f S Dees ni Ili SC oi ek B amp C2 G T C1 Le em LM zs LR l It AT i i Set bolt AT Key dimensions QK IW 2 2 External and Mounted Dimensions 2 2 3 Decelerator Dimensions B Backlash 45 Arcminutes Max Dimensions mm Weight Model Key dimensions LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Z1 Z2 AT kg QK b h ti 100W 1 5 R7G RGSF05B100 67 5 32 52 40 46 60 50 45 10 3 6 2 20 M4 M5 M3 12 16 4 4 2 5 0 55 1 9 R7G RGSF09B100 67 5 32 52 40 46 60 50 45 10 3 6 2 20 M4 M5 M3 12 16 4 4 2 5 0 55 1 15 R7G RGSF15B100 78 32 52 40 46 60 50 45 10 3 6 2 20 M4 M5 M3 12 16 4
43. 054 35 52 80 95 30 40 45 4 4 5 R88A PX5056 35 52 80 95 30 40 45 4 4 3 3 26 Section 4 System Design 4 1 Installation Conditions 4 1 1 Servo Drivers 4 1 Installation Conditions 4 1 1 Servo Drivers B Space around Drivers Install Servo Drivers according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel Also install a fan for circulation if the Servo Drivers are installed side by side to prevent uneven temperatures from developing inside the panel E 50 mm min i Fan Fan Air 2 D D D gt E gt 5 45 a Side S E E panel o o o o e e E W W i w w 50 mm min Air 30 mm min W 10 mm min ZA B Mounting Direction Mount the Servo Drivers in a direction perpendicular such that the lettering for the model number and so on can be seen B Operating Environment The environment in which Servo Drivers are operated must meet the following conditions Servo Drivers may malfunction if operated under any other conditions e Ambient operating temperature 0 to 55 C Take into account temperature rises in the individual Servo Drivers themselves e Ambient operating humidity 20 to 90 max with no condensation e Atmosphere No corrosive gases B Ambient Temperature Servo Drivers should be operated in environments in which there is minimal temperature rise to
44. 1m 8 dia Approx 0 1 kg XW2Z 200J B19 2m Approx 0 2 kg Connector Terminal Block Unit XW2B 20G4 XW2B 20G5 XW2D 20G6 d l L ue Servo Driver R7D ZP PHE 69 170 7 U 29 5 t 12 7 Servo Driver Wiring The following diagram shows the correspondences between signal names and terminal numbers Terminal block Symbol 24VIN 24VIN Connector 24VIN CW PULS CW PULS CCW SIGN Servo Driver Wire mark colors Symbol Blue Red 24VIN Pink Red CW PULS CCW SIGN 10 ECRST Pink Black CW PULS Green Red CCW SIGN Green Black CCW SIGN Orange Red ECRST Orange Black Gray Red Gray Black Blue Red RUN Blue Black Pink Red Connector at Terminal Block Conversion Unit Connector Socket X4GM 2030 Strain Relief XG4T 5004 Cable AWG28 x 10P UL 20276 Pink Black INP Green Red ALM Shield FG Servo Driver Connector Connector plug 10114 3000PE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo 3M Controller Wiring XW2B 20G4 20G5 and XW2D 20G6 e Using Line driver Position Command Pulse and Deviation Counter Res
45. 24VIN ov RUN R7A CRZOC Encoder Cable OGND m ALM B Example 4 Connecting to a SYSMAC CP1H Y20DT D PLC Note L The diode Incorrect signal wiring can cause damage to Units and the Servo Driver Leave unused signal lines open and do not wire them recommended for surge absorption is the ERB44 02 Fuji Electric Do not use the 24 VDC control power supply for the brake power supply 24 VDC 3 phase 200 230 VAC 50 60Hz CP1H Y20DT D Output terminal block CWO Pulse output 0 Origin search 0 CIO 0101 02 24 VDC input terminal 24 VDC input terminal COM CIO 0101 Input terminal block Pulse 0 origin input signal CIO 0000 00 COM CIO 0000 Pulse 0 origin proximity input signal CIO 0000 01 XB BKIR OO i FG 24 VDC Main circuit power supply NFB OFF ON CS Main circuit contact R Q 61o 8 O O o Ts oo O SUP Surge suppressor d lo P
46. 3 6 12 20 M4 M5 M3 12 16 4 4 125 0 55 W 1 9 R7G VRSFPB09B100 67 5 32 52 40 46 60 50 45 0 3 6 12 20 M4 M5 M3 12 16 4 4 25 0 55 1 15 R7G VRSFPB15B100 78 32 52 40 46 60 50 45 0 3 6 12 20 M4 M5 M3 12 16 4 4 125 0 7 1 25 R7G VRSFPB25C100 92 50 78 40 46 90 70 62 7 3 6 19 30 M4 M6 M3 20 22 6 6 3 5 7 200 1 5 R7G VRSFPB05B200 72 5 32 52 60 70 60 50 45 0 3 10 12 20 M5 M5 M4 12 16 4 4 25 0 72 Ww 1 9 R7G VRSFPB09C400 89 5 50 78 60 70 90 70 62 K l KR 8 19 30 M5 M6 M4 20 22 6 6 3 5 7 1 15 R7G VRSFPB15C400 100 50 78 60 70 90 70 62 7 3 8 19 30 M5 M6 M4 20 22 6 6 3 5 2 1 25 R7G VRSFPB25C200 100 50 78 60 70 90 70 62 7 3 8 19 30 M5 M6 M4 20 22 6 6 3 5 2 400 1 5 R7G VRSFPB05C400 89 5 50 78 60 70 90 70 62 7 3 8 19 30 M5 M6 M4 20 22 6 6 3 5 7 W 1 9 R7G VRSFPB09C400 89 5 50 78 60 70 90 70 62 7 3 8 19 30 M5 M6 M4 20 22 6 6 3 5 7 1 15 R7G VRSFPB15C400 100 50 78 60 70 90 70 62 H 8 19 30 M5 M6 M4 20 22 6 6 3 5 2 1 25 R7G VRSFPB25D400 104 61 98 60 70 115 90 75 8 5 8 24 40 M5 M8 M4 20 30 8 7 4 3 2 750 1 5 R7G VRSFPB05C750 93 5 50 78 80 90 90 70 62 7 3 10 19 30 M6 M6 M4 20 22 6 6 3 5 2 W 1 9 R7G VRSFPB09D750 97 5 61 98 80 90 115 9
47. 33 3 78 66 500 11 3 2 68 x 10 931 465 Ww 1 15 R7G VRSFPB15C400 200 6 31 66 300 18 9 2 71 x 10 1176 588 1 25b R7G VRSFPB25C200 120 11 1 70 180 33 4 2 67 x 10 1323 661 1 5 _ R7G VRSFPB05C400 600 5 40 85 900 16 2 3 22 x 10 784 392 400 1 9 R7G VRSFPB09C400 333 9 49 83 500 28 5 2 68 x 10 931 465 WwW 1 15 R7G VRSFPB15C400 200 15 8 83 300 47 6 2 71 x 10 1176 588 1 25 R7G VRSFPB25D400 120 26 4 83 180 79 3 2 79 x 10 1617 808 1 5 R7G VRSFPB05C750 600 10 8 90 900 32 0 7 17 x 10 784 392 750 1 9 R7G VRSFPB09D750 333 18 3 85 500 54 3 6 50 x 10 1176 588 Ww 1 15 R7G VRSFPB15D750 200 30 5 85 300 90 5 7 09 x 10 1372 686 1 25 R7G VRSFPB25E750 120 50 8 85 180 151 7 05 x 10 2058 1029 Note 1 The Decelerator inertia is the Servomotor shaft conversion value 2 The enclosure rating for Servomotors with Decelerators is IP44 3 The allowable radial load is the value at the center of the shaft B Backlash 45 Arcminutes Max Maximum Maximum Allowable Allowable Rated Rated Decelerator g Ratio momentary momentary Muy radial thrust Model speed torque inertia speed torque load load r min N m 96 r min N m kg m N N 100W 1 5 R7G RGSF05B100 600 1 19 75 900 3 60 4 08 x 10 392 196 1 9 R7G RGSF09B100 333 2 29 80 500 6 91 3 43 x 10 441 220 1 15 R7G RGSF15B100 200 3 82 80 300 11 5 3 62 x 10 588 294 200 W 1 5 R7G RGSF05B200 600 2 71 85 900 8 12 1 53 x 10 392
48. A CRZ003C 3m Approx 0 4 kg R7A CRZ005C 5m 7 1 dia Approx 0 8 kg R7A CRZ010C 10m Approx 1 2 kg Note The maximum distance between the Servo Driver and Servomotor is 20 meters Connection Configuration and Dimensions L 1 19 6 Servo Driver end D R7M Z 26 4 Servomotor end R7D ZP 3 21 3 4 Cable and Connector Specifications 3 4 4 Connector Specifications 3 4 4 3 22 Wiring Servo Driver AWG22 Red Servomotor AWG22 Black Phase V Servo Driver Connector Plug 54593 1019 Connector case Phase W AWG26 Blue AWG26 A Blue White i A AWG26 Yellow ANGS Yellow White amp AWG26 Purple AWG26 Gray AWG26 Green 54599 1005 JST Mfg Co Ltd d AWG26 Orange FG Servomotor Connector Connector plug 5557 12R 210 Connector case 5556T2L JST Mfg Co Ltd B Encoder Cable Loose Wires Only Cable Models Model Length L Outer diameter of cable Weight R7A CRZO001 1m 7 1 dia Approx 0 1 kg Note 1 The maximum distance between the Servo Driver and Servomotor is 20 meters 2 Cable are sold in 1 m increments It is cut to the specified length Connector Specifications B Main Circuit Connector R7A CNZO1P The Main Ci
49. Brakes 3m R7A CAZ003B connector attached 5m R7A CAZ005B 10m R7A CAZ010B Cable Only in 1 m increments R7A CAZ01B B Encoder Cables for CN2 Specifications Model Encoder Cables connector attached 3m R7A CRZ003C 5m R7A CRZ005C 10m R7A CRZ010C Cable Only in 1 m increments R7A CRZO001 B Connectors Specifications Model Main Circuit Connector CNA with Ejector Levers R7A CNZO1P Servomotor Connector CNB R7A CNZ01A Control Input Connector CN1 R7A CNAO1R Encoder Input Connector CN2 R7A CNZO1R Servomotor Connector for Encoder Cable R7A CNZO2R Servomotor Connector for Servomotor Power Cable R7A CNZ02A B Regeneration Resistance Unit Specifications Model Regeneration current 8 A R88A RGOSUA Internal resistance 50 Q 12 W B External Regeneration Resistor Specifications Model Regeneration capacity 70 W 47 Q R88A RR22047S B AC Reactors Specifications Model R7D ZP01H R88A PX5052 R7D ZP02H R88A PX5053 R7D ZP04H R88A PX5054 R7D ZP08H R88A PX5056 2 2 External and Mounted Dimensions 2 2 1 Servo Drivers External and Mounted Dimensions 2 2 1 Servo Drivers B R7D ZP01H ZP02H 100 W 200 W
50. Caution Caution Caution A Caution Caution AP Caution A Caution Caution Caution Caution Ab Caution 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 Doing so may result in fire Be sure to install the product in the correct direction Not doing so may result in malfunction Provide the specified clearances between the Servo Driver and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply any strong impact 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 to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Connection of bare stranded wires may result in burning Always use the power supply voltage specified in the User s 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 powe
51. J 0 0524 Ni Toi ti J ST Nat Toas J 0 0524 N2 Tp2 t2 J Ny No Rotation speed at beginning of deceleration r min Tpi Tpe Deceleration torque N m ty te Deceleration time s Note There is some loss due to winding resistance so the actual regenerative energy will be approximately 90 of the values derived from these equations e The average regeneration power Pr is the power consumed by regeneration resistance in one cycle of operation Pr Z E T W T Operation cycle s 4 21 4 3 Regenerative Energy Absorption 4 3 1 Calculating the Regenerative Energy e Since there is an internal capacitor to absorb regenerative energy the value for Eg1 and Eg2 unit J must be lower than the Servo Driver s regenerative energy absorption capacity The capacity varies depending on the model For details refer to 4 3 2 Servo Driver Regenerative Energy Absorption Capacity If an external Regeneration Resistance Unit is connected be sure that the average regeneration power Pr does not exceed the external Regeneration Resistance Unit s regenerative energy absorption capacity 12 W B Vertical Axis Ni Servomotor se operation Rising Falling Servomotor output torque Note In the output torque graph acceleration in the positive direction rising is shown as positive and acceleration in the negative direction falling is shown as negative e The regenerative energy value
52. N2 10 pin Soldered Connector Name Model Maker Plug Cable and Cover Set 54599 1005 Plug Connector 51593 1011 Molex Japan Co 3 1 Servo Driver Specifications 3 1 9 Encoder Connector Specifications CN2 3 12 Crimped Solderless Connector Name Model Maker Plug Cable and Cover Set 54559 1005 Plug Housing Crimp Terminal 51209 1001 59351 8187 Loose wire Crimping Tool 57401 5300 Molex Japan Co 3 2 Servomotor Specifications 3 2 1 General Specifications 3 2 Servomotor Specifications Select a Servomotor based on the mechanical system s load conditions and the installation environment There are various options available on the Servomotors such as brakes 3 2 1 General Specifications Item Specifications Ambient operating temperature 0 to 40 C Ambient operating humidity 20 to 80 with no condensation Ambient storage temperature 20 to 60 C Ambient storage humidity 20 to 80 with no condensation Storage and operating atmosphere No corrosive gases Vibration resistance 10 to 2 500 Hz with a 0 2 mm double amplitude or acceleration of 24 5 m s whichever is smaller in the X Y and Z directions Impact resistance 98 m s max twice in vertical direction Insulation resistance 10 MQ min at 500 VDC between the power terminals and FG terminal Dielectric strength 1
53. R c TBe3 G Z S QK Output mm mm mm mm mm mm mm mm mm mm mm w R7M Z20030 81 125 5 95 5 70 30 60 70 50h8 6 PE 14h6 20 200 R7M Z40030 S1 148 5 118 5 93 30 60 70 50h8 6 Bu 14h6 20 400 R7M Z75030 S1 173 133 107 5 40 80 90 70h8 8 Er 16h6 30 750 B 200 W 400 W 750 W Servomotors with Brakes e R7M Z20030 BS1 Z40030 BS1 Z75030 BS1 300 2 Output Section on 750 W Servomotor E ES E Pado t Key Key groove m de H ooo Daira ER Ew 18 ET L L MAE LR c D1 D2 Output mm mm mm mm mm mm mm w R7M Z20030 BS1 165 5 135 5 70 30 60 70 50n8 6 pou 14h6 20 200 R7M Z40030 BS1 188 5 158 5 93 30 60 70 50h8 6 Ede 14h6 20 400 R7M Z75030 BS1 216 176 107 5 40 80 90 70h8 8 E 16h6 30 750 2 2 External and Mounted Dimensions 2 2 3 Decelerator Dimensions 2 2 3 Decelerator Dimensions B Backlash 3 Arcminutes Max Dimensions mm Weight Model AT See Key dimensions LM LR C1 C2 D1 D2 D3 D4 E3 F G S T Zi 22 kg note QK b h t 100 1 5 R7G VRSFPB05B100 67 5 32 52 40 46 60 50 45 0
54. RA 4 Servo error indicator Io H E dee 4 Linear reactor Ground to 100 Q R7D ZPL Fuse or less CN1 CNA BIACPZUS i H L1 OIG H L2 oc 1 ECW aera external 1 XI 1 2 CW Regeneration Resistance Unit 3 FCCW o when required t 4 CCW H 2 16kQq 8 ECRST 9 _ ECRST R7M Z0O ENB R7A CAZOS 1 u White Geen Cable ry 14 INP M Blue gt t 11 ZCOM Ww Greer T 10 Z SO 5 24VIN S ES t 24 VDC O O I4 6 RUN R7A CRZLIC CN2 Encoder Cable 7 OGND oo E 12 ALM 24V XB 18 BKIR OO i Shell FG 24 VDC A 1 Connection Examples B Example 5 Connecting to SYSMAC CS1W NC133 233 433 Position Control Units Note 1 Use mode 2 for The diode Incorrect signal wiring can cause damage to Units and the Servo Driver Leave unused signal lines open and do not wire them origin search Use a dedicated power supply as the 5 V DC power supply for command pulse signals recommended for surge absorption is the ERB44 02 Fuji Electric Do not use the 24 VDC control power supply for the brake power supply 24 VDC Main circuit power supply
55. SYSMAC PLC Position Control Unit with pulse string output Pulse string Position Control Unit SYSMC CJ1W NC113 213 413 CJI CS1 C series CJ1W NC133 233 433 Programmable Controller CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 413 SYSMAC PLC with pulse output functions SMARTSTEP Junior Servo Driver R7D ZP SMARTSTEP Junior Servomotor FQM1 MMP21 R7M Z 1 3 Nomenclature and Functions 1 3 1 Servo Driver Nomenclature and Functions 1 3 Nomenclature and Functions 1 3 1 Servo Driver Nomenclature and Functions Model Rotary switch for setting command pulse PULSE Command indicators REF I Alarm indicators AL1 to AL3 Rotary switch for setting command filter FIL Control I O connector CN1 Note Do not remove the protective covers for these connectors These connectors are for manufacturer adjustments Do not use these connectors The Servo Driver may malfunction if these connectors are used Power supply indicator i Encoder input connector CN2 PWR FG terminals for gt power supply and servomotor power Motor connector CNB Main circuit connector CNA B Rotary Switch for Setting Command Pulse PULSE Always turn OFF the power supply before setting the rotary switch The switch is factory set to 0 z Command pulse Command pulse connection
56. als Release the holding brake when this signal is ON 44 INP GE completed ON when the position deviation is within 10 pulses Output ground 7 OGND Ground common for sequence outputs pins 12 13 and 14 common Note An open collector output interface is used for sequence outputs maximum operating voltage 30 V DC maximum output current 50 mA B CN1 Pin Arrangement ER Signal name Function Pin No Plane Function No name 1 CW PULS Weeder 8 ECRST deviation counter reset feed pulse 2 CW PULS feed pulse 9 ECRST deviation counter reset reverse pulse 3 ccwisien forward pulse 10 z Encoder phase Z output direction signal 4 ccwisicn forward pulse 11 ZCOM Phase Z output ground direction signal Control DC 5 24VIN 424 V input 12 ALM Alarm output RUN RUN command input 13 BKIR Brake interlock output OGND Output ground common 14 INP Positioning completed output 3 1 Servo Driver Specifications 3 1 5 Control Input Circuits B CN1 Connectors 14P Soldered Connectors Name Model Manufacturer Cable plug 10114 3000VE Sumitomo 3M Cable case shell kit 10314 52A0 008 3 1 5 Control Input Circuits B Position Command Pulse Inputs and Deviation Counter Reset Inputs Line Driver Input Controller Servo Driver eae Applicable line driver SN75174 MC3487 AM26LS31A equivalent Open Collector Input Controller Serv
57. and normal status has been confirmed perform trial operation The main purpose of trial operation is to confirm that the servo system is operating correctly electrically First no load operation and then loaded operation is checked Note 1 2 5 4 1 5 4 2 If an error occurs during the trial operation refer to Section 6 Troubleshooting to eliminate the cause Then check for safety reset the alarm and then retry the trial operation If the machine vibrates when starting or stopping refer to 5 2 Switch Settings and adjust the command filter Preparing for Trial Operation B Switch Settings After turning OFF the power supply set the following switches e Set the rotary switch setting for command pulse PULSE to the same setting as the Host Controller e Set the command filter rotary switch FIL to 0 B Turning OFF the Servomotor Set up the system so that the power and the RUN command can be turned OFF so that the Servomotor can be immediately turned OFF if an abnormality occurs in the system Trial Operation 1 No load Operation e Turn ON the power supply to the control circuits main circuits and peripheral devices e Turn ON the RUN command e Check that Servomotor is ON e Send a command from the Host Controller to rotate the Servomotor and confirm that Servomotor rotation direction is correct and that the rotation speed and rotation amount match the command that was sent 2 Power OFF Mechanical Device Con
58. aps may open between case panels when screws are tightened Be sure that no gaps appear when tightening down screws 4 13 4 2 Wiring 4 2 5 Conforming to EMC Directives Case A Door B Oil resistant gasket Conductive gasket Control panel Cross sectional view of A B ULLAL Oil resistant gasket Conductive gasket A Door interior view B Selecting Connection Components This section explains the criteria for selecting the connection components required to improve noise resistance Review each component s characteristics such as its capacity performance and applicable conditions when selecting the components For more details contact the manufacturers directly e Fuses Always install a fuse at each Servo Driver to prevent fire or burn damage We recommend the following fuses based on the rated current current at the maximum momentary torque and inrush current when the power is turned ON Servo Driver Fuse Littelfuse Inc Fuse block Littelfuse Inc Momentary f Model Capacity rating Model Ratings frus Model Specifications w A Aop A rms R7D ZP01H 100 4 Max AC voltage 600 V R7D ZP02H 200 4 KLK015 15 30 L60030M Max rated current 30 A R7D ZP04H 400 8 2SQ Screw Q C Terminals R7D ZP08H 750 16 KLK030 30 60 36 49 3178 ee II
59. ation the rigidity of the machine motor drive the encoder resolution and other factors 3 Use the acceleration deceleration times as a guideline for determining the Servomotor capacity that can be driven when using STEP commands without command acceleration deceleration 5 3 Preparing for Operation 5 3 1 Turning ON the Power and Checking Indicators 5 3 Preparing for Operation This section explains the procedure following installation wiring and switch setting of the Servomotor and Servo Driver to prepare the mechanical system for trial operation It explains what you need to check both before and after turning ON the power 5 3 1 Turning ON the Power and Checking Indicators B Items to Check Before Turning ON the Power Checking Power Supply Voltage e Check to be sure that the power supply voltage is within the ranges shown below R7D ZPLIOH Single phase 200 V AC input Main circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz Checking Terminal Block Wiring The main circuit power supply inputs L1 L2 must be properly connected to the terminal block e The Servomotor s red U white V and blue W power lines and the yellow green ground wire must be properly connected to the terminal block Checking the Servomotor e There should be no load on the Servomotor Do not connect to the mechanical System e The Servomotor s power lines and Servomotor Power Cable must be
60. ation counter reset input lines separated from the control power supply as far as possible In particular do not connect the two power supply ground lines 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 Driver input section or the controller output section For open collector specifications keep the length of wires to within two meters 4 19 4 2 Wiring 4 2 5 Conforming to EMC Directives 4 20 B Selecting Other Parts for Noise Resistance This section explains the criteria for selecting other connection components required to improve noise resistance Review each component s characteristics such as its capacity performance and applicable conditions when selecting the components For more details contact the manufacturers directly Noise Filters for the Power Supply Input e Usea noise filter to attenuate external noise and reduce noise emitted from the Servo Driver e Select a noise filter with a rated current that is at least two times greater than the effective load current the rated current of the main circuit power supply input shown in the tabl
61. ature of 40 C shaft loads within the allowable range rated operation rated torque and rated r min and proper installation as described in the Operation Manual 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 When requesting repairs or investigations separate the Servomotors and Decelerators and make separate requests for each product 6 12 6 5 Periodic Maintenance 6 5 2 Servo Driver Maintenance 6 5 2 Servo Driver Maintenance The recommended periodic maintenance schedule is listed in the following table Please consult with your OMRON representative to determine whether or not components need to be replaced Aluminum electrolytic 50 000 hours at an ambient Servo Driver operating temperature of 40 C capacitors 80 of the rated operation output rated torque installed as described in operation manual Axle fan 30 000 hours at an ambient Servo Driver operating temperature of 40 C and an ambient humidity of 65 When using the Servo Driver in continuous operation use fans or air conditioners to maintain an ambient
62. coder or the expected differential phase signal is not present AL2 TY OFF Check the cables A3 DW au BR Voltage error This error occurs if the voltage between P N is outside of the acceptable range of 170 to 410 V during operation ge OFF Check whether the input voltage is between 170 and 253 V AL3 AL1 Overcurrent This error occurs when the current exceeds the power module s maximum allowable current or the temperature in the module exceeds Ug OFF the allowed level Ais Check for shorted outputs ground problems or insufficient Servo Driver cooling air circulation Servo Driver fan This error occurs when the Servo Driver s built in axle fan stopped stopped Replace the fan rd OFF AL3 AL1 System error An internal MPU error occurred Replace the Unit mE OFF ALS ALI A Command pulse Displayed when the setting on the front panel s command pulse setting NN setting rotary switch rotary switch was changed This is not an alarm AD PULSE changed AL3 AL Flashing steadily Lit Not lit Ml 6 4 Flashing A 6 3 Troubleshooting 6 3 1 Error Diagnosis using the Alarm Indicators 6 3 Troubleshooting If an error occurs in the machinery determine the error conditions from the alarm indicators and operating status identify the cause of the error and take appropriate countermeasures 6 3 1 Error Diagnosis using the Alarm Indicators
63. connection Command pulse type resolution method 0 1000 Open collector or line driver CW CCW positive logic 1 2500 Cw ML 2 5000 Line driver Gm II 3 10000 4 1000 Open collector or line driver CW CCW negative logic 5 2500 cw 6 5000 Line driver cw II 7 10000 8 1000 Open collector or line driver Bee string 9 2500 eus Ir JUL A 5000 Line driver SiGe B 10000 C 1000 Open collector or line driver Ree D 2500 mE E 5000 Line driver SIGN lt F 10000 5 3 5 2 Switch Settings 5 2 2 Switch Functions B Rotary Switch for Command Filter Setting FIL This switch does not need to be set if the machine is not subject to vibration The switch is factory set to 0 Filter Acceleration deceleration Approx time from end of Description setting time for STEP command command to end of positioning See See note 3 settling time See note 2 note 1 0 45 ms 100 to 200 ms Smaller filter time 1 50 ms 110 to 220 ms Feel short positioning time 2 60 ms 130 to 260 ms Larger filter time constant 3 65 ms 150 to 300 ms longer positioning time with little vibration 4 70 ms 170 to 340 ms 5 80 ms 200 to 400 ms 6 85 ms 250 to 500 ms 7 170 ms 500 to 1000 ms 8toF Do not set this switch to 8 to F Note 1 Increase the value of the filter setting if there is vibration when starting or stopping 2 The settling time depends on the commanded acceleration deceler
64. ct product been delivered Check the model number on the nameplate on the side of the product Has the product been damaged in Inspect the outside of the product and carefully check that shipping there has been no damage during shipping e Accessories 1 Special screw driver for setting the rotary switch x 1 gt 2 Safety Precautions document x 1 No connectors or mounting screws are provided Obtain these separately If something is missing the Servo Driver is damaged or some other fault exists please contact the point of purchase or your OMRON representative e Interpreting the Model Number The model number provides information such as the Servo Driver type the applicable Servomotor capacity and the power supply voltage R7D ZP01H SMARTSTEP Junior Servo Driver Driver Type P Pulse string input Applicable Servomotor Capacity 01 100 W 02 200 W 04 400 W 08 750 W Power Supply Voltage H 200 VAC e Servo Driver and Servomotor Combinations Rated Servomotor Servo Driver output Without brake With brake Pulse string input 100 W R7M Z10030 S1 R7M Z10030 B S1 R7D ZP01H 200 W R7M Z20030 S1 R7M Z20030 B S1 R7D ZP02H 400 W R7M Z40030 S1 R7M Z40030 B S1 R7D ZP04H 750 W R7M Z75030 S1 R7M Z75030 B S1 R7D ZP08H 12 Section 1 Section 2 Section 3 Section 4 Section 5 Section 6 Appendix Features and System Configuration Standard
65. current shown above is for Servomotor power cables less than 5 meters long The leakage current depends on the power cable length and the insulation 2 The leakage current shown above is for normal temperature and humidity The leakage current depends on the temperature and humidity The following table shows the recommended leakage breakers Conform to UL CSA and CE standards Maker Model number Rated current Sensitive current Corp EG33CM 30 100MA CE 30A 100 mA Leakage Breaker Connection Example Leakage Breaker Connection Example AC power No fuse Surge Leakage Noise filter supply side breaker absorber breaker Servo Driver side CO t Ojo 1 NF3 A OO o o 2E4 e Radio Noise Filters Use a radio noise filter to reduce the Servo Driver s PWM noise The following table shows some available radio noise filters Maker Model number RN603620M FDK Corporation RN80UD FT 3KMF6045GB Hitachi Metals FT 3KMS10085GB FT 1KMF6045GB 4 2 Wiring 4 2 5 Conforming to EMC Directives B Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder s noise resistance Always use the specified Encoder Cables If cables are joined midway be sure to connect them with connectors and do not remove more than 50 mm of the cable insulation In addition always use shielded cable Do not coil cables If cables
66. d values 4 2 Wiring 4 2 4 Wiring the Main Circuit and Servomotor Connections 600 V Heat resistant Vinyl Wire HIV Reference Values AWG Sens m SUE SS Allowable arid ambient Q km 30 C 40 C 50 C 20 0 5 19 0 18 39 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6 9 53 23 20 16 12 3 5 7 0 8 5 41 33 29 24 B Terminal Block Wiring Procedure Spring type connectors are used for SMARTSTEP Junior Servo Drivers The procedure for wiring these is described below CNA Connector 1 Remove the Terminal Block from the Servo Driver The Terminal Block must be removed from the Servo Driver before being wired The Servo Driver will be damaged if the wiring is done with the Terminal Block in place 2 Strip the covering off the ends of the wires Prepare wires of the right sizes according to the tables provided under Terminal Block Wire Sizes above and strip off 9 to 10 mm of the covering from the end of each wire 9 to 10 mm 3 Open the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Servo Driver as in Fig A Insert a flat blade screwdriver end width 2 5 to 3 0 mm into the opening for Servo Driver installation and press down firmly to open the slot as in Fig B
67. e 6 Connecting to SYSMAC CS1W NC113 213 413 and C200HW NC113 213 413 Position Control Units Note 1 Use mode 2 for The diode Incorrect signal wiring can cause damage to Units and the Servo Driver Leave unused signal lines open and do not wire them origin search Use a dedicated power supply as the 24 V DC power supply for command pulse signals recommended for surge absorption is the ERB44 02 Fuji Electric Do not use the 24 VDC control power supply for the brake power supply 24 VDC Main circuit power supply 3 phase 200 230 VAC 50 60Hz CS1W NC113 213 413 C200HW NC1 13 213 413 Signal No 24 V power supply for pulse outputs 0 V ground for pulse outputs CW with resistance X axis Sw without resistance A5 pulse outputs CCW with resistance A8 CCW without resistance X axis deviation counter reset output NFB OFF ON o O O SUP MC EN H X1 Fa r 9 PL 1 1 o T 6 6 J 1 4 Linear reactor Ground to 100 Q R7D ZP Fuse or less C R7A CPZLIS THO HTS oo i 1 e Coh an external 2 CW e 3 CCW ei when required 4 CCW FECRST X axis origin input 24 V A15 X axis origin co
68. e in 4 2 4 Wiring the Main Circuit and Servomotor Connections Maker Model number Rated current Applicable standards GT 2050 5A GT 2100 10A NEC TOKIN UL CSA VDE and TUV GT 2150 15A GT 2200 20A HF2005A UP 5A HF2010A UP 10A EE HF2015A UP 15A UL and TUV Company HF2020A UP 20A HF2030A UP 30A ZRCS2006 00S 6A ZRCS2010 00S 10A TDK UL CSA and NEMKO ZRCS2020 00S 20A ZRCS2030 00S 30A Note 1 To attenuate noise at low frequencies below 200 kHz use an isolation transformer and a noise filter 2 To attenuate noise at high frequencies over 30 MHz use a ferrite core and a high frequency noise filter with a through type capacitor 3 If multiple Servo Drivers are being 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 Drivers Noise Filters for Servomotor Output e Use noise filters without built in capacitors on the Servomotor output lines e Select a noise filter with a rated current at least two times the Servo Driver s continuous output current e The following table shows the noise filters that are recommended for Servomotor output Maker Model number Rated current Applicable Remarks standards LF 310KA 10A NEC TOKIN UL For inverter output LF 320KA 20A EIE CC3005C AZ 5A Soon cei CC3010C AZ 10A m For inverter output Company CC3015C AZ 15A
69. e noise filter model number indicate the type of terminal connection The 07 models have lead wires the 06 models have fast on connections that can be soldered and the 08 models have screw terminals Select the appropriate version for your application Contact the manufacturer www schaffner com for details Dimensions The following diagram shows the dimensions of a noise filter with lead wires Contact the manufacturer for dimensions of the noise filters with other connections Single phase Input Models FN2070 6 07 and FN2070 10 07 A 5 CS 45 4 140 14078 Dimensions mm Model A B C FN2070 6 07 94 103 113 6 Single phase Input Model FN2070 16 07 FN2070 10 07 130 5 143 156 57 6 14073 98 5 14073 85 5 84 5 1 2 8 6 Noise Filter for the Brake Power Supply e Use the following noise filter for the brake power supply Model A PRU Leakage current Maker current voltage SUP P5H EPR 5A 250V 0 6 mA at 250 Vrms 60 Hz SE E ERR 4 16 Dimensions 4 2 Wiring 4 2 5 Conforming to EMC Directives e Noise Filter for the Brake Power Supply SUP P5H EPR 1002 8441 74 7 X1 63 541 Two 4 8 dia Surge Suppressors e Install surge suppressors for loads that have induction coils such as relays solenoids brak
70. e that meets specifications Noise is infiltrating the encoder cable because the cable is too long Check the length of the encoder cable Shorten the encoder cable to less than 20 m Noise is infiltrating the signal wires because the encoder cable is damaged or the sheath is cut Too much noise is reaching the encoder cable Check the encoder cable for cuts or other damage Separate the encoder cables far from high current lines or check whether the lines are too close Correct the encoder cable s pathway to prevent damage Install the encoder cable where it won t be subjected to surges The FG s potential is fluctuating due to devices near the Servomotor such as welding machines Check for ground problems loss of ground or incomplete ground at equipment such as welding machines near the Servomotor Ground the equipment properly and prevent currents flowing to the Encoder FG Errors are being caused by excessive vibration or shock on the encoder There are problems with mechanical vibration or motor installation such as the mounting surface attachment or axial offset Reduce the mechanical vibration or correct the Servomotor s installation The filter setting is not suitable Check the setting on the command filter setting rotary switch FIL Increase the value set on the command filter setting rotary switch FIL 6 10 6 4 Overload Charac
71. election of cables are available for OMRON SYSMAC Position Control Units making it easy to wire a servo system B System Configuration Controller Servo Driver R7D ZP General purpose Control Cable and Control UO Connector CN1 Control I O Connector SYSMAC PLC with pulse string output CP1H X40DL CP1H XA40DL1 CP1H Y20DT D BCEE B Servo Relay Unit Cable CJ1M CPU21 22 23 Flexible Motion Position Control Controller Unit Cable FQM1 MMP21 22 4 SC r3 Position Control Unit T ol p z Servo Relay Unit CN Encoder Input Connector olaf Position Control Unit ojmjje with a pulse string omis output CIS CJ1W NC113 133 CJ1W NC213 233 CJ1W NC413 433 Es enn R CS1W NC113 133 CS1W NC213 233 EH Connector Terminal Block and Cable plaid EE CS1W NC413 433 Connector Cable for Connector C200HW NC113 Terminal Block Terminal Block C200HW NC213 C200HW NC413 XE Servomotor Encoder Power Cable Cable Servomotor R7M Z 4 2 Wiring 4 2 2 Selecting Connecting Cables 4 2 2 Selecting Connecting Cables Bi General purpose Control Cables If you are connecting to a controller that does not have a standard cable available use General purpose Control Cable to assemble a cable to connect to the Servo Driver s Control I O Connector CN1
72. er G _ 172 AM 5 GA G r i 13 BKIR a6 Shell FG B Example 8 Connecting to a SYSMAC C200H NC211 Position Control Unit Note 1 Use mode 2 for The diode Incorrect signal wiring can cause damage to Units and the Servo Driver Leave unused signal lines open and do not wire them origin search Use a dedicated power supply as the 24 V DC power supply for command pulse signals recommended for surge absorption is the ERB44 02 Fuji Electric Do not use the 24 VDC control power supply for the brake power supply 24 VDC 3 phase 200 230 VAC 50 60Hz C200H NC21 1 Signal 5 V power supply for pulse outputs 5 V ground for pulse outputs CW with resistance X axis Cw without resistance pulse outputs CCW with resistance CCW without resistance X axis deviation counter reset output X axis origin input X axis origin common X axis positioning complete input Common for X Y axis inputs X axis external interrupt input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emergenc
73. erated Note 1 If anything abnormal occurs refer to Section 6 Troubleshooting and apply the appropriate countermeasures 2 Ifthe machine vibrates when starting or stopping refer to 5 2 2 Switch Functions and adjust the command filter rotary switch setting FIL 5 Completing the Trial Operation Performing the above procedures completes the trial operation 5 8 5 5 Operating Functions 5 5 1 Brake Interlock 5 5 Operating Functions 5 5 1 Brake Interlock B Precautions When Using the Electromagnetic Brake The electromagnetic brake of a Servomotor with a brake is a non excitation brake especially for holding First stop the Servomotor and then turn OFF the brake power supply If the brake is applied while the Servomotor is operating the brake disk may become damaged or malfunction due to friction causing damage to the Servomotor B Function Output the BKIR brake interlock signal which turns the electromagnetic brake ON and OFF B Operation RUN Command Timing When Servomotor Is Stopped RUN ON Run command OFF Li About 40 ms BKIR ON brake interlock OFF i H Relay operation time See note 1 Brake power supply ON OFF See note 3 4 100 ms max See note 5 Brake operation ON i OFF Speed See note 1 Pulse command Y Speed Energized Servomotor power Not energized See note 4 ei S t Note 1 The timechart above show
74. ernal Regeneration Resistance Unit can be damaged if the resistor is connected to the wrong terminals The External Regeneration Resistance Unit does not conform to EC Directives Note The External Regeneration Resistor can reach a temperature of approximately 120 C so install it at a distance from heat sensitive devices and wiring In addition install a heat radiating heat sink to cool the resistor if necessary B External Regeneration Resistor External Regeneration Resistor Models Model SE Nominal Regeneration Heat Thermal switch output capacity absorption at 120 C radiation specifications Operating temperature t1 0 x 1350 170 C 5 R88A RR22047S 47 Q 5 220 W 70 W SPCC NC contact Rated output 3A 4 23 4 3 Regenerative Energy Absorption 4 3 3 Absorbing Regenerative Energy with an External Resistor Combining External Regeneration Resistors Regeneration absorption capacity 70W 280 W Resistor configurations R R O R O o oO R R Note Select a combination that has an absorption capacity greater than the average regeneration power Pr e Dimensions Thermal switch output Wiring the External Regeneration Resistor When installing an External Regeneration Resistor remove the
75. ervo Driver with higher capacity Units Wire correctly Check the Controller s command pulse type and the Servo Driver s command pulse type Set the Servo Driver s pulse type to match the Controllers command pulse type Servomotor is overheating The ambient temperature is too high Verify that the ambient temperature around the Servomotor is below 40 C Lower the ambient temperature to 40 C or less Use a cooler or fan Ventilation is obstructed Check to see whether anything is blocking ventilation Improve ventilation The Servomotor is overloaded The Servomotor is vibrating Try operating the Servomotor without a load Disconnect it from the mechanical system e Lighten the load e Replace the Servomotor and Servo Driver with higher capacity Units The holding brake is ineffective Power is being supplied to the holding brake Check whether power is being supplied to the holding brake Configure a circuit that cuts power to the holding brake when the motor stops and the load will be held by the holding brake The Run command RUN is turned OFF while the Servomotor is rotating but the Servomotor doesn t stop or is hard to stop The load inertia is too large Check the following e Is the load too large e ls the Servomotor speed too high Re evaluate the load conditions and replace the Servo Driver with an appropriate model if necessa
76. ervomotor and Mechanical System SMARTSTEP Junior Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s maximum momentary torque increases and as the temperature rises the Servomotor s maximum momentary torque decreases The maximum momentary torque is about 4 higher at 10 C compared to the normal temperature of 20 C Conversely the maximum momentary torque decreases about 8 when the Servomotor warms up to 80 C from the normal temperature of 20 C e Generally when the temperature drops in a mechanical system the friction torque and the load torque increase For that reason overloading may occur at low temperatures In particular in systems that use a Decelerator the load torque at low temperatures may be nearly twice the load torque at normal temperatures Check with a current monitor to see whether there is overloading at low temperatures Also check operation at high temperatures to see whether there is abnormal Servomotor overheating or alarms An increase in load friction torque visibly increases load inertia Therefore even if the Servo Driver parameters are properly adjusted at a normal temperature the Servomotor may not operate optimally at low temperatures Check operation at low temperatures to see whether operation is optimal in those conditions too Encoder Specifications Item Specif
77. es clutches etc Five M4 e The following table shows types of surge killers and recommended products Type Features Recommended products Diodes are used for relatively small loads when Use a fast recovery diode with a short the reset time is not an issue such as relays reverse recovery time Diode The reset time is increased because the surge voltage is the lowest when power is cut off Example Fuji Electric Co ERA22 06 Used for 24 48 V DC systems Thyristors and varistors are used for loads when Select the varistor voltage as follows induction coils are large as in electromagnetic 24 VDC system 39 V Thyristor or brakes solenoids etc and when reset time is 100 VDC system 200 V varistor an issue The surge voltage when power is cut 100 VAC system 270 V off is approximately 1 5 times the varistor 200 VAC system 470 V voltage The capacitor resistor combination is used to Okaya Electric Industries Co Ltd E absorb vibration in the surge when power is cut XEB12002 0 2 yF 1200 Capacitor off The reset time can be shortened by XEB12003 0 3 uF 120Q resistor selecting the appropriate capacitance and resistance Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for details on these components Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Industrial Co Contactors e Select con
78. esistance in Servo Drivers The SMARTSTEP Junior Servo Drivers absorb regenerative energy internally with built in capacitors If the regenerative energy is too large to be processed internally an overvoltage error is generated and operation cannot continue The following table shows the regenerative energy and amount of regeneration that each Servo Driver can absorb If these values are exceeded take the following measures e Connect an External Regeneration Resistance Unit to increase the regeneration processing capacity e Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time to decrease the regenerative energy produced per time unit Lengthen the operation cycle i e the cycle time to decrease the average regenerative power Regenerative energy J that can be S Dri 3 SE absorbed by the internal capacitor R7D ZPO1H 13 R7D ZP02H 19 R7D ZP04H 28 R7D ZP08H 59 4 3 3 Absorbing Regenerative Energy with an External Resistor If the regenerative energy exceeds the absorption capacity of the R88A RGOSUA External Regenerative Resistance Unit connect an External Regeneration Resistor To connect an External Regeneration Resistor remove the shorting bar between the RG JP terminals and connect the resistor to the P RG terminals Double check the terminal names when connecting the resistor because the Ext
79. et Inputs 24VIN 24VIN s24vIN CW Wahl C CC PULIS ISIG Note 1 The XB contact is used to turn the electromagnetic brake ON and OFF Si Le e Using Open collector Position Command Pulse and Deviation Counter Reset Inputs 24VI sav 24V1 1 CW CW PUL ISIGN d 24 VDC he input current will be from 7 to 15 mA L e e GE OF Y 69 C0 Y wy W e k e e e Ld DUC Note 1 The XB contact is used to turn the electromagnetic brake ON and OFF R R R 2 Select resistance R so that 2 2 12 Vcc R e Mme 24V 16kQ to2 2kO ees Vcc 12V 750 Q to 1 0 ko 5V Wiring to a CP1H series Controller CP1H 20DT D Output Terminal Block Symbol Pulse output 0 CWO 100 00 COM Si Connecting to the SYSMAC CP1H X20DT D Shield XW2B 20GL CW PLUS Pulse output 0 CCWO CW PLUS CCW SIGN 100 01 COM Origin search 0 CCW SIGN ECRST 101 00 to 03 COM 24 VDC input terminal 24 VDC input terminal nput Terminal Block Pulse 0 origin input signal 000CH COM ECRST Z
80. fer to the Position Controller s manual for details on performing origin teaching B Replacing the Servo Driver 1 Replace the Servo Driver 2 Match the previous switch settings e Set the new Servo Driver s switches command pulse setting rotary switch and command filter setting rotary switch to match the old Servo Driver s switch settings 6 3 6 2 Alarm Table 6 2 1 Alarm Table 6 2 Alarm Table If the Servo Driver detects an error ALM alarm output will be output the power drive circuit in the Servo Driver will be turned OFF and the alarm code will be displayed Refer to 6 3 1 Error Diagnosis using the Alarm Indicators for details on appropriate alarm countermeasures 6 2 1 Alarm Table LED Indicators AM Error ceteron Cause of error output function AL1 Speed error A speed error occurs if the Servomotor s speed exceeds 1 1 times the Overspeed maximum speed 4 950 rpm ne m ORF Either reduce the position commande speed or correct the command aa N pulse resolution au Overload This error occurs when the Servomotor s torque exceeds the range of x the overload characteristics electronic thermal function E OFF Check the load review the acceleration deceleration time and check for as D Servomotor vibration AL1 Encoder error This error occurs when data cannot be read from the En
81. gle phase 200 230 V AC 170 to 253 V AC 50 60 Hz L2 input ii Edema regeneration If regenerative energy is high connect an External Regeneration resistance connection Unit terminals i U Red Th h inals f h V Servomotor connection White ese are the terminais ar outputs to t Ze ierminals Servomotor Be sure to wire these terminals W Blue correctly Green Yellow This is the ground terminal Ground to a minimum of 100 Q Frame ground class D class 3 B Terminal Block Wire Sizes Model R7D ZP01H ZP02H ZP04H ZP08H Item Unit Power supply capacity kVA 0 4 0 75 1 2 2 2 Main circuit power Rated current A rms 1 8 3 5 5 5 10 supply input L1 L2 Wire size mm 1 25 2 0 External Regeneration Unit connection Wire size mm 1 25 Wiring length 0 5 m max terminals Rated current A rms 0 84 1 1 2 0 3 7 Servomotor connection terminal Mamam A rms 2 5 3 3 6 0 11 1 U V W momentary rms current See note Wire size mm 1 25 Wiring length 20 m max Wire size mm 2 0 min Frame ground Screw size M4 Torque Nem 1 2 to 1 4 No fuse breaker or fuse capacity A rms 4 8 16 Note Connect an OMRON Servomotor Cable to the Servomotor connection terminals B Wire Size and Allowable Current Reference The following table shows the allowable current when there are three power supply wires Use a current below these specifie
82. he operation of the SMARTSTEP Junior Servomotors and Servo Drivers Please read this manual thoroughly and understand its contents before attempting to operate the product Please keep this manual handy for future reference after reading it Be sure that this manual accompanies the product to its final user OMRON 2006 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 permission 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 information contained in this publication 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 peri
83. hes Preparing for After checking the necessary items turn ON the Unit s power supply Check to Section 5 3 operation see whether there are any internal errors in the Servo Driver Firstly check the Servomotor s no load operation Next turn the power OFF then ON again and connect the Servomotor to the mechanical system Turn Trial operation ON the power and check to see whether protective functions such as l Section 5 4 emergency stop and operational limits are working reliably Check operation at both low speed and high speed with either no workpiece or a dummy workpiece Adjustments Manually adjust the gain as required Section 5 2 Operation Operation can now begin If any trouble should occur refer to Section 6 Section 6 Troubleshooting 5 2 5 2 Switch Settings 5 2 1 Switch Names With SMARTSTEP Junior Servo Drivers the settings required for operation can be made simply by setting the front panel switches Set the switches appropriately according to the system configuration 5 2 1 Switch Names omron 200V R7D ZP01H Rotary switch for command pulse setting PULSE Rotary switch for command filter setting FIL 5 2 2 Switch Functions B Rotary Switch for Command Pulse Setting PULSE Always turn OFF the power supply before setting the rotary switch The switch is factory set to 0 Setting Command pulse Command pulse
84. hough GR wires are wired incorrectly command pulses are The encoder wires are wired au being input incorrectly AS The Servomotor shaft is locked Check the load status and re evaluate the Servomotor capacity The Servo Driver is faulty Replace the Servo Driver Occurs during normal Operation continued with an Re evaluate the load conditions operation effective torque exceeding the rated and conditions or re evaluate the torque within the electronic thermal Servomotor capacity function s operation range Power supply voltage dropped Keep the power supply voltage within the allowed range Servomotor winding is burned out Measure the winding resistance and replace the Servomotor if the winding is burned out Lit Not lit MI Flashing MN 6 5 6 3 Troubleshooting 6 3 1 Error Diagnosis using the Alarm Indicators LED Status when error ee Error SC Cause of error Countermeasure Overload Occurs during normal Operated while the holding brake was Measure the voltage at the brake Continued operation engaged terminals and release the brake Continued The ambient Servo Driver Review the installation conditions temperature exceeds 55 C so that the Servo Driver s a BR There is a problem with the Servo ambient temperature is below Driver s installation environment such 55 C AL2 as the installa
85. ication Encoder method Optical encoder incremental encoder Number of output pulses Phase A B 256 waves revolution Phase Z 1 pulse revolution Power supply voltage 5 VDC 5 Power supply current 70 mA max Output signals A A B B Z U V and W Output interface A A B and B Sine wave voltage output Z U V and W Transistor output 3 3 Decelerator Specifications 3 3 1 Standard Models and Specifications 3 3 Decelerator Specifications 3 3 1 Standard Models and Specifications The following Decelerators are available for use with SMARTSTEP Junior Servomotors Select a Decelerator to match the Servomotor capacity e Backlash 3 arcminutes max e Backlash 45 arcminutes max There are four reduction ratios 1 5 1 9 1 15 and 1 25 B Backlash 3 Arcminutes Max Rated Rated Ratio eg eer Decelerator Allowable Allowable Model speed torque speed torque inertia radial load thrust load r min N m 96 r min N m kg m N N 1 5 R7G VRSFPB05B100 600 1 19 75 900 3 60 4 08 x 10 392 196 100 1 9 R7G VRSFPBO9B100 333 2 29 80 500 6 91 3 43 x 10 441 220 W 1 15 R7G VRSFPB15B100 200 3 82 80 300 11 5 3 62 x 10 588 294 1 25 R7G VRSFPB25C100 120 6 36 80 180 19 2 3 92 x 10 1323 661 1 5 R7G VRSFPB05B200 600 2 71 85 900 8 12 1 53 x 10 392 196 200 1 9 R7G VRSFPB09C400 3
86. identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply 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 o
87. ignal will be turned OFF if the Servomotor rotation speed falls below 100 r min or 500 ms has elapsed since the Servo went OFF Section 6 Troubleshooting 6 1 Error Processing 6 1 1 Preliminary Checks when a Problem Occurs 6 1 Error Processing 6 1 1 Preliminary Checks when a Problem Occurs This section explains the preliminary checks and analytical tools required to determine the cause of a problem if one occurs B Checking the Power Supply Voltage e Check the voltage at the power supply input terminals Main circuit Power Supply Input Terminals L1 L2 Single phase 200 230 V AC 170 to 253 V 50 60 Hz If the voltage is outside of this range there is a risk of incorrect operation so be sure that the power supply is correct e Check the voltage of the sequence input power supply and verify that the 24 VIN Terminal pin CN1 5 is within the allowed range of 23 to 25 VDC If the voltage is outside of this range there is a risk of malfunction so be sure that the power supply is correct B Checking Whether an Alarm Has Occurred Check the alarm indicators AL1 to AL3 on the front of the Servo Driver to see whether an alarm has occurred Checking Whether an Alarm Has Occurred e When an alarm is indicated Check the status of the alarm indicators AL1 to AL3 and evaluate the problem based on the alarm indicated e When an alarm is not indicated Evaluate the problem with the error information Note In either case
88. ine driver CCW 3 10000 4 1000 Open collector or line driver CW ECOW negative logie 5 2500 cw 6 5000 Line driver i iv Bre 7 10000 8 1000 Open collector or line driver cM N9 9 2500 PULS A 5000 Line driver SIGN B 10000 C 1000 Open collector or line driver legatis lodi s D 2500 PULS E 5000 Line driver p SIGN F 10000 3 1 Servo Driver Specifications 3 1 6 Control Input Details Command Pulse Timing Command Pulse Mode Timing details Feed pulse and direction signal Forward command Reverse command Maximum input frequency Line driver 750 kpps Open collector 187 5 kpps Direction signal Feed pulse t1 t2 and t3 gt 3 0 us 12 0 66 us T 2 1 33 us v T x 100 lt 50 96 Reverse and forward pulses Maximum input frequency Forward pulse Line driver 750 kpps Open collector 187 5 kpps Forward command D Reverse pulse t2 gt 3 0 us 12 0 66 us T 2 1 33 us v T x 100 lt 50 96 B Deviation Counter Reset ECRST The CN1 connector input pins are as follows Deviation Counter Reset 8 ECRST Deviation Counter Reset 9 ECRST Functions e The value of the deviation counter will be reset when the deviation counter reset signal turns ON and the position loop will be disabled e Input the reset signal for 20 us minimum The counter will not be reset if the signal is too short B RUN Command Input RUN RUN Command Input
89. istance Unit will reset to its normal status after the Servo Driver s internal capacitors discharge completely and the voltage drops across terminals P and N 3 The Regeneration Resistance Unit does not comply with the EC Directives 3 24 3 5 Regeneration Resistance Unit 3 5 1 Regeneration Resistance Unit R88A RGO8UA Specifications B Dimensions 25 el al 6 dia Mounting Hole E ae Dimensions 41 n 6 i Saz g R3 Ir d KI If L 4 t o5 H6 aa 180 J UMS Two M4 25 3 25 3 6 AC Reactors 3 6 1 AC Reactor Specifications 3 6 AC Reactors An AC Reactor can be connected to the Servo Driver to suppress harmonic currents Select a model to match the Servo Driver being used 3 6 1 AC Reactor Specifications B Specifications Servo Driver AC Reactor model Model Rated current A Inductance mH Weight kg R7D ZP01H R88A PX5052 1 0 45 0 Approx 0 4 R7D ZP02H R88A PX5053 2 0 20 0 Approx 0 6 R7D ZP04H R88A PX5054 3 0 5 0 Approx 0 4 R7D ZP08H R88A PX5056 5 0 2 0 Approx 0 4 B Dimensions Units mm Nameplate Four H dia Model A B C D E F G Hdia I dia R88A PX5052 35 52 80 95 30 40 45 4 4 3 R88A PX5053 35 52 90 105 35 45 50 4 4 3 R88A PX5
90. iver and Servomotor is 20 meters Connection Configuration and Dimensions 19 6 Servo Driver end Servomotor end MP s Geesen dp m Wiring Servo Driver Servomotor Signal No Signal AWG20 Red Phase U 1 Phase U AWG20 White Phase V 2 Phase V AWG20 Blue Phase W 3 Phase W 4 FG 5 6 Green Yellow M4 crimp terminal Servo Driver Connector Servomotor Connector Connector plug Connector plug 04JFAT SAYGF N JST Mfg Co Ltd 5557 06R 210 Molex Japan Connector case 5556TL Molex Japan 3 19 3 4 Cable and Connector Specifications 3 4 2 Servomotor Power Cable Specifications B Power Cables without Connector Loose Wires for Servomotors without Brakes Cable Models Model Length L Outer diameter of cable Weight R7A CAZ001 1m 7 4 dia Approx 0 1 kg Note 1 The maximum distance between the Servo Driver and Servomotor is 20 meters 2 Cables are sold in 1 m increments It is cut to the specified length B Power Cables with CNB Connector for Servomotors with Brakes Cable Models Model Length L Outer diameter of cable Weight R7A CAZ003B 3m Approx 0 4 kg R7A CAZ005B 5m 7 4 dia Approx 0 8 kg R7A CAZ010B 10m Approx 1 2 kg Note The maximum distance between the Servo Driver and Servomotor is 20 meters Connection Configuration and Dimensi
91. les leaving the control panel must be wired in metal ducts or conduits with blades The 30 cm power cable encoder cable and connector do not have to be inserted in metal ducts or conduits Clamp filters must be installed on cables with braided shields and the shield must be directly grounded to a ground plate 4 2 Wiring 4 2 5 Conforming to EMC Directives B Wiring Method Control panel Metal plals s n ign teeter Ben Vier e ce OR Senco SERE WU n 2m max 2 d Device with built in motor Metal duct Nos id Em Radio E or conduit i filter po 4 i noise i Radio R7D z0O pp filter i noise E Metal i i R7D ZO i filter AC power H Surge i duct or B supply Ld i NFB absorber Contactor i conduit H Es gt TT Noise SE z x i 8 T filter e Ae Radio w H H M a E noise KE Il filter c a Clamp F Class ground L 2 m max H filter Gu to 100 Q or CNS i filter less i N H t E U e Clamp ABC NE E 9 S CN e e Clamp filter LI 9 S ry Ge Ground Controller Clamp ES Clamp filter plate power supply 3 Controller
92. mmon A14 X axis positioning complete input A12 Common for inputs 9 ECRST 11 ZCOM CNB ju R7A CAZOS 10 Z ke PIA CAZOB 14 INE Servomotor Power Cable Main circuit contact 4 Surge suppressor Servo error indicator Regeneration Resistance Unit R7M Z Blue X axis external interrupt input F24VIN X axis origin proximity input A21 X axis CCW limit input A23 RUN R7A CRZOC Encoder Cable X axis CW limit input A22 X axis emergency stop input OGND ALM BKIR FG m A 1 Connection Examples B Example 7 Connecting to a SYSMAC C200H NC112 Position Control Unit Note 1 Use mode 2 for The diode Incorrect signal wiring can cause damage to Units and the Servo Driver Leave unused signal lines open and do not wire them origin search Use a dedicated power supply as the 24 V DC power supply for command pulse signals recommended for surge absorption is the ERB44 02 Fuji Electric Do not use the 24 VDC control power supply for the brake power supply 24 VDC 3 phase 200 230 VAC 50 60Hz C200H NC112 Main circuit power supply
93. n Resistance Unit between P and 4 Unit connection terminals N Frame ground This is the ground terminal Ground to a minimum of 100 Q class D class 3 3 3 3 1 Servo Driver Specifications 3 1 3 Main Circuit and Servomotor Connector Specifications CNA and CNB B R7A CNZ01A CNB Servomotor Connector Specifications B Aa OU N OCC CNB Connector Servomotor Connector CNB Pin Arrangement Pin No Terminal Name Function label 1 U Servomotor Red These are the output terminals to the 2 V connection White Servomotor Be careful to wire them 3 Ww Terminals Blue correctly 4 Do not connect anything to this terminal Frame ground Green Yellow Connect the Servomotor FG terminal 3 4 3 1 Servo Driver Specifications 3 1 4 Control I O Specifications CN1 3 1 4 Control I O Specifications CN1 B Control I O Signal Connections and External Signal Processing TCW Ara Z Phase Z 2 L ow ZCOM Forward ccw 13 SE pulse ALM eet CCW Alarm output Maximum operating voltage 30 V DC iati Maximum Output See ECRST SE Current 50 mA DC reset ee Brake ECBST interlock INP Positioning completed ocND Pt 24 VDC 24VIN RUN command Shell FG Frame ground 3 5 3 1 Servo Driver Specification
94. nd proper use of SMARTSTEP Junior Servomotors and Servo Drivers read the general warnings provided below along with the rest of this manual to gain sufficient knowledge of the devices safety information and precautions before actual use This OPERATION MANUAL is to be delivered to the actual end users of the products Please keep this manual close at hand for future reference The following conventions are used to indicate and classify precautions in this manual Always heed the information provided with them Failure to heed precautions can result in injury to people or damage to property Indicates a potentially hazardous situation which if not avoided could result in NWARNING death or serious injury Additionally there may be severe property damage A Indicates a potentially hazardous situation which if not avoided may result in Caution minor or moderate injury or property damage General Warnings e This manual may include illustrations of the product with protective covers or shields removed in order to describe the components of the product in detail Make sure that these protective covers and shields are on the product before use e Consult your OMRON representative when using the product after a long period of storage N WARNING Always connect the frame ground terminals of the Servo Driver and the Servomotor to a class 3 ground to 100 Q or less Not connecting to a class 3 ground
95. nection Power ON e Turn OFF the power supply e Connect the mechanical device to the Servomotor shaft Turn ON the power supply 3 Loaded Low speed Operation e Send a low speed command from the Host Controller to rotate the Servomotor The definition of low speed varies depending on the mechanical system but a rough estimate is 1 10 to 1 5 of the normal operating speed e Check the following items Is the emergency stop operating correctly Are the limit switches operating correctly Is the operating direction of the machinery correct Are the operating sequences correct Are there any abnormal sounds or vibration Is any error or alarm generated 5 7 5 4 Trial Operation 5 4 2 Trial Operation Note 1 If anything abnormal occurs refer to Section 6 Troubleshooting and apply the appropriate countermeasures 2 Ifthe machine vibrates when starting or stopping refer to 5 2 2 Switch Functions and adjust the command filter rotary switch setting FIL 4 Operation under Actual Conditions Operate the Servomotor in a regular pattern and check the following items Is the operating speed correct Is the load torque roughly equivalent to the measured value Are the positioning points correct When an operation is repeated is there any discrepancy in positioning Are there any abnormal sounds or vibration Is either the Servomotor or the Servo Driver abnormally overheating Is any error or alarm gen
96. o Driver Vcc R NA Note Select a value for resistance R so that the input current will be from 7 to 15 mA Vcc R 24V 1 6 to 2 2 KQ 12V 750 to 1 kO 5V 180 Q 3 7 3 1 Servo Driver Specifications 3 1 6 Control Input Details B Sequence Inputs 3 1 6 3 8 6 8kQ 6 8kQ 24VIN 5 External power supply are cea 24V 1V DC slk Weel Photocoupler input Power supply capacity T RUN 3 3 koc Ti AT E 24 V DC 7 mA 50 mA min per Unit 6 ENT O OC Minimum ON time 40 ms Signal Levels On level Minimum 24 VIN 11 V OFF level Maximum 24 VIN 1 V Control Input Details B Feed Pulse Direction Signal Reverse Pulse Forward Pulse CN1 Pin Numbers CN1 pin 1 Reverse Pulse CW Feed Pulse PULS CN1 pin 2 Reverse Pulse CW Feed Pulse PULS CN1 pin 3 Direction Signal SIGN Forward Pulse CCW CN1 pin 4 Direction Signal SIGN Forward Pulse CCW e Signal Functions The functions of these signals depend on the setting of the command pulse rotary switch PULSE on the front of the Servo Driver Turn OFF the Servo Driver s power before setting the PULSE Switch The factory setting is O Setting Command Command pulse connection Command pulse type pulse method resolution 0 1000 Open collector or line driver CMF COM positive logic 1 2500 ou TMl 2 5000 L
97. od if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents
98. oder Cable is wired incorrectly Check the wiring Wire correctly The Control I O Connector CN1 is wired incorrectly Check the command pulse s wiring Wire correctly Check the command pulse type Set the Servo Driver s pulse type to match the Controller s command pulse type Check the command pulse s voltage Connect a resistor that matches the voltage The power supply is not ON Check whether the power supply is ON and check the PWR Indicator Turn ON the power supply Check the voltage across the power supply terminals Set up the power supply s ON circuit correctly The CW input and CCW input are ON at the same time Check the command pulse s wiring e Input either the CW input or CCW input to the pulse signal e Always turn OFF the terminal that is not being input Servo Driver is faulty Replace the Servo Driver The Servomotor operates momentarily but then it does not operate The Servomotor Power Cable or Encoder Cable is wired incorrectly Check the wiring of the Servomotor Power Cable s U V and W phases and check the Encoder Cable s wiring Wire correctly The Servomotor rotates without a command The command pulse input is incorrect Check the command pulse type Set the correct command pulse input Check the command pulse s voltage Connect a resistor that matches the voltage Servo Driver is faul
99. olor Mark color Signal 1 Orange Red CW PULS 2 Orange Black CW PULS 3 Gray Red CCW SIGN 4 Gray Black CCW SIGN 5 White Red 24VIN 6 Yellow Black RUN 7 White Black OGND 8 Pink Red ECRST 9 Pink Black ECRST 10 Orange Red Z 11 Orange Black ZCOM 12 Gray Red ALM 13 Gray Black BKIR 14 Yellow Red INP Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo 3M Cable AWG24 x 7P UL20276 Wires with the same wire color and the same number of marks are a twisted pair Connector Pin Arrangement 3 18 3 4 2 3 4 Cable and Connector Specifications 3 4 2 Servomotor Power Cable Specifications Servomotor Power Cable Specifications The Servomotor Cable supplies power between the Servo Driver and Servomotor Servomotor Power Cables are available in two forms Servomotor Power Cables with an attached CNB Connector and Servomotor Power Cables without a connector Cable Only Select the Cable to match the Servomotor being used Note When connecting to moving parts use robot cable and make a custom cable B Power Cables with CNB Connector for Servomotors without Brakes Cable Models Model Length L Outer diameter of cable Weight R7A CAZ003S 3m Approx 0 4 kg R7A CAZ005S 5m 7 4 dia Approx 0 8 kg R7A CAZ010S 10m Approx 1 2 kg Note The maximum distance between the Servo Dr
100. ons 19 6 Servo Driver end Servomotor end R7D ZP Set EE 138 R7M Z e Wiring Servo Driver Servomotor Signal No Signal AWG20 Red Phase U Phase U AWG20 White Phase V Phase V AWG20 Blue Phase W Phase W Reg FG Brake AWG20 Brake Green Yellow AWG20 Black GTC AWG20 Brown Servo Driver Connector Servomotor Connector Connector plug Connector plug 04JFAT SAYGF N JST Mfg Co Ltd 5557 06R 210 Molex Japan Connector case 5556TL Molex Japan 3 20 3 4 3 3 4 Cable and Connector Specifications 3 4 3 Encoder Cable Specifications B Power Cables without Connectors Loose Wires for Servomotors with Brakes Cable Models Model Length L Outer diameter of cable Weight R7A CAZ01B 1m 7 4 dia Approx 0 1 kg Note 1 The maximum distance between the Servo Driver and Servomotor is 20 meters 2 Cables are sold in 1 m increments It is cut to the specified length Encoder Cable Specifications The Encoder Cable connects the encoder between the Servo Driver and Servomotor Encoder Cables are available in two forms Encoder Cables with an attached CN2 Connector and plain cable only Note When connecting to moving parts use robot cable to make a custom cable Encoder Cable CN2 Connector Attached Cable Models Model Length L Outer diameter of cable Weight R7
101. operating temperature below 40 C e We recommend that ambient operating temperature and the power ON time be reduced as much as possible to lengthen the maintenance intervals for Servo Drivers The life of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally speaking an increase of 10 C in the ambient operating temperature will reduce capacitor life by 50 e The aluminum electrolytic capacitors deteriorate even when the Servo Driver is stored with no power supplied If the Servo Driver is not used for a long time we recommend a periodic inspection and part replacement schedule of five years e f the Servomotor or Servo Driver 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 6 5 3 Replacing the Cooling Fan Please contact your OMRON representative regarding cooling fan replacement 6 13 Appendix A 1 Connection Examples A 1 Connection Examples B Example 1 Connecting to SYSMAC CJ1W NC133 233 433 Position Control Units Main circuit power supply
102. or a2 DW interconnected ae e Interconnection of a Servomotor U V or W phase and ground e Servomotor U V or W phases The load is too large and exceeds the Re evaluate the load and regenerative absorption capacity operating conditions There is a problem with the Servo Review the installation Driver s installation environment such conditions so that the Servo as the installation direction spacing Driver s ambient temperature is between Units or surroundings below 55 C The Servo Drivers cooling is Improve air circulation and insufficient heat dissipation The Servomotor and Servo Driver Use compatible models combination is incorrect The Servo Driver is faulty Replace the Servo Driver Servomotor is burned out Replace the Servomotor au DR Servo Driver Occurs when the The Servo Driver s built in cooling fan Replace the cooling fan Refer fan stopped power is turned stopped to 6 5 Periodic Maintenance for xcd ON or during details AL3 operation ALI System error Occurs when the The Servo Driver is faulty Replace the Servo Driver n power is turned AL2 ON AL3 AL1 A Command Occurs when the The command pulse setting rotary Turn the power supply OFF and i pulse setting power is turned switch was changed during operation ON again Weg AL rotary switch ON or during ALS N PULSE operation Flashing steadily changed Lit J Not lit lI Flashing MN 6 7 6 3 Troubleshooting 6 3 2 Error Diagnosis using the Ope
103. orption is the ERB44 02 Fuji Electric 5 Do not use the 24 VDC control power supply for the brake power supply 24 VDC FQM1 MMP21 Main circuit contact Surge suppressor 4 Servo error indicator Signal NFB OFF ON R Q 96io a e C o r1 T E o MC o o X1 SUP 3 phase 200 230 VAC 50 60Hz i x1 pu i o eue PL i Ei o re Linear reactor Ground to 100 Q R7D ZP Fuse or less C R7A CPZLIS 5 VDC power supply input for pulse outputs 5 V GND Pulse loutput 1 i li Lore O O 1 ew amean external 2 CW e Regeneration Resistance Unit 3 CCW o when required 4 COW TECRST 7 R7M Z 9 ECRST 11 ZCOM Red R7A CAZLIS R7A CAZOB n d White N gervomotor Power Cable Blue CP2C F24VIN RUN R7A CRZOC Encoder Cable OGND m ALM Signal No XB BKIR OO ei 5G 24 VDC Connecting to a SYSMAC CPM2C PLC NFB id DN Main circuit contact R 6jd 8 0 6 9 E je 0O
104. ossi e ine a oe dudes dt aad shea dolo te dei eo dola eiue 5 3 Switch Names etd tet e ie eic eia Grade e ted beatae 5 3 15 ele EE 5 3 5 3 Preparing for le TEE 5 5 5 3 1 Turning ON the Power and Checking Indicators ssseeee 5 5 5 4 Prial Operaatio EE 5 7 5 4 1 Preparing for Trial Operation 5 7 5 4 2 Thal Operation i tedio Pape t E de ces e pa Pe a Neea aaea ieee 5 7 5 5 Operating FUNCIONS EE 5 9 5 5 1 Brake Interlock NS a te ee ee eh ees eee ee eee 5 9 Section6 Troubleshooting 6 1 Error ProCeSSuing RT ET 6 2 6 1 1 Preliminary Checks when a Problem Occurs eee enne 6 2 6 1 2 Precautions When Troubleshooting enne nnn 6 3 6 1 3 Replacing the Servomotor and Servo Driver 6 3 6 2 Alarm TADS RP E m E 6 4 6 2 1 Alarm Table EE 6 4 6 3 Troubleshooting eh ste e oO icr oci d alertes p abet urs 6 5 6 3 1 Error Diagnosis using the Alarm Indicators AA 6 5 6 3 2 Error Diagnosis using the Operating Status eesseesseesseeeseeeneeene eene nennnnnnsennsen neen nenn 6 8 6 4 Overload Characteristics Electronic Thermal Funchon 6 11 6 4 1 Overload Characteristics Grape 6 11 6 5 Periodic Maintenance gie nee Eee E ed Sege 6 12 6 5 1 Servomotor Maintenance 6 12 6 5 2 Servo Driver Maintenance sse enne nennen 6 13 6 5 3 Replacing the Cooling Fan 6 13 Appendix A 1 Gonmnectlon dexalmplBS cesi lohan Perret ei ERU E A e Ee eue dee A 2 PROVISION HISIODy scere ioc D Mr EM M EI iE R 1 16 Section 1 Features and S
105. r any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or 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 General Warnings To ensure safe a
106. r for ordinary braking Doing so may result in aution malfunction Ac Do not operate the Servomotor connected to a load that exceeds the applicable load moment aution of inertia Doing so may result in malfunction Maintenance and Inspection Precautions AN CAUTION Do not attempt to disassemble repair or modify any Units Any attempt to do so may result Z WARNING in malfunction fire or electric shock Ac Resume operation only after transferring to the new Unit the contents of the data required aution for operation Not doing so may result in an unexpected operation 10 General Warnings B Warning Labels Warning labels are pasted on the product as shown in the following illustration Be sure to follow the instructions given there Warning label Example from R7D ZP01H B Warning Label Contents Read manual before installing 9XiiS S495 RR Boa TRRREEE REO C Disconnect all power and wait 5 min WARNING before servicing May cause electric shock fe BG aaottuessnting upps MRM IS EUR DEET Do not touch heatsink when power is ON and d CAUTION power is OFF 15 min after May cause burn up og MR PUREE SA BOBBEAR SPORE BSh5IOSEA2 amp 1558C h272 08 55 ABORN DY Use proper grounding techniques ttis Tib DHSS E EK 11 Items to Check When Unpacking Check the following items after removing the product from the package Item Method Has the corre
107. r supply may result in malfunction 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 countermeasures when installing systems in the following locations Failure to do so may result in damage to the product e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radioactivity e locations close to power supplies General Warnings Operation and Adjustment Precautions N CAUTION Ac Confirm that no adverse effects will occur in the system before performing the test operation aution Not doing so may result in equipment damage Ac Check the newly set parameters and switches for proper execution before actually running aution them Not doing so may result in equipment damage Ac Do not make any extreme adjustments or setting changes Doing so may result in unstable aution operation and injury Ac Separate the Servomotor from the machine check for proper operation and then connect to aution the machine Not doing so may cause injury Ac When an alarm occurs remove the cause reset the alarm after confirming safety and then aution resume operation Not doing so may result in injury Ac Do not use the built in brake of the Servomoto
108. rating Status 6 3 2 Error Diagnosis using the Operating Status Problem Likely cause Items to check Countermeasures The power indicator PWR does not light when the power supply is turned ON The power supply cable is wired incorrectly Check whether the power supply input is within the allowed voltage range Supply the correct power Check whether the power supply input is wired correctly Wire correctly The external Regeneration Resistance Unit is wired incorrectly Check whether the external Regeneration Resistance Unit s cable is wired correctly Replace the Servo Driver and external Regeneration Resistance Unit and wire them correctly Servomotor will not rotate even though command pulses are being input from the Controller The Run command RUN is OFF Check whether the REF Indicator is lit green If the REF Indicator is orange e Input the Run command RUN e Wire the input correctly The command pulse Setting is incorrect Check whether the REF Indicator is flashing If the REF Indicator is flashing e Wire the input correctly e Set the Servo Driver s pulse type to match the Controller s command pulse type Check the Controller s command pulse type and the Servo Driver s command pulse type Set the Servo Driver s pulse type to match the Controller s command pulse type The Servomotor Power Cable is wired incorrectly The Enc
109. rcuit Connector connects to the Servo Driver s Main Circuit Connector CNA e Dimensions Main Circuit Connector 04JFAT SBXGF N JST Mfg Co Ltd 18 2 talc Wiring Lever J FAT OT JST Mfg Co Ltd 20 3 Gs H 3j 3 4 Cable and Connector Specifications 3 4 4 Connector Specifications B Servomotor Connector R7A CNZ01A The Servomotor Connector connects to the Servo Driver s Servomotor Connector CNB Dimensions _ Servomotor Connector Call 04JFAT SAYGF N SI JST Mfg Co Ltd 13 2 D yi Sa cau J an E 4 29 E3 dE De 3 23 3 5 Regeneration Resistance Unit 3 5 1 Regeneration Resistance Unit R88A RGO8UA Specifications 3 5 Regeneration Resistance Unit 3 5 1 Regeneration Resistance Unit R88A RGO8UA Specifications B General Specifications Item Specifications Ambient operating temperature 0 to 55 C Ambient operating humidity 35 to 85 with no condensation Ambient storage temperature 10 to 75 C Ambient
110. refer to 6 3 Troubleshooting for details 6 2 6 1 Error Processing 6 1 2 Precautions When Troubleshooting 6 1 2 Precautions When Troubleshooting When checking and verifying I O after a problem has occurred the Servo Driver may suddenly start to operate or suddenly stop so always take the following precautions In addition never attempt operations that are not specified in this manual B Precautions e Disconnect any cables before checking whether they are broken or damaged Even if you have checked the conduction of the wiring there is a risk of conduction due to the return circuit If the encoder signal is lost the Servomotor may overrun or an error may be generated Be sure that the Servomotor is disconnected from the mechanical system before checking the encoder signal When performing tests first check that there are no personnel in the vicinity of the mechanical equipment and that the equipment will not be damaged even if the Servomotor overruns Before performing the tests verify that you can immediately stop the machine using an emergency stop even if the Servomotor overruns 6 1 3 Replacing the Servomotor and Servo Driver Use the following procedure to replace the Servomotor or Servo Driver B Replacing the Servomotor 1 Replace the Servomotor 2 Perform origin teaching e When the Servomotor is replaced the Servomotor s specific origin position Z phase may slip so origin teaching must be performed e Re
111. rrent See note 1 A rms 2 5 3 3 6 0 11 1 kg m 6 5 5 4 Rotor inertia A 6 34 x 10 3 30 x 10 6 03 x 10 1 50 x 10 GD 4 Power rate See note 1 kW s 16 0 12 3 26 7 38 1 Ge radial load See notes 5 and N 78 245 245 392 Allowable thrust load See note 5 N 54 74 74 147 Without brake kg 0 5 0 9 1 3 2 6 Weight With brake kg 0 7 1 5 1 9 3 5 Radiation shield dimensions material IG 1250 Al Applicable load inertia See note 2 kgm 6 0x10 9 5x 3 0x 10 9 1 x 5 0x10 83x 1 0x 10 6 7 x i e kom 7 6 6 5 Brake inertia 2 7 54 x 10 6 4 x 10 6 4 x 10 1 71 x 10 GD 4 2 Excitation voltage See note 3 V 24 VDC 10 2 Power consumption at 20 C WwW 6 7 7 7 7 Current consumption at 20 C A 0 25 0 29 0 29 0 32 Static friction torque N m 0 318 min 0 637 min 1 27 min 2 45 min 2 Attraction time See note 4 ms 60 max 80 max o Release time See note 4 ms 30 max 20 max Backlash 1 max Rating Continuous Applicable Servo Pulse train models ZPO1H ZPO2H ZPO4H ZPO8H Drivers R7D Note 1 These are the values when the Servomotor is combined with a Servo Driver and the armature winding temperature is 100 C Other values are at normal conditions 20 C 6596 The momentary maximum torque shown above indicates the standard value o BON operating temperatures This is the value without an accessory such as an external Regeneration Resistance Unit The brakes operate when
112. ry The stop circuit failed Replace the Servo Driver 6 9 6 3 Troubleshooting 6 3 2 Error Diagnosis using the Operating Status Problem Likely cause Items to check Countermeasures The Servomotor is producing unusual noises or the machinery is vibrating There are problems with the machinery s installation Check whether the Servomotor s mounting screws are loose Tighten the mounting screws Check whether the axes are misaligned in the mechanical coupling system Align the mechanical couplings Check whether the couplings are unbalanced Adjust the coupling s balance There is a problem with the bearings Check for noise or vibration around the bearings Contact your OMRON representative Noise is infiltrating the Control I O Cable because the cable does not meet specifications Check that the cable wires are twisted pair wires or shielded twisted pair wires that are at least 0 08 mm 28 AWG Use Control I O Cable that meets specifications Noise is infiltrating the Control UO Cable because the cable is too long Check the length of the Control UO Cable Shorten the Control I O Cable to less than 3 m Noise is infiltrating the cable because the encoder cable does not meet specifications Check that the cable wires are twisted pair wires or shielded twisted pair wires that are at least 0 12 mm 26 AWG Use encoder cabl
113. s 3 1 4 Control I O Specifications CN1 3 6 B Control I O Signals CN1 Control Inputs Pin No Signal name Function Function Interface 1 CW PULS S Pulse string input terminals for position commands everse pulses Line driver input 2 CW PULS feed pulses Maximum response frequency 750 kpps Open collector input 3 CCW SIGN Maximum response frequency 187 5 kpps Forward pulses Note Either forward and reverse pulses CW CCW or phase difference feed pulses and direction signal PULS SIGN can be 4 CCW SIGN signals selected using the rotary switch for setting command pulses located on the front of the Unit 24 V power supply Power supply input terminal 24 V DC for sequence inputs 5 24VIN input for control DC pin 6 6 RUN iie command ON Servo ON Starts power to Servomotor 8 ECRST At ON Pulse commands prohibited and deviation counter Deviation counter ne cleared 9 ECRST Note Input for at least 20 us CN1 Control Outputs iu zagnal Function Function Interface No name 10 Z i Phase Z output Outputs the Encoder S phase Z 1 pulse revolution 11 ZCOM Note Use the rising edge of the ON signal When the Servo Driver generates an alarm the output turns 12 ALM Alarm output OFF Note OFF for approx 2 s after the power is turned ON 43 BKIR Brake interlock output Outputs the holding brake timing sign
114. s in each region can be derived from the following equations Ea mama Ni Tost Uu 200524 Ni To fti LJ Ecc Nt Tatts 0 105 N2 Tr2 t2 J Escena Ni Tint J 0 0524 No Tpa2 ts J Ny No Rotation speed at beginning of deceleration r min Tou Toz Deceleration torque N m Tiz Torque when falling N m ty ts Deceleration time s to Constant velocity travel time when falling s Note There is some loss due to winding resistance so the actual regenerative energy will be approximately 90 of the values derived from these equations e The average regeneration power Pr is the power consumed by regeneration resistance in one cycle of operation Pr E E E T w T Operation cycle s 4 22 4 3 Regenerative Energy Absorption 4 3 2 Servo Driver Regenerative Energy Absorption Capacity e Since there is an internal capacitor to absorb regenerative energy the value for Eg1 and Ego Egg unit J must be lower than the Servo Driver s regenerative energy absorption capacity The capacity varies depending on the model For details refer to 4 3 2 Servo Driver Regenerative Energy Absorption Capacity If an external Regeneration Resistance Unit is connected be sure that the average regeneration power Pr does not exceed the external Regeneration Resistance Unit s regenerative energy absorption capacity 12 W 4 3 2 Servo Driver Regenerative Energy Absorption Capacity B Amount of Internal Regeneration R
115. s rotating at high speed Re evaluate the load and AS and the load inertia is too large operating conditions An external Regeneration Resistance Calculate the regenerative Unit is not connected or the wrong energy and connect an external external Regeneration Resistor was Regeneration Resistance Unit or selected Regeneration Resistor with sufficient capacity The Servo Driver is faulty Replace the Servo Driver Lit Not lit BI Flashing KA 6 6 6 3 Troubleshooting 6 3 1 Error Diagnosis using the Alarm Indicators LED Status when error Error Cause of error Countermeasure Indicators occurs Overcurrent Occurs when the The U phase V phase W phase or Rewire correctly power is turned GR wires are wired incorrectly or the ON or during connections are loose operation The GR terminal is linked to another terminal The following lines are shorted or Repair or replace the interconnected Servomotor Power Cable e Interconnection of a U V or W Caution Before turning on the phase in Servomotor Power Cable power always verify that there and ground are no short circuits or e Interconnection between U V or interconnected lines W phases in Servomotor Power Cable The external Regeneration Rewire correctly a Resistance Unit is wired incorrectly d The following lines are shorted or Replace the Servomot
116. s the time it takes from inputting the Run command RUN until the brake being released Take this delay into account when sending the pulse command so that the pulse command is sent after the brake has been released In addition there is some delay between a change in the BKIR signal and the brake power switching so check the relay s response time 2 The time from turning OFF the brake power supply to the brake engaging is 100 ms max 3 The time from turning ON the brake power supply to the brake being released depends on the Servomotor being used The following table shows the delay for each model Model Delay R7M Z10030 B R7M Z20030 B 60 ms max R7M Z40030 B R7M Z75030 B 80 ms max 4 Referto the following page for the stop sequence 5 The brake s operation time depends on the model of surge suppressor installed on the brake 5 9 5 5 Operating Functions 5 5 1 Brake Interlock RUN Command Timing When Servomotor Is Rotating Note 1 5 10 ON OFF RUN Run command ON OFF ALM alarm output BKIR OM brake interlock OFF Energized Servomotor power Not energized Servomotor speed 100r min DO rc je See note 2 See note 1 4 The Servomotor will continue to rotate due to its momentum for about 15 ms after the Servomotor de energizes until the dynamic brake operates The BKIR brake interlock s
117. seeeeee 3 17 Cable and Connector Specifications ENNEN 3 18 Control Cable Specificatioris rre te in n rede t eee 3 18 Servomotor Power Cable Specifications ssssssssssssseeeee 3 19 Encoder Cable Specifications sss eee 3 21 Connector Gpecflcatlons esent 3 22 Regeneration Resistance Unit 3 24 Regeneration Resistance Unit R88A RGO8UA Specifications 3 24 AC Rea CIO c cc 3 26 AC Reactor Specifications essere enne 3 26 System Design Installation Conditions a ec tepore toe en ER Rer pce EE e rne ete 4 2 lo DIVES ep e P tere deo ra EE Un pde EIERE ENEE ee 4 2 EN net 4 3 Decelerators icicle adn eal Ll alee 4 5 MVIFIIGI n tg oath ta usate tendere ea lace ei AE etra cues aie ohare 4 6 Connecting Gables rte ma eie UR E arie e ER ned Mend Aa EE ADAE 4 6 Selecting Connecting Cables AAA 4 7 Peripheral Device Connection Examples sseseessssssssiesriesriesrissrissrissrissrnnsrnnsrrnnsrnn 4 8 Wiring the Main Circuit and Servomotor Connechons ssseseeseeeseeseesseereerrerrreenee 4 9 Conforming to EMC Directives A 4 11 Regenerative Energy Absorption AAA 4 21 Calculating the Regenerative Energy 4 21 Servo Driver Regenerative Energy Absorption Capacity 4 23 Absorbing Regenerative Energy with an External Hesisior 4 23 Operation Operational e 5 2 Operational Procedure enne nnne entre ennt sinn en 5 2 SWEN Sets m
118. tactors based on the circuit s inrush current and the maximum momentary current e The Servo Driver inrush current is covered in the preceding explanation of no fuse breaker selection and the maximum momentary current is approximately twice the rated current e The following table shows the recommended contactors Maker Model number Rated current Coil voltage J7L 09 22200 11A 200 VAC J7L 12 22200 13A 200 VAC OMRON J7L 18 22200 18A 200 VAC J7L 32 22200 26A 200 VAC 4 17 4 2 Wiring 4 2 5 Conforming to EMC Directives 4 18 Leakage Breakers e Use leakage breakers designed for motors e Since switching takes place inside the Servo Drivers harmonic current leaks from the armature of the motor With leakage breakers designed for motors harmonic current is not detected preventing the breaker from operating due to leakage current e When selecting leakage breakers remember to add the leakage current in devices besides the Servomotor that use the switching power supply such as noise filters and inverters e For details on leakage breakers refer to the manufacturer s catalog e The following table shows the Servomotor leakage current for each Servo Driver model Driver Leakage current resistor capacitor measurement in the Servo Driver model e commercial power supply frequency range R7D ZP01H ZP02H ZP04H 3 mA max R7D ZP08H 5 mA max Note 1 The leakage
119. teristics Electronic Thermal Function 6 4 1 Overload Characteristics Graphs 6 4 Overload Characteristics Electronic Thermal Function An overload protection electronic thermal function is built into the Servo Driver to protect against Servo Driver 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 The overload characteristics are for a Servomotor with an aluminum heat sink 250 x 250 x 6 mm mounted and an ambient temperature of 40 C so use the Servomotor under these conditions 6 4 1 Overload Characteristics Graphs The following graphs show the characteristics of the load rate and electronic thermal function s operation time B R7D ZP01H Servo Driver 100 W 1000 100 GA Time s 10 Ec toe 4L EHE LEE LE rr d rg db gn gd 100 150 200 250 300 Motor torque Note 1 The motor torque indicates the percentage of the rated torque that is applied 2 For example if the motor torque is 300 of the rated torque an overload alarm will be generated after about 2 seconds when an R7D ZPO1H is being used B R7D ZP02H ZP04H ZP08H Servo Drivers 200 W to 750 W 1000 Electronic thermal function s operation 100 A time s EE Motor
120. the Servomotor shaft s key groove when installing the set bolt Rubber cap Set bolt Iu Servomotor installation bolt Input shaft Wo 1 Remove the rubber cap and check that the set bolt is loose 2 Insert the Servomotor shaft into the input shaft 3 Tighten the Servomotor installation bolt to the torque specified in the following table Servomotor installation bolt Tightening torque N m M4 2 9 M5 5 8 M6 9 8 4 Tighten the set bolt to the torque specified in the following table Set bolt Tightening torque N m M3 1 0 M4 2 9 5 After tightening the set bolt replace the rubber cap B Using Another Company s Decelerator Reference Information If the system configuration requires another company s decelerator to be used in combination with a SMARTSTEP Junior Servomotor select the decelerator so that the load on the motor shaft i e both the radial and thrust loads is with the allowable values Refer to 3 2 2 Characteristics for details on the allowable loads for motors Also select the decelerator so that the allowable input speed and allowable input torque of the decelerator is not exceeded 4 5 4 2 Wiring 4 2 1 Connecting Cables 4 2 Wiring 4 2 1 Connecting Cables This section shows the types of connecting cables used in a SMARTSTEP Junior system A wide s
121. the circuit is open i e they are released when voltage is applied The operation time is the measured value reference value with a varistor installed as a surge suppressor The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal 6 The value indicated for the allowable radial load at the location shown in the following diagram Radial load Thrust load ES 3 14 3 2 Servomotor Specifications 3 2 2 Characteristics B Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3 m standard cable and a 200 V AC input R7M Z10030 S1 N m 1 0 4 0 955 0 8 4 0 6 5 Repetitive usage 0 4 4 0 318 0 318 02 4 0 209 Continuous usage 0 T T T T T r min 1000 2000 3000 4000 5000 R7M Z40030 S1 Nem 4 0 4 3 82 3 82 Repetitive usage 2 6 2 04 1 27 1 27 1 0 4 0 825 Continuous usage 0 T T T T 1 r min 1000 2000 3000 4000 5000 R7M Z20030 S1 N m 2 0 4 1 91 1 91 3500 1 5 13 Repetitive usage 1 04 0 639 0 639 957 0 419 Continuous usage 0 T T T T T r min 1000 2000 3000 4000 5000 R7M Z75030 S1 IN mi 8 0 4 7 16 7 16 6 04 Repetitive usage D 4 0 4 2 39 2 39 2 0 4 7 Continuous usage 145 0 T T T T 1 r min 1000 2000 3000 4000 5000 3 15 3 2 Servomotor Specifications 3 2 3 Encoder Specifications 3 2 3 3 16 B Temperature Characteristics of the S
122. the motor shaft V d d Do not offset center lines e When connecting to a load use couplings EE a center Im that can sufficiently absorb mechanical S eccentricity and variation e For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree of accuracy for example JIS class Backlash 2 normal line pitch error of 6 um max for a pitch circle diameter of 50 mm Adjust backlash by adjusting the e f the gear precision is not adequate allow ue between backlash to ensure that no radial load is placed on the motor shaft 4 3 4 1 Installation Conditions 4 1 2 Servomotors e Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision the gear precision and temperature changes Provide appropriate backlash or take other measures to ensure that no thrust load is applied which exceeds specifications e Do not put rubber packing on the flange surface When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to be placed on the motor shaft due to belt tension If an excessive radial load is applied the motor shaft and bearings may be damaged Set up a movable pulley between the motor axis and the load axis so that the belt
123. tion direction spacing between Units or surroundings The Servo Driver is faulty Replace the Servo Driver Occurs when the The Servomotor did not stop even Re evaluate the load conditions servo is turned OFF though 3 seconds passed after the Check whether an external force servo was turned OFF is rotating the Servomotor Encoder Occurs when the The encoder cable is wired incorrectly Check the wiring error power is turned ON or or the connector is loose during operation Noise is infiltrating the cable because Use an encoder cable with the encoder cable does not meet twisted pair wires or shielded xs specifications twisted pair wires that are at least AL2 0 12 mm 26 AWG iic Noise is infiltrating the encoder cable Shorten the encoder cable to less because the cable is too long than 20 m The encoder cable is broken Replace the encoder cable Origin error Replace the Servomotor Faulty encoder Voltage Occurs when the The power supply voltage exceeded Keep the power supply voltage error power is turned ON the allowed range within the allowed range The Servo Drivers power was turned Wait until the REF Indicator is ON again before it was completely OFF before turning ON the power turned OFF supply again The Servo Driver is faulty Replace the Servo Driver BM Occurs during normal There was a large voltage change in Keep the power supply voltage i operation the main circuit power supply within the allowed range The motor i
124. torque 96 Note 1 The motor torque 96 indicates the percentage of the rated torque that is applied 2 For example if the motor torque is 300 of the rated torque an overload alarm will be generated after about 3 seconds 6 5 Periodic Maintenance 6 5 1 Servomotor Maintenance 6 5 Periodic Maintenance Servomotors and Servo Drivers 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 Drivers The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotor or Servo Driver Recommended maintenance times are listed below for Servomotors and Servo Drivers Use these for reference in determining actual maintenance schedules N Resume operation only after transferring all data required for operation to the new Unit Not doing so may result in an unexpected operation N Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock 6 5 1 Servomotor Maintenance The recommended periodic maintenance schedule is listed below e Bearings 20 000 hours e Decelerator 20 000 hours These values presume an ambient Servomotor operating temper
125. traight Shaft with Key B Backlash 3 Arcminutes Max Se Model Motor capacity Gear ratio 1 5 R7G VRSFPBO05B100 1 9 R7G VRSFPBO9B100 100W 1 15 R7G VRSFPB15B100 1 25 R7G VRSFPB25C100 1 5 R7G VRSFPB05B200 1 9 R7G VRSFPB09C400 200 W 1 15 R7G VRSFPB15C400 1 25 R7G VRSFPB25C200 1 5 R7G VRSFPB05C400 1 9 R7G VRSFPB09C400 400 W 1 15 R7G VRSFPB15C400 1 25 R7G VRSFPB25D400 1 5 R7G VRSFPB05C750 1 9 R7G VRSFPB09D750 750 W 1 15 R7G VRSFPB15D750 1 25 R7G VRSFPB25E750 B Backlash 45 Arcminutes Max Specifications Model Motor capacity Gear ratio 1 5 R7G RGSF05B100 100 W 1 9 R7G RGSF09B100 1 15 R7G RGSF15B100 1 5 R7G RGSF05B200 200 W 1 9 R7G RGSF09C400 1 15 R7G RGSF15C400 1 5 R7G RGSF05C400 400 W 1 9 R7G RGSF09C400 1 15 R7G RGSF15C400 2 1 Standard Models 2 1 5 Accessories and Cables 2 1 5 Accessories and Cables Bi Control Cables for CN1 Specifications Model General purpose Control Cables 1m R7A CPZ001S 2m R7A CPZ002S B Servomotor Power Cables for CNB Specifications Model Power Cables for Servomotors without Brakes 3m R7A CAZ003S connector attached 5m R7A CAZ005S 10m R7A CAZ010S Cable Only in 1 m increments R7A CAZO001 Power Cables for Servomotors with
126. ty Replace the Servo Driver The Servomotor rotates in the opposite direction from the command The CW input and CCW input connections are reversed Check the Controller s command pulse type and the Servo Driver s command pulse type Connect the CW pulse signal to the CW input and the CCW pulse signal to the CCW input 6 8 6 3 Troubleshooting 6 3 2 Error Diagnosis using the Operating Status Problem Likely cause Items to check Countermeasures Servomotor operation is unstable The Servomotor Power Cable or Encoder Cable is wired incorrectly Check the wiring of the Servomotor Power Cable s U V and W phases and check the Encoder Cable s wiring Wire correctly There coupling system between the Servomotor shaft and the mechanical System has eccentricities or looseness or the torque is fluctuating due to varying engagement between pulleys or gears Check the mechanical system s coupling section Try operating the Servomotor without a load Disconnect it from the mechanical system Review and adjust the machinery The load s moment of inertia exceeds the Servo Driver s allowed value The pulse signal line s connections are loose Try operating the Servomotor without a load Disconnect it from the mechanical system Check the pulse signal wiring at the Controller and Servo Driver e Lighten the load e Replace the Servomotor and S
127. unexpected restart Doing so may result in injury General Warnings CAUTIC Caution Caution Use the Servomotors and Servo Drivers in a specified combination 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 or humidity outside the range specified in the specifications 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 shock or vibration Locations subject to exposure to water oil or chemicals Do not touch the Servo Driver radiator Servo Driver regeneration resistor or Servomotor while the power is being supplied or soon after the power is turned OFF Doing so may result in a skin burn due to the hot surface Storage and Transportation Precautions dh CAUTIC Caution Caution Do not hold the product by the cables or motor shaft while transporting it Doing so may result in injury or malfunction Do not place any load exceeding the figure indicated on the product Doing so may result in injury or malfunction General Warnings Installation and Wiring Precautions NCAUTION
128. ver is left on during operation heat buildup may damage the Units e Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of Servo Drivers Servomotors B 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 e Ambient operating temperature 0 to 40 C e Ambient operating humidity 20 to 80 with no condensation e Atmosphere No corrosive gases B impact and Load e The Servomotor is resistant to impacts of up to 98 mue Do not subject it to heavy impacts or loads during transport installation or removal e When transporting it hold onto the Servomotor itself and do not hold onto the encoder cable or connector areas Holding onto weaker areas such as these can damage the Servomotor e Always use a pulley remover to remove pulleys couplings or other objects from the shaft Secure cables so that there is no impact or load placed on the cable connector areas B Connecting to Mechanical Systems e The axial loads for Servomotors are specified in 3 2 2 Characteristics If an axial load greater than that specified is Ball screw center line applied to a Servomotor it will reduce the CTA 1 service life of the motor bearings and may HEHH L seserses damage
129. y stop input FG NFB OFF ON MORE T b S Main circuit contact R 6jd 8 o O H o Le O O sd SUP Surge suppressor X1 i H fov Servo error indicator ou pet oO H o H z TOC 4 Linear reactor Ground to 100 0 R7D ZPI Pils or less CN1 CNA R7A CPZLIS L1 i Fore L2 oc ECW 8 MC i onnect an external CW e Regeneration Resistance Unit FCCW o when required CCW tECRST ECRST R7M Z ZCOM CNB Ikea R7A CAZOS i Y pe e Power Cable Blue W Sg fellow 24VIN RUN R7A CRZOC CN2 Encoder Cable OGND E 31 E AM Ltr XB BKIR OO ei nS 24 VDC A 1 Connection Examples B Example 9 Connecting to an FQM1 MMP21 Motion Controller Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver 2 Leave unused signal lines open and do not wire them 3 Use a dedicated power supply as the 24 V DC power supply for command pulse signals 4 The diode recommended for surge absorption is the ERB44 02 Fuji Electric 5 Do not use the 24 VDC control power supply for the brake power supply 24 VDC B Example 10 Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver 2 Leave unused signal lines open and do not wire them 3 Use a dedicated power supply as the 24 V DC power supply for command pulse signals 4 The diode recommended for surge abs
130. ystem Configuration 1 1 Introduction 1 1 1 Introduction 1 1 Introduction 1 1 1 1 1 2 1 2 Introduction The SMARTSTEP Junior is a Servo Driver with a pulse string input for position control The SMARTSTEP Junior is easy to set up and start because it does not require the complex parameter settings and Servo adjustments normally associated with Servos The SMARTSTEP Junior Servomotor and Servo Driver are easy to use yet provide the responsiveness high speed high torque and precision of traditional Servo systems This manual describes the SMARTSTEP Junior as a pulse string input Servo Driver for position control SMARTSTEP Junior Features The SMARTSTEP Junior has the following features B No Setup Parameters No parameter settings are required for setup so you can start using the Servo Driver immediately simply by removing it from the box and wiring it If it is necessary to set the positioning resolution or reference pulse method these settings can be set or changed easily with the rotary switches on the front of the Servo Driver B No Servo Adjustments Required With the newest auto tuning function it isn t necessary to adjust the Servo Driver to achieve excellent responsiveness Auto tuning achieves excellent responsiveness while providing compatibility with a range of stepping motors A Servomotor with moderate inertia is used to improve control system stability 1 2 System Configuration 1 2 System Configuration

SmartStep Junior User`s Manual

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