OMNUC R88D-RP Series User's Manual
Contents
1. The unit opens Tr when the radiation fin of the inverter exceeds the rated value Temp rise of radiation fin Overspeed time constant motor exceeds the rated speed more than the rated speed Disconnection of encoder signal cables nstantaneous power Instantaneous POWER The unit opens Tr at the power stoppage of failure for more than 40 ms failure of AC commercial the power line supply Detection of O C Open Tr when an armature Miswiring of power Error O RUN When the error counter exceeds Too high command pulse counterover the designated number of bit the pulse frequency driver clears the error counter Missetting of position de release servo lock and opens Tr tector multiplication value Open Tr when encoder abnormal Overheat of motor error lights occurs e Miswiring of signal lines Lack of phase One phase of main circuit is Supplied power is abnormal lights failure condition 6 MAINTENANCE O Alarm contactor output OMRON G2E 184P H M or equivalent Contactor section di Resistance load Induction cosh 0 4 cosh 1 Load I R 7 mS Ratedload 24 VDC 0 5 A 24 VDC 03A Note Never connect 100 VAC line to the alarm contactor output Protections and alarm timing when the power ON OFF and down In order to protect a built in power transistor from misop2. To much load torque Miswiring between B and C phases e Mechanical lock of motor shaft Tr opens when excess of rated Too much load torque load reaches the motor e Miswiring of motor wires Overspeed Tr opens with overspeed Motor rotates exceeding the rated speed Overflow of Clears the error counter and Too high command pulse the error makes free motor axis frequency counter e Missetting of position detector multiplication figure Temp rise of Tr opens with rising temp of radiation fin inverter radiation fin Electronics thermal protection Detection of Open Tr by RE PS signal Signal disconnection of RE signal line disconnection or PS disconnection Overload Open Tr by encoder temp Too much load torque protection increase over the rated value Overheat of motor Contact our service department 6 6 6 MAINTENANCE Check motor conditions Check abnormal condition due to mismatch of coupling center Noise Confirm that AC gain is not excessive Confirm that the motor rotor is rotating smoothly Confirm that there is no abnormal sound by wear of ball bearings Thermal Check that load actual torque is within the motor rated torque When OL lights wait at least 10 minutes to cool Repeated alarm condition without cooling may damage the motor Vibration Vibration occurs at following conditions 1 When AC gai
3. 4 27 4 3 6 Absorption of regenerative energy 4 29 d C S auis s ents esa 5 1 Da LAC kingi CT D 5 1 5 2 Trial Operations iscr vs ere se eoi hia yai HERI La aede agre 5 2 5 3 Adjustment s e Hun qu iets seu udin 5 4 6 MAINFENAN CE ord eed e px vt needed e tes Eo dpt 6 1 6 1 Protective and Check Functions eere 6 1 6 2 Maintenance uoo caso ei eter ura Soa a ka quU REPE ipaa uud 6 5 6 3 Tro bleshoO0lAg ooo uoo QU OT RE NE ERN nage Gu qus MURS 6 6 7 CONFIGURATION CONSTRUCTION AND OPERATION PRINCIPLE seeno entere teni re e tuts 7 1 7 1 Structure of Motor and 7 1 1 GENERAL 1 1 Features and Configuration This unit is an AC servo driver that performs wide and fine positioning by controlling power to AC servo motor in compliance with pulse train signals This series consists of power unit combined AC servo drivers R88D RP series operative 100W to 1 100W motors Compactness light weight with a power unit combined Applicable high speed pulse train up to 270 kpps response frequency Shockproof durable in any environmental condition Electromagnetic encoders are applied for detection AC servo motors are able to rotate up to instant rate 4 000 rpm Smooth and vibrationless rotation by
4. e At reverse rotation A phase output YA M B phase output EA EE fed Zphase output peur 2 SPECIFICATIONS The system consists of an AC servo driver and an AC servo motor Specifications of AC servo driver and AC servo motor are shown below 2 1 General Specifications of Servo Driver Item Contents Ambient operating temperature 0 to 55 C Ambient operating humidity 35 to 85 RH without dew condensation Storage temperature 10 0 75 C Ambient condition Without corrosive gases Less than 2G or acceleration of Vibration proof 10 150 Hz with half amplitude of 0 15 mm tee Less than 10G in peak acceleration Shock proof tested each 3 times in X Y Z directions MOM Between outside terminals and outside box Insulating resistance more than 5 at 1 000VDC megger PEE Between outer terminals and outer box Voltage proof capacity 1 minute at 1 500 VAC 50 60 Hz Structure wam avon Weigh 2 1 2 SPECIFICATION 2 2 Performance Specifications 2 2 1 AC servo driver Specifications of the error counter and control input output signals Item 270 kpps Selectable between 9 10 11 12 bit position command pulse Setting on in position range 1to 31 pulse Input signal of position detector 70 kpps max Multiplication figures of Feed forward control Switchable on the inside Position feedback A B Z phase signal Command pulse Operation ready command Pulse prohibitio
5. en muxo Sa Mi a Ga A dq iuh 2 2 2 2 1 AC Servo ENVOI e ee ever E eee aT oE e 2 2 2 2 2 servo Boas eus ou eere prece rU rye 2 4 3 MODEL 3 1 ntt aste Ru CE iene 4 1 4 1 Installation and isse aer Coi tai noh ER Rc Sur e EAE CERES 4 1 4 1 1 Outside and installation dimensions of AC servo driver 4 1 4 1 2 Outside dimensions of AC servo motor eee 4 2 4 1 3 Installation conditions eerie trono tn oe en tu ER e Rea rae 4 4 Geo RS EN 4 7 4 2 Details of Each Section oio eee er PE 4 8 4 2 1 Front panel inside the 4 8 4 2 2 Display adjustment and setting sections esee 4 9 4 2 3 Connectors and terminals M 4 16 4 2 4 Connector 4 18 4 3 Connection with Support Devices and External 4 19 4 3 1 Input ontput interface nian 4 19 4 3 2 Dynamic brake Circuit xb erc Hi es HR S Van ORI AMARE 4 23 4 3 3 Voltage changeover of control input 4 24 4 3 4 Selection example of outer connecting 4 25 4 3 5 Calculation of regenerative energy oec censa etes
6. 3 18 95 e Models R88M R60030 B R88M R82030 B R88M R1K130 B 600W to 1100 kW Shaft shape R88M R60030 B R88M R82030 B IL L 4 DESIGN 4 1 3 Installation conditions 1 AC servo driver 1 Follow the installation diagram below while installing the unit NASA Servo driver Servo driver N evation NNNNB Servo driver XC ys AMA Driver side surface Side elevation NN vy VM 2 Install the servo driver in a vertical direction 3 The inside temperature of the unit may increase by approx 30 C Therefore keep away from other equipment and wirings which are thermally affecting 4 While installing the servo driver in a box take measures such as installing forced cooling fan or air conditioner in order not to increase environmental temperature by more than 55 C 5 If noise producing equipment such as an electro magnetic contactor a relay ora solenoid is placed near the AC servo driver take measures to protect the unit from these noise 6 Operating environmental conditions Operating environmental temperature Operating environmental humidity Storage environmental temperature Storage environmental humidity 0 to 55 C 35 to 85 RH without dew condensation 10 to 75 C 35 to 85 RH without dew condensation 7 Be careful to install the AC servo driver in the environment without increasing
7. A D A UC 9538606906995 1 E lt lek ie LT i NE RE EE a 3 989 means noise filter 88 MC X means relay 4 19 Controller 4 DESIGN O Control input interface Name of Function Specification Interface signal Reverse pulse signal tums to feed or command pulse feed command pulse CW CW input voltage 5 7 mA at input oltage 3 V Forward changeover of CCW _ Input pulse command command pulse inside this width pulse signal turns to forward dE Or reverse changeover signal ala TLP552 or forward Reverse at L input signal gt equivalent reverse 2 change 1 4 sec over 19 mA at CCW input voltage 5V 7 mA at input voltage 3 V ON This signal turns the 10 mA at 521 or unit to operative condition input signal 5v equivalent with supplying currentto 5 V Tv servo motor OFF The error counter is cleared and the motor shaft is set free Motor speed is decelerated at the limit switch in front of zero position and HRE signnal turns ON by turning this L S signal Next coming Z phase makes the error counter clear and prohibit input command pulse to the unit simultaneously ON This signal prohibits input of command pulse 4 20 4 DESIGN po Error counter ECRST Minimiz ON Thissignalisusedfor di
8. OMRON WL an USER S MANUAL OMNUC R MODEL R88D RP05 RP10 RP 15 RP20 PULSE INPUT TYPE AC SERVO DRIVER Notes About Using This Manual 1 This manual describes in as much detail as possible the functions of the unit and relations with other units Items not described in this manual should be understood as unavailable 2 Though we have tried to create the manual optimum do not hesitate to contact our agent if you find anything difficult to understand 3 Inside the cover there are potentially dangerous parts If you open the cover serious problems may arise Never repair or disassemble the unit 4 We recommend adding the following precautions to your instruction manuals for unit installed systems e This unit is high voltage equipment and dangerous to access Do not touch terminals of the unit after power is switched OFF as voltage remains 5 Specifications and functions may change without notice in order to improve performance INDEX GENBRAL nete tpe 1 1 1 1 Features and Configurations e ee aon a ha a 1 1 1 2 Outline of Can Hpuraflolac 1 2 1 3 Before Reading This 1 4 2 4 SPECIBICATIGQOINNS S de disces xe NM pd s iss ee 2 1 2 1 General Specifications of Servo Driver eese 2 1 2 2 Performance
9. temperature 8 Be careful not to let metal powder oil mist nor water enter the unit 9 Be careful not to let metal powder enter the unit while installing 10 When using model R88D RP20 be careful that temperature rise of right side should not be more than 20 C by regenerative energy Reconfirm the amount of regenerative energy 4 4 4 DESIGN servo motor 1 Do not give any excessive shock to the servo motor while transportation installation and removing Also do not hold the encoder section cable section and connector sections for loading and unloading the AC servo motor 2 When installing a coupling on the motor shaft do not give shock to the shaft by a hammer This shock may damage plated part of the shaft and result in problems with the encoder To remove couplings be sure to use a special tool such as pulley remover 3 Operating environmental conditions Operating environmental temperature 0 to 40 C Operating environmental humidity 35 to 85 RH without dew condensation Storage environmental temperature 10 to 75 C Storage environmental humidity 35 to 85 RH without dew condensation 4 Do not cover the servo motor with any materials as the motor temperature rise and a sensor inside the encoder detect encoder error REE When this error occurs decrease load torque and cool the servo motor using a forced cooling fan Be sure not to exceed the motor center part temperat
10. 3 V Disc oo lt t2 gt gt nm 470V 733V 3kA 30W s 1571 470V 810V 235 810V 20kA 385 Ishizuka Electronics Co Ltd e gt vi o ny 5 Surge killer CR 50500 500 0 uF OKAYA ELECTRIC S2 A 0 2000 0 1uF IND CRE 50500 500 0 5 uF 4 26 4 DESIGN ann 4 3 5 Calculation of regenerative energy 1 In case of horizontal axis Motor operation Motor output torque As shown above regenerative energy occurs when motor output torque becomes negative Regenerative energy in each section is given in the formula below IxNi x Tp xti x 1 027 x 102 J Ego 55x N2x Tp x t2 x 1 027 x 10 2 J N Number of motor revolutions at triggering deceleration rpm Tp Required deceleration torque kgf cm ti t2 Deceleration interval s Average regenerative power is given in the formula below Eg MEUM W T operation cycle s Generally there is energy loss by motor coiling resistance and actual value is approx 9096 of above figure 4 27 4 DESIGN 2 In case of vertical axis Motor operation Motor output torque In the above movement regenerative energy occurs while motor output torque becomes negative Regenerative energies in each section is given by the formula below Egi5 Nix Tip x ti x 1 027 x 102 J Eg 5x Nix Tpp x t2x 1 027 x 102 J s N2x Tou x t3 x 1 027 x 102 J N N
11. Load inertia respo Model sores changeover switc SS 8 denomination 133455 OF DT Torque limit Adjustment section volume ACH tas 1179 usa peg za O lt OOMOMMA Adjustment section 3 D i t i Connector for Connector for motor signals control line en are 5 2007220 200 120 YAC Je woroe gt itor pin 1 TT xk h Optional terminal Input changeover pin between 5 v and 24 v CEES 998 for programmable 98 2 controller ground f i Input changeover pin of optional terminal Terminal block 4 8 4 DESIGN 4 2 2 Display adjustment and setting sections O Display section O L O RUNRE E EM Co L3 C mm BPEED C3 128 45 6 7 8 9 101112 Indication Function Lighting conditions Indicate that control power is Control power is 200V AC is input POWER supplied By positioning command the motor is within position completion range This LED lights in positioning case of RUN command CN 1 is input Indicate overcurrent Motor current value exceeds current limit value Indicate overvoltage Abnormal increase of main circuit DC voltage Indicate overload Load to motor is too heavy O RUN Indicate error counter over The error counter exceeds setting value Indicate completion of Indication Indicate overspe
12. soos 5 4 160 7 oos o ostos 2910s soros r fos 6 esucnsooso ez uns sonno soroa 90 vod 6 10 resm nes0s0 ora ano 12 aoto soros vos ise nicis Jasi Note Lengths of armature wire and signal wire of standard motor are 500 mm Connectors are not installed at the ends of each cable Shaft shape R88M R10030 1 x feme T Approx 12 ret e jr E R88M R20030 R88M R30030 Mir Lia e Prud ei 4 18 6 Models R88M R60030 R88M R82030 R88M R1K130 600W to 1 1 kW qunm R88M R82030 2 EL s ATI 18 0 R88M R1K130 19 o ad Se 21 515 4 2 4 DESIGN O Built in brake model Models R88M R10030 B R88M R20030 B R88M R30030 B and R88M R45030 B 100W to 450W MEERE ee a a M RegmRaoosoB 192 7 163 7 122 3 o 29105 rode peneman anal mesan fe maai ee ERES Rsscmasoso p 227 2 197 7 146 5 12 noni sores 204 120 riots 15 Note Lengths of armature wire and brake wire of built in brake AC servo motors are 500 mm Shaft shape 3 20 R88M R10030 B R88M R20030 B R88M R30030 B Cos 2 ee 1 e Approx 12 ud debe ha 2 Nus 24 222 2 0 del aoe uut 15 65 R88M R45030 B
13. 03 2 503 3 665103 Induction voltage constant V trps 3 15 3 29 3 34 Mechanical time constant ms 1 54 1 12 0 91 0 72 Coil inductance Electrical time constant ae 3 15 4 Weight Po 0 to conditions humidity 35 to 85 without dew condensation condition RH Humidity 35 to 85 RH without dew condensation Operating atmosphere Without corrosive gases Installation direction Each direction Structure Full close self cooling IP 52 in the case of oil seal IP 54 Note 1 Servo motor model R88M R60030 600W can be used with the servo driver model R88D RP20 In this case max torque becomes 60 kfgecm or over Note 2 See Section 1 3 in Chapter 4 about oil seal 2 5 2 SPECIFICATION Specifications of built in brake motor Brake release voltage is 24VDC without polarity The brake releases when 24VDC is applied to the line The purpose for this brake is to hold axis at stop condition not to stop the axis Thus release the brake with the release voltage ON while in operation of the motor Be careful that the brake inertia should be added to the load inertia Brake circuit In order to protect the circuit from surge noise at brake excitation OFF be sure to insert a surge killer To select surge killer see the table below Mig ISHIZUKA ELECTRONICS COPR V 3 ISHIZUKA ELECTRONICS CORP ISHIZUKA ELECTRONICS CORP COMPONENTS
14. 3P 22AWG x 3C or equivalent Sectional view Armature wire wires to supply power to stator winding of motor and to grounding UL2517 105 C 300V 18AWG x 4C or equivalent Sectional view Tem Outside diameter mm 08102 24 2 or less 2 000 i i 3 Min bending radial 3 MODEL DENOMINATION servo driver Model R88D R P 0 Do Output current of nominal value Sign 5 20 Max output 5 5A 10 15A 20A current Means power unit is combined type pulse command input model Means R series Means servo driver 1 AC servo motor Model R88M R 100 30 0000 S Special specification Rated rotation speed is 3 000 rpm Output 100 100W 200 200W 300 300W 450 450W 600 600W 820 820W IK1 1100W Means R series Means servo motor 3 1 4 DESIGN 4 1 Installation and Mounting 4 1 1 Outside and installation dimensions of AC servo driver i R88D RP Outside dimensions 4 5M or 4 screw retention hole e Heus ns ciot A fier 150 ET uj e e acc i Rear side installation dimensions 4 DESIGN 4 1 2 Outside dimensions of AC servo motor Standard model e Models R88M R10030 R88M R20030 R88M R30030 and R88M R45030 100W to 450W Em emn o ue m ur me a 8 msso10050 ases sos ostos so
15. CO LTD Si CO LTD AC and DC Specifications of built in brake motor 1 R10030 B R20030 B R30030 B R45030 B Ins ms Brake specification U f Tower CORUNA Static fiction torque 75 Braking time constant N ms 30 40 50 50 Release time constant ms 20 30 30 100 Allowable work 1 Allowable work 2 kefem life 1 3x104 2 5x104 2 5x104 5x104 Backlash 0 75 0 63 0 61 ae Continuous rating aaa Unit R88M R88M R88M R88M R10030 B R20030 B R30030 B R45030 B Weight kg 1 8 2 7 3 4 5 8 motor brake Note Values indicated in parentheses are not guaranteed 2 6 2 SPECIFICATION 1 Specifications of built in brake motor 1 e Brake specification R60030 B R82030 B R1K130 B 5 0x10 4 24 vDC Power consumption Wee oe Braking time constant o oy Allowable work 1 efus 0 8 1 Backlash 0 617 se a Insulation class iS teen urd Item F Weight R88M R88M R88M R10030 B R20030 B R30030 B Weight kg 8 4 10 5 reme M o m Note Values indicated in parentheses are not guaranteed 2 7 2 SPECIFICATION 1 Characteristic curve tested with the standard cable 3m The characteristic curves below shows operation zones when 200V AC in 3 phase has been input R amp 8M R10030 100 W kgf cn Short tirne operation zone one sec or le
16. E and connect the resistance in chain of and RE referring to the figure below Use 47 Q coiling resistance for Rext and twist cables The following resistance are available Select and order in accordance with regenerative capacity while checking delivery terms capacity 120 C condition CO LTD 350 X 350 CO LTD 350 X 350 CO LTD 350 X 350 CO LTD 350 X 350 MRS22N470K MICRON 220W 60W T1 0 SPCC 809 ease MLS20L470K MICRON 200W 80W T1 0 SPCC msmowewsmc Y ae OW 8 E INSTRUMENTS INC 350 X 350 SMR220W470 JAPAN REGISTOR 220 6 T1 0 SPCC MFG CO LTD 350 350 In order to prevent smoke and due to thermal produced by resistance we recommend to use thermal switch or temperature fuse installed types Installation of a thermal switch near by the resistance has same function Set actuating temperature considering surrounding condition 4 29 5 USAGE 5 1 Unpacking 1 AC servo driver Check the following items soon after opening the package Whether the delivered goods are different from the ordered ones Check whether the combination of servo motors and servo drivers are correct by referring to Item 1 1 1 Check for possible transportation damage and check that screws have not been loosened Accessories connector plug connector case CN2 connector plug CN2 connector case Fixing metal Fixing s
17. L encoder power ial abil di 5VDC amy IM Saeed Encoder S phase AWG24 Connector for armature Made by AMPHENOL MS3106A20 4S Cable side MS3057A 12A Cable cramp Function Wire Wire dia color Connec Sig tor No input or up eal eae Armature B phase AWGI6 input or up Armature C phase AWG16 Black input or up up 4 18 4 DESIGN 4 3 Connection with Support Devices and External Devices 4 3 1 Input output interface Note 1 The figure below is for reference Follow designated time chart of upper master controller See section 6 3 Note 2 Wait 2 seconds or more after control power and main power being ON to input RUN operation ready command input RUN Note 3 Signs in mean connector signs on R88M R60030 R82030 and R1K130 Note 4 Use insulation soldering iron or soldering Note 5 Use thermal proof vinyl covered wire HIV 75 C or up for DC power and motor power lines 5G AG Note 6 After switching power OFF residual voltage remains a terminal block p i Do not touch terminals within 1 minute CIEN after power OFF Ja XE i S RED XLI Gwen _ e er EL i Ben RUN Red H i Eve le EM Xl 8 bue 1 pov Cot e Grey A i RG e PRO calum eX el Le pam X E expe EN 1 i i
18. al 3 phase power But it will immediate burn out motor coil 9 Though the motor is painted corrosive preventing oil put oil or grease on the shaft after installing a coupling 4 6 4 DESIGN 4 1 4 Wiring Noiseproof characteristics of the total system are influenced by how it is wired Noise filter Serge absorber Separate Thick and short as possible Apply one point earthing Do not insert earthing line into the some ducts of filter output lines motor power lines and signal lines n case of wiring in metal conduits and ducts connect metal body with one point earthing as on the figure above Insert surge absorber and noise filter on the AC lines 1 Terminal block for power and motor block driver power Input for input 1 25 mm power 0 75mm2 125mm for motor Farthing terminal Note Above values are examples using HIV thermal proof vinyl wire 75 C at an ambient temperature of 55 C O Connector terminal for control Use MR series connectors by HONDA TSUSHIN for each connector Plugs and cases for connectors are supplied together with the unit Use shielded twisted pair cable for control line connector Shield wire should be connected to the designated terminal 4 7 4 DESIGN 4 2 Details of Each Section 4 2 1 Front panel inside the panel Front panel Inside the panel Setting section Display section ee ineni
19. and R88D RP10 JP and RE is shorted for R88D RP15 and R88D RP20 Note 2 When installing outside resistance on R88D RP15 and R88D RP20 insert this resistance between and RE Note 3 Connect GR to ground with class 3 or up 4 15 4 DESIGN 4 2 3 Connectors and terminals O Connector terminal for control Connector terminal for control circuit CN1 Connector CN1 has terminals for motor control signals and encoder signals Signal CW Reverse command pulse input or CW feed command pulse input CCW P M Forward command pulse input CCW P M or forward reverse changeover signal input Analog ground INP Positioning completion output INP Positioning completion output SG Shield ground D 2 T5V SVDC power input CLIM Command pulse prohibition input 100 220 200 220 wat vac 3 9995995589959 BP R2 ee ee Lani ME 383 EE gt a SEE 21514 O Blo 22 d Q 23 7 Zero positioning command input T ECRST Error counter reset input 30 2 Se Encoder A phase output p Encoder phase output o Encoder Z phase output M Note 1 Do not connect any line to Pin No 29 and 30 g MR 34M for cable side and MR 34Las cover 7 9 made by HONDA TSUSHIN yn KOGYOCO LTD 4 16 4 DESIGN 0 Connector for motor signal Connect
20. balance Zero adjustment Not balanced condition shows ZERO Adjust to light OFF all LED of the steady lighting ON or OFF error counter LED and the lower bits of the deflection counter light ON 5 4 5 USAGE Name of Functions Vibration by adjustment volume SW Loop gain adjustment This is a volume to adjust accele ration deceleration response smooth When overshoot undershoot is not eliminated make longer acceleration deceleration time or minimize feedback multiplication figure Feed forward adjustment This turns to effective after turning No 5 of SW4 ON This volume adjusts feed forward value SZ ee When feed forward gain is high Torque This torque control turns to effective Increase setting value by turning control by CLIM signal and the maximum the volume CW direction TOL L current value is limited by this Maximum setting is instantaneous setting value maximum torque Acceleration Acceleration correction This volume improves response correction Together with AC gain adjust characteristics by increasing this LAG T acceleration characteristics value when load rigidity is high It adjust phase and gain at high enough However this is not range effective when load rigidity is low Adjust within a range that does not cause vibration during rotation 5 5 6 MAINTENANCE 6 1 Protective and Check Functions LED on the display section indicate operation and abnormal condition
21. crew Instruction Manual servo motor Installation Manual MR 34M MR 34L MR 16M MR 16L M4x6 1 pc 1 pc 1 pc 1 pc 2 pcs 4 pcs 1 set 1 set 5 1 5 USAGE 5 2 Trial Operation Check items before operation Confirm the following before start operations Supplied power should be within the specifications 2 Has a circuit to tum OFF power for main circuit automatically when AC servo driver supplies servo abnormal alarm signals 1 Remove the motor from machine at trial operation When it runs at installed condition be ready to stop the motor anytime Confirm that there is no person near by the machine 1 Check that operation ready signal RUN and command pulse are not be input Otherwise the motor rotates soon after power is supplied 2 Put ON control power 3 Confirm the power indication LED POWER is ON When the LED does not light check the voltage 170 to 264 VAC on control power input terminal Ro To 4 Confirmation of abnormal circuits Confirm that the system has a circuit to switch OFF main power automatically when abnormal signals are supplied 5 Supply main circuit power 6 Input RUN ready for operation signal two sec after turn ON main circuit power With inputting RUN signal the motor has holding torque Be careful that if command pulse is supplied motor rotates soon after inputting RUN signal Adjust zero balance volume to light OFF all indications of t
22. dance with command pulse frequency In general No 5 refer to the formula below No 4 OFF No 5 OFF Command pulse frequency Position loop gain Kp of error counter 12 bit In case of normal load Kp lt 30 In case of lighten load and high response Kp lt 50 Ex Command pulse frequency 50 kpps When stored amount of the error counter bit number is 11 bit _ 50000 7048 24 This equality is conditioned Then fix to 11 bit 4 DESIGN Function Preset value at factory Position completion range setting switch The unit outputs completion signal when the error counter 1 3 is less that this fixed value Fixed value Completion Fixed value Completion value pulse value pulse EXIT 87 ete pc pomo Too small completion range takes much time to output completion signal Fix the range in accordance with feed speed of the system load condition or mechanical precision Too small completion range may not give completion signal Feed forward pulse range changeover No 1 No 4 OFF This is a pulse range changeover switch of the F V converter for feed forward control Set by command pulse frequency 00270 ON ON 75k ON OFF OFF 01 38k F No 5 Feed forward changeover Put ON to execute high speed positioning using feed OFF forward co
23. ed Motor speed exceeds the limit value Abnormal condition of encoder or disconnection of encoder lines p Indicate encoder error disconnection of encoder lines I M signal is input OFF open counter Light at light OFF at counter 4 9 4 DESIGN Adjustment section 123 4 5 67 8 AC SERVO DRIVER b NN RU nk Indication SW at factory MEN AC G AC gain in compliance with load inertia E LAG T correction at start stop pe Volume to turn the error counter to 0 at balance ZERO balance stoppage of position command pulse fixed Volume to adjust position loop gain in accord LP G gain ance with mechanical system Volume to improve acceleration deceleration 5 FF G FF gain characteristics RESET Button to release from alarm condition NEUE Torque limit TOL L i Approx Note 1 For adjustment details see item 5 3 Adjustment 150 96 of rated torque Note 2 AC G LAG T LP G and FF G are adjusted so as not to vibrate at no load adjustment Volume to adjust current limit value using torque limit input Note 3 Readjustments are required to get optimum value together with AC gain changeover SW5 1 2 4 10 4 DESIGN Setting section AA 123 4 5 6 7 8 RS8D PR20 7 AC SERVO DRIVER Function Preset value at factory Position command multiplication setting switch Multiple po
24. eration of the servo driver the following measures are provided 1 At power ON shut off operation signal inside the unit until each power supply returns to normal level This interval is 400 ms to 1 5 s 2 At power OFF shut off operation signal inside the unit while the control power in the unit being within the normal range If the stoppage time is less than 40 msec servo abnormal alarm is not supplied 3 Timing chart Turn power off to the main circuits either before or simultaneously with power for the control lines Ww 40 ms or less Power for Li control line AC200V Available simultaneous ON Main circuit power tt 3 Ac200v i L 2s RUN Alarms occurs inside the driver Overcurrent detection Over speed Temp rise of radiation fin Control circuit fuse Overvoltage protection Overload protection Instaritaneous power failure Lack of a phase Main circuit fuse Signal disconnection detection Abnormal of power etc Alarm reset H Approx 800 ms Alam output Close Open Approx 800 ms g Motor armature ON OFF ON Alarm signals output through relay contacts It takes approx 10 ms to supply alarm output as relay output after the alarm occurs inside of the unit ji Be sure to secure 2 s interval to put ON RUN signal after turning ON main circuit power Simultaneous input of both may blown protective fuse due to surge in current Turn off t
25. he driver stops operation and supplies servo abnormal signal At this time the motor axis turns to free condition If you need to lock the axis mechanical brake is required 1 Servo driver Protective Indicating Function Causes function LED Main circuit O C When an overcurrent is supplied Short circuit between driver fuse lights to the main circuit fuse blows and motor and opens circuit connection Detect O C The unit detects overcurrentin Short circuit between driver overcurrent lights the DC main circuit and opens Tr and motor gate O V The unit opens Tr when the main Too much load inertia lights circuit power voltage exceeds Supplied power exceeds the O L lights Mechanical lock of motor rated value due to regenerative rated value O L lights axis resistance The unit opens Tr when the Detection of RE E Disconnection of encoder signal lights PS signal is disconnected signal cables disconnection Abnormal e Voltage down of supplied lights power is lower it voltage than power OFF the rated value Lack of the power capacity O RUN motor exceeds coil thermal The unit opens Tr when the The motor rotates with lights Overvoltage protection Overload protection Too much load torque Miswiring between A B and C phase e Mechanical lock of motor axis Too much load torque Miswiring between A B and C phase
26. he error counter 7 Input command pulse Input command pulse and confirm that the motor rotates smoothly With forward command pulse the motor should rotate forward direction CCW looking at the motor from the shaft side With reverse command pulse the motor should rotate reverse direction CW looking at the motor from the shaft side 8 When there are troubles such as no rotation and rotation without control of the motor check red LED and see item 6 3 Troubleshooting 9 Confirm zero positioning function Input zero positioning command HRET in the following sequential process and confirm the function 5 USAGE Deceleration St 1 Command pulse input v Stop pulse supply 2 Detect the zero front LS signal 3 Zero positioning command input H RET 4 Encoder Z phase ute sles eC Inside operation Z phase 4 oe 5 Reset the error counter Inside operation 6 Pulse input prohibition Inside operation 7 Positioning completion output a eee a Complete zero positioning 10 Also confirm the following functions e Emergency stop The motor stops and alarm indication LED lights EM Error counter reset Reset the error counter and light OFF SPEED on ECRST the display section Pulse prohibition Prohibit input pulse command and hold the axis OPG servo lock Minimizing gain Decrease vibration of servo motor MING Decrease servo lock power Torque limit Turn torque
27. he main circuit power and control power simultaneously or turn off the main circuit power before turning off the control power 6 3 6 MAINTENANCE O Cautions at alarm output 1 The unit outputs abnormal alarm as relay contact simultaneously at abnormal indication on LED This output available even if the power of the servo driver is OFF The contactor closes after approx 800 ms of control power OFF 2 The unit shuts off RUN signal together with alarm output Thus the electrical brake of the motor regenerative control does not work In order to stop the axis in this condition make a circuit to trigger mechanical brake with this alarm contact signal 3 Abnormal condition of control power automatically is released after 15V being returned to normal condition Other abnormal alarms are released by reset button reset signal input and reinput of power Be careful that when the unit receives reset signal or power ON while inputting RUN signal it will soon be in operation condition 4 When an abnormal signal outputs turn OFF main power and RUN signal Leave control power ON and check the abnormal condition with LED Remove causes of the abnormal condition and restart operation When overload O L occurs abnormal of mechanical section may be a cause Check the mechanical section Do not supply power more than 10 minutes after this alarm condition Repeated overload may burnout motor coil 5 When an alarm signa
28. l is output check wirings installation of the system 6 4 6 MAINTENANCE 6 2 Maintenance Daily check Confirm whether there are abnormal noise loose screws or abnormal heat in the motor and operating ambient temperature while in operation There is no daily check item for the servo driver Check ambient temperature dust on the forced cooling fan Periodical check Servo motor Abnormal noise from the motor Looseness of retention screws Outside look Servo driver Looseness of terminals connectors and retention screws Dust in ventilation holes of the servo driver 6 5 6 MAINTENANCE 6 3 Troubleshooting When trouble occurs while in operation confirm the cause and return to normal condition by referring to the following chart O Check by LED o t E E lt LED lights Protection Conditions Causes function Fuse in main Blow fuse with overcurrent in Short circuit between driver circuit DC main circuit and motor Detect Tr opens with overcurrent in DC Short circuit between driver overcurrent main circuit and motor Detection of Open Tr when one phase of Disconnection of any phase phase power line disconnected of power line disconnection Protection Tr opens with overvoltage in Too much load inertia from main power due to regenerative Too high input voltage overvoltage energy e Miswiring of A B and C phase
29. limit adjustment volume TOL L to CLIM CCW direction and confirm decrease of motor torque Alarm reset Confirm release from alarm condition by inputting RESET RESET after triggered protection circuit After the completion of confirmations above operate the system with the required cycle Check heat condition of the motor and the driver after 2 to 3 hours of cycle operation 5 3 5 USAGE 5 3 Adjustment The servo driver is adjusted with no load at delivery Adjust and get the optimum condition by referring to the following chart Name of Functions Vibration by adjustment volume SW AC gain Adjustment of AC gain AC gain increase and improves ACG This is used for adjusting response frequency characteristics by turning characteristics the volume to clockwise direction Adjust in accordance with load In case of small load inertia decrease inertia AC gain and vice versa to minimize To monitor response characteristics overshoot and undershoot check speed monitor signal Too much AC gain causes vibration and unstable condition of the motor Volume 10 When AC gain is low lt Volume 0 When AC gain is high Response frequency AC gain This is a switch to adjust response changeover characteristics Adjust with load SW 5 inertia See the table right for Load inertia No 1 reference OFF No 2 ON OFF For finer adjustment use AC gain Large Smal Volume Load inertia Response frequency Zero
30. load of AC servo motor output Install the pulley so that it makes the timing belt straight When the difference arises a great thrust load may occur Prior to using the timing belt see the instruction manual provided by the timing belt manufacturer for proper use n some cases use of the timing belt makes vibration of mechanical part and damage of the shaft due to mechanical resonance point of the belt length and tension 6 Drip proof As the servo motor is not provide water proof feature cutting oil especially coolant oil may enter and cause malfunction due to insulation error and short circuit Thus prepare measures so as not to drop cutting oil on the servo motor body Cables of the servo motor are another case of oil entry Direct the lead wire downward and slacken When intrusion of oil through the shaft is possible fix the optional oil seal This motor including its connectors cannot be used in a location where dripping water and or oil conditions exist or in a misty atmosphere 7 Oil seal Our servo motors are designed to connect mechanism by coupling as a whole so that oil seal is not installed The following oil seals are available instillation Replace interval of oil seals are approx 5 000 hours with lubrication R88M R20030 R30030 0515223 IKO Tomson a R88M R82030 AC0760A0 NOK 8 OMNIC AC servo motors are synchronous type motors using permanent magnets They do not rotate even impressed commerci
31. n 5V 10 mA photo isolation 45 Max response pulse frequency Max amount of error counter Multiplication figures of 5V 10 mA photo isolation 5V 10 mA photo isolation Contact output 24 VDC 0 5 A signal output Open collector output max 24V 10 mA Position feedback output A B Z phase line driver output Forward and backward 2 SPECIFICATIONS 1 Specifications of servo driver Standard Power Main circuit 170VAC 253VAC 50 60 Hz 3 phase source Control 170VAC 264VAC 50 60 Hz single phase 80 VA Model __ Ragp RpoS R8gD RP10 R88D RPIS RE amp D RP20 Outpu Ao 20 Protection functions Against overcurrent overload overvoltage and abnormal speed Note 1 Prepare main power supply approx 200 ofused motor output capacity For example 1 2 kVA main power supply for 600W motor Note 2 No regenerative control circuit is installed in R88D RPO5 and R88D RP10 Only condenser is installed as regenerative function Encoder output A and B phase 1000 PPR PPR Output pulse Z phase At forward rotation es Xx Output phase At reverse rotation A Ce ds 7 TEENS um PEEL Serial transfer delay of Z phase is 5 to 21 us EJA RS 422A or equivalent 5 MQ or up Durability of sensor 1 minute at 50 VDC betwee
32. n increases too much 2 When LAG T increases too much 3 When resonance point of mechanical section is within servo loop response range O The motor does not rotate even there is no alarm condition Confirm that the following signals of CN1 are set as shown below o The motor cannot rotates even if one of above signals is OFF 7 CONFIGURATION CONSTRUCTION AND OPERATION PRINCIPLE 7 1 Structure of Motor and Driver 1 Structure of motor AC servo motor is a synchronous motor having rotating core of permanent magnet Fields consist of 3 phase coiling wires on iron core Pole change in accordance witli the position of a rotor is required for coiling wires which is not required for DC servo motors Therefore a pole sensor is installed together with an encoder Armature coil line Magnet Armature core Pole sensor Servo driver Servo motor Three phase 200 VAC Motor Pulse command counter Pole sensor Serial l converter parallel converter Rotary encoder rs a ee ee ey MEC sur Eu 7 1 TL ae 7 CONFIGURATION CONSTRUCTION AND OPERATION PRINCPLE Converter Changer commercial electric 200VAC to DC and supply to main circuit of the servo driver Inverter This section controls current supplied to field coil from DC power by PWM system e Pole sensor This is a sensor to control sup
33. n the case and the ground Note Do not practise insulation test on encoders It may damage the encoder 2 3 2 SPECIFICATION 2 2 2 AC servo motor Specification of AC servo motor 1 R10030 R20030 R30030 R45030 Instantaneous max speed rpm 4 000 4 000 4 000 4 000 Instantaneous max torque kgfecm 9 7 orup 24 or up 28 or up 36 or up 1 89x10 4 531x104 7 70x104 1 60x103 Torque constant kscnvA 2 02 413 376 332 Induction voltage constant V rps 1 25 2 54 2 32 2 04 Mechanical time constant ms 1 98 1 98 1 6 1 9 Q 4 2 1 28 Coilinductance mH 9 185 115 Electrical time constant ms 2 14 2 96 3 97 11 2 4 5 Ambient operating Temperature 0 to 40 C conditions RH Humidity 35 to 85 without dew condensation Storage Gy Temperature 10 to 75 C condition RH Humidity 35 to 85 RH without dew condensation Operating atmosphere Without corrosive gases Installation direction Insulation class Item B Structure Full close self cooling Dustproof structure IP 52 in the case of oil seal is applied as option IP 54 Note See Section 1 3 in Chapter 4 about oil seal 2 4 2 SPECIFICATIONS Specification of AC servo motor 2 Unit R88M R88M R88M E dm Es m K130 35 7 Rated Ratedspeed 3 000 3 000 3 000 Instantaneous max speed 4 000 4 000 4 000 Instantaneous max torque kgf cm 50 or up 78 or up 88 or up 2031
34. nt R88M R82030 Thickness 12 mm area 250mm metal board or equivalent R88M R1K130 Thickness 12 mm area 250mm metal board or equivalent Note Above recommendation are at condition of horizontal installation without blockage obstacles around the motor Vibration proof characteristics OMNUC R series AC servo motor allowable against 2G every directions installed in a horizontal axis positions Le Right Up Down Front Back O Shockproof characteristics OMNUC R series AC servo motor can withstand a 50G vertical shock three times when it is installed in a horizontal axis position Note Do not remove the encoder cover nor disassemble the AC servo motor 2 9 2 SPECIFICATION e Allowable load to motor axis Allowable radial and thrust load to motor axis are as follows Type resm r20030 15 s 75 0 0 sow 22 s 75 Note 1 Above allowable radial load are values at the center of the axis one second of shaft length Note 2 Thrust load value differs from load directions Note 3 The above load values are defined according to the target life of 30 000 hours Radial load fa X Direction of gravity force i Lag i gt Ai Shaft facing up B Shaft facing down i 8 2 10 2 SPECIFICATIONS Motor lead wire Signal wire signal and power lines of encoder UL2589 105 C 30V 24AWG x
35. ntrol 4 13 4 DESIGN Switch No Function Preset value at factory No 1 OFF No 2 OFF 6 to 10 times of motor inertia For fine adjustment use AC gain volume to get the optimum level AC gain changeover SWS No 1 This is changeover switch to adjust response No 2 characteristics Adjust it as per the table below in compliance with load inertia 3 Proportional control changeover This is a changeover switch to adjust response characteristics If bit 3 is set to ON P control is activated instead of PI control weakening the servo lock P control gain can be controlled with the Torque Limit control 4 14 4 DESIGN 1 Terminal blocks for power source and motor Power input terminal for control circuit Supply commercial source between 170 and 264 VAC Input terminal for motor power Supply power between 170 and 253 VAC 3 phase A terminal for the inverter main circuit main circuit 2 JP A terminal for inside regenerative resistance resistance Note 1 Main power input Regenerative control terminal for controlling outside and inside terminal regenerative resistance Note 1 Note 2 Three phase output terminal to AC servo motor If Output for the motor three phases are misconnected the motor cannot rotate A red B white C black Note 1 This function does not come with R88D RP05
36. o drivers R88D R R88M R AC servo driver AC servo motor 600 to 1 100W e Power cable for 600 to 1 100 W motor R88A CASLIDIUIS This cable is to connect armature connectors of 600 to 1 100 W AC servo motors and R series AC servo drivers R88D R R88M R AC servo driver AC servo motor 600 to 1 100 W 1 3 1 GENERAL e Encoder cable Power cable Motor capacity R88A CRRO003S 100 W 200 W R88A CRROOSS 300 W 450 W R88A CRRO10S single side R88A CRRO015S connector R 8A CRR020S R88A CRR030S Motor capacity R88A CRR003N 600W 820W R88A CRROO5N 1100W R88A CRROION dual side R 88A CRROISN connector R 88A CRR020N R88A CRRO030N Motor capacity R88A CASOO03S 600 W 820 W R88A CAS005S 1 100 W R88A CASO10S single side connector R88A CASOISS R88A CASO20S R88A CASO30S 1 3 Before Reading This Manual Read this manual carefully before using the unit In this manual AC servo motor rotation directions are defined as Forward and Reverse Forward rotation means to rotate motor shaft in an counter clockwise CCW direction Reverse rotation means clockwise CW direction looking at the motor from the shaft side N Forward rotation iss T p Reverse rotation AC servo motor Encoder output phase The encoder output signal from the servo driver is as follows At forward rotation A phase output Sal See D B phase output Ted udis Z phase output
37. or for motor signal CN2 Connector CN2 has terminals to input encoder and pole sensor signals Connector for driver Cable for motor No Sign Function Wire Wire dia color V Encoder supply AWG22 Red 5V power 5VDC 5 CA GND terminal of G AWG22 Black LOV eacoderpower eneon AE QE ee anne RG Encoder return A AWG22 Gray Damm S SG Shield ground Shield eee sou e 8 Noted TT 9 Notused 10 Notused Encoder A phase D AWG24 Encoder A phase AWG24 Encoder B phase AWG24 14 Encoder B phase 24 Light blue Encoder S phase AWC24 Yellow Encoder S phase AWG24 Brown Mir NES namuno orum Note 1 Do not connect any li i y line to pin No 7 n 2999655555559 GET t C a 3 D 4 GC en 2 3 5 MR 16M for cable side and MS3106A20 11S for cable side and MR 16L as cover MS3057A 12A as clamp made by made by HONDA TSUSHIN AMPHENOL KOGYO CO LTD 4 17 4 DESIGN 4 2 4 Connector of motor O Connector for 600 1 100W motors Connector for motor signal Made by AMPHENOL MS3106A20 11S Cable side MS3057A 12A Cable cramp G m e G9 G0 Q0 ea dia color Gra blue t 8 Encoder phase awc24 Blue ee E RE
38. ply timing of the inverter AC current with detection of the motor rotor position e Rotary encoder Incremental encoder having precision of 1 000 P R for control motor speed and positioning 1 Inner configuration CON CN2 Terminal block GND 45v 15Y OC failure alar SY RESET RUN EM alarm RE E alarm 1 Disconnection 7 of encoder g LSI roccssin p Sin zCW AC gain zi zeew Hh EE IPG i Zero F imi t Ho limit W 7 balance gain Speed amplitier 57 POWER 593 i range sening Input photo coupler common 57 7 2
39. s of the servo driver 1 6 O Y O L O RUNRE E EM om c3 C co SPEED cS 12 8 4 6 7 8 9 1011 12 O Green LED Display POWER Control power 200 VAC is input Orange LED Display INP Completion of With RUN command input this LED lights positioning when value of the deflection counter is less than positioning completion range Overcurrent Lights when current exceeding instantaneous max Current is coming armature output is shorted main circuit power is disconnected or the fuse element is blown Overvoltage When the main power DC voltage abnormally increases by regenerative control Overload 1 When the driver is suppling current exceeding the rated value more than 8 sec 2 When the radiation fin raises its temperature to 85 C or up Abnormal speed 1 When the motor exceeds the instantaneous max speed 2 When the error counter exceeds the designated number of bit the driver clears the error counter and releases servo lock 1 When encoder signals are abnormal condition 2 When RE or PS signal is disconnected 3 Overheat of the motor 85 C or up inside the encoder Emergency stop input Lights ON when emergency stop signal is input and the motor stops Counter over Encoder error 6 1 6 MAINTENANCE In order to protect the servo driver and servo motor the following protective circuits are integrated When a protective circuit works t
40. sine wave system Easily applicable outside dynamic brake circuit as dynamic brake sequence is installed internally Extendable distance between the motor and driver up to 30 m when the standard cable is used 1 1 1 GENERAL 1 2 Outline of Configuration System configuration example using a unit is shown below Motor output R88D RP05 R88M R10030 100W R88D RP10 R88M R20030 300w R88M R60030 R88D RP20 820W 1 1 R88D RP series AC servo driver R88D RP15 Encoder signal serial data transfer 3 AC 200 220V Dynamic brake unit R88M R AC servo motor Motor drive signal servo motor AC servo motors are available in 7 models 100 W 200 W 300 W 450 W 600 W 820 W and 1 100 W Be careful to choose proper servo motor suitable to the AC servo driver servo driver AC servo drivers of 4 models can control AC servo motors of 100 W to 1 100 W Types of AC servo drivers must be in accordance with each AC servo motor 1 2 1 GENERAL 1 Exclusive cable e Encoder cable for 100 to 450 W motors R88A CRRDILIDIS This is a cable to connect R series AC servo motors 100 to 450 W with R series AC servo drivers R88M R R88D R AC servo motor 100 to 450W AC servo driver e Encoder cable for 600 to 1 100 W motor R88A CRRDOLIDN This cable is to connect R series AC servo motors 600 to 1 100 W and R series AC serv
41. sition command pulse CN 1 is fixed value in value value value 1 8 9 10 1 1 0 12 Multiplied 13 by 1 14 15 16 This function determines the number of feed back pulse from this switch Fixed value 3 LA the encoder command pulse For example a ball screw of 8 mm lead and multiplied by 4 for encoder pulse Then pulse 2 um In this case turn this switch to 4 multiplied by 5 and feed units turns to 10 per pulse Note Command frequency is a value which is divided by setting value In above example 200 k 5 40 kpps 4 DESIGN Switch No Function Preset value at factory This switch selects one of two functions as follows OFF Command pulse input is accepted as forward CCW SW2 command pulse reverse CW command pulse No 1 ON Command pulse input is accepted as reverse change OFF over signal feed command pulse H as forward L as reverse Multiplication value setting of encoder feedback pulse No 2 This switch sets multiplication value of position feed back 3 pulse from the encoder No 2 ON Multiplication value No 3 ON x Multiplied by 4 Note Never turn both No 2 No 3 OFF as it will prohibit Changeover of bit number in the error counter This switch changes number of bit of the error counter 11 bit 2 048 10 bit 1 024 9 bit 5 12 Set in accor
42. ss 0 1 000 2 000 3 000 4 000 R88M R45030 450 W kg cm 50 40 30 Short time operation zone 204 one sec or Jess Constant operation zone 0 1 000 2 900 3 000 4 000 R amp 8M R1K130 1 100 W kg f om 100 5 Short time operation zone one sec or less Constant operation zone 0 1 000 2 000 3 000 4 000 rom Xgf cn 50 40 30 20 kg f em 100 0 0 R88M R20030 200 W 1 000 Short time operation zone one sec or less Constant operation zone 2 000 3 000 R88M R60030 600 W 1 C00 Shon time operation zone one sec or Jess Constant operation zone 2 000 2 8 3 000 4 000 4 000 rpm rpm R88M R30030 300 W Short time operation zone one sec or less Constant operation zone 0 1 000 0 0 2 000 3 000 R88M R82030 820 W Shon time operation zone one sec or less Constant operation Zone 1 000 2 000 3 000 4 000 tpm 2 SPECIFICATIONS Radiation condition of AC servo motors In case of continuous operation at the rated torque the following radiation fins are necessary on the motor flange R88M R20030 Thickness 6 mm area 200mm metal board or equivalent R88M R30030 Thickness 6 mm area 250mm metal board or equivalent R88M R45030 Thickness 12 mm area 250mm metal board or equivalent R88M R60030 Thickness 12 mm area 250mm metal board or equivale
43. tto inggain minimizing the vibration of MING servo motor However this signal decreases servo lock powe ON This signal limits ditto supply current to motor to preset value by TOL L volume This is used to release ditto abnormal condition Inside RESET reset switch has the same function This signal stops the unit at emergency Make a circuit to close at normal condition 4 2 4 DESIGN O Control output interface Name of Function signal This is an output to CCW 47 5 V monitor the speed of servo CW 7 5 motor at 3 000 rpm Voltage output of E V is supplied on this terminal The voltage allowance is about t 10 Interface 12 V at the instant max An output to monitor supplied current to servo motor This is output as voltage converting from supply current of servo motor armature line EIA RS 422 or equivalent Line driver output after receiving encoder signal from servo motor For TTL level use connect EGND and one of lines accordance with polarity This signal comes when the error counter is within the designated positioning range Rated contact load 24 VDC 0 5A The contact opens when emergency stop EM is input or inside abnormal occurs For resetting input alarm reset RESET signal or press reset button RESET This contact also opens while reset signal is inp
44. umber of motor revolutions at triggering deceleration rpm Tp Required deceleration torque kgf cm t2 Deceleration interval s Average regenerative power is given in the formula below Eg Egi W T operation cycle s Generally there is energy loss by motor coiling resistance and actual value is approx 9096 of above figure 4 28 200 220 200 220 AC Je E fre s ie teen loot tart 399 q l 4 DESIGN 4 3 6 Absorption of regenerative energy The regenerative energy circuit is installed only in R88D RP15 and R88D RP20 R88D 05 and R88D RP10 are installed condensers for absorbing energy When regenerative energy exceeds the limited values below install an outer regenerative resistance For R88D RP05 and R88D RP10 use driver model 1 or 2 class up lower operation speed or set longer deceleration time to reduce regenerative energy Model Allowable regenerative energy Average regenerative power W Darone regenerative operation 25W R88D RP20 200J 25W Note 1 IW 11 5 1 4 27 Note 2 Thermal produced by regenerative energy increases on right side of the driver Design not to exceed 20 C at surface temperature of the driver For absorption of regenerative energy other than above method prepare resistance parts at the outside of the driver For fixing the outer regenerative resistance take out contact metal from between JP and R
45. ure by more than 45 C with the rated operation cycle see Chapter 2 Radiation of AC servo motor Do not use the servo motor where much dust corrosive gas flammable gas are evident or outside in vacuum condition place higher than 1 000 m 5 Conjunction with mechanism Be sure to use a flexible coupling to connect the motor shaft and mechanical parts such as ball screws Plan and process mechanism to keep both shaft center precisely match in the same line When the motor shaft is connected with high rigidity parts slight difference of shaft center may give excessive radial load to the motor shaft and damage the motor shaft or the ball bearing In case of straight shaft use clamp type coupling Oldam Coupling made by Myty Co Ltd ETP bush made by Miki Pulley Co Ltd Shupan Ring made by Shoda Shoji Co Ltd Deviation pitch difference gear shape differences etc should be as small as possible to adjust backlash amount to proper level Make a mechanism to adjust backlash amount When bevel gear is used it may give thrust load to the motor shaft Check this thrust load together with backlash amount 4 5 4 DESIGN e When a timing belt is used the motor shaft receives excessive radial load due to tension strength of the timing belt temperature variation and aging This will cause damage to the motor shaft and the ball bearing Use the timing belt below the value shown in Chapter 2 Specification allowable
46. ut 4 22 4 DESIGN 4 3 2 Dynamic brake circuit Dynamic brake circuit can be provided using optional sequence terminal T1 The figure below shows connection diagram of the dynamic brake Be sure to take off short pin SP1 on the control circuit board prior to using the dynamic brake R series driver Three phase 5 200 VAC DC24V 1 Dynamic brake resistance Counterelectromotive force voltage Motor model Armature resistance at 3 000 rpm Brake resistance RDB Q should be greater than below RSEM RI80 42 Rssm R20030 624 0 ny ReEM R3030 290 0 2 Relay LY3 OMRON 24 VDC or LY3 D 24 VDC or equivalent Actuating current 60 mA or less inside resistance 400 or up rating 24 VDC 3 Diode S5688G TOSHIBA or equivalent 400 V withstand voltage 4 Dynamic brake unit A dynamic brake unit integrated above circuit is available Model R88A DB20 for 450 W or up 4 23 4 DESIGN 4 3 3 Voltage changeover of control input interface Control input voltage is switchable between 5V and 24V using optional sequence terminal Inside the driver Inner block of the driver is as shown above In order to change control voltage to 24 V input 24 V to No 1 terminal and OV to No 4 terminal on terminal block T1 of the control circuit board together with short circuit SP3 jumper to 24 V There is no need to connect 5 V
47. with pin 13 and 14 of CN1 Changing CW and CCW pulse input is not possible Install outside of the driver 1 2 KQ 0 5 W resistance for 24 V input and 470 0 5 W resistance for 12 V input respectively 4 24 4 DESIGN 4 3 4 Selection example of outer connecting parts 1 No fuse breaker NFB Use a breaker having applicable current value for your system Never use one for semiconductor and one having characteristics for immediate response Use one with delay characteristics 62 2 2 to 20 s at 200 load 2 Noise filter NF phase GT 210U 10A ZAC2210 11 10A SUP E3H EP OKAYA ELECTRIC IND S P ESH EP 5A Three LF 315K TOKIN phase LF 325K LF 305 LF 310 ZCW2205 01 ZCW2210 01 ZCW2220 01 3SUP ASJ E 3SUP A10J E 3SUP AISJ E 5 TDK Ha 15A SA OKAYA ELECTRIC IND 10A 20A 3 Magnet relay MC 415 15 18 OMRON 26A LC1 D173A60 4 25 LC1 D253A60 4 DESIGN 4 Surge absorber ZNR Model Varistor Max Max Fuse voltage voltage surge energy rating ERZCIODK471 W 470V 775V 1 25kA 45 3 ERZC14DK471 W 470V 775V 2 5kA 3 10A Disc gt Matsushita ERZC20DK471 W 470V 775V 1507 5 15 ERZC20EK471 W 470V 775V 1507 Industrial Co Ltd N Un A lt gt w w gt 470V 775V 10 470V 775V 20kA 470v TON 1kA 15W s
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