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G5-series Pulse-train Input Type User's Manual

1. CS1W HCP22 V1 T 3 Main Circuit Power Supply T o NFB OFF ONMC1MC2 Main Circuit 9 610 S ir 6 Contactor 3 Surge Suppressor m 3 phase 200 to 240 VAC 50 60 Hz S o6 0 P S i 0n i S xe T OO 2 D Ground to Special I O Connector m Ff Ej 24 VDC Power Supply for Output A19 UN Reactor re 2 m iT E LL mi OT ee 13 1 DIES CCW 1 6kQ A18 6 CCW MC1 MC2 Po PH HH Oust CW 1 6kG Q Ld LL Z Phase LD 7 Phase LD ash ees aes I rs a R88M KE I O Connector 1j 2 Red Motor 24 V for Output 14 U Power Cable Error Counter Clear 1 B3 ECRST Bue Jj LM Output Common 811 1 Fee E Positioning Completion Signal 1 3 B9 NP O ersi NENNEN EM 24VIN Yellow E 0 DL L Servo ON 1 B5 3 Alarm Reset 1 DE RESET Encoder Cable Origin Proximity Input Signal 1 Biz ta INPCOM o O E CCW Limit Input Signal 1 BE m ALMCOM CW Limit Input Signal 1 B9 4 ALM Input Common 1 A10 NH EMEN a NEN BKIR ENS NEST i 3 10 BKIRCOM o a rpeses Shell FG ES xp Brake Cable aleo 24 VDC 1 The I O signals for the HCP22 vary depending on the allocations of internal relay areas Change the wiring according to the allocations l Precautions for Correct Use e Note that incorrect connection of signal lines may cause damage to the Servo Drive and conn
2. 1 5 Applicable Standards 1 5 1 EC DireGliveS uu eui xm orae eR eb eu 1 5 2 UL and cUL Standards llle 1 5 3 wmm y n OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 1 Features and System Configuration 1 1 Outline 1 1 1 Outline of OMNUC G5 series Servo Drives Pulse train Input Type The OMNUC G5 series Servo Drives Pulse train Input Type are AC Servo Drives with the position control and speed control capabilities The OMNUC G5 series provides a wide portfolio of products which supports the motor capacity from 50 W to 5 kW and 200 V input power supply to suit various applications of customers The Servomotors with high resolution 20 bit incremental encoder are available As for gain adjustment the OMNUC G5 series Servo Drives support the realtime autotuning and adaptive filter functions that automatically perform complicated gain adjustment A notch filter can also be automatically set to suppress machine vibration by reducing machine resonance during operation The damping control function of the Servomotor and Servo Drive realizes stable stopping performance in a mechanism which vibrates because of the low rigidity of the load 1 1 2 Features of OMNUC G5 series Servo Drives Pulse train Input Type The OMNUC G65 series Servo Drives Pulse train Input Type have the following features i Switchable between Two Contr
3. 4 37 Notch 1 Depth Setting Pn203 7 20 Notch 1 Frequency Setting Pn201 7 20 Notch 1 Width Setting Pn202 s 7 20 Notch 2 Depth Setting Pn206 7 21 Notch 2 Frequency Setting Pn204 7 20 Notch 2 Width Setting Pn205 7 21 Notch 3 Depth Setting Pn209 7 21 Notch 3 Frequency Setting Pn207 7 21 Notch 3 Width Setting Pn208 ssss 7 21 Notch 4 Depth Setting Pn212 7 21 Notch 4 Frequency Setting Pn210 7 21 Notch 4 Width Setting Pn211 sss 7 21 O Operation Command RUN cesecceeeeeeeeeeeeees 3 21 Operational Procedure manii 8 2 Output Signal Selection 1 Pn410 7 32 Output Signal Selection 2 Pn411 7 33 Output Signal Selection 4 Pn413 7 33 Overload Detection Level Setting Pn512 7 48 Overrun Limit Setting PN514 ssssss 7 48 Overspeed Detection Level Setting Pn513 7 48 Overspeed Detection Level Setting at Immediate Stop Pn615
4. Position command Pn123 G e e e a e a e D L Actual motor speed Pn116 gt e gt e Pn121 Gain 1 Gain 2 Gain 1 6 28 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions Timing of Gain Switching by Position Gain Switching Time Pn119 When using the position control setting Gain Switching Time helps prevent the rapid increase of the position loop gain if the values set in Position Loop Gain Pn100 and Position Loop Gain 2 Pn105 differ significantly The position loop gain increases as the set time expires Position Gain Switching Time The Position Gain Switching Time Pn119 can be set to reduce torque fluctuations and vibration caused by a sudden change in the position loop gain when the gain is switched during position control la Precautions for Correct Use When the position loop gain is switched to a smaller value switching of the gain occurs immediately regardless of this parameter setting Li Example Gain 1 Pn100 Gain 2 Pn105 O a Gain eee ieee eee 2 Pn105 z amp Position Gain c Gain 1 44 Switching Time ms 3 Pn100 Pn119 S Switching result d b no U S PERJ o 3 D D my a JJ D 2 e CD D 4 2 e o OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6
5. llle 4 2 4 1 2 Servomotor Installation Conditions 0 0 0 0 ccc ee 4 3 4 1 3 Decelerator Installation Conditions 0 0 0 ccc ee 4 6 4 2 NV NING s o eoi ne erect Sel rid ah nu Dn ao er ee Wa d tai in 4 10 4 2 1 Peripheral Equipment Connection Examples 0000 eee eee 4 10 4 2 2 Main Circuit and Motor Connections 0 000 cece 4 14 4 3 Wiring Conforming to EMC Directives L 4 20 4 3 1 WIMA GINO oen 3 ocius eee ew ace ee ee eee beers fe pue 4 20 4 3 2 Selecting Connection Components 0 ees 4 26 4 4 Regenerative Energy Absorption re 4 39 4 4 1 Calculating the Regenerative Energy llle 4 39 4 4 2 Servo Drive Regeneration Absorption Capacity 0005 4 41 4 4 3 Regenerative Energy Absorption with an External Regeneration Resistor 4 42 4 4 4 Connecting an External Regeneration Resistor 00005 4 43 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 1 4 System Design 4 1 Installation Conditions 4 1 1 Servo Drive Installation Conditions Space Conditions around Servo Drives e Install the Servo Drives according to the dimensions shown in the following illustration to ensure proper dispersion of heat from inside the drives and convection inside the panel If the drives are installed side by side install a fan for air circulation to pr
6. Th wo N In N lon L Ly 3 a q19h6 70h7 0 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change SUOISUSWIG JOJOWOAISS dz rv c e 750 W with Brake R88M KE75030H B S2 Encoder connector Brake connector Motor connector QS pil SS S 3 1 E 2 R n 123 7 ju l a Ld 1 1 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Shaft end specifications with key and tap 35 25 22 6h9 co Key groove P9 RR M5 depth 10 200 N Jj OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 33 2 Models and External Dimensions e 1 kW 1 5 kW 2 kW without Brake R88M KE1K030H S2 KE1K530H S2 KE2K030H S2 e 1 kW 1 5 kW 2 kW with Brake R88M KE1K030H B S2 KE1K530H B S2 KE2K030H B S2 Motor and brake connector Encoder Shaft end specifications with key and tap connector
7. 4 1 Set value 1 500 us or more Set value 2 1 ms or more Resetting error continues e The minimum duration of the RESET input signal when the parameter is set to 3 or 4 is as follows Error Counter Reset Input signal Set value 3 100 Us or more Set value 4 1 ms or more Resetting error occurs only once OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 49 7 Parameter Details Pn518 Setting range Pn519 Setting range Pn520 Setting range Command Pulse Prohibition Input Setting 0 to 1 Default Cycle the setting power supply Explanation of Set Values Set value Description 0 Enabled 1 Disabled select whether to enable or disable the Pulse Prohibition Input IPG The command pulse input counting process will be force stopped when the Command Pulse Prohibition input is enabled Command Pulse Prohibition Input Read Setting Position 0 to 4 Default Cycle the Required setting power supply Explanation of Set Values Set value Description 0 0 166 ms 1 0 333 ms 2 1 ms 3 1 666 ms 4 0 166 ms No judgment of multiple matches Select the signal read cycle for the Pulse Prohibition Input IPG The signal status is updated when the signal status in each signal read cycle that has been set matches multiple times The possibility of malfunction due to noise can be reduced by lengthening the signal read cycle However the responsiveness to signal
8. Dimensions mm CA e 5 H M X Y KT W 160 103 70 170 106 60 80 53 Model 3G3AX AL2110 2 60 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions 2 4 7 Mounting Bracket L brackets for Rack Mounting Dimensions I R88A TKO1K Top Bottom 2 M4 countersunk 2 M4 countersunk n A m x eh D 5 D o 2 2 o c 2 ex 2 e z 3 2 o o 2 0 I R88A TKO2K Top Bottom 2 2 M4 countersunk eh 2 M4 countersunk suoisueuuiq 6ununo N YOeY 10 sjexoeJq 1 Jeyoesg Gununo N p Z I R88A TKO3K Top Bottom 2 M4 countersunk So 2 M4 countersunk ON Lb e uL OD L 30 02 2 5 Qv o OE OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 61 2 Models and External Dimensions R88A TKO4K Top Bottom 2 M4 countersunk 2 M4 countersunk 2 62 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Specifications This section provides the general specifications characteristics connector specifications and l O circuits of the Servo Drives as well as the general specifications characterist
9. load characteristic Speed variation 0 at rated voltage 10 percentage of rated speed voltage characteristic Temperature variation 0 01 max percentage of rated speed from 0 to 50 C temperature characteristic 1 The first value is for single phase input power and the second value is for 3 phase input power 2 The heat value is given for rated operation Torque control 1 repeatability OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 3 3 Specifications Item R88D KP20H R88D KP30H R88D KP50H Continuous output current rms 13 4A 18 7A 33 0 A Input power Main circuit Power 3 3 KVA 4 5 KVA 6 0 KVA supply supply capacity Power 3 phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz supply voltage Hated 11 8A 15 1 A 21 6A current Heat 139 W 108 W 328 W value Power Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz supply voltage Heat 10 W 13 W 13 W value Weight Approx 2 7 kg Approx 4 8 kg Approx 4 8 kg Applicable 3 000 r min KE2K030H KE3K030H KE4K030H Servomotor KE5K030H 2 000 r min KE2K020H KE3K020H KE4K020H KE5K020H 1 000 r min Be KE2K010H KE3K010H Performance Speed control range 1 5000 Speed variation 0 01 max from 0 to 100 percentage of rated speed load characteristic Control circuit Speed variation 0 at rated voltage 10 percentage of rated speed voltage characteristic Temperature variation 0 01
10. 100 0 1 1 10 100 Frequency kHz ESD R 47B 10 000 1 000 00 Impedance C e 1 10 100 1 000 Frequency MHz 4 System Design 3G3AX ZCL2 1 000 e e e Impedance C 1 10 100 1 000 Frequency kHz ZCAT3035 1330 Impedance C 10 100 Frequency MHz OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 000 T C2 3 e O o 3 o 3 3 e gu o m O o o lt D o sjueuoduio 2 uonoeuuo Bunos es z v 4 System Design RJ8035 RJ8095 10 000 10 000 1 000 1 000 Ci 100 Ci 100 amp 10 c 10 O TS 2 1 1 0 1 0 1 0 01 0 01 1 10 100 1 000 1 10 100 1 000 Frequency kHz Frequency kHz T400 61D 100 10 amp 1 O o 0 1 o Q E001 0 001 0 0001 1 10 100 1 000 10 000 100 000 Frequency kHz 4 32 OMNUC G5 series Pulse train Input Type AC Servomotors and Serv
11. 7 32 Input Signal Selection 3 Pn402 7 32 Input Signal Selection 4 Pn403 7 32 Input Signal Selection 5 Pn404 7 32 Input Signal Selection 6 Pn405 7 32 Input Signal Selection 7 Pn406 7 32 Input Signal Selection 8 Pn407 ssss 7 32 Input Signal Selection 9 Pn408 7 32 Input Signal Selection 10 Pn409 7 32 Internally Set Speed Control se 5 7 Internally Set Speed Selection 1 2 and 3 VOEL T Z aNd 9 iade e etes ate sitat edad 3 24 J JOO ODS GA ON ERE PM RP 8 23 dog Speed PNOOA siete usc doe o oet decadence anes 7 55 L Leakage Breaker oe ho eel dietus 4 27 Line Receiver Input 2 renta bin exer deo tenerae cee 3 19 M Main Circuit Connector Specifications ie ECCE 3 6 3 7 4 14 4 15 Main Circuit Terminal Block Specifications 3 8 Maintenance auisuutenta tino deutet Indes piene dis ime d ru daga ds 10 21 Manual Tuning cccccsseeecceceeeeeceeeeeeeeeaeeeeeeenseeesanees 9 11 Mode Setting EUER 8 6 Momentary Hold Time Pn509 7 46 Monitor Connector Specifications CN5 3 33 Monitor MO0 sactsccccacetincbncc cece idaaeoicauiiene 8 7 Motor Connector
12. 7 61 Warning Output 1 WARN 1 eeeeeeeeeeessss 3 31 Warning Output 2 WARN eeeeeeeeeee 3 31 Warning Output Selection 1 Pn440 7 41 Warning Output Selection 2 PN441 7 41 WINGS IZOS dT 4 18 Wiring Conforming to EMC Directives 4 20 Z Zero Speed Designation VZERO 3 25 Zero Speed Designation Selection Pn315 7 29 Zero Speed Detection Pn434 sss 7 38 Zero Speed Detection Signal ZSP 3 30 Index 5 Authorized Distributor
13. Main Circuit Power Supply Oo OFF ON MC1MC2 3 _ Main Circuit 5 9 Contactor o LL M4 Cot Surge Suppressor o EM 3 Servo Error Display m O TO S Ground t E CP1H X40DT D 200 Lc g Reactor LH Lu c simi Output Terminal Block Pulse OutputiCCWO word 100 bit 01 SS abri 24 VDC Input Terminal COM for word 101 bit 00 to 03 Input Terminal Block Pulse 0 Origin Input Signal word 0 bit 00 COMOCH ee R88M KE Motor Power Cable SGGND 24VIN E Kg p mu E ECRST E NN mm ES MK o Q e Z J E ea J 36 ALMCOM 10 BKIRCOM se er E Sd rO 37 IAM otto et iLTI eee ss MEME XB Brake Cable T E 24 VDC Precautions for Correct Use e Note that incorrect connection of signal lines may cause damage to the Servo Drive and connected units e Leave unused signal wires disconnected and open e Use a separate power supply 24 VDC for the brake independent of the 24 VDC control power supply e Recommended surge absorbing diode RU2 Sanken Electric Co Ltd or equivalent OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 7 Appendices CJ2M 100 Q or Les I Example 7 Connection with SYSMAC CJ2M CPUSLI CPU1LI Main Circuit Power Supply OFF ON MC1MC2 m ad ic Main Circuit Contactor S
14. sisse 3 122 38 Reactor SDCCINIC ALOIS e n 3 124 Section 4 System Design 4T Installation Conditions 222 6003 acs acco eias ec Ee dedo une agli test teh ecko st Casu esed coU LUE en rao dede 4 2 4 1 1 Servo Drive Installation Conditions oue cancel eta sara etait ce Po ae tee COE poe Eee ecd e De poet ee E rq 4 2 4 1 2 Servomotor Installation Conditions ssseeeesssssssseesseeeeeeeene nennen nnne nnn 4 3 4 1 3 Decelerator Installation Conditions leise nnne 4 6 S SCIRE 4 10 4 2 1 Peripheral Equipment Connection Examples cccccccccceceseseseeeseseecceeeeeseseeseaeaeeeeeeeeeeeeeess 4 10 4 2 2 Main Circuit and Motor Connections sssseeesesssssseseseeeeeeenenn nennen nnn nnn ann nnns 4 14 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 21 CONTENTS 4 3 Wiring Conforming to EMC Directives 1 leere eee ieeee rene eene nnne nnne nnn ana nenne 4 20 4 3 1 WV IIT ae B i NO RENTRER NUN 4 20 4 3 2 Selecting Connection Gomporehls dieeho in eid ei exiret ble e puebi V tense fit itac Pd rev de E dE XULP ones 4 26 4 4 Regenerative Energy Absorption eeeee ceres ee eeee reisen rennen nnn nnn n nnn nn annua 4 39 4 4 1 Calculating the Regenerative ETergy s asiaee pere ee Qu roe ad E Y RETE VUE ERU U
15. 0 0 0 cc ee eee 5 3 5 1 3 Related FUNCIONS iode br cR Ee EE REED ba ee Sud Bese 5 5 5 1 4 Parameter Block Diagram for Position Control Mode 5 6 5 2 Internally Set Speed Control LLL 5 7 5 2 1 Outlineor ne FUNCHON ss exo Erat a cc ER Ra Ue EET 5 7 5 2 2 Parameters Requiring SettingS 0 0 ccc ee eee 5 7 5 2 3 Related FUNCIONS a aneren RR RR CR o o ERE RS RO RS 5 11 5 2 4 Parameter Block Diagram for Speed Control Mode LL 5 12 5 9 Switching COMTO 2E Eger sin por Eu EHE EERX RIDE SE PES 5 13 5 3 1 Outline ohne FUNCHON se sao poe Spes S E E SD qoa dqui ies V e E S eas 5 13 5 3 2 Parameters Requiring SettingS 0 0 cc ee eee 5 13 5 3 3 Related F nocllOls z ssa eaae E EROR XT Ead ES 5 14 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 5 1 5 Basic Control Mode 5 1 Position Control 5 1 1 Outline of the Function e The position control function performs position control according to the pulse train input from the controller e The motor rotates based on the value of the pulse train input multiplied by the electronic gear setting Pn008 to PnO10 Controller Pulse train Output Type Position Control Unit AC Servo Drive CJ1W NC1 13 133 OMNUC G5 series Pulse train Input Type CJ1W NC213 233 CJ1W NC214 414 CJ1W NC234 434 CJ1W NC413 433 CS1W NC113 133 CS1W NC213 233 CS1W NC413
16. 38 Pink Red 4 S03 13 Gray Black 2 SGGND 39 Pink Black 4 S03 u a 16 Yellow Red 2 42 Gray Red 5 17 Yellow Black 2 or SGGND 43 Gray Black 5 Pink Black 2 18 Pink Red 2 44 White Red 5 CWLD 20 a COWLD 21 Orange Red 3 A 47 Yellow Black 5 CCWLD 22 Orange Black 3 A 48 Pink Black 5 B 24 Gray Black 3 lt 7 50 m 25 Orange Black 5 SGGND Shell FG 26 White Red 3 SI3 Connector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Cable AWG24 x 25P UL20276 e Wires with the same wire color and the same number of marks form a twisted pair Example The wire described as Orange Red 1 and that described as Orange Black 1 are paired and twisted together e OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Connector Terminal Block Cables XW2Z L1J B24 This connector terminal block cable is connected to the Servo Drive s control I O connector CN1 All of the pins in the control I O connector CN1 can be converted to terminals on the terminal block e Cable types Outer diameter of XW2Z 100J B24 11 2 dia Approx 0 2 kg XW2Z 200J B24 Approx 0 4 kg q e D o D M 2 O o 3 5 O o o D o D ct o 5 D Connection configuration and external dimensions 16 i L Connector Terminal Bloc
17. Adc s E X TY M5 depth 12 Dimensions mm R88M KE1K0300 142 97 66 122 R88M KE1K5300 140 5 R88M KE2K0300 159 5 R88M KE1K0300 BO 169 124 66 149 R88M KE1K5300 BO 167 5 R88M KE2K0300 BO 186 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change e 3 kW without Brake R88M KE3K030H S2 e 3 kW with Brake R88M KE3K030H B S2 Model Motor and brake connector Shaft end specifications with key and tap Encoder connector M5 depth 12 A INI Dimensions mm R88M KE3K03000 171 R88M KE3K0300 BO 196 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model 2 34 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions e 4 kW 5 kW without Brake R88M KE4K030H S2 KE5K030H S2 e 4 kW 5 kW with Brake R88M KE4K030H B S2 KE5K030H B S2 Motor and brake connector LM T g Shaft end specifications KB2 with key and tap mpm yl i Pa t M8 depth 20
18. R88D KP E 8 X a ME NN E DN S 24 V Power Supply for Output AL l Reactor ae OV Power Supply for Output ME RN A cus OOM Wh resistance Li XOX L TI 1 cew MC1 MC 3 CCW Without resistance A7 EE 13 CW L Pulse Output CW With resistance ENDS SEEN ew CW Without resistance BEES b ae e X axis Error Counter Reset Output A10 ECRST R88M KE X axis Origin Line Driver Input ee sz X axis Positioning Completion Input m Bue Eu ee INPCOM es NN BS NENNEN 24VIN odo ooo O i imi t p X axis External Interrupt Input A19 X axis Origin Proximity Input A2 NO D gt lt U Oz G xp Brake Cable O 24 VDC Precautions for Correct Use e The above example shows an example of connecting a Servo Drive with 3 phase 200 VAC main circuit power supply inputs Use a power supply and power cables that meet the power supply specifications of the Servo Drive e Note that incorrect connection of signal lines may cause damage to the Servo Drive and connected units e Leave unused signal wires disconnected and open e Use mode 2 for origin search e Recommended surge absorbing diode RU2 Sanken Electric Co Ltd or equivalent e Connect signal lines so that the servo can be turned ON and OFF with the RUN signal OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual
19. o la Precautions for Correct Use T l T a e Adaptive filter may not operate correctly under the following conditions o Item Conditions that interfere with the adaptive filter m Resonance e If the resonance frequency is 300 Hz or lower 2 points e If the resonance peak or control gain is too low to affect the motor speed If there are three or more resonance points Load e If the motor speed with high frequency components changes due to backlash or other non linear elements Command e If the acceleration deceleration is 3 000 r min s or higher pattern e f the adaptive filter does not operate properly use Notch 1 Pn201 to Pn203 or Notch 2 Pn204 to Pn206 parameters to implement resonance measures according to the manual adjustment procedure Refer to 6 3 Notch Filters on page 6 8 for details about the notch filter e An unusual noise or vibration may occur until the adaptive filter stabilizes after startup immediately after the first servo ON or when the value set in Realtime Autotuning Machine Rigidity Setting Pn003 is increased This is not a problem if it disappears right away If the vibration or unusual noise however continues for three or more reciprocating operations take the following measures in the possible order e Write the parameters used during normal operation to the EEPROM Lower the value set in Realtime Autotuning Machine Rigidity Setting Pn003 e Disable the adaptive filter by setting Ad
20. 2 4 a 1 Connect the NC unit as shown here because it handles forward direction commands as CW direction phase A advance pulses which can be selected using the output pulse direction selection parameter 2 O Ac KI D o o O ncoder Phase A ncoder Phase A ncoder Phase B ncoder Phase B ncoder Phase Z ncoder Phase Z 2 Gb5 series Servo Drives Pulse train Input Type support incremental encoders only Do not use SEN outputs Lnd rror Counter Reset Outpu RUN Output eneral purpose Output Alarm Reset Output orque Limit Output ositioning Completion Inpu 4 4 co G D 2 D a 1 O oO O o D 2 ce e i Alarm Input N AJAJAJA w I OCO CO sO GW C5 O1 co N Co C5 h5 O1 O l N c 25 jo0o o co o EN Output ignal Ground NO Co 3 86 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e Cables for Line Driver Output 2 Axes AWG 18 twisted pair cable 1 m Red 24 VDC C y AWG 18 twisted pair cable 1 m Black 24 VDC GND a Blue BKIRCOM NC Unit side Black BKIR XG4M 5030 T OMRON Servo Drive side for Axis 1 or 3 Encoder Phase A Encoder Phase B Encoder Phase B Encoder Phase Z Encoder Phase Z B Encoder Phase B Output 7 30 Positioning Completion NINIAIAININI 3 431414 IIcC Ooo coO h2 4 A
21. Features and System Configuration Models and External Dimensions Specifications Appendices System Design Basic Control Mode Applied Functions Parameter Details 8 Operation Adjustment Functions OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 19 CONTENTS CONTENTS lucus Iaiifere lenilel o eem PES 1 Read and Understand this Manual 1 eeeeeee eene eene nnn nnn nnns 2 Safety PRECAUTIONS 5 criado ue he ro iis ace led rss eae oe cues ad reco e bens ee aa 5 Items to Check After Unpacking 11 eee e eeeee ee Leeee eene nnne nn 13 xziadtjenlgt m 14 Manual Conflg lFallOli eoe vu con eaessuct pravi Das uuio ei Vucta tuta ecu Sen esae aiia eaaa na ca Duae 15 Manual SIFUCIUEG iioi eura a a aaa 16 SECTIONS In this Manludl iussu dn Eut pvc aae iata oa aeaa aaea aa nanai Cos aea 19 exe Hu Eg M 20 Section 1 Features and System Configuration SES EEUU 1 2 1 1 1 Outline of OMNUC Gb5 series Servo Drives Pulse train Input Type sssssssesee 1 2 1 1 2 Features of OMNUC G5 series Servo Drives Pulse train Input Type 1 2 ME EIAS peii m em ER 1 3 1 3 Names ana Funcllofis sucrier a ecu Qu
22. O 9 5 a CJ2M side CJ2M CPU31 CJ2M CPU11 CJ2M CPU32 CJ2M CPU12 C1 CJ2M CPU33 CJ2M CPU13 CJ2M CPU34 CJ2M CPU14 CJ2M CPU35 CJ2M CPU15 Servo Relay Unit side e XW2B 20J6 8A XW2B 40J6 9A IIll CJ2M CPU35 15 IlIll e Wiring CJ2M side Servo Relay Unit side E suoreoyioeds eiqe yun ejeg HUN 04u00 uonisogd 9 e 30 Cable AWG28x6P AWG28x14C Crimp terminal OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 119 3 Specifications Position Control Unit Cables XW2Z L1J A28 Below are the specifications of the cable that connects the general purpose I O connector for the Flexible Motion Controller Model FQM1 MMP22 with a Servo Relay Unit Model XW2B 80J7 124 e Cable types XW2Z 050J A28 10 0 dia XW2Z 100J A28 XW2Z 200J A28 Connection configuration and external dimensions Weight Approx 0 1 kg Approx 0 2 kg Approx 0 3 kg 9 FQM 1 side P FQM1 MMP22 E eo Servo Relay Unit side gt XW2B 80J7 12A VCV 4f08 e Wiring FQM 1 side Servo Relay Unit side 3 120 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Position Control Unit Cables XW2Z L1J A30 Below are the specifications of the cable that connects the special I O connector for the Flexible Motion Controller Model FQM1 MMP22 with a Servo Relay Unit Model
23. e For the allowable axial loads for motors refer to 3 1 2 Characteristics on page 3 3 If an axial load greater than that specified is applied to a motor it Ball screw center line may reduce the limit of the motor bearings and may break the motor shaft En c oes e When connecting to a load use couplings that can id sufficiently absorb mechanical eccentricity and TT Axial offset declination e For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree of precision for example JIS class 2 normal line pitch error of 4 6 um max for a pitch circle diameter of 50 mm gi If the gear precision is not adequate allow Paca Seta sirudurein backlash to ensure that no radial load is placed on which the distance the motor shaft between axes can l S be adjusted e When using bevel gears a load is applied in the B a thrust direction depending on the structural precision the gear precision and temperature changes Provide appropriate backlash or take other measures to ensure that a thrust load larger than the specified level is not applied e Do not put rubber packing on the flange surface If the flange is mounted with rubber packing the Set a movable motor flange may crack under the tightening force structure e When connecting to a V belt or timing belt consult the manufacturer for belt selection and tension e A radial load twice as large as
24. 3 O O o 3 gt o m O 9 O lt D o e Cable Details 0 AC power supply Noisetiers Powersuppyime 2m No wo poujey BUMM L v KR Ww Mh O Frame ground Seno Drive Faine ism No mo AC power supply Controller Power supply line 15m No NO l il lil lijl C1 Co OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 21 4 System Design I Noise filter for power supply input We recommend using a noise filter listed below for the Servo Drive Drive Noise filter for power supply input foh Rated Leakage poni 60 Hz Manufseduser p current supply Single R88D KPLIO1HLIL SUP EK5 ER 6 5A 1 0 mA at 250 VAC phase 3 phase 3SUP HU10 ER 6 3 5 mA at 500 VAC Single R88D KPLIO2HLILI ae EK5 ER 6 5A 1 0 mA at 250 EEEN phase 3 phase 3SUP HU10 ER 6 3 5 mA at 500 VAC Single R88D KPOO4HOO SUP EK5 ER 6 5A 1 0 mA at 250 VAC l phase Okaya Electric Industries 3 phase 3SUP HU10 ER 6 3 5 mA at 500 VAC Co Ltd Single R88D KPLIO8HLILI p R88D KPEMOHDIE 3SUP HU30 ER 6 3 5 mA at 500 VAC pnase j R88D KPEM5HDI KPO15HO00 3 phase LN KPLI20HLILI 3SUP HUBO ER 8 HU50 ER 6 580A A 3 5 mA at 500 3 5 mA at 500 VAC R88D KPO30HOO erie HL50 ER 6B 50 E 8 0 mA at 500 EmA aroo VAO R88D KPO50HO00 KPLISOHLILI For operational
25. 4 Amount of change in speed B command 5 Speed command v v v r min r min Pn120 set value 6 30 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 8 Torque Limit 6 8 1 Outline of the Function e The torque limit function limits the output torque of the Servomotor e This function is used in the following conditions e When push motion operation such as pressing is performed e When the torque at startup and during deceleration should be suppressed to protect mechanical systems etc e Various torque limit options can be set in Torque Limit Selection Pn521 Pn521 Torque Limit Selection Select the torque limit based on the various P 7 51 parameters and input signals Pn013 No 1 Torque Limit Set the first motor output torque limit value P 7 8 Pn522 No 2 Torque Limit Set the second motor output torque limit value P 7 51 Pn523 Torque Limit Switching Setting 1 Set the rate of change fluctuation when switching P 7 52 from No 1 Torque Limit to No 2 Torque Limit Pn524 Torque Limit Switching Setting 2 Set the rate of change fluctuation when switching P 7 52 from No 2 Torque Limit to No 1 Torque Limit Pn525 Forward External Torque Limit Set the forward torque limit based on a network signal P 7 52 Pn526 Reverse External Torque Limit Set the reverse torque limit based on a network signal P 7 52 i Torque Limit in Position Speed Control
26. Encoder connector n I m gt F D 3 2 9 3 2 o c 3 5 a g 3 o 5 o O 5 D 110h7 Dimensions mm R88M KE4K0300 189 R88M KE5K0300 224 R88M KE4K0300 BO 217 R88M KE5K0300 BO 252 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change SUOISUSWIG JOJOWOAISS dz rv c OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 35 2 Models and External Dimensions I 2 000 r min Servomotors 200 V e 1 kW 1 5 kW 2 kW 3 kW without Brake R88M KE1K020H S2 KE1K520H S2 KE2K020H S2 KE3K020H S2 e 1 kW 1 5 kW 2 kW 3 kW with Brake R88M KE1K020H B S2 KE1K520H B S2 KE2K020H B S2 KE3K020H B S2 Motor and brake connector Encoder connector 116 1 0 to 2 0 kW 118 3 0 kW NE a p C TI IImr TTO Model R88M KE1K0200 R88M KE1K520LI R88M KE2KO020LI R88M KESKO020LI R88M KE1KO20LI BLI R88M KE1K520LI BLI R88M KE2KO020LI BLI R88M KESKO20LI BLI Shaft end specifications with key and tap LR Ty Sy xX E amp i x zi M5 depth 12 1 0 to 2 0 kW Lc M8 depth 20 3 0 kW TO co Dimensions mm Note The standard m
27. Minimum bendin Model Length L diameter of g Weight sheath radius R R88A CAGB003BR 12 7 dia Power cable part 90 mm Approx 0 9 kg R88A CAGB005BR 6 1 dia Approx 1 5 kg RBBA CAGBO10BR Brake cable part 45mm Approx 2 8 kg R88A CAGBO15BR R88A CAGBO20BR 1 For information on minimum bending radius refer to 3 5 1 Resistance to Bending of Global Flexible Cable on page 3 62 Approx 4 2 kg Approx 5 5 kg Connection configuration and external dimensions Servomotor side R88M KEL Servo Drive side R88D KPO e e Wiring Servo Drive side Servomotor side M4 crimp CO SIGN terminal cy White NC Femue Te 1 PhaseV aiu B PhaseW M4 crimp Green Yellow terminal Q 4 FG Cable AWG20 x 2C UL2464 Cable AWG14 x 4C UL2501 Servomotor side connector Straight plug model N MS3106B20 18S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics 3 76 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Power Cables with Brake Global Flexible Cable R88A CAGDLIBR e Cable types For 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW 1 000 r min Servomotors of 2 to 3 kW l Outer Minimum bending Model Length L diameter of i 4 Weight sheath radius R R88A CAGD003BR Power cable part 100 mm Approx 1 6 kg R88A CAGD005BR Approx 2 5 kg RBBA CAGDO10BR Brake cab
28. is displayed when the output from the Servo Drive is at rated torque e The minus sign means the torque output when the Servomotor operates in the reverse rotation 8 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation Total Encoder Pulses Total Encoder Pulses Encoder Pulse Lower L Higher H Press Q to switch Lower L and Higher H Total Command Pulses Total Command Pulses Command Pulse Lower L Higher H Press to switch Lower L and Higher H Reserved Do not set e I o 2 D o 3 a spol JOWUO c v 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 9 8 Operation Control Mode Position control mode Speed control mode Reserved Do not set any value Reserved Do not set any value This indicates which control mode is in use position control or speed control 1O Signal Status Input signal Pin No 8 ON Output signal Pin No 10 OFF or Disabled Es ON OFF or Disabled a Pin No 1 m Input L LL Output This indicates the status of the control input and output signals connected to CN1 pin e Switching between Input and Output Signals It is possible to change the signal number if the decimal point is located on the right of the signal number Press Q to move the flashing decimal point It is possible
29. E D 3 Consult OMRON oe1npoaooJg 1ueuusn py ues 6 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 3 9 Adjustment Functions 9 2 Realtime Autotuning Realtime autotuning estimates the load inertia of the machine in realtime and operates the machine by automatically setting the gain according to the estimated load inertia At the same time it can lower the resonance and vibration if the adaptive filter is enabled Realtime autotuning is enabled for any control to adjust the speed loop PI control Switching to the realtime autotuning is enabled when Switching Mode in Position Control Pn115 is set to 10 Combination of command pulse input and motor speed Speed command Position command Torque command Current control Position control Speed PI control Load inertia estimation Speed feedback Position feedback la Precautions for Correct Use e Realtime autotuning may not function properly under the conditions described in the following table In such cases use manual tuning Conditions that interfere with the realtime autotuning Load inertia e If the load inertia is too small or too large compared with the rotor inertia less than 3 times more than 20 times or more than the applicable load inertia ratio e If the load inertia changes quickly in less than 10 s Load e If the machine rigidity is extreme
30. Ground to 100 O or less Y axis Y axis CW limit CCW limit Contact Contact 2960 08 2960 09 1 1 X axis X axis CW limit CCW limit Contact Contact 2960 06 2960 07 1 1 o o D lt O J D D lt c 3 D 3 2 O D D o D O o D ct o 5 0 24 VDC 1 CW and CCW limit input signals can also be input to an input unit For CJ2M the CW and CCW limit input signals function with the following signals CW A540 08 CCW A540 09 Pulse output 0 CW A541 08 CCW A541 09 Pulse output 1 Therefore in ladder programming use the actual input as CW and CCW limit input signals to output the following flag Example 2960 06 960 06 QA540 08 2 The XB and YB contacts are used to turn ON OFF the electromagnetic brake 3 The connection to MING input terminal is disabled suoieouioeds yun ejed OAIOS 9 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 103 3 Specifications I XW2B 80J7 12A Below are the specifications of the Servo Relay Unit for connecting the following OMRON controller model e FQM1 MMP22 e External Dimensions Signal selection switch F 160 E 04 5 Lie Servo Drive zs gA phase B selection switch 100 90 OCOD aL OB oof o Mies B OOD o OB oOB o Ed Oll OOD o B OOP 0 O0 ool o OD OOD o O0 oOB o OB OOP o OB oOB o OB OOD 0 OB oO o Ee oof o OB OOP 0 O
31. O gt o N N 8 suoneouioeds pue s epolN P F OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 57 3 Specifications Model Rated Allowable Allowable Rated maximum rotation Efficiency maximum thrust torque speed rotation inertia speed torque load 1 5 R88G Ed 130 6 380x10 T LAE Tx 542 7 3 EN HPG32A053KOBLI 1 11 R88G 182 97 7 293 6 340x10 1 126 4 488 7 8 HPG32A112K0SBLI 1 21 R88G 95 186 5 93 143 560 5 580x104 3 611 12 486 19 0 HPG50A213K0BLI 1 33 R88G 2700 93 91 850 09 470x104 4 135 14 300 19 0 HPGS50AS32KO0SBLI 1 5 R88G 400 64 4 197 8 380x10 4 889 3 542 HPG32A054KOBLI N 9 1 11 R88G 182 1447 435 2 g80x104 2 974 10 285 19 1 HPG50A115K0BO R88G HPG65A253K0SBO 4 1 5 R88G kW HPG50A055KOSBLI 1 11 R88G HPG50A115KO0SBLI 1 20 R88G HPG65A205KOSBLI 1 25 R88G HPG65A255KOSBLI 5 1 5 R88G kW HPG50A055KOSBLI 1 11 R88G HPG50A115KO0SBLI 1 20 R88G HPG65A205KOSBLI R88G 260 0 839 8 690x104 3 611 12 486 19 1 HPG50A213K0SBO n2 NO 1 25 R88G 555 7 93 120 1664 7 ogix 102 7 846 28 654 55 4 HPG65A255KO0SBLI 1 The value is the allowable continuous output torque of the Decelerator Do not exceed this value 2 The value is the maximum allowable rotation speed of the Decelerator Do not exceed the maximum motor shaft rotation speed o
32. ON 7ZGUd Jur enb4o ON ELQUd Dumes asuodsey 11 9Ud Jojeutuuoue EOGUd uonoejesg jur enbJo Gud OJJUOD JUSLIND JOJeulWOUaG JojeJeuny Z yw enbio BSJBABY Z LOUd d UOn 108 L LOUd jndjno asind uoneJeueBey es ng Jepoou3 Z Joy enbJo 60 Ud JOYA pc9Uud 19314 enbJo po rud uleg coud Jayi4 enbJo JoAJ8sqo eouequnisiq uonosjeg peedg Dunes uoisuedx3 uonouny 0 9ug Z JURJSUOD euil J93JJ 3xoeqpeoe peeds gQ Ud UREI CATAN Sele eres JUBJSUOD eull JeyI4 YOeqpee4 peeds eQLUd udad p UOION zLzud 19414 uonoejeq peeds puewwog 1043 udad UNON 60ZUd o uo2 peeds uonisod 1epoouj udeg Z u9ioN 90zUd yydaq u91oN 07Ud c OEY emau UPIM t YIION L Lud uonoejes Jeyl4 UPIM YSION 80cUd Oey eau UPIM Z U9ION G0ZUd c 1uejsuo eui jeJ6eyuJ UIPIM L U9 ON cOcUd c ule peeds y KouenbaijJ 0 ZU d juejsuo eut e69jU JOYA LLLUd c Aouanbal4 0ZUd ules peeds UIED OL LUd Z KouenbeJ4 yOZUd uomei esie 609Ud o4ju02 peeds J934 eL Lud pJeMIoJ pee J Aouanbes4 LO0zud uomeng peno gogud uie cl bud pseds uonoejes ey eAndepy 00ZUud enjeA 1esijO 09Ud pJewJoj paa UOISIBAUOD 9SJOA9M uonesueduJo JJ YOON fou enbiel c ules doo G0 Ud ules doo o0 rud OJJUOD uonisog Jeas 91u0J199 3 Y J93Il3 LccUd oney 909Ud J93I3 0ccud Dumes G09Ud c 93 61 c d Jog pueuJuuJo2 uonisod eut BUIYOHIMS 61 Lud T9 Bbc di siseJejs H 9
33. Pn607 Torque Command Value Offset Setting 100 to 100 Default Cycle the range setting power supply oet the offset torque to add to torque commands e The unit is a percentage 96 of the rated torque Pn608 Forward Direction Torque Offset Setting 100 to 100 Default Cycle the range setting power supply Set the value to be added to torque commands for operation in the forward direction The unit is a percentage 96 of the rated torque Pn609 Reverse Direction Torque Offset Setting 100 to 100 Default Cycle the range setting power supply oet the value to add to torque commands for operation in the reverse direction The unit is a percentage 96 of the rated torque 7 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 55 Parameter Details Pn610 Setting range Pn611 Setting range Pn613 Setting range Function Expansion Setting 0 to 63 Default Cycle the setting power supply e Enable or disable the extended function allocated to each bit Bit Set value Po bit O Instantaneous speed observer function Disabled Enabled bit 1 Disturbance observer function Disabled Enabled bit 2 Disturbance observer operation setting Always enabled Only when Gain 1 is selected bit 3 Inertia ratio switching function Disabled Enabled bit 4 Electric current response improvement Disabled Enabled function Set the decimal value that is converted from the bit values
34. Position Control Mode Adjustment Use the following procedure to perform the adjustment in position control for the OMNUC G5 series Servo Drive Pulse train Input Type Never adjust or set parameters to extreme values as it will make the operation unstable Disable realtime autotuning Pn002 0 N Failure to follow this guideline may result in injury Gradually change the value to adjust Are the positioning time and other performances satisfied Vs No Adjustment completed the gain while checking the motor operation Increase Speed Loop Gain Pn101 to the extent that hunting does not occur upon servo lock Decrease Speed Loop Integral Time Constant Pn102 to the extent that hunting does not occur upon servo lock No Decrease Speed Loop Gain Pn101 Does hunting or vibration occur when the motor rotates Vas Increase position loop gain to the extent that overshooting does not occur Increase Speed Loop Integral Time Constant Pn102 Write to the EEPROM in the Parameter Write mode Adjustment completed If vibration persists after repeated adjustments or the positioning is slow Increase Torque Command Filter Time Constant Pn104 Y Set the damping frequency in the Notch 1 Frequency Setting Pn201 Notch 2 Frequency Setting Pn204 Notch 3 Frequency Setting Pn207 or Notch 4 Frequency Setting Pn210 9 12 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User
35. terminal Cable AWG14 x 4C UL2463 Servomotor side connector Straight plug model N MS3106B20 4S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 69 3 Specifications Power Cables without Brake Global Non Flexible Cable R88A CAGDLIS e Cable types For 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW 1 000 r min Servomotors of 2 to 3 kW Model R88A CAGDO0O0SS R88A CAGDO0O05S R88A CAGD010S R88A CAGDO015S R88A CAGDO020S Outer diameter of 14 7 dia Connection configuration and external dimensions Servo Drive side R88D KPLI e Wiring Servo Drive side Ors Red Cx White T3 Blue OX M5 crimp terminal Green Yellow 70 Servomotor side B Phase V Cable AWG10 x 4C UL2463 Dj FG Servomotor side connector Straight plug model Weight Approx 1 3 kg Approx 2 1 kg Approx 4 0 kg Approx 6 0 kg Approx 8 0 kg Servomotor side R88M KEL N MS3106B22 22S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Power Cables without Brake Global Flexible Cable R88A CAGALISR e Cable types For 3 000 r min Servomotors of 50 to 750 W Model Length L puter diameter
36. 4 4 tu A m x lt D j D 5 o o c 5 5 e i 3 5 o o o 100 W 20W 19 so ma Me M4 20 22 6 6 35 rescvasFoec2ooo3 18 is so M4 ms M4 20 22 6 6 35 RB amp GVRSFISC000 1 15 i9 so ma ms M4 20 22 6 6 35 RB amp GVRSFeSCe00C 1 25 is so ma ms M4 20 22 6 6 35 RB amp GVRSFOSCA000 15 400W i9 so ma ms M4 20 22 6 6 35 RB amp GVRSFOSCACJ 18 is 30 ma me M4 20 22 6 6 35 RB amp GVRSFISCAO 1 15 i9 so ma me wa 20 22 6 6 35 RB amp GVRSFeSCAOC 1 25 o 22 e 5s RisGvmsrosc soc 15 750W pac aa ws wwe pm se s 7 neoviorrscr a o 30 8 7 4 R88GVRSFISD7SOC 175 pee 40 MS we M4 20 30 8 7 4 RBSGVRSFSDSOC 125 1 Indicates set bolt SUOISUDWIG J0 EeJ9 o929 rvr v c Outline drawing ae Key dimensions OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 55 2 Models and External Dimensions 2 4 5 External Regeneration Resistor Dimensions R88A RRO08050S RR0801003S Thermal switch output 0 75 mm I R88A RR22047S RR220478S1 Thermal switch output 0 75 mm 360 10 43 25 386 78 402 i OMNUC G5 series Pulse train Inp
37. 7 Parameter Details Pn512 Overload Detection Level Setting Setting 0 to 500 Default Cycle the range setting power supply e Set the overload detection level e The value is regarded as 115 if set to 0 e The value is regarded as 115 also if set to more than 115 e The unit is a percentage 96 of the rated torque Pn513 Overspeed Detection Level Setting Setting O to 20 000 r min Default Cycle the range setting power supply e Set the overspeed detection level e The overspeed detection level is 1 2 times the maximum rotation speed of the Servomotor if set to 0 e This parameter should normally be set to 0 The setting should be changed only when it is necessary to lower the overspeed detection level e The set value of this parameter is limited to 1 2 times the maximum rotation speed of the Servomotor e The detection margin of error for the set value is 36 r min for a 5 core incremental encoder Pn514 Overrun Limit Setting Position Setting O to 1 000 0 1 rotation Default Cycle the range setting power supply e Set the allowable operating range for the position command input range e f the set value is exceeded an Overrun Limit Error will occur Without position command input Servomotor operating range Alarm generation range Alarm generation range With position command input Position command input range Alarm generation range Alarm generation range Servomotor operating range
38. 7 17 System Block Diagram cccccccceseeeeeesseeeeeeeeeeeeeeeeeeeas 1 6 System Configuration ccccccccceeseeeesesseeeeeeeeeeeeeeeeeeeas 1 3 T Terminal Block Specifications 4 16 Terminal Block Wiring eese 4 19 Torque Command Filter Time Constant Pn104 7 12 Torque Command Filter Time Constant 2 Pn109 7 12 Torque Command Value Offset PN607 7 55 Torque Feed forward Amount PN112 7 13 Torque Feed forward Command Filter Pn113 7 13 TOGU SL rc ean cua neetind a R 6 31 Torque Limit Output TLIMT cccceeeeeeeeeeeeeeeeeeees 3 30 Torque Limit Selection Pn521 7 51 Torque Limit Switching TLSEL 3 26 Torque Limit Switching Setting 1 Pn523 7 52 Torque Limit Switching Setting 2 Pn524 7 52 Trial Operation xiu duci eoi ee ce casu ed ds ed 8 28 TOUDIESMO OWING sezo Tc tH MS 10 10 U UL and cll Standards cuneate ba p en eeu 1 10 Undervoltage Alarm Selection Pn508 7 45 USB Connector Specifications CN 3 34 V Vibration Detection Threshold Pn637 7 61 W Warning Latch Hold Time Selection Pn627 7 59 Warning Mask Setting Pn638
39. 7 57 P mccum T A 11 Parameter Setting Mode sseeeeeuss 8 19 Parameter Write Mode seeeeeseeeeeess 8 21 Periodic Maintenance ccccceeecceeceeseeeeeeeeeeeeeeees 10 21 Phase Z Output Open Collector Output 3 27 PIncartanmdelmielll uon pen dre kae a ee e ede ter 3 14 Position Command Filter Time Constant Pn222 7 24 Index 4 Position Command Pulse esses 3 15 Position Command Status Output P CMD 3 31 POSITION CORILFO roce i ou HEU En pet ev a EC cemutinedes 5 2 Position Control Mode Adjustment 9 12 Position Control Unit Relay Unit Cable ODSCIIIC AHOFS uiua tee retia ae eese tbi Queda don deuudeis 3 111 Position Feedback Output sss 3 27 Position Gain Switching Time Pn119 7 16 Position Lock Level Setting Pn316 7 30 Position Loop Gain Pn100 sssssss 7 10 Position Loop Gain 2 Pn105 ssssssse 7 12 Position Setting Unit Selection Pn520 7 50 Positioning Completion Condition Selection POI eissseeduenccetee teni aedeiuba tane aou itc iade or 7 37 Positioning Completion Output 1 INP1 3 30 Positioning Completion Output 2 INP2 3 30 Positioni
40. Brake Release Set the threshold speed for judging whether to 30 r min 30 to Speed Setting output the mechanical brake release signal 3 000 when the Servomotor is operating 440 Warning Output Select the type of warning to be output from 0 to 10 Warning Output 1 o OR output for al ypes of warnings 6 Encoder overheating warning 9 o9 EN P N U f D 3 D D Lr o 436 Selection 1 Vibration detection warning Service life detection warning Reserved Do not set Reserved Do not set 10 441 Warning Output Select the type of warning to be output from 0 to 10 Selection 2 Warning Output 2 For this parameter set the same value as for Warning Output Selection 1 Pn440 442 Positioning Set the second positioning completion range as 10 Command 0 to Completion the number of allowable pulses unit 262 144 Range 2 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 23 Appendices I Expansion Setting Parameters Pn m Default Setting C clethe Description power No setting range supply 500 Electronic Gear Set the electronic gear ratio 0 to 230 Ratio If Pn500 Pn501 or Pn502 0 the encoder Numerator 2 resolution is set in the numerator 501 Electronic Gear 0 to 230 Ratio Electronic Gear Ratio Numerator 2 Pn500 or bul Electronic Gear Ratio Numerator 3 Pn501 502 Electronic Gear Or 0 to 230 Ra
41. Error Counter Reset Outpu RUN Output General purpose Output 4 JI om Q CO ja c 3 r 3 o OJO ce c Solo c1S to od Positioning Completion Input 4 co C3 e o o Q 24 V Power Supply for Output El 10150 3000PE Sumitomo 3M S 24 V GND for Output H BKIR Brake Interlock o Input Common 8 3 pci BKIRCOM Output 2 Forward Direction Pulse Output CWLD Reverse Pulse 1 9 Forward Direction Pulse Output 3 GENE CNN a CWLD Input for line driver onl a Reverse Direction Pulse Output 19 CCWLD Forward Pulse 1 o Reverse Direction Pulse Output HB H CCWLD Input for line driver only 8 Encoder Phase A 2H ame app oe NEN Encoder Phase A Output S Encoder Phase A atm 2158 Encoder Phase A Output Encoder Phase B 23 1 C xi L49 L 8 Encoder Phase B Output S Encoder Phase B MEE Encoder Phase B Output D Encoder Phase Z 25 H Zn 4a B a NN Encoder Phase Z Output Encoder Phase Z Encoder Phase Z Output i s F2AVIN 24V Power Supply for Conto Error Counter Reset Output BH HX X 13 ECRST Error Counter Reset Input RUN Output LM EH 3 129 RN Operation Command Input General purpose Output I ES H 15261 DFSEL Damping Filter Switching Q Alarm Reset Output 12 EU RESET AlamReset ib Torque Limit Output mH ray TLSEL EUIS o Positioning Completion Input 38 Ne Positioning Completion o o I 38 INPCOM Output 1 Genera
42. HPG50A115KOBO HPG50A213KOSBLI HPG65A253KOSBLI for both with for both with R88M KEA4KOSOLI R88M KE5K030D R88M R88G R88G R88G R88G KE4K02001 HPG50A055KOSBLI HPG50A115KOSBLI HPG65A205KOSBLI HPG65A255KOSBLI h A m x e D 5 D D 2 2 o c 2 e 2 e z 3 2 o o 2 0 for both with R88M KE3KO0S3OLI for both with R88M KE3K0300 for both with R88M KE5KO020LI for both with R88M KE5KO020LI R88M R88G R88G R88G R88G KE5K02001 HPG50A055KOSBLI HPG50A115KOSBLI HPG65A205KOSBLI HPG65A255KOSBLI e 1 000 r min Servomotors 1 21 1 33 SAA OE E L2 1 20 for flange 65 1 25 for flange 65 R88M KE900100 R88G R88G R88G R88G HPG32A05900TBO HPG32A11900TBO HPG50A21900TBO HPGS0A33900TBO R88M KE2K0100 R88G R88G R88G R88G HPG50A212KOTBO for both with R88M KE5K0200 SJOJE1I9B 99N9qG pue 40 O0UJOAJ9S JO SUOIJEUIQWOD v c HPG65A255KOSBLI for both with R88M KE5KO2O0LI R88M KES3KO 10LI R88G R88G R88G R88G HPG50A055KOSBLI HPG50A115KOSBO HPG65A205K0SB HPG65A255KOSBLI for both with for both with for both with for both with R88M KE5KO020LI R88M KE5KO20LI R88M KE5KO020LI R88M KE5KO020LI HPGS32A052KOTBLI HPG50A112KOTBO OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 41 2 Models and External Dimensions 2 4 4 Decelerator Dimensions Backlash 3 Arcminutes max e For 3 000 r min Servom
43. OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Pn T Default Setting Y clethe Description i power No setting range supply 517 Error Counter Set the condition for clearing the Error Counter 3 0 to 4 Reset Input signal Disabled Clear the error counter with the level Shorted for 500 us or longer Clear the error counter with the level Shorted for 1 ms or longer Clear the error counter with the edge Change from open to shorted for 100 us or longer Clear the error counter with the edge Change from open to shorted 1 ms or longer Heset Condition Selection NO p N U f 3 D e D r o 518 Command Set whether to enable or disable the command 1 0 to 1 Pulse pulse prohibition input signal INH Prohibition Enabled Input Setting 1 Disabled 519 Command Pulse Prohibition Input Read Setting A Select the signal read cycle for the Command Oto4 Required Pulse Prohibition Input 0 166 ms 0 333 ms 1 ms 1 666 ms 0 166 ms Select the setting unit of Position Completion Oto1 Required Range 1 2 and Error Counter Overflow Level Command unit 1 Encoder unit Select the forward or reverse torque limit 1 0 to 6 selection method 520 Position Setting Unit Selection 521 Torque Limit Selection Reserved Do not set 1 Limit in both forward and reverse directions set in Pn013 Forwar
44. ON Operaton command Servo OFF Servo ON Servo OFF RUN OFF gt lt Approx 2 ms gt _ lt 1 to 5 ms Released i Engaged gt Approx 60 ms Motor power supply No power supply No power supply OFF a t1 4 4 Approx 4 ms 3 r Pn438 ON i Brake interlock output BKIR 9 Brake held Release request When Pn438 set value comes earlier OFF a Approx 30 r min Pn439 set value BKIR Motor rotation speed 3 Servo ON enabled Release gear eet Cheer cesar genactesen cose Mes ee Sea ree senate When Pn439 set request Brake held Approx 30 r min value comes earlier Pn439 set value 1 The servo does not turn ON until the motor rotation speed drops to the set value or lower in Pn439 2 The operation of the dynamic brake when the servo is OFF depends on the set value in Stop Selection with Servo OFF Pn506 3 The Brake Interlock Output BKIR signal is output when a release request command is received from servo control The BKIR signal is allocated to the general purpose output CN1 In the above example no release request is received from the network 4 t1 is the time set in the Brake Timing During Operation Pn438 or the time until the motor speed drops to the setting speed or lower in Brake Release Speed Setting Pn439 whichever is shorter Note Even when the Servo ON input is turned ON again while the motor is decelerating the syste
45. Q L o D lt e Oa lt o o D O ES o 5 a Applicable line receiver AM26LS31A or equivalent la Precautions for Correct Use The wiring length of shielded twisted pair cables must be 10 m or shorter SynoJi 1ndu ogju029 G L Position Command Pulse Photocoupler Input For line driver and photocoupler connections position command pulses of up to 500 kpps can be used CW 3 CW 4 CCW 5 CCW 6 Controller Servo Drive 2 2 KQO O O Applicable line receiver I I 2500 AM26LS314A or equivalent la Precautions for Correct Use The wiring length of shielded twisted pair cables must be 10 m or shorter OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 15 3 Specifications Open Collector Input e When an external 24 V power supply is used without current limiting resistor at 200 kpps or lower 24VCW 1 CW 4 24VCCW 2 COW 6 Controller Servo Drive e When an external power supply is used at 200 kpps or lower CW 3 CW 4 CCW 5 COW 6 Controller Servo Drive Select an appropriate Current Limit Resistor R for Vcc VCC R Vcc 1 5 10 mA R 220 24V 2 KQ 1 2 W 7 to 15 mA 12V 1 KQ 1 2 W 5V Q short i Precautions for Correct Use The wiring length must be 3 m or shorter for open collector input 3 16 OMNUC G5 series Pulse train Input Type AC Servomotors and Ser
46. e JJ o 9 lt c 3 9 2 a O 9 oO D o o D O 9 ct 5 a suoreoyioeds eiqe yun Aejay HUN 04u00 UONISOY 9 e 3 Specifications Position Control Unit Cables XW2Z L1J A19 Below are the specifications of the cable that connects a Position Control Unit Model CJ1W NC233 433 with a Servo Relay Unit Model XW2B 40J6 2B e Cable types Model Length L Outer diameter of sheath Weight XW2Z 050J A19 10 0 dia Approx 0 1 kg XW2Z 100J A19 Approx 0 2 kg Connection configuration and external dimensions Position Control Unit side Servo Relay Unit side CJ1W NC233 CJ1W NC433 D iis e Wiring Position Control Unit side Servo Relay Unit side AWG20 Black AWG20 Red Ii SS 3 118 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Position Control Unit Cables XW2Z L1J A33 Below are the specifications of the cable that connects a Programmable Controller Model CJ2M CPU31 CPU32 CPU33 CPU34 CPU35 CJU2M CPU1 1 CPU12 CPU13 CPU14 CPU15 with a Servo Relay Unit Model XW2B 20J6 8A XW2B 40J6 9A e Cable types Model Length L Outer diameter of sheath Weight XW2Z 050J A33 10 0 dia Approx 0 1 kg XW2Z 100J A33 Approx 0 2 kg Connection configuration and external dimensions o ie p D lt e JJ o 9 c 3 Q 2 a O 9 oO D o o D
47. e Adjust the gain e Review the load conditions and replace the Servomotor and the Servo Drive with proper ones OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 Troubleshooting and Maintenance 10 5 Periodic Maintenance o e y O a o gm 5 pui D 5 D 5 O D A N Caution After replacing the Servo Drive transfer to the new Servo Drive all data needed to resume operation before restarting operation Equipment damage may result G Never repair the Servo Drive by disassembling it Electric shock or injury may result Servomotors and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly some of the electrical and mechanical components require maintenance depending on application conditions Periodic inspection and replacement are necessary to ensure proper long term operation of Servomotors and Servo Drives Quoted from The Recommendation for Periodic Maintenance of a General purpose Inverter published by JEMA Kouejoedx4 9jr 10 10u0AJ8S G O The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotors and Servo Drives Recommended maintenance times are given below for Servomotors and Servo Drives Use these for reference in periodic maintenance 10 5 1 Servomotor Life Expectancy e The lifetimes for the different mo
48. 24VIN NM o RESET BKIRCOM o X axis External Interrupt Input X axis Origin Proximity Input A2 X axis CCW Limit Input A2 Xaxi gt gt gt GO gt CO axis CW Limit Input A22 36 ALMCOM X axis Immediate Stop Input A20 i ALM Coo T avel e kR EE ES Hopes Shelj FG xp Brake Cable L2 E L 24 VDC Precautions for Correct Use e The above example shows an example of connecting a Servo Drive with 3 phase 200 VAC main circuit power supply inputs Use a power supply and power cables that meet the power supply specifications of the Servo Drive e Note that incorrect connection of signal lines may cause damage to the Servo Drive and connected units e Leave unused signal wires disconnected and open e Use mode 2 for origin search e Recommended surge absorbing diode RU2 Sanken Electric Co Ltd or equivalent e Connect signal lines so that the servo can be turned ON and OFF with the RUN signal A 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Example 4 Connection with SYSMAC CS1W NC113 213 413 C200HW NC113 213 413 z O S Main Circuit Power Supply T 3 NFB OFF ON MC1MC2 gt O Main Circuit Q 6 0 S um oO Contactor 2 Do PME Surge Suppressor m 3 phase 200 to 240 VAC 50 60 Hz S Q 6 9 MC4 MC2 X1 2 T E S L F CS1W NC113 213 413 Ground t C200HW NC113 213 413 recs palus
49. 294 wh n s 12 Ha 165 le l amp For 1 000 r min Servomotors 900 W to 3 kW Sita det 1 men m 808 W 14 FH amp G HPOEXPADSSOOTBL 1 ted Oi 145 1155 114 wwResG wPG3eATPeoOTBC 1 nap 3 ECE ps pe ws his ve E Ee Fu amp BG HPOSOA 190 TBLI 1 145 170 E130 180 145 185 i3 uxi RasG HPGSOAXASCOTECD 1 eps mro crise 186 145 ias 3 8 ew vs RaBG MPGxeAOSSKDTBE 1 es vn ue ene Ta oe ins 114 oa 38 111 AS8G HPGS0a112K0TBO 170 1 21 R88G HPOSOAZ12kKDTBU l 1 T 1a 155 170 om a0 206 T8 383 cel iol n runnu EE BEEBE Ree nhaaniaaA iat 1 25 RBBG HPGBAAZSSKOSECI a 1j Cu areata 1E 10 in TST TZ EBs POY PSY ST Rees 2 Page 2 53 For 1 000 r min Servomotors 900 W to 3 kW Current Contents DO us w r u e s wo z RBBG HPGSPAOSROUTEC 1 M40 amp vrj Waz M amp 7o 12 B 5 MIO 20 HBEG HPGXAATIBOUTBEI 111 sess fe ums ue ww 5 5s uso 2o RasG HPGSoizreooTRE var Ier ns wp De e ws 2o rr Oe LH MS JKCRERRCAK RELATOS RGG HPGSOATIZKOTBLI LEILA LETTERE AD ri 3 tss T Mio 20 ERESG HPGSOAZTKOTEEI iat Soi Mizxes MB tia Z2 14 3 Mi6 45 RBBG HPGESA2SSKOSBC ves OMRON 2012 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 reco
50. 3 000 r min Servomotors 1 000 r min Item Servomotors 3 000 r min Servomotors Servomotors S10750W 1105KW 900W103KW Operating ambient 0 to 40 C temperature and humidity 2096 to 8596 with no condensation Storage ambient temperature 20 to 65 C 20 to 85 with no condensation and humidity Maximum guaranteed temperature 80 C for 72 hours max normal humidity Operating and storage No corrosive gases atmosphere 1 Vibration resistance Acceleration of 49 m s 24 5 m s max in X Y and Z directions when the motor is stopped Impact resistance Acceleration of 98 m s max 3 times each in X Y and Z directions Insulation resistance Between power terminal and FG terminal 20 MO min at 500 VDC Dielectric strength 1 500 VAC between power terminal and FG terminal for 1 min voltage 200 V 1 000 VAC between brake terminal and FG terminal for 1 min Insulation class Class B Class F Protective structure IP65 except for through shaft parts and motor and encoder connector pins e International standard 2 000 r min 3 000 r min Servomotors 1 000 r min Item Servomotors 3 000 r min Servomotors Servomotors 50 to 750 W 1t05kW 900Wto3kW EC Directives Low Voltage Directive EN60034 1 5 UL standards UL 1004 1 UL1004 1 CSA standards CSA22 2 No 100 1 The amplitude may be increased by mechanical resonance In the long term do not exceed 8096 of the specified value Note 1 Do not use the Servomotor with cabl
51. 3 23 Damping Frequency 1 Pn214 7 22 Damping Frequency 2 Pn216 7 22 Damping Frequency 3 Pn218 7 23 Damping Frequency 4 Pn220 7 23 Decelerator Dimensions eeeeeeeeeeeees 2 42 Decelerator for 1 000 r min Servomotors Backlash 3 Arcminutes max sssuuus 3 59 Decelerator for 2 000 r min Servomotors Backlash 3 Arcminutes max 3 57 Decelerator for 3 000 r min Servomotors Backlash 15 Arcminutes max 2 54 3 60 Decelerator for 3 000 r min Servomotors Backlash 3 Arcminutes max 2 42 3 54 Decelerator Installation Conditions 4 6 Decelerator model eee eve erac e een cuan 2 12 Decelerator Specifications sssessssssss 3 54 Default Display Pnb298 2 oiii etii uee tees ei epe pas 7 53 Disturbance Observer Filter Setting Pn624 7 58 Disturbance Torque Compensation Gain Pn623 7 58 Drive Prohibition Input Selection Pn504 7 43 E OBITU TT T E 1 10 Electric Current Response Setting Pn611 7 56 Electronic Gear Function eeeeeeeeeeeeee 6 11 Electronic Gear Integer Setting Pn008 7 7 OMNUC G5 ser
52. 5 13 5 3 3 Related FUNCIONS RR DNE NR m m 5 14 Section 6 Applied Functions 01 Proper e 6 3 6 1 1 OUI OF MIS FUNCION ados itc odas atre buta diee a eid dete eese ge 6 3 6 1 2 Parameters Requiring Settings cccccscssseeeecceecccesseseceeseccssnseeeeescccaseseeeesscccsseeseessecseeeeeees 6 3 6 2 Adaptive FINE eC P M 6 6 6 2 1 Outline o ies FUNGUO nsaan E a ER 6 6 6 2 2 Parameters Requiring Settings ccccccccccccssssececeececeessececeeseeeeueeeeeeeeeuaaaeeeeeeeesaeaaeeeeseeseaaaseeeeees 6 7 O 3 NotCh FINCK S ET M M 6 8 6 3 1 Outline OF TNE FUNC HOM uso petra cedet a ve mete eatem este sod Goa Due peo te 6 8 6 3 2 Parameters Requiring Settings 52 27 ede eee ee elec 6 9 6 4 Electronic Gear FURCIODG iic ce qo ieccc E a a EE esee Es Ue a EE os Duo deceased 6 11 6 4 1 Oulmes UGH OMCU ON ET UU 6 11 6 4 2 Parameters Reguiring S6lllfiGS utor o presta taco Per eee crassi din beste sida Muss qase Et 6 11 6 4 3 Ciberauonm EXalple rea id aera n detusnenncrete ma sue hea he oa tiU oua Tes ue eemenu et nano tO Te Lu sU i E 6 13 6 5 Encoder Dividing FUHCHOLD 25 aoaaa aaa aaa aa M IUS S ME TCU DEN I dE NV aaa 6 15 6 5 1 g lme Me Funciar TL m 6 15 6 5 2 Parameters Requiring Settings esie depen occa a rera dui c ese edocet vade ado ese db oed auod Pea 6 15 6 6 Brake INICHOCK Qe m 6 18 6 6 1 Outline OF h
53. 6 18 6 6 3 Precautions for Correct Use of Holding Brake 00005 6 18 6 6 Opero 14203 Dot er a Sopa 9 euet VO ou REO EDAD doch E beta ete 6 19 6 7 Gain Switching Function 000 cee es 6 23 6 7 1 Outline OF the FUNCION u coo eats tte ene onte do va ont uc dedi Fon okt etus 6 23 6 7 2 Parameters Requiring Settings llle 6 24 6 9 Torge LIMIT c nrRs 6 31 6 8 1 Ouiline oF he FUNCHON au c eon aed d ehxed M dcbet thet pd po E Law 6 31 6 9 Sequence I O Signals o DERE ED RE das eee Due 6 33 6 9 1 Outline of the FUNCION s 36 ad ear dot e mc a oe Da e m aer eo exer 6 33 6 9 2 JINDULSIGNals 4 iste ses eclectic lana s erased peter ture oreet ost bate 6 33 6 9 3 OUIDURSIONAlS itte eter moe aee pred Edd nado Ra bud sx Ras 6 36 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 1 6 Applied Functions 6 10 Forward and Reverse Drive Prohibition Functions 6 38 6 10 1 Outline of the Function llli 6 38 6 10 2 Parameters Requiring Settings llle 6 38 6 11 Disturbance Observer Function lleerlse 6 41 6 11 1 Outline of the Function llllllllleleel ee 6 41 6 11 2 Parameters Requiring Settings llle 6 42 6 11 3 Operating Procedure eeraa e a aaa e 6 42 6 12 Gain 3 Switching Function 00 00 ee 6 43 612 4 Outline of the FUNCION 35 er bition nae ee ORC SC Baw eee
54. 7 48 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn515 Control Input Signal Read Setting Setting 0 to 3 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 0 166 ms 1 0 333 ms 2 1 ms 3 1 666 ms e Select the signal read cycle for control signals Pn516 Alarm Reset Condition Setting Setting 0 to 1 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 120 ms 1 Follow the setting of Control Input Signal Read Setting Pn515 e Select the time during which the RESET signal must last to be recognized as an Alarm Reset Input signal Pn517 Error Counter Reset Condition Selection Position Setting 0 to 4 Default Cycle the range setting power supply Pk m x pg D 5 2 D 2 UU 9 D j D a D T Explanation of Set Values r Set value Description 0 Disabled 1 Clear the error counter at level when the signal is shorted for 500 us or longer 2 Clear the error counter at level when the signal is shorted for 1 ms or longer 3 Clear the error counter at edge when the signal changes from open to shorted for 100 us or longer 4 Clear the error counter at edge when the signal changes from open to shorted for 1 ms or longer e he minimum duration of the RESET input signal when the parameter is set to 1 or 2 is as follows Error Counter Reset Input signal
55. 8 1 Servo Ready Completed Output READY Pin 35 Servo Ready Completed Output READY Pin 34 Servo Ready Completed Output Common READYCOM This is the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 e Function This output signal indicates the Servo Drive is ready to be energized This signal turns ON when the control main power supply is ON and the Servo Drive is not in an alarm state i Alarm Output ALM Pin 37 Alarm Output ALM Pin 36 Alarm Output Common ALMCOM The alarm output terminals are fixed to pins 36 and 37 e Function This output is turns OFF when the Servo Drive detects an error It is OFF when the power supply is turned ON but it turns ON when the Servo Drives initial processing is completed OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 29 3 Specifications Positioning Completion Output 1 INP1 and Positioning Completion Output 2 INP2 Pin 39 Positioning Completion Output 1 INP1 Pin 38 Positioning Completion Output 1 Common INP1COM No allocation Positioning Completion Output 2 INP2 No allocation Positioning Completion Output 2 Common INP2COM This is the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 e Fun
56. 94 1684 9 ogix199 7 846 28 654 55 4 HPG65A255K0SBO 1 The value is the allowable continuous output torque of the Decelerator Do not exceed this value 1 11 R88G 197 5 493 2 g40x10 2 974 10 285 20 1 HPG50A112KOTBO B 1 21 R88G 47 260 0 95 95 850 0 1650x103 3 611 12 486 20 1 HPG50A212K0TBO zi 1 25 R88G 448 9 EN To 1121 0 ogix102 7 846 28 654 554 v HPG65A255K0SBO CoD 22 0 8 2 o o Note 1 The Decelerator inertia is the Servomotor shaft conversion value 2 he protective structure rating of the Servomotor with the Decelerator is IP44 3 The Allowable radial load column shows the values obtained at the center of the shaft T 2 4 The standard models have a straight shaft A model with a key and tap is indicated with J at the end of the model number the suffix shown in the box OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 59 3 Specifications i Backlash 15 Arcminutes max e For 3 000 r min Servomotors Model s 1 15 R88G VRSF15C200CJ ETE Re8G VRSF25C200CJ Rated Allowable Allowable Rated ee maximum rotation Efficiency maximum Weight torque rotation inertia speed torque speed kg E ein wm vin wm ws ww 0 52 1 000 1 56 10 6 196 0 55 4 00 x 10 120 11 2 70 200 33 4 10 1 323 661 2 10 2 88 x 10 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications
57. Control Mode Selection TVSEL Pnoon set value WhenOFF whenon 3 Position control Speed control Note Be careful when switching the control mode The operation of the Servomotor may change suddenly depending on the control mode setting OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 5 13 5 Basic Control Mode I Operation Example e When Switching between Position Control and Speed Control Pn001 z 3 ON 10 ms or more 71 Control Mode Switching Input TVSEL OFF r min Internally Set Speed Control r min Pulse Command Positioning Completion Signal INP Motor Rotation Speed Detection Output TGON r min Motor Operation r min e There is a delay of 10 ms or less in reading the input signal e When switching the control mode from speed control to position control turn OFF the Control Mode Switching Input TVSEL and wait at least 10 ms after the Positioning Completion Signal INP turns ON and then input the pulse command Pulses input before INP turns ON will be ignored e The shaded areas for the Positioning Completion Signal INP in the time chart show that the signal is turned ON as the motor rotation speed detection output TGON The meaning of the signal varies with the control mode 5 3 3 Related Functions For related functions refer to the description of each control mode 5 14 OMNUC G5 series Pulse train Input Type
58. Example Instantaneous speed observer function Enabled Disturbance observer function Enabled Disturbance observer operation setting Always enabled Inertia ratio switching function Disabled Electric current response improvement function Enabled With the above seitings the value in each bit is expressed as 10011 which is 19 in decimal Therefore set the parameter to 19 Electric Current Response Setting All 50 to 100 A Default 100 Cycle the setting power supply e Make fine adjustment to electric current response The default setting is 100 Inertia Ratio 2 O to 10 000 Default Cycle the setting power supply e Set the second load inertia as a percentage of the motor rotor inertia OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn614 Alarm Detection Allowable Time Setting Setting O to 1 000 Default Cycle the range setting power supply e Set the time required for the Brake Interlock Output BKIR CN1 pin 10 to turn OFF after the Operation Command RUN CN1 pin 29 is detected to be OFF when servo OFF status is entered while the Servomotor is operating When the Operation Command RUN turns OFF while the Servomotor is operating the motor decelerates to reduce rotation speed and the Brake Interlock Output BKIR turns ON after the set time elapsed Operation Command RUN Brake Interlock Output BKIR Released Held HIM No power Motor p
59. In particular in systems that use a Decelerator the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures Check whether overloading may occur when starting at low temperatures Also check to see whether abnormal motor overheating or errors occur at high temperatures An increase in load friction torque seemingly increases load inertia Therefore even if the Servo Drive gains are adjusted at a normal temperature the Servomotor may not operate properly at low temperatures Check to see whether optimal operation can be obtained even at low temperatures OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications 3 3 3 Encoder Specifications i Incremental Encoder Specifications Item Specifications Encoder system Optical encoder 20 bits Number of output Phases A and B 262 144 pulses rotation pulses Phase Z 1 pulse rotation Power supply voltage 5 VDC 5 ha C2 o D lt fo 3 eh o o D o o fo et O gt D Power supply current 180 mA max Output signal S S Output interface RS485 compliant suoeaoads 13p09u4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 53 3 Specifications 3 4 Decelerator Specifications The following tables list the Decelerator models for OMNUC G5 series Servomotors Select an appropriate model based on the Servomo
60. Monitor for the Number of Encoder Communications Errors Reserved Position Error encoder units Reserved Reserved P N Voltage Software Version Drive Serial Number Motor Serial Number Accumulative Operation Time Automatic Motor Recognition Function Drive Temperature and Encoder Temperature Reserved Press A to move in the direction of the arrow And press to move in the opposite direction e The display shows the motor rotation speed when the power supply is turned ON for the first time after purchase To change the display that appears when the power supply is turned ON change the value set in Default Display Pn528 For details refer to Pn528 Default Display on page 7 53 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual e I o 2 D o 3 amp spol JOHUO N c v 8 8 Operation Position Command Error Position Command Error command units Lower L Higher H Press Q to switch Lower L and Higher H Motor Rotation Speed e This indicates the motor rotation speed unit r min e The minus sign means that the Servomotor is operates in the reverse rotation Position Command Speed e his indicates the position command speed unit r min Position Control Command e his indicates the speed control command unit r min Torque Command e This indicates the torque command value 96 of the Servo Drive e 100
61. Note After an alarm is reset the system enters the servo OFF state motor not energized To turn ON the servo after resetting the alarm send the servo ON command again according to the above timing 6 22 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 Gain Switching Function 6 7 1 Outline of the Function e The gain switching function switches the position and speed loop gain e Select enable or disable in Gain Switching Input Operating Mode Selection Pn1 14 Set the switching condition using the gain switching setting e f the load inertia changes or you want to change the responsiveness depending on whether the motor is stopping or operating you can perform optimal control by using gain switching e The gain switching function is used when realtime autotuning does not work effectively such as e When the load inertia fluctuates at 200 ms or less e When the motor rotation speed does not exceed 500 r min or the load torque does not exceed 50 of the rated torque e When an external force is constantly applied as with a vertical axis Note While Gain 2 is selected realtime autotuning does not operate normally To use the gain switching function set Realtime Autotuning Mode Selection to disabled Pn002 0 o l C D 5 o z pg O 5 e Tl c 5 o 5 uognoun y JO UIMNO 1L 7 9 OMNUC G5 series Pulse train Inp
62. Pn610 3 Pn611 Electric Current Response Setting 100 100 100 Pn613 Inertia Ratio 2 ENNEGENEFEEBENEM 0 Pn623 Disturbance Torque Compensation Gain Lg Jg 395 38 re fol oo 0 Pn624 Disturbance Observer Filter Setting ENNNREHSEBESENEJ 0 Aypibiy euigoeyN Dunes z z 6 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 9 9 Adjustment Functions Autotuning Machine Rigidity Setting Pn003 m 35 26 7 25 5 8 Pn004 Inertia Ratio 1 Estimated load inertia ratio Pn100 Position Loop Gain 9 000 Pni01 Speed Loop Gain 5 000 Pni02 Speed Loop Integral Time Constant 20 20 Pni03 Speed Feedback Filter Time Constant EA 0 0 0 0 0 0 EJEDE RAEE 2 500 10 000 0 ES Pn105 Position Loop Gain 2 0 9 400 10 500 Pni06 Speed Loop Gain 2 2 500 2 800 3 100 3 400 3 700 4 000 4 500 5 000 Pn107 Speed Loop Integral Time Constant 2 10 000 10 000 10 000 10 000 10 000 10 000 10 000 10 000 Pni08 Speed Feedback Filter Time Constant 2 0 0 Oo Of Of oO oO 0 7 7 5 Pn109 Torque Command Filter Time Constant 2 5 Pn110 Speed Feed forward Amount 300 Pn111 Speed Feed forward Command Filter 50 50 pnit2 Torque FeediowardAmount 0 0 0 0 9 90 9 Parameter No Pni04 Torque Command Filter Time Constant Pni13 Torque Feed forward Command Filter 0 0 o o 0 O oO 0 Pni14 Gain Switching Input Operating Mode 1 1 1 1 1 1 1 1 S
63. R88A CAGA015SR s xn e C amp o D M 2 a U 0 o 2 fo TM v w to lt o D z o Q oO D o D oO 200 V R88A CAGBO03SR R88A CAGBOOSBR For 3 000 r min Servomotors of 1 to 2 kW R88A CAGBOOBSR R88A CAGBOOSBR For 2 000 r min Servomotors of 1 to 2 kW R88A CAGBO10BR For 1 000 r min Servomotors of 900 W R88A CAGBO15BR R88A CAGBO20BR For 3 000 r min Servomotors of 3 to 5 kW R88A CAGD003BR For 2 000 r min Servomotors of 3 to 5 kW R88A CAGDOO5BR Om 15m R88A CAGAO155R R88A CAGA020SR For 1 000 r min Servomotors of 2 to 3 KW R88A CAGDO10SR R88A CAGDO10BR R88A CAGD015SR R88A CAGDO015BR R88A CAGDO20SR R88A CAGDO20BR Note Different connectors are used for the motor power and the brake on 200 V 3 000 r min Servomotors of 50 to 750 W When using a Servomotor with a brake two cables are required a Power Cable without Brake and a Brake Cable i Brake Cables Global Flexible Cable Specifications Model 200 V R88A CAGA003BR For 3 000 r min Servomotors of 50 to 750 W R88A CAGA005BR R88A CAGA010BR R88A CAGA015BR R88A CAGA020BR OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 17 2 Models and External Dimensions i Analog Monitor Cable Specifications Model Analog Monitor Cable R88A CMK001S fi Connectors Specifications Model Motor Connector for Encoder Cable 200 V R88A CNGO02R For 3 000 r min of 50 to 750 W Control I O Connector CN1 R88
64. T 33 120 Caran 105 45 5 Tid B6 96 725 35 akw 15 RB amp G HPGS2AOSSKOBC 1 ior ias 120 Cao 35 ras i5 Tid Be 96 725 3S TiT RSBC HPGS2ATIZKOSBC 1 107 199 120 mo Tas we vis a we 96 125 95 3KW 1 5 RBSC HPGGZAOSAKOBE 1 129 153 120 mao 35 5 5 Tid ea 96 125 35 171 RBEG HPGSOAISKOBC 1 i9 166 170 mao 10 15 165 162 122 10 L UT RGSG HPGEORZIGKOSBCI 1 V5 5 VES RE amp G HPGESAZSGKOSBE 1 ast TT 1 1 us 18 m1 R88G HPGSOATISKOSBO 1 186 120 RB amp G bHPGESAZOSKOSBE 1 5i 222 230 Coan 250 200 22 2 168 165 12 oT SR Note 1 The standard shaft type is a straight shaft 2 Amodel with a key and tap is indicated with J at the end of the model number the suffix shown in the box Example R88G HPG32A053KOBu 3 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor 4 For Servomotors with a key remove the key before use e Outline drawing 1 1C 1 QK 1 The tolerance is h8 for R8B88G HPG500 or R88G HPG650 lt _ gt b ind ZI M depth L 2 50 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions Dimensions mm esr mw Mode o RW M ria ao a2 n vexe we 70 12 9 s Mio 20 RE amp G HWPGG2AOSSKOBLI T1 15 is 40 82 1 Mexie me 7
65. The precautions explained in this section describe important information regarding safety and must be followed without fail The displays of precautions in this User s Manual and their meanings are explained below Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in a u i i O n minor or moderate injury or property damage Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation Accordingly be sure to observe all safety precautions Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product l Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance EN Additional Information This information is provided to increase understanding or make operation easier Explanation of Symbols A This symbol indicates danger and caution The specific instruction is indicated using an illustration or text inside or near A The symbol shown to the left indicates beware of electric shock Q This symbol indicates a prohibited item an item you must not do The specific instruction is indicated using an illustration or text inside or near Q The symbol shown to the left indicates disas
66. e The setting for the speed loop gain must be increased to increase the position loop gain and improve the responsiveness of the entire servo system Setting it too high however may result in vibration e The setting unit for Pn101 is Hz when Inertia Ratio 1 Pn004 is set correctly Response for Speed Loop Gain Changes If speed loop gain is high overshooting occurs Motor speed z If the gain is high vibration occurs Pn102 Speed Loop Integral Time Constant Setting 1 to 10 000 0 1 ms Default 9101 Cycle the range setting power supply 1 The default setting is 310 for a Servo Drive with 200 V and 1 kW or more e Set the speed loop integral time constant e The smaller the set value the faster the error approaches 0 when stopping When set to 9 999 the effect of integration will be held However it will be lost when set to 10 000 SJ9 ouleJed UIE Z Z 7 Response for Speed Loop Integral Time Constant If speed loop integral time constant is low Motor speed ra overshooting occurs If speed loop integral time constant is high Pn103 Speed Feedback Filter Time Constant Setting 0 to 5 Default Cycle the range setting power supply e Set the time constant for the low pass filter LPF after speed detection in six levels 0 to 5 e Increasing the set value increases the time constant and decreases the noise generated by the oervomotor Responsiveness however also decreases e Normally use the d
67. for both with R88M KE1K5300 R88G R88G HPG32A211K5BO HPG50A332KOBLI HPG50A451K5BLI R88G R88G HPG32A052KOBLI HPG32A112KOBLI for both with for both with for both with R88M KE2KO030LI R88M KE2K030D R88G R88G R88G R88G HPG32A052KOBO HPG32A112KOBO HPG50A212KOBL1 HPG50A332KOBLI R88G R88G R88G HPG32A053KOBLI HPG50A113KOBL1 HPG50A213KOBLI i a R88M KE2K03001 HPG32A054KOBO HPG50A115KOBLI for both with R88M KE5K0300 R88G R88G HPG50A055KOBLI HPG50A115KOBLI OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions e 2 000 r min Servomotors Servomotor 1 21 1 33 models Lae 1 20 for flange 65 1 25 for flange 65 ine R88M R88G R88G R88G R88G KE1KO020LI HPGS32A053KOBLI for both with R88M KESKOSOLI HPG32A112KOSBLI HPG32A211KOSBO HPG50A332KOSBO HPG50A451KOSBLI for both with R88M KE2KO020LI for both with R88M KE2KO020LI H88M R88G R88G R88G R88G KE1K520LI HPG32A053KOBLI HPG32A112KOSBO HPG50A213KOBO HPG50ASS2KOSBLI for both with for both with for both with for both with R88M KESKOSOLI R88M KE2K0200 R88M KE3K0300 R88M KE2KO020LI R88M R88G R88G R88G KE2K020LI HPG382A053KOBO HPG32A112KOSBO HPG50A213KOBO HPG50A332KOSBO for both with for both with R88M KE3K030D R88M KE3K030D R88M R88G H88G R88G R88G KESKO20LI HPG82A054KOBO
68. have B2 User side OUTM1 2 20 0 and B3 shorted When the amount of regeneration is large remove the connection between B2 and B3 and connect a Regeneration Resistor between B1 and B2 COM control Control cables OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 11 gt N 5 e se duiex43 uonoeuuo 1ueuidinb43 ejeuduag L Z v 4 System Design I R88D KP20H RST 3 phase 200 to 230 VAC 50 60 Hz 4 2 3 Noise filter 1 E NF Main circuit Main circuit m power supply contactor 1 OFF ON X a Ground to 100 Q or less BE LE Surge suppressor 1 Servo error display OMNUC G5 series OMNUC G5 series Pulse train Input Type Pulse train Input Type AC Servo Drive AC Servomotor Power cables EB L2C IMG Reactor LL B Ground to 100 or less CN2 TEE Encoder cables Xe 4 O Resistor B A EX C O 1 Recommended products are listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brake because X 03IALM 24 VDC 36 ALMCOM its rated inductive load is 2 A 24 VDC pu VDC 3 There is no polarity on the brakes BKIR 11 4 Models with a built in Regeneration 2 Resistor KP20H have B2 and B3 BKIRCOM 10 shorted When the amount of regeneration is large remove t
69. max percentage of rated speed from 0 to 50 C temperature characteristic 1 The heat value is given for rated operation Torque control 2 repeatability 3 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual i Protective Functions Error detected Control Power Supply Undervoltage Overvoltage Main Power Supply Undervoltage Overcurrent Servo Drive Overheat Overload Regeneration Overload Encoder Communications Error Encoder Communications Data Error Error Counter Overflow Overspeed Electronic Gear Setting Error Error Counter Overflow Interface I O Setting Error Overrun Limit Error Parameter Error Parameters Destruction Drive Prohibition Input Error Encoder Phase Z Error Encoder CS Signal Error Motor Non conformity OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Description The DC voltage in the control power supply dropped below the specified value The DC voltage in the main circuit power supply exceeded the specified value The DC voltage in the main circuit power supply dropped below the specified value Overcurrent flowed through the IGBT The Servomotor power cable is ground faulted or short circuited The temperature of the Servo Drive radiator exceeded the specified value Operation was performed with a significantly overrated torque for a few seconds to several tens of seconds The r
70. ru e n the output torque graph acceleration in the forward direction is shown as positive and acceleration in the reverse direction is shown as negative e The regenerative energy values in each region can be derived from the following equations ABjeuz eAneJ1eueDeyu eui Bune no eo p p e 1 20 yN l Egi 2 60 Ni To t J Ep 2 EIL Nae To2 te J N1 N2 Rotation speed at start of deceleration r min Tp1 Tb2 Deceleration torque Nem t1 t2 Deceleration time Note Due to the loss of motor winding resistance and PWM the actual regenerative energy will be approximately 90 of the values derived from these equations e For Servo Drive models with internal capacitors used for absorbing regenerative energy i e Servo Drive models of 400 W or less the values Eg and Ego unit J must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section e For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative energy i e Servo Drive models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section The average regeneration power Pr is the regeneration power produced in 1 cycle of operation W Pr Egit Eg2 TIW
71. 1 3 Decelerator Installation Conditions i Installing the Decelerator e Installing the R88G HPGLILILI Backlash 3 Arcminutes max Follow the instructions bellow to install the Decelerator and the Servomotor 1 2 Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap Apply the sealant on the side which the Servomotor is installed Recommended sealant Loctite 515 Gently insert the Servomotor into the decelerator Put up the decelerator vertically and slide the Servomotor into the input shaft joint while using the motor shaft as guide not to fall over as shown in the figures on the next page When the decelerator cannot be put up vertically tighten each bolt evenly little by little to ensure that the oervomotor is not inserted at a tilt Fix the Servomotor and the flange of the decelerator with bolts Bolt tightening torque for aluminum Allen head bolt size Tightening torque N m Tighten the bolts of the input joint Bolt tightening torque for duralumin Allen head bolt size Tightening torque N m Note Tighten the bolts to the torque indicated on the above table The Servomotor may slip or other problems may occur if the specified torque level is not satisfied The R88G HPG11AU uses two set screws for the connecting section Allen head bolt size M3 Tightening torque N m 0 69 Mount the supplied rubber cap to complete the installation For the R88G HPG11AL
72. 1 ms or longer The counter may not be reset if the signal is shorter than this duration i Control Mode Switching TVSEL Pin 32 Control Mode Switching TVSEL This is the default allocation The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 e Function When Control Mode Selection Pn001 is set to 3 this signal enables the control mode to be switched as follows Pn001 set value OFF first control mode ON second control mode 3 Position control Speed control Internally set speed control Gain Switching GSEL Pin 27 Gain Switching GSEL This is the default allocation The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 e Function This signal is enabled when Gain Switching Mode Pn115 for position control and Pn120 for speed control is set to 2 When the signal is OFF Gain 1 is enabled When the signal is ON Gain 2 is enabled 3 22 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Damping Filter Switching 1 DFSEL1 and Damping Filter Switching 2 DFSEL2 Pin 26 Damping Filter Switching 1 DFSEL1 No allocation Damping Filter Switching 2 DFSEL2 This is the default allocation The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed us
73. 156 170 Creo 100 200 es 165 122 8 12 55 20 RBSC HPGSSAZOSKOSBEI 1 281 222 200 Creo 2o 200 a0 zu ve ws 12 57 zS ReSG HPGGSAPSSKOSBC 1 251 22 20 Creo 20 200 220 214 eo 65 12 57 Note 1 The standard shaft type is a straight shaft 2 Amodel with a key and tap is indicated with J at the end of the model number the suffix shown in the box Example R88G HPG32A05900T Bu 3 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor 4 For Servomotors with a key remove the key before use ee ee ee ee i SS ee Outline drawing 1 Set bolt AT 4 Z2 H1c2 Key tap dimensions 1 The tolerance is h8 for R88G HPG50LI or R88G HPG65LI QK La M depth L 2 52 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions Dimensions mm DOUBT ee Model OK b gt h t M Le 13 40 82 M8x25 M6 70 12 8 5 M10 20 R88G HPG32A05900TBLI 1 5 900W nsf it waxes we m 12 8 mio 20 ReBG HPGGZATISODTBCI VIT 16 50 14 mexes me 7 14 9 S5 mi0 20 ReSG HPGSOAZISODTECI var 16 50 14 waxes Me m 14 9 S5 Mt 20 RBBG HPGSOAGGSOOTEEI Tvs 13 40 e T weres we 5 12 8 5 MIO 20 ReSC HPGG2AOSzKOTBE 15 2 W 16 60 e
74. 3 1 Wiring Method e R88D KP01H KP02H KP04H KP08H KP10H KP15H KP20H KP30H KP50H Single phase 100 VAC 3 phase 200 VAC 2 FC2 1 FC1 L1 Sg EA nue Le L Lau L1C SG e For models with a single phase power supply input R88D KP01H KPO2H KPO4H KPOSH KP 10H KP15H the main circuit power supply input terminals are L1 and L3 e Ground the motor s frame to the machine ground when the motor is on a movable shaft e Use a ground plate for the frame ground for each unit as shown in the above diagrams and ground to a single point e Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible e A no fuse breaker surge absorber and noise filter should be positioned near the input terminal block ground plate and I O lines should be separated and wired at the shortest distance OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design e Unit Details ELLEN NM Electric NN NN phase 200 VAC Industries prec ME Ltd Noise filters Okaya Electric ad phase 100 200 VAC Industries Co Ltd 3 ss 200 VAC 10 A 3 phase 200 VAC 30 A 50 A 60 A 80 A N Ti 3 phase 200 VAC 50 A Schaffner EMC Inc 3 phase 200 VAC 60 A SD Servo Drive OMRON aon e 1 FC2 Clamp core Konno Industry RJ8035 RJ8095 1 A specified combination of Servo Drive and Servomotor must be used C3
75. 3 54 3 5 Cable and Connector Specifications c cccsssceeeeeceesseeeeeceeeesseeeeeeceenseeeeeeoeesseeeeeseeennneees 3 62 3 5 1 Resistance to Bending of Global Flexible Cable sese 3 62 3 5 2 Encoder Cable Specifications ores e tact s ond EDPR pud nva bes Ur uo Fa RulE Hub So RUs Savi PoLu E Lua puS RIEN 3 64 3 5 3 Motor Power Cable Specifications si pere qui nter didipexe us du ase Dg iiie tet dnce U UI NH E rae RH URP R 3 68 3 5 4 Connector Specifications seq Cose feo sab ke Masavence s Saa eU desear qb td puru US FoepoU DP oii Re MIS Li pa UE NOE 3 80 3 5 5 Analog Monitor Cable SpeGCiliCatiOnS 35 ost reto cce Dude A ba iesus oe a 3 83 3 5 6 Control Gable SDeoIfIGallOFiS ee cn ro sese r piv tU erue Up wack seva du e ap t Cras oU Re v PRAE DER 3 84 3 6 Servo Relay Unit and Cable Specifications eeceeeee ee reeeee eene 3 96 3 6 1 Servo Relay Unit Specifications ccccccccccceececceeeeesseeeeececeeeeeeseesseeessseseseeeeeeeessesssasaaesseseess 3 96 3 6 2 Servo Drive Relay Unit Cable Specifications ccccccccccceceececececeeseesseseceeeeeeeeeeesaanaeeseeenees 3 108 3 6 3 Position Control Unit Relay Unit Cable Specifications esee 3 111 3 7 External Regeneration Resistor Specifications eeeee cecus 3 122 3 7 1 External Regeneration Resistor Specifications
76. 350 400 Pn102 Speed Loop Integral Time Constant 600 500 400 310 250 210 160 140 Pn103 Speed Feedback Filter Time Constant oo o 9 9 pL 9 5 9 0 Pn104 Torque Command Filter Time Constant 57 Pn105 Position Loop Gain 2 730 840 Pni06 Speed Loop Gain 2 90 110 140 180 220 270 350 400 Pn107 Speed Loop Integral Time Constant 2 10 000 10 000 Pn108 Speed Feedback Filter Time Constant 2 o 0 o0 o o o o 0 Pn109 Torque Command Filter Time Constant 2 300 65 57 Pn110 Speed Feed forward Amount 300 Pnii1 Speed Feed forward Command Filter 50 50 H2 Torque Feed oward Amount 0 0 0 0 0 0 0 Parameter No Pni13 Torque Feed forward Command Filter 0 0 o o 0 O oO 0 Pni14 Gain Switching Input Operating Mode 1 1 1 1 1 1 1 1 Selection Pni15 Switching Mode in Position Control Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 30 Pni16 Gain Switching Delay Time in Position 30 30 30 30 30 30 30 Control Pni17 Gain Switching Level in Position Control 50 Pni18 Gain Switching Hysteresis in Position 33 33 33 33 33 33 33 3 Control Pn119 Position Gain Switching Time 33 Pni20 Switching Mode in Speed Contro ro fofojfoj ojfofo o CO Pn121 Gain Switching Delay Time in Speed fie pepepepsT 0 Control pniee_ Gain Switching Levelin Speed ontor 0 o 0 9 9 9 0 0 Pn123 Gain Switching Hysteresis inSpeed Contol 0 0 o 0 0 0 0 o
77. 38 Disturbance Observer Function iei eoi aeree odo dv e reos nera oanap Ee ceo Gu ak eee Soa RES pp RE EP M NR COSE SENE 6 41 6 115 Outline of the FUllollollasosivns i pen red Ya REED T oS CREME NR YN EE mE Ea v YR 6 41 6 11 2 Parameters Requiring Settings ccccccsssssscccccecsesseecececceeseeeceeseceeseeeeeeesessageeeeeessuesseeesesseseas 6 42 eTa Operating ProceGU Bus coton siete es es Le audeo Doo ee Anda cale caue eel al tale 6 42 Gain 9 9wHchind FUNC HOI uini nent coi ir ieee slat eesk eso Ue E Ee U 6 43 6712 71 OUIME OENE FUNCIO M en 6 43 6 12 2 Parameters Requiring SCUINGS iriirihia a aa aeaiia aaa anii 6 43 63123 Opern a aa a A N RE 6 43 Friction Torque Compensation Function 1 ee eere eere eere eere e nennen nnns 6 44 6 131 OUTINEOF SPIRI RENE UU T 6 44 6 13 2 Parameters Requiring Settings ccccccsssssccceccecsseeeeeceecseeeeeeceeseseeeseceeeessesaaeeeeessauaaseeeeeesenenas 6 44 6 13 3 X Operation Examples snae e e e nennen nennen ninh nennen RRA aar nr rnnt nnn nnns nnns 6 45 Inertia Ratio Switching FUnctlon oiiee eiii ert ecuc ie nutu eina e cep eie d ua cb e peu Peu RE UU e Ra E Cea ERR SR rus 6 46 6 14 1 Outline of the Function lsssssssssesesseeeeeeeneeneennennnnnnnnnnnn nennen nnn nnn nni rrr nnn nnns sns 6 46 6 14 2 Parameters Requiring Settings ccccccsssssccceccecsesseeeceecsseeeeeeceeseeeeeeceeeesaeaeaeeeesessaaseeeeeeseneaas 6 46
78. 3SUP HU30 ER 6 3SUP HL50 ER 6B Noise Filter for Brake Power Supply Use the following noise filter for the brake power supply Model Rated Rated Leakage current Manufacturer current voltage SUP EK5 ER 6 5A 250 V 1 0 mA Okaya Electric at 250 Vrms 60 Hz Industries Co Ltd Note Noise can also be reduced by using a ZCAT3035 1330 radio noise filter TDK with 1 5 turns I Control Panel Structure Openings in the control panel such as holes for cables panel mounting holes and gaps around the door may allow electromagnetic waves into the panel To prevent this observe the recommendations described below when designing or selecting a control panel e Case Structure e Use a metal control panel with welded joints at the top bottom and sides so that the surfaces are electrically conductive e f assembly is required strip the paint off the joint areas or mask them during painting to make them electrically conductive e The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws e Do not leave any conductive part unconnected e Ground all units within the case to the case itself OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design e Door Structure Use a metal door e Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams e Use a conductive
79. 433 CPU Unit with built in Pulse train pulse I O CJ2M CPU31 32 33 34 35 CJ2M CPU11 12 13 14 15 CP1H X XA Y CP1L M L Flexible Motion Controller FQM1 MMP22 AC Servomotor OMNUC G5 series Pulse train Input Type 5 2 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 5 Basic Control Mode 5 1 2 Parameters Requiring Settings Pn001 Control Mode Selection Mode Selection Select the control mode the control mode P 7 3 Pn005 u ne Pulse Input a 41 the command pulse input terminal P 7 4 Selection Pn006 Command Pulse Rotation Set the count direction for the command pulse input P 7 4 Direction Switching Selection Pn007 Command Pulse Mode Set the count method for the command pulse input P 7 5 Selection Pn009 Electronic Gear Ratio Set the numerator of the electronic gear ratio for the command P 7 7 Numerator 1 pulse input Pn010 Electronic Gear Ratio Set the denominator of the electronic gear ratio for the P 7 7 Denominator command pulse input Control Mode Selection Pn001 Select the position control mode Set value 0 or 3 o L U o o Oo 3 O O r o Command Pulse Input Process Pn005 Pn006 Pn007 Position command input terminals are divided into two channels input 1 CW CW CCW CCW and input 2 CWLD CWLD CCWLD CCWLD If the position command output is for line driver output s
80. 5 GainEfeciveTime 9 9o 9 9 9 9 9 9 Pn607 Torque Command Value Offset Estimated torque command additional value Pn608 Forward Direction Torque Offset Estimated forward torque compensation value Pn609 Reverse Direction Torque Offset Estimated reverse torque compensation value Pn610 0 Function Expansion Setting 0 Pn610 3 Pn611 Electric Current Response Setting 100 100 100 Pn613 Inertia Ratio 2 o 0 o0 o0o o o o 0 Pn623 Disturbance Torque Compensation Gain ESESESESNSESZENBEAM 0 Pn624 Disturbance Observer Filter Setting ESESNSEZSESEEZEBEIZ 0 9 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 Adjustment Functions Autotuning Machine Rigidity Setting Pn003 16 17 18 19 20 21 22 23 Pn004 Inertia Ratio 1 Estimated load inertia ratio Pn100 Position Loop Gain 900 1 080 1 350 1 620 2 060 2 510 3 050 3 770 Pni01 Speed Loop Gain 500 600 750 900 1 150 1 400 1 700 2 100 Pni02 Speed Loop Integral Time Constant 120 110 90 80 70 60 50 40 Pn103 Speed Feedback Filter Time Constant Oo cio oe Tr 0 Pni04 Torque Command Filter Time Constant 11 4 Pn 105 Position Loop Gain 2 050 1 570 1 880 2 410 2 930 3 560 4 400 00 000 5 Parameter No Pni06 Speed Loop Gain 2 500 600 750 900 1 150 1 400 1 700 2 100 Pn107 Speed Loop Integral Time Constant 2 10 000 10
81. 614 Alarm Set the allowable time until stopping if an 200 ms 0 to Detection immediate stop is executed when an alarm 1 000 Allowable Time occurs Setting 615 Overspeed If the motor speed exceeds the set value during r min 0 to Detection Level an immediate stop due to an alarm an 20 000 Setting at Overspeed 2 Error will occur Immediate Stop 617 Front Panel Select whether to enable or disable Eee euin lll to Oto 1 Required Parameter EEPROM when a parameter is Eee euin lll Write Selection Writing with parameter changes disabled Writing with parameter changes enabled 618 Power Supply Set the initialization time after turning ON the 0 to Required ON Initialization power supply to the standard 1 5 seconds plus 100 Time the specified value 619 Encoder Make fine adjustment to the encoder phase Z Pulse 0 to Required Phase Z width if the number of pulses per motor rotation 32 767 Setting after pulse output dividing is not an integer 620 Reserved DonoseL P 0 0 621 Reserved Donoset CT 9 9 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Pn T Default Setting Y clethe Description power No setting range supply 622 Reserved Do not set 623 LU Set the compensation gain for the disturbance 100 to Torque torque 100 Compensation Gain 624 Disturbance Set the filter time constant for dis
82. 644 93 Operan Procedure siente i fecto iR stmt cara es id eme a e Sce sdudacgusziaduatle aestas 6 46 Feedforward FUDCHOM e S 6 47 6 15 1 Qutline oF the FUNCION s codice ocn tutte sea Deneete pecu detentus ste fetn uates dsl e dd oce tulud ain ue ted tts 6 47 615 2 Parameters Requiring Settings cide coalesce D capte mus eee etl 6 47 6715 6 Operan Procedures s aseo a scaled a e a EON 6 48 Instantaneous Speed Observer Function cccccccsesseeeeeeeeeeenseeeeeeeeneseeeesceeesneeeeseneeseeeees 6 50 O 16 1 Outneofilie FUneloe ecce n inetvi dire a t tu qux va desc A 6 50 6 16 2 Parameters Requiring Settings caia este lavar napi vntukuk d hoeeh ect ik runi eee vas Dalai eds RU adl 6 50 6216 32 perang Procedure seriens adesse diduqim E Aa e de uds tani ew one ed ot tp cH GU 6 51 Parameter Details BaSiC ParaimeCers e M 7 2 Gain Parameters 2 02 d ioa Dr a peeks 7 10 Vibration Suppression Parameters 1 eese eeee eee ee eene eene nnne n nnn nn nnnm nana 7 20 Analog Control Parameters iore deco o drea ae caia een opes exi Des andae obug Ar eee td vax En nui ave re REL DUE SEE 7 26 Interface Monitor Setting Parameters e lleeeee ee eeee eee eee eene esee nennen nnn nnns 7 32 Extended Paramelels o nandi ii cc obese as o Codd uices aia esi ke Ya aeos d Pessoa Ev eR EE 7 42 Special Parameters dota occ a cue Suisse aud a Lose
83. 9 VZERO input enabled Zero Speed Designation VZERO is open with Zero Speed Designation Selection Pn315 set to 1 enabled 11 Internal command 9 The selected internal command speed is 30 r min or less I iind 14 Other causes ld none of the above causes 1 to 13 is applicable the Servomotor is rotating at 20 r min or less Possible causes are a small command value a heavy load lock or collision a Servo Drive Servomotor fault etc Note The Servomotor may rotate even when the displayed cause number is other than O 8 14 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation I Display of the Number of I O Signal Changes Number of I O signal changes Pin No Input signal i Output signal It is possible to change the pin number if the decimal point is located on the right of the pin number Press Q to move the flashing decimal point It is possible to switch input and output if the decimal point is located between the pin number Press A 2 to switch input and output Reserved Do not set hn z e o Reserved g Do not set Monitor for the Number of Encoder Communications Errors i us of communications error z 1 r 0 Encoder l LI Reserved Press A 2 to switch Encoder or Reserved OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 15 8 Operation Reserved Do not
84. AC Servomotors and Servo Drives User s Manual Appendices T Vibration Suppression Function Parameters Pn m Default Setting Y clethe Description power No setting range supply 200 Adaptive Filter Set the operation of the adaptive filter 0to4 0 Disabled Disabled One filter enabled eem limit eem when enabled 2 Two filters enabled Am limit Am when enabled 3 One filter always enabled filter One filter always enabled enabled a filters enabled one of which is always enabled Selection 201 Notch 1 Set the notch frequency of the first resonance 5 000 50 to Frequency suppression notch filter 5 000 Setting 202 Notch 1 Width Set the notch width of the first resonance E to 20 Setting suppression notch filter 203 Notch 1 Depth Set the notch depth of the first resonance ilius to 99 Setting suppression notch filter 204 Notch 2 Set the notch frequency of the second Hz resonance suppression notch filter 5 000 p N U f D 3 D e D r o W Frequency Setting 205 Notch 2 Width Set the notch width of the second resonance Setting suppression notch filter 206 Notch 2 Depth Set the notch depth of the second resonance Setting suppression notch filter 0 to 20 0 to 99 50 to 5 000 207 Notch 3 Set the notch frequency of the third resonance Frequency suppression notch filter Setting This parameter
85. Blue Red 5 Blue Black OO 3 o MV ae S c A 5 DOONIO sal aisaiais 9io omI o 2 25 0lI Oo Jue e O ola OD gj UJ 4 alg 290 o 9e o e akaa Ea JS JS S S S IS IS ENENINDA IIIA Qeenlalei z O O0 J OX O1 GS D A 10 G 69 u CH E G9 R9 A Co KO CO O9 I Q9 N2 A C1 CO N29 09 Ov OY KIS 9 S O O Q a lt UJ D O Q JS S JS S ENESENN OONN ipo fafa leen dleolol a Z cO Oo J O O1 G5 ND C CO 69 O9 O1 amp Q9 R9 KO O9 OS 8 05 N CO ID 00 E OX O1 IS O ao O 50 50 O B eu e O Q 2 Q D UJ ied 9 Shell OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual e Wires with the same wire color and the same number of marks form a twisted pair Example The wire described as Yellow Black 1 and that described as Pink Black 1 are paired and twisted together Drive connector Connector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Connector terminal block connector Connector socket model XG4M 5030 OMRON Strain relief model XG4T 5004 OMRON Cable AWG28 x 25P UL2464 3 Specifications Connector Terminal Block Conversion Unit The Connector Terminal Block Conversion Unit is used in combination with a Connector Terminal Block Cable Model XW2Z L1J B24 to convert the Servo Dri
86. D fo 2 a O fe 5 5 D O e o o o D o fo o 5 0 9 qe2 ei gdixe J ego o jo Duipueg 0 e ueisiseH L G 3 Specifications 3 5 2 Encoder Cable Specifications These cables are used to connect an encoder between the Servo Drive and Servomotor Select an appropriate cable for the Servomotor Encoder Cables Global Non Flexible Cable R88A CRGBLIC e Cable types Incremental encoders For 3 000 r min Servomotors of 50 to 750 W Model R88A CRGBOOSC R88A CRGBO05C R88A CRGBO10C R88A CRGB015C R88A CRGBO20C Length L Mace ta zu Weight 3m 6 5 dia Approx 0 2 kg 5m Approx 0 3 kg 10m Approx 0 6 kg 15m Approx 0 9 kg 20m Approx 1 2 kg Connection configuration and external dimensions Servo Drive side R88D KPO C1 e Wiring Servo Drive side Es 1 Eov 2 Bec L S Servomotor side E a Fo D R88M KEC Servomotor side n E 4 E5V 5 EOV s 5 c Brem m e s 6 FG Shell C zz 6j FG able AWG22 x 2C AWG24 x 2P UL20276 3 to 20 m AWG16 x 2C AWG26 x 2P UL20276 30 to 50 m Servo Drive side connector Servomotor side connector Connector model Connector model 3 to 20 m Crimp type I O connector Molex Japan 172160 1 Tyco Electronics AMP KK 30 to 50 m 55100 0 Connector pin model 670 Molex Japan Connector pin model 170365 1 Tyco Electronics AMP KK 50639 8028 Molex Japan 171639 1 Tyco Electronics AMP K
87. Default Cycle the setting power supply Select the notch width of the fourth resonance suppression notch filter Increasing the setting value widens the notch width Normally use the default set value Notch 4 Depth Setting 0 to 99 Default Cycle the setting power supply Set the notch depth of the fourth resonance suppression notch filter Increasing the setting value shortens the notch depth and the phase lag SJ9 ourjeJed uoissejddng uoneaqiA Z 7 Parameter Details Pn213 Setting range Pn214 Setting range Pn215 Setting range Pn216 Setting range Damping Filter Selection 0 to 3 Default Cycle the setting power supply Explanation of Set Values Set value Description 0 Damping filters 1 and 2 enabled 1 Either damping filters 1 and 3 or 2 and 4 can be selected via the external input DFSEL1 e When open Damping filters 1 and 3 enabled e When shorted Damping filters 2 and 4 enabled 2 Damping filters 1 to 4 can be selected via the external inputs DFSEL1 and DFSEL2 e When DFSEL1 and DFSEL2 are open Damping filter 1 enabled e When DFSEL1 is shorted and DFSEL2 is open Damping filter 2 enabled e When DFSEL1 is open and DFSEL2 is shorted Damping filter 3 enabled e When DFSEL1 and DFSEL2 are shorted Damping filter 4 enabled 3 The damping filters are switched with position command direction e During forward rotation Damping filters 1 and 3 enabled e During reverse rotation Damping filters 2 an
88. Forward direction PULS l ulse train t2 Reverse direction PoE i pulse train SIGN LOS 3 Pulse train PULS Sign SIGN o Maximum Minimum required duration us Symbol allowable input CWLD CWLD 4 Mpps 0 25 0 125 0 125 0 125 0 125 0 125 CCWLD CCWLD CW CW icf 25 5 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 5 Basic Control Mode I Electronic Gear Function Pn008 Pn009 Pn010 The electronic gear function enables to multiply the pulse command input from the host controller by the specified gear ratio to determine the position command to the position control range Pn008 Electronic Gear Set the number of command pulses per 0 to 220 Pulse Integer Setting motor rotation Pn009 Electronic Gear Ratio Set the numerator of the electronic gear 0 to 230 Numerator 1 ratio for the command pulse input Pn010 Electronic Gear Ratio Set the denominator of the electronic 1 to 230 Denominator gear ratio for the command pulse input e For details about the electronic gear function refer to 6 4 Electronic Gear Function on page 6 11 5 1 3 Related Functions Pn008 Electronic Gear Integer Setting Set the number of command pulses per motor rotation P 7 7 Pn01 1 Encoder Dividing Numerator Set the pulse output resolution using the numbers of output P 7 8 pulses per rotation for phase A and phase B respectively Pn012 Encoder Output Dir
89. Functions 9 3 Manual Tuning 9 3 1 Basic Settings As described before the OMNUC Gb series Servo Drives Pulse train Input Type have a realtime autotuning function Readjustment however is required if realtime autotuning cannot adjust the gain properly for some reasons there is a restriction by load conditions or a necessity to ensue optimum responsiveness and stability for each load This section describes how to perform manual tuning for each mode and function Before Manual Setting More reliable adjustment can be performed quickly by using waveform monitoring with the data tracing function of CX Drive or by measuring the analog voltage waveform with the monitor function e Analog Monitor Output The actual motor speed command speed torque and accumulated pulses can be measured in the analog voltage level using an oscilloscope or other device The type of signal to output and the output voltage level are set in Analog Monitor 1 Selection Pn416 and Analog Monitor 2 Selection Pn418 For details refer to A 2 Parameter List on page A 11 e CX Drive Data Tracing Function Commands to the motor and motor operation speed and position error can be displayed on a computer as waveforms Refer to the CX Drive Operation Manual Cat No W453 e e EY 3 c c 3 e sDunmes oiseg 1 6 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 11 9 Adjustment Functions
90. Hysteresis in Soeed Control dance M PRTEE 7 19 Gain Switching Input Operating Mode Selection dab Tem 7 13 Gain Switching Level in Position Control Pn117 7 16 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Index Gain Switching Level in Speed Control Pn122 7 18 General Servo Drive specifications 3 2 General Servomotor specifications 3 36 General purpose Control Cables 3 89 General purpose Control Cables with connector on one end ssss 2 20 General Purpose Input seeeeeeeeeeeeess 3 17 H Harmonic Current Measures sseeeeee 4 36 High speed Photocoupler Input 3 17 Immediate Stop Torque Pn511 7 47 Improving Control I O Signal Noise Resistance 4 35 Improving Encoder Cable Noise Resistance 4 34 Incremental encoder sesesesseeeeeeennnee 3 53 Inertia Ratio 1 PNOO4 2 0 eee eccecsseeeeeceeeeeeeeneeeeeeeaees 7 4 neria Ratio PNG 13 Sisi oa e bene ER oM Re MUR Res 56 Inertia Ratio Switching Input JSEL 3 26 Input Signal Selection 1 Pn400 7 32 Input Signal Selection 2 Pn401
91. Inertia v v Input Ratio 1 and Inertia Ratio 2 e Note that the following functions must be allocated to fixed pins Error Counter Reset Input ECRST Pin 30 only Command Pulse Input Prohibition Input IPG Pin 33 only e Each number enclosed in brackets shows the default pin number allocation This allocation is dependent on the control mode i Control Outputs CN1 21 22 49 48 23 24 25 10 11 34 to Z Z Z SGGND SO1 to SO4 BKIR 11 BKIRCOM 10 READY 35 READYCOM 34 Sequence Output Signal Brake Interlock Output Servo Ready Completed l Control mode Pin No Symbol Function and interface N Encoder Phase A Output These encoder signals are output Encoder Phase A Output Encoder Phase B Output for line driver output equivalent to Encoder Phase B Output Encoder Phase Z Output Encoder Phase Z Output according to the values set in Encoder Dividing Numerator Pn011 These are RS422 with a maximum output frequency of 4 Mpps These encoder signals are for phase Z Output Line driver output equivalent to RS422 Encoder Phase Z Output These encoder signals are for phase Z v output Open collector output Signal Ground This is the signal ground These signals are allocated with any of the following functions based on the values set in Output Signal Selection 1 to 4 Pn410 to 413 This timing output signal activates the elec
92. Maintenance 10 1 2 Precautions When a Problem Occurs When checking and verifying I O after a problem has occurred the Servo Drive may suddenly start to operate or suddenly stop so always take the following precautions You should assume that anything not described in this manual is not possible with this product I Precautions e Disconnect the wiring before checking for cable breakage If you test conduction with the cable connected test results may not be accurate due to conduction via bypassing circuit e f the encoder signal is lost the motor may run away or an alarm may occur Be sure to disconnect the motor from mechanical systems before checking the encoder signal e When measuring the encoder output perform the measurement based on the SGGND CN1 pin 13 When an oscilloscope is used for measurement it will not be affected by noise if measurements are performed using the differential between CH1 and CH2 e When performing tests first check that there are no persons in the vicinity of the equipment and that the equipment will not be damaged even if the motor runs away Before performing the tests verify that you can immediately stop the machine using an immediate stop in case the machine runs out of control uml L gt Oo o 3 o o U o o D 3 o SJn29Q W GOJg e ueuM suonneoeJd z L 0L OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 3 10 Tr
93. Manual 3 37 3 Specifications e Brake Specifications Model R88M Item Brake inertia Excitation voltage Power consumption at 20 C Current consumption at 20 C Static friction torque Attraction time Release time Backlash Allowable work per braking Allowable total work Allowable angular acceleration Brake life Rating Insulation class 200 VAC 24 VDC 5 OW 01 x7 E Wo qoo y 9 0 3 0 3 0 36 0 36 44 4 x 10 30 000 max Speed of 2 800 r min or more must not be changed in less than 10 ms e o 10 million times min EE Continuous Class F OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Model R88M 200 VAC Rated output E Rated torque A Rated rotation speed r min 3 000 Maximum rotation speed 4 500 5 000 Momentary maximum N m 7 1 9 55 14 3 torque Rated curent LATE ee ee s Momentary maximum A rms 17 0 28 35 current Rotor inertia Without brake 0 87 x 1074 2 03 x 104 2 84 x 104 With brake 0 97 x 104 2 35 x 104 3 17 x 10 Applicable load inertia 20 times the rotor 15 times the rotor inertia max inertia max Electrical time constant E R O 63 Allowable radial load Radiator plate dimensions material 320 x 300 x t20 Al Applicable Servo Drives R88D KP15H p C2 o D lt fo 3 eh o D o Q fo et O gt D SONSHBJOLIEYD z OMNUC G5 series Puls
94. Maximum input frequency Line driver 4 Mpps Feed pulse t1 lt 20 ns t2 gt 500 ns T 2 250 ns T 2 500 ns T T x 100 lt 50 96 Forward rotation command Reverse rotation command Reverse Pulse Forward Pulse Reverse pulse Maximum input frequency Line driver 4 Mpps Forward pulse T t1 lt 20 ns t2 gt 500 ns T 2 250 ns T 2 500 ns T T x 100 lt 50 96 Forward rotation command Reverse rotation command 90 Phase Difference Signal Phase A pulse Jo N Maximum input frequency Ee Line driver t1 t1 4 Mpps Phase B pulse t1 lt 20 ns T24 0 us T 28 0 us T T x 100 lt 50 96 3 20 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications I Operation Command RUN Pin 29 Operation Command RUN This is the default allocation The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 The Operation Command RUN must be allocated with a function Otherwise the servo cannot be turned ON e Function This input signal turns ON the power drive circuit of the Servo Drive main circuit Unless this input signal is ON i e when the servo is OFF the Servo Drive cannot drive the Servomotor Q L o D lt e Oa lt o o D O ES o 5 a Forward Drive Prohibition Input POT
95. Note that setting a excessively large results in overshooting or vibration If this occurs decrease the set value If the speed loop or the current loop is the cause of vibration adjusting the position loop is not a solution for eliminating vibration Response to the position loop gain adjustment is as shown below e f the position loop gain is high overshooting occurs Command operation pattern Actual operation Speed r min e e EY 3 c c 3 e Time t e f the position loop gain is low positioning completion speed becomes slow Command operation pattern Actual operation sDunmes oiseg 1 6 Speed J r min Time t OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 15 9 Adjustment Functions e Speed Loop Gain Pn101 Pn106 The speed loop gain determines the responsiveness of a Servo Drive When Inertia Ratio 1 Pn004 is set correctly the values set in these parameters are the response frequency Increasing the value of the speed loop gain improves the responsiveness and quickens positioning but vibration is more likely to occur Adjustment must be made so that vibration does not occur This parameter is related to Speed Loop Integral Time Constant Pn102 so it is possible to increase the speed loop gain by increasing the integral time constant e f the speed loop gain is low the speed r
96. O a E E Co H 4 __ 36 10 Gray Black 1 n 12 39 13 29 om O 15 27 Pink Black 2 16 i 3 17 Green Black 2 18 37 19 36 Any 0 L Shell Servo Relay Unit Connector Connector socket model XG4M 2030 otrain relief model XG4T 2004 Cable AWG28 x 10P UL2464 Drive connector Connector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M 3 108 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications I Servo Drive Cables XW2Z L1J B26 Below are the specifications of the cable that connects the Servo Drive with a Servo Relay Unit Model XW2B 80J7 12A This cable is used only for FQM1 MMP22 e Cable types Model Length L Outer diameter of sheath Weight XW2Z 100J B26 9 1 dia Approx 0 1 kg XW2Z 200J B26 Approx 0 2 kg Connection configuration and external dimensions o o D lt e JJ o 9 lt c 3 9 2 a O 9 o D o o D O 9 ct 5 a L Servo Relay Unit side E servo Drive side O St XW2B 80J7 12A Qi R88D KPLI LO oe O E no WM e Wiring E UO Servo Relay Unit side Servo Drive side z 3 2 3 rita I a C3 H4 z Green Red 1 e Greens 1 6 _ a S H EL E orengeBlack j 8 ao 3 Gray Red 1
97. OMRON For Drive output and power cable 3G3AX ZCL2 2 OMRON For Drive output and power cable ESD R 47B 3 NEC TOKIN For Drive output and power cable ZCAT3035 1330 4 For Encoder cable and I O cable RJ8035 For power supply line RJ8095 For power supply line T400 61D For Drive output and power cable 1 Generally used for 1 5 kW or higher 2 Generally used for 1 5 kW or lower The maximum number of windings is 3 turns 9 Generally used for 50 100 W The maximum number of windings is 2 turns 4 Also used on the Drive output power lines to comply with the EMC Directives Only a clamp is used This clamp can also be used to reduce noise current on a FG line Em oo 3 e O o o 3 3 e gis o m O g D O 2 lt D o0 sjueuoduJo uornoeuuo funoejes z g p OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 29 4 System Design e External Dimensions 3G3AX ZCL1 3G3AX ZCL2 130 7x14 Long hole ESD R 47B ZCAT3035 1330 30 13 RJ8035 RJ8095 T400 61D S e EE Dimensions unit mm thickness Rue 35A 170 150 23 80 s 24 R35 7 RJ8095 7 4 30 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual e Impedance Characteristics 3G3AX ZCL1 AT 20 151 D O Impedance Q e 80
98. Pn014 Increase the value set in Excessive Speed Error Setting Pn602 Lengthen the acceleration and deceleration times for the Internal Position Command Speed Or adjust the gain to improve the speed following performance Disable Excessive Speed Error Setting Pn602 0 Do not give excessive speed commands Check the input frequency dividing ratio and multiplication ratio of the command pulses If overshooting occurred due to faulty gain adjustment adjust the gain Connect the encoder cable correctly 10 13 val m A zl O c o D D gt O et gt e sKe dsiq uue v ui sisoubeiq JOU L p 0L 10 Troubleshooting and Maintenance Alarm No an Su Command Pulse Frequency Error Command Pulse Multiplier Error Pulse Regeneration Error Error Counter Overflow Interface Input Duplicate Allocation Error 1 Interface Input Duplicate Allocation Error 2 Interface Input Function Number Error 1 Interface Input Function Number Error 2 Interface Output Function Number Error 1 Interface Output Function Number Error 2 Counter Reset Allocation Error Command Pulse Prohibition Input Allocation Error The command pulse input frequency exceeded the value set in Command Pulse Input Maximum Setting Pn532 x 1 2 The parameter setting for the command pulse frequency or the electronic gear ratio is not appropriate The value obtained by multiplying the number of comman
99. Pn522 are set to 150 200 100 rated Speed A 100 rated maximum 200 300 Reverse OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 51 SJ9 9UIBJed popuog x3 9 2 7 7 Parameter Details Pn523 Torque Limit Switching Setting 1 Setting 0 to 4 000 ms 100 Default Cycle the range setting power supply e Set the rate of change when switching from No 1 Torque Limit to No 2 Torque Limit e When set to 0 switching takes place immediately Torque Limit Switching TLSEL No 1 Torque Limit Torque Limit Switching Setting 1 Pn013 Pn523 No 2 Torque Limit 12 15 74 e UP a ov cc Torque Limit Switching Setting 2 Pn524 Pn524 Torque Limit Switching Setting 2 Postion Speed Setting 0 to 4 000 ms 100 Default Cycle the range setting power supply e For this parameter set the same value as for Torque Limit Switching Setting 1 Pn523 Pn525 Forward External Torque Limit Setting 0 to 500 Default 500 Cycle the range setting power supply e Set the forward external torque limit for the torque limit switching input e The unit is 0 1 of the rated torque Pn526 Reverse External Torque Limit Setting 0 to 500 Default 500 Cycle the range setting power supply e Set the reverse external torque limit for the torque limit switching input e The unit is 0 1 of the rated torque Pn527 Reserved Setting 30 Default 30 Cycle the range
100. Regeneration Resistor Selection Setting 0 to 3 Default Cycle the range setting power supply 1 The default setting is O for a Servo Drive with 200 V and 750 W or more Explanation of Set Values Set value Description 0 Regeneration Resistor used Built in Resistor The regeneration processing circuit operates and Regeneration Overload Alarm No 18 operates according to the Built in Resistor with approx 1 duty 1 Regeneration Resistor used External Resistor The regeneration processing circuit operates and Regeneration Overload Alarm No 18 causes a trip when the operating rate of the Regeneration Resistor exceeds 10 2 Regeneration Resistor used External Resistor The regeneration processing circuit operates but Regeneration Overload Alarm No 18 does not operate 3 Regeneration Resistor used None The regeneration processing circuit and Regeneration Overload Alarm No 18 do not operate and all regenerative energy is processed by the built in capacitor e Do not touch the External Regeneration Resistor The External Regeneration Resistor will become hot and burn injury may result e Always provide a temperature fuse or other protective measure when using an External Regeneration Resistor Regardless of whether the regeneration overload is enabled or disabled the Regeneration Resistor can generate heat and may cause burning e Use this parameter to select whether to use the Built in Regeneration Resistor as is or us
101. SEL2 are open Damping filter 1 enabled When DF SEL1 is shorted and DF SEL2 is open Damping filter 2 enabled When DF SEL1 is open and DF SEL2 is shorted Damping filter 3 enabled When both DF SEL1 and DF SEL2 are shorted Damping filter 4 enabled Forward direction Damping filters 1 and 3 enabled Reverse direction Damping filters 2 and 4 enabled Selection 214 Eon E Set the first freebie ep dmi frequency The minimum Lt que 1 Hz P to Eon E 1 allowable setting is 10 freebie ep dmi 1 Hz 2 P Make fine adjustment to the first damping DI 1 iin 0 to control function Set a smaller value if torque 1 000 saturation occurs or a larger value to increase the responsiveness 216 Damping Set the second damping frequency The no 1Hz PF to Frequency 2 minimum allowable setting is 10 2 1 Hz 2 PF 217 Damping Filter Make fine adjustment to the second damping 0 1 eae 0 to control function Set a smaller value if torque 1 000 saturation occurs or a larger value to increase the responsiveness 2 Setting 218 Damping Set the third damping frequency The minimum BN LU 1Hz FE to Frequency 3 allowable setting is 10 2 1 Hz 2 FE 219 Damping Filter Make fine adjustment to the third damping DI 1 0 to control function Set a smaller value if torque 1 000 saturation occurs or a larger value to increase the responsiveness 3 Setting 220 Damping Set the fourth damping frequency The minimum 0 1 Hz 0 to F
102. 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 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Head and Understand this Manual Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to 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 Nuclear energy control systems combustion systems railroad system
103. Servo Drive based on the magnitude relationship between No 1 Torque Limit and No 2 Torque Limit Torque limit switching input TLSEL D Torque limit switching No 1 Torque Limit setting 1 Pn523 Pn013 j mnm No 2 Torque Limit P1522 Torque limit switching setting 2 Pn524 If the No 1 Torque Limit Pn013 or No 2 Torque Limit Pn522 value is changed from the front panel or CX Drive the rate of change setting is ignored and the new torque limit value is applied immediately Torque Limit Settings by Servomotors e The torque limit setting range is between 0 and 300 default setting 300 This is not the case for the following Servo Drive and Servomotor combinations Servo Drive Applicable Servomotor DTE limit o R88D KP15H 225 R88D KP30H 250 R88D KP50H 250 6 32 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 9 Sequence I O Signals 6 9 1 Outline of the Function e You can set sequences in various operating conditions e For the connection of I O signals and processing of external signals refer to 3 1 4 Control I O Connector Specifications CN1 on page 3 9 6 9 2 Input Signals You can allocate any functions to the input pins of the con
104. Servo Drives User s Manual Restore the default value 0 or increase the set value Use a control I O signal cable that meets the specifications Limit the wiring length of the control I O signal cable to 3 m or less Use an encoder cable that meets the specifications Limit the wiring length of encoder cables to 20 m or less Correct the encoder cabling Install the encoder cable where itis not subject to surges Ground the equipment properly to prevent the current from flowing into the external encoder s FG Heduce the mechanical vibration or correct the Servomotor mounting conditions 10 19 val m A zl O c o D D gt O O gt e 9181S uonejedo eui Bulsp sisouDeliq 10113 Z p 0L 10 Troubleshooting and Maintenance Symptom The Servomotor generates abnormal noise or vibration continue Vibration occurs at the same frequency as the commercial power supply frequency The Servomotor falls out of position Positional deviation occurs without alarm output 10 20 Probable cause Check items There is a resonance between the machine and the motor Inductive noise is present There is an error in the coupling between mechanical systems and the Servomotor The Error Counter Reset Input ECRST signal is affected by noise The position command pulse CW or CCW input signal is affected by noise The gain setting is inappropriate The load inertia is
105. Servo Drives User s Manual 6 47 6 Applied Functions 6 15 3 Operating Procedure I Speed Feed forward Operating Method 1 Set Speed Feed forward Command Filter Pn111 Set this to approximately 50 0 5 ms 2 Adjust Speed Feed forward Amount Pn110 Gradually increase the value set in Speed Feed forward Amount Pn110 and finely adjust it to avoid overshooting during acceleration deceleration If Speed Feed forward Amount is set to 100 the position error is calculated as 0 However large overshooting will occur during acceleration deceleration The position error when the Servomotor is operating at a constant speed will decrease based on the following formula according to the speed feed forward gain value Position error command units Command speed command units s Position Loop Gain 1 s x 100 Speed Feed forward Amount 96 100 Position error opeed FF gain The position error in the constant speed range becomes smaller as the speed feed forward gain increases la Precautions for Correct Use If the update cycle of the position command input is longer than the Servo Drive control cycle or if the pulse frequency is not uniform operating noise may increase while the speed feed forward is enabled Apply the position command filter first order lag or FIR smoothing or increase the speed feed forward filter value 6 48 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manu
106. Signal Processing Position Control 24VCW 1 2 2 kQ Ib EE Reverse Pulse HAAN is aues LPS onla gga AD TEE S se 2 kQ Forward Pulse cow 5 Leo oon aga RD Reverse Pulse 4 Mpps max Id 1143 ko Forward Pulse CCWLD AOS SRO 45 KO Pe comot gt 3i ko 43 kO 12 to 24 VDC 24VIN 7 4 7 kO Q C Operation 4 UD Command RUN 29 a e Damping Filter x E Switchin EUIS DESEL Loe Bisa Gain Switching GSEL A27 Electronic Gear Switching GESEL1 128 Error Counter Reset ECRST 30 Alarm Reset RESETIS sss 4 7 kQ C H Control Mode EY Switching TVSEL 32 TE Pulse Prohibition IPG 33 Reverse Drive Prohibition Input NOT a aun i O IPIE La Forward Drive Prohibition Input 4 NE POT ES 11 ABRIR Brake Interlock al READY Maximum service voltage 30 VDC Maximum output current 50 mADC Servo Ready Completed Output ar READYCOM 37 LAN Alarm Output ES t PL INP Positioning Completion Output 194 Z Phase Z Output Open collector output 2515 GGND 21 A P Encoder Phase A 22 A Output Q 49 B Encoder Phase B 6 48 B Output Q 23 Z Encoder Phase Z Q 7 Output 1kO 42 Analog Monitor __ a Output 1 kQ 50 FG Frame Ground Line driver output conforming to the EIA RS 422A Load resistance 120 O min Note 1 The input signals to pins 8 9 and 26 to 33 and the output signals to pi
107. Specifications CNBI anere Do db ROM da 3 6 3 7 4 14 4 15 Index 3 Index Motor power cable ccccceccccccseeceeeseeeeeeceeseeeeseaeees 3 68 Motor Power Cables Global Flexible Cable 2 17 Motor Power Cables Global Non Flexible Cable 2 16 Motor Rotation Speed Detection Output TGON 3 30 Mounting Brackets eese 2 21 Mounting Dimensions ccccceeeeeeeeeeeeeeeeeeeeeeeeaaaeeees 2 22 N Names and Functions eeeeseeesesesseeeeee 1 4 No 1 Internally Set Speed Pn304 7 27 No 1 Torque Limit PnO13 ececseseeeeeceeseeeeseeeeees 7 8 No 2 Internally Set Speed Pn305 7 27 No 2 Torque Limit PN522 euuussse 7 51 No 3 Internally Set Speed PN306 7 27 No 4 Internally Set Speed Pn307 7 27 No 5 Internally Set Speed Pn308 7 27 No 6 Internally Set Speed Pn309 7 27 No 7 Internally Set Speed Pn310 7 27 No 8 Internally Set Speed Pn311 7 28 No fuse Breaker ns ecce tee ente 4 26 Noise Filter for Brake Power Supply 4 24 Noise filters ert teet eite Each 4 24 4 29 4 37 Noise Filters for Motor Output
108. Switching Level in Position Control 50 TIS s 0 0 0 0 0 0 90 EXTARGSEJENZE 0j 0 0 0 J90 0 Pni18 Gain Switching Hysteresis in Position Control Pn119 Position Gain Switching Time Pni20 Switching Mode in Speed Control Pni21 Gain Switching Delay Time in Speed Control Pni22 Gain Switching Level in Speed Control Pni23 Gain Switching Hysteresis in Soeed Contro Pn605 Gain 3 Effective Time EGRNEEXEENEN 0 Pn606 Gain 3 Ratio Setting 100 100 Pn607 Torque Command Value Offset Estimated torque command additional value o CO w a 5 ev Oo Pn608 Forward Direction Torque Offset Estimated forward torque compensation value Pn609 Reverse Direction Torque Offset Estimated reverse torque compensation value XN Po fol EN To Pn610 0 Function Expansion Setting Pn610 3 Pn611 Electric Current Response Setting Pn613 Inertia Ratio 2 Pn623 Disturbance Torque Compensation Gain Pn624 Disturbance Observer Filter Setting 0 0 EXE L L OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 7 P N J D 2 3 D gt c o P 3 5 ae AypibrH aulyoey Dunes 2 2 6 9 Adjustment Functions Autotuning Machine Rigidity Setting Pn003 re T w a el sl Pn004 Inertia Ratio 1 Estimated load inertia ratio Pn100 Position Loop Gain 630 720 Pni01 Speed Loop Gain 90 110 140 180 220 270
109. TLSEL Torque Limit Switching This signal turns ON OFF to switch the torque limit value It is enabled when Torque Limit Selection Pn521 is set to 3 or 6 The torque limit value and operating direction depend on the value set in this parameter DFSEL2 Damping Filter Switching 2 This signal is enabled when Damping Filter Selection Pn213 is set to 2 You can switch among four filter settings in conjunction with the Damping Filter Switching 1 DFSEL1 GESEL2 Electronic Gear Switching 2 You can switch among up to four v Electronic Gear Ratio Numerators settings in conjunction with the Electronic Gear Switching 1 GESEL1 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 11 V 4 Y 4 A Y 4 X 3 Specifications VZERO VSIGN STOP Zero Speed Designation Input Speed Command Sign Input Emergency Stop Input Control mode Pin No Symbol Function and interface A This signal forcibly sets the speed command value to 0 It is enabled when Zero Speed Designation Selection Pn315 is set to 1 to 3 This signal specifies the motor rotation v direction in the speed command It is enabled when Speed Command Direction Selection Pn301 is set to 1 This signal is for emergency stop input v y When it is input the Servo Drive generates an Emergency Stop Input Error and thereby stops the motor JSEL Inertia Ratio Switching This signal switches between
110. TRHOUDIES gforol il t o eret 10 10 10 4 1 Error Diagnosis with Alarm Displays cccccssseceecceseeeececeeeeeeeaesseeeeceaeeeeeeseaeeeessuaaeeeesanaeeess 10 10 10 4 2 Error Diagnosis Using the Operation State eese 10 17 10 5 Beriodic MaimtenallCB uinea ie uci de ca eeu vue co ea bana te biu dE C CU uS Mu uci uos uve edu Dora iade 10 21 1T0 5 1 Servomotor bie ExpectariGy arosa e iban arbe sete aceto cou Ed etae oe tong ome sspe p ODD M ei 10 21 10 522 Servo Drive ile EXDeGIAFIO acci eroe Te a ee ke te e reae tee p o Ucet ea eer tho e e ETE 10 22 Appendices A I Connection o Clpjeji eee d A 2 A32 Parameter LSU n eceiucee tene on ein a aeo a seo uda opus ixi Ua oes ice Uo Eua e das creeds A 11 24 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Features and System Configuration This section explains the features of the Servo Drive name of each part and applicable EC Directives and UL standards Ter OUN oreo 44 4 ots od bei eee ban Phd Ba oe eee oe ee 1 1 1 Outline of OMNUC G5 series Servo Drives Pulse train Input Type 1 1 2 Features of OMNUC G5d series Servo Drives Pulse train Input Type 1 2 System Configuration ll 1 3 Names and Functions eee n n n n ne 1 3 1 Servo Drive Part Names 0c00 cece eee ee eas 1 3 2 Servo Drive Functions eene 1 4 System Block Diagram
111. Values Set value Description 0 L atch time infinite 1 to 10 Latch time 1 to 10 seconds Pn628 Not used Setting Default Cycle the range setting power supply Pn631 Realtime Autotuning Estimated Speed Selection Setting 0 to 3 Default Cycle the range setting power supply Explanation of Set Values J 4 Set value Description 15 D 0 Fix the estimated result when load estimation is stabilized 2 1 Estimate every minute from the load characteristic changes A 2 Estimate every second from the load characteristic changes S D 3 Estimate the optimum from the load characteristic changes D o Pn632 Realtime Autotuning Customization Mode Setting Setting 32 768 to 32 767 Default Cycle the range setting power supply e Set the details of the autotuning function when Realtime Autotuning Mode Selection Pn002 is set to 6 e For realtime autotuning refer to 9 2 Realtime Autotuning on page 9 4 7 Explanation of Set Values 0 to 1 Load characteristic Select to enable or disable load characteristic estimation estimation 0 Disabled 1 Enabled 2 to 3 Inertia ratio updating Select whether to update the value set in Inertia Ratio 1 Pn004 with the load characteristic estimation result 0 Uses the present set value 1 Updates with the estimation result OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 59 Parameter Details 4 to 6 Torque compensation Select whether to upd
112. and Reverse Drive Prohibition Input NOT Pin 9 Forward Drive Prohibition Input POT Pin 8 Reverse Drive Prohibition Input NOT e Function These two input signals prohibit the forward and reverse rotations over travel of the Servomotor When the Drive Prohibition Input Selection Pn504 is set to 1 the operation when drive prohibition input is ON can be selected in the Stop Selection for Drive Prohibition Input Pn505 If the Drive Prohibition Input Selection Pn504 is set to 2 Drive Prohibition Input Protection E380 will be enabled when drive prohibition input is ON sjrejeq 1ndu o3002 9 1 la Precautions for Correct Use With the default settings both signals are disabled i e drive prohibition input is disabled For any system that requires drive prohibition input set the Drive Prohibit Input Selection Pn504 to either O or 2 The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 fi Alarm Reset Input RESET Pin 31 Alarm Reset Input RESET This is the default allocation The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 The input logic allowed for the Alarm Reset Input RESET is NO contact only NC contact cannot be set e Function This signal is for external servo alarm reset input An alarm is reset at the ris
113. cccccceccceeeeeceeeeeseeseeeeeeeeeeeeseseeeaeseeececeeeeessesesasaeaseeeeeseess 9 2 9 1 2 Gain Adjustment MellOds s coa daran de ode denen o ste d estendlo ENR deuce dates da cdet i usse sati leder 9 2 9 1 3 Gain Adiusimem Pro edle tios dotis EE mc paxue uo eU duas Da doe uap ME da EDU 9 3 9 2 Beailime AUITOTIUDITQ ccc autc cuo dti eet re uie tesa ree tondeuse Ta veo cuv ei bua cem woo situa due eter vuuu UR 9 4 9 2 1 Setting Realtime AUTUNNO 342 28 condos coa idonee aer ect aede ease wee eee EU due cU ruta durs 9 5 9 2 2 Seting Machine TIGIGN RET n 9 5 93 Manual TUNING pe 9 11 9 3 1 Be Ee Teaty 111616 oe ene MON a PRIM nee RI ne une ER eh Re ne ce Se ace ee 9 11 Section 10 Troubleshooting and Maintenance 10 1 Actions TOF Problems eese noa rta Exe ui iren DRE oix Dan E eco eausa aeui alonso x TR eue x EVE SENE Eu Rav Edw SEE 10 2 10 1 1 Preliminary Checks When a Problem Occurs ccccccceeccsesseeceeceeceesseeeceeeeseeaseeeeeeesanagseeeeess 10 2 10 1 2 Precautions When a Problem Occurs cccccssseccceceeecceeceeeececeeeeceeeseaeeeeeeseeeeeessuaeeessseaeeeeeas 10 3 10 1 3 Replacing the Servomotor or Servo DIive ccceeeeseseecceeceeceeseeeaeeeseeeeeceeeeeessessuaesaeseeeeeeeeeess 10 4 pQUCUMULIIOEas cce 10 5 103 Alarm LSU aie cscs 10 6 10 4
114. clear the warning state before the latch hold time expires follow a similar procedure as you do when clearing an alarm I Warning List Warning Output Warning ru Warning name Latch Warning condition Selection Mask Setting Pn440 Bosse Pn638 AO Overload The load ratio is 8596 or more bit 7 Warning of the protection level A1 Excessive The regeneration load ratio is bit 5 Regeneration 85 or more of the level Warning A2 Battery Warning Fixedtono The battery voltage is 3 2 V or bit O time run less A3 Fan Warning The fan stop state continues for bit 6 1 second A4 Encoder The encoder communications Communications errors occurred in series more Warning frequently than the specified value A5 Encoder The encoder temperature bit 3 Overheating exceeded the specified value Warning bit 4 A6 Vibration Vibrating is detected bit 9 Detection Warning A7 Life Expectancy Fixed to no The life expectancy of the bit 2 Warning time limit capacitor or the fan is equal to or less than the specified value 1 The V fields can be set to 1 to 10 s in Warning Latch Hold Time Selection Pn627 or to no time limit However the battery warning is fixed to no time limit 2 Select the types of warning to be output from Warning Output 1 WARN1 and Warning Output 2 WARNZ in Warning Output Selection 1 Pn440 and Warning Output Selection 2 Pn441 If you set these parameters to 0 all warning types wil
115. command 0 for drive Held prohibition direction 1 Free run Torque command 0 for drive Held prohibition direction Torque command 0 for drive prohibition direction 2 Immediate stop Servo lock Cleared before and after deceleration Stop Selection for Drive Prohibition Input Pn505 Deceleration method Stop status Decelerate with dynamic brake Servo unlocked Decelerate in the free run status Decelerate with Immediate Servo locked Stop Torque Pn511 Servo locked POT NOT is OFF While the Forward Drive Prohibition Input POT is OFF the Servomotor cannot be driven in the forward direction but it can be driven in the reverse direction Conversely while the Reverse Drive Prohibition Input NOT is OFF the Servomotor cannot be driven in the reverse direction but it can be driven in the forward direction If you set the Servomotor to decelerate at the immediate stop torque and stop with servo locked set value 2 the torque limit during deceleration will be limited by the value set in Immediate Stop Torque Pn511 la Precautions for Correct Use A load on the vertical axis and so forth may fall due to its own weight when the Drive Prohibition Input is ON To prevent this set the Servomotor to decelerate at the immediate stop torque and stop with servo locked set value 2 in the Stop Selection for Drive Prohibition Input Pn505 or limit the operation using the host controller instead of thi
116. damage to the machine due to a workpiece overrun The function operates as follows when this parameter is set to O e When Forward Drive Prohibition Input POT CN1 pin 9 and COM are connected Normal state in which the forward limit switch is not operating e When Forward Drive Prohibition Input POT CN1 pin 9 and COM are open Forward rotation prohibited and reverse rotation permitted e When Reverse Drive Prohibition Input NOT CN1 pin 8 and COM are connected Normal state in which the reverse limit switch is not operating e When Reverse Drive Prohibition Input NOT CN1 pin 8 and COM are open Reverse rotation prohibited and forward rotation permitted When set to 0 the Servomotor decelerates and stops according to the sequence set in Stop Selection for Drive Prohibition Input Pn505 For details refer to explanation for Stop Selection for Drive Prohibition Input Pn505 When set to 0 and if both the Forward and Reverse Prohibition Input signals are open a Drive Prohibition Input Error Alarm No 38 will occur When set to 2 a Drive Prohibition Input Error Alarm No 38 will occur when the connection between either Forward or Reverse Prohibition Input and COM is open If a limit switch above the workpiece is turned OFF when using a vertical axis the upward torque decreases and there may be repeated vertical movement of the workpiece If this occurs set Stop selection for Drive Prohibition Input Pn505 to 2 or limit th
117. e Avoid switching more than one internally set speed selection signal at the same time e Set both Soft Start Acceleration Time and Soft Start Deceleration Time so that the speed changes gradually and avoid a sudden change Internal Speed Command Pn304 to Pn311 The internal speed command controls the motor speed according to the internal speed command value set in the parameter The internally set speed is enabled when Command Speed Selection Pn300 is set to 1 or 3 kA N 5 mp D 5 D lt o D mp o e D 2 e o 2 e 9 Up to eight internally set speeds can be set Pn304 No 1 Internally Set Speed Set the first internally set speed 20 000 to r min 20 000 Pn305 No 2 Internally Set Speed Set the second internally set speed 20 000 to r min 20 000 Pn306 No 3 Internally Set Speed Set the third internally set speed 20 000 to r min 20 000 Pn307 No 4 Internally Set Speed Set the fourth internally set speed 20 000 to r min 20 000 Pn308 No 5 Internally Set Speed Set the fifth internally set speed 20 000 to r min 20 000 Pn309 No 6 Internally Set Speed Set the sixth internally set speed 20 000 to r min 20 000 Pn310 No 7 Internally Set Speed Set the seventh internally set speed 20 000 to r min 20 000 Pn311 No 8 Internally Set Speed Set the eighth internally set speed 20 000 to r min 20 000 sBullles Buuinbey s1ejeurejeg z z G OMNUC G5 series Pulse train Inpu
118. 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 the drives i oh 5 0 e D o o 3 e o 2 2 2n o 2 0 4 1 2 Servomotor Installation Conditions I Operating Environment Conditions e The environment in which the motor is operated must meet the following conditions Operating the motor outside of the following ranges may result in malfunction of the motor Suonipuo uormejeisu JOJOWOAJOS Z L v Operating ambient temperature 0 to 40 ox Operating ambient humidity 8596 max with no condensation Operating ambient atmosphere No corrosive gases 1 The operating ambient temperature is the temperature at a point 5 cm from the motor I Impact and Load e The motor is resistant to impacts of up to 98 m s Do not apply heavy impacts or loads during transport installation or removal of the motor e When transporting the motor hold the motor body itself And do not hold the encoder cable or connector areas Failure to follow this guideline may result in damaging the motor e Always use a pulley remover to remove pulleys couplings or other objects from the shaft e After assembly secure cables so that there is no impact or load placed on the cable outlet OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 3 4 System Design Connecting to Mechanical Systems
119. ela SS Mec m 5 5 3 M 8 mecra 15 ow H pE Wero Wi 35 7 4 Wo 12 RESGHPGAXHUUBC WT ofa e waco wa s e 7 4 we i2 RESGHPG2WaMOND V2i ra ao sw Wer Wi 76 3z 8 5 wio 26 RESGHPGSAGMOIBC 13 ra ao S i vaxt wa 70 32 e 5 Wi 25 HESG HPGGOAAWIBC VAS D p s 3 wee m 38 e 7 a we i2 HS8G RPG2OADTSOBEI 5 750w Ho m s Wr we 36 8 T 4 Wo 12 RESGHPGAX7NIBD WT ra ao eft mexi We 76 12 9 5 Wi 20 RESGHHPGGDOUSOND VAi ra ao feof wee We 76 32 8 5 wro 26 RESGHPGSNGSSIBO 13 reps e wena we 7012 WU 26 RESGHPGS2ANS SOBC 145 1 Indicates set bolt n I m gt F D 3 2 9 3 2 o c 3 5 a g 3 o 5 o O 5 D e Outline drawing 2 suoisuauulq JojeJe eoeq vp v c Set bolt AT C2 Key tap dimensions QK 4 b E 1 M depth L 2 The tolerance is h8 for R88G HPGB5OLI or R88G HPG6B5LI OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 45 2 Models and External Dimensions e For 3 000 r min Servomotors 1 to 5 kW Dimensions mm in ii riim fmf fes ne 1 kW eee NE UI 133 120 0135 135 E KA d 98 12 5 Ea rir fresca a mi s ia e ve ws ns Te ww us o wai RE amp G HPGSZAZWKSECI 2 70 es vao ers Tos 5 15 ru se ies s rs Te nesc i
120. filter function is disabled e The instantaneous speed observer function is disabled e The disturbance observer function is disabled 6 14 2 Parameters Requiring Settings 6 14 3 Operating Procedure 1 Set Function Expansion Setting Pn610 oet whether to enable or disable inertia ratio switching function in bit 3 0 Disabled 1 Enabled Set Inertia Ratio 1 Pn004 Set Inertia Ratio 2 Pn613 WO ly Set the Inertia Ratio Switching Input JSEL signal Function Expansion Inertia Ratio Switching ADDIICSEIS kerata Setting Pn610 Input JSEL PP bit 3 0 Inertia ratio Inertia Ratio 1 Pn004 switching function disabled Suh function enabled Inertia Ratio 2 Pn613 P Precautions for Correct Use e Be sure to switch the inertia ratio with the Servomotor stopped e Vibration may occur even when the Servomotor is stopped if the values set in Inertia Ratio 1 and Inertia Ratio 2 differ significantly Before using the Servomotor check to be sure that the vibration causes no problem 6 46 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 15 Feed forward Function 6 15 1 Outline of the Function The feed forward function comes in 2 types speed feed forward and torque feed forward Speed feed forward can minimize the position error and improve the responsiveness in the position control mode by calculating the soeed control command required for operation
121. gain the balance between the position loop gain and the speed loop gain and the inertia ratio Increase the value set in Pn514 Or set Pn514 to 0 to disable the protective functions Set all of the parameters again If this error occurs repeatealy the Servo Drive may be faulty In this case replace the Servo Drive The Servo Drive is faulty Replace the Servo Drive Check for any problems with the switches wires and power supplies that are connected to the Forward Drive Prohibition Input or Reverse Drive Prohibition input pin In particular check to see if the external power supply 12 to 24 for sequence input turns ON too slowly Encoder Initialization An error was detected during encoder Replace the Servomotor Error initialization Encoder 1 rotation An encoder 1 rotation counter error was Replace the Servomotor Counter Error detected An encoder multi rotation counter error Replace the Servomotor was detected Replace the Servomotor Replace the Servomotor Check the external encoder phase A connection Check the external encoder phase B connection Check the external encoder phase Z connection Check the Emergency Stop STOP signal wiring Replace the Servomotor with one that matches the Servo Drive e Turn OFF the power once and turn it ON again e If the error is displayed even after the power is turned ON again the system may be faulty Stop using the system and replace the m
122. gain is 400 0 1 s so be sure to lower the set value for machines with low machine rigidity e Increasing the position loop gain in systems with low machine rigidity or systems with low specific damping frequencies may cause mechanical resonance resulting in an overload alarm e f the position loop gain is low you can shorten the positioning time using feed forward e This parameter is automatically changed by the realtime autotuning function For manual adjustment set Realtime Autotuning Mode Selection Pn002 to 0 Position loop gain is generally expressed as follows 7 Command pulse frequency pulses s Position loop gain Kp 0 1 8 No of error pulses accumulated in error counter Response for Position Loop Gain Changes Position loop gain is high Motor speed Pd Position loop gain is low Time e f the speed loop gain and position loop gain are optimally set the motor operation delays 2 Kp for acceleration and 3 Kp for deceleration in response to command input Motor speed Sesion command N Motor operation A 7 10 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn101 Speed Loop Gain Setting 1 to 32 767 0 1 Hz Default 270 Cycle the range setting power supply 1 The default setting is 180 for a Servo Drive with 200 V and 1 kW or more e This parameter determines speed loop responsiveness
123. gasket between the door and the case Refer to the diagrams e Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting so that they are electrically conductive e The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws T C2 gt e O o 3 o 3 gt e gu o m O o o c lt D o Case A Door B Door side Oil resistant Conductive gasket gasket Control Panel A B Cross section Diagram poyan BuutM L v QAM Oil resistant gasket Conductive gasket GZ 7 N S N S N N N N Door Interior Side OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 25 4 System Design 4 3 2 Selecting Connection Components This section explains the criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable range when selecting the connection components For more details contact the manufacturers directly No fuse Breaker NFB When selecting a no fuse breaker consider the maximum input current and the inrush current e Maximum Input Current e The momentary maximum output of Servo Drive is approximatel
124. i4 o wie 35 RB amp C HPGESAZOSKOSBII 1 20 25 80 190 18 Mi2x25 we T10 22 14 9 wie 35 RGeC HPGOSAZSSKOSBCI 1 25 1 Indicates set bolt A m x eh D 5 D D 5 2 o c 2 et 2 e z 3 e 2 o o 2 0 suoisuauulq JojeJe eoeq vp v c e Outline drawing 2 Set bolt AT Key tap dimensions 2 The tolerance is h8 for R88G HPGBOLI or R88G HPG65LI QK E 1 z M depth L OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 51 2 Models and External Dimensions e For 1 000 r min Servomotors 900 W to 3 kW Dimensions mm Model Outline VR aL HPG32A05900TBLI 01 129 133 120 E1130 135 145 EH 114 84 98 EA 35 os ss uw Gras as ws e ewe w us or ri FeS EPen i ws o L Wi ReSG HPGSOAzINOUTEC 1 1e GS RBSG HPGSOAGGeOOTBEI 1 WS 156 170 Creo 100 us 15 165 122 108 2 55 Pr vs esc HPcsaRosaxoTec 1 us en ceo rs 2o Ts TH us os LVT R8SG HPGSOATIZKOTBE 1 WS 156 170 Creo 100 200 es re 122 108 2 55 LUE RSSGHPGSOAIZKOTBE 1 281 222 200 Creo 2o 200 2m zu 18 ws 12 55 Z5 RBSG HPGBSAZSSKOSBE 1 231 222 200 Creo 2o 200 22m zu 168 165 12 57 SW V8 RBSG HPGEOAOSSKOSBE 1 14s 166170 Creo Teo zoo 165 Tes 122 108 32 8 VT R8SG HPGSOATTSKOSBEI 1 WS
125. indicated with O at the end of the model number The motor dimensions do not change SUOISUSWIG JOJOWOAISS dz rv c OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 39 2 Models and External Dimensions 2 4 3 e Servomotor models R88M KEO5030LI R88M KE10030LI R88M KE20030LI R88M KEA40030LI R88M KE75030H T R88M KE1KOSOLI R88M KE1K5300 R88M KE2K0300 R88M KESKOSOLI R88M KEAKOSOLI R88M KE5K0300 Combinations of Servomotors and Decelerators 3 000 r min Servomotors 1 11 R88G R88G R88G R88G R88G HPG11B05100BO HPG11BO9050BO HPG14A21100BL HPG14A33050BO HPG14A45050BLI for both with Gear ratio 1 9 for both with R88M KE10030D R88M KE10030LI R88G R88G R88G R88G R88G HPG11B05100BO HPG14A11100BL HPG14A21100BO HPG20A33100BO HPG20A45100BLI R88G R88G R88G R88G R88G HPG14A05200BO HPG14A11200BO HPG20A21200BO HPG20A33200BO HPG20A45200BLI R88G R88G R88G R88G R88G HPG14A05400BO HPG20A11400BL HPG20A21400BL HPG32A33400BO HPG32A45400BLI R88G R88G R88G R88G R88G HPG20A05750BL HPG20A11750BO HPG32A21750BL HPG32A33750BO HPG32A45750BLI R88G R88G R88G R88G R88G HPG32A052KOBO HPG382A112KOBO HPG32A211K5BLI HPG50A332KOBLI HPG50A451K5BLI for both with R88M KE2KO030LI for both with R88M KE2KO030LI for both with H88M KE1K50300 for both with R88M KE2KO030LI
126. mH R88D KP30H R88D KP50H 3GSAX AL2110 34 0 A 0 35 mH 4 36 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design I Selecting Other Parts for Noise Resistance This section explains the criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable range when selecting the connection components For more details contact the manufacturers directly e Noise Filters for Motor Output e Use noise filters without built in capacitors on the motor output lines e Select a noise filter with a rated current at least twice the Servo Drive s continuous output current e The following table shows the noise filters that are recommended for motor output lines current OMRON 3G3AX NF001 For inverter output 3GSAX NF002 12A 3G3AX NF003 25 A 3G3AX NF004 3G3AX NF005 3G3AX NF006 100 A Note 1 Motor output lines cannot use the same noise filters for power supplies 2 General noise filters are made for power supply frequencies of 50 60 Hz If these noise filters are connected to PWM output of the Servo Drive a very large about 100 times larger leakage current may flow through the noise filters capacitor This may damage the Servo Drive T C2 gt e O o o 3 gt e gu O m O O c lt D o e External Dimensions e 3G3AX NF001
127. made easily even by those who use a servo system for the first time If you cannot obtain the desired responsiveness with autotuning use manual tuning 9 1 1 Purpose of the Gain Adjustment The Servo Drive must operate the motor in response to commands from the host system with minimal time delay and maximum reliability The gain is adjusted to bring the actual operation of the motor as close as possible to the operation specified by the commands and to maximize the performance of the machine r min 2000 2000 Example Ball screw Gain setting Low 0 0 125 250 375 Position loop gain 20 Speed loop gain 30 Speed loop integral time constant 50 Speed feed forward 0 Inertia ratio 300 Gain setting High Gain setting High feed forward setting 0 0 125 250 375 0 0 125 250 375 Position loop gain 70 Position loop gain 100 Speed loop gain 50 Speed loop gain 80 Speed loop integral time constant 30 Speed loop integral time constant 20 Speed feed forward 0 Speed feed forward 500 Inertia ratio 300 Inertia ratio 300 9 1 2 Gain Adjustment Methods Automatic adjustment Manual adjustment Function Realtime autotuning Manual tuning ae Reference Description page Realtime autotuning estimates the load inertia of the machine P 9 4 in realtime and automatically sets the optimal gain according to the estimated load inertia Manual adjustment is performed if autotuning cannot be P 9 11 exec
128. maximum rotation frais Efficiency rotation maximum inertia thrust Weight Model speed q torque load ee m 1 5 R88G 1 200 2 07 x 10 HPG14A05400BLI 1 11 R88G 5 67 x 10 2 320 HPG20A11400BLI 1 21 R88G 143 23 5 286 68 6 4 90 x 10 800 2 547 HPG20A21400BLI 1 33 R88G 91 34 7 81 182 101 6 6250x10 1 565 6 240 HPG32A33400BLI 1 45 R88G 67 47 4 81 134 138 5 610x108 1 718 6 848 HPG32A45400BLI 750 1 5 R88G 83 1 000 29 5 6 80 x 10 520 1 832 W HPG20A05750BLI 1 11 R88G 273 20 0 88 455 68 7 6 00 x 10 659 2 320 HPG20A11750BLI NO 9 NO 9 N Oo rE I 0 D O e S P O 0 D O D ct O 5 D N ne n5 9 pp L C 1 21 R88G 143 42 3 125 2 300x104 1 367 5448 7 8 3 HPG32A21750B0 3 1 33 R88G 69 7 206 2 270x104 1 565 6 240 7 8 4 HPG32A33750BO e 1 45 R88G 95 0 2812 o79x104 1 718 6 848 7 8 Q HPG32A45750B0 o 11 4 1 000 390x10 889 3542 74 S HPG32A052K0B 1 R88G 29 0 83 340x104 1 126 4488 7 9 HPG32A112KO0B Oo R88G 58 1 87 238 1745 590x104 1 367 5448 7 9 HPG32A211K5B Oo R88G 91 3 87 151 274 2 480x10 4135 14 300 19 0 HPG50A332K0B Oo R88G 1245 87 100 373 9 470x104 4538 15 694 19 0 HPG50A451K5B OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 55 3 Specifications Rated Allowable Allowable Rated maximum rotation tongue Eff
129. monitor Note The encoder temperature value appears only when an incremental encoder is used Reserved Do not set OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation 8 4 3 Parameter Setting Mode 1 Change to the parameter mode display Key operation Display example Description The display is based on Default Display Pn528 setting Press key to change to the monitor mode display Press key to change to the parameter setting mode display OG 2 Set the parameter number Key operation e OO Display example Description Use A and keys to select the desired parameter number e Use to move to the left and change the digit to set e Use A to increase the value of the digit with e Use to decrease the value of the digit with 3 Display the parameter setting Key operation 4 Change the parameter value Display example Description Use key to display the set value Key operation e OS Display example Description Use A and keys to change the value e Use to move to the left and change the digit to set e Use A to increase the value of the digit with e Use S to decrease the value of the digit with Press key to save the new set value e To cancel the change press 69 instead of D to return to the display shown in Step 2 OMNUC G5 serie
130. no Reduce the load inertia exceeds the Servo load by disconnecting the motor from Replace the Servomotor and Drive s allowable value mechanical systems the Servo Drive with larger Capacity ones Pulse signal lines are Check the pulse signal wiring for the Wire correctly connected poorly controller and the Servo Drive Check the command pulse type of the Set the command pulse type of controller and that of the Servo Drive the Servo Drive so that it matches the command pulse type of the controller The gain setting is Perform manual tuning inappropriate Chattering occurs in an Check the Operation Command Wire correctly to prevent input signal to CN1 RUN Error Counter Reset Input chattering ECRST Zero Speed Designation Input VZERO and Internally Set Speed 1 2 VSEL1 VSEL2 signals The Servomotor is The ambient temperature is Check to see if the ambient Lower the ambient temperature overheating too high temperature around the Servomotor is around the Servomotor to 40 C over 40 C or less Use a fan or air conditioner ventilation Try to operate the Servomotor with no Reduce the load overloaded load by disconnecting the motor from Replace the Servomotor and The Servomotor vibrates mechanical systems the Servo Drive with larger during operation capacity ones The Servomotors Power is supplied to the holding brake does holding brake not work Check to see if power is supplied
131. of notch filter 2 P 7 20 Details are the same as those of Notch 1 Frequency Setting Pn205 Notch 2 Width Setting Select the width of the notch filter 2 frequency P 7 21 Details are the same as those of Notch 1 Width Setting 2 Pn206 Notch 2 Depth Setting Select the depth of the notch filter 2 center frequency P 7 21 z Details are the same as those of Notch 1 Depth Setting S8 Pn207 Notch 3 Frequency Set the center frequency of notch filter 3 P 7 21 I Setting Details are the same as those of Notch 1 Frequency Setting S Pn208 Notch 3 Width Setting Select the width of the notch filter 3 frequency P 7 21 Details are the same as those of Notch 1 Width Setting Pn209 Notch 3 Depth Setting Select the depth of the notch filter 3 center frequency P 7 21 Details are the same as those of Notch 1 Depth Setting Pn210 Notch 4 Frequency Set the center frequency of notch filter 4 P 7 21 Setting Details are the same as those of Notch 1 Frequency Setting Pn211 Notch 4 Width Setting Select the width of the notch filter 4 frequency P 7 21 Details are the same as those of Notch 1 Width Setting Pn212 i P 7 21 kA M oV U o PERJ o 3 D D mm o JJ c e CD D a 2 Ko o 6 Applied Functions I Notch Filter Width and Depth e Width Setting This is the ratio of the frequency bandwidth at a damping factor of 3 dB relative to the center frequency when the depth is 0 This value should conform to the left column in
132. power No setting range supply 100 Position Loop Set the first position loop gain 480 0 1 s 0 to Gain 30 000 101 Speed Loop Set the first speed loop gain 9702 0 1 Hz 1 to Gain 32 767 102 Speed Loop Set the first speed loop integral time constant 210 9 0 1 1 to Integral Time ms 10 000 Constant 103 Speed Set the first speed feedback filter in six levels 0 to 5 Feedback Filter Time Constant 104 Torque Set the first torque filter time constant 84 4 0 01 0 to Command ms 2 500 Filter Time Constant 105 Position Loop Set the second position loop gain 570 9 0 1 s 0 to Gain 2 30 000 106 Speed Loop Set the second speed loop gain 2708 0 1 Hz 1 to Gain 2 32 67 107 Speed Loop Set the second speed loop integral time 10 000 0 1 1 to Integral Time constant ms 10 000 Constant 2 108 Speed Set the second speed feedback filter in six 0 to 5 Feedback Filter levels Time Constant 2 109 Torque Set the second torque filter time constant 847 0 01 0 to Command ms 2 500 Filter Time Constant 2 110 Speed Feed Set the speed feed forward amount 300 0 196 0 to forward Amount 1 000 Speed Feed Set the speed feed forward filter time constant 50 0 01 0 to forward ms 6 400 Command Filter 112 Torque Feed Set the torque feed forward amount 0 196 0 to forward Amount 1 000 Torque Feed Set the torque feed forward filter 0 01 0 to forward ms 6 400 Command Filter Gain Switching Se
133. power supply Do not set Pn637 Vibration Detection Threshold Setting 0 to 1 000 0 1 Default Cycle the range setting power supply e Set the vibration detection threshold If torque vibration that exceeds this setting is detected a vibration detection warning occurs e The unit is 0 1 of the rated torque Pn638 Warning Mask Setting Setting 32 768 to 32 767 Default Cycle the d range setting power supply e Seta mask for warning detection If you set the corresponding bit to 1 the corresponding warning detection is disabled For the setting method refer to 10 2 Warning List on page 10 5 SJ9 ouleJeg jeroodg Z Z 7 la Precautions for Correct Use Pn700 to Pn799 and Pn800 to Pn899 are not used Do not change the settings OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 61 7 Parameter Details OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Operation ESS This section gives the operational procedure and explains how to operate in each mode 8 1 Operational Procedure 0 c eee ees 8 2 8 2 Preparing for Operation 000 cee ees 8 3 8 2 1 Items to Check Before Turning ON the Power Supply 8 3 8 2 2 Turning ON the Power Supply 0 0 0 eee eee 8 4 8 2 9 Checking the Display 3 oe nnan ao bu ote eo Ge eed enh ise Sacer iu lotes re tes 8 4 8 3 Using the Front Panel Dis
134. ra eu ede a A c vepudeue eru A 7 55 Operation Operational Procedure emend 8 2 Preparing fOr 07e Iy Li o wsiecvectnecececsiicenesseldecsusssureaseventeouw aa Ea aaa a aaa aal 8 3 8 2 1 Items to Check Before Turning ON the Power Supply ccccccecceceeeeeeeeeseeeeeeeeeeeeseseaeeeeeesees 8 3 8 2 2 Turning ON the Power SUD ly ios conics heck taedet pando esi dta rms e Puce ocdtal ida doaaadadisan diddostaundiasedleeuietens 8 4 8 2 3 GHECK ING TG DIS Ol Ay et 8 4 Using the Front Panel Display erotici cenwessaseeceswesswceuts aaa aE 8 5 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 23 CONTENTS 6 4 MOGG SOU ue 8 6 8 4 1 changing the IV OS 5 iar ca deste eir aar ote amete ducts nd E ih tatto A aed 8 6 8 4 2 MOMOMO terr HEC 8 7 8 4 3 Parameter Sening MOOG snese S a alu desneacei emcee sense 8 19 8 4 4 Parameter Write MOOG acct c 8 21 8 4 5 Axillary RUNCHOM MOG Gx MEME 8 22 HEISE 8 28 8 5 1 Preparatoris Tor Inal Operation ocius dice pa Decius naande cue tentes a ee te uq haa ARN 8 28 8 5 2 Trial Operation in Position Control MOCe ccccccccecceseecceeeceseeseceeeeceeeeeeeeeeeseaesseeeeeeesaaaneees 8 29 Section 9 Adjustment Functions SMEC IE elt occ uesescasecucesacsedcalse a aa Eare a aE 9 2 9 1 1 Purpose of the Gain Adjustment
135. reasons if no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease The noise filter must be installed as close as possible to the entrance of the control panel Wire as shown at the left in the following illustration Q Separate the input and output Q The effect of the noise filter is small AC input AC output AC input Ground AC output Use twisted pair cables for the power supply cables or bind the cables Twisted pair cabl Q O Tine ct Servo Drive Bound cables Servo Drive Cite ED XXXX 9 L2C L2 d L3 4 e Separate power supply lines and signal lines when wiring 4 22 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design e External Dimensions SUP EK5 ER 6 3SUP HQ10 ER 6 53 142 0 Cover gt C2 3 e O o 3 o 3 3 e gu o m O g o O 2 lt D 0 Unit 3SUP HUSO ER 6 3SUP HL50 ER 6B poyan BuutM L v Attachment screw for cover M3 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 23 4 System Design e Circuit Diagram SUP EK5 ER 6 3SUP HQ10 ER 6
136. set to 1 to 3 Q L rd o D lt e oO lt o o D zh o e ct o 5 a BULA Operation when ON value 0 The Zero Speed Designation Input function is disabled 1 The speed command value is set to O 2 The speed command value is set to O The Servomotor enters the position lock mode if the motor speed is equal to or less than the value set in Position Lock Level Setting Pn316 3 The Servomotor enters the position lock mode if the command speed is equal to or less than the value set in Position Lock Level Setting Pn316 i Speed Command Sign Input VSIGN No allocation Soeed Command Sign Input VSIGN There is no default allocation Speed Command Direction Selection Pn301 is set to O disabled by default The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 srejeq 1ndu ou02 9 L e Function This input signal specifies the rotation direction for the speed command When Speed Command Direction Selection Pn301 is set to 1 enabled the rotation direction setting for the internal command speed is disabled Pn301 set Servomotor rotation value direction 0 Forward rotation command 0 to 20 000 r min Forward BE Reverse rotation command 20 000 to O r min Reverse Forward rotation command 0 to 20 000 r min Forward E Reverse rotation command 20 000 to 0 r min Rev
137. speed matches the motor S speed O It turns ON when the difference between o the command speed and the motor o speed falls within the range set in Speed Conformity Detection Range 2 Pn435 si INP2 Positioning Completion This output signal turns ON according to v 5 INPecoM Output 2 the condition set in Positioning Z Completion Condition Selection Pn432 if the position error is equal to or less than the value set in Positioning Completion Range 2 Pn442 WARN1 Warning Output 1 This output signal turns ON according to v v WARN1CO the condition set in the Warning Output M Selection 1 Pn440 WARN2 Warning Output 2 This output signal turns ON according to y v WARN2CO the condition set in the Warning Output M Selection 1 Pn440 P CMD Position Command Status This output signal turns ON when the y P Output positioning command input signal is ON CMDCOM ALM ATB Alarm Clear Attribute This signal turns ON if an alarm occurs V N ALM Output and it can be cleared ATBCOM V CMD Speed Command Status This output signal turns ON when a i v V Output speed command is input in the speed CMDCOM control mode e You cannot change the allocation for servo alarm output ALM The allocation is fixed e Each number enclosed in brackets shows the default pin number allocation This allocation is dependent on the control mode OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s M
138. the Servomotor and Servo Drive to the power supply and Section 4 4 2 connections peripheral equipment Specified installation and wiring conditions must be satisfied particularly for models conforming to the EC Directives Preparing for Check the necessary items and then turn ON the commercial Section 8 8 2 operation power supply Check on the display to see whether there are any internal errors in the Servo Drive Function Set the user parameters related to the functions required for Section 7 settings application conditions Trial operation First check motor operation with no load Then turn the power Section 8 8 5 supply OFF and connect the Servomotor to mechanical systems Turn ON the power supply again and check to see whether protective functions such as the immediate stop and operational limits are functioning properly Check operation at both low speed and high speed using the system without a workpiece or with dummy workpieces Adjustment Manually adjust the gain if necessary Section 9 Further adjust the various functions to improve the control performance Operation Operation can now be started Section 10 When any problems occur refer to Section 10 Troubleshooting and Maintenance 8 2 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation 8 2 Preparing for Operation This section explains the procedure to prepare the Servomotor and Servo Drive f
139. the machine determine the error conditions from the alarm display and operation state identify the cause of the error and take appropriate measures 10 4 1 Error Diagnosis with Alarm Displays Alarm No Cause 11 Control Power Supply Undervoltage 12 Overvoltage 10 10 The voltage across the positive and negative terminals in the control power supply converter dropped below the specified value 200 V products Approx 145 VDC Approx 100 VAC The power supply voltage is low A momentary power interruption occurred Insufficient power supply capacity The power supply voltage dropped because there was inrush current when the main power supply was turned ON e The Servo Drive is faulty circuit fault The power supply voltage exceeded the allowable input voltage range causing the voltage across the positive and negative terminals in the converter to exceed the specified value The power supply voltage is high The voltage was suddenly increased by the phase advance capacitor or the uninterruptible power supply UPS 200 V products Approx 400 VDC Approx 280 VAC e The Regeneration Resistor wiring is broken e The External Regeneration Resistor is inappropriate and cannot absorb all of the regenerative energy The load inertia is too large gravitational torque on the vertical axis is too large or there is some other problem to absorb the regenerative energy e The Servo Drive is faulty
140. the table below e Depth Setting This is the I O ratio at which the center frequency input is completely cut off at a set value of 0 and completely passed at a set value of 100 If the indication unit is dB this value should conform to the right column in the table below Width Depth Setvalue canter nouency Set value eon 0 0 50 0 0 Cut off co 1 0 59 1 40 0 2 0 71 2 34 0 3 0 84 3 30 5 4 1 00 4 28 0 5 1 19 5 26 0 6 1 41 10 20 0 7 1 68 15 16 5 8 2 00 20 14 0 9 2 38 25 12 0 10 2 83 30 10 5 11 3 36 35 9 1 12 4 00 40 8 0 13 4 76 45 6 9 14 5 66 50 6 0 15 6 73 60 00 4 4 16 8 00 70 3 1 17 9 51 80 80 1 9 18 11 31 90 90 0 9 19 13 45 100 100 Passed 0 0 20 16 00 Notch filter frequency characteristics ddl l DoR 0 L HERNE 5 pe RU m EN Depth 0 width 4 10 Depth 50 width 4 SERN Depth 0 width 8 B IL iL H DERRI 30 10 100 1000 Frequency Hz 6 10 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 4 Electronic Gear Function 6 4 1 Outline of the Function e The electronic gear function enables the Servomotor to rotate at the number of pulses calculated by multiplying the position command value by the electronic gear ratio e This function is enabled in position control mode 6 4 2 Parameters Requiring Settings Pn008 Electronic Gear Integer Set the number of
141. to Design the circuit so that the holding brake stopping the Servomotor causes the power supply to the holding brake to turn OFF when it holds a load 10 18 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 Troubleshooting and Maintenance Measures Probable cause Check items The load inertia is too large Check for the following e Is the load too high Symptom Review the load conditions and replace the Servomotor and the Servo Drive with proper ones The Servomotor does not stop or is hard to stop even if the Operation Command RUN signal is turned OFF while the Servomotor is rotating e Is the motor speed too high ee E The mechanical installation Check to see if the Servomotor Retighten the mounting screws of the Servomotor is mounting screws are loose The stop circuit is faulty The Servomotor generates abnormal noise or vibration improper Check to see if the coupling is Center the coupling installed eccentrically Check to see if the coupling is Adjust the coupling balance unbalanced There is a problem with the Check for noise or vibration around bearings the bearings Contact the OMRON dealer or sales office The gain setting is Perform manual tuning inappropriate The value set in Speed Feedback Filter Time Constant Pn103 is inappropriate The control I O signal cable is affected by noise because it does not m
142. to switch the I O if the decimal nif n point is located on the right of the I O signal A l 2 Switching between Input and Output Press 2 to select the signal No that you want to monitor nU B c inputsignal ot 10 ouput signal n Input signal n output signal 133 fius oE H0 A ouput signa Input signal output signal 8 10 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation Reserved Do not set Alarm Factor History Alarm cord indicates no alarm Current alarm I History O Latest J History 13 Oldest e The alarm history function enables you to trace the history of up to 14 most recent alarms including the current alarm e The display will flash if an alarm occurs e f an alarm that is recorded in the history occurs the alarm code for the current alarm and for history 0 will be the same e st will flash on the display if Safety Input Error Alarm No 30 0 occurs e I O 2 D o D 3 a 9po N JOHUO N c v 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 11 8 Operation e Alarm Codes and Description Alarm Alarm COE Description EE Description 11 Control Power Supply Undervoltage 26 Overspeed 12 Overvoltage 27 Electronic Gear Setting Error 13 Main Power Supply Undervoltage 34 Overrun Limit Error 14 Overcurrent 36 Parameter Err
143. when the condition set in the Warning Output Selection 1 Pn440 Warning Output Selection 2 Pn441 is met sirejeq 1ndino 031002 8 1 i Position Command Status Output P CMD No allocation Position Command Status Output P CMD No allocation Position Command Status Output Common P CMDCOM This is the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 e Function This output signal turns ON when the positioning command input signal is ON Alarm Clear Attribute Output ALM ATB No allocation Alarm Clear Attribute Output ALM ATB No allocation Alarm Clear Attribute Output Common ALM ATBCOM This is the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 e Function This signal turns ON if an alarm occurs and it can be cleared OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 31 3 Specifications i Speed Command Status Output V CMD No allocation Soeed Command Status Output V CMD No allocation Soeed Command Status Output Common V CMDCOM This is the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 e Function This output signal turns ON when
144. working about 1 5 seconds after the MPU starts initializing itself Be sure that all I O signals that are connected to the amplifier especially the Forward Reverse Drive Prohibition Input etc are established before any protective function starts working You can increase this time with Pn618 Power Supply ON Initialization Time OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications I Encoder Outputs Phase A B and Z Pin 21 A Pin 22 A Pin 48 B Pin 49 B Pin 23 Z Pin 24 Z e Function e These pins output the phase A phase B and phase Z encoder signals of the Servomotor e The output pattern conforms to RS422 e The line driver ground wires for the output circuit is connected to the signal ground SGGND without insulation e The maximum output frequency is 4 Mpps quadrupled Q L rd o D lt e oO lt o o D zh O e o 5 a f Brake Interlock Output BKIR Pin 11 Brake Interlock Output BKIR Pin 10 Brake Interlock Output Common BKIRCOM This is the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 e Function The Brake Interlock Output outputs the external brake timing signal according to the values set in the Brake Timing when Stopped Pn437 and Brake Timing during Operation Pn438 sjrejeq 1ndino jo3002
145. 0 200 W 400 400 W 750 750 W 900 900 W 1K0 1 kW 1K5 1 5 kW 2K0 2 kW 3K0 3 kW 4KO 4 kW 5K0 5 kW 40 10UOAJ9S Z Z Z Rated Rotation Speed 10 1 000 r min 20 2 000 r min 30 3 000 r min Applied Voltage H 200 VAC Options Blank Straight shaft B With brake O With oil seal S2 With key and tap OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 5 2 Mod 2 2 3 Decelerator for G5 Series Servomotor Bac Flang 11B 14A L160 20A L190 32A L1120 50A L 170 65A L 230 Gear 05 09 11 20 21 25 do 45 els and External Dimensions Decelerator Backlash 3 Arcminutes max R88G HPG14A05100SBJ BEEN klash 3 Arcminutes max e Size Number 140 Ratio 1 5 1 9 only for flange number 11A 1 11 except for flange number 65A 1 20 only for flange number 65A 1 21 except for flange number 65A 1 25 only for flange number 65A 1 33 1 45 Applicable Servomotor Capacity 050 100 200 400 750 900 1KO 1K5 2KO 3KO 4KO 5K0 Servomotor Type No 50 W 100 W 200 W 400 W 750 W 900 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW 3 000 r min Cylinder type S 2 000 r min Servomotors T 1 Backlash B 3 Options 000 r min Servomotors Arcminutes max Blank Straight shaft J With key OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual
146. 0 72 8 5 Mio 20 ReBG HPGSZATT2KOSBCI i i 16 50 82 14 wext m6 70 14 9 55 MIO 20 RB amp C HPGEOAZISKOBC 1 27 ie 50 sz Mexi6 me 70 14 9 55 Mio 20 REBG HPGSDAGS2KOSBI 1733 jis 40 s2 1 vex Me 70 T2 8 5 MIO 20 RBSC HPGS2AOSSKOBL U5 2 kW is 40 e2 1 Mexie me 70 12 8 5 Mio 20 REBG HPGSZATT2KOSBC 1711 16 50 82 14 waxt6 Me 70 14 9 55 MIO 20 RB amp C HPGEOAZISKOBC 1 27 is 50 sz 14 Mexi6 we 70 14 9 55 Mio 20 REBG HPGSDAGS2KOSBLI 1733 jis 40 2 11 vexas Me 70 T2 8 5 MIO 20 RBSC HPGS2AOS4KOBLI 175 3 kW fie 50 sz 14 Mex25 me 70 14 9 55 Mio 20 RBBG HPGSOATISKOBG 171 16 50 82 14 vexas we 70 14 9 55 MIO 20 RB amp C HPGSOAZISKOSBHI 1 27 25 80 150 18 Mex25 we 10 22 i4 9 Mie 35 REGG HPGGSAZSSKOSBLI 1725 16 50 82 14 MI2x25 M6 70 14 9 55 M10 20 R88G HPG50A055KOSBLI 1 5 4 kW 6 50 sz Wizxz5 Me 70 14 9 55 Mio 20 REBG HPGSDATTSKOSBCI 1711 25 80 130 18 Mi2x25 we 110 22 i4 9 wie 35 RGEC HPGESAZOSKOSBII 1 20 a5 80 130 18 Mizx25 we 10 22 i4 9 Mie 35 REBG HPGGSAZSSKOSBLI 1725 16 50 82 14 wr2x25 Me 70 14 9 85 MIO 20 RBSC HPGSOADSSKOSBLI U5 5kW 6 50 sz 14 wiexas Me 70 14 9 55 Mio 20 REBG HPGSDATTSKOSBCI 1711 25 80 130 18 Mi2x25 we 110 22
147. 0 06 JE QA540 08 2 The XB contact is used to turn ON OFF the electromagnetic brake 3 The connection to MING input terminal is disabled suoieouioeds yun ejed OAIOS 9 Note 1 Do not connect wires to unused terminals 2 OV and common terminals are connected internally 3 The applicable crimp terminal is R1 25 3 round or fork type OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 101 3 Specifications XW2B 40J6 9A Below are the specifications of the Servo Relay Unit for connecting the following OMRON Programmable Controller models CJ2M CPU31 CPU32 CPU33 CPU34 CPU35 for 2 axes e CJ2M CPU11 CPU12 CPU13 CPU14 CPU15 for 2 axes e External Dimensions CJ2M CPU31 CPU32 CPU33 CPU34 CPU35 side CJ2M CPU11 CPU12 CPU13 CPU14 CPU15 side X axis Servo Drive side Y axis Servo Drive side a 42 8 46 ru e The pitch of terminals is 7 62 mm 3 102 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e Wiring The Servo Drive phase Z output signal is wired to the origin signal in this terminal block 3 C3 X axis X s X X X Y axis Y i y Y i y i Origin axIS axis axis axis Origin axis aXIS Y AXIS Y axis szav ve iz Ove MING ALM BKIR Hed ssh oun RUN MING ALM BKIR
148. 0 r min Servomotors 200 VAC The following graphs show the characteristics with a 3 m global non flexible cable and a 200 VAC input R88M KE1K020H 1 kW R88M KE1K520H 1 5 kW R88M KE2K020H 2 kW N m N m N m 21 5 2300 Power supply voltage dropped by 10 10 0 2000 15 414 3 14 3 2200 Power supply 20 voltage dropped by 10 6 0 40 28 6 2000 28 6 2200 Power supply oltage dropped by 10 15 0 s Momentary operation range 10 17 16 Momentary operation range 4 71 Momentary operation range a 9 55 9 55 DA 15 C2 o D lt e 3 o o D o o fo et o gt D 5 11 0 ME ME Lu 0 1000 2000 3000 r min 0 1000 2000 3000 r min R88M KE3K020H 3 kW R88M KE4K020H 4 kW R88M KE5K020H 5 kW N m Power supply N m N m voltage dropped by 10 1900 57 3 2100 Power supply 70 1900 71 6 2100 Power supply voltage 50 743 0 M Momentary operation lt range 35123 9 Continuous operation range 0 1000 2000 3000 r min 0 1000 2000 3000 r min Momentary operation range Momentary operation range 14 3 25 SOlSI9 oEJEU C E 0 1000 2000 3000 r min Note 1 The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also p
149. 0 r min for detection OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 5 11 pueuJulo enbJo jur enbJo z ON ZzGud jur enbJo ON Oud uonoejes iur enbJo Zgud jur enbJjo ojeuiuuoue eogud ojeuiuoue JojeJeuunwN OSJOABY Z LOUd UOn 08 bLOUd uoneJeuoDe es ngd Dunes esuodsey gud o 3u09 juan jnding asind Jepoou3 JOVI vc9ud UIES c9ud JOAJOSGO eoueginisiq 01109 8q peed Z J9yi4 enbio 60 Lud Usos paeas JOyI4 enbJo 0 Lud Joyi4 enbao Dumes uoisuedx3 uonounJ o 9udg Z JUBJSUOD OUI 19313 oeqpee peeds g0 Lud 9 peeds Lzud uejsuo eui JoI4 xoeqpee4J peeds eorud 1 peeds o zud udad y US ON ZLZud J93JI4 uonoejeg peeds 9 peeds gozud User s Manual ives 5 Basic Control Mode 5 2 4 Parameter Block Diagram for Speed Control Mode udad uoioN 60ZUd ujdeq Z YOON 90ZUd udad YOION 0ZUd UPIM T U9JON L L CUd UPIM U9JON 80cUd UIPIM Z YDION GOTUd UPIM L YDION ZOCUd y Aouanbel 4 Q Zud c ou nb ly 0ZUd c Aouanbel4 QZud Aouanbel4 0zUd uonpejes 19 e ndepy 00ZUd J93IIJ YOON SIS J S H cz Lud 9 8 7ZLUd oul ejeg Lz rud epo OZLUd c Bumes YL Lud Bulyoyims ules c ones erau uonoejes JJ ones eaul Z 1uejsuo auui eJ69juj z ules peeds juejsuo auul e169 UJ ules poeds O4JUOD poods UONIQIG 9s 9 9 G09Ud uonpeJ pJewoJ 809Ud ues zLLUd NJEA 19540 09
150. 0 r min or lower and changes to the after stopping status following operation is based on the after stopping status regardless of the motor speed 7 46 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details e Immediate Stop Operation when an Alarm that Supports Immediate Stop Speed r min 30 r min Occurred Motor speed Speed command Speed at which Servomotor is judged as stopped Time Alarm No alarm generation An alarm that supports immediate stop occurred Torque Limit Normal torque limit Normal torque limit Immediate Stop Torque Pn511 Shock mitigation during immediate stop Overspeed For normal operation For normal operation protection threshold Overspeed Detection Level Setting at Immediate Stop Pn615 Protection from runaway at immediate stop Set Overspeed Detection Level Setting at Immediate Stop Pn615 to a value equal to or greater than the value set in Overspeed Detection Level Setting Pn513 Immediate Alarm state Action after stopping Normal operation command from host slap operation Dynamic brake or free run Immediate stop time p e f the actual rotation speed is not lower than 30 r min even when the time set in Alarm Detection Pn511 Setting range Allowable Time Setting Pn614 has elapsed an alarm state will occur immediately In addition if an alarm that does not support the immedia
151. 00 r min R88M KE3K030H 3 kW N m Power supply voltage dropped by 10 30 28 6 Momentary operation range 1519 55 0 1000 2000 3000 4000 5000 r min maximum speed is also possible However doing so will reduce the output torque 2 Ifthe motor power cable exceeds 20 m the voltage drop will increase and the momentary operation range will become narrower OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual C2 o D lt e 3 o o D o o fo et o gt D SOlSI9 oEJEU Z 3 Specifications Use the following Servomotors in the ranges shown in the graphs below Use outside of these ranges may cause the Servomotor to generate heat which could result in encoder malfunction e R88M KE05030H e R88M KE10030H e R88M KE20030H 50 W With oil seal 100 W With oil seal 200 W With oil seal Continuous torque ambient temperature Continuous torque ambient temperature Continuous torque ambient temperature Rated torque ratio 76 Rated torque ratio 96 Rated torque ratio 96 Without brake Without brake 95 With brake 5 DITS Ambient Ambient 0 10 20 30 40 C 10 20 30 40 Ee erature 0 10 20 30 40 egpaar e R88M KE40030H e R88M KE40030H e R88M KE40030H 400 W Without oil seal 400 W With oil seal 400 W Without oil seal Continuous torque ambient temperature Continuous torque ambient temperature
152. 000 EA 38 Pn108 Speed Feedback Filter Time Constant 2 1 87 0 0 ojojoj o Pn109 Torque Command Filter Time Constant 2 30 25 20 16 13 Pn110 Speed Feed forward Amount 300 Pni11 Speed Feed forward Command Filter 50 50 ona Torque Feedtowardamount 0 o 0 0 o o oTo Pn113 Torque Feed forward Command Filter 0 0 o o oO oO Oo 0 Pni14 Gain Switching Input Operating Mode 1 1 1 1 1 1 1 1 Selection Pn115 Switching Mode in Position Control Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 30 Pn116 Gain Switching Delay Time in Position Control Pni17 Gain Switching Level in Position Control 50 50 Pn118 Gain Switching Hysteresis in Position 33 33 33 33 33 33 33 3 Control Pn119 Position Gain Switching Time Pn120 Switching Mode in Speed Control EEENEEERBSEBREREEEN Pni21 Gain Switching Delay Time in Speed Control pni22 Gain Swiching Levein Speed Goniol o o 9 9 9 9 9 Pn123 Gain Switching Hysteresis n Speed Conta 0 o o o 0 o o m s G nsEwwTme 0 9 0 9 9 9 9 Pn607 Torque Command Value Offset Estimated torque command additional value CO CO 3 P N J D 2 3 gt c o P c 3 5 O o o Pn608 Forward Direction Torque Offset Estimated forward torque compensation value Pn609 Reverse Direction Torque Offset Estimated reverse torque compensation value Pn610 0 Function Expansion Setting 0
153. 002 7 3 Regeneration Absorption Capacity 4 41 Regeneration Resistor Selection PnO016 7 9 Regenerative Energy Absorption 4 39 Replacement procedures cccccsseseeeeeeeeeeeeeeeeeeeaeas 10 4 Replacing the Servo Drive cccccccccssssseeeseeeeeeeeeeees 10 4 Replacing the Servomotor eeessssssss 10 4 Resistance to Bending of Global Flexible Cable 3 62 Reverse Direction Torque Offset Pn609 7 55 Reverse Drive Prohibition Input NOT 3 21 Reverse External Torque Limit Pn526 7 52 Rotation Direction Switching PNOOO 7 2 Rotation speed characteristics 1 000 r min Servomotors cccceeeeeeeeeeeeeeseeeeees 3 52 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Rotation speed characteristics 2 000 r min Servomotors uses 3 49 Rotation speed characteristics 3 000 r min Servomotors sssssss 3 43 Rotation Speed for Motor Rotation Detection Prid 96 aeaa ined ecmudbim i ad buee 7 39 S S curve Acceleration Deceleration Time Setting dele MERE RRRE 7 28 SEMI FAT 5 resist tai teu uU aU M MIU 1 10 Sequence Output srera eaae adii 3 27 Servo Drive and Servomotor combination 2 11 Ser
154. 0H KP50H 3 to 5 kW e Wall Mounting External Dimensions A m x eh D 5 D o 5 2 o c 5 ex 2 e z 3 z o o 2 0 SUOISUSWIG SAUG OM9S r c Mounting dimensions 6 M4 Il 4 220 240 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 29 2 Models and External Dimensions e Front Mounting Using Front Mounting Brackets External Dimensions R2 6 i oO O o NI ws wo CN NI N Y R2 6 Mounting dimensions 6 M4 L1 4 228 240 Rectangular hole UMS o e 16 100 H 132 Rectangular hole dimensions are reference values OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions 2 4 2 Servomotor Dimensions 3 000 r min Servomotors 200 V e 50 W 100 W without Brake R88M KE05030H S2 KE10030H S2 n A m x eh D 5 D D 5 2 o c 2 ex 2 e z 3 e 2 o o 2 0 Encoder connector Motor connector 3h9 M Key groove P9 M3 depth 6 6 2 SUOISUSWIG JOJOWOAISS dz rv c Dimensions mm T R88M KE050300 26 5 R88M KE100300 92 68 46 5 Note The standard models have a straight shaft Models with a key and t
155. 0H R88D KP50H e Main Circuit Terminal Block Specifications L1 Main circuit power supply R88D KPOH 3 to 5 kW L2 input 3 phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz L3 L1C Control circuit power R88D KPLIH Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz L2C supply input B1 External Regeneration Normally B2 and B3 are shorted Do not short B1 and B2 Doing so may B3 Resistor connection result in a malfunction terminals If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 B2 NC Do not connect U Motor connection Phase U_ These are the output terminals to the Servomotor V terminals Phase V Be sure to wire them correctly Phase W la Precautions for Correct Use e Tighten the terminal block screws to a torque of 0 75 N m M4 or 1 5 N m M5 e f the torque for terminal block screws exceeds 1 2 N m M4 or 2 0 N m M5 the terminal block may be damaged e Tighten the fixing screw of the terminal block cover to a torque of 0 2 N m M3 e Tighten the ground screws to a torque of 0 7 to 0 8 N m M4 or 1 4 to 1 6 N m M5 e Do not connect any External Regeneration Resistors between B1 and NC 3 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 1 4 Control I O Connector Specifications CN1 3 Specifications Control I O Signal Connections and External
156. 0J A11 1m XW2Z 100J A1 1 For CJ1W NC113 XW2B 20J6 1B 0 5 m XW2Z 050J A14 For CJ1W NC213 NC413 XW2B 20J6 2B 0 5 m XW2Z 050J A15 For CJ1W NC133 XW2B 20J6 1B 5 m XW2Z 050J A18 For CJ1W NC233 NC433 XW2B 20J6 2B 0 5 m XW2Z 050J A19 For CJ2M CPU31 CPU32 CPU33 CPU34 CPU35 0 5 m XW2Z 050J A33 For CJ2M CPU1 1 CPU12 CPU13 CPU14 CPU15 1m XW2Z 100J A33 se ge IPON eoeq ejeudueg pue QLI S e z 0 XW2B 20J6 8A XW2B 40J6 9A For FQM1 MMP22 General Purpose I O XW2B 80J7 12A 0 5m XW2Z 050J A28 1m XW2Z 100J A28 XW2Z 200J A28 XW2Z 050J A30 XW2Z 100J A30 XW2Z 200J A30 Special I O OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 19 2 Models and External Dimensions i Control Cables Specifications Model Specified cables for Position Control Unit for line driver output 1 axis XW2Z 100J G9 CJ1W NC234 NC434 XW2Z 500J G9 XW2Z 10MJ G9 Specified cables for Position Control Unit for open collector output 1 axis XW2Z 100J G13 CJ1W NC214 NC414 XW2Z 300J G13 Specified cables for Position Control Unit for line driver output 2 axes XW2Z 100J G1 CJ1W NC234 NC434 XW2Z 500J G1 XW2Z 10MJ G1 Specified cables for Position Control Unit for open collector output 2 axes XW2Z 100J G5 CJ1W NC214 NC414 XW2Z 300J G5 General purpose Control Cables with connector on one end R88A CPG001S R88A CPG002S Connector Terminal Block Cables XW2Z 100J B24 XW2Z 200J B24 Connector Term
157. 1 Hs 40 82 11 vexas Me 70 T2 8 5 Mio 20 RGBG HPGS2AOSKOBCI V5 He s sz vexas Me 7o 14 9 S5 Mio 20 RSSG HPGSDATISKOBCI 1 11 He so sz w vexas Me 70 14 o 55 Mio 20 RGeG HPGSOAOSSKOBEI 15 SKW Hi so sz i4 vexa Me 70 4 9 55 Mio 20 REBG HPGSDATISKOBCI 111 1 Indicates set bolt A m x eh D 5 D D 5 2 o c 2 et 2 e z 3 e 2 o o 2 0 suoisuauulq JojeJe eoeq vp v c e Outline drawing 2 OC1 E Set bolt AT 4 Z2 Key tap dimensions QK b E 1 M depth L 2 The tolerance is h8 for R88G HPGBOLI or R88G HPG65LI OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 47 2 Models and External Dimensions e For 2 000 r min Servomotors 1 kW Dimensions mm Outline n meo fuu fin fcn c2 proa os me os E P1 re 1 kW EL E NE 107 133 120 1130 135 145 i5 114 84 98 125 35 rr ass ssn rasa r pur ss vm usas ae es s wr 6 os n V21 R8BG HPGS2AZTIKOSBE 1 107 198 120 tri30 195 148 rs va e4 95 125 35 Note 1 The standard shaft type is a straight shaft 2 Amodel with a key and tap is indicated with J at the end of the model number the suffix shown in the box Example H88G HPG32A053KO0BJ 3 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the correspo
158. 1 000 r min Speed I a 4 gt Acceleration time Deceleration time Pn314 S curve Acceleration Deceleration Time Speed Setting 0 to 1 000 Default Cycle the range setting power supply e Set the pseudo S curve acceleration deceleration value to add to the speed command to enable smooth operation This is useful for applications where impact may occur due to a large change in acceleration or deceleration when the Servomotor starts or stops with linear acceleration or deceleration 1 Set the acceleration time and the deceleration time for the basic straight line portion in Pn312 and Pn313 2 Set the acceleration deceleration time in units of 2 ms for the S curve portion in Pn314 as the duration centered at the inflection point of the linear acceleration deceleration S S KE ta Pn312 ta ar i td Pn313 td ta ts Pn314 gt 7 ts and ae ts Use the following settings 7 28 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn315 Zero Speed Designation Selection Speed Setting 0 to 3 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 The Zero Speed Designation Input function is disabled 1 The speed command is 0 when Zero Speed Designation is input Refer to Figure A 2 The speed command is 0 when Zero Speed Designation is input The Servomotor falls in a servo loc
159. 14 wera me m 14 9 S5 mi0 20 ReBG HPGOATIZKOTSG Mint 25 e0 wo 18 wiexes wa ro zz T4 o mie S5 ReBG HPGSOAIZKOTBC V2 2s s i wioxes me Tio 22 T4 o mie 35 RBBGHPGESA2SSKOSBEI 125 He so 14 wera Me 7 14 9 55 mio 20 RBBG HPGSOADSSKOSBO 5 S 1e s0 e 14 wera me m 14 9 S5 mi0 20 ReBG HPGEOATISKOSBH VIT 25 80 wo i Wzxz Me ro z2 T4 o mie S5 ReBG HPGESAZOSKOSBE 1720 25 80 90 i8 wera MB ro 22 T4 o mie S5 RBBG HPGESA2SSKOSBCI 125 1 Indicates set bolt n I m x D 3 D 9 3 2 Oo c 3 5 ae g 3 o o o 5 D SUOISUBWIG J01eJ9 e99q p p Z OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 53 2 Models and External Dimensions I Backlash 15 Arcminutes max e For 3 000 r min Servomotors Dimensions mm 50 W 1 5 R88G VRSF05B100CJ 67 5 5 Reems es fatate e 8 S as oS 375 ResGvRSFiSBI0C 780 S2 40 82 46 60 50 45 10 3 Les rave vasrassioocs 780 o2 40 sa 46 wn 8 45 70 3 100W 1 5 R88G VRSFO5B100CJ 675 32 40 52 46 60 50 ReSG VRSFOSBIO0C 675 32 40 52 46 60 50_ Fins Pese VASF SBTC 780 se 40 s2 46 60 59 45 10 125 R amp amp GVRSFSBIOOC 780 32 40 82 46 60 50 45 10 20w 5 RBSGVRSFOSBan0CJ 725 s2 60 52 70 60 60 45 10 1e R amp amp GRSFOS
160. 14 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design I R88D KP20H e Main Circuit Connector Specifications CNA L1 Main circuit power supply R88D KPLIH 2 kW L2 input 3 phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz L3 L1C Control circuit power R88D KPLIH Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz L2C supply input e Motor Connector Specifications CNB Motor connection Red These are the output terminals to the Servomotor terminals Be sure to wire them correctly Green Yellow This is the ground terminal Ground to 100 Q or less xternal Regeneration Resistor Connector Specifications CNC gt N 5 e eizx ic ITI B1 External Regeneration Normally B2 and B3 are shorted Do not short B1 and B2 Doing so may B3 Resistor connection result in malfunctioning terminals If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 SUOIOSUUNYD 1010 N PUB nolo UIEN z c r NC Do not connect la Precautions for Correct Use Do not connect any External Regeneration Resistors between B1 and NC OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 15 4 System Design I R88D KP30H KP50H e Terminal Block Specifications L1 L2 L3 L1C L2C B1 B3 B2 O eiz c Main circuit power
161. 1750BLI 1 33 R88G HPG32A33750BLI 1 45 R88G HPG32A45750BLI OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions Specifications Servomotor Model Gear ratio capacity 1 kW 1 5 R88G HPG32A052KOBLI 1 11 R88G HPG32A112KOBLI 1 21 R88G HPG32A211K5BLI 1 33 R88G HPG50A332KOBLI 1 45 R88G HPG50A451K5BLI 1 5 kW 1 5 R88G HPG32A052KOBLI 1 11 R88G HPG32A1 12KOBLI 1 21 R88G HPG32A211K5BLI 1 33 R88G HPG50A332KOBLI 1 45 R88G HPG50A451K5BLI 2 kW 1 5 R88G HPG32A052KOBLI 1 11 R88G HPG32A1 12KOBLI 1 21 R88G HPG50A212KO0BLI 1 33 R88G HPG50A332KOBLI 3 kW 1 5 R88G HPG32A053KOBLI 1 11 R88G HPG50A1 13KOBLI 1 21 R88G HPG50A213KO0BLI 4 kW 1 5 R88G HPG32A054KOBLI 1 11 R88G HPG50A1 15KOBLI 5 kW 1 5 R88G HPG50A055KOBLI 1 11 R88G HPG50A1 15KOBLI n2 e o 2 e m i D o se qe J PON J01eJ9 o2eq rv e c Note 1 The standard shaft type is a straight shaft 2 Amodel with a key and tap is indicated with J at the end of the model number the suffix shown in the box Example R88G HPG11A05100BJ OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 13 2 Models and External Dimensions e For 2 000 r min Servomotors Specifications Servomotor capacity 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW Model Gear ratio 1 5 R88G HPG32A053KOBLI 1 11 R88G HPG32A1 12KOSBLI 1 21 R88G HPG32A211KOSBLI 1 33 R88G HPG50AS332KO
162. 2 Models and External Dimensions 2 2 4 Decelerator Backlash 15 Arcminutes max R88G VRSFO9B100CJ a Decelerator for G5 Series Servomotor Backlash 15 Arcminutes max N E z e O 0 D fo Q Q o c j oy 7 Gear Ratio 05 1 5 09 1 9 15 1 15 25 1 25 Flange Size Number B 152 C L178 D L198 Applicable Servomotor Capacity 050 50 W 100 100 W 200 200 W 400 400 W 750 750 W xew seinuiuloJVy G yseoeg 101e49 o99Q v Z Z Backlash C 15 Arcminutes max Options J With key OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 7 2 Models and External Dimensions 2 3 Model Tables 2 3 1 Servo Drive Model Table Specifications Model Single phase 3 phase 200 VAC 100 W R88D KP01H 200 W R88D KP02H 400 W R88D KP04H 750 W R88D KP08H 1 kW R88D KP10H 1 5 kW R88D KP15H 3 phase 200 VAC 2 kW R88D KP20H 3 kW R88D KP30H 5 kW R88D KP50H 2 3 2 Servomotor Model Tables i 3 000 r min Servomotors e Without brake Model Specifications With incremental encoder Straight shaft with key and tap 200 V R88M KE05030H S2 R88M KE1K030H R88M KE1K030H S2 1 5 kW R88M KE1K530H R88M KE1K530H S2 Note Models with oil seals are also available 2 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions e With brake Model Specifications With incremental encode
163. 29 6 Applied Functions i Gain Switching Setting for Each Control Mode The available gain switching condition settings vary depending on the control mode to be used Set parameters for each control mode e Position Control Mode In the position control mode the available settings depend on the value set in Switching Mode in Position Control Pn115 V Enabled Disabled Gain Gain Gain Switchin Position Gain Pn115 RR ER Switching Switching i Switching Switching condition Hysteresis set value Delay Time Level Pn118 Time Pn116 Pn117 Pn119 p lui digi us Ca a n 2 Switching using gain y switching input GSEL 3 Amount of change in torque v v v v command 0 0596 0 0596 AUS ENTIENDEN NE NN EE Command speed y N N r min r min 6 Amount of position error V V N N Pulse Pulse meeewwsms Positioning completion v output INP1 OFF 9 Actual motor speed y omn omn 10 Combination of position y command input and speed e Speed Control Mode In the speed control mode the available settings depend on the value set in Switching Mode in opeed Control Pn120 0j gt CO N V Enabled Disabled Gain Switching Switching condition Delay Time Gain Switching Level Gain Switching Hysteresis Pn121 eae Pn123 pe Ie NENNEN NEL INNEN aD ee NN 2 Switching using gain switching input GSEL 3 Amount of change in torque V y N command 0 0596 0 05
164. 4 e Standard type 9 Wm e au Position Control Unit Cable NC XW2Z D AI ji XW2Z 0 B Position Control NC Unit Programmable CJ1W NCOO3 Controller CS1W NCLICI3 SYSMAC CJ1 CS1 C200HW NCEIEI3 External Signal Built in pulse I O function type ERII po CJ2M CPUS3L I CJ2M CPU10 Pulse I O Modules CJ2M MDL Only CJ2M CPU Unit with Unit A Version 2 0 or later can be mounted to enable pulse l O function Built in pulse I O function type Pulse Train Commands CP1H CP1L Position Control Servo Relay Units Unit Cable NC for FQM1 Servo Drive Cable XW2Z LI A XWZ8 80 12A XW2Z LI BLI FQM1 MMP22 Pulse train Output 0 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual DORT Tao BJ ais USB communications e OMNUC G5 series Pulse train Input Type AC Servomotor R88D KP 200 VAC Peripheral Devices e Reactors 3G3AX DL 3G3AX AL External Regeneration Resistors R88A RR OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions AC Servomotor Motor power signals Power Cables e Global Non Flexible Cables e Without Brake R88A CALILILILILIS e With Brake R88A CALILILILILIB e Global Flexible Cables Without Brake R88A CALILILILILISR Wi
165. 4 28 6 Momentary operation s range 1519 55 0 1000 2000 3000 4000 5000 r min Note 1 The continuous operation range is the range in which continuous operation is possible Continuous operation at the e R88M KE10030H 100 W Torque N m 0 95 Momentary 0 5 operation range 0 32 Continuous 0 16 operation range 0 1000 2000 3000 4000 5000 Speed r min e R88M KE75030H 750 W Power supply voltage Torque dropped by 10 N m 8 0 7 1 Momentary operation range 4 0 4 0 24 L ETTALL T E ET E 3 0 Continuous operation range 1320016600 O 1000 2000 3000 4000 5000 Speed r min R88M KE2K030H 2 kW N m Power supply voltage dropped by 10 20 419 1 Momentary operation k range n 6 37 6 37 0 1000 2000 3000 4000 5000 r min R88M KE5K030H 5 kW N m 40 4138 2 2800 38 2 3100 Power supply G NM ropped by 1096 Momentary operation range i 12 7 0 1000 2000 3000 4000 5000 r min e R88M KE20030H 200 W Power supply voltage Torque dropped by 10 N m gt 1 91 1 91 4500 14 E eon bed A ict i id RR RAS 1 5 10 MCCC E AE AE EPEE E E v 1 2 0 64 Continuous operation range 4500 0 1000 2000 3000 4000 5000 Speed r min R88M KE1K030H 1 kW N m Power supply voltage dropped by 10 1049 55 Momentary operation range 31348 3 18 Continuous operation range 0 1000 2000 3000 4000 50
166. 57 12A Japan Aviation Electronics OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 65 3 Specifications Encoder Cables Global Flexible Cable R88A CRGBLICR e Cable types Incremental encoders For 3 000 r min Servomotors of 50 to 750 W Model Length L UT eu Weight R88A CRGBOO3CR 7 5 dia Approx 0 2 kg R88A CRGBO05CR Approx 0 4 kg H88A CRGBO10CR da 300m Approx 0 8 kg H88A CRGBO15CR 305m 305m Approx 1 1 kg R88A CRGBO20CR 8m 8m Approx 1 5 kg Connection configuration and external dimensions Servomotor side Servo Drive side R88M KEL R88D KPL e Wiring Servo Drive side Servomotor side Sf Q hm 6 99 JD FG jShel AWG24 x 4P UL20276 Servo Drive side connector Servomotor side connector Connector model Connector model Crimp type I O connector Molex Japan 172160 1 Tyco Electronics AMP KK Connector pin model Connector pin model 50639 8028 Molex Japan 170365 1 Tyco Electronics AMP KK 3 66 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Encoder Cables Global Flexible Cable R88A CRGCLINR e Cable types Incremental encoders For 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW and 1 000 r min Servomotors of 900 W to 3 kW Model Length L Durterclameton of R88A CRGCO03NR 7 5 dia R88A CRGCOO5NR R
167. 6 43 6 12 2 Parameters Requiring Settings llle 6 43 6 12 0 gt OPelallOn chs ancien Pies he ee Ve IUe eee bal woo deae ero m en puse 6 43 6 13 Friction Torque Compensation Function 6 44 621341 OUTING OF Ihe FUNCHON iss ances ota cade E Lua Pa Ca eo de e gg Spass 6 44 6 13 2 Parameters Requiring Settings 0 0 0 ccc eee 6 44 6 I9 9 Operation Example sud dee tee eee ieee tie 6 45 6 14 Inertia Ratio Switching Function lll e 6 46 6 14 1 Outline of the Function llli 6 46 6 14 2 Parameters Requiring Settings llle 6 46 6 14 3 Operating Procedure 0 e 6 46 6 15 Feed forward Function ellleelreen 6 47 6 15 41 Outline OT The UNCON ss sick ed ebore a edite CN M a eae SEC Ee a 6 47 6 15 2 Parameters Requiring Settings llli 6 47 6 15 3 Operating Procedure 0 0 es 6 48 6 16 Instantaneous Speed Observer Function 6 50 oos lt QUUINEOF ING FUNCION eserse raid rod dro ob Y rot HG Ey potu ds 6 50 6 16 2 Parameters Requiring Settings llle 6 50 6 16 3 Operating Procedure ecsetet mae a e es 6 51 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 1 Damping Control 6 1 1 Outline of the Function If the tip of the mechanical unit vibrates you can use the damping control f
168. 6 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation Front Panel Unlock Use the following procedure to unlock the front panel 1 Unlock the front panel lock Key operation Display example Description From the auxiliary function mode alarm reset display press A key to switch to the front panel lock mode display Press key to switch to the front panel lock mode display Press and hold A key for 5 seconds or more until appears The number of dashes on the display increases The front panel has been unlocked This indicates a normal completion If is displayed the front panel is not unlocked Turn OFF the Servo Drive and retry DOOD 2 Return to the auxiliary function mode display Key operation Display example Description Press key to return to the auxiliary function mode display T I O o D o D 3 a po uoun Ayelixny S 7 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 27 8 Operation 8 5 Trial Operation When you finished installation wiring and switch settings and confirmed that the status was normal after turning ON the power supply perform trial operation The main purpose of trial operation is to confirm that the servo system operates in an electrically correct method If an error occurs during trial operation refer to Section 10 Troubleshooting and Maintenance to eliminate th
169. 7 Communications connector for the computer suonounJ eAug OMS z e L OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 1 5 1 Features and System Configuration 1 4 System Block Diagram R88D KP01H KP02H KP04H supply main circuit control Internal Display and control MPU amp ASIC setting circuit power l area supply Position speed and force calculation control area e PWM control Control Encoder Analog USB interface monitor OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 1 Features and System Configuration R88D KPOSH KP 10H KP15H Internal Regeneration Resistor 1 I o lt 0 pg o 3j w o o 9 D S 3 U V BEN oa o0 w Eum IE am r4 l1 l SW power Spel main Relay Regeneration Overcurrent Current detection circuit control control detection Internal Display and control MPU amp ASIC setting circuit power T l area supply Position speed and force calculation control area PWM control HHHEBEBH 0 O nD Axial flow fan Control Encoder Analog USB interface monitor OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 1 7 1 Features and System Configuration R88D KP20H Internal Regeneration Resistor SW power supply main circuit control Internal Display and control MPU amp ASIC setting circu
170. 71 7 22 6 80 48 4 x 104 49 2 x 104 0 96 170 167 0 63 0 64 21 1 470 490 Approx 20 0 Approx 23 5 KP50H OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e Brake Specifications Model R88M 200 VAC Item Unit KE90010H KE2KO00H KE3K010H Brake inertia 1 35 x 104 4 7 x 104 4 7 x 104 V Excitation voltage 24 VDC 10 Current consumption at 20 C 0 79 10 1 3 10 1 4 10 Release time ms 25 max imc Backlash 1 Allowable work per braking J 1176 1372 1372 Allowable total work J 1 5 x 10 20 9 x 108 2 9 x 106 Allowable angular rad s 10 000 acceleration Brake life 10 million times min Rating Continuous Insulation class Class F 1 These are the values when the Servomotor is combined with a Servo Drive at normal temperature 20 C 65 The momentary maximum torque indicates the standard value 2 Applicable load inertia e The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate Servomotor and confirm that operation is possible e The dynamic brake is rated for short term operation Use it only for emergency stopping Configure the system to stop for at least three minutes after the dynamic brake operates Otherwise the dynamic brake circuits may fail or the dy
171. 765 14 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change e 200 W 400 W with Brake H88M KE20030LI B S2 KE400300 B S2 Encoder connector Brake connector Motor connector SX all E QD a zs qp LM NI ij i Shaft end specifications with key and tap be gt 30 20 200W 4h9 200 W n ASO SE 5h9 400 W A 22 5 400 W X Key groove P9 N Ct M4 depth 8 200 W a 2 M5 depth 10 400 W j i Dimensions mm Model s R88M KE200300 BO 11 R88M KE400300 BO 14 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 32 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions e 750 W without Brake R88M KE75030H S2 Encoder connector Motor connector M f k 112 2 255 en 86 7 Moo 35 Shaft end specifications with key and tap A m x eh D 5 D o 5 2 o c 5 et 5 e z 3 z o o 2 0 6h9 co 1 Key groove P9 x depth 10
172. 8050S H88A RR08050S R88A RR22047S R88A RR22047S R88A RR080100S R88A RR080100S R88A RR2204781 R88A RR22047S1 Resistance 50 2 100 Q 25 Q 50 Q 94 Q value Connection method Regeneration absorption 560 W capacity Model R88A RR22047S R88A RR22047S R88A RR22047S R88A RR220478S1 R88A RR220478S1 R88A RR220478S1 Resistance 23 5 Q 47 Q 23 5 Q value Connection method Regeneration absorption 1 440 W biis 20 Q 10 Q 10 Q Connection method 1 Select a combination that has an absorption capacity greater than the average regeneration power Pr 2 Do not use a combination with resistance values lower than the allowable minimum regeneration resistance of each drive For information on the allowable minimum regeneration resistance refer to 4 4 2 Servo Drive Regeneration Absorption Capacity on page 4 41 Precautions for Safe Use Surface temperatures on regeneration resistance can reach 200 C Do not place objects that tend to catch fire nearby To prevent people from touching them install a cover that enables heat dissipation 4 44 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Basic Control Mode DERE This section provides the outline of functions and settings for each control mode 5 1 Position CORON ccris s ra esca OR a Rc aded Ea eos Qe Dax rac n d 5 2 5 1 1 Outline of the FUNCION sue sedo EROR Ie eke E Re Gale ERO ra quia 5 2 5 1 2 Parameters Requiring SettingS
173. 828282 NOT NC NOT NC Pn401 Input Signal Selection 2 00818181 POT NC POT NC e Refer to 6 9 Sequence I O Signals on page 6 33 for details about Input Signal Selection 1 to 10 6 38 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions I Drive Prohibition Input Selection Pn504 Install limit switches at both ends of the axis to prohibit the Servomotor from driving in the direction specified by the switch This can be used to prevent the workpiece from driving too far and thus prevent damage to the machine Set the operation to be performed upon forward and reverse drive prohibition input Drive Prohibition Input Description Selection Pn504 0 Forward and Reverse Drive Prohibition Input function enabled The function operates as follows when a signal is input When Forward Drive Prohibition Input is shorted Normal state in which the forward limit switch does not operate When Forward Drive Prohibition Input is open Forward rotation prohibited and reverse rotation permitted When Reverse Drive Prohibition Input is shorted Normal state in which the reverse limit switch does not operate When Reverse Drive Prohibition Input is open Reverse rotation prohibited and forward rotation permitted The Servomotor decelerates and stops according to the sequence set in Stop Selection for Drive Prohibition Input Pn505 For details refer to explanation for Stop Selection for Drive Prohibitio
174. 83 Analog Monitor Output Setting Pn421 7 35 Applicable Standards oia erede ota pee ed re pes 1 10 B Brake Cable Connector 5st aer rc EE RR eure rud 3 82 Brake Cables Global Flexible Cable 2 17 3 79 Brake Cables Global Non Flexible Cable 2 16 3 78 Brake Interlock ccccceccccceeceeceeeeeceeeeceeseeseeeesaeeeeaes 6 18 Brake Interlock Output BKIR 3 29 Brake Release Speed Setting Pn439 7 41 Brake Timing during Operation Pn438 7 40 Brake Timing when Stopped Pn437 7 39 C Cable specifications seeeeseseeeeeeeeene 3 62 Changing the Mode esee 8 6 Si eK Me HIE EN 4 29 Combinations of Servomotors and Decelerators 2 40 Command Pulse Input Maximum Setting Pn532 7 54 Command Pulse Input Selection Pn005 7 4 Command Pulse Mode Selection Pn007 7 5 Command Pulse Prohibition Input Read Setting PAS E MC 7 50 Command Pulse Prohibition Input Setting Pn518 7 50 Command Pulse Rotation Direction Switching Selection PhOUb ia iia as ses a ba e e eek 7 4 Command Speed Selection Pn300 7 26 Index 2 Connection Examples esses A 2 Connector specifications eeeeeseseeeeeeeee 3 62 Con
175. 84 ms by default Increase the value to decrease vibration However increasing the value results in slower response oet the value to approximately 1 25 of the value set in Speed Loop Integral Time Constant Pn102 The torque command filter also reduces vibration due to the machine rigidity This parameter is related to Speed Loop Gain Pn101 so increasing the Torque Command Filter Time Constant value does not reduce vibration if the value set in Pn101 is too large If the Servomotor is subject to mechanical resonance with ball screws or other parts use the notch filter parameters Pn201 Pn204 Pn207 and Pn210 or enable the adaptive filter to reduce the vibration sDunmes oiseg 6 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 17 9 Adjustment Functions Other Adjustments Overshooting may appear in the speed response if a torque loop is saturated due to reasons such as a short acceleration time and a large load torque If overshooting occurs increase the acceleration time to prevent saturation of the torque loop Command operation pattern Overshooting occurs by the delay from the command Acceleration torque required to accelerate according to the command pattern Momentary maximum torque value for the motor output OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 Troubleshooting and Maintenance pM This
176. 88A CRGCO10NR a m R88A CRGCO15NR p m R88A CRGC020NR EE 8m Connection configuration and external dimensions Servo Drive side Weight Approx 0 4 kg Approx 0 5 kg Approx 0 9 kg Approx 1 3 kg Approx 1 6 kg Servomotor side R88D KPL lt im L L3 c3 D R88M KEDI eu e Wiring Servo Drive side Servomotor side Symbol Symbol E5V 1 DIUEHKE H E5V EV 1 Blue XE Pink Black Q BAT 3 T BAT SOE a T BAT 5 Denm AWG24 x 4P UL20276 Servo Drive side connector Servomotor side connector Connector model Straight plug model Crimp type I O connector Molex Japan N MS3106B20 29S Connector pin model Japan Aviation Electronics 50639 8028 Molex Japan Cable clamp model N MS3057 12A Japan Aviation Electronics OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual q e D o D M 2 O o 3 5 O o o D o D ct o 5 D suoneoyioeds ejqe2 1epoou3 Z S 3 Specifications 3 5 3 Motor Power Cable Specifications These cables are used to connect the Servo Drive and Servomotor Select an appropriate cable for the Servomotor la Precautions for Correct Use If the cable is used in a moving environment use a global flexible cable Power Cables without Brake Global Non Flexible Cable R88A CAGALIS e Cable types For 3 000 r min Servomotors of 50 to 750 W Model Length L MU ol
177. 9 S eye 38 31 3 42 S EO a ey o ae o CON o T3 T 1 Pee 1 71 T o foe OrengelBlack 2 20 Grylak 2 22 4 Bueioek 9 24 eee Oo Ce eo ee Boe f gt i ee oervo Relay Unit Connector Connector socket model XG4M 3030 Strain relief model XG4T 3004 Cable AWG28 x 13P UL2464 Drive connector Connector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 109 3 Specifications I Servo Drive Cables XW2Z L1J B31 Below are the specifications of the cable that connects the Servo Drive with a Servo Relay Unit Model XW2B 20J6 8A XW2B 40J6 94 e Cable types Model Length L Outer diameter of sheath Weight XW2Z 100 B3 8 1 dia Approx 0 1 kg XW2z 200J B31 Approx 0 2 kg Connection configuration and external dimensions Servo Drive side fi m F mE N R88D KPLI 9 Servo Drive side E L Servo Relay Unit side XW2B 20J6 8A o XW2B 40J6 9A e Wiring Servo Relay Unit side Blue Red 1 1 Blue Black 1 Pink Red 1 Servo Relay Unit Connector Connector socket model XG4M 2030 Strain relief model XG4T 2004 Cable AWG28 x 10P UL2464 Drive connector Connector plug model 10150 3000PE Sumitomo 3M Connector case mod
178. A 2 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Example 2 Connection with SYSMAC CJ1W NC113 213 413 gt Main Circuit Power Supply Q NFB OFF ON MC1 MC2 E Main Circuit 3 9 6 0 S ep eae Contactor D d eue Surge Suppressor 3 phase 200 to 240 VAC 50 60 Hz S G 615 5 TOR ee S i 7 m is x T 6 6 S SSS Z G dt pe CJ1W NC113 213 413 ingen hie R88D KP D MEN E A 24 V Power Supply for Output 0 1 o Reactor BRENNEN NN EE dc s ON Ja mi Kais CCW With resistance A8 HAFTEN MC1 MC Pulse CCW Without resistance wj CW Output CW With resistance Hp Xt a yew CW Without resistance EE RENI NENNEN NN BENE X axis Error Counter Reset Output LA9 1 ECRST X axis Origin Line Driver Input Aig 14 a3 az a o AREE PT WBO X axis Positioning Completion Input 3 ONP Ro OoOo INPCOM 24VIN oe SaaS odoo O X axis External Interrupt Input X axis Origin Proximity Input A17 RESET X axis CCW Limit Input A19 ax EL BKIRCOM X axis CW Limit Input A18 ALMCOM X axis Immediate Stop Input A16 I KH ALM tt vc eT BKIR a ee aca Shell FG es EE NENNEN HEN ENC xB Brake Cable ES E 24 VDC Precautions for Correct Use e The above example shows an example of connecting a Servo Drive with 3 phase 200 VAC main circuit power supply inputs Use a power s
179. A 5 Appendices I Example 5 Connection with SYSMAC CP1H YLILIDT D Main Circuit Power Supply o 1 L X1 MC1MC2X1 EIU Main Circuit Contactor Surge Suppressor 3 phase 200 to 240 VAC 50 60 Hz SQ Servo Error Display Noise Filter Ground to CP1H Y20DT D 100 Q or Less R88 KPO m ft ff LLL Reactor LLL EELH Be LLL ae ke Output Terminal Block 0 1 4 s coW G Mc wc Pulse CWO YO fa Output CWo pecwor OC pe ew CCWO 6 w NEUEN LI ee IN CNN Origin Search 0 word 101 bit 02 ECRST R88M KE 24 VDC Input Terminal 7 Z z COM for word 101 bit OU to 03 BEEN D i 25 SGGND Pulse 0 Origin Input Signal word 0 bit 00 ELE COMOCH 24VIN 24 VDO EC EC 10 BKIRCOW A L136 ALMCOM OO hp JALM toe et iLI O OO Bar E T y Brake Cable T 24 VDC Precautions for Correct Use e Note that incorrect connection of signal lines may cause damage to the Servo Drive and connected units e Leave unused signal wires disconnected and open e Use a separate power supply 24 VDC for the brake independent of the 24 VDC control power supply e Recommended surge absorbing diode RU2 Sanken Electric Co Ltd or equivalent OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Example 6 Connection with SYSMAC CP1H XLILIDT D CP1L LILILIDT D
180. A CNU11C Encoder Connector CN2 R88A CNW01R Power Cable Connector for 750 W max R88A CNGO1A Brake Cable Connector for 750 W max R88A CNGO1B Servo Relay Units for CN1 Specifications Model Servo Relay Unit For CS1W NC113 NC133 XW2B 20J6 1B For CJ1W NC113 NC133 For C200HW NC113 For CS1W NC213 NC413 NC233 NC433 XW2B 40J6 2B For CJ1W NC213 NC413 NC233 NC433 For C200HW NC213 NC413 For CU2M CPU31 CPU32 CPU33 CPU34 CPU35 XW2B 20J6 8A For CJ2M CPUI1 1 CPU12 CPU13 CPU14 CPU15 XW2B 40J6 9A OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions d Servo Relay Unit Cables Servo Drive Specifications Model Servo Drive Cable For NC Unit XW2B L1J6 L1B XW2Z 100J B25 For CQM1 XW2B 20J6 3B XW2Z 200J B25 For CJU2M CPU31 CPU32 CPU33 CPU34 CPU35 XW2Z 100J B31 For CJ2M CPU1 1 CPU12 CPU13 CPU14 CPU15 XW2Z 200J B31 XW2B 20J6 8A XW2B 40J6 9A For FQM1 MMP22 XW2B 80J7 12A n2 e O 2 o m o D o XW2Z 100J B26 XW2Z 200J B26 i Servo Relay Unit Cables Position Control Unit Specifications Model Position Control For CS1W NC113 C200HW NC113 0 5m XW2Z 050J A6 Unit Cable XW2B 20J6 1B 1m XW2Z 100J A6 For CS1W NG213 NC413 C200HW NC213 NC413 0 5m XW2Z 050J A7 XW2B 20J6 2B 1m XW2Z 100J A7 For CS1W NC133 XW2B 20J6 1B 0 5 m XW2Z 050J A10 1m XW2Z 100J A10 For CS1W NC233 NC433 XW2B 20J6 2B 0 5 m XW2Z 05
181. AC Servomotors and Servo Drives User s Manual Applied Functions SSS This section provides the outline and settings of the applied functions such as damping control electronic gear gain switching and disturbance observer 6 1 Damping Control ce pzdiemS EXER Ex CRR eor EUR S NEAR REQUE ee 6 3 6 1 1 Outline orte FUNCION cuori be oae e Re CE tet re oer S 6 3 6 1 2 Parameters Requiring Settings llle 6 3 5 2 Adaptiv FING pP EIER Ere us EDE EE ee ated ud 6 6 6 2 1 Outline of the Function s s 255 55 EE tad REIS EIS dik oe tO eek ee 6 6 6 2 2 Parameters Requiring Settings 0 0 ccc es 6 7 6 3 NOICIHEIMIGIS osos pd ae DERE AREE ERAT AREE Bed Bee pad EE 6 8 6 3 1 Outline of the Function llle III 6 8 6 3 2 Parameters Requiring Settings 0 0 ccc ees 6 9 6 4 Electronic Gear Function 6 uoo REIR cee eden tea e ee x 6 11 6 4 1 Quilineso Fhe FUNCION xu ioa eode bete SCR Pe Ret ae hee de 6 11 6 4 2 Parameters Requiring Settings llle 6 11 6 4 3 Operation Example 0 0 0000s 6 13 6 5 Encoder Dividing Function 00 eee eee eee 6 15 6 5 1 Qutlnesorthie Fulco uem droite tele e bake eke eke eke soe ee 6 15 6 5 2 Parameters Requiring SettingS llle 6 15 5 6 Brake InteHO6K iu wcities eet als ACE wad arate GRO EROR WOU oleae P4 ene D aic 6 18 6 6 1 Outline Of the UB COE a a an oa den ee oa C mee BO S xor 6 18 6 6 2 Parameters Requiring Settings llle
182. Although the setting unit is command units you can change it to encoder units in Position Setting Unit Selection Pn520 However note that the unit for error counter overflow level is changed as well If the parameter value is set too small the time until the INP signal is output may increase or chattering may appear in the output signal Positioning Completion Range settings do not affect on the final positioning accuracy Accumulated pulse Pn431 Pn432 Positioning Completion Condition Selection Position Setting 0 to 3 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 The positioning completion output turns ON when the position error is equal to or less than Positioning Completion Range 1 Pn431 1 The positioning completion output turns ON when there is no position command and the position error is equal to or less than Positioning Completion Range 1 Pn431 2 The positioning completion output turns ON when there is no position command the zero speed detection signal is ON and the position error is equal to or less than Positioning Completion Range 1 Pn431 3 The positioning completion output turns ON when there is no position command and the position error is equal to or less than Positioning Completion Range 1 Pn431 Then the ON status is held until the time set in Positioning Completion Hold Time Pn433 expires and after that the ON OFF status is determined according
183. Analog Monitor Select the type of analog monitor 2 0 to 21 2 Selection The set values for this parameter are the same as those of Analog Monitor 1 Selection Pn416 419 Analog Monitor Select the output gain of the analog monitor 2 0 to 2 Scale Setting 214 748 364 421 Analog Monitor Select the m e monitor output voltage 0 to 2 Output Setting m e Output range 10 to 10 V Data output Positive or negative Output range 0 to 10 V Bnet aeree Output range 0 to 10 V leaner rosie rane 422 423 eaaa P E 424 Reserved Domtset o 0 0 425 Reserved Donotset 0 0 426 Do not set 00 0 E 427 Do not set BE LS 428 Do not set 0 0 429 Do not set i ae a ng 430 Do not set 00 0 x 431 Positioning Set the positioning completion range as the 10 Command 0 to number of allowable pulses uit 262 144 Completion 432 Positioning Select the judgment condition for the positioning 0 to 3 Condition The positioning completion output Selection turns ON when the position error is equal to or less than Positioning Completion Range 1 Pn431 1 The positioning completion output turns ON when there is no position command and the position error is equal to or less than Positioning Completion Range 1 Pn431 2 The positioning completion output turns ON when there is no position command the zero speed detection signal is ON
184. B oOB o OB OOD 0 ON oOB o OB OOP 0 OB oOB o OB OOP o OB oOB o OB OOP o OB oOB o OB OOP o OB oOB o OD OOF o O oOB o OB 0OB oj OB OOD o Of OO o e oof o OB OOf 0 OD oOB o OB oof o OD oOB o OB OOD o OD oOB o OB oof o OD oOB o Yes Xie F2 NB Controller side Y axis Servo Drive X axis Servo Drive general purpose I O 3 104 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e System Configuration Example for FOM1 Motion control module Flexible Motion Controller FQM1 MMP22 FQM1 o o o D lt e JJ o 9 c 3 9 2 a O Q oO D 92 o D O 9 5 a Special I O connection cable XW2Z L1J A30 General purpose O connection cable XW2Z L J A28 Servo Relay Unit cable XW2Z L1J B26 suoneouioedgs yun Aey omas 9 OMNUC G5 Series Pulse train Input Type Servo Drive R88D KPL OMNUC G5 Series Pulse train Input Type Servomotor R88M KEL e Terminal Block Connection e The terminal block signal names vary depending on the Controller to be connected e The terminal block has 80 terminals pins O to 79 arranged as shown e The following shows the signal names and standard connection wiring schematics O N co Upper terminal block Lower terminal block o Off C080 Ofled Ofi o 19 OMNUC G5 series Pulse train Input Type AC Servomotors and
185. Because the life expectancy data on resistance to bending is intended for reference only use the cable with a sufficient margin e he durability of more than 20 million times of use refers to the number of times which the core conductor provides electrical continuity without causing cracks and scratches that can have functional impact on the sheath which does not cover the disconnection of shielded wire e Malfunction or grounding fault due to dielectric breakdown may occur if cables are used at a radius smaller than the minimum bending radius I Moving Bend Test Bending radius R 30 times min 3 62 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications I Encoder Cables Minimum bending Moe radius R R88A CRGBOOOcR 45 mm R88A CRGCOOONR 45 mm 1 OOO represents a number between 003 and 020 Power Cables without Brake Minimum bending oue radius R R88A CAGADIOMSR 45 mm R88A CAGBOOOSR 90 mm R88A CAGDOOOSR 100 mm 1 OOO represents a number between 003 and 020 Power Cables with Brake R88A CAGBOOOBR 90 mm R88A CAGDOOOBR 100 mm OOO represents a number between 003 and 020 Brake cable Minimum bending radius R 45 mm Model R88A CAGALILILDIBR 1 LILILI represents a number between 003 and 020 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 63 ei O o
186. Brake Interlock rout Gammon Ts Lipo 2 o eo Oi Forward Direction Pulse Output iz CW PULS FA everse Pulses with 1 6 kO econ Ee am CW PULS FA Feed Pulses or Phase A 1 red CCW SIGN FB Forward Pulse ipi ATUM won sg EXC 6 CCW SIGN FB _ Direction Signal or Phase B 1 Encoder PhaseA 21 Encoder Phase A Output Encoder Phase A LEX LXI Encoder Phase A Output Enc Pha EE 23 e Encoder Phase B Output Encoder Phase B 22 HHY XL 48 B Encoder Phase B Output Encoder Phase 2 25 H H Encoder Phase Z Output Encoder Phase Z 24 Encoder Phase Z Output n um a 24VIN 24 V Power Supply for Control Error Counter Reset Output EG ECRST Error Counter Reset Input RUN Output 11 1T 3 29 RUN Operation Command Input IGeneral purpose Output a a a Pamping Filter Switching _ mer Switching Alarm Reset Output 12 N GE EN RESET AlarmReset_ Torque Limit Output a3 H TLSEL Torque Limit Switching Positioning Completion Input 1x 5 PHONE E O TH 38 iWecoM ipu General purpose Input 6 READY Servo Ready LLL tH REDYCOM Completed Output AM Alarm Input Agmen wt A Alarm Output pM NO Ro mj ALMCOM AI SEN Output S ee sou A SGCND p e PG ee Shell 4 Power Supply for Outpu 4 V GND for Output nput Common Forward Direction Pulse Output with 1 6 kQ resistor Reverse Direction Pulse Output
187. C Speed control Reserved Control Cause mode number Related No control Description mode Flashing An alarm or warning All An alarm or warning occurred occurred 0 No cause was detected Normally the Servomotor is rotating Main power cut off EX The main power supply to the Servo Drive is not turned ON 2 RUN input signal not The Operation Command RUN signal is not connected to COM turned ON 3 Drive prohibition input When Pn504 is 0 drive prohibition input enabled not enabled e The forward drive prohibition input POT is open and the speed command is in the forward direction e The reverse drive prohibition input NOT is open and the speed command is in the reverse direction 4 Torque limit value too The torque limit value set in No 1 Torque Limit Pn013 or No 2 Torque small Limit Pn522 whichever is enabled is set to 5 or less of the rated torque 6 IPG input enabled IPG is open with Command Pulse Prohibition Input Setting Pn518 set to 0 enabled 7 Command pulse input e Command pulse input is not correct frequency too low e Connection with the input selected in PnOO5 is not correct e The input pattern settings selected in Pn006 and Pn007 do not match etc Due to these causes the number of command pulses per command cycle is decreased to 1 pulse or less 8 ECRST input enabled Error Counter Reset Input ECRST is connected to COM with Error Counter Reset Condition Selection Pn517 set to O
188. C Servomotors and Servo Drives User s Manual A 29 Appendices Special Setting Parameters Default Setting SITE Description power setting range supply 600 Reserved Do not set o 0 7 602 i o Set the detection level for the speed deviation r min 0 to which is the difference between the internal 20 000 position command speed and the actual speed Speed Error Setting 604 Jog Speed Set the command speed for trial JOG operation 300 r min 0 to speed control 500 605 Gain 3 Effective Set effective time of Gain 3 for 3 step gain 0 1 0 to Time switching ms 10 000 606 Gain 3 Ratio Set Gain 3 as a multiple of Gain 1 100 50 to Setting 1 000 607 Torque Set the offset torque to be added to torque 100 to Command commands 100 Value Offset 608 Forward Set the value to be added to torque commands 100 to Direction for operation in the forward direction 100 Torque Offset 609 Reverse Set the value to be added to torque commands 100 to Direction for operation in the reverse direction 100 Torque Offset 610 Function Set the function extension value The set value 0 to 63 Expansion varies depending on the function Setting 611 Electric Current Make fine adjustment to electric current 100 50 to Response response The default setting is 100 100 Setting 613 Inertia Ratio 2 Set the value for switching the inertia ratio 250 0 to 10 000
189. C200 885 50 60 78 70 9 70 ee 17 375 R amp amp GRSFiSC2000 100 0 50 60 78 70 90 70 62 17 v R amp amp GVRSF2SC2000 100 0 50 60 78 70 90 70 62 17 A00W 1 5 REBG VASFOSCAOOCS 885 60 60 78 70 90 70 62 17 V8 R amp GVRSFOSO40C 885 50 60 78 70 90 70 62 17 ins RasG vAsrisca00c 1000 50 60 78 70 90 70 lee 7 3 v ReaG vasrescao0cs 100 0 5o 60 78 70 9 70 62 7 8 6 10 750W v5 RS8GNRSFOSC7SOO 935 50 80 78 90 0 70 62 7 3 10 ABBG VASFOID750G 975 6 80 98 90 115 90 75 8 5 10 375 REG VRSFiSD S0C 110 0 61 80 98 90 115 90 75 18 5 10 vas RS amp GVRSF28D7S0C 110 0 61 80 98 90 115 90 75 18 5 10 Note 1 The standard shaft type is a shaft with key 2 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor EN pe s 5 5 5 NEN 3 5 rae afe F3 o ae sfe ae EJEA Ec DEE 3 3 5 3 For Servomotors with a key remove the key before use Outline drawing 4 Z2 available depth L oD4 D3h7 q 2 54 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions Dimensions mm 7 e fae T iN Cs riz ao wa ws ve ie 16 4 4 Z5 RGVPSREBNOGI T vs sow QUE 4 4
190. Connector terminal 50011 8000 Molex Japan GND suoneouioeds 10128uu02 10ju00JA Boyeuy 0L 1 Monitor Output Circuit Servo Drive 1 2 AM1 AM2 Monitor equipment OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 33 3 Specifications 3 1 11 USB Connector Specifications CN7 Connecting the Servo Drive with a computer via the USB connector enables operations such as parameter setting and changing control status monitoring alarm status and history checking and parameter saving and loading d Symbol Name Function and interface VBUS USB signal terminal Used for computer communications Reserved for Do not connect manufacturer use 5 SENGND Signal ground Signal ground la Precautions for Correct Use AJOJN D Use a commercially available USB cable that is shielded equipped with a ferrite core for noise immunity and supports USB2 0 The Mini B type USB cable can be used OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications 3 2 Overload Characteristics Electronic Thermal Function An overload protection function electronic thermal is built into the Servo Drive to protect the Servo Drive and Servomotor from overloading If an overload occurs first eliminate the cause of the overload and then wait at least 1 minute for the motor temperature to drop before turning ON the power again If
191. Continuous torque ambient temperature Rated torque ratio Rated torque ratio Rated torque ratio With brake Without brake With brake Without brake 0 0 90 50 Ambient Ambient Ambient 0 10 20 30 40 perature 0 10 20 30 40 rcp O 10 20 30 40 EC orate R88M KE40030V1 R88M KE1K530H R88M KE2K030H 400 W With oil seal 1 5 kW 2 kW Continuous torque ambient temperature Without brake Pasa tio 6 Without brake Rated torque ratio ated torque ratio o q o With brake Rated torque ratio 96 With brake 100 With brake 100 79 50 100 85 Ambient Ambient O 10 20 30 40 C 0 10 20 30 40 ale 0 e R88M KE3K030H e R88M KE4K030H e R88M KE5K030H 3 kW 4 kW 5 kW Without brake IN Without brake Rated torque ratio Rated torque ratio 96 With brake Rated torque ratio With brake 400 With brake 70 ee Ambient 0 10 20 30 40 emperature 0 10 20 30 40 cea 0 10 20 30 40 fempetatire C 3 44 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications 2 000 r min Servomotors Model R88M 200 VAC Item Unit KEIK5200H KE2K020H Rated rotation speed 2 000 Maximum rotation speed 3 000 Momentary maximum N m 14 3 21 5 28 6 Momentary maximum A rms 40 49 current Rotor inertia Without brake kg m 4 60 x 104 6 70 x 104 8 72 x 10 With brake kg m 5 90 x 104 7 99 x 10 10 0 x 104 Applicable loa
192. Control I O Connector R88A CNU11C This connector is connected to the Servo Drive s control I O connector CN1 Use this connector when preparing a control cable by yourself For wiring methods refer to Control Cable Specifications on page 3 84 This connector is soldered e External Dimensions Connector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M LO I Encoder Connectors These connectors are used for encoder cables Use them when preparing an encoder cable by yourself For wiring methods refer to Encoder Cable Specifications on page 3 64 e External Dimensions R88A CNWO 1R Drive s CN2 side This connector is soldered Connector plug model 55100 0670 Molex Japan OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications R88A CNGO2R Servomotor side Use the following cable e Applicable wire AWG22 max e Insulating cover outer diameter 1 75 mm dia max Panel mounting hole 23 T7104 Pu T e D o D M 2 O o 3 3 D O o o D o D ct o D Connector housing model 1 The applicable panel thickness is 0 8 172160 1 Tyco Electronics AMP KK to 2 0 mm Contact socket model 170365 1 Tyco Electronics AMP KK suoneooads 1012euUO2 p g g OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 81 3 Specification
193. Dividing Numerator Setting 1 to 262 144 Default 2 500 Cycle the range setting power supply e When Encoder Dividing Denominator Pn503 is set to 0 the encoder resolution is used as the denominator for dividing the pulse output Pn011 x4 if host system uses quadruple process Encoder pulse gt gt Output pulse Encoder resolution Pn012 Encoder Output Direction Switching Selection All Setting 0 to 1 Default Cycle the Required range setting power supply e Select the combination of the phase B logic and the output source for pulse output select Encoder as the output source Explanation of Set Values Phase B Set value logic Output source Motor forward command Motor reverse command 0 Not reversed Encoder PhaseA _ _ PaseA l L PaseB L PaseBl l Heversed Encoder Phase A LH Phase A LH PaseB l _ Phase B 2 Heserved 3 Heserved Pn013 No 1 Torque Limit Setting 0 to 500 Default Cycle the range setting power supply e Set the first output torque limit of the Servomotor Pn014 Error Counter Overflow Level Position Setting 0 to 227 Command units Default 100 000 Cycle the range setting power supply e Set the range of the error counter overflow level Pn015 Reserved Setting 1 Default 1 Cycle the range setting power supply Do not set 7 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn016
194. Electronics Co Panasonic Corporation I Contactors e Select contactors based on the circuit s inrush current and the maximum momentary phase current e The drive inrush current is covered in the preceding explanation of no fuse breaker selection And the maximum momentary phase current is approximately twice the rated current T KK NO CD D D O c 5 Q O O 5 5 D O c O 5 O O 3 xe O 5 D 5 mp o OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 33 4 System Design I Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder s noise resistance Always use the specified encoder cables If cables are joined midway be sure to use connectors And do not remove more than 50 mm of the cable insulation In addition always use shielded cables Do not roll cables If cables are long and are rolled mutual induction and inductance will increase and cause malfunctions Always use cables fully extended When installing noise filters for encoder cables use clamp cores The following table shows the recommended clamp cores NEC TOKIN ESD SR 250 For cable diameter up to 13 mm TDK ZCAT3035 1330 For cable diameter up to 13 mm e Do not place the encoder cable with the following cables in the same duct Control cables for brakes solenoids clutches and valves e External Dimensions ESD SR 250 e Impe
195. Engaged Approx 60 ms gt Pn437 ON No power Motor power supply No power supply Power supply supply OFF gt lt Approx 4 ms gt lt 1 to 6ms Brake release request ON from servo control oe Release request Brake interlock ON i BKIR 3 elease reques output OFF E Attraction time re Release time Released Holding brake operation Hold Brake released 1 The servo does not turn ON until the motor rotation speed drops to approximately 30 r min or lower 2 The operation of the dynamic brake when the servo is OFF depends on the value set in Stop Selection with Servo OFF Pn506 3 The Brake Interlock Output BKIR signal is output when a release request command is received from servo control The BKIR signal is allocated to the general purpose output CN1 ri UJ S a D o o 9 Note The brake attraction time and release time vary depending on the Servomotor brake Please refer to 3 3 Servomotor Specifications on page 3 36 for details uoneledO 7 9 9 9 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 6 Applied Functions I Servo ON OFF Operation Timing When Motor is Rotating Based on these operation timings regenerative energy is produced if the motor rotation stops abnormally Accordingly repeated operation cannot be performed Provide a wait time of at least 10 minutes for the motor to cool down
196. Example FQM1 side signal RUN 74 34 54 S EGRST Te as se oura 1e oure rea ma z9 ms UM 67 27 170 ws so mo Fk 6s 28 171 me 91 m0 Terminal block No 20 24 V 60 61 62 63 64 65 66 67 68 69 CI 2 3 9 6 D 8 9 o o D lt o J D m c 5 m 3 2 O D D 92 D O o D ct o 5 D 40 41 42 43 44 45 46 6 8 49 60 61 62 63 64 65 60 67 69 69 20 21 02 63 64 69 BO 27 68 69 BO 6 62 63 64 69 GO 87 69 G9 05 C0 25 8 40 65 65 7 8 9 0 00 42 03 2 5 06 02 08 19 suoneouioedgs yun Aey omas 9 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 107 3 Specifications 3 6 2 Servo Drive Relay Unit Cable Specifications Servo Drive Cables XW2Z L1J B25 Below are the specifications of the cable that connects the Servo Drive with a Servo Relay Unit Model XW2B 20J6 1B 3B XW2B 40J6 2B e Cable types Model Length L Outer diameter of sheath Weight XW22Z 100J B25 8 1 dia Approx 0 1 kg XW2Z 200J B25 Approx 0 2 kg Connection configuration and external dimensions L ua i Servo Drive side O St P e R88D KPO LO 9 Servo Relay Unit side servo Drive side Blue Red 1 Blue Black 1 Pink Red 1 Pink Black 1 Green Red 1 Green Black 1 Servo Relay Unit side XW2B 20J6 1B XW2B 40J6 2B XW2B 20J6 3B e Wiring Z
197. I mount two screws with gaskets OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design I L oh 5 0 e 9 o o 3 e o 2 Q 2n o 2 0 e Installing the Decelerator When installing the R88G HPCGLILILI first make sure that the mounting surface is flat and that there are no burrs on the tap sections and then fix the mounting flanges with bolts SUOILIPUOD uonel eisu J0je49 e9ed e L v Bolt tightening torque on the mounting flange for aluminum R88G HPG 20A 32A 50A 65A Note Uninstalling the key on a Servomotor with key enables you to install the Servomotor to the decelerator Slipping does not occur OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 7 4 System Design e Installing the R88G VRSFLILILI Backlash 15 Arcminutes max Follow the instructions bellow to install the Decelerator and the Servomotor 7 2 Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap Confirm the set bolts are loose Gently insert the Servomotor into the decelerator Put up the decelerator vertically and slide the Servomotor into the input shaft joint while using the motor shaft as guide not to fall over as shown in the following figures When the decelerator cannot be put up vertically tighten each bolt evenly little by little to ensure that the Servomotor is not inse
198. K For AWG16 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Encoder Cables Global Non Flexible Cable R88A CRGCLIN e Cable types Incremental encoders For 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW and 1 000 r min Servomotors of 900 W q e D m D M 2 O o 3 5 O o o D o D ct o 5 D to 3 kW R88A CRGC003N 6 5 dia Approx 0 3 kg R88A CRGC005N Approx 0 4 kg R88A CRGC010N Approx 0 7 kg R88A CRGC015N Approx 1 0 kg R88A CRGC020N Approx 1 5 kg Connection configuration and external dimensions L Servo Drive side Servomotor side Co Ci no ul O 2 R88D KPL D R88M KELJ O O D zx U e Wiring g e Servo Drive side Servomotor side amp Symbol No J ees Symbol E383 a a E ac c EV C 1 BAT Orano e ear 3 one BAT 4 Orange 1 BAT E zr IIR a MEE L1 J FG Cable AWG22 x 2C AWG24 x 2P UL20276 3 to 20 m AWG16 x 2C AWG26 x 2P UL20276 30 to 50 m Servo Drive side connector Servomotor side connector Connector model Straight plug model 3 to 20 m Crimp type I O connector Molex Japan N MS3106B20 29S 30 to 50 m 55100 0670 Molex Japan Japan Aviation Electronics Connector pin model Cable clamp model 50639 8028 Molex Japan N MS30
199. KIR signal is allocated to the general purpose output CN1 2 Ifthe main circuit power supply turns OFF while the motor is operating a phase loss alarm or main circuit voltage low alarm will occur in which case this operation timing is applied OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 21 6 Applied Functions I Operation Timing When an Alarm is Reset Reset alarms by turning OFF and then ON the power supply The alarm reset input recognition time can be changed in Alarm Reset Condition Setting Pn516 The default setting is 120 ms ON OFF lt 120 ms Servo ready ON READY OFF Alarm output ALM ON Alarm released OFF 0 ms or more Operaton ON command RUN EE Servo OFF i Servo ON e 2 ms or more Dynamic brake Released DB engaged DB released Engaged gt _ lt Approx 60 ms ON Motor power supply No power supply Power supply OFF 4 ms Brake interlock ON E tput BKIR 2 rake ne elease reques output OFF w H 100 ms or more ON Operation Input prohibited Input allowed command input OFF 1 The servo does not turn ON until the motor rotation speed drops to approximately 30 r min or lower 2 The Brake Interlock Output BKIR signal is output when a release request command is received from servo control The BKIR signal is allocated to the general purpose output CN1
200. MNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 1 3 1 Features and System Configuration 1 3 Names and Functions 1 3 1 Servo Drive Part Names Display Analog monitor connector CN5 l Operation area USB connector CN7 Main circuit power supply terminals L1 L2 and L3 Control circuit power supply terminals L1C and L2C Charge Lamp Control I O connector CN1 External regeneration resistor connection terminals B1 B2 and B3 Motor connection terminals U V and W Encoder connector CN2 Protective ground terminals gt 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 1 Features and System Configuration 1 3 2 Servo Drive Functions J Display A 6 digit 7 segment LED display shows the drive status alarm numbers parameters and other information i Operation Area This area is used to monitor the parameter settings and drive status ol I wo D 3 0 o 2 a T c 5 O 5 a i Charge Lamp Lights when the main circuit power supply is turned ON i Control I O Connector CN1 Used for command input signals and I O signals y Encoder Connector CN2 Connector for the encoder installed in the Servomotor i Analog Monitor Connector CN5 You can use a special cable to monitor values such as the motor rotation speed torque command value etc I USB Connector CN
201. Medium Medium 40 80 830 120 Ball Screw Vertical Small High 60 60 2 100 Ball Screw Nut Rotation Horizontal 160 Ball Screw Nut Rotation Horizontal 120 Ball Screw Nut Rotation Vertical 160 Ball Screw Nut Rotation Vertical 120 Rack and Pinion 0 100 Index Table 0 Robot Arm Cylindrical 15 160 60 160 Robot Arm Cylindrical 120 e The above values assume that Inertia Ratio 1 Pn004 is fixed to 300 4 4 9 14 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 Adjustment Functions Inertia Guideline Inertial is small 5 times the rotor inertia max Inertial is medium 5 to 10 times the rotor inertia max Inertia is large 10 to 20 times the rotor inertia max e Position Loop Gain Pn100 105 This loop controls the number of pulses from encoder to be the designated number of pulses This is called an error counter and when the pulse is equal to or lower than the specified value positioning is completed and the signal is output The ratio of set maximum speed and error counter is called a position loop gain Maximum command speed pps Position loop gain 1 s Error counter accumulated pulse P For the position loop gain set the inverse of the value set in Speed Loop Integral Time Constant Pn102 as a guide This is 10 1 s when Pn102 is set to 100 ms With this setting overshooting never occurs For quicker positioning increase the position loop gain value
202. NF002 sjueuoduio 2 uonoeuuo Bunos es z v Dimensions mm Model Aaj Ba c E F ca n s m P OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 37 4 System Design e 3G3AX NF003 NF004 NF005 NF006 O O O 0 0 0 OO O O O OOOO O O 9 9 9 O O00 O O O O le OO exe ene OO 0 0 OS O O O Omer o O O O O O O eae Oo O O O O O O O O exe one OO TET O O O O Dimensions mm Model A B c E F n YT Noe 4 38 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design 4 4 Regenerative Energy Absorption The Servo Drives have internal regeneration process circuitry which absorbs the regenerative energy produced during motor deceleration and prevents the DC voltage from increasing An overvoltage error occurs however if the amount of regenerative energy from the motor is too large If this occurs remedies must be taken to reduce the regenerative energy by changing operating patterns or to increase the regeneration process capacity by connecting an External Regeneration Unit 4 4 1 Calculating the Regenerative Energy I Horizontal Axis N1 T I J D Q 5 o D ct lt o m 5 o e lt gt o o O O 5 Motor operation N2 Motor output torque
203. NUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Pn Default Setting J clethe Description power No setting range supply 016 Regeneration Select the Regeneration Resistor to be used 32 Oto3 Required Uses the Built in Resistor The Regeneration Overload Protection Alarm No 18 is enabled according to the Built in Resistor with approx 1 duty Uses the External Resistor The regeneration processing circuit operates and Regeneration Overload Protection Alarm No 18 is enabled when the operating rate of the Regeneration Resistor is over 10 Uses the External Resistor Regeneration Overload Protection Alarm No 18 is disabled No Regeneration Resistors All regenerative energy is processed by the built in capacitor Resistor Select the load ratio calculation type for the Required External Regeneration Resistor Regeneration load ratio is 100 when the operating rate of the External Regeneration Resistor is 10 Selection 1 The default setting is 11 for a Servo Drive with 200 V and 1 kW or more 2 The default setting is O for a Servo Drive with 200 V and 750 W or more p N U f 3 D e D r o 017 External Regeneration Resistor Setting OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 13 Appendices i Gain Adjustment Parameters Pn oe Default Setting C clethe Description
204. Numerator 1 Pn009 and Electronic Gear Ratio Denominator Pn010 Command pulse input Electronic Gear Ratio Numerator 1 Pn009 Position command Electronic Gear Ratio Denominator Pn010 7 Position command pulses Electronic Gear Ratio Numerator 1 Pn009 Electronic Gear Ratio Denominator Pn010 6 12 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 4 3 Operation Example e Example of a motor with a 20 bit encoder 1 048 576 pulses rotation I When Electronic Gear Integer Setting Pn008 is not 0 e f Pn008 is set to 2 000 the operation is the same as that of the 2 000 pulses rotation Servomotor Servo Drive Servomotor Encoder Resolution 20 bits 2 000 pulses Encoder Resolution 1 048 576 pulses Electronic Gear Integer Setting Pn008 1 048 576 2 000 1 rotation 1 048 576 pulses When Electronic Gear Integer Setting Pn008 and Electronic Gear Ratio Numerator are 0 e f Pn010 is set to 2 000 the operation is the same as that of the 2 000 pulses rotation Servomotor Servo Drive Servomotor Encoder Resolution 20 bits 2 000 pulses Encoder Resolution 1 048 576 pulses Electronic Gear Ratio Denominator Pn010 1 048 576 2 000 1 rotation 1 048 576 pulses When Electronic Gear Integer Setting Pn008 is 0 and Electronic Gear Ratio Numerator is not 0 e f Pn009 Pn010O is set to 512 1
205. OMRON AC SERVOMOTORS SERVO DRIVES G5 series Pulse train Input Type User s Manual R88D KELI AC Servomotors R88M KPLI AC Servo Drives 1584 E1 02 15171 To All Customers Corrections Insert OMRON Corporation Cat No 1584 E1 02 Thank you for supporting OMRON and OMRON products Some mistakes were discovered in the manual listed below We sincerely apologize for these mistakes Please mark your manual so that the corrections are noted on the pages concerned and then securely add any required pages from this Notification to the rear of the manual Applicable Manuals This Notification applies to the following manuals AC SERVOMOTORS SERVO DRIVES G5 series Pulse tr1in Input Type USER S MANUAL Cat 1584 E1 02 Cs c Helevant Location Decelerator Dimensions u i J The frames show 1 Page 2 52 the locations of For 1 000 r min Servomotors 900 W to 3 kW ee Current Contents For 1 000 r min Servomotors 900 W to 3 kW Seran ea podoi RESG HPGAZADSS00THO e 120 Ora 135 4s vata amp B sm 25 5 15 1 RB amp G HPGa3szATTeOUgTECD es i i Cro HEEE a 121 RB amp G HPG5OAZ 190 TBC ee 155 170 Eoo 190 245 365 183 22 103 12 123 RB amp G HPOGSOAS3SOUTECI 1 wp 15 170 Or 55 3E CICIR KIG 1 E EE 1 11 RBBG HPGSOATITZKUTBLI P 19 zo j Ero 90 206 04 163 tee ie E HPQMDAOTNUTAR OY Jj ied 299 220
206. Output Selection 2 Setting 0 to 10 Default Cycle the range setting power supply e For this parameter set the same value as for Warning Output Selection 1 Pn440 Pn442 Positioning Completion Range 2 Position Setting 0 to 262 144 Command units Default Cycle the range setting power supply e Set the positioning completion range e For this parameter set the same value as for Positioning Completion Range 1 Pn431 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 41 7 Parameter Details 7 6 Extended Parameters eooo Pn500 Electronic Gear Ratio Numerator 2 Position Setting 0 to 230 Default Cycle the range setting power supply Pn501 Electronic Gear Ratio Numerator 3 Position Setting 0 to 230 Default Cycle the range setting power supply Pn502 Electronic Gear Ratio Numerator 4 Position Setting 0 to 230 Default Cycle the range setting power supply Pn503 Encoder Dividing Denominator Setting 0 to 262 144 Default Cycle the range setting power supply e Encoder pulses are divided based on the following formula if Encoder Dividing Denominator is not 0 Pn011 Encoder feedback pulse ELM Output pulse Pn503 Therefore if the host system generated a pulse count in the quadruple process the resolution of pulse output per rotation can be calculated using the following formula Pn01 1 Resolution of pulse output per rotation Pnsoa X Encoder resolution e The resolution of puls
207. Pasennezkon 2 ne ws v es ns v vs T s os oS VW TTT RBSG HPGSZATIZKOBCI 2 110 198 120 oos Tao 116 176 v4 ea 96 125 35 WET RBSG HPGSZAZITKSBCI 2 110 193 120 etas 195 15 115 114 98 125 95 2kW 1 5 RBBG HPGGZAOSZKOBC 2 110 133 120 oos ras 15 115 M 84 99 128 35 WIT RBSG HPGS2ATTZKOBCI 2 110 193 zo etas 86 15 115 114 98 25 35 WA1 ReBG HPGSOAZIZKOBC 2 123 166 170 0170 190 115 165 165 122 108 E 2 133 RaBG HPGSOASGeKOBE e i2 SKW vs RB8G HPGS2AOSOKOB 1 107 198 0 meo s s s 114 w e es oF 2 2 1 VIT RSSG HPGSOATIGKOBG 2 1a VET RGSG HPGSOAZISKOBE 2 12 18 170 o170 66 ws s 168 V2 Wo 12 88 anes ie RE esT AW vs mssGHPGSoAAKUE es es a SWW 115 RB8G HPGSOAOSSKOBC 1 WS 156 170 mao teo 148 165 165 v2 s 2 59 Note 1 The standard shaft type is a straight shaft 2 Amodel with a key and tap is indicated with J at the end of the model number the suffix shown in the box Example H88G HPG32A052KO0BJ 3 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor 4 For Servomotors with a key remove the key before use e Outline drawing 1 Key tap dimensions 1 The tolerance is h8 for R88G HPGBOLI or R88G HPG65LI QK E g M depth L 2 46 OMNUC G5 series Pulse train I
208. Periodic Maintenance on page 10 21 3 2 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications 3 1 2 Characteristics f 200 VAC Input Models liant R88D R88D R88D R88D R88D R88D KP01H KP02H KP04H KPO8H KP10H KP15H Continuous output current rms 1 2 12A 1 16 2 26A A 4 1 44A 59A 9A 9 4 A Input power Main circuit Power 0 5 eee 0 5 p 0 9 E 1 3 REI 1 8 M LAE 2 3 KVA supply supply capacity Power Single phase or 3 phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz supply voltage Rated poe 2 4 1 3 A 44 24 A 6 6 3 6 A 9 1 5 2 A 14 2 8 1 A current Heat 14 incl 2319 W 33 24W 30 35 55W 57 49 W 104 93 W value 13 7 W Power Single phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz supply voltage Heat 4 W 4 W 4 W 4 W 7 W value Weight Approx 0 8 kg Approx 0 8 kg Approx 1 0 kg Approx 1 6 kg Approx 1 8 kg Approx 1 8 kg Maximum applicable motor capacity 100W W 200W W 400W W 750W W 1 O IW O 1 5 kW Applicable 3 000 r min ELA ux x NIA x A KE1K030H Servomotor KE1 M KE1K530H 2 000 2 000 r min o 7 4 KE1K020H KE1K520H 1 000 r min ee KE90010H Performance Speed control range 1 5000 Speed variation 0 01 max from 0 to 100 percentage of rated speed Q L ms o D lt e oO lt e o o D zh o e o 5 a Control circuit SONSHOJOBIEYUD z L
209. Pn326 Heserved Setting Default Cycle the range setting power supply e Do not set Pn327 Reserved Setting Default Cycle the range setting power supply e Do not set Pn328 Reserved Setting 16 000 Default 16 000 Cycle the range setting power supply Do not set Pn329 Reserved Setting Default Cycle the range setting power supply e Do not set OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 31 7 Parameter Details 7 5 Interface Monitor Setting Parameters Pn400 Input Signal Selection 1 Setting 0 to OOFFFFFF hex Default 8 553 090 Cycle the A range setting power supply Pn401 Input Signal Selection 2 Setting 0 to OOFFFFFF hex Default 8 487 297 Cycle the range setting power supply Pn402 Input Signal Selection 3 Setting 0 to OOFFFFFF hex Default 9 539 850 Cycle the range setting power supply Pn403 Input Signal Selection 4 Setting 0 to OOFFFFFF hex Default 394 758 Cycle the m range setting power supply Pn404 Input Signal Selection 5 Setting 0 to OOFFFFFF hex Default 4 108 Cycle the range setting power supply Pn405 Input Signal Selection 6 Setting 0 to OOFFFFFF hex Default 197 379 Cycle the range setting power supply Pn406 Input Signal Selection 7 Setting 0 to OOFFFFFF hex Default 3 847 Cycle the range setting power supply Pn407 Input Signal Selection 8 Setting 0 to OOFFFFFF hex Default 263 172 Cycle the range setting power supply Pn408 Inpu
210. Pn514 is too small Data in the Parameter Save Area was corrupted when the power supply was turned ON and data was read from the EEPROM EEPROM write verification data was corrupted when the power supply was turned ON and data was read from the EEPROM When Drive Prohibition Input Selection Pn504 was set to 0 both the Forward Drive Prohibition Input POT and Reverse Drive Prohibition Input NOT signals turned ON When Pn504 was set to 2 either the Forward Drive Prohibition Input or Reverse Drive Prohibition Input signal turned ON A missing phase Z pulse was detected in the serial incremental encoder The encoder is faulty A logic error was detected in the serial incremental encoder CS signal The encoder is faulty An error such as broken wiring was detected in the external encoder phase A connection An error such as broken wiring was detected in the external encoder phase B connection An error such as broken wiring was detected in the external encoder phase Z connection The Emergency Stop STOP signal was input 5 0 4 Motor Non conformity The Servomotor does not match the Servo Drive OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual The control circuit malfunctioned due to excess noise or some other problem The self diagnosis function of the Servo Drive was activated and an error occurred in the Servo Drive Measures Check the
211. Pn521 set value Description 0 Reserved Do not set 1 Limit in both forward and reverse directions Set in Pn013 2 Forward Set in Pn013 Reverse Set in Pn522 3 Switching the limit value by the torque limit switching TLSEL When TLSEL is OFF Limit in both forward and reverse directions Set in Pn013 When TLSEL is ON Limit in both forward and reverse directions Set in Pn522 Reserved Do not set Reserved Do not set Switching the limit value by the torque limit switching TLSEL When TLSEL is OFF Forward Set in Pn013 Reverse Set in Pn522 When TLSEL is ON Forward Set in Pn525 Reverse Set in Pn526 e When torque feed forward is selected the torque limit function is enabled only during speed control when the set value is 1 to 3 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 31 p eo o c r 3 gh uonoun 3y JO euiinO 1 8 9 6 Applied Functions Rate of Change Setting at Switching Pn521 z 3 When Torque Limit Selection Pn521 is set to 3 you can set the rate of change with a fluctuation during switching This function is disabled with other settings How to Set the Rate of Change Slope oet the following parameter according to the switching type e Switching from No 1 Torque Limit to No 2 Torque Limit Pn523 e Switching from No 2 Torque Limit to No 1 Torque Limit Pn524 The sign of the rate of change switches automatically inside the
212. R RE UE 4 39 4 4 2 Servo Drive Regeneration Absorption Capacity eeeeesssessessssseeeeee eene 4 41 4 4 3 Regenerative Energy Absorption with an External Regeneration Resistor 4 42 4 4 4 Connecting an External Regeneration R SIStOM ccccccccccecesssseceeeececeeseeceeeeeseaeeeseeeeeeaeas 4 43 Section 5 Basic Control Mode 5 1 POSITION COMMU eer Cel 5 2 5 1 1 OUTIMENOF the FUNCION 4s ccs aeneis A cca ao etae du Maas loa adeeaetegacdiel 5 2 5 1 2 Parameters Requiring Settings cccccscsssseeecceecccesseseeeeseccssnseceeeccecsneeeeesscccaseeeeeessccssseeeess 5 3 5 1 3 Related FUNCIONS esac E E TENTE 5 5 5 1 4 Parameter Block Diagram for Position Control MOd cccccccceeecsseseeeeeeeeeesaeeeeeeeeessaaaeeeeeeees 5 6 5 2 Internally Set Speed COMMON veneisewc soe oni reset ceni mna casti rue deae e vo Dant uca eere tota ruinae rectam deus 5 7 5 2 1 enmileodi amuseisietc c Dc 5 7 5 2 2 Parameters Requiring Settings ics ies cues code weecceceted ona oee tva cie ness Rrk or eod onsite ebbe Ugo ew o De Oden siwPneD ea glos deeu es 5 7 5 2 3 Related UMEN o ND 5 11 5 2 4 Parameter Block Diagram for Speed Control Mode cceseeeeeeeeeceeeeeeceeeeeesseseeeeeeeeeeeeeeaaaes 5 12 Wi eet ecendoiiedes 5 13 5 3 1 OUTING OME UNCON MM PEE 5 13 5 3 2 Parameters Requiring Settings o oen ro re rte e cad soe Ride va Me weeeadaneer ed newiewaeaaeee
213. Rated Allowable Allowable Rated 23 maximum rotation frais Efficiency rotation maximum inertia thrust Weight Model speed q torque load speed LLILONOGETI SE NR SW E 1 25 R88G VRSF25D750CJ 149 8 680x105 1 617 3 80 Note 1 The Decelerator inertia is the Servomotor shaft conversion value 2 he protective structure rating of the Servomotor with the Decelerator is IP44 3 The Allowable radial load column shows the values obtained at the center of the shaft T 2 4 The standard shaft type is a shaft with key 5 The allowable input rotation speed of the Decelerator is 5 000 r min Do not exceed the limit A a D O D D fo O o D O O D O gt o suoneouioeds pue s epolN p OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 61 3 Specifications 3 5 Cable and Connector Specifications The specifications of the cables that connect the Servo Drive with a Servomotor are shown below The information on the connectors is also provided Select an appropriate cable for the Servomotor 3 5 1 Resistance to Bending of Global Flexible Cable If the cable is used in a moving environment use a global flexible cable Regarding the bending life of a global flexible cable a wire rod with a durability of more than 20 million times of use at or above the minimum bending radius is used under the conditions below la Precautions for Correct Use e
214. Reverse Direction Pulse Output Reverse Direction Pulse Output Encoder Phase A Encoder Phase A Encoder Phase B Encoder Phase B Encoder Phase Z Encoder Phase Z t gt 1 Error Counter Reset Outpu RUN Output General purpose Output Alarm Reset Output Torque Limit Output Positioning Completion Inpu 7 General purpose Inpu Alarm Input SEN Output Signal Ground 2 24 V GND for Output nput Common Forward Direction Pulse Output Forward Direction Pulse Output Reverse Direction Pulse Output Reverse Direction Pulse Output Encoder Phase A Encoder Phase A Encoder Phase B Encoder Phase B Encoder Phase Z Encoder Phase Z M T lt U O D s c c d 2 O O cc e CO a e m e a 3 3 3 Error Counter Reset Outpu RUN Output General purpose Output Alarm Reset Output Torque Limit Output Positioning Completion Inpu 4 e 49 iN N gt B B A C2 W O On NIN NIN NS ND IN IN on loo co N Co N e O1 O N o B O1 JO N Oo O O NIO Co h2 O C1 A IA IN Co O 0 CO 1D IN General purpose Inpu Alarm Input SEN Output Signal Ground Co OMNUC G5 series Pulse train Input Type AC S Servo Drive side for Axis 1 or 3 10150 3000PE Sumitomo 3M ie 4 BKIR Brake Interlock DIU BKIRCOM Output CWLD Reverse Pulse 1 th E CWLD Input for line driver on
215. S Momentary maximum 57 3 71 6 S Rated current pn 25 9 3 Momentary maximum rms 110 3 NO Applicable load inertia Torque an N m A 0 70 0 70 Mechanical 0 65 0 63 3 D o 2 D x O O 5 D pe 3 D gt lt a x PO O gt D om e O mmj D zd o c O Z Midas s 0 64 Electrical time constant 19 Allowable radial load o 78 0 784 Allowable thrust load NEE VM 343 Weight Approx 15 5 Approx 18 6 z z j 3 With brake neuen 12 6 Approx 18 7 Approx 21 8 Radiator plate dimensions e 380 x 350 x t30 A 470 x 440 x t30 Al Applicable Servo Drives R88D KP30H KP50H KP50H OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 47 3 Specifications e Brake Specifications Model R88M 200 VAC 4 7 x 104 1 35 x 104 4 7 x 104 Excitation voltage 24 VDC 10 Power consumption at 20 C 31 Current consumption at 20 C 1 3 10 Static friction torque 24 5 min Atracton time ms 60 max 60 max Release time ms 25 max 25 max Backlash ij Allowable work per braking J 1 470 1 372 1 372 Allowable total work J 2 2 x 108 20 9 x 108 2 9 x 106 Allowable angular acceleration rad s 10 000 Brake life 10 million times min Rating Continuous Insulation class Class F 1 T2 3 4 5 6 7 These are the values when the Servomotor is combined with a Servo Drive at normal temperature 20 C 65 The m
216. SBLI 1 45 R88G HPG50A451KO0SBLI 1 5 R88G HPG32A053KOBLI 1 11 R88G HPG32A1 12KOSBLI 1 21 R88G HPG50A213KO0BLI 1 33 R88G HPG50AS332KOSBLI 1 5 R88G HPG32A053KOBLI 1 11 R88G HPG32A112KOSBLI 1 21 R88G HPG50A213KO0BLI 1 33 R88G HPG50AS332KOSBLI 1 5 R88G HPG32A054KOBLI 1 11 R88G HPG50A115KOBLI 1 21 R88G HPG50A213KO0SBLI 1 25 R88G HPG65A253KOSBLI 1 5 R88G HPG50A055KOSBLI 1 11 R88G HPG50A115KOSBLI 1 20 R88G HPG65A205KOSBLI 1 25 R88G HPG65A255KOSBLI 1 5 R88G HPG50A055KOSBLI 1 11 R88G HPG50A115KOSBLI 1 20 R88G HPG65A205KOSBLI 1 25 R88G HPG65A255KOSBLI Note 1 The standard shaft type is a straight shaft 2 Amodel with a key and tap is indicated with J at the end of the model number the suffix shown in the box Example R88G HPG32A053K0BJ OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions e For 1 000 r min Servomotors Specifications Servomotor 1 Model Gear ratio capacity 900 W 1 5 R88G HPG32A05900TBLI 1 11 R88G HPG32A1 1900TBLI 1 21 R88G HPG50A21900TBLI 1 33 R88G HPG50A33900TBO 2 kW 1 5 R88G HPG32A052KOTBLI 1 11 R88G HPG50A112KOTBLI 1 21 R88G HPG50A212KOTBLI 1 25 R88G HPG65A255KOSBLI 3 kW 1 5 R88G HPG50A055KOSBLI 1 11 R88G HPG50A1 15KOSBLI 1 20 R88G HPG65A205KOSBLI 1 25 R88G HPG65A255KOSBLI n2 do O 2 e y i D o Note 1 The standard shaft type is a straight shaft 2 Amodel with a key and tap is indicated with J at the end of the mode
217. Servo Drives User s Manual 3 105 3 Specifications e Signal Allocation for FQM1 MMP22 T Ooo TASTL TASS Lit oues tuno Ro mno 8 V A 0 UOWLUOD ZNI Ko no s V A 0 UOWLUOD 9NI B sw lg y A 0 UOWWOD SNI 9 om S9 V A 0 UOWWOD PNI WIV Li OM S dNI L OMeS ee eee lt q1 Z eseug 3 ONES H q1 Z SEyd L oNes TAS TL TASS C OM LSYOSA cit OMS LASAY C oMeS NN cft OM9S LLNI OLNI e F e s e s z g T F mw ie O Z OUTO to OUT7 and servo control signals 8NI H8 C oNes Use as a power supply for FQM1 MMA22 pulse outputs N WV C OM S NI LO d7 g Seyd oues E q7 8 eseug oues ZNI lt q1v eseug oues 5 q1v eseug ONES LNI e c jnduj jeubls yo eq foun 0 uowwog9 jeuBis Yyo e7 ONI N x A V 1ndu jeuBlg yoye Se A 0 uowwog jeufis uoye1 Cx A VC 5 cO 8 s cO 8 cO 8 co Nx cO O Z euBis 1 V A 0 UOWWOD LNI V A 0 UOWWOD OLNI V A 0 UOWWOD 6NI V A 0 UOWWOD gNI V A 0 UOWWOD dNI Z oes G A 0 UOWWOD eNI G A 0 UOWWOD ZNI G A 0 UOWWOD LNI G A 0 UOWWOD ONI 2 Used as a power supply for IN4 to IN11 8 Used as a power supply for INO to IN3 interrupt input and latch inputs 4 Connected to pin 0 0 V 5 Connected to pin 1 0 V OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 106 3 Specifications e Wiring
218. T Operation cycle s OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 39 4 System Design I Vertical Axis N Downward movement Motor operation Upward movement N2 Motor output torque e n the output torque graph acceleration in the forward direction rising is shown as positive and acceleration in the reverse direction falling is shown as negative e The regenerative energy values in each region can be derived from the following equations En 5 SEN To t J Fo 22 N Eg2 60 N2 Ti2 t J ena 1 2 No Eg3 2 60 N2 To2 ts J N1 N2 Rotation speed at start of deceleration r min Tp1 Tp2 Deceleration torque Nem TL2 Torque during downward movement Nem t1 t3 Deceleration time t2 Constant speed driving time during downward movement s Note Due to the loss of winding resistance the actual regenerative energy will be approximately 9096 of the values derived from these equations e For Servo Drive models with internal capacitors used for absorbing regenerative energy i e Servo Drive models of 400 W or less the values Eg and Ego Eg3 unit J must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section e For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative energy i
219. Type AC Servomotors and Servo Drives User s Manual Parameter Details Notch 2 Width Setting 0 to 20 Default Cycle the setting power supply oelect the notch width of the second resonance suppression notch filter Increasing the setting value widens the notch width Normally use the default set value Notch 2 Depth Setting 0 to 99 Default Cycle the setting power supply Set the notch depth of the second resonance suppression notch filter Increasing the setting value shortens the notch depth and the phase lag Notch 3 Frequency Setting 50 to 5 000 Hz 5 000 Cycle the power supply oet the notch frequency of the third resonance suppression notch filter When set to 5 000 the notch filter function is disabled Default setting Notch 3 Width Setting 0 to 20 Default 2 Cycle the setting power supply Select the notch width of the third resonance suppression notch filter Increasing the setting value widens the notch width Normally use the default set value Notch 3 Depth Setting All 0 to 99 Default Cycle the setting power supply Set the notch depth of the third resonance suppression notch filter Increasing the setting value shortens the notch depth and the phase lag Notch 4 Frequency Setting 50 to 5 000 Default 5 000 Cycle the setting power supply Set the notch frequency of the fourth resonance suppression notch filter When set to 5 000 the notch filter function is disabled Notch 4 Width Setting 0 to 20
220. UC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 13 gt N 5 e se durex43 uonoeuuo 1ueuidinb43 eeuduag L Z v 4 System Design 4 2 2 Main Circuit and Motor Connections When wiring the main circuit use proper wire sizes grounding systems and noise resistance R88D KP01H KP02H KP04H KP08H KP10H KP15H e Main Circuit Connector Specifications CNA L1 Main circuit power R88D KPLIH L supply input 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz L3 100 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz L1C Control circuit power R88D KPOH Single phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz L2C supply input e Motor Connector Specifications CNB B1 External Regeneration 50 to 400 W Do not short B1 and B2 Doing so may result in malfunctioning B3 Resistor connection If there is high regenerative energy connect an External Regeneration T terminals Resistor between B1 and B2 750 W to 1 5 kW Normally B2 and B3 are shorted Do not short B1 and B2 Doing so may result in malfunctioning If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 U Motor connection Red These are the output terminals to the Servomotor V terminals Be sure to wire them correctly w Green This is the ground terminal Ground to 100 Q or less 4
221. ULS FA Feed Pulses or Phase A 1 CCW SIGN FB Forward Pulse un vga S E dX 6 LCCW SIGNI FB Direction Signal or Phase B 1 E Encoder Phase A Outpu Encoder Phase A 35 Encoder Phase A LDX Encoder Phase A Outpu Encoder Phase B 33 HA Encoder Phase B Outpu Encoder Phase B B Encoder Phase B Outpu Encoder Phase Z BTH Encoder Phase Z Output Encoder Phase Z Encoder Phase Z Output aM Bi 24VIN 24 V Power Supply for Control Error Counter Reset Output C gt ECRST Error Counter Reset Input RUN Output 45 l Operation Command Input DFSEL Damping Filter Switching Alarm Reset Output RESET a Torque Limit Output TLSEL Torque Limit Switching Positioning Completion Input Positioning Completion L0 D t General purpose Output 38 INPCOM Output 1 READY Servo Read G Input 35 y pene m eT E OC RED COH Coni sd opi Alarm Input T ea Alarm Output CSCS L ALMCOM SEN Output 20 Sensor ON Input Signal Ground 28 m SGGND 1 Connect the NC unit as shown here because it handles forward direction commands as CW direction phase A advance pulses which can be selected using the output pulse direction selection parameter 2 QGbcseries Servo Drives Pulse train Input Type support incremental encoders only Do not use SEN outputs OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications fi Gen
222. Ud uonesueduio2 pJeMJ0J pee J uoo enbJo JOVI L LUd eAIno S pL ud euin uoneJejeoeq eLeud euin uoreJe eooy z eud uoneJojeoeq uoneJe eooy payloeds uoyoauiq L0 ud BuIyoUMs jeueyxe JO Jeuleu 00 Ud uonoejee pueuuo peeds G peeds 0zud y peeds gozud peeds rozud c peeds zozud peeds 0zud peeds jas j euJaju Input Type AC Servomotors and Servo Dr in ies Pulse tra Series OMNUC G5 5 12 5 Basic Control Mode 5 3 Switching Control 5 3 1 Outline of the Function e The switching control function controls the motor by switching between two control modes via external inputs e Control mode switching is performed by the control mode switching input TVSEL CN1 pin 32 AC Servo Drive OMNUC G5 series Contorller Pulse train Input Type Switching Control Example of switching between position control and internally set speed control AC Servomotor Internally Set OMNUC G5 series Speed Control Pulse train Input Type Pulse train q e o o 5 e O O 5 r 9 5 3 2 Parameters Requiring Settings No Pn001 Control Mode Select the control mode in which the switching control function can be used P 7 3 Selection Set value 3 I Control Mode Selected by TVSEL Control Mode Switching Input e The following table shows the relation between TVSEL control mode switching input and the selected control mode UOHOUNY 3y 40 SUILINO E G
223. Ud y KouenbeJJ Zud I9 9 Lud e Aouanbel4 9yzud eui ejeg 94 Lud cnotenselq sete Be JopJo 1s1I4 zzud Y JOJEIOWNN ZOGUd Jojeuluoueg 010Ud SPOW 200Ud AouenboJJ p Lud PON SL ud Wd Zzzud JOJEJOWNN LOSUd JojeJeuinwN 600ud uonoeiq UOHE OY 900ud c Dumes pL Lud MEE onan eer m Z 10 eJ UNN 00GUd uonejos 800Ud s6um s jndu godud Bulyoyims ules ouo Buidueq Bulujoows sBuljas 1299 3iuoJ129 3 sDumes uonipuo yndu peeds pueWWOd uonisog eu49 u peedg puewwo uonisog uonejnuunooy es nd puewwop ule esing e This timing chart shows an example of push motion operation with a constant force torque User s Manual ives Input Type AC Servomotors and Servo Dr in ies Pulse tra Series OMNUC G5 5 Basic Control Mode 5 2 Internally Set Speed Control 5 2 1 Outline of the Function e The Internally Set Speed Control function controls the speed of the Servomotor based on the speeds set in the No 1 to 8 Internally Speed Settings e Select the internally set speed using Internally Set Speed Selection 1 to 3 of the control input terminals VSEL1 CN1 pin 33 VSEL2 CN1 pin 30 VSEL3 CN1 pin 28 AC Servo Drive OMNUC G5 series Contorller Pulse train Input Type Internally Set Speed Control Internally set Speed Selection AC Servomotor speed control can Command Internally Set OMNUC G5 series Speed 1 to 8 Pulse train Input Type Pn304 to 311 be performed with digita
224. User s Manual 10 Troubleshooting and Maintenance Alarm List o oo Alarm No Attribute Error detection function Description and error cause Canbe Immediate 3 Main History 4 m cleared stop T 11 Control Power Supply The DC voltage of the main circuit fell v Undervoltage below the specified value 12 Overvoltage The DC voltage in the main circuit is v v abnormally high 13 Main Power Supply The DC voltage of the main circuit is low y Undervoltage insufficient voltage between P and N 1 Main Power Supply A location was detected where the main y Undervoltage circuit AC power supply is cut off AC cutoff detection 1 IPM Error Motor power line ground fault or short y circuit 15 Servo Drive Overheat The temperature of the Servo Drive N y radiator exceeded the specified value 16 Overload Operation was performed with torque v v significantly exceeding the rating for several seconds to several tens of seconds 18 Regeneration Overload The regenerative energy exceeds the v v processing capacity of the Regeneration Resistor 1 Regeneration Tr Error An error was detected in a Servo Drive v regeneration drive Tr 21 Encoder Communications The encoder wiring is disconnected v Disconnection Error 1 Encoder Communications An encoder communications error was v Error detected 23 Encoder Communications Communications cannot be performed v Data Error between the encoder and the Serv
225. Weight R88A CAGA003S 6 2 dia Approx 0 2 kg R88A CAGA005S Approx 0 3 kg R88A CAGA010S Xx 30m Approx 0 6 kg R88A CAGA015S ea NEN ea NEN Approx 0 9 kg R88A CAGA020S 8m 8m Approx 1 2 kg Connection configuration and external dimensions Servo Drive side Servomotor side R88D KPL di R88M KELJ e Wiring Servo Drive side Servomotor side Cable AWG20 x 4C UL2464 M4 crimp terminal Servomotor side connector Connector model 172159 1 Tyco Electronics AMP KK Contact pin model 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK 3 68 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Power Cables without Brake Global Non Flexible Cable R88A CAGBLIS e Cable types 200 V For 3 000 r min Servomotors of 1 to 2 kW 2 000 r min Servomotors of 1 to 2 kW 1 000 r min Servomotors of 900 W Outer diameter of E R88A CAGB003S 10 4 dia Approx 0 7 kg R88A CAGB005S Approx 1 0 kg R88A CAGB010S Approx 2 0 kg R88A CAGB015S Approx 2 9 kg R88A CAGB020S Approx 3 8 kg Connection configuration and external dimensions e e o D M 2 O o 3 5 O o o D o D ct o 5 D Servomotor side c5 s R88M KED Servo Drive side R88D KPL e a e Wiring suoneouioeds e qeo 19Mog JOO S Servo Drive side Servomotor side Ferrule M4 crimp
226. XW2B 80J7 124 e Cable types XW2Z 050J A30 10 0 dia Approx 0 1 kg XW2Z 100J A30 Approx 0 2 kg XW2Z 200J A30 Approx 0 3 kg Connection configuration and external dimensions o o D lt e JJ o 9 lt c 3 9 2 a O 9 oO D o o D O 9 ct 5 a FQM 1 side FQM1 MMP22 C Servo Relay Unit side XW2B 80J7 12A e Wiring FQM1 side Servo Relay Unit side suoneoyioeds ege PUN Aejay HUN 03002 uonisog 9 M 4 0 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 121 3 Specifications 3 External Regeneration Resistor Specifications 3 1 External Regeneration Resistor Specifications R88A RRO08050S Regeneration i absorption for Model Resistance Nominal 120 C value capacity temperature rise R88A RR08050S R88A RR080100S Regeneration Heat radiation condition Aluminum 350 x 350 Thickness 3 0 Thermal switch output specifications Operating temperature 150 C 5 C NC contact Rated output resistive load 125 VAC 0 1 A max 30 VDC 0 1 A max minimum current 1 mA Resistance Nominal POr puo nton meal Thermal switch output Model 120 C radiation A R value capacity Sd specifications temperature condition rise R88A 100 Q 80 W 20 W Aluminum Operating temperature 150 C 5 C Thick fact E R
227. a speed command is input in the speed control mode 3 1 9 Encoder Connector Specifications CN2 a Symbol Name Function and interface 1 Encoder power supply 5 V Power supply output for the encoder 2 EOV Encoder power supply GND P NR PS Encoder phase S input Encoder signal I O Serial signal MN NEL LN e Connectors for CN2 6 Pins Name Moa Manufacture OMRON model number Drive connector 53460 0629 Molex Japan R88A CNW01R Cable connector 55100 0670 Cc1 ic 3 32 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications 3 1 10 Analog Monitor Connector Specifications CN5 Monitor Output Signal Table e Monitor Output CN5 du Symbol omm Function and interface 1 AM1 Analog monitor Outputs the analog signal for the monitor output 1 Default setting Motor rotation speed 1 V 500 r min The item and the unit can be changed using Pn416 and Pn417 The output method can be changed using Pn421 C L o D lt o Oa c D o D O O o gt o 2 AM2 Analog monitor Outputs the analog signal for the monitor output 2 Default setting Torque command 1 V 33 The item and the unit can be changed using Pn418 and Pn419 The output method can be changed using Pn421 3 GND Analog monitor Ground for analog monitors 1 2 ground 4 e Connectors for CN5 6 Pins Name Modd Manufacturer Connector housing 51004 0600 Molex Japan
228. ace Monitor Setting Parameters 7 32 7 6 Extended Parameters ra eru oe eo ear ra dto 7 42 T f Special Parameters 2 oa erar cies x RP ERA RUE Ex 7 55 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 1 Parameter Details 7 1 Basic Parameters Pn000 Rotation Direction Switching Setting 0 to 1 Default 1 Cycle the Required range setting power supply Explanation of Set Values Set value Description 0 Forward direction command sets the motor rotation direction to CW 1 Forward direction command sets the motor rotation direction to CCW e Regarding the rotation direction of the Servomotor a clockwise rotation is defined as CW and a counterclockwise rotation is defined as CCW when viewed from the load side shaft The following table shows the motor rotation direction for the command Pn000 Pn006 Pn301 Command Servomotor rotation direction c Positive internal speed CCW Forward p Negative internal speed CW Reverse 7 2 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn001 Control Mode Selection Setting 0 to 6 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 Position control Pulse train command Speed control Internally set speed control Reserved Do not set Mode 1 Position control Mode 2 Speed contr
229. ackets Mounting dimensions External Dimensions Rectangular hole 170 158 180 88 Rectangular hole dimensions are reference values OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions 3 phase 200 VAC R88D KP20H 2 kW e Wall Mounting External Dimensions 86 A m x eh D 5 D o 5 2 o c 5 ex 2 e z 3 z o o 2 0 TO 193 5 R2 6 da T i e 2 co VA 5 em op O E U zi i a i ane z I nn g i T 5 y D i P f o f D R2 6 17 5 Mounting dimensions 25 6 M4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 27 2 Models and External Dimensions e Front Mounting Using Front Mounting Brackets External Dimensions 5 gt 70 193 5 R2 6 2 5 H E 4 f UU I 7 Wf t f A P R2 6 25 R2 6 Mounting dimensions 6 M4 ira Rectangular hole 176 188 EIn p p Delara 50 88 Rectangular hole dimensions are reference values 2 28 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions 3 phase 200 VAC R88D KP3
230. ad Shaft center T 2 lt j This is a non excitation brake It is released when excitation voltage is applied The operation time is the value reference value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co Direct current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation 3 42 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e Torque Rotation Speed Characteristics for 3 000 r min Servomotors e 3 000 r min Servomotors 200 VAC The following graphs show the characteristics with a 3 m global non flexible cable and a 200 VAC input e R88M KE05030H 50 W Torque Power supply voltage N m dropped by 10 05 0 48 3600 0 48 5000 0 48 ES Eg Momentary 0 25 operation m Continuous operation range 0 08 3600 0 1000 2000 3000 4000 5000 Speed r min R88M KE40030H 400 W Power supply voltage Torque dropped by 1096 N m Momentary operation range Continuous operation range 3400 3800 O 1000 2000 3000 4000 5000 Speed r min R88M KE1K530H 1 5 kW N m Power supply voltage dropped by 1096 Momentary operation 4 77 Continuous operation range N 0 1000 2000 3000 4000 5000 r min R88M KE4K030H 4 kW N m Power supply voltage dropped by 10 30
231. ain Input Type AC Servomotors and Servo Drives User s Manual 8 Operation Front Panel Lock Use the following procedure to lock the front panel 1 Change to the parameter mode display Key operation D 2 Set the parameter number Display example Description Press key to change to the monitor mode display Press 5 key to change to the parameter setting mode display Key operation e OO Display example Description Use the Q A and keys to select Pn535 e Use to move to the left and change the digit to set e Use A to increase the value of the digit with e Use to decrease the value of the digit with 3 Display the parameter setting Key operation 4 Change the parameter value Display example Description Use key to display the set value Key operation eO fF d Use A and S keys to change the value S e Use K to move to the left and change the digit to set Display example Description e Use A to increase the value of the digit with e Use to decrease the value of the digit with Press key to save the new set value e To cancel the change press 69 instead of D to return to the display shown in Step 2 i 5 Return to the parameter setting mode display Key operation OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 25 Display example Description Press
232. ain Input Type AC Servomotors and Servo Drives User s Manual 6 3 6 Applied Functions la Precautions for Correct Use e Stop operation before changing the parameters or switching with DFSEL e Damping control may not function properly or have a poor effect under the following conditions Item Conditions that interfere with the effect of damping control Control mode e Speed control mode Load condition If forces other than position commands such as external forces cause vibration If the damping frequency is outside the range of 1 to 200 Hz e If the ratio of the resonance frequency to anti resonance frequency is large I Operating Procedure 1 Adjust the position loop gain and the speed loop gain Adjust Position Loop Gain Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 and Torque Command Filter Time Constant Pn104 If no problem occurs in realtime autotuning you can continue to use the settings 2 Measure the damping frequency at the tip of the mechanical unit Measure the damping frequency by using a measurement device such as a laser displacement sensor servo acceleration meter or acceleration pick up Set the measured damping frequency in one of Damping Frequency 1 to Damping Frequency 4 1 Pn214 2 Pn216 3 Pn218 4 Pn220 according to the operation Also set the Switching Mode using Damping Filter Selection Pn213 If the measurement device cannot be used use CX Drive trac
233. al 6 Applied Functions Torque Feed forward Operating Method 1 Set Inertia Ratio 1 Pn004 oet the inertia ratio as correctly as possible e f the inertia ratio is calculated for the selected motor input the calculated value e f the inertia ratio is not known perform autotuning and set the inertia ratio 2 Set Torque Feed forward Command Filter Pn113 Set this to approximately 50 0 5 ms Adjust Torque Feed forward Amount Pn112 Gradually increase the value of Torque Feed forward Gain Pn112 oince the position error during acceleration deceleration at a constant speed can be brought close to 0 it can be controlled to almost 0 throughout the entire operation range during a trapezoidal speed pattern under ideal conditions where no disturbance torque is working In reality disturbance torque is always applied and therefore the position error cannot be completely O Motor speed Speed Feed forward Amount 100 96 fixed Position error o LN m Tl D D Q LA O e Q TI c 5 O O 5 speed Torque Nx c Feed forward Amount 0 96 Torque feed forward can reduce the position error in the range of constant acceleration deceleration ejnpooojg Dunejedo e S 9 la Precautions for Correct Use If you increase the torque feed forward filter time constant operating noise will be reduced However the position error at the acceleration change point will become larger OMNUC G5
234. al Settings The allocations of the default output signals are as follows Refer to Output Signal Allocation Method on page 6 37 when you change the allocation to use Default setting state Parameter Output signal Default setting Position control Speed control Signal 00030303 hex 197379 BKIR BKIR Pn410 1 Alarm output signal allocation cannot be changed Parameters That can be Allocated Use the following parameters when changing the output signal allocations For the setting method refer to Output Signal Allocation Method on page 6 37 Pn410 Output Signal Set the SO1 output function allocation This P 7 32 Selection 1 parameter must be set in hexadecimal notation For the setting method refer to the Function Number Table of output signals Pn411 Output Signal Set the SO2 output function allocation P 7 33 Selection 2 Pn412 Output Signal Set the SO3 output function allocation This P 7 33 Selection 3 parameter is fixed to the alarm output signal Pn413 Output Signal Set the SO4 output function allocation P 7 33 Selection 4 6 36 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions I Output Signal Allocation Method Input the setting in each control mode to any of the parameters from Pn410 to Pn413 to allocate the signal The parameters must be set in hexadecimal notation in the same method as for the input signal allocations oet the set va
235. and Servo Drives User s Manual 3 27 Q L o D lt e Oa lt o o D o ES o 5 a SUNDIID 1ndino 04002 7 1 3 Specifications 3 1 8 Control Output Details Control Output Sequence Control Power Supply L1C and L2C Internal Control Power Supply MPU Initialization Completed Main Circuit Power Supply L1 L2 and L3 Servo Ready Completed Output READY Alarm Output ALM Positioning Completion Output INP Operation Command Input RUN Dynamic Brake Motor Power Supply Brake Interlock Output BKIR Servo Position Speed or Torque Input ON a i 7 Approx 100 to 300 ms M 7L oFFLL E Approx 2 s Approx T9 s ON Initialization 3 OFF Os min OFF part Initialization completed approx 10 ms after main circuit power ON 2 ON RE OFF Mo Ll ON OFF H 0 ms min ON i OFF F fo m Approx 2 ms Approx 60 ms i Pn437 Approx 4 ms m 1 to 6 ms ON OFF 0 TIU P 4 100 ms min 1 ON i OFF Ld ee LLL 1 Although the servo ON signal is input from the hardware in this section it is not acceptable 2 The Servo Ready Completed Output READY turns ON only when both of these conditions are met MPU initialization is completed and the main power supply is established 8 Once the internal control power supply is established a protective function starts
236. and the position error is equal to or less than Positioning Completion Range 1 Pn431 3 The positioning completion output turns ON when there is no position command and the position error is equal to or less than Positioning Completion Range 1 Pn431 After that the ON state will be retained until the next position command is received Range 1 A 22 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Pn a Default Setting Cyclethe Description power No setting range supply 433 Positioning Completion Set the positioning completion hold time 1m 0 to 30 000 Hold Time 434 Zero Speed Set the threshold for the zero speed detection m EA to Detection signal ZSP E 000 435 Speed Set the threshold for detecting the Speed r min 10 to Conformity Conformity Output Signal VCMP signal as the 20 000 Detection difference between the speed command value and the actual speed Rotation Speed Set the threshold for detecting the Motor 1 000 r min 10 to for Motor Rotation Speed Detection Output TGON 20 000 Rotation Detection Range 437 Brake Timing Set the time elapsed until the mechanical brake 1 ms 0 to when Stopped is activated when the Servomotor is stopped 10 000 438 Brake Timing Set the time elapsed until the mechanical brake 1 ms 0 to During is activated when the Servomotor is operating 10 000 Operation 439
237. anual 3 13 3 Specifications I CN1 Pin Arrangement 24 V Open Collector Input for Command Pulse Forward Pulse CCW Direction Signal or SIGN FB 90 Phase Difference Signal Phase B General purpose Input 1 Reverse Drive Prohibition Input co 2 O NO IA Co e Encoder Phase A Output 24 V Open Collector Input for Command Pulse Reverse Pulses Feed Pulses or 90 PULS FA Phase Difference Signal Phase A Forward Pulse Direction Signal Or 12 to 24 VDC Power Supply Input General purpose Input 2 Forward Drive Prohibition Input General purpose Output 1 Brake Interlock Output SGGND Signal Ground SGGND Signal Ground SGGND Signal Ground Phase Z Output Open Collector Encoder Phase A Output Encoder General purpose Input 4 Gain Switching General purpose Input 6 Operation Command General purpose Input 8 Alarm Reset Input General purpose Input 10 2 General purpose Output 2 Servo Ready Completed Output Alarm Output General purpose Output 3 General purpose Output 4 2 Reverse Pulse Input for line driver only Forward Pulse Input for line driver only General purpose Input 3 2 General purpose Input 5 2 General purpose Input 7 2 General purpose Input 9 Control Mode Switching Alarm Output Common General purpose General purpose Output 4 Common Reverse Pulse Input for line driver o
238. ap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model e 50 W 100 W with Brake R88M KE05030H B S2 KE10030H B S2 Encoder connector Brake connector Motor connector Shaft end specifications with key and tap L 40 12 5 3h9 T Key groove P9 B pe depth 6 EM co ad v A ay ON 7 Dimensions mm R88M KE050300 BO 26 5 R88M KE100300 BO 12 98 46 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions e 200 W 400 W without Brake R88M KE20030L1 S2 KE400300 S2 Encoder connector Motor connector iV gi Luc 1 Shaft end specifications with key and tap 30 20 200W s Z 4h9 200W asom S ano laoo w 22 5 400W E Key groove P9 x M4 depth 8 200 W be M5 depth 10 400 W 200 W i T j g 1 5 min m Dimensions mm Model s R88M KE20030L1 11 R88M KE400300 99
239. aptive Filter Selection Pn200 to O Resetting of inertial estimation and adaptive operation e Manually set the notch filter e f unusual noise or vibration occurs the setting of Notch 3 Pn207 to Pn209 or Notch 4 Pn210 to Pn212 may have changed to an extreme value In this case set Adaptive Filter Selection Pn200 to 0 to disable the parameter and then set Notch 3 Frequency Setting Pn207 and Notch 4 Frequency Setting Pn210 to 5 000 disabled Next enable Adaptive Filter Selection again e Notch 3 Frequency Setting Pn207 and Notch 4 Frequency Setting Pn210 are written to the EEPROM every 30 minutes When the power supply is turned OFF and then turned ON again this data is used as the default settings to perform adaptive operation o TM oV U o PER o 3 D D o JJ c e CD D a 2 Ko o OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 7 6 Applied Functions 6 3 Notch Filters 6 3 1 Outline of the Function Four notch filters can be set for the torque command If a ball screw or other controlled device causes resonance at a specific location you can set the resonance frequency using a notch filter to eliminate resonance A notch filter is used to eliminate a specified frequency component Depth Fc fw Frequency Hz Cut off frequency Fc If mechanical resonance occurs use this notch filter to eliminate resonance Machine re
240. as detected Encoder CS Signal Error A logic error was detected in the CS signal for serial incremental encoder 49 55 Phase A Connection Error An error was detected in the external encoder phase A connection Phase B Connection Error An error was detected in the external encoder phase B connection Phase Z Connection Error An error was detected in the external encoder phase Z connection NO 10 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 Troubleshooting and Maintenance Alarm No Attribute Error detection function Description and error cause Canbe Immediate Main History 4 cleared stop 87 Emergency Stop Input An emergency stop input signal STOP N Error was input 0 4 Motor Non conformity The combination of the Servomotor and Servo Drive is not appropriate T C3 gt 3 r o0 amh The encoder was not connected when the power supply was turned ON Other Other errors The control circuit malfunctioned due to Y numbers excess noise or some other problem 1 Immediate stop means alarms which cause an immediate stop when Stop Selection for Alarm Detection Pn510 is set to 4 to 7 For details refer to Stop Selection for Alarm Detection on page 7 46 10 9 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 Troubleshooting and Maintenance 10 4 Troubleshooting If an error occurs in
241. ate the values set in Torque Command Value Offset Pn607 Forward Direction Torque Offset Pn608 and Reverse Direction Torque Offset Pn609 with the load characteristic estimation result 0 Use the present set value Disable torque compensation Clear the above parameters to zero Vertical mode Update Pn607 and clear Pn608 and Pn609 to zero Friction compensation small Update Pn607 and set small compensation values in Pn608 and Pn609 4 Friction compensation intermediate Update Pn607 and set intermediate compensation values in Pn608 and Pn609 5 Friction compensation large Update Pn607 and set large compensation values in Pn608 and Pn609 Cc N 7 Rigidity setting Select to enable or disable the basic gain setting by Realtime Autotuning Machine Rigidity Setting Pn003 0 Disabled 1 Enabled 8 Fixed parameter setting Select whether to allow changes to fixed parameters that normally are set to fixed values 0 Use the present values 1 Set to fixed values 9to 10 Gain switch setting Select the method to set parameters that relate to gain switching while realtime autotuning is enabled 0 Use the present settings 1 Disable gain switching 2 Enable gain switching 1 When load characteristic estimation is disabled setting to update the inertia ratio with the estimation result does not cause the present value to change Also setting to update the torque compensation value with the estimat
242. ated output resistive load 125 VAC 0 1 A max 30 VDC 0 1 A max minimum current 1 mA R88A RR22047S Regeneration Resistance Nominal LEU MET od Thermal switch output Model i 120 C radiation aaa value capacity d specifications temperature condition rise R88A Aluminum Operating temperature 170 C 7 C i i 3 122 Thickness 3 0 Rated output resistive load 250 VAC 3 A max OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications oo Ld m at D R88A RR22047S1 7 Regeneration E absorption for Heat i D Model Resistance Nominal 120 C radiation Thermal switch output s value capacity ae specifications o temperature condition 5 rise D R88A Aluminum Operating temperature 150 C 5 C a Thick sp 9 P Pan Rated output resistive load o 250 VAC 0 2 A max sj 42 VDC 0 2 A max S minimum current 1 mA o R88A RR50020S Regeneration Resistance Nominal MESOIDUOUUO ESL Thermal switch output Model 120 C radiation NTUE value capacity i specifications temperature condition rise R88A Aluminum Operating temperature 200 C 7 C Thickness 3 0 Rated output resistive load 250 VAC 0 2 A max 42 VDC 0 2 A max re T I x md D 2 m JJ D Ke 2 D RS O 2 JJ D o a o op o ro O zh O S O z D OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drive
243. atio for the command pulse input e Purposes of Position Command Filter Time Constant e This parameter is used basically for reducing the stepwise movement of the Servomotor with sparse command pulse input e Specifically sparse command pulse input may occur in the following cases The electronic gear ratio is set to a large value 10 or higher The command pulse frequency is low u Position command after Input position command smoothing filter processing Speed Target speed Vc Vcx0 632 Vcx0 368 tc Pn222 x 0 1 ms Filter switching dwell time 2 1 The actual processing speed is subject to calculation error 2 The Servomotor may operate at a higher speed than the original command speed immediately after filter switching operation if accumu lated pulses remain in the filter after a change in the filter value 7 24 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn223 Smoothing Filter Time Constant Setting O to 10 000 0 1 ms Default Cycle the range setting power supply e Set the time constant for the FIR filter applied to the command pulses FIR Finite Impulse Response e Setting a larger value improves the smoothness of the command pulse input Input position Position command after command FIR filter processing t Pn223 x 0 1 ms SJojeureJeg uoisseJddns uoneiqiA S Z 7 OMNUC G5 series Pulse train Input Type AC Servomotors and S
244. ault setting is 126 for a Servo Drive with 200 V and 1 kW or more e Set the second torque filter time constant e The parameters from Pn105 to Pn109 are the gain and time constants to be selected when Gain owitching Input Operating Mode Selection Pn114 is enabled e The gain is switched according to the condition set in the Switching Mode parameters Pn115 and Pn120 e f the mechanical system inertia changes greatly or if you want to change the responsiveness depending on whether the Servomotor is rotating or stopped you can have appropriate control by setting the gains and time constants beforehand for each of these conditions and switching them according to the condition e his parameter is automatically changed by the realtime autotuning function For manual adjustment set Realtime Autotuning Mode Selection Pn002 to 0 7 12 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn110 Speed Feed forward Amount Position Setting 0 to 1 000 0 196 Default Cycle the range setting power supply Set the feed forward amount Increasing the set value decreases the position error and increases the responsiveness Overshooting however will occur more easily Pn111 Speed Feed forward Command Filter Setting 0 to 6 400 0 01 ms Default Cycle the range setting power supply e Set the time constant for the first order lag filter inserted into the feed forward section e When the
245. beiq JOU L p 0L 10 Troubleshooting and Maintenance Alarm No Cause 15 Servo Drive Overheat Overload Regeneration Overload The temperature of the Servo Drive radiator or power elements exceeded the specified value e The ambient temperature of the Servo Drive exceeded the specified value e Overload When the feedback value for torque command exceeds the overload level specified in Overload Detection Level Setting Pn512 overload protection is performed according to the overload characteristics e The load was heavy the effective torque exceeded the rated torque and operation continued too long Vibration or hunting occurred due to faulty gain adjustment The Servomotor vibrates or makes unusual noise The value set in Inertia Ratio 1 Pn004 is faulty The Servomotor wiring is incorrect or broken The machine was hit by an object or the machine load suddenly became heavy The machine was distorted The electromagnetic brake remains ON When multiple machines were wired the wiring was incorrect and the Servomotor cable was connected to a Servomotor for another axis The regenerative energy exceeds the processing capacity of the Regeneration Resistor e The regenerative energy during deceleration caused by a large load inertia increased the converter voltage across the positive and negative terminals and then insufficient energy absorption by the Regeneration Resistor furth
246. brake 1 During deceleration Free run arer sanang omame 2 During deceleration Dynamic brake EN Senone o 3 During deceleration Free run A N 4 During deceleration by immediate stop alarm Immediate stop During deceleration Dynamic brake After stopping Dynamic brake 5 During deceleration by immediate stop alarm Immediate stop During deceleration Free run After stopping Dynamic brake During deceleration by immediate stop alarm Immediate stop During deceleration Dynamic brake After stopping Servo free 7 During deceleration by immediate stop alarm Immediate stop M During deceleration Free run After stopping Servo free 1 Immediate Stop Set the torque limit for immediate stop 0 to Torque 500 512 Overload Set the overload detection level 0 to Detection Level 500 Setting 513 Overspeed Set the overspeed error detection level r min 0 to Detection Level 20 000 Setting 514 Overrun Limit Set the amount of Servomotor overrun for the 10 0 1 0 to Setting position command rotation 1 000 515 Control Input Select the signal read cycle for the interface Oto 3 Required Signal Read from the following four levels Setting EN 0 166 ms 0 333 ms 1ms 1 666 ms Set the alarm clear input detection method Oto1 Required 120 ms Follow the setting of Control Input Signal Read Setting Pn515 1 The value is regarded as 115 if set to 115 or higher 516 Alarm Reset Condition Setting mis
247. cated only to Input Signal Selection 10 Pn409 If it is allocated to signals Command Pulse Prohibition Input Allocation Error Alarm No 33 7 will occur e To use Control Mode Switching Input TVSEL it must be set for all control modes Otherwise Interface Input Function Number Error 1 Alarm No 33 2 or Interface Input Function Number Error 2 Alarm No 33 3 will occur e f Zero Speed Designation Selection Pn315 is set to 2 or 3 the Zero Speed Designation Input VZERO for the position control must be allocated to the same pin as that to which the Zero Speed Designation Input VZERO for the speed control is allocated The logic must also be allocated in the same method OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 35 6 Applied Functions e The functions that are used by more than one control mode such as Operation Command and Alarm Reset Input must be allocated to the same pin with the same logic If they are not set correctly Interface Input Duplicate Allocation Error 1 Alarm No 33 0 or Interface Input Duplicate Allocation Error 2 Alarm No 33 1 will occur e The Operation Command RUN must be allocated Servo cannot be turned ON if it is not allocated 6 9 3 Output Signals You can allocate any functions to the output pins of the control I O connector CN1 If you replace a G series Servo Drive use the G5 series Servo Drive with the default settings Default Output Sign
248. ccur due to the accumulation of position errors In addition if the servo turns ON with a large position error the Servomotor may start moving suddenly because the control attempts to zero the error Take extra care when using the Servo Drive with this parameter set to hold the position error counter content 3 During deceleration means the period until the motor decreases its speed to 30 r min or less from the normal operation Once the Servomotor decelerates to 30 r min or lower and falls in an After stopping state it follows the operation described under After stopping independent of the actual motor speed 4 The position error counter content will be always cleared to zero with these settings Pn508 Undervoltage Alarm Selection Setting 0 to 1 Default 1 Cycle the range setting power supply Explanation of Set Values O CO NI OD oT A N gt SJ9 9UIBJed popuog x3 9 2 7 Set value Description 0 The servo is turned OFF based on the value set in Stop Selection with Main Power Supply OFF Pn507 The servo is then turned back ON when the main power supply is turned ON 1 A Main Power Supply Undervoltage alarm Alarm No 13 1 occurs causing an alarm trip OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 45 7 Parameter Details Pn509 Momentary Hold Time Setting 70 to 2 000 Default Cycle the range setting power supply e Set the Main Power Supply Alarm
249. ce Input Function Number Error 2 Interface Output Function An undefined number was detected in the Number Error 1 interface output signal allocations 5 Interface Output Function v Number Error 2 Counter Reset The counter reset function was allocated to v Allocation Error something other than input signal SI7 Command Pulse The command pulse prohibition input v Prohibition Input function was allocated to something other Allocation Error than input signal SI10 Overrun Limit Error The motor exceeded the allowable v v operating range set in the Overrun Limit Setting Pn514 with respect to the position command input Parameter Error Data in the Parameter Save area was corrupted when the power supply was turned ON and data was read from the EEPROM Parameter destruction The checksum for the data read from the EEPROM when the power supply was turned ON does not match Drive Prohibition Input The forward drive prohibition and reverse v Error drive prohibition inputs are both turned OFF Encoder Initialization Error An encoder initialization error was v detected Alarm No Main NO co CO CO NO iN Co D 36 0 2 oo N 0 2 38 Encoder 1 rotation A 1 turn counter error was detected V Counter Error Multi rotation Counter A multi rotation counter error or phase AB Error signal error was detected 48 Encoder Phase Z Error A serial incremental encoder phase Z pulse irregularity w
250. cifications e Wiring Emergency CW CCW Origin Ground to 100 O or less 24 VDC 1 The XB contact is used to turn ON OFF the electromagnetic brake Note 1 Do not connect wires to unused terminals 2 OV and common terminals are connected internally 3 The applicable crimp terminal is R1 25 3 round or fork type xw2B 40J6 2B Below are the specifications of the Servo Relay Unit for connecting the following OMRON Position Control Unit models e CJ1W NC213 NC233 NC413 NC433 e CS1W NC213 NC233 NC413 NC433 e C200HW NC213 NC413 e External Dimensions Position Control Unit side X axis Servo Drive side Y axis Servo Drive side 45 44 3 46 e The pitch of terminals is 7 62 mm OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 97 o o D lt O J D D lt c 5 m 3 2 O D D 92 D O o D ct o 5 0 suoieouioeds yun ejed omas 9 3 Specifications e Wiring XY axis X axis X axis X axis ve XaxislX axi Y axis Y axis Y axis TE Y axis Y axi 24V Emergency CW CCW Origin ROAS Vea eno CW CCW Origin 59305 SEXES IS m s p limit BAF on Pee ALM BKIR limit limit oti RUN ALM BKIR X axis X axis X axis l Y axis Y axis ov peers tar RESETIALMCOM Common Common ime Common Common s ce at NCOM to 100 Q or less 24 VDC 1 T
251. circuit fault Measures Measure the voltage across the L1C and L2C lines on the connectors and the terminal block e Increase the power supply voltage Change the power supply e Increase the power supply capacity e Replace the Servo Drive Measure the voltage across the L1 L2 and L3 lines on the connectors and the terminal block Input the correct voltage Remove the phase advance capacitor e Use a tester to measure the resistance of the external resistor between the B1 and B2 terminals on the Servo Drive If the resistance is infinite the wiring is broken Replace the external resistor Change the regeneration resistance and wattage to the specified values Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity Reduce the descent speed e Replace the Servo Drive OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Alarm No Main Power Supply Undervoltage insufficient voltage between P and N Main Power Supply Undervoltage AC cutoff detected Overcurrent IPM Error OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 Troubleshooting and Maintenance Cause 13 If Undervoltage Alarm Selection Pn508 is set to 1 a momentary power interruption occurred between L1 and L3 for longer than the value set in Momentary Hold Time Pn509 Alternati
252. command pulses corresponding to 1 motor P 7 7 Setting rotation Pn009 Electronic Gear Ratio Set the numerator of the electronic gear ratio Numerator 1 If the set value is 0 the encoder resolution is automatically set as the numerator 1 048 576 for a 20 bit incremental encoder Pn010 Electronic Gear Ratio Set the denominator of the electronic gear ratio Denominator Pn500 Electronic Gear Ratio Set the numerator of the electronic gear ratio 2 P 7 42 Numerator 2 Pn501 Electronic Gear Ratio Set the numerator of the electronic gear ratio 3 Numerator 3 Pn502 Electronic Gear Ratio Set the numerator of the electronic gear ratio 4 Numerator 4 1 Switching among Electronic Gear Ratio Numerator 2 to 4 Pn500 to Pn502 is performed using the electronic gear Switching input GESEL1 GESEL2 The settings of DECRE and GESEL2 are as follows GESEL1 GESEL2 Applicable parameter 2 I m D O aa O 3 o C D D Bs c 5 ct o 3 uonounj y JO UINNO 1 p 9 OFF OFF Electronic Gear Ratio Numerator 1 Pn009 ON Electronic Gear Ratio Numerator 2 Pn500 OFF Electronic Gear Ratio Numerator 3 Pn501 ON Electronic Gear Ratio Numerator 4 Pn502 Any values can be set in PNO08 Pn009 and Pn010 however if an extreme electronic gear ratio is set the operation is not guaranteed Set the electronic gear ratio to between 1 1 000 and 1 000 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Ma
253. ction INP1 turns ON when the number of error pulses accumulated in the error counter is equal to or less than Positioning Completion Range 1 Pn431 INP2 turns ON when the number of error pulses accumulated in the error counter is equal to or less than Positioning Completion Range 2 Pn442 This output signal turns ON according to the condition set in Positioning Completion Condition Selection Pn432 Motor Rotation Speed Detection Output TGON Pin 39 Motor Rotation Speed Detection Output TGON Pin 38 Motor Rotation Speed Detection Output Common TGONCOM This is the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 e Function The output signal turns ON when the Servomotor speed exceeds the value set in Rotation Speed for Motor Rotation Detection Pn436 i Torque Limit Output TLIMT No allocation Torque Limit Output TLIMT No allocation Torque Limit Output Common TLIMTCOM This is the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 e Function This output signal turns ON when the torque limit function is enabled i Zero Speed Detection Signal ZSP No allocation Zero Speed Detection Signal ZSP No allocation Zero Speed Detection Signal Common ZSPCOM This is the default allocation Th
254. cuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series Fire or burn damage may result due to the temperature rise in the resistors if the Servo Drive is used without setting up a power supply shutoff sequence using the output from the thermal switch R88D KP08H KP10H KP15H KP20H KP30H KP50H Normally B2 and B3 are shorted If an External Regeneration Resistor is necessary remove the short circuit bar between B2 and B3 and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below Servo Drive Thermal switch output JOISISAY uonejouofey euJa1x3 ue Duipeuuo p p v External Regeneration Resistor Remove the short circuit bar between B2 and B3 la Precautions for Correct Use Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series Fire or burn damage may result due to the temperature rise in the resistors if the Servo Drive is used without setting up a power supply shutoff sequence using the output from the thermal switch OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 43 4 System Design Combining External Regeneration Resistors Regeneration absorption 70W 140W capacity Model H88A RR0
255. d Set in Pn013 Reverse Set in Pn522 When TL SEL input is open Set in Pn013 When TL SEL input is shorted Set in Pn522 Reserved Do not set Reserved Do not set When TL SEL input is open Limit in forward direction set in Pn013 limit in reverse direction set in Pn522 When TL SEL input is shorted Limit in forward direction set in Pn525 limit in reverse direction set in Pn526 522 No 2 Torque Set the second output torque limit of the 500 0 to Limit Servomotor 500 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 27 Appendices Pn Ne Default Setting SUBE Description power No setting range supply 523 Torque Limit Set the rate of change fluctuation when ms 0 to Switching switching from No 1 Torque Limit to No 2 10096 4 000 Setting 1 Torque Limit 524 Torque Limit Set the rate of change fluctuation when 0 to Switching switching from No 2 Torque Limit to No 1 4 000 Setting 2 Torque Limit 525 Forward Set the forward torque limit for TL SEL input External Torque when Torque Limit Selection Pn521 is set to 6 Limit 9o 0 to 500 0 to 500 og Os 7 l s z 33 zx 2 Pulse Pulse 526 Reverse Set the reverse torque limit for TL SEL input 527 Total encoder pulses Control mode External Torque when Torque Limit Selection Pn521 is set to 6 528 Default Display Se
256. d Setting Default Cycle the range setting power supply Do not set OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 35 7 Parameter Details Pn424 Reserved Setting Default Cycle the range setting power supply Do not set Pn425 Reserved Setting Default Cycle the range setting power supply e Do not set Pn426 Heserved Setting Default Cycle the range setting power supply Do not set Pn427 Heserved Setting Default Cycle the range setting power supply Do not set Pn428 Heserved Setting Default Cycle the range setting power supply e Do not set Pn429 Heserved Setting Default Cycle the range setting power supply e Do not set Pn430 Heserved Setting Default Cycle the range setting power supply e Do not set 7 36 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn431 Positioning Completion Range 1 Position Setting 0 to 262 144 Command units Default Cycle the range setting power supply e Use this parameter in combination with Positioning Completion Condition Selection Pn432 to set the output timing of the positioning completion output The positioning completion output INP will be output if after command pulse input the Servomotor workpiece completes its movement and the number of pulses in the error counter falls within the range defined as set value e
257. d The parameters related to notch filters 3 and 4 are disabled and the adaptive result is cleared e Set the operation of the adaptive filter Pn201 Notch 1 Frequency Setting Setting 50 to 5 000 Default 5 000 Cycle the range setting power supply e Set the frequency of the first resonance suppression notch filter e When set to 5 000 the notch filter function is disabled Pn202 Notch 1 Width Setting Setting 0 to 20 Default Cycle the range setting power supply e Set the width of the first resonance suppression notch filter in 20 levels e Increasing the setting value widens the notch width Normally use the default set value Pn203 Notch 1 Depth Setting All Setting 0 to 99 Default Cycle the range setting power supply e Set the notch depth of the first resonance suppression notch filter e Increasing the setting value shortens the notch depth and the phase lag Pn204 Notch 2 Frequency Setting Setting 50 to 5 000 Default 5 000 Cycle the range setting power supply e Set the notch frequency of the second resonance suppression notch filter e When set to 5 000 the notch filter function is disabled 7 20 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Pn205 Setting range Pn206 Setting range Pn207 Setting range Pn208 Setting range Pn209 Setting range Pn210 Setting range Pn211 Setting range Pn212 Setting range OMNUC G5 series Pulse train Input
258. d 4 enabled Damping Frequency 1 Position 0 to 2 000 0 1 Hz Default Cycle the setting power supply oet Damping Frequency 1 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz The range of setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is O to 0 9 Hz For the setting method refer also to 6 1 Damping Control on page 6 3 Damping Filter 1 Setting O to 1 000 0 1 Hz Default Cycle the setting power supply When Damping Frequency 1 Pn214 is set reduce this value if torque saturation occurs or increase this value to improve the dili speed Normally use a setting of O The value that can be set is limited as follows Upper limit Corresponding damping frequency Lower limit Damping frequency Damping filter setting 2 100 For the setting method refer also to 6 7 Damping Control on page 6 3 Damping Frequency 2 0 to 2 000 0 1 Hz Default Cycle the setting power supply oet Damping Frequency 2 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz The range of setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is O to 0 9 Hz For the setting method refer also to 6 1 Damping Control on page 6 3 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Driv
259. d compensation and dynamic friction compensation together or separately Take note that the following use limit is applied upon control mode switching or servo ON e When servo is OFF in speed control Unbalanced load compensation is enabled based on Pn607 Dynamic friction compensation will be O regardless of the parameter setting e When servo is ON in position control The unbalanced load compensation and dynamic friction compensation values are held until the first position command is input Once the position command is input the unbalanced load compensation value is updated based on Pn607 Also based on the command direction the dynamic friction compensation value is updated according to the parameter Pn608 or Pn609 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 45 gt e Tl o ct o 3 o Ss c O o 3 o D D ct Oo 5 Tl c 3 o ct O 5 jdwex4 uonejedo 1 9 6 Applied Functions 6 14 Inertia Ratio Switching Function 6 14 1 Outline of the Function You can switch between the inertia ratio 1 and 2 using Inertia Ratio Switching Input JSEL This function is effective if it is used when the load inertia changes in 2 levels You can use the inertia ratio switching function in the following situations e The servo is ON e The Servomotor can rotate normally without any failures e The realtime autotuning function is disabled e The adaptive
260. d inertia 10 times the rotor inertia max Torque constant N m A 0 58 0 64 Mechanical ms 0 66 Electrical time constant ms 10 Allowable radial load N 490 490 Allowable thrust load N 196 196 Weight Without brake kg Approx 5 2 Approx 6 7 Approx 8 0 With brake kg Approx 6 7 Approx 8 2 Approx 9 5 Radiator plate dimensions material 275 x 260 x t15 Al Applicable Servo Drives R88D KP10H KP15H KP20H SONSHBJOLIEYD z O OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual p C2 o D lt fo 3 eh o D o Q fo et O gt D 3 Specifications e Brake Specifications Model R88M Item Brake inertia Excitation voltage Power consumption at 20 C Current consumption at 20 C Static friction torque Attraction time 9 Release time Backlash Allowable work per braking Allowable total work Allowable angular acceleration Brake life Rating Insulation class 200 VAC 1 85 x 10 1 35 x 10 1 35 x 10 24 VDC 10 19 ms 100 max 100 max 1 J 7 8 x 10 1 5 x 108 1 5 x 108 rad s 10 000 10 million times min Continuous Class F OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Model R88M 200 VAC Item Unit KE4K00H KE5K020H Rated output W 3 000 9 000 Rated rotation speed r min 2 000 Maximum rotation speed r min 3 000
261. d of the Decelerator Do not exceed the maximum motor shaft rotation speed of 4 500 r min Note 1 The Decelerator inertia is the Servomotor shaft conversion value 2 he protective structure rating of the Servomotor with the Decelerator is IP44 3 he Allowable radial load column shows the values obtained at the center of the shaft T 2 4 The standard shaft type is a straight shaft A model with a key and tap is indicated with J at the end of the model number the suffix shown in the box 3 56 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e For 2 000 r min Servomotors Rated Rated zt maximum rotation TAS Efficiency rotation maximum Model speed q torque anii ECABLLIIN LR Le C 1 5 R88G E 3 90 x 104 889 3 542 7 3 a HPGS32A053KO0BLI 1 11 R88G 182 472 141 6 a49x1904 1 126 4488 7 8 HPG32A112K0SBLI 1 21 R88G 95 92 2 92 143 276 3 290x10 4 1 367 5 448 8 HPG32A211K0SBLI 1 33 R88G 144 8 92 91 434 1 470x10 4 4 135 14 300 19 0 HPG50A332KO0SBLI 1 45 R88G 197 5 592 2 470x104 4 538 15 694 19 0 HPG50A451KO0SBLI 1 5 1 5 R88G 3 80 x 104 3 542 3 kW HPGS32A053KO0BLI 1 11 R88G 182 217 6 340x10 1 126 4 488 HPG32A112K0SBLI 1 21 R88G 95 138 3 92 143 415 4 580x10 4 3 611 12 486 19 0 HPG50A213KOBLI 1 33 R88G 219 7 93 91 659 8 1470x104 4 135 14 300 19 0 HPG50A332K0SBO N A a D O D D fo O o D O O D
262. d pulses per 0 167 ms by the electronic gear ratio exceeded approximately 3 Gpps approximately 175 kpps for software versions earlier than V1 10 The command pulse input is sparse or dense There is an erroneous count due to noise contained in the command pulse input The pulse regeneration output frequency exceeded the allowable limit The position error counter value obtained with reference to the encoder pulses exceeded 279 536 870 912 There is a duplicate setting in the input signal IN1 IN2 IN3 IN4 or IN5 function allocations There is a duplicate setting in the input signal IN6 IN7 IN8 IN9 or IN10 function allocations There is an undefined number specification in the input signal IN1 IN2 IN3 IN4 or IN5 function allocations There is an undefined number specification in the input signal IN6 IN7 IN8 IN9 or IN10 function allocations There is an undefined number specification in the output signal SO1 or SO2 function allocation There is an undefined number specification in the output signal SO4 function allocation The Error Counter Reset Input ECRST pin was allocated to other than the input signal S17 The Pulse Prohibition Input IPG function was allocated to other than the input signal S110 Measures Check the command pulse input Set the electronic gear ratio as small as possible in the range of 1 1 000 to 1 000 times Check the command pulse input Use t
263. d units Command feedback pulse error in command units Pn417 Analog Monitor 1 Scale Setting Setting 0 to 214 748 364 Pn416 monitor unit V Default Cycle range setting power supply e Set the output gain of the analog monitor 1 Pn418 Analog Monitor 2 Selection Setting 0 to 21 Default Cycle TEN range setting power supply e Select the type of analog monitor 2 e The set values for this parameter are the same as those of Analog Monitor 1 Selection Pn416 7 34 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn419 Analog Monitor 2 Scale Setting Setting 0 to 214 748 364 Pn418 monitor unit V Default Cycle range setting power supply e Set the output gain of the analog monitor 2 Pn421 Analog Monitor Output Setting Setting 0 to 2 Default Cycle range setting power supply e Select the analog monitor output voltage direction Set value Output range Data output Output voltage V 10 V Pe O1 5 0 10 to 10 V D D O p Oo 5 o cd s 10 V NC uev cest qe ts I s Motor 1 0 to 10 V speed T T 10 V Output voltage V 10V VIZ Motor 2 O to 10 V Speed 0V 0 5 000 r min 2 500 10 V e An example when the monitor type is Motor speed and the conversion gain is 500 1 V 500 r min Pn422 Reserved Setting Default Cycle the range setting power supply Do not set Pn423 Reserve
264. dance Characteristics ESD SR 250 10 000 1 000 u 3T G Q 2T 2 100 C 9 O Tr E 10 1 1 10 100 1 000 Frequency MHz Refer to External Dimensions on page 4 30 and mpedance Characteristics on page 4 31 for information on the external dimensions and impedance characteristics of the ZCAT3035 1330 clamp core OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design i Improving Control I O Signal Noise Resistance Positional deviation and I O signal errors can occur if control I O is influenced by noise e Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular do not connect the ground wires for these two power supplies e Install a noise filter on the primary side of the control power supply e f motors with brake are being used do not use the same 24 VDC power supply for both the brakes and the control I O Additionally do not connect the ground wires Connecting the ground wires may cause I O signal errors e Separate the power supply for the pulse command and error counter reset input lines from the control power supply as far apart as possible In particular do not connect the ground wires for these two power supplies e We recommend using line drivers for the pulse command and error counter reset outputs e For the pulse command and error counter reset signal lines always use shielded twi
265. del Tables 2 2000055 2 16 2 4 External and Mounting Dimensions es 2 22 2 4 1 Servo Drive Dimenslolis i ui oe rend oa e e eek eee 2 22 2 4 2 Servomotor Dimensions l l RR e 2 31 2 4 3 Combinations of Servomotors and Decelerators LL 2 40 2 4 4 Decelerator Dimensions llli 2 42 2 4 5 External Regeneration Resistor Dimensions llle 2 56 2 4 6 Reactor DImiensiol82 fin dace a TE Re gto C eh Ene dC tes Cx ane bd oaa RC X 2 57 2 4 7 Mounting Bracket L brackets for Rack Mounting Dimensions 2 61 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 1 2 Models and External Dimensions 2 1 V Oo c C z z O O E i kK o 2 2 A Servo System Configuration Support Software e CX One FA Integrated j Tool Package Controller Ea E NI CX Position s CX Motion ges poe wpe Direct Connection Cable A for CJ1W NC 4 Support Software e CX One FA Integrated Tool Package Including CX Drive Pulse Train Commands Feedback Signals NC Connector Terminal Unit Cable Block Conversion Unit LIX XW2 T MEL L XW2Z 5 Programmable Position Control NC Unit lt ui External Signal 5 Controller CJ1W NC214 414 SYSMAC CJ2 CJ1W NC234 43
266. detection time e When set to 2 000 the main power supply OFF detection is disabled Pn510 Stop Selection for Alarm Detection Setting 0 to 7 Default Cycle the range setting power supply Explanation of Set Values Set Description value During deceleration After stopping Error counter 0 Dynamic brake operation Dynamic brake operation Clear a mE 4 Operation A Immediate stop Dynamic brake operation Clear Operation B Dynamic brake operation 5 Operation A Immediate stop Dynamic brake operation Clear Operation B Free run 6 Operation A Immediate stop Servo free Clear Operation B Dynamic brake operation Operation A Immediate stop Servo free Clear Operation B Free run e Set the operation after stopping or during deceleration of the Servomotor when any protective function of the drive operates for an alarm detection e The dynamic brake is designed only for immediate stop Configure the system to stop for about three minutes after the dynamic brake operates 1 The error counter is cleared when the alarm is reset N 2 Operation A and B indicate whether immediate stop is executed when an alarm occurs If an immediate stop alarm occurs immediate stop in operation A is executed If an alarm that does not support immediate stop occurs stop in operation B is executed 3 During deceleration means the period from the motor is running until the motor speed reaches 30 r min or lower Once the motor reaches 3
267. e Servo Drive models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section The average regeneration power Pr is the regeneration power produced in 1 cycle of operation W PS Egi Eg2 Eg3 T W T Operation cycle s 4 40 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design 4 4 2 Servo Drive Regeneration Absorption Capacity 1 Amount of Internal Regeneration Absorption in Servo Drives This Servo Drive absorbs regenerative energy internally with built in capacitors If the regenerative energy is too large to be processed internally an overvoltage error occurs and operation cannot continue The following table shows the regenerative energy and amount of regeneration that each drive can absorb If these values are exceeded take the following processes e Connect an External Regeneration Resistor Regeneration process capacity improves e Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed e Lengthen the deceleration time Regenerative energy per unit time decreases e Lengthen the operation cycle i e the cycle time Average regenerative power decreases Internal regeneration Regenerative energy resistor Al
268. e Absorber e Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines e When selecting surge absorbers take into account the varistor voltage the surge immunity and the energy tolerated dose e For 200 VAC systems use surge absorbers with a varistor voltage of 620 V e he surge absorbers shown in the following table are recommended Manufacturer Surge immunity Comment Okaya Electric L A V 781BWZ 4 700 V 2096 2 500 A Block Single phase Industries Co Ltd 200 VAC Okaya Electric H A V 781BXZ 4 700 V 2096 2 500 A 3 phase 200 VAC Industries Co Ltd Note 1 Refer to the manufacturers catalog for operating details 2 The surge immunity is for a standard impulse current of 8 20 s If pulses are wide either decrease the current or change to a larger capacity surge absorber e External Dimensions For single phase BWZ series For 3 phase BXZ series 4 2 y 4 2 pi ON A i O O O o ceo CN 4 5 e Equalizing Circuits For single phase BWZ series For 3 phase BXZ series 0 SO oco 4 28 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design I Radio Noise Filter and Emission Noise Prevention Clamp Core Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal clock circuit Model Application 3G3AX ZCL4
269. e Command Rotation Direction Pulse Mode Switching Selection Selection Pn006 Pn007 1 90 phase difference A B signal input Command pulse Motor forward command Motor reverse command mode Line driver t1 2 2 us Open collector t1 2 5 us 1 Reverse pulse Forward pulse Line driver t2 gt 1 us Open collector t2 gt 2 5 us 3 Feed pulse Forward or reverse signal Line driver t2 gt 1 us Open collector t2 gt 2 5 us e Set the input pattern of the command pulses from the position controller to the Servo Drive OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn008 Electronic Gear Integer Setting Setting 0 to 220 pulses Default 10 000 Cycle the Required range setting power supply e Set the number of command pulses per motor rotation e When this parameter is set to 0 Electronic Gear Ratio Numerator 1 Pn009 and Electronic Gear Ratio Denominator Pn010 are enabled Pn009 Electronic Gear Ratio Numerator 1 Setting 0 to 230 Default Cycle the range setting power supply Pn010 Electronic Gear Ratio Denominator Setting 1 to 230 Default 10 000 Cycle the range setting power supply e Set the electronic gear function e These parameters are enabled when Pn008 is set to O e Intended use of the electronic gear function e Set the desired number of motor Electronic Gear Ratio Denominator per unit number of input command pulse
270. e Command Value Offset Pn607 Forward Direction Torque Offset Pn608 and Reverse Direction Torque Offset Pn609 are automatically saved to the EEPROM every 30 minutes Realtime autotuning uses this saved data as the default settings when the power supply is turned ON again e The parameters are automatically set based on Realtime Autotuning Machine Rigidity Setting Pn003 if realtime autotuning is enabled OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 Adjustment Functions e Realtime Autotuning RTAT Parameter Table Parameter ime Autotuning Machine Rigidity Setting Pn003 No Eo ES eas eee eae eae Pn004 Estimated load inertia ratio PIOS Speed Feedback Fiter Time Constant 0 0 0 0 0 0 0 0 prio Torque Command Fiter Time Constant 1 500 100 800 800 600 500 400 300 Pni06 Speed Loop Gain 2 20 25 30 35 45 60 75 Pni08 Speed Feedback Filter Time Constant 2 1 39 9 7 fo oi ae 0 PIOS Torque Command Fiter Time Constant 1 500 100 800 800 600 500 400 300 H2 Torque Feec orwardAmount 0 0 0 0 0 0 0 Pn113 Torque Feec orward Commander o 0 0 0 0 0 0 aM Pn114 Gain Switching Input Operating Mode 1 1 1 1 1 1 Selection Pni15 Switching Mode in Position Control Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 Pn116 Gain Switching Delay Time in Position 30 Control Pni17 Gain
271. e FUNCOM es 6 18 6 6 2 Parameters Requiring Settings x ni cfi ecd te petet utet tco tede eae is eda evoca aca cnius 6 18 6 6 3 Precautions for Correct Use of Holding Brake cccccsceccceceseecceeceeeeeecaeeeeeeeseaeeceseseeeeeeeaees 6 18 6 6 4 Operos PET 6 19 6 7 Critic FUNCHOM e 6 23 6 7 1 UBIO VOR te THO Flo rers tuo taca dc teo deo paces dar ccs cc tee Pe ust ls m asc re coc ten eat sath a 6 23 6 7 2 Parameters Requiring Settings ccccccccccsseeeccececaeeeececceecseuseeceesesaeaeeeeeeesssaaaseesesssseaseeeeeees 6 24 6 80 Torgu EIE iosecoi e noe quaes coacta caudate E co cau pu Eo eee a du Coss due icant ULL E cuu E ed Secus Due Se ue CE 6 31 6 8 1 Outline OF ING FUNCION ME Do D S TES dees 6 31 22 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 9 6 10 6 12 6 13 6 14 6 15 6 16 Section 7 7 1 7 2 7 3 7 4 7 5 7 6 T 7 Section 8 8 1 8 2 CONTENTS SEQUENCE VO SIGMANS nior a a 6 33 6 9 1 OUTING Of INE FUNCIO eraser m m N 6 33 6 9 2 ND UE SIGMA eena s e e e e T a a tala cael Glas 6 33 6 9 3 OPU SNIS ea a eE ondes Ce Save tele phuUac de ntu 6 36 Forward and Reverse Drive Prohibition Functions eeeeee eere 6 38 6 10 1 Outline OF Te BUNCH ON T T T a aa 6 38 6 10 2 Parameters Requiring Settings ccccccsssssccccececsssseeceeeesesseeeeceeseseeeeeeeeeceuaaseeseeesauaaseeeeeeseneeas 6
272. e Gain 1 Gain 2 switching OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 13 7 Parameter Details Pn115 Setting range Switching Mode in Position Control 0 to 10 Default Cycle the setting power supply Explanation of Settings Set value o Oo oaj gt CO 10 Gain switching conditions Always Gain 1 Pn100 to Pn104 Always Gain 2 Pn105 to Pn109 Switching using gain switching input GSEL for CN1 pin 27 Amount of change in torque command Refer to Figure A Always Gain 1 Pn100 to Pn104 Command speed Refer to Figure B Amount of position error Refer to Figure C Command pulse input Refer to Figure D Positioning completion output INP1 OFF Refer to Figure E Actual motor speed Refer to Figure B Combination of command pulse input and motor speed Refer to Figure F V 4 5 r min Description Gain Switching Delay Time in Position Control Pn116 Gain Switching Level in Position Control Pn117 0 05 a Pulse V Enabled Disabled Gain Switching Hysteresis in Position Control Pn118 2 3 0 05 v r min y Pulse v r min v r min e Select the conditions for switching between Gain 1 and Gain 2 when Gain Switching Input Operating Mode Selection Pn114 is set to 1 e his setting is fixed to Gain 1 regardless of the gain input whe
273. e Servo Drive and connected units e Leave unused signal wires disconnected and open Use a dedicated power supply 24 VDC for the command pulse power e Recommended surge absorbing diode RU2 Sanken Electric Co Ltd or equivalent Use a separate power supply 24 VDC for the brake independent of the 24 VDC control power supply A 10 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices A 2 Parameter List e Some parameters are enabled by cycling the power supply shown in the tables below After changing these parameters turn OFF the power supply confirm that the power supply indicator is not lit and then turn ON the power supply again to restart the system e Do not change the parameters marked Reserved Do not change the set values marked Not used or Reserved i Basic Setting Parameters Pn aoe Default Setting clethe Description power No setting range supply 000 Rotation RM em the relation between the command direction Oto1 Required Direction RM em the motor rotation direction setting Forward CW when viewed from shaft end for positive commands Reverse CCW when viewed from shaft end for positive commands 001 Control Mode Select the control mode of the Servo Drive the control mode of the Servo Drive Oto 3 Required Selection Position control S train command Speed control Internally set speed control 2 Reserved Dono
274. e Servomotor side Symbol OR M5 crimp Q3 B PhaseV terminal P ue Eg Phase W Green Yellow om b FG Cable AWG10 x 4C UL2501 Servomotor side connector Straight plug model N MS3106B22 22S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 73 3 Specifications Power Cables with Brake Global Non Flexible Cable R88A CAGBLIB e Cable types 200 V For 3 000 r min Servomotors of 1 to 2 kW 2 000 r min Servomotors of 1 to 2 kW 1 000 r min Servomotors of 900 W Outer diameter of 10 4 dia 5 4 dia Connection configuration and external dimensions Model Weight R88A CAGBOO3B R88A CAGBO05B R88A CAGBO10B R88A CAGBO15B R88A CAGBO20B Approx 0 8 kg Approx 1 3 kg Approx 2 4 kg Approx 3 5 kg Approx 4 6 kg 70 L Servomotor side Servo Drive side D R88M KEL R88D KPI Y cl L3 N e Wiring Servomotor side Servo Drive side Black M4 Hl OQO Brown terminal c3 Ferrule i TI M4 crimp terminal es T White Blue OCO Green Yellow 1 Phase v B Phase W E Fe o re Cable AWG20 x 2C UL2464 Cable AWG14 x 4C UL2463 Servomotor side connector Straight plug model N MS3106B20 18S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics OMNUC G5 serie
275. e Z Signal Output When Pn011 Pn503 is an integer When Pn01 1 Pn503 is not an integer A jJLILIL a d LILI L B rL B LLLI 2 L o z foo Synchronization Asynchronous 6 16 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions Encoder Output Direction Switching Selection Pn012 The scale corresponding to each output type is as follows Encoder Output Direction Phase B When operating in forward When operating in reverse Output source WR Switching logic direction direction Selection Bull Non reverse Phase A Phase A EN D a fo fd Do not set Phase B Phase B Encoder Reverse Phase D Phase uu D Reserved Do not set Phase B Phase B P oni m o o ro D g lt 2 3 amp c 3 o O 5 sBullles Buuinbeu susjewesieYy Z S 9 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 17 6 Applied Functions 6 6 Brake Interlock 6 6 1 Outline of the Function e This function enables you to set the output timing for the Brake Interlock Output BKIR signal that activates the holding brake when the servo is turned ON an alarm occurs or the servo is turned OFF 6 6 2 Parameters Requiring Settings Pn437 Brake Timing Set the time after a servo OFF command is issued upon servo P 7 39 When Stopped lock stop until the Brake Interlock Output BKIR signal tu
276. e a setting that provides a balance between the effect of suppressing the influence of disturbance and the operating noise level 6 42 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 12 Gain 3 Switching Function 6 12 1 Outline of the Function You can newly set Gain 3 right before stopping to the gain switching function in Gain Switching Input Operating Mode Selection Pn1 14 You can use the Gain 3 switching function for position control in the following situations e The servo is ON e The Servomotor can rotate normally without any failures 6 12 2 Parameters Requiring Settings Pn605 Gain 3 Effective Time Set the time during which Gain 3 is enabled P 7 55 Pn606 Gain 3 Ratio Setting Set Gain 3 as a multiple of Gain 1 P 7 55 6 12 3 Operation i Operation Timings of Gains 1 2 and 3 Example Switching Mode in Position Control 7 Switching Condition Position Command Input p N Q 2 3 o o o e mi c 5 O O 5 Position command speed r min Pn605 x 0 1ms uonounj AY JO euiino 1 z1 9 Gain 2 Gain 3 Gain 1 tA gt oH Pn105 to Pn109 Pn100 to Pn104 Gain 3 region Position loop gain Pn100 x Pn606 100 Speed loop gain Pn101 x Pn606 100 The Gain 1 values are used for the speed loop integral time constant speed feedback filter time constant and force command filter time constant la Precautions for Co
277. e allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 e Function This output turns ON when the motor rotation speed is equal to or less than the value set in the Zero opeed Detection Pn434 3 30 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications d Speed Conformity Output Signal VCMP No allocation Speed Conformity Output Signal VCMP No allocation Speed Conformity Output Signal Common VCMPCOM This is the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 e Function This output signal turns ON when the command speed matches the motor speed It turns ON when the difference between the command speed and the motor speed falls within the range set in Speed Conformity Detection Range Pn435 i Warning Output 1 WARN1 Warning Output 2 WARN2 No allocation Warning Output 1 WARN1 Warning Output 2 WARN2 No allocation Warning Output 1 Common WARN1COM Warning Output 2 Common WARN2COM This is the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 Q L rd o D lt e oO lt o o D zh O e ct o a e Function This signal turns ON
278. e an External Regeneration Resistor connected to the External Regeneration Resistor connector with the Built in Regeneration Resistor disconnected To use the Built in Regeneration Resistor always set this parameter to 0 Pn017 External Regeneration Resistor Setting Setting 0 to 4 Default Cycle the range setting power supply Explanation of Set Values SJojoulBJed oisSeg L Z 7 Set value Description 0 Regeneration load ratio is 10096 when the operating rate of the External Regeneration Resistor is 10 1 Reserved 2 Reserved 3 Reserved 4 Reserved OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 9 7 Parameter Details 7 2 Gain Parameters Pn100 Position Loop Gain Position Setting 0 to 30 000 0 1 s Default 480 Cycle the range setting power supply 1 The default setting is 320 for a Servo Drive with 200 V and 1 kW or more e Adjust the position loop response in accordance with the machine rigidity e The responsiveness of the servo system is determined by the position loop gain Servo systems with a high position loop gain have a high responsiveness and fast positioning To increase the position loop gain you must improve machine rigidity and increase the specific damping frequency This should be 500 to 700 0 1 s for ordinary machine tools 300 to 500 0 1 s for general use and assembly machines and 100 to 300 0 1 s for industrial robots The default position loop
279. e cause Then check for safety and retry trial operation 8 5 1 Preparations for Trial Operation Inspections before Trial Operation Check the following items e Wiring e Make sure that there are no wiring errors especially for the power supply input and motor output e Make sure that there are no short circuits Check the ground for short circuits as well e Make sure that there are no loose connections Power Supply Voltage e Make sure that the voltage corresponds to the rated voltage e Servomotor Installation e Make sure that the Servomotor is securely installed e Disconnection from Mechanical Systems e f necessary make sure that the load is disconnected from mechanical systems e Brake Released e Make sure that the brake is released 8 28 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation 8 5 2 Trial Operation in Position Control Mode Use the Connector CN1 Turn ON the Servo Drive power supply Check the standard parameter values Set Command Pulse Mode Selection Pn007 to a value that matches the output pattern of the host system Write the parameter data to the EEPROM and turn OFF and then ON the power supply Apply 12 to 24 VDC between the operation command input RUN CN1 pin 29 and 24VIN CN1 pin 7 to turn ON the servo and have the Servomotor excited VN OQ AWNH Input a low frequency pulse signal from the host device to start l
280. e in each mode refer to Gain Switching Setting for Each Control Mode on page 6 30 e Gain Switching Mode 2 Gain Switching GSEL Instant switching occurs when a gain switching command is issued from the network Position command EL GS Gain switching instruction o ia C D 5 o z eut O E 5 e Tl c 5 O O 5 Gain 1 Cana Gain 1 sBullles Hunmb y susjewesieYy z 9 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 25 6 Applied Functions e Gain Switching Mode 3 Switching by Amount of Change in Torque Command Set the amount of change in torque command angular acceleration and deceleration command in units of 0 05 166 us If the amount of change fluctuates and the switching time is not met switching is cancelled To switch when the amount of change reaches 4 in 2 ms 0 33 166 us set the value to approximately 6 Speed command Torque command Amount of change in torque Pn122 iPn121 Pn121 iPn121 Pn121 Gain 1 Gain 2 Gain 1 Gain 2 Gain 1 Gain 2 Gain 1 Gain 2 Gain 1 e Gain Switching Mode z 5 or 9 Switching by Speed Command or Actual Motor Speed Speed command or actual motor speed Pn118 Pn123 Pn116 Pn121 Gain 1 Gam o Gain 1 6 26 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions e Gain Switching Mode Pn031 6 Switching by Amo
281. e operation using the host controller instead of using this function SJ9 9UulBJed popuog xX3 9 Z 7 Pn505 Stop Selection for Drive Prohibition Input Setting 0 to 2 Default Cycle the LL range setting power supply Explanation of Set Values Set value Description 0 During deceleration Dynamic brake operation After stopping Torque command 0 for drive prohibition direction Error counter Hold 1 During deceleration Torque command 0 for drive prohibition direction After stopping Torque command 0 for drive prohibition direction Error counter Hold 2 During deceleration Immediate stop After stopping Torque command 0 for drive prohibition direction Error counter Clear before and after deceleration OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 43 Parameter Details e Set the drive conditions during deceleration and after stopping when the Forward Prohibition Input POT CN1 pin 9 or Reverse Drive Prohibition Input NOT CN1 pin 8 is enabled e When set to 2 the torque limit during deceleration is limited by the value set in Immediate Stop Torque Pn511 e The dynamic brake is designed only for immediate stop Configure the system to stop for about three minutes after the dynamic brake operates Pn506 Stop Selection with Servo OFF Setting 0 to 9 Default Cycle the range setting power supply Explanation of Set Values Set Description ibis nese Clear Clear Clea
282. e output per rotation is not more than the encoder resolution With the above settings the resolution of pulse output per rotation is equal to the encoder resolution e For the phase Z signal one pulse will be output per motor rotation e The phase Z signal will be output in sync with the phase A signal when the resolution of pulse output per rotation calculated using the above formula is a multiple of 4 In other cases however the phase Z signal will not be synchronized with the phase A signal because it is output at the encoder resolution and its width is narrower than the phase A signal Output source is Encoder and Output source is Encoder and dividing ratio of command pulses dividing ratio of command pulses is a multiple of 4 is not a multiple of 4 A_ LI LIL y 4 LI WL B lll 8 FLIP L Z i Z EI oynchronous jo ndrondus 7 42 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn504 Drive Prohibition Input Selection Setting 0 to 2 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 Forward Reverse Drive Prohibition Input enabled 1 Forward Reverse Drive Prohibition Input disabled 2 Forward Reverse Drive Prohibition Input enabled Install a limit switch at each end of the motor shaft to prohibit the Servomotor from being driven in the direction corresponding to the switch that has been activated thus preventing
283. e train Input Type AC Servomotors and Servo Drives User s Manual 3 39 3 Specifications e Brake Specifications Model R88M m VAC Item Unit KE75080H KE1K530H Brake inertia e m 0 33 x 10 0 33 x 10 Excitation voltage 24 VDC 10 Power consumption at 20 C 19 Current consumption at 20 C 0 81410 Static friction torque 7 8 min Attraction time 90 max 90 max 15 max 15 max 1 1 47 x 10 mE 4 9 x 10 Allowable angular rad s 10 000 acceleration Release time Backlash Allowable work per braking Allowable total work Brake life 10 million times min Rating Continuous Insulation class Class F 3 40 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Model R88M 200 VAC Item Unit KE5K030H Rated output 2 000 3 000 4 000 5 000 Rated torque M Rated rotation speed r min 3 000 Maximum rotation speed 5 000 4 500 4 500 Momentary maximum N 19 1 28 6 38 2 47 1 torque 19 6 m rms p C2 o D lt fo 3 eh o D o Q fo et O gt D current ROBUR 174x10 Applicable load inertia mm 15 times the rotor inertia max ee Lis EGRE a e a a es ae ca Alowableradialad N 4 X z wes ie ow op ous T Radiator plate dimensions oo 380 x 350 x t30 AD Applicable Servo Drives R88D KP20H KP30H KP50H KP50H OMNUC G5 series Pulse train Input Type AC Servomotors and Ser
284. ected units e Leave unused signal wires disconnected and open Use a dedicated power supply 24 VDC for the command pulse power e Recommended surge absorbing diode RU2 Sanken Electric Co Ltd or equivalent e Use a separate power supply 24 VDC for the brake independent of the 24 VDC control power supply OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 9 Appendices Example 9 Connection with SYSMAC Customizable Counter Unit CS1W HCA12 22 V1 Main Circuit Power Supply NFB OFF ON MC1MC2 EP 4m Main Circuit R 610 _5 Rr E Contactor 3 UE Surge Suppressor 3 phase 200 to 240 VAC 50 60 Hz S Q 6 O Q MC1 MC2 X1 O 7 6 Q0 z D Y Ground to CS1W HCA12 22 V1 100 orless R88D KP Special I O Connector 1 LIC 3 Reactor L0 T t2 MC1 MC z l GGND GND R88M KE aan I O Connector 24VIN ON lwl Sl eet SPS ESO DOPE AININ 3 0 o SJ gt cn IA wol N S gt CD 1 NN OO Go D CW Limit Inout Signal 1 ALMCOM Input Common 1 A1 ALM RUN RESET 11 BKIR 10 BKIRCOM Shel FG NENNEN xB Brake Cable Ed NNNM 24 VDC 1 The I O signals for the HCA12 22 vary depending on the allocations in the internal relay area Change the wiring according to the allocations Precautions for Correct Use e Note that incorrect connection of signal lines may cause damage to th
285. ection Set the combination of the phase B logic and the output source P 7 8 Switching Selection for pulse output Pn222 Position Command Filter Time Set the time constant of the first order lag filter for the position P 7 24 Constant command Pn223 Smoothing Filter Time Constant Set the time constant of the FIR filter for the position command P 7 25 Pn431 Positioning Completion Range 1 Set the threshold for the position error at which the Positioning P 7 37 Completion Signal is output Pn432 Positioning Completion Select the condition under which the Positioning Completion P 7 37 Condition Selection Signal is output Pn433 Positioning Completion Hold Set the INP signal output duration P 7 37 Time Pn503 Encoder Dividing Denominator Set the dividing ratio by using Encoder Dividing Numerator P 7 42 Pn011 as the dividing numerator and Encoder Dividing Denominator Pn503 as the dividing denominator Pn517 Error Counter Reset Condition Set the condition for resetting the Error Counter Reset input P 7 49 Selection signal Pn518 Command Pulse Prohibition Set whether to enable or disable the Command Pulse P 7 50 Input Setting Prohibition Input OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 5 5 o L ums U o o O 5 O Oo r 9 suognounj pejeleH L G 5 Basic Control Mode 5 1 4 Parameter Block Diagram for Position Control Mode pUueWLUOD enbauo jur enbJo Z
286. ection between B2 and B3 and connect a Regeneration Resistor between B1 and B2 5 There is no Internal Regeneration Resistor for KPO1H to KPO4H When the amount of regeneration is large connect the necessary Regeneration Resistor between B1 and B2 control Control cables 4 10 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design R88D KP01H KP02H KP04H KP08H KP10H KP15H For 3 phase input RS T 3 phase 200 to 240 VAC 50 60 Hz R88D KPLILIH qA Oo a ae NFB ggo Noise filter 1 1 2 E NF Main circuit Main circuit M power supply contactor 1 OFF ON X Ground to 100 Q or less ars iori BE Surge suppressor 1 Servo error display OMNUC G5 series OMNUC G5 series Pulse train Input Type Pulse train Input Type AC Servo Drive AC Servomotor Power cables EB L2C AWC V Reactor d B Ground to 100 Q or less CN2 i XN Encoder cables Xe uc 4 O Resistor d 1 Recommended products are listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brake because its rated inductive load is 2 A 24 VDC yv las X 0937 IALM 24 VDC O36 ALMCOM X Pu 9 There is no polarity on the brakes mim ps 110 XB 24 VDC Models with a built in Regeneration 9 Resistor KPO8H to KP15H
287. ed e Set whether or not to restrict operations on the front panel e The restricted operation varies depending on the mode as shown in the table below Mode Operations restricted Monitor Mode All monitor data can be viewed Parameter Setting Mode Parameters cannot be changed However set parameter values can be viewed EEPROM Write Mode Unavailable Not displayed Ancillary Function Mode Operations other than disabling the front key protection setting are unavailable not displayed 7 54 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details 7 7 Special Parameters Pn600 Reserved Setting Default Cycle the range setting power supply Do not set Pn602 Excessive Speed Error Setting Setting O to 20 000 r min Default Cycle the range setting power supply e Set the detection level for Excessive Speed Error Alarm No 24 1 e When set to 0 the detection of Excessive Speed Error is disabled Pn604 Jog Speed All Setting 0 to 500 r min Default 300 Cycle the range setting power supply e Set the command speed for trial JOG operation speed control Pn605 Gain 3 Effective Time Position Setting O to 10 000 0 1 ms Default Cycle the range setting power supply Set effective time of Gain 3 for 3 step gain switching SJ9 ouleJeg jeroodg Z Z Pn606 Gain 3 Ratio Setting Setting 50 to 1 000 Default 100 Cycle the range setting power supply e Set Gain 3 as a multiple of Gain 1
288. ed in this User s Manual L evel 1 heading 6 Applied Functions Level 2 heading 6 11 Disturbance Observer Function 6 11 1 Outline of the Function The disturbance observer function enables you to lower the effect of the disturbance torque and reduce vibration by using the estimated disturbance torque value Level 3 heading You can use the disturbance observer for position control or speed control in the following situations The servo is ON The Servomotor can rotate normally without any failures The realtime autotuning function is disabled The instantaneous speed observer function is disabled Disturbance torque Torque command 3 Motor load T Add to the direction i i that negates _4 Motor Speed the disturbance i Load model Setting with 7 Setting with Pn624 1 Disturbance observer 1 7 Disturbance torque estimation value N ote S Uu p p e m e nta ry H Precautions for Correct Use f If there is a resonance point below the cut off frequency estimated by the disturbance observer l n O ri ation J or if the disturbance torque contains a large amount of high frequency content the disturbance observer may not produce the expected results Reference Target A note supplementary information reference target etc are provided with difference icons e08 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Dr
289. eed Command Sign Input VSIGN 3 25 Speed Command Status Output V CMD 3 32 Speed Conformity Detection Range Pn435 7 38 Speed Conformity Output Signal VCMP 3 31 Speed control mode adjustment 9 13 Speed Feedback Filter Time Constant Pn103 7 11 Speed Feedback Filter Time Constant 2 Pn108 7 12 Speed Feed forward Amount Pn110 7 13 Speed Feed forward Command Filter Pn111 7 13 Speed Loop Gain Pn101 eeeeeesusss 7 11 Speed Loop Gain 2 Pn106 eueessss 7 12 Speed Loop Integral Time Constant Pn102 7 11 Speed Loop Integral Time Constant 2 Pn107 7 12 Stop Selection for Alarm Detection Pn510 7 46 Stop Selection for Drive Prohibition Input Pn505 7 43 Stop Selection with Main Power Supply OFF dans poc crm 7 45 Stop Selection with Servo OFF Pn506 7 44 Surge ADSOIDGF oriri oes Ced eae dete ecole 4 28 Surge Suppressors eeeessseeeeeeeennn 4 33 Switching Control oc especie ieee doe electi dec iude 5 13 Switching Mode in Position Control Pn115 7 14 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Index Switching Mode in Speed Control Pn120
290. eet the specifications The control I O signal cable is affected by noise because it is longer than the specified length The encoder cable is affected by noise because it does not meet the specifications The encoder cable is affected by noise because it is longer than the specified length The encoder cable is affected by noise because it is stuck by something or has a torn sheath The encoder cable is affected by excessive noise The FG s potential fluctuates due to equipment installed near the Servomotor such as a welding machine The encoder fails due to excessive vibration or shock Check the value set in Pn103 Check to see if the cable is a twisted pair cable or common shielded twisted pair cable with at least 0 08 mm core wires Check the length of the control I O signal cable Check to see if the cable is a common shielded twisted pair cable with at least 0 12 mm core wires Check the length of the encoder cable Check the encoder cable for damage Check to see if the encoder cable is bound together with or too close to high current lines Check for grounding problems loss of ground or incomplete ground of equipment such as a welding machine installed near the Servomotor There is a problem of mechanical vibration or defective motor installation low mounting surface accuracy poor fixing eccentric mounting OMNUC G5 series Pulse train Input Type AC Servomotors and
291. efault set value OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 11 7 Parameter Details Pn104 Torque Command Filter Time Constant Setting 0 to 2 500 0 01 ms Default Cycle the range setting power supply 1 The default setting is 126 for a Servo Drive with 200 V and 1 kW or more e Set the time constant for the first order lag filter inserted into the torque command e his parameter may be effective in suppressing vibration due to torsion resonance Pn105 Position Loop Gain 2 Setting 0 to 30 000 0 1 s Default 570 Cycle the range setting power supply 1 The default setting is 380 for a Servo Drive with 200 V and 1 kW or more e Set the responsiveness of the position control system for the second position loop Pn106 Speed Loop Gain 2 Setting 1 to 32 767 0 1 Hz Default 270 Cycle the range setting power supply 1 The default setting is 180 for a Servo Drive with 200 V and 1 kW or more e Set the responsiveness of the second speed loop Pn 07 Speed Loop Integral Time Constant 2 Setting 1 to 10 000 0 1 ms Default 10 000 Cycle the range setting power supply e Set the second speed loop integral time constant Pn108 Speed Feedback Filter Time Constant 2 Setting 0 to 5 Default Cycle the range setting power supply e Set the second speed feedback filter Pn 09 Torque Command Filter Time Constant 2 Setting 0 to 2 500 0 01 ms Default Cycle the range setting power supply 1 The def
292. egenerative energy exceeded the regeneration absorption capacity of the Regeneration Resistor The encoder cable was disconnected The Servo Drive cannot establish communications with the encoder The number of accumulated pulses in the error counter exceeded the value set in Error Counter Overflow Level Pn014 The Servomotor rotation speed exceeded the maximum allowable speed The settings of the Electronic Gear Ratio Pn009 to Pn010 Pn500 to Pn503 are not appropriate The error counter value obtained with reference to the encoder pulses exceeded 229 536 870 912 An error was detected in the interface I O signal The Servomotor exceeded the allowable operating range set in Overrun Limit Setting Pn514 with respect to the position command input Data in the Parameter Save Area was corrupted when the power supply was turned ON and data was read from the EEPROM The checksum did not match when the power supply was turned ON and data was read from the EEPROM Both the Forward Drive Prohibition Input and Reverse Drive Prohibition Input signals turned OFF A missed phase Z pulse was detected A logic error was detected in the CS signal The combination of the Servomotor with the Servo Drive is not appropriate The encoder is not connected when the power supply is turned ON Q L rd o D lt e oO lt o o D zh O e ct o 5 a SONSHOJOBIEYUD z L 3 Specifications 3 1 3 Main Circui
293. el 10350 52A0 008 Sumitomo 3M 3 110 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications 3 6 3 Position Control Unit Relay Unit Cable Specifications I Position Control Unit Cables XW2Z L1J A6 Below are the specifications of the cable that connects a Position Control Unit Model CS1W NC1 13 C200HW NC113 with a Servo Relay Unit Model XW2B 20J6 1B e Cable types Model Length L Outer diameter of sheath Weight XW2Z 050J A6 8 0 dia Approx 0 1 kg XW22 100J A6 Approx 0 1 kg Connection configuration and external dimensions o o D lt O J D D lt c 3 D 5 2 O D D o D o D ct o 5 0 Position Control Unit side Servo Relay Unit side CS1W NC113 e 6 XW2B 20J6 1B C200HW NC113 e Wiring Position Control Unit side Servo Relay Unit side REM suoreoyioeds eiqe yun ejeg HUN 04u00 uonisogd 9 e Crimp terminal _ d Cable AWG28x4P AWG28x10C OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 111 3 Specifications Position Control Unit Cables XW2Z L1J A7 Below are the specifications of the cable that connects a Position Control Unit Model CS1W NC213 413 C200HW NC213 413 with a Servo Relay Unit Model XW2B 40J6 2B e Cable types Model Length L Outer diameter of sheath Weight XW2Z 050J A7 10 0 dia Approx 0 1 kg XW2Z 100J A7 Appro
294. elect input 1 If it is for open collector output select input 2 Although input 2 can also be used for line driver output its maximum allowable input frequency is lower than that of input 1 range Pn005 Command Pulse Input Select the command pulse input 0 to 1 Selection terminal 0 Photocoupler input CW CW CCW CCW 1 Input for line driver only CWLD CWLD CCWLD CCWLD Pn006 Command Pulse Set the count direction for the command 0 to 1 Rotation Direction pulse input Switching Selection 0 Command pulse forward direction suas Buuinbeu s1ejeurejeg z L G 1 Command pulse reverse direction Pn007 Command Pulse Mode Set the count method for the command 0 to 3 Selection pulse input 90 phase difference A B signal input Forward pulse Reverse pulse 90 phase difference A B signal input Feed pulse Forward or reverse signal OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 5 3 5 Basic Control Mode Command Pulse Rotation Direction Switching Selection and Command Pulse Mode Selection settings are as follows Pn006 Pn007 Command pulse Forward direction Reverse direction pattern command command 0 90 phase PULS difference 2 phase pulse Phase A and Phase B SIGN Forward direction PULS pulse train Reverse direction pulse train SIGN Pulse train PULS Sign SIGN 90 phase PULS difference 2 phase pulse Phase A and Phase B SIGN
295. election Pni15 Switching Mode in Position Control Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 30 Pni16 Gain Switching Delay Time in Position 30 30 30 30 30 30 30 Control Pni17 Gain Switching Level in Position Control 50 Pni18 Gain Switching Hysteresis in Position 33 33 33 33 33 33 33 3 Control Pn119 Position Gain Switching Time 33 Pni20 Switching Mode in Speed Contro ro fofojfoj ojfofo o CO Pn121 Gain Switching Delay Time in Speed fie pepepepsT 0 Control pniee_ Gain Switching Levelin Speed ontor 0 o 0 9 9 9 0 0 Pn123 Gain Switching Hysteresis inSpeed Contol 0 0 o 0 0 0 0 o 5 GainEfeciveTime 9 9o 9 9 9 9 9 9 Pn607 Torque Command Value Offset Estimated torque command additional value Pn608 Forward Direction Torque Offset Estimated forward torque compensation value Pn609 Reverse Direction Torque Offset Estimated reverse torque compensation value Pn610 0 Function Expansion Setting 0 Pn610 3 Pn611 Electric Current Response Setting 100 100 100 Pn613 Inertia Ratio 2 o0o 0 o0 o0 o0 o0 o 0 Pn623 Disturbance Torque Compensation Gain ESESESENSESZEBEAEM 0 Pn624 Disturbance Observer Filter Setting KESENSERESEEZEEEIZA 0 The parameters Pn103 Pn108 Pn110 to Pn123 Pn605 Pn606 Pn610 Pn611 Pn613 Pn623 and Pn624 are set to fixed values OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 Adjustment
296. eliability e When the drive is installed in a closed space such as a box the ambient temperature may rise due to temperature rise in each unit Use a fan or air conditioner to prevent the drive s ambient temperature from exceeding 50 C e Drive surface temperature may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and provide a distance from any devices or wiring that are sensitive to heat e The service life of a Servo Drive is largely determined by the ambient temperature around the internal electrolytic capacitors When an electrolytic capacitor reaches its limit electrostatic capacity drops and internal resistance increases This leads to overvoltage alarms malfunctioning due to noise and damage to individual elements e f adrive is always operated at the ambient temperature of 50 C and with a 100 output of the rated torque and rated rotation speed its life is expected to be approx 28 000 hours excluding the axial flow fan A drop of 10 C in the ambient temperature will double the expected life of the drive I Keeping Foreign Objects Out of Units e Place a cover over the drive or take other preventative measures to prevent foreign objects such as drill filings from getting into the drive during installation Be sure to remove the cover after installation is complete If the cover is left on during operation drive s heat dissipation is blocked which may result in malfunction
297. els and External Dimensions 2 4 External and Mounting Dimensions 2 4 1 Servo Drive Dimensions Single phase 3 phase 200 VAC R88D KP01H KP02H 100 to 200 W e Wall Mounting External Dimensions Mounting dimensions 2 M4 a 150 140 40 2 22 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions e Front Mounting Using Front Mounting Brackets External Dimensions 130 ri 40 70 19 5 7 2 5 5 2 i Bid m E eiii gas R HL I Hl T T Lei Bp de E CI olo o P d a e Uie e T o i 1 1 diae of o es IL N L S L ral gt li pi T NIE EE Go Ooo aa Y Ps L 1 HRHHENR Mounting dimensions 8 2 M4 2 T Rectangular t hole hu Y e 6 42 Rectangular hole dimensions are reference values OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A m x eh D 5 D o 5 2 o c 5 et 5 e z 3 z o o 5 0 SUOISUSWIG SAUG OM9S r c 2 Models and External Dimensions I Single phase 3 phase 200 VAC R88D KP04H 400 W e Wall Mo
298. els and Specifications llli 3 54 Cable and Connector Specifications 3 62 3 5 1 Resistance to Bending of Global Flexible Cable Lus 3 62 3 5 2 Encoder Cable Specifications lille 3 64 3 5 3 Motor Power Cable Specifications llle 3 68 3 5 4 Connector Specifications llle 3 80 3 5 5 Analog Monitor Cable Specifications 0 000 eee 3 83 3 5 6 Control Cable Specifications llle 3 84 Servo Relay Unit and Cable Specifications 3 96 3 6 1 Servo Relay Unit Specifications llle 3 96 3 6 2 X Servo Drive Relay Unit Cable Specifications 3 108 3 6 3 Position Control Unit Relay Unit Cable Specifications 3 111 External Regeneration Resistor Specifications 3 122 3 7 1 External Regeneration Resistor Specifications 0005 3 122 Reactor Specifications 4 452 0604 o04 enw esha et eh de Oe eee he een 3 124 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 1 3 Specifications 3 1 Servo Drive Specifications Select a Servo Drive that matches the Servomotor to be used Refer to Servo Drive and Servomotor Combination Tables on page 2 11 The OMNUC G5 series AC Servo Drive Pulse train Input Type is a pulse train input type device whose control mode can be switched depending on the cont
299. ence between the Internal Position Command Speed and the motor speed speed deviation exceeded the value set in Excessive Speed Error Setting Pn602 The Servomotor rotation speed exceeded the value set in Overspeed Detection Level Setting Pn513 The Servomotor rotation speed exceeded the value set in Overspeed Detection Level Setting at Emergency Stop Pn615 Measures Wire the encoder correctly as shown in the wiring diagram Correct the connector pin connections Provide the required encoder power supply voltage 5 VDC 5 4 75 to 5 25 VDC Be careful especially when the encode cable is long If the Servomotor cable and the encoder cable are bundled together separate them Connect the encoder cable correctly Provide the required encoder power supply voltage 5 VDC 5 4 75 to 5 25 VDC Be careful especially when the encode cable is long If the Servomotor cable and the encoder cable are bundled together separate them Connect the encoder cable correctly Check to see if the Servomotor rotates according to the position command pulses Check with the torque monitor to see if the output torque is saturated Adjust the gain Maximize the values set in No 1 Torque Limit value Pn013 and No 2 Torque Limit value Pn522 Connect the encoder cable correctly Lengthen the acceleration and deceleration times Reduce the load and the speed Increase the value set in Error Counter Overflow Level
300. eneral SDecliiCdllOliSinu Sarees tamesutiex iesu decies vaste beac one rode sane c cess E 3 2 3 1 2 Charales iGS ueoidiosautoon dte eicoudue peo aida EE eDUG Fon xoi Sgen SL Lar e metkauo duoc tueri duu se a 3 3 3 1 3 Main Circuit and Motor COnEeCllOriSss siis uievre zs Fui uv vetus ce i rca eae eve cori uv xk ve Clic v Ee ae iR 3 6 3 1 4 Control I O Connector Specifications CN1 esses 3 9 3 1 5 OME TPNH SS UE CUES 2 rd a a a Goa a 3 15 3 1 6 Conto MPU DEA S ienien a ste oUm 3 17 3 1 7 Control O Cin CS e m a i Secale ces seaiicl came uke 3 27 3 1 8 COnirOlOUIUL D CLAN MN cn cod ON EN Tm 3 28 3 1 9 Encoder Connector Specifications CN2 cccceescscccccceeccesceeeeeeseeeeeceeeseessaeeeeeeeeeeeeeeeeeeeeeeaas 3 32 3 1 10 Analog Monitor Connector Specifications CN5 sss 3 33 3 1 11 USB Connector Specifications CN7 e ssssssssesessseee nennen nnn nennen nnn nna 3 34 3 2 Overload Characteristics Electronic Thermal Function 3 35 3 2 1 Overload Characteristics Graphs kasenenan a a EES 3 35 3 3 Servomotor Specifications ssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nnmnnn nnna 3 36 3 3 1 General SpeciNCaUON S spen e N 3 36 3 3 2 CharacleriSUCS sanra E T 3 37 3 3 3 Encoder SPCCIICAONS sandan a a 3 53 3 4 Decelerator Specifications ssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn mnnn 3 54 3 4 1 Models and SPCCIICALONS nsss
301. er increased the voltage The Servomotor rotation speed is too high to absorb the regenerative energy within the specified deceleration time The operating limit of the external resistor is limited to a 10 duty Measures e Improve the ambient temperature and the cooling conditions of the Servo Drive e Increase the capacities of the Servo Drive and the Servomotor Set longer acceleration and deceleration times Reduce the load Check if torque current waveforms oscillate or excessively swing vertically with analog output or CX Drive Check the overload warning display and the load ratio through communications Increase the capacities of the Servo Drive and the Servomotor Set longer acceleration and deceleration times Reduce the load Readjust the gain Connect the Servomotor cable as shown in the wiring diagram Replace the cable Remove the distortion from the machine Reduce the load Turn OFF the brake Wire the Servomotor and the encoder correctly so that the wiring matches the axes Check the load ratio of the Regeneration Resistor with CX Drive This Regeneration Resistor cannot be used for continuous regenerative braking e Check the operation pattern speed monitor Check the load ratio of the Regeneration Resistor and check for the excessive regeneration warning display Increase the capacities of the Servo Drive and the Servomotor and lengthen the deceleration time Reduce the Servomotor rotati
302. eral purpose Control Cables R88A CPGLIS This cable has a connector to be connected to the Servo Drive s control I O connector CN1 The connector for the controller is not provided To connect the Servo Drive with a non OMRON controller or a Position Control Unit which does not have a specified cable wire and prepare an appropriate connector for the controller to be connected e f connecting the Servo Drive with a controller which does not have a specified cable you can use this general purpose control cable or a connector terminal block cable in conjunction with a connector terminal block e Cable types Outer diameter of R88A CPG001S 12 8 dia Approx 0 3 kg R88A CPG002S Approx 0 6 kg q e D o D M 2 O o 3 5 O o o D o D ct o 5 D Connection configuration and external dimensions Controller side 4 Servo Drive side R88D KPL suoneouioedg e qeo JOUOD 9 G E OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 89 3 Specifications e Wiring No Symbol No Symbol 1 Orange Red 1 24VCW 27 Pink Black 3 Sl4 2 Orange Black 1 24VCCW 28 White Black 3 SI5 3 CW PULS FA 29 SI6 4 CW PULS FA 30 Pink Red 3 SI7 5 White Red 1 CCW SIGN FB 31 Yellow Black 3 SI8 6 CCW SIGN FB 32 SI9 8 Pink Red 1 SI 34 White Red 4 S02 9 Pink Black 1 SI2 35 White Black 4 S024 12 Yellow Black 1
303. eration Key operation Display example Description From the auxiliary function mode alarm clear display press the A key to Switch to the jog operation mode display Press key to switch to the jog operation mode display Press and hold A key for 5 seconds or more until appears DOO The number of dashes on the display increases The jog operation is ready If is displayed the servo is not ready Press and hold K key for 5 seconds or more until appears The decimal point moves leftward The servo is turned ON 2 Perform jog operation Key operation SDO Display example Description Pressing the A key enables the Servomotor to rotate in the forward direction pressing the v key enables the Servomotor to rotate in the reverse direction The Servomotor stops rotating when you release the key At this time the rotation speed set in Jog Speed Pn604 will be used If is displayed the servo is not ready 3 Return to the auxiliary function mode display Key operation Press key to return to the auxiliary function mode display The servo is unlocked and in a servo free state Display example Description OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 23 e I O o D o D 3 a po uoun Ayelixny S 7 8 8 Operation la Precautions for Correct Use e Before performing jog operation be sure to disconnect the load from the Servomot
304. eration range M4 0 operation ane Ndropped by 10 operation range dropped by 10 b 4 z 8 59 254494 494 iN oid 351287 287 he 8 0 S s 18 0 20 0 Continuous Continuous 9 6 Continuous operation range operation range i operation range 14 0 1000 2000 r min 0 1000 2000 r min 0 1000 2000 r min Note 1 The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque 2 Ifthe motor power cable exceeds 20 m the voltage drop will increase and the momentary operation range will become narrower Temperature Characteristics of the Motor and Mechanical System G5 series AC Servomotors Pulse train Input Type use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 1396 C As the temperature drops the motor s momentary maximum torque increases and as the temperature rises the motor s momentary maximum torque decreases The momentary maximum torque rises by approximately 496 at a normal temperature of 20 C compared to a temperature of 10 C Conversely the momentary maximum torque decreases approximately 896 when the magnet warms up to 80 C from the normal temperature Generally when the temperature drops in a mechanical system the friction torque and the load torque increase For that reason overloading may occur at low temperatures
305. erform one of the following methods before inserting the wire e Change the direction of inserting the connector by 90 e Correct the shape of the ferrule with pliers OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 19 4 System Design 4 3 Wiring Conforming to EMC Directives Conformance to the EMC Directives EN 55011 Class A Group 1 EMI and EN 61000 6 2 EMS can be ensured by wiring under the conditions described in this section These conditions are for conformance of OMNUC Gb series Pulse train Input Type products to the EMC directives EMC related performance of these products however may be influenced by the configuration wiring and other conditions of the equipment in which the products are installed The EMC conformance of the system as a whole must be confirmed by the customer The following are the requirements for EMC Directive conformance e The Servo Drive must be installed in a metal case control panel The motor does not however have to be covered with a metal plate Noise filters and lightening surge absorptive elements surge absorbers must be installed on power supply lines Braided shielded cables must be used for encoder cables Use tin plated mild steel wires for the shielding e All cables I O wiring and power lines connected to the Servo Drive must have clamp cores installed e he shields of all cables must be directly connected to a ground plate 4
306. eries Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 33 7 Parameter Details Description Set value 19 Encoder temperature Se 20 Drive temperature 10 1 The forward or reverse direction in monitor data depends on the direction set in PnOOO For an incremental encoder the normal value after the initial phase Z input will be output 2 The motor speed applied before and after the command pulse input passes through the command filter Position Command Filter Time Constant or Smoothing Filter Time Constant is referred to as command pulse speed or internal command speed 8 The position command error is a deviation from the command pulse input while the encoder position error is a deviation at the input of the Position Control Unit Command pulse speed Internal command speed r min r min Command dividing multiplier Command pulse input Command Position control Encoder feedback 4 The position error feedback pulse error can be set in either encoder units or command units It represents a deviation from the command pulse input when expressed in encoder units and a deviation from the command pulse input when expressed in command units respectively Encoder position error in encoder units Command pulse input Command dividing multiplier Command Position filter control Command dividing Encoder feedback multiplier reverse conversion Position command error in comman
307. erse 1 Forward rotation command 0 to 20 000 r min Forward Reverse rotation command 20 000 to 0 r min Forward rotation command 0 to 20 000 r min Reverse E Reverse rotation command 20 000 to 0 r min OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 25 3 Specifications Torque Limit Switching TLSEL No allocation Torque Limit Switching TLSEL There is no default allocation The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 e Function This input signal switches the torque limit setting It is enabled when Torque Limit Selection Pn521 is set to 3 or 6 value 3 Pn013 No 1 Torque Limit Pn522 No 2 Torque Limit 6 Pn522 No 2 Torque Limit Pn526 Reverse External Torque Limit i Emergency Stop Input STOP No allocation Emergency Stop Input STOP There is no default allocation The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 e Function This signal is for external alarm stop input If the Emergency Stop STOP is input the Servomotor stops according to the value set in Stop Selection for Alarm Detection Pn510 l Inertia Ratio Switching Input JSEL No allocation Inertia Ratio Switching Input JSEL This is the default allocation The logic and allocation o
308. ervo Drives User s Manual 7 25 7 Parameter Details 7 4 Analog Control Parameters Pn300 Command Speed Selection Speed Setting 1to3 Default Cycle the range setting power supply Explanation of Set Values eee Description 0 Reserved Do not set 1 No 1 Internally Set Speed to No 4 Internally Set Speed Pn304 to Pn307 2 Reserved Do not set 3 No 1 Internally Set Speed to No 8 Internally Set Speed Pn304 to Pn31 1 Select the speed command in the speed control mode The Servo Drive has the internally set speed function that enables simplified speed control via contact inputs Pn301 Speed Command Direction Selection Speed Setting 0 to 1 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 Use the sign of the speed command Forward Reverse 1 Use Speed Command Sign Input VSIGN OFF Forward ON Reverse e This parameter reverses the polarity of the internally set speed command It is used to change the motor rotation direction with the polarity of the command signal from the host system intact e The default setting for this parameter is 0 By rotating to the reverse direction with the command keeps the compatibility with all OMNUC W Series Servo Drives If you configure a servo drive system which comprises a Servo Drive set to the speed control mode and an external Position Control Unit be sure that the polarity of the speed command signal from the Position Co
309. ervomotors and Servo Drives User s Manual Items to Check After Unpacking Items to Check After Unpacking After unpacking check the following items e Is this the model you ordered e Was there any damage sustained during shipment i Accessories Safety Precautions document x 1 copy e Connectors mounting screws mounting brackets and other accessories other than those in the table below are not supplied They must be prepared by the customer e f any item is missing or a problem is found such as Servo Drive damage contact the OMRON dealer or sales office where you purchased your product Connector for main circuit Connector for External a power supply Regeneration Resistor Safety Mounting Specifications terminals and connection terminals connector brackets control circuit and Motor connection power supply terminals terminals Single phase 100 W W 3 phase 200 VAC ES W 400W W 750 W ETE Included 1 E Included 1 15kW EL 3 phase 200 VAC 2 DLE Included 5kW OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 13 Revision History Revision History The manual revision code is a number appended to the end of the catalog number found in the bottom right hand corner of the front and back covers Example Cat No 1584 E1 02 A Revision code SAVON Revision Date Revised Content Code 01 April 2012 Original production 02 August 2012 Front cover C
310. es Electric shock may result Do not damage pull stress strongly pinch the cables or place heavy articles on them Electric shock malfunction or burn damage may result Never enter the operating area during operation Injury may result Never modify the Servo Drive Injury or equipment damage may result Install a stopping device on the machine to ensure safety The holding brake is not a stopping device to ensure safety Injury may result Install an immediate stop device externally to the machine so that the operation can be stopped and the power supply cut off immediately Injury may result When the power is restored after a momentary power interruption the machine may restart suddenly Never come close to the machine when restoring power Implement measures to ensure safety of people nearby even when the machine is restarted Injury may result After an earthquake be sure to conduct safety checks Electric shock injury or fire may result Never drive the Servomotor using an external drive source Fire may result OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Safety Precautions DANGER Do not place flammable materials near the Servomotor Servo Drive or Regeneration Resistor Fire may result Install the Servomotor Servo Drive and Regeneration Resistor on non flammable materials such as metals Fire may result Do not use the Servomotor with cable
311. es Programmable Controllers There are two types of cables 1 axis type and 2 axis type The applicable Position Control Unit models are as follows CJ1W NC214 NC414 NC234 NC434 Specified Cables for Position Control Unit Specified Cables for e Cable types e Cables for Line Driver Output 1 Axis Model Length XW2Z 100J G9 1m XW2Z 500J G9 5m XW2Z 10MJ G9 10m e Cables for Open Collector Output 1 Axis Model Length XW2Z 100J G13 1m XW2Z 300J G13 3m e Cables for Line Driver Output 2 Axes Model Length XW2Z 100J G1 1m XW2Z 500J G1 5m XW2Z 10MJ G1 10m e Cables for Open Collector Output 2 Axes Model Length XW2Z 100J G5 1m XW2Z 300J G5 3m Connection configuration and external dimensions e Cables for 1 Axis Position Control Unit side CJ1W NCLILIA e Servo Drive side R88D KPL e Cables for 2 Axes Servo Drive side t R88D KPL bs D Servo Drive side D R88D KPO Position Control Unit side 4 CJ1W NCLILIA OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual e Wiring 3 Specifications e Cables for Line Driver Output 1 Axis AWG168 twisted pair cable 1 m Red 24 VDC y AWG 18 twisted pair cable 1 m Black 24 VDC GND y Blue BKIRCOM NC Unit side Black BKIR XGAM 5030 T OMRON 24 V Power Supply for Outpu 24 V GND for Output nput Common Forward Direction Pulse Output Forward Direction Pulse Output
312. es User s Manual Pn217 Setting range Pn218 Setting range Pn219 Setting range Pn220 Setting range Pn221 Setting range OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Damping Filter 2 Setting O to 1 000 0 1 Hz Default Cycle the setting power supply When Damping Frequency 2 Pn216 is set reduce this value if torque saturation occurs or increase this value to improve the ida te speed Normally use a setting of 0 The value that can be set is limited as follows Upper limit Corresponding damping frequency Lower limit Damping frequency Damping filter setting 2 100 For the setting method refer also to 6 7 Damping Control on page 6 3 Damping Frequency 3 0 to 2 000 0 1 Hz Default Cycle the setting power supply Set Damping Frequency 3 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz The range of setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is 0 to 0 9 Hz For the setting method refer also to 6 1 Damping Control on page 6 3 Damping Filter 3 Setting O to 1 000 0 1 Hz Default Cycle the setting power supply When Damping Frequency 3 Pn218 is set reduce this value if torque saturation occurs or increase this value to improve the operation speed Normally use a setting of O The value tha
313. es submerged in oil or water 2 Do not expose the cable outlet or connections to stress due to bending or its own weight OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications 3 3 2 Characteristics j 3 000 r min Servomotors ix C3 Model R88M 200 VAC 2 Oo Rated output au o Rated rotation speed 3 000 o Maximum rotation speed 5 000 S Momentary maximum N m 0 48 0 95 1 91 3 8 torque Rated current Ea 51 2 6 A rms Momentary maximum A rms current 1 Rotor inertia Without brake kgm With brake kg m Applicable load inertia T i B 0 025 x 10 0 051 x 10 0 14 x 104 0 26 x 104 0 027 x 104 0 054 x 104 0 16 x 104 0 28 x 104 30 times the rotor inertia max 2 0 10 10 0 29 10 0 36 10 10 4 30 3 62 5 25 8 57 2 1 56 0 71 0 52 1 74 0 84 0 57 0 70 3 0 Weight Without brake kg Approx 0 32 Approx 0 47 Approx 0 82 Approx 1 2 With brake kg Approx 0 53 Approx 0 68 Approx 1 3 Approx 1 7 Radiator plate dimensions material 100 x 80 x t10 Al 130 x 120 x t12 Al Applicable Servo Drives R88D KPO1H KPO1H KP02H KPO4H m PO O gt D om e O mmj D zd o c O Z Torque constant N m A Power rate KW s avs Mechanical ms time constant ms Electrical time constant 3 o Allowable radial load Allowable thrust load co CO NO Oo OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s
314. escription Press key to switch to the parameter write mode display Press key to switch to the parameter write mode display Press and hold A key for 5 seconds or more until appears QD OD CO The number of dashes on the display increases The parameter write process starts This display appears only momentarily This indicates a normal completion Other than this the follwing displays may be shown andlEcror also indicates a normal completion but it means that some of the changed parameters are enabled only after the system is restarted Turn OFF and then ON the power supply again indicates a write alarm Write the data again 2 Return to the parameter write mode display Key operation la Precautions for Correct Use e Write the data again if a write alarm occurs If a write alarm persists the Servo Drive may be faulty e Do not turn OFF the power supply while the Servo Drive is writing to the EEPROM If the power supply is cut off incorrect data may be written In case that this happens set all the parameters again and retry writing the data Display example Description Press key to return to the parameter write mode display OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 21 e I O o D o D 3 a epo N AM JO OWeIeY p p 9 8 Operation 8 4 5 Auxiliary Function Mode The auxiliary function mode provides the alarm clear jog operatio
315. escription Bari No P setting 406 Input Signal Set the function and logic of input signal 7 3 847 Selection 7 OOFFFFFF 407 Input Signal Set the function and logic of input signal 8 263 172 Selection 8 hex 408 Input Signal Set the function and logic of input signal 9 328 965 0 to Required Selection 9 00FFFFFF Setting range 0 to Required 00FFFFFF hex 0 to Required p N U D 3 D e D r o 0 to Required 00FFFFFF hex 0 to Required hex 409 Input Signal Set the function and logic of input signal 10 3 720 Selection 10 410 Output Signal Set the function assignment of output signal 1 197 379 Selection 1 00FFFFFF hex 411 Output Signal Set the function assignment of output signal 2 131 586 0 to Required Selection 2 00FFFFFF hex 412 Do not change the set value E 413 Output Signal Set the function assignment of output signal 4 328 964 0 to Required Selection 4 OOFFFFFF hex 416 Analog Monitor TE 6 Encoder postion enor 8 Reserved Donotset 3 PNwhme NM Inertia ratio m meme O 21 Encoder t rotation data 1 rotation data 417 Analog Monitor xm the output gain of the ed RN monitor 1 0 to 1 Scale Setting 214 748 364 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 21 Appendices Pn ae Default Setting Cyclethe Description power No setting range supply 418
316. esis in value Gain switching conditions Speed Control Level in Speed Speed Control Control Pn122 Pn123 2 Pn121 2 Switching using gain switching input GSEL CN1 pin 27 3 Amount of change in torque V NES ars command Refer to Figure A 0 05 0 05 Amount of change in speed v J Ju command Refer to Figure B 10 r min s 10 r min s 5 Speed command Refer to Figure C v r min v r min e Select the conditions for switching between Gain 1 and Gain 2 when Gain Switching Input Operating Mode Selection Pn114 is set to 1 e his setting is fixed to Gain 1 regardless of the gain input when Switching Mode in Speed Control Pn120 is set to 1 and Torque Limit Selection Pn521 is set to 3 or 6 1 Gain Switching Delay Time in Speed Control Pn121 becomes effective when the gain is switched from 2 to 1 2 The definition of Gain Switching Hysteresis in Speed Control Pn123 is shown in the drawing below AN Y Pn122 a NM Pn123 Gain1 Gain2 Gain1 iN SJ9 ouleJed UIS Z Z 7 e Pn121 3 This represents the amount of change during the period of 1 ms Example To switch the gain if the torque variation during 1 ms is 1096 set these parameters to 200 4 When the set value is 10 the meanings of Gain Switching Delay Time in Speed Control Pn121 Gain Switching Level in Speed Control Pn122 and Gain Switching Hysteresis in Speed Control Pn123 differ from the normal case Refer t
317. esponse becomes slow and a large overshooting occurs In such case increase the speed loop gain Command operation pattern Speed Actual operation r min Timet d e f the speed loop gain is high vibrations are more likely to occur Vibration or resonance may not disappear In such case decrease the speed loop gain Command operation pattern Speed min Actual operation Time t OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 Adjustment Functions e Speed Loop Integral Time Constant Pn102 107 The speed loop integral time constant also determines the responsiveness of a Servo Drive e f the speed loop integral time constant is low vibration or resonance occurs In such case increase the speed loop integral time constant Command operation pattern Speed r min Actual operation Time t e f the speed loop integral time constant is high the response is delayed The servo rigidity becomes weak In such case decrease the speed loop integral time constant Command operation pattern Speed r min Timet e e EY 3 c c 3 e e Torque Command Filter Time Constant Pn104 109 for Current Loop Input Adjustment The torque command filter function applies a filter that smoothens the current command from the speed loop This ensures a smooth current flow and reduced vibration Torque Command Filter Time Constant is set to 84 0
318. et the S curve time in the time width centered on the inflection points in acceleration deceleration relative to the acceleration or deceleration time set in Soft Start Acceleration Time Pn312 or Soft otart Deceleration Time Pn313 ta Vc 1 000 x Pn312 x 1 ms td Vc 1 000 x Pn313 x 1 ms ts Pn314 x 1 ms Here ta must be greater than ts and td must be greater than ts Speed r min Target Speed L L Vc l Speed command i after acceleration l or deceleration process l l l l kA N 5 p D 5 D lt o to mp o e D 2 e o 2 e 9 5 2 3 Related Functions No Pn315 Zero Speed Set the zero speed designation selection P 7 29 Designation Selection Pn316 Position Lock Level Set the threshold for transition to the position control servo lock mode P 7 30 Setting Pn435 Speed Conformity Set the threshold for detecting the speed conformity output If the P 7 38 Detection Range difference between the speed command and the motor speed is equal to or less than the set threshold the speed conformity output will be output suonounJj peleleH Z s This setting has a hysteresis of 10 r min for detection Pn436 Rotation Speed for Set the threshold for detecting the motor rotation speed detection output P 7 39 Motor Rotation If the motor speed exceeds the set value the motor rotation speed Detection detection output will be output This setting has a hysteresis of 1
319. event uneven temperatures inside the panel Servo Servo Servo Drive Drive Drive A B C LW w 100 mm min 40 mm min W 10 mm min e f the mounting surface of the Servo Drive is coated remove the coating to allow electrical conduction If you make your own mounting bracket we recommend that you apply electrically conductive plating I Mounting Direction e Mount the Servo Drive perpendicular on the panel so that the model number reads normally Operating Environment Conditions e The environment in which drives are operated must meet the following conditions Drives may malfunction if operated under any other conditions Operating ambient temperature 0 to 50 C Take into account that the temperature rises in the following individual drives themselves Operating ambient humidity 9096 max with no condensation Operating ambient atmosphere No corrosive gases Altitude 1 000 m max e Drives of 200 V with a capacity of 750 W max can be installed side by side with a 1 mm clearance W in above illustration The ambient temperature condition depends on the Servo Drive A B or C Servo Drive A 0 to 50 C Servo Drive B 0 to 40 C Servo Drive C 0 to 45 C 4 2 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design Ambient Temperature Control e Operation in an environment in which there is minimal temperature rise is recommended to maintain a high level of r
320. f 4 500 r min 3 The value is the maximum allowable torque of the Decelerator Do not exceed this value Note 1 The Decelerator inertia is the Servomotor shaft conversion value 2 he protective structure rating of the Servomotor with the Decelerator is IP44 3 he Allowable radial load column shows the values obtained at the center of the shaft T 2 4 The standard models have a straight shaft A model with a key and tap is indicated with J at the end of the model number the suffix shown in the box OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e For 1 000 r min Servomotors Rated Rated zt maximum rotation TAS Efficiency rotation maximum Model speed d torque anii pe 1 5 R88G 3 80x10 coe 889 3 542 7 9 HPG32A05900TBLI 1 11 R88G 88 8 199 6 540x10 4 1 126 4 488 8 4 HPG32A11900TBLI 1 21 R88G 47 169 6 94 95 381 0 700x104 3 611 12 486 19 1 HPG50A21900TBLI 1 33 R88G 266 5 598 7 590x104 4 135 14 300 19 1 HPG50A33900TBLI 2 1 5 R88G 200 226 6 490x104 3 542 90 KW HPG32A052KO0TBLI E I w O e S P O 0 D O D ct O 5 D Co 3 1 5 R88G 200 1349 94 400 337 0 410x199 2 47 8 118 kW HPG50A055K0SBO 1 11 R88G 246 0 95 182 749 3 g40x104 2 974 10 285 23 5 HPG50A115KOSBO 1 20 R88G 50 539 6 94 100 1348 0 285x103 7 338 26 799 55 4 HPG65A205K0SBO 1 25 R88G 40 674 5
321. f command pulse input and the speed The gain will be switched according to this switching condition For details about setting Switching Mode in Position Control Pn115 refer to Gain Switching Setting for Each Control Mode on page 6 30 0 Realtime autotuning is disabled 1 Focus on stability No unbalanced load or friction compensation nor gain default setting switching 2 Used when there is a small unbalanced load or friction 3 Used when unbalanced load is present i e with a vertical axis etc 4 Used when a vertical axis or other unbalanced load is present axis and when friction is large 5 Used only for estimating load characteristics 6 Used for customizing the realtime autotuning mode m N gt 9 2 2 Setting Machine Rigidity o Set Realtime Autotuning Machine Rigidity Setting Pn003 according to the table below E otart from the lower machine rigidity number and check the operation S e Machine configuration and drive method mea pme Autotuning Machine Rigidity Setting Pn003 Ball screw direct coupling 12 to 24 Ball screw and timing belt 8 to 20 Timing belt 4 to 16 Gears rack and pinion drive 4 to 16 Other machines with low rigidity 1 to 8 Stacker cranes Perform manual tuning 2 Turn the servo ON and operate the machine with a normal pattern To increase responsiveness increase the machine rigidity number and check the response If vibration occurs enable the adaptive filter and operate the machine If al
322. f input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 e Function This signal switches the inertia ratio between the Inertia Ratio 1 Pn004 and Inertia Ratio 2 Pn613 When this signal is OFF the value set in Inertia Ratio 1 Pn004 is enabled When this signal is ON the value set in Inertia Ratio 2 Pn613 is enabled 3 26 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications 3 1 7 Control Output Circuits I Position Feedback Output Servo Drive Controller R 120 to 180 Q 45V 214A e A PhaseA gt ala OX al RU jp Phase A O A 49 B B d ases DE PELO Output line driver AM26C31 or equivalent 23 C pm Q Ph Z Ph Zz m aba DOX at pom 25 SGGND GND MHN OV om 70V Applicable line receiver pus Ee O AM26C32 or equivalent FG FG I Phase Z Output Open Collector Output Servo Drive Controller Maximum service voltage 30 VDC max Q Lov Maximum output v Shell FG J current 50 mA max FG FG Sequence Output Servo Drive External power supply 12 to 24 VDC Maximum service voltage 30 VDC max Maximum output current 50 mA max Di Surge voltage prevention diode When driving a relay directly with an output signal always insert a diode as shown in the above figure Use a high speed diode OMNUC G5 series Pulse train Input Type AC Servomotors
323. feed forward value is set high to cause overshooting of speed or a large noise during operation setting this filter may provide improvements Pn112 Torque Feed forward Amount Setting 0 to 1 000 0 196 Default Cycle the range setting power supply e Set the feed forward gain in torque control Increasing the set value decreases the position error and increases the responsiveness Overshooting however will occur more easily Pn113 Torque Feed forward Command Filter Setting 0 to 6 400 0 01 ms Default Cycle the range setting power supply e Set the time constant for the first order lag filter inserted into the feed forward section e When the feed forward value is set high to cause overshooting of speed or a large noise during operation setting this filter may provide improvements SJ9 ouleJed UIE Z Z 7 Pni14 Gain Switching Input Operating Mode Selection Setting 0 to 1 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 Gain 1 PI P switching enabled 1 Gain 1 Gain 2 switching enabled oelect either PI P operation switching or Gain 1 Gain 2 switching e The PI P operation switching is performed with the Gain Switching GSEL CN1 pin 27 However this setting is fixed to PI when Torque Limit Selection Pn521 is set to 3 Gain input COM and open Connection with COM Speed loop operation PI operation P operation e Refer to 6 7 Gain Switching Function on page 6 23 for th
324. from the internal position command and then adding it to the speed command calculated by comparison with the position feedback value By contrast torque feed forward improves the responsiveness in the speed control mode by calculating the torque command required for operation from the speed control command and then adding it to the torque command calculated by comparison with the speed feedback value 6 15 2 Parameters Requiring Settings Pn110 Speed Feed forward Amount The speed control command value calculated from the P 7 13 o LA ol Tl D D TR o c internal position command is multiplied by the ratio set in 3 this parameter and added to the speed command value from the position control process Pn111 Speed Feed forward Set the time constant for the first order lag filter that is P 7 13 Command Filter applied to speed feed forward input Pn112 Torque Feed forward Amount The torque command value calculated from the speed P 7 13 control command is multiplied by the ratio set in this parameter and added to the torque command value from the speed control process Pn113 Torque Feed forward Set the time constant for the first order lag filter that is P 7 13 Command Filter applied to torque feed forward input Pn610 Function Expansion Setting Set the bits related to the inertia ratio switching function P 7 56 UONOUN AY JO UIJINC 1 G1 9 OMNUC G5 series Pulse train Input Type AC Servomotors and
325. hased 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 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Safety Precautions Safety Precautions To ensure that the OMNUC Gb5 series Pulse train Input Type Servomotor Servo Drive as well as peripheral equipment are used safely and correctly be sure to read this Safety Precautions section and the main text before using the product Learn all items you should know before use regarding the equipment as well as the required safety information and precautions Make an arrangement so that this User s Manual also gets to the end user of this product After reading this User s Manual keep it in a convenient place so that it can be referenced at any time Explanation of Displays
326. hat the allowable input rotation speed and allowable input torque of the decelerator are not exceeded I I 5 0 e 9 o o e o 2 2 i o 2 0 SUOILIPUOD uone eisu J0je49 e9ed L v OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 9 4 System Design 4 2 Wiring 4 2 1 Peripheral Equipment Connection Examples R88D KP01H KP02H KP04H KPO8H KP10H KP15H For single phase Input Single phase 200 to 240 VAC 50 60 Hz R88D KPLILIH Noise filter 1 Main circuit Main circuit power supply contactor 1 OFF ON X Ground to A 100 O or less LLI LE Surge suppressor 1 Servo error displa OMNUC G5 series OMNUC G5 series Pulse train Input Type Pulse train Input Type AC Servo Drive AC Servomotor Power cables Bn L1C IMG eee L1 Reactor n bu Regeneration 4 Resistor e 1 Recommended products are listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used Gy ber O37 ALM 24 VDC 36 ALMCOM CN1 with all G5 series motors with brake because its X OUTM1 d ie 24 ud rated inductive load is 2 A 24 VDC udin BKIR There is no polarity on the brakes a Models with a built in Regeneration Resistor KNO8H OUTM1 200 User side COM KP10H and KP15H have B2 and B3 shorted When the amount of regeneration is large remove the conn
327. he connection between B2 and B3 and connect a Regeneration Resistor between B1 and B2 User side control Control cables 4 12 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design R88D KP30H KP50H RS T 3 phase 200 to 230 VAC 50 60 Hz 4 2 3 Noise filter 1 E NE Main circuit Main circuit P power supply contactor 1 OFF ON X Ground to 100 Q or less L1 LE BE Surge suppressor 1 Servo error display OMNUC G5 series OMNUC Gb5 series Pulse train Input Type Pulse train Input Type AC Servo Drive AC Servomotor Power cables _ EB O L2C 1MC p Reactor EB iu Ground to 100 Q or less CN2 e Encoder cables Xe Regeneration 4 6 ngelslor n 1 Recommended products are listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brake because its rated inductive load is 2 A 24 VDC pur vDpc 9 There is no polarity on the brakes BKIR 110 XB 4 Models with a built in Regeneration 2 Resistor KP30H KP50H have B2 and BKIRCOM 10 B3 shorted When the amount of regeneration is large remove the connection between B2 and B3 and connect a Regeneration Resistor between B1 and B2 x Q 37 ALM 24 VDC O 36 ALMCOM User side control Control cables OMN
328. he Servo Drive read this User s Manual and gain a full understanding of the information provided herein After you finished reading this User s Manual keep it in a convenient place so that it can be referenced at any time Make sure this User s Manual is delivered to the end user OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 1 Head and Understand this Manual Read and Understand this Manual Warranty and Limitations of Liability WARRANTY OMRONS exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NONINFRINGEMENT 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
329. he XB and YB contacts are used to turn ON OFF the electromagnetic brake Note 1 Do not connect wires to unused terminals 2 OV and common terminals are connected internally 3 The applicable crimp terminal is R1 25 3 round or fork type xw2B 20J6 3B Below are the specifications of the Servo Relay Unit for connecting the following OMRON Programmable Controller model e CQM1 CPU43 V1 e External Dimensions CQM1 side Servo Drive side 3 5 135 3 5 7 gt 44 3 46 rut rx e The pitch of terminals is 7 62 mm 3 98 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e Wiring 1of 2av cw CCW RUN Eee INP o fam BKIR 19 Ground to 100 O or less Input unit CQM1 o o D lt O J D D lt c 3 D 5 2 O D D 92 D o D ct o 5 0 24 VDC 1 Use this signal to loop back and input CQM1 s output pulses into a high speed counter 2 Input this output signal to CQM1 input unit 3 The XB contact is used to turn ON OFF the electromagnetic brake Note 1 Phase Z is an open collector output 2 Do not connect wires to unused terminals 3 OV and common terminals are connected internally 4 The applicable crimp terminal is R1 25 3 round or fork type suoieouioeds yun ejed OAIOS 9 OMNUC G5 series Pulse train Input Type AC Servom
330. he display refer to 8 4 Mode Setting on page 8 6 Pn531 Reserved Setting 1 Default 1 Cycle the range setting power supply e Do not set Pn532 Command Pulse Input Maximum Setting Position Setting 250 to 4 000 Kpps Default 4 000 Cycle the Required range setting power supply e Set the maximum command pulse input value A Command Pulse Frequency Error Alarm No 27 0 occurs if the command pulse input frequency exceeds this value x 1 2 e The Servo Drive detects the Command Pulse Frequency Error for pulses it has accepted Therefore if may not detect the error if the number of input pulses is much larger than the value set in this parameter In addition setting the value to 1 000 or less enables the use of the digital filter for the command pulse input as shown in the table below Pn532 set value Digital filter 250 to 499 200 ns x 2 readings 500 to 999 100 ns x 2 readings 1 000 to 4 000 None through Pn533 Pulse Regeneration Output Limit Setting Setting 0 to 1 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 Error detection disabled 1 Error detection enabled oet whether to enable or disable the detection of the Pulse Regeneration Error Alarm No 28 0 Pn535 Front Key Protection Setting Setting 0 to 1 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 Front panel operation not restricted 1 Front panel operation restrict
331. he line driver interface if possible Set Command Pulse Input Maximum Setting Pn532 to less than 1 000 and enable the digital filter Check the values set in Encoder Dividing Numerator PnO11 and Encoder Dividing Denominator Pn503 To disable the detection set Pulse Regeneration Limit Setting Pn533 to 0 Check to see if the Servomotor rotates according to the position command Check with the torque monitor to see if the output torque is saturated Adjust the gain Maximize the values set in No 1 Torque Limit value Pn013 and No 2 Torque Limit value Pn522 e Wire the encoder cable correctly Make sure that functions are correctly allocated to these connector pins OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Alarm No Cause Main Sub 34 Overrun Limit Error Parameter Error CO Oo Parameter destruction CO N CO Co Drive Prohibition Input Error A oo Multi rotation Counter Error Encoder Phase Z Error iN co Encoder CS Signal Error Phase A Connection Error C1 O1 A A Phase B Connection Error Phase Z Connection Error Co N Error CO Other numbers Emergency Stop Input 10 Troubleshooting and Maintenance The Servomotor exceeded the allowable operating range set in Overrun Limit Setting Pn514 with respect to the position command input range e The gain is not appropriate e The value set in
332. iciency rotatlon maximum inertia thrust Model speed q torque load ap 1 5 R88G 1 000 390x10 E ALI x 542 7 4 HPG32A052KO0BLI 1 11 R88G 273 45 6 136 9 340x104 1 126 4 488 7 9 HPG32A112KOBLI 1 21 R88G 143 90 2 238 270 8 300x10 4 1 367 5 448 9 HPG32A211K5BLI 1 33 R88G 91 141 7 136 424 7 480x10 4 4 135 14 300 19 0 HPG50A332KOBLI 1 45 R88G 67 1932 100 579 2 470x190 4538 15 694 19 0 HPG50A451K5BLI 2 1 5 R88G 26 8 84 1 000 80 2 3 90 x 104 889 3 542 4 kW HPG32A052KO0BLI 1 11 R88G 273 62 4 454 187 0 340x104 1 126 4 488 HPG32A112KOBLI 1 21 R88G 143 119 1 9142 357 0 580x104 3 611 12 486 19 0 HPG50A212KOBLI 1 33 R88G 91 191 3 91 136 573 6 480x104 4 135 14 300 19 0 HPG50A332KOBLI 3 1 5 R88G 42 0 88 1 000 125 8 3899x1074 889 3 542 3 kW HPG32A053KOBLI 1 11 R88G 273 92 4 88 409 2 2 6 8 770x10 2 974 10 285 19 0 HPG50A113KOBLI 1 21 R88G 143 182 5 214 946 5 580x10 3 611 12 486 19 0 HPG50A213KO0BLI 4 1 5 R88G 54 6 900 164 3 389x104 3 542 9 kW HPG32A054KOBLI 1 11 R88G 273 125 7 409 378 2 880x104 2 974 10 285 19 1 HPG50A115K0BO Ei 1 5 R88G 70 0 900 2 209 9 490x193 2 347 8 118 18 6 HPG50A055KOBLI 1 11 R88G 273 159 2 409 477 5 g80x10 4 2 974 10 285 19 1 HPG50A115KOBLI 1 The value is the allowable continuous output torque of the Decelerator Do not exceed this value N N N 9 N N 2 The value is the maximum allowable rotation spee
333. ics connector specifications and I O circuits of the Servo Drives as well as the general specifications characteristics encoder specifications of the Servomotors and other peripheral devices This section explains the installation conditions wiring methods which include wiring conforming to EMC directives and regenerative energy calculation methods for the Servo Drives Servomotors and Decelerators It also explains the performance of External Regeneration Resistors This section provides the outline of functions and settings for each control mode This section provides the outline and settings of the applied functions such as damping control electronic gear gain switching and disturbance observer This section explains the set value and setting details of each parameter This section gives the operational procedure and explains how to operate in each mode This section explains the functions setting methods and items to note regarding various gain adjustments This section explains the items that must be checked when problems occur error diagnosis using the alarm display and measures error diagnosis based on the operating condition and measures and periodic maintenance The appendices provide connection examples with OMRON s PLC and Position Controller as well as lists of parameters 15 Manual Structure Manual Structure Page Structure and Symbol Icons The following page structure and symbol icons are us
334. ics encoder specifications of the Servomotors and other peripheral devices 3 1 3 2 3 3 3 4 3 6 3 7 3 8 Servo Drive Specifications 22 noie gy e te RR IEEE bee 3 2 3 1 1 General SpeclfiCatlons i a Pies e ESSA 2 eee nh chewed cree 3 2 34 2 Ohsractelis llb Su uc sape cath arte ec torre ere ek ene NP toca 903 eee Bee Be 3 3 3 1 3 Main Circuit and Motor Connections l l 3 6 3 1 4 X Control I O Connector Specifications CN1 000 cee ees 3 9 8 125 Control Input CICUS i uu 5 ao hss a aS E Re Dosis RR eS Ete 3 15 FG OontrolTapubBelallSu id sitos soo e cee Me Sere ee ee Bie Ga eee awe Serie 3 17 9r COonuolOuUlpput CINCUNS uastins chats etd Ch ee Se EEL ee Theos 3 27 3 1 8 Control Output Details seid x ag ov CHR EHE Sane eG ae Bek ee ASE es 3 28 3 1 9 Encoder Connector Specifications CN2 0 00000 cee eee eee 3 32 3 1 10 Analog Monitor Connector Specifications CN5 0005 3 33 3 1 11 USB Connector Specifications N7 lille 3 34 Overload Characteristics Electronic Thermal Function 3 35 3 2 1 Overload Characteristics Graphs 0 0 0 000s 3 35 Servomotor Specifications 2 0c ee 3 36 3 3 1 General Specifications 1 0 0 0 0 ees 3 36 So CMaracteriSticS 4 0 4 dont sra x bod epiac ace tee eer ee udder aud 3 37 3 3 3 Encoder Specifications 1 0 nes 3 53 Decelerator SPeCIlICAllONS 3 66 uli need Peek RR P eR ETE 3 54 3 4 1 Mod
335. ie aono mei aae vod Sureste deb ieee ea Fondation liae 2 8 2 3 2 Servormotor Model T3bl65 2 5 LESS Ree 3 ated utenm tecti ene vei insedit itai EUM E UE 2 8 2 3 3 Servo Drive and Servomotor Combination Tables eseeseenm e 2 11 2 3 4 Decelerator Model Tabl6s 2 so ik ese ee eda cae Gee Ne 2 12 2 3 5 Cable and Peripheral Device Model Tables cccccccccceeeeeceeseessseseeeeeeeeeeesssaeaeeeeseeeseeeeeeeees 2 16 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual CONTENTS 2 4 External and Mounting Dimensions eeeeeee eese ee eeee enne eene nnn nnn nnn nnn 2 22 2 4 1 Servo Drive UME SIONS o une draisne wrote oie teiieitePtcseitiq onte iutisu astute eaa ied iussu tatio aed teat nasus 2 22 2 4 2 SSIvormotol DIMENSIONS is scatet ass Dave aedis Reda Uus E GodU alas Rie the QU vm ee ted aee Vd Hoe lad edendi 2 31 2 4 3 Combinations of Servomotors and DeCelerators cccccccccceseeceeeseeeesseeeeeeeeeeesesseesauaaaeeseeeess 2 40 2 4 4 Decelerator DIMENSIONS srnce o es a 2 42 2 4 5 External Regeneration Resistor Dimensions sees 2 56 2 4 6 Reactor DIMENSIONS TU UE t E 2 57 2 4 7 Mounting Bracket L brackets for Rack Mounting Dimensions sssseeesuusssss 2 61 Section 3 Specifications 3 1 Servo Drive SpecifiCallOliS 21 55 recae a ue ed sa cc cu ana aa iva cou Red cERD 3 2 3 1 1 G
336. ies Pulse train Input Type AC Servomotors and Servo Drives User s Manual Electronic Gear Ratio Denominator Pn010 7 7 Electronic Gear Ratio Numerator 1 Pn009 7 7 Electronic Gear Ratio Numerator 2 Pn500 7 42 Electronic Gear Ratio Numerator 3 Pn501 7 42 Electronic Gear Ratio Numerator 4 Pn502 7 42 Electronic Gear Switching 1 GESEL1 3 23 Electronic Gear Switching 2 GESEL2 3 23 Emergency Stop Input STOP 3 26 Encoder Cables Global Flexible Cable 2 17 3 66 Encoder Cables Global Non Flexible Cable 2 16 3 64 Encoder Connector Specifications CN2 3 32 Encoder Connectors ccccccccccecceeeeeceeseeseeseeeeeeeeees 3 80 Encoder Dividing Denominator Pn503 7 42 Encoder Dividing Numerator PnO1 1 7 8 Encoder Output Direction Switching Selection dst eer 7 8 Encoder Outputs Phase A B and Z 3 29 Encoder Specifications ccccccccseeceesssseseeeeeeeeeeees 3 53 Error Counter Overflow Level Pn014 7 8 Error Counter Reset Condition Selection Pn517 7 49 Error Counter Reset Input ECRST 3 22 Error Diagnosis Using the Operation State 10 17 Error Diagn
337. ies Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 15 6 Applied Functions I Encoder Dividing Ratio Setting Pn011 and Pn503 Encoder Encoder Dividing Dividing m Numerator Denominator Description Pn011 Pn503 1 to 262 144 Output source Encoder When Encoder Dividing Denominator Pn503 is 0 The number of output pulses is calculated based on Encoder Dividing Numerator Pn011 as follows Output pulses Encoder pulses Pn011 set value x 4 from Servo Drive p gt Encoder resolution Number of output pulses per rotation Encoder Dividing Numerator Pn011 x 4 1 to 262 144 1 to When Encoder Dividing Denominator Pn503 is not 0 262 144 The number of output pulses is calculated based on Encoder Dividing Numerator Pn011 and Encoder Dividing Denominator Pn503 as follows Output pulses Encoder pulses Pn011 set value from Servo Drive p Pn503 set value Encoder Dividing Numerator Pn011 Number of output pulses per rotation e oder Divi ing Denominator Pn503 x Encoder resolution For the phase Z signal one pulse will be output per motor rotation When Encoder Dividing Denominator Pn503 is not 0 the phase Z signal will not be output in sync with the phase A signal unless the resolution of pulse output per rotation is a multiple of 4 In this case the phase Z signal will be output at the encoder resolution and its width may be narrower e Phas
338. in 46 CCWLD CN1 pin 47 e Select whether to use photocoupler input or input for line driver only for command pulse input Pn006 Command Pulse Rotation Direction Switching Selection Setting 0 to 1 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 The Servomotor rotates according to the command pulse direction 1 The Servomotor rotates opposite to the command pulse direction e Set the direction in which the Servomotor rotates in response to command pulse input 7 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn007 Command Pulse Mode Selection Setting 0 to 3 Default Cycle the range setting power supply e Set the count method for the command pulse input Command Pulse Command Rotation Direction Pulse Mode Switching Selection Selection Pn006 Pn007 0 90 phase difference A B signal Command pulse Motor forward command Motor reverse command mode Line driver t1 2 2 us Open collector t1 gt 5 us 1 Reverse pulse Forward pulse Line driver t2 gt 1 us Open collector t2 gt 2 5 us 3 Feed pulse Forward or ae AEN reverse wg d xI SJ9 9UulBJeg 9SISeg L Z signal 7 Line driver t2 gt 1 us Open collector t2 gt 2 5 us OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 5 Parameter Details Command Puls
339. in the monitor mode if the RUN Input the Operation does not rotate RUN signal is OFF signal turns ON OFF Command RUN signal when a command e Wire correctly uad s Check in the monitor mode if the POT Turn ON the POT or NOT signal and NOT signals turn ON OFF Disable the parameter if the POT or NOT signal is not used Forward Drive Prohibition Input POT or Reverse Drive Prohibition Input NOT signal is OFF The control mode does not Check the value set in Control Mode Set the control mode according conform to the command Selection Pn001 to the command The Error Counter Reset Check in the monitor mode if the e Turn OFF the ECRST signal Input ECRST signal is ON ECRST signal turns ON OFF e Wire correctly The value set in Command Check the command pulse type of the Set the command pulse type of Pulse Mode Selection controller and that of the Servo Drive the Servo Drive so that it Pn007 is incorrect matches the command pulse type of the controller The Zero Speed Check in the monitor mode if the e Turn ON the VZERO signal Designation Input VZERO VZERO signal turns ON OFF e Wire correctly signal is OFF No internally set speeds are Check the values set in Pn304 to Set the desired rotation speed set Pn311 The values set in No 1 Torque Check the values set in Pn013 and Restore the default set values Limit Pn013 and No 2 Torque Limit Pn522 are 0 The Servomotor po
340. inal Block XW2B 50G4 XW2B 50G5 XW2D 50G6 External Regeneration Resistors Specifications Model Regeneration process capacity 20 W 50 Q with 150 C thermal sensor R88A RR08050S Regeneration process capacity 20 W 100 Q with 150 C thermal sensor R88A RR080100S Regeneration process capacity 70 W 47 Q with 170 C thermal sensor H88A HR22047S Regeneration process capacity 70 W 47 with 150 C thermal sensor R88A RR22047S1 Regeneration process capacity 180 W 20 Q with 200 C thermal sensor R88A RR50020S 2 20 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions I Reactors Specifications Modi Reactor type R88D KP01H For single phase input 3G3AX DL2002 DC reactor no R88D KPO2H For single phase input 3G3AX DL2004 i R88D KPO4H For single phase input 3G3AX DL2007 a R88D KP08H KP10H For single phase input 3G3AX DL2015 Sl Oo R88D KP15H For single phase input 3G3AX DL2022 D R88D KP01H KP02H KP04H 3G3AX AL2025 AC reactor KP08H KP 10H KP15H For 3 phase input R88D KP20H KP30H 3G3AX AL2055 R88D KP50H 3G3AX AL2110 x C1 O l Mounting Brackets L brackets for Rack Mounting i Specifications Model R88D KP01H KP02H R88A TK01K 2 R88D KP04H R88A TKO2K s R88D KP08H R88A TKO3K CJ lt R88D KP10H KP15H R88A TK04K 8 S o D o a OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 21 2 Mod
341. ing Servo Drive side Servomotor side Brake M4 crimp Cable AWG20 x 2C UL2464 B Brake terminal Servomotor side connector Connector model 172157 1 Tyco Electronics AMP KK Contact pin model 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK 3 78 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Brake Cables Global Flexible Cable R88A CAGALIBR e Cable types For 3 000 r min Servomotors of 50 to 750 W Model Length L Ae emei zi Weight R88A CAGA003BR 6 1 dia Approx 0 1 kg R88A CAGA005BR Approx 0 2 kg R88A CAGA010BR 300m Approx 0 4 kg R88A CAGA015BR 305m 305m Approx 0 7 kg R88A CAGA020BR 82m 82m Approx 0 9 kg Connection configuration and external dimensions q e D o D M 2 O o 3 5 O o o D o D ct o 5 D 70 L 40 Servo Drive side Servomotor side R88D KPO lt a E E E D R88M KEL e Wiring Servo Drive side Servomotor side B Brake Cable AWG20 x 2C UL2464 M4 crimp terminal Servomotor side connector Connector model 172157 1 Tyco Electronics AMP KK Contact pin model 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK suoneouioeds e qeo 19Mog JOO S OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 79 3 Specifications 3 5 4 Connector Specifications
342. ing Input Signal Selection 1 to 10 Pn400 to Pn409 e Function When Damping Filter Selection Pn213 is set to 1 or 2 this signal enables the use of sequence signals to switch among four damping control filters icis DFSEL1 DFSEL2 DampingFilter 1 Damping Filter 2 Damping Filter 3 Damping Filter 4 zi or ov Ede on or Eme Lor o Bw w L rd o D lt e oO lt o o D zh o e ct o 5 a sirejeq 1ndu o4ju0D 9 L Electronic Gear Switching 1 GESEL1 and Electronic Gear Switching 2 GESEL2 Pin 28 Electronic Gear Switching 1 GESEL1 No allocation Electronic Gear Switching 2 GESEL2 This is the default allocation The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 e Function These two signals can be used to switch among up to four electronic gear ratio numerators em EU GC t Note Electronic Gear Ratio Denominator Pn010 is common OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 23 3 Specifications i Pulse Prohibition Input IPG Pin 33 Pulse Prohibition Input IPG This is the default allocation Remember however that Command Pulse Prohibition Input Setting Pn518 is set to 1 disabled by default Before using this signal change the value set in Pn518 to 0 enabled The function allocated
343. ing edge of the input signal An alarm state will be cleared if the input signal remains ON for 120 ms or more The error counter content will also be reset when an alarm is reset disabling the position loop If so remove the cause of the alarm before resuming the operation For hazard prevention be sure to turn OFF the Operation Command RUN and then input the alarm reset signal some alarms cannot be reset with this input OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 21 3 Specifications a Error Counter Reset Input ECRST Pin 30 Error Counter Reset Inout ECRST This is the default allocation The function allocated to the input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 The Error Counter Reset Inout ECRST must be allocated only to pin 30 SI7 Otherwise a Error Counter Reset Allocation Error A332 will occur The input logic for the Error Counter Reset Input ECRST is NO contact only NC contact cannot be set e Function The error counter content will be reset when the Error Counter Reset Input signal turns ON which disables the position loop You can use Error Counter Reset Condition Selection Pn517 to set the status level signal ON or differential rising edge signal from OFF to ON The duration of differential signal input must be 100 us or longer the duration of status signal input must be
344. ing function and read the residual damping frequency Hz from the position error waveform as shown in the following figure e The damping frequency in the figure is calculated with the following formula EM T s lt Position error Calculate the damping frequency f Hz Since the parameter unit is 0 1 Hz Pn214 Pn216 Pn218 Pn220 10 xf e Application example Damping cycle T If the damping cycle is 100 ms or 20 ms set 100 or 500 in the parameter so that the damping frequency becomes 10 Hz or 50 Hz If vibration persists after setting the frequency increase or decrease the resonance frequency to find a proper frequency at which vibration decreases 6 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 3 Make the damping filter settings Make damping filter settings 1 Pn215 2 Pn217 3 Pn219 4 Pn221 First set to O The stabilization time can be reduced by setting a large value however torque ripple will increase at the command change point as shown in the following figure Set a range that will not cause torque saturation under actual operation conditions The effects of vibration suppression will be lost if torque saturation occurs Damping filter setting Damping filter setting is is appropriate too large Torque saturation Torque 7 command When Damping Frequency 1 Pn214 is set reduce this setting if torque saturatio
345. ing torque AWG 14 to 18 e MEN ee ae a ae oe I a NE Frame ground Wire size AWG 14 FG v4 Tightening torque 1 2 Model R88D KP50H Item Unit Main circuit power Rated current 14 2 8 1 21 6 Ivi L1 and L3 or L1 L2andl Serewsize oo oo M5 Control circuit Wire size AWG 18 Motor connection Rated current 13 4 18 7 33 0 so E a crew size ne e MEE NE torque re Sues Dynamic brake Wiesze cena mim 1 The first value is for single phase input power and the second value is for 3 phase input power SUOIJOSUUND 1010 N PUB nolo UIEN z c v 2 Use the same wire size for B1 and B2 8 Connect an OMRON power cable to the motor connection terminals OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 17 4 System Design i Wire Sizes and Allowable Current Reference The following table shows the allowable current when there are 3 power supply wires Use a current below these specified values e 600 V Heat resistant Vinyl Wire HIV AWG size i i Allowabl rrent A for Nominal cross Contiguration Conductive owable current A fo sectional area resistance ambient temperature wires mm O km 3 TEE 0 C C 6 8 0 T 43 38 19 70 88 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design I Terminal Block Wiring Procedure On a Servo Drive with 2 0 kW o
346. input will be degraded Position Setting Unit Selection Position 0 to 1 Default Cycle the Required setting power supply Explanation of Set Values Set value Description 0 Command unit 1 Encoder unit Select the setting unit of Positioning Completion Range 1 and 2 Pn431 and Pn442 and Error Counter Overflow Level Pn014 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn521 Torque Limit Selection Setting 0 to 6 Default 1 Cycle the range setting power supply Explanation of Set Values Torque Limit Switching Setting Torque Limit Selection Pn521 1 2 Pn523 Pn524 hence eem Forward direction Reverse direction torque limit torque limit Torque Limit Switching TLSEL Pn522 e Set the torque limit method for forward reverse direction e f the parameter is set to 0 the forward and reverse torque limit inputs are limited by No 1 Torque Limit Pn013 Pn522 No 2 Torque Limit Position Speed Setting 0 to 500 Default Cycle the range setting power supply e Set the second output torque limit of the Servomotor Pn013 No 1 Torque Limit and Pn522 No 2 Torque Limit e For torque limit selection refer to Torque Limit Selection Pn521 e Make the setting as a percentage of the rated torque Example When the maximum torque is limited to 15096 Torque 96 300 maximum O O TI TI U 2 L CO When both Pn013 and
347. io 1 Pn004 is obtained in realtime auto gain tuning use the set value as is e f the inertia ratio is calculated for the selected motor input the calculated value e f the inertia ratio is not known perform autotuning and set the inertia ratio 2 Adjust the position loop gain and the speed loop gain Adjust Position Loop Gain Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 and Torque Command Filter Time Constant Pn104 If no problem occurs in realtime autotuning you can continue to use the settings 3 Set Function Expansion Setting Pn610 oet whether to enable or disable the instantaneous speed observer function in bit O 0 Disabled 1 Enabled If you set this to 1 enabled the speed detection method switches to the instantaneous speed observer e f the machine operating noise or vibration increases or fluctuations in the torque monitor waveform increase significantly enough to cause a problem return the setting to O and make sure that the inertia ratio or the adjustment parameters are correct e f the machine operating noise or vibration decreases or fluctuations in the torque monitor waveform decrease make small adjustments to Inertia Ratio 1 Pn004 to find the setting that makes the smallest fluctuations while monitoring the position error waveform and the actual speed waveform e f Position Loop Gain Pn100 Speed Loop Gain Pn101 or Speed Loop Integral Time Constant Pn102 is cha
348. ion result causes load characteristic estimation to be disabled Precautions for Safe Use This parameter must be set in units of bits Unexpected operation may occur if the bits are not set correctly Set this parameter with care EN Additional Information How to Set the Parameter Bits Follow these steps to calculate the set value when you make any setting other than O 1 Confirm the least significant bit LSB in each set value E g LSB of Torque compensation function 4 2 Multiply the set value by 2 raised to the power of the bit number of the LSB E g To set torque compensation to Friction compensation small 2 x 3 48 3 Repeat Step 1 and 2 for each bit setting Set the sum of all bit values in Pn632 E g The calculation formula is as shown below for the following settings Load characteristic estimation Enabled Inertia ratio updating Enabled Torque compensation Friction compensation small Rigidity setting Enabled Fixed parameter setting Set to fixed values and Gain switch setting Enabled 29x 142 x 1424x 342 x1428x1429x 2 1461 7 60 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn633 Heserved Setting 1 000 Default 1 000 Cycle the range setting power supply Do not set Pn634 Heserved Setting Default Cycle the range setting power supply Do not set Pn635 Heserved Setting 10 Default 10 Cycle the range setting
349. ions e For 3 000 r min Servomotors 400 to 750 W Dimensions mm in vmi in e ce or oe os en e A00 WI 115 RSSG HPGTAADSADOE i 8 S 5 Cad o To 56 555 a 25 7T init RBBGHPGZOATTaOOB 2 nm w em w w e sw ws 7 at ReeG HPGzoAeTaooB 2 7 s em wwe ew ws er wes ReeG HPGBeAGGAOOBEI 2 e ore 5 ns ne sw w zs VAS ReBG HPGBAAASAOOBEI 2 a e or 5 To ns new w 125 750W 15 ResG HPGzOAoS7SOH 1 76 eo oo tm we s s s 75 wir RecHPGeoA SEU 1 Tm sue ws s s S 5 2 qwe us us eus us s ns ve we w s 59 wes ReeG HPGBeRGG7EOBEI 2 104 eo ore 5 wo ns ne s w zs was Fesc Heco 2 o wo wo ovs 5 wo s fi a W 5 Note 1 The standard shaft type is a straight shaft 2 Amodel with a key and tap is indicated with J at the end of the model number the suffix shown in the box Example R88G HPG14A05400BJ 3 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor 4 For Servomotors with a key remove the key before use e Outline drawing 1 E Set bolt AT 4 72 oD4 oD5 oSh7 Key tap dimensions QK b E 1 M depth L 1 The tolerance is h8 for R88G HPGBOLI or R88G HPG650 2 44 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions Dimensions mm DECEM AT 00 Key Tap Model aK bp htt ML
350. ions of the cable that connects a Position Control Unit Model CS1W NC233 433 with a Servo Relay Unit Model XW2B 40J6 1B e Cable types Model Length L Outer diameter of sheath Weight XW2Z 050J A1 1 10 0 dia Approx 0 1 kg Approx 0 2 kg Connection configuration and external dimensions 47 L 6 Position Control Unit side Servo Relay Unit side CS1W NC233 XW2B 40J6 1B CS1W NC433 d e Wiring Position Control Unit side Servo Relay Unit side AWG20 Black 3 114 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Position Control Unit Cables XW2Z L1J A14 Below are the specifications of the cable that connects a Position Control Unit Model CJ1W NC1 13 with a Servo Relay Unit Model XW2B 20J6 1B e Cable types Model Length L Outer diameter of sheath Weight XW2Z 050J A14 10 0 dia Approx 0 1 kg XW2Z 100J A14 Approx 0 2 kg Connection configuration and external dimensions o o o D lt e JJ o 9 lt c 3 9 2 a O 9 oO D o o D O 9 ct 5 a Servo Relay Unit side D XW2B 20J6 1B Position Control Unit side CJ1W NC113 e Wiring Position Control Unit side Servo Relay Unit side No suoreoyioeds eiqe yun ejeg HUN 04u00 uonisogd 9 e Cable AWG28x4P AWG28x10C 26 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives Use
351. is automatically set when the adaptive filter is enabled 208 Notch 3 Width Set the notch width of the third resonance Setting suppression notch filter 0 to 20 This parameter is automatically set when the adaptive filter is enabled 209 Notch 3 Depth Set the notch depth of the third resonance 0 to 99 Setting suppression notch filter This parameter is automatically set when the adaptive filter is enabled 50 to 5 000 210 Notch 4 Set the notch frequency of the fourth resonance Frequency suppression notch filter Setting This parameter is automatically set when the adaptive filter is enabled 0 to 20 211 Notch 4 Width Set the notch width of the fourth resonance Setting suppression notch filter This parameter is automatically set when the adaptive filter is enabled 212 Notch 4 Depth Set the notch depth of the fourth resonance Setting suppression notch filter 0 to 99 This parameter is automatically set when the adaptive filter is enabled O1 F O OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 17 Appendices Pn Default Setting Cyclethe Description power No setting range supply 213 Damping Filter Set the switching method for damping filters 0 to 3 Enabled When DF SEL1 input is open Damping filters 1 and 3 enabled When DF SEL1 input is shorted Damping filters 2 and 4 enabled When both DF SEL1 and DF
352. is set to 0 default setting These are dedicated position command pulse input terminals for the line driver output They are enabled when Command Pulse Input Selection Pn005 is set to 1 This is the signal ground The forward input terminal for an y V external power supply 12 to 24 VDC for sequence input These signals are allocated with the following functions and logics based on the values set in Input Signal Selection 1 to 10 Pn400 to Pn409 This signal is for reverse drive prohibition input It is enabled when Drive Prohibition Input Selection Pn504 is set to O or 2 This signal is for forward drive prohibition input It is enabled when Drive Prohibition Input Selection Pn504 is set to O or 2 This signal is enabled when Damping v Filter Selection Pn213 is set to 1 or 2 When Damping Filter Selection Pn213 is set to 2 you can switch among four filter settings in conjunction with the Damping Filter Switching 2 DFSEL2 This signal is enabled when Gain Switching Mode Pn115 for position control and Pn120 for speed control is set to 2 When OFF Gain 1 is enabled When ON Gain 2 is enabled OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications l Control mode Pin No Symbol Function and interface 8 GESEL1 Electronic Gear Switching 1 This signal switches among the v 28 Electronic Gear Ratio Numerators 9 setting
353. it power area supply Position speed and force calculation control area PWM control HHHHIEBIB CS Axial flow fan Control Encoder Analog USB interface monitor OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 1 Features and System Configuration R88D KP30H KP50H Internal Regeneration Resistor 1 I o lt 0 pg o 3j w o o 9 D S 3 SW power supply main circuit control Display and setting circuit area Internal control MPU amp ASIC power T supply Position speed and force calculation control area e PWM control HHHEBEBH G O nD Axial flow fan Control Encoder Analog USB interface monitor OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 1 9 1 Features and System Configuration 1 5 Applicable Standards 1 5 1 EC Directives EC directive Product Applicable standards Low Voltage AC Servo Drives EN61800 5 1 Directive AC Servomotors EN60034 1 5 EMC Directive AC Servo Drives EN55011 class A group1 IEC61800 3 EN61000 6 2 Note To conform to EMC Directives the Servomotor and Servo Drive must be installed under the conditions described in 4 3 Wiring Conforming to EMC Directives on page 4 20 1 5 2 UL and cUL Standards Standard Product Applicable standards File number UL standards E179149 CSA standards E179149 1 5 3 SEMI F47 e Servo Drives conform to
354. ity Motor speed Detection Range Speed command after acceleration Pn435 Speed command or deceleration processing A Speed Conformity Detection Range Speed r min eee Pee Per eee ee eee eee ee ere rrr rere erry err rrr rr Pn435 a eannan a E Speed Conformity Detection Range Speed Conformity 7 38 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn436 Rotation Speed for Motor Rotation Detection Speed Setting 10 to 20 000 r min Default 1 000 Cycle the range setting power supply e Motor rotation speed detection output signal is output when the motor speed reaches the speed set as the achieved speed e This setting has a hysteresis of 10 r min for detection Speed r min Motor Speed Pn436 10 Pn436 10 Pn436 10 Time Pn436 10 T Motor rotation speed detection output OFF oF ON Pn437 Brake Timing when Stopped Setting O to 10 000 1 ms Default Cycle the range setting power supply e Set the time required for the Servomotor to be de energized servo free after the Brake Interlock Output BKIR CN1 pin 10 turns OFF i e brake held when servo OFF status is entered while the Servomotor is stopped e When the Operation Command RUN turns OFF while the Servomotor is stopped the Brake Interlock Output BKIR turns OFF and the Servomotor is de energized after waiting for the set time set value x ms Opera
355. ives User s Manual M a n Uu a N a m e 6 Applied Functions 6 11 2 Parameters Requiring Settings Parameter No Pn610 Function Expansion Setting Set the bits related to the disturbance observer P 7 56 Pn623 Disturbance Torque Set the compensation gain for the disturbance torque P 7 58 Compensation Gain Pn624 Disturbance Observer Filter Set the filter time constant for disturbance torque P 7 58 Setting compensation Name Description Reference Operation Steps 6 11 3 Operating Procedure 1 Set Function Expansion Setting Pn610 Descri bes th e Set whether to enable or disable the disturbance observer in bit 1 operation steps 0 Disabled 1 Enabled Set the operating conditions for enabling the function in bit 2 Level 2 heading Shows which sub section the content of the current page belongs to 0 Enabled at all time uonoung 1eA10sqo eoueguanisig LL 9 1 Enabled only when Gain 1 is selected Set Disturbance Observer Filter Setting Pn624 Set a small value in Disturbance Torque Compensation Gain Pn623 Change the value in Sectio n N u m be r of Disturbance Observer Filter Setting Pn624 from a large value to a smaller one to Level 1 heading Shows which section the content of the current page belongs to determine a setting that provides a balance between the effect of suppressing the influence of disturbance and the operating noise level Set Disturbance Torque Compensation Gain P
356. k side XW2B 50G4 Servo Drive side XW2B 50G5 cO R88D KPLI XW2D 50G6 A suoneouioedg e qeo joJuo2 9 G E OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 91 3 Specifications Terminal block Servo Drive side coer a Dus Symbol i 1 CW PULS FA 1 CW PULS FA 1 CCW SIGN FB 1 CCW SIGN FB 1 24VIN 8 q sit 9 10 Blue Red 2 11 Blue Black 2 Pink Red 2 Pink Black 2 ge 15 Green Black 2 SGGND e Orange Black 2 SGGND 2 Gray Black 2 Connector UU 22 aie Da S o 3 o AM D D 5 3 A D OQ mm ne B OJ Oooo 3173 731 3 uoo EIS O3 Z0 O W olo Alo N jo Tan EIA IN O D D 2 3 AJ D Q NIN Q Je O O o 2 Q D A D en a NO N 9 5 0 lt A D Q NO Blue Red 3 Z 25 Blue Black 3 21 Pink Red 3 22 Pink Black 3 Green Red 3 Green Black 26 Orange Red 3 27 OranelBlack 3 SM 28 Gray Red 3 29 Gray Black 3 30 Blue Red 4 31 Blue Black 4 32 Pink Red 4 33 Pink Black 4 4 35 Green Black A SO2 36 Orange Red 4 37 OrangeBlack 4 JAIM 9 pn D D 2 A D Q ago N AI 4 4 SS Pink Red 5 EI ae pee Pink Black 5 5 5 CWLD CCWLD 5 CCWLID 5 5 1
357. k state in the position control if the actual speed reaches the setting value or less in Position Lock Level Setting Pn316 Refer to Figure B 3 When the Zero Speed Designation is input the Servomotor falls in a servo lock state in the position control if the actual speed reaches the setting value or less in Position Lock Level Setting Pn316 Refer to Figure C Speed command I I Speed command acceleration deceleration settings Pn312 Pn313 Pn314 l l I I Va speed designation input ON OFF ON l l l l Speed control SJ9 o9uleJegd j041uo 5 Hojeuy r e When the zero speed designation input is ON the speed command is forcibly set to O e Set the acceleration and deceleration time settings for the speed command in Soft Start Acceleration Time Pn312 Soft Start Deceleration Time Pn313 and S curve Acceleration Deceleration Time Setting Pn314 7 Speed command acceleration deceleration settings speed designation input ON OFF ON l l Pn312 Pn313 Pn314 l l Position control Speed control Position aaam p a a a a ee e When the zero speed designation input is turned ON if the speed command is equal to or less than the Position Lock Level Setting Pn316 minus 10 r min the control mode switches to position control and the servo is locked If the speed command becomes equal to or greater than the Position Lock Level Setting P
358. k the value set in Momentary Hold Time Pn509 Set each phase of the power supply correctly Increase the power supply capacity Refer to 2 3 3 Servo Drive and Servomotor Combination Tables on page 2 11 for information on the power supply capacity Connect each phase L1 L2 and L3 of the power supply correctly Use L1 and L3 for single phase 100 V and single phase 200 V Replace the Servo Drive Disconnect the Servomotor cable and turn ON the servo If the problem immediately recurs replace the Servo Drive with a new one Check to see if the Servomotor cable is short circuited between phases U V and W by checking for loose wire strands on the connector lead Connect the Servomotor cable correctly Check the insulation resistance between phases U V and W of the Servomotor cable and the grounding wire of the Servomotor If the insulation is faulty replace the Servomotor Check the balance between the resistance of each wire of the Servomotor If resistance is unbalanced replace the Servomotor Check for missing connector pins in Servomotor connections U V and W If any loose or missing connector pins are found secure them firmly Replace the Servo Drive The servo does not turn ON for a period of 3 minutes after the use of the dynamic brake Wait at least 100 ms after the servo has turned ON then input commands 10 11 val a A e c c D 0 y O 5 e sKe dsiq uue v ui sisou
359. kers remember to add the leakage current from devices other than the motor such as devices using a switching power supply noise filters inverters and so on To prevent malfunction due to inrush current we recommend using a leakage breaker of 10 times the total of all current values e The leakage breaker is activated at 50 of the rated current Select a leakage breaker with approximately twice the capacity e For details on leakage breakers selection method refer to the manufacturer s catalog e Because switching takes place inside the Servo Drives high frequency current leaks from the SW elements of the Servo Drive the armature of the motor and the cables High frequency and surge resistant leakage breakers can prevent operation with high frequency leakage current because they do not detect high frequency current When using a general leakage breaker use three times the total of the leakage current given in the following table as a reference value Servo Drive model Input power supply gu m Men Increase per 10 m of cable Note These values vary greatly depending on the installation conditions of the motor power cable and the measurement conditions Use the values for reference only OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 27 D oo 3 O o o 3 3 o m O O lt D o sjueuoduJo uornoeuuo funoejes z g p 4 System Design Surg
360. key to return to the parameter setting mode display qo I O 2 D o D 3 ae po uonounJ AyelIxny G p 8 8 Operation 6 Save the changed setting to memory Key operation Display example Description Press key to switch to the parameter write mode display Press key to switch to the parameter write mode display Press and hold A key for 5 seconds or more until appears DOG The number of dashes on the display increases The parameter write process starts This display appears only momentarily This indicates a normal completion Other than this the follwing displays may be shown and 2 also indicates a normal completion but it means that some of the changed parameters are enabled only after the system is restarted Turn OFF and then ON the power supply again indicates a write alarm Write the data again Return to the parameter write mode display Key operation 8 Turn OFF and then ON the power supply again Display example Description Press key to return to the parameter write mode display la Precautions for Correct Use e Items which are limited vary depending on the mode setting e f the Front Panel Parameter Write Selection Pn617 is set to 1 the parameter set value is automatically written to EEPROM when changed e For details about the front panel lock function refer to Front Key Protection Setting Pn535 in 7 6 Extended Parameters on page 7 42 8 2
361. l CCWLD Forward Pulse 1 E TE E a mu T CCWLD Input for line driver only Encoder Phase A Output TEAM E a Encoder Phase A Output 49 Encoder Phase B Output HOMME Encoder Phase B Output 23 Encoder Phase Z Output TE m Encoder Phase Z Output 24VIN 24 V Power Supply for Control ee aaa ECRST Error Counter Reset Input 132 133 RUN Operation Command Input TL DFSEL Damping Filter Switching a a lA RESET Cu ee ee TLSEL Torque Limit Switching Positioning Completion Hbo ea Uu 35 READY Servo Ready s a REDYCOM Completed Output ALM pt ALMCOM Alarm Output due mecs ENE XL 5 SGGND Sensor ON Input ne Shel 1 Connect the NC unit as shown here because it handles forward direction commands as CW direction phase A advance pulses which can be selected using the output pulse direction selection parameter 2 Gb5 series Servo Drives Pulse train Input Type support incremental encoders only Do not use SEN outputs ervomotors and Servo Drives User s Manual q e E o D M 5 2 O o 3 3 D O o o D o D ct o D suoieouioeds ejqeo o4u02 9 9 3 Specifications e Cables for Open Collector Output 1 Axis AWG168 twisted pair cable 1 m AWG18 twisted pair cable 1 m Red 24 VDC q Blue BKIRCOM Black 24 VDC GND Black BKIR NC Unit side XGAM 5030 T OMRON Servo Drive side for Axis 1 or 3 4 V Power Supply for Outpu 10150 3000PE Sumitomo 3M 4 V GND for Output BKIR
362. l Dimensions 1 000 r min Servomotors e Without brake Model Specifications With incremental encoder Straight shaft with key and tap 200 V R88M KE90010H S2 e With brake Model Specifications With incremental encoder Straight shaft without key Straight shaft with key and tap 200 V 900W R88M KE90010H B R88M KE90010H BS2 R88M KE2K010H B R88M KE2K010H BS2 R88M KE3K010H B R88M KE3K010H BS2 Note Models with oil seals are also available 2 10 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions 2 3 3 Servo Drive and Servomotor Combination Tables The tables in this section show the possible combinations of OMNUC GS5 series Pulse train Input Type Servo Drives and Servomotors The Servomotors and Servo Drives can only be used in the listed combinations O at the end of the motor model number is for options such as the shaft type brake oil seal and key I 3 000 r min Servomotors and Servo Drives Single phase R88D KP01H 3 phase 200 V R88D KP20H 3 kW R88D KP30H R88M KE5K030H O R88D KP50H 1 Use these combination with caution because the Servo Drive and Servomotor have different capacities i 2 000 r min Servomotors and Servo Drives With incremental encoder Single phase R88D KP10H 3 phase 200 V R88D KP20H 1 Use these combination with caution because the Servo Drive and Servomotor have different capacities 1 000 r min Servomotors and Se
363. l I O Y N lt o e o o D Q O O 3 d signals only 9 5 2 2 Parameters Requiring Settings No Pn001 Control Mode Selection Select the control mode in which the Internally Set Speed P 7 3 Control function can be used Set value 1 3 Pn300 Command speed Selection Select the speed command input method P 7 26 Pn304 No 1 Internally Set Speed Set the internally set speeds r min P 7 27 Pn305 No 2 Internally Set Speed The valid setting range is from 20 000 to 20 000 r min Be Pn306 No 3 Internally Set Speed sure to set the speeds within the allowable range of rotation speed of the motor Pn307 No 4 Internally Set Speed Pn308 No 5 Internally Set Speed Pn309 No 6 Internally Set Speed Pn310 No 7 Internally Set Speed Pn31 1 No 8 Internally Set Speed P 7 28 Pn312 Soft Start Acceleration Time Set the acceleration time for Internally Set Speed Control P 7 28 POTENTIS See nwt Sevres natom gt Pn313 Soft Start Deceleration Time Set the deceleration time for Internally Set Soeed Control P 7 28 pee TI Stomies eerte Pn314 Set the S curve time in the time width centered on the inflection P 7 28 Deceleration Time Setting points for acceleration and deceleration uogounJ 9u1jo UIMNO c G OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 5 7 5 Basic Control Mode I Internally Set Speed Selection The following tables show the internally set speeds that are
364. l be output Do not set other values not listed above 3 Each warning detection can be masked by Warning Mask Setting Pn638 The bit corresponding to each warning is shown in the table above When the bit is set to 1 the warning detection is masked OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 5 k N D 3 5 e r 0 emt 10 Troubleshooting and Maintenance 10 3 Alarm List 10 6 If the Servo Drive detects an error it outputs an alarm ALM turns OFF the power drive circuit and displays the corresponding alarm code la Precautions for Correct Use e Refer to 10 4 1 Error Diagnosis with Alarm Displays on page 10 10 for appropriate alarm measures Reset the alarm using one of the following methods Be sure to remove the cause of the alarm first e Input the Alarm Reset Input RESET signal e Turn OFF the power supply then turn it ON again e Reset the alarm from the CX Drive However some alarms can only be reset by turning the power supply OFF and ON Refer to Alarm List on the next page Resetting the alarm is dangerous when the Operation Command RUN is ON because the Servomotor will start operating immediately when the alarm is reset Turn OFF the RUN before resetting the alarm In situations where the RUN is always ON ensure the safety sufficiently before resetting the alarm OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives
365. l number the suffix shown in the box Example R88G HPG32A05900TBJ ii Backlash 15 Arcminutes max e For 3 000 r min Servomotors Straight Shaft with Key SO qe Jopo N 101eJ9 o298q v e z Specifications Servomotor Model Gear ratio capacity 50 W 1 5 R88G VRSF05B100CJ 1 9 R88G VRSF09B100CJ 1 15 R88G VRSF15B100CJ 1 25 R88G VRSF25B100CJ 100 W 1 5 R88G VRSF05B100CJ 1 9 R88G VRSF09B100CJ 1 15 R88G VRSF15B100CJ 1 25 R88G VRSF25B100CJ 200 W 1 5 R88G VRSF05B200CJ 1 9 R88G VRSF09C200CJ 1 15 R88G VRSF15C200CJ 1 25 R88G VRSF25C200CJ 400 W 1 5 R88G VRSF05C400CJ 1 9 R88G VRSF09C400CJ 1 15 R88G VRSF15C400CJ 1 25 R88G VRSF25C400CJ 750 W 1 5 R88G VRSF05C750CJ 1 9 R88G VRSF09D750CJ 1 15 R88G VRSF15D750CJ 1 25 R88G VRSF25D750CJ OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 15 2 Models and External Dimensions 2 3 5 Cable and Peripheral Device Model Tables I Encoder Cables Global Non Flexible Cable Specifications Model 200 V 3m R88A CRGBOOSC For 3 000 r min Servomotors of 50 to 750 W 5m R88A CRGBO05C 10m R88A CRGBO010C 15m R88A CRGBO015C 20m R88A CRGBO20C 200 V 3m R88A CRGCOOSN 3 000 r min Servomotors of 1 0 kW or more 5m R88A CRGCOO5N For 2 000 r min Servomotors 10m R88A CRGCO10N For 1 000 r min Servomotors 15m R88A CRGCO15N 20m R88A CRGCO20N i Motor Power Cables Global Non Flexible Cable Model For motor with brake 200 V For 3 000 r min Servom
366. l purpose Input 6 Ld ue READY Servo Ready 2 O po T eH slaa Repycom Completed Output Q penmet H TOX H Aam oput e ALMCOM Alarm Output g EE 20 e 1 g Sianal Ground 7L V SGGND Sensor ON Input es l Shel SERE UE AWG18 twisted pair cable 1 m o T C Blu BRIRCOM MEN HN Black BKIR renee EE Servo Drive side for Axis 2 or 4 24 V Power Supply for Output 2 H 10150 3000PE Sumitomo 3M 24 V GND for Output GRH BKIR Brake Interlock Input Common 50 H poco BKIRCOM Output Forward Direction Pulse Output 39 H C CV CWLD Reverse Pulse 1 Forward Direction Pulse Output 38 7 CWLD Input for line driver only Reverse Direction Pulse Output 37 CCWLD Forward Pulse 1 Reverse Direction Pulse Output fag 4H 1 CCWLD Input for line driver only Encoder Phase A 38 1 3 Encoder Phase A Output Encoder Phase A 34 Encoder Phase B 32 Encoder Phase 2 31 EncoderPhase Z 30 Lo CL Error Counter Reset Output 41 RUN Output 45 H 4 H a3 4a t 1 a EK 38 INPCOM Output 1 General purpose Input 48 READY Servo Ready Lo T eee asoa aa REDYCOM Completed Output Alarm Input AM Aemmet 47 1 ALM Alam Output SEN Output 20 NI t Signal Ground 28 XL 437 SGGND PESO SUN ren SSeS Shell 1 Connect the NC unit as shown here because it handles forward direction commands as CW direction phase A advance pulses which can be
367. le part 45mm Approx 4 7 kg R88A CAGDO15BR Approx 7 0 kg R88A CAGD020BR 1 For information on minimum bending radius refer to 3 5 1 Resistance to Bending of Global Flexible Cable on page 3 62 q e D m D M 2 O o 3 5 O o o D o D ct o 5 D Approx 9 2 kg Connection configuration and external dimensions Servomotor side Servo Drive side suoieouioeds qey 19Mog 10104 S R88D KPO j R88M KEL e Wiring Servo Drive side Servomotor side Symbol ac va crimp OO rae terminal G2 Os Red White M5 crimp Q terminal QO EIUS os Green Yellow Cable AWG20 x 2C UL2464 Cable AWG10 x 4C UL2501 Servomotor side connector Straight plug model N MS3106B24 11S Japan Aviation Electronics Cable clamp model N MS3057 16A Japan Aviation Electronics OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 77 3 Specifications Brake Cables Global Non Flexible Cable R88A CAGALIB e Cable types For 3 000 r min Servomotors of 50 to 750 W Model Length L MUT zi Weight R88A CAGA003B 5 4 dia Approx 0 1 kg R88A CAGA005B Approx 0 2 kg R88A CAGA010B da 30m Approx 0 4 kg R88A CAGA015B 35m 35m Approx 0 6 kg R88A CAGA020B 20m 20m Approx 0 8 kg Connection configuration and external dimensions 70 L 40 Servo Drive side Servomotor side R88D KPO C EIER E 8 gt R88M KECI e Wir
368. lect the type of data to be displayed by O to 35 Required default on the 7 segment display when the control power supply is powered on Motor speed i Position command speed r mi Speed control command Total command pulses I O signal status Limit Reserved Do not set Reserved Do not set Alarm factor history Regeneration resistance load ratio Overload load ratio Inertia ratio Reason for no rotation Display of the number of I O signal T communications errors P N Ao Ao Ao time time A 28 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Pn a Default Setting Cyclethe Description power No setting range supply 30 Motor serial number Accumulative operation time Automatic motor recognition function P N U f D 3 D D Lr o Temperature information 532 Command Set the maximum command pulse input value 4 000 kpps 250to Required 4 000 Maximum Setting Output Limit 0 Disabled Setting leui Enabled Reserved Do not set Pulse Input 533 Pulse Set whether to enable or disable the pulse Oto 1 Required Regeneration regeneration limit error detection function 535 Front Key Set whether or not to restrict T t on the Oto1 Required Protection front T t Setting Lr 9 il Operations not restricted aH Operations restricted OMNUC G5 series Pulse train Input Type A
369. lowable minimum Servo Drive model to be absorbed by built in Average amount of regeneration resistance capacitor J regenerative energy to Q be absorbed W R88D KP01H 34 R88D KP02H 34 R88D KP04H 34 R88D KP08H 25 R88D KP10H 25 R88D KP15H 25 R88D KP20H 10 R88D KP30H 7 R88D KP50H 5 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 41 gt I J D ta D j o D ct lt m 5 o a lt gt o 0 O O 5 Kyoedeo uondjosqy uoeiauaboy SAG OMS Z p v 4 System Design 4 4 3 Regenerative Energy Absorption with an External Regeneration Resistor If the regenerative energy exceeds the regeneration absorption capacity of the Servo Drive connect an External Regeneration Resistor Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive Double check the terminal names when connecting the resistor because the drive may be damaged if connected to the wrong terminals The temperature of the External Regeneration Resistor will rise up to approximately 120 C Do not place it near equipment and wiring that is easily affected by heat Attach radiator plates suitable for the heat radiation conditions i External Regeneration Resistors Characteristics The amount of Resistance Nominal regeneration Heat radiation Thermal switch output value capacity absorption for 120 condition specifications temperature rise R88A 80 W 20 W A
370. lowing dimensions e When connecting wires and crimp terminals to a terminal block tighten them to a torque of 0 7 N m Round terminal Fork terminal 03 2 mm ES 5 8 mm max ETC 32 mm 5 8 mm max Applicable crimp terminals Applicable wires Round terminals 1 25 3 AWG22 to 16 ELM 0 3 to 1 25 mm Fork terminals 1 25Y 3 AWG22 to 16 BAN 0 3 to 1 25 mm OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 95 T e D o D M 5 2 O o 3 3 D O o o D o D ct o D suoieouioeds ejqeo ouo 9 g eg 3 Specifications 3 6 Servo Relay Unit and Cable Specifications This section provides the specifications of the Servo Relay Units and cables for connecting the Servo Drive with various Position Control Units for OMRON Programmable Controllers SYSMAC Select a correct relay unit and cable according to the model of your Position Control Unit 3 6 1 Servo Relay Unit Specifications XW2B 20J6 1B Below are the specifications of the Servo Relay Unit for connecting the following OMRON Position Control Unit models e CJ1IW NC113 NC133 e CS1W NC113 NC133 e C200HW NC113 e External Dimensions Position Control Unit side Servo Drive side 3 5 7 lt a e The pitch of terminals is 7 62 mm 3 96 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Spe
371. lue of the function for each control mode in below Refer to the function number table provided below for the set value of each function The logic setting is included in the function number 0000 h Position control Speed control For parameters reserved for the system do not change the values Example Position control Speed Conformity Output Signal 08 hex Speed control Motor Rotation Speed Detection Output 05 hex 00000508h Position control Speed control The set value on the front panel is indicated as a decimal which is 1 288 in this case p ey D 2 c 5 o D O HL amp 5 D 0 e Function Number Table The set values to be used for allocations are as follows Signal Set value Disabled 00 hex 5 Servo Ready Completed Output 02 hex 7 Brake Interlock Output 03 hex a Positioning Completion Output INP 04 hex E Motor Rotation Speed Detection Output 05 hex Torque Limiting Signal 06 hex Zero Speed Detection Signal ZSP 07 hex Speed Conformity Output Signal 08 hex Warning Output 1 09 hex Warning Output 2 OA hex Position Command Status Output OB hex Positioning Completion Output 2 OC hex Alarm Attribute Output OE hex Speed Command Status Output OF hex la Precautions for Correct Use e Do not use any values other than the settings listed e You can allocate the same function to more than one output signal e For output signals the logic cannot be changed The function is di
372. luminum Operating temperature RR08050S 350 x 350 150 5 C Rated output resistive load 125 VAC 0 1 A max 30 VDC 0 1 A max minimum current 1 mA R88A 100 Q Aluminum Operating temperature RR080100S 350 x 350 150 5 C minimum current 1 mA R88A 220 W Aluminum Operating temperature RR22047S 350 x 350 170 7 C Rated output resistive load 250 VAC 3 A max R88A 47 Q 220 W Aluminum Operating temperature HR2204781 350 x 350 150 5 C 42 VDC 0 2 A max minimum current 1 mA R88A 20 Q 500 W 180 W Aluminum Operating temperature RR50020S 600 x 600 200 7 C Rated output resistive load 250 VAC 0 2 A max 42 VDC 0 2 A max minimum current 1 mA 4 42 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Model Rated output resistive load 125 VAC 0 1 A max 30 VDC 0 1 A max Rated output resistive load 250 VAC 0 2 A max 4 System Design 4 4 4 Connecting an External Regeneration Resistor R88D KP01H KP02H KP04H Normally B2 and B3 are open If an External Regeneration Resistor is necessary connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below Servo Drive Thermal switch output External Regeneration Resistor gt I J D Q 5 o D ct lt o m 5 o e lt gt o o O O 5 la Precautions for Correct Use Connect the thermal switch output so that the main cir
373. ly low e If there is a play such as a backlash Operation e If the speed continues at lower than 100 r min pattern e If the acceleration deceleration is 2 000 r min s or lower e If the acceleration deceleration torque is too small compared with the unbalanced load and the viscous friction torque If either a speed of 100 r min or higher or an acceleration deceleration of 2 000 r min s or higher does not last for 50 ms or more e With realtime autotuning each parameter is fixed to the value in the machine rigidity table at the time the machine rigidity is set By estimating the load inertia from the operation pattern the operation coefficient for the speed loop gain and the integral time constant are altered Doing this for each pattern can cause vibration so the estimation value is set conservatively 9 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 Adjustment Functions 9 2 1 Setting Realtime Autotuning 1 When setting realtime autotuning turn the servo OFF 2 Set Realtime Autotuning Mode Selection Pn002 depending on the load Normally set this parameter to 1 or 2 Use a setting of 3 or 4 when a vertical axis is used A setting of 5 is used in combination with a software tool Do not set the parameter to 5 for normal operation Gain switching function is enabled for set values 2 to 6 Setting a value between 2 and 6 sets Switching Mode in Position Control Pn115 to 10 Combination o
374. m does not enter the servo ON state until the motor stops 6 20 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions I Operation Timing When an Alarm Occurs Servo ON OFF Alarm occurs Normal Alarm output ON 0 5 to 9 ms ON Motor power supply Powersupply supply No power supply OFF Released Dynamic brake DB released released DB released Engaged NE Servo ready ON completed output REY READY OFF ON Alarm output ALM fT Alarm OFF t1 Brake interlock ON output BKIR 2 SEE Release request Brake held D 2 I w Co x4oo jeju exyeJg 9 9 Rotation speed A 3 When Pn438 set Pn439 set value value comes earlier BKIR Brake interlock Basses output BKIR 2 Rotation speed B request ATAKE ide When Pn439 set value or lower comes earlier Pn439 set value rd rg BA O xe D o O 5 1 The operation of the dynamic brake when there is an alarm depends on the set value in Stop Selection with Servo OFF Pn506 2 t1 is the time set in the Brake Timing During Operation Pn438 or the time until the motor speed drops to the setting speed or lower in Brake Release Speed Setting Pn439 whichever is shorter Note 1 Even when the Servo ON input is turned ON again while the motor is decelerating the system does not enter the servo ON state until the motor stops The Brake Interlock Output B
375. meters to extreme values because it will make the operation unstable Injury may result Separate the Servomotor from the mechanical system and check its operation before installing the Servomotor to the machine Injury may result If an error alarm occurs remove the cause and ensure safety and then reset the error alarm and restart the operation Injury may result Do not use the built in brake of the Servomotor for normal braking operation Failure may result Do not operate the Servomotor connected to an excessive load inertia Failure may result Install protective and safety devices to prevent idling or locking of the electromagnetic brake or the gear head or leakage of grease from the gear head Injury damage or taint damage result If the Servo Drive fails cut off the power supply to the Servo Drive at the power supply Fire may result Do not turn ON and OFF the main Servo Drive power supply frequently Failure may result Do not apply strong impact on the Servomotor shaft or Servo Drive Failure may result The Servomotor may not be able to keep a stopped state without control Install an appropriate stopping device to ensure safety Equipment damage or injury may result OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Safety Precautions Maintenance and Inspection AN Caution After replacing the Servo Drive transfer to the new Servo Drive all data needed t
376. n parameter initialization and front panel lock unlock functions e Change to the auxiliary function mode display Key operation B TH Press key three times to change to the auxiliary function mode display Alarm Clear The alarm that occurred can be reset by following the steps below Display example Description The display is based on Default Display Pn528 setting Press key to change to the monitor mode display Some alarms cannot be reset using this method For details refer to 10 3 Alarm List on page 10 6 1 Execute the alarm clear function Key operation m Display example Description Press key to switch to the alarm clear mode display Press and hold A key for 5 seconds or more until appears The number of dashes on the display increases The alarm clear process starts This indicates a normal completion If is displayed the alarm clear process is not completed Turn OFF and then ON the power supply again to reset the alarm 2 Return to the auxiliary function mode display Key operation Display example Description Press key to return to the auxiliary function mode display 8 22 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation Reserved Do not set Jog Operation Trial operation can be performed with no load i e without connecting the control I O connector CN1 to the Servomotor 1 Preparations for jog op
377. n Input Pn505 If both the Forward and the Reverse Prohibition Input signals are open Drive Prohibition Input Error Alarm No 38 0 will occur because it is taken that Servo Drive is in error condition 1 Forward and Reverse Drive Prohibition Input function disabled 2 Forward and Reverse Drive Prohibition Input function enabled If either the Forward or Reverse Prohibition Input signal is open Drive Prohibition Input Error Alarm No 38 0 will occur la Precautions for Correct Use Both signals are disabled in a state in which drive prohibition does not operate in the default settings If prohibiting the drive input is required set the Drive Prohibit Input Selection Pn504 to either O or 2 The setting on the Input Signal Selection 1 to 10 Pn400 to Pn409 can change the logic and allocation for the respective Input terminals CN1 pins 1 to 8 9 26 to 33 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 39 P o Tl o e Q o 2 Q JJ lt T D UO lt U O o o 3 Tl c 2 O i o 5 0 sbumegs Buuinbeu siejeuregjeg Z 04 9 6 Applied Functions I Stop Selection for Drive Prohibition Input Pn505 Set the deceleration and stop methods used when the Forward Reverse Drive Prohibition Input signal turns ON Stop Selection for Drive Deceleration method After stopping Error counter Prohibition Input Pn505 0 Dynamic brake Torque
378. n Switching Mode in Position Control Pn115 is set to 1 and Torque Limit Selection Pn521 is set to 3 or 6 1 Gain Switching Delay Time in Position Control Pn116 becomes effective when the gain is switched from 2 to 1 2 The definition of Gain Switching Hysteresis in Position Control Pn118 is shown in the drawing below P ls Y Pn117 gt P LR Ad IN 0 3 This represents the amount of change during the period of 1 ms Gain 1 Gain 2 Gain 1 Pn116 4 Example To switch the gain if the torque variation during 1 ms is 1095 set these parameters to 200 4 This represents the encoder resolution OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details 5 When the set value is 10 the meanings of Gain Switching Delay Time in Position Control Gain Switching Level in Position Control and Gain Switching Hysteresis in Position Control differ from the normal case Refer to Figure F Gain 2 Gain 1 E Command ad S Actual speed N SJ9 ouleJed UIE Z Z 7 Gain 1 Gain 2 Gain 1 Gain 2 for speed loop integral time Censtantonly Gainiforothers Pn116 Gain Switching Delay Time in Position Control Setting O to 10 000 0 1 ms Default Cycle the range setting power supply e Set the delay time when returni
379. n in the drawing below Y Pn122 Pn123 Gain 1 Gain 2 Gain 1 gt lt gt lt y P121 The settings for Gain Switching Level in Speed Control Pn122 and Gain Switching Hysteresis in Speed Control Pn123 are enabled as absolute values forward reverse Pn124 Reserved Setting Default Cycle the range setting power supply Do not set Pn125 Reserved Setting Default Cycle the range setting power supply Do not set SJ9 ouleJed UIE Z Z 7 Pn126 Reserved Setting Default Cycle the range setting power supply Do not set Pn127 Reserved Setting Default Cycle the range setting power supply Do not set OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 19 7 Parameter Details 7 3 Vibration Suppression Parameters Pn200 Adaptive Filter Selection Setting 0 to 4 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 Disabled The parameters related to notch filters 3 and 4 hold the current values 1 One filter enabled The parameters related to notch filter 3 are updated according to the adaptive result 2 Two filters enabled The parameters related to notch filters 3 and 4 are updated according to the adaptive result 3 Resonance frequency measured The measurement result can be checked in CX Drive The parameters related to notch filters 3 and 4 hold the current values 4 Adaptive result cleare
380. n occurs or increase this setting to improve the operation speed Normally 0 is set When Damping Filter 1 is enabled the setting range is as follows Setting range 100 x Pn214 Pn215 lt Pn214 x 2 or 2 000 Note When Damping Filter 1 is disabled in Damping Filter Selection Pn213 this parameter is also disabled o L Jg 3 So 5 e O O 5 pu 2 4 Set the Damping Filter Selection Pn213 Damping Filter 1 to 4 can be switched according to the conditions of the machine vibration Set value Switching mode 0 Damping Filter 1 and 2 enabled 1 Switching via external input DFSEL1 When DFSEL1 is open Damping Filter 1 and 3 enabled When DFSEL1 is shorted Damping Filter 2 and 4 enabled 2 Switching via external input DFSEL1 DFSEL2 When DFSEL1 and DFSEL2 are open Damping Filter 1 enabled When DFSEL1 is shorted and DFSEL2 is open Damping Filter 2 enabled When DFSEL1 is open and DFSEL2 is shorted Damping Filter 3 enabled When DFSEL1 and DFSEL2 are shorted Damping Filter 4 enabled 3 Switching based on the command direction During forward rotation Damping Filter 1 and 3 enabled sbumegs Buuinbeu s1ojeuejeg z L 9 During reverse rotation Damping Filter 2 and 4 enabled OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 5 6 Applied Functions 6 2 Adaptive Filter 6 2 1 Outline of the Function The adaptive filter reduces resonance point vibration by estimating the res
381. n the motor attachment area and the motor flange See below Failure to follow this guideline may result in damaging the Servomotor due to a temperature rise Refer to 3 3 Servomotor Specifications on page 3 36 for the radiator plate specifications i oh 5 0 e D o o 3 e o 2 2 2n o 2 0 qENME Radiator plate EN a e The temperature rise depends on the mounting part materials and the installation environment Check the actual temperature rise by using a real Servomotor e Depending on the environment such as when the Servomotor is installed near a heating element the Servomotor temperature may rise significantly In this case take any of the following measures e Lower the load ratio e Review the heat radiation conditions of the Servomotor e Install a cooling fan and apply forced air cooling to the Servomotor SuOnipuo uormejeisu JOJOWOAJOS Z L v Other Precautions e Take measures to protect the motor shaft from corrosion The motor shaft is coated with anti corrosion oil when shipped but anti corrosion oil or grease should also be applied when connecting the components that apply load to the shaft AN Caution Do not apply a commercial power supply directly to the motor Never repair the Servo Drive by disassembling it Electric shock or injury may result Fire may result OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 5 4 System Design 4
382. n316 plus 10 r min the control mode switches from position to speed control and the motor rotates at the command speed e In the position control mode the position command is forcibly set to 0 Be sure to set the position loop gain alarm detection and other function settings appropriately Use this parameter when Control Mode Selection Pn001 is set to 1 speed control It may not function properly when Control Mode Selection Pn001 is set to 3 position speed control OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 29 Parameter Details ON Zero speed designation input Zero speed designation input Position control Speed control Position control e When the zero speed designation input is turned ON if the speed command is equal to or less than the Position Lock Level Setting Pn316 the control mode switches to position control and the servo is locked e When the zero speed designation input is ON the speed command must be changed because it is never 0 e n the position control mode the position command provides normal position control Be sure to set the position loop gain alarm detection and other function settings appropriately e Use this parameter when Control Mode Selection Pn001 is set to 1 speed control It may not function properly when Control Mode Selection Pn001 is set to 3 position speed control Pn316 Position Lock Level Setting S
383. n623 Change the value of Disturbance Torque Compensation Gain Pn623 from a small value to a larger value to determine a setting that provides a balance between the effect of suppressing the influence of disturbance and the operating noise level uonounj y JO eulino 1L L1 9 Level 3 heading Shows which paragraph the content of the current page belongs to OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Note The above page is only a sample for illustrative purposes It is not the actual content of this User s Manual 16 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Manual Structure Special Information opecial information in this manual is classified as follows Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product la Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance EN Additional Information Additional information to read as required This information is provided to increase understanding or make operation easier OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 17 Manual Structure 18 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Sections in this Manual Sections in this Manual Troubleshooting and Maintenance
384. nally Set Speed 3 Pn306 ON ON internally Set Speed 4 Pn307 3 Internally Set Speed 1 Pn304 Internally Set Speed 2 Pn305 Internally Set Speed 3 Pn306 Internally Set Speed 4 Pn307 Internally Set Speed 5 Pn308 Internally Set Speed 6 Pn309 Internally Set Speed 7 Pn310 Internally Set Speed 8 Pn31 1 To use the internally set speed function set the Zero Speed Designation Input VZERO to NC contact to achieve the zero command speed when the signal is OFF By default the Zero Speed Designation Input VZERO is set to 0 Before using this signal change the value set in Zero Speed Designation Selection Pn315 to 1 or 2 enabled Unless Zero Speed Designation Selection is enabled the Servomotor will rotate at the speed set in Internally Set Speed 1 Pn304 when the servo is turned ON mmm AN AN AN AN A OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications 1 Zero Speed Designation VZERO No allocation Zero Speed Designation VZERO There is no default allocation Zero Speed Designation Selection Pn315 is set to O disabled by default The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 e Function The Zero Speed Designation Input VZERO enables to forcibly set the speed command value to O It is enabled when Zero Speed Designation Selection Pn315 is
385. namic brake resistor may burn 3 The allowable radial and thrust loads are the values determined for a limit of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Radial load Thrust load ALL Shaft center T 2 4 This is a non excitation brake It is released when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd 6 Direct current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation 7 Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 51 C2 o D lt e 3 o D o fo et o gt D SOlSI9 oEJEU Z 3 Specifications e Torque Rotation Speed Characteristics for 1 000 r min Servomotors e 1 000 r min Servomotors 200 VAC The following graphs show the characteristics with a 3 m global non flexible cable and a 200 VAC input e R88M KE90010H e R88M KE2K010H e R88M KESK010H 900 W 2 kW 3 kW Nm Power supply voltage Nm N m 10 18 59 o dropped by 10 717 14 20 119 3 19 3 1800 59 47 7 1400 47 7 1600 70 MEN EM Power supply M t Power supply Momentary 7 Moment WX voltage ened WX voltage op
386. ndices OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Index OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Index 1 Index Index Numerics 1 000 r min Servomotors eene 3 50 2 000 r min Servomotors eee 2 9 3 45 3 000 r min Servomoltors eene 2 8 3 37 A AOGBSSONOS come Mian shah ited a ete 13 ACTIONS Tor Problems 1 oot otros 10 2 Adaptive FINGI 2 15 2 e pres eetetav e eYFo oen Du s tx dz ipee tur qup 6 6 Adaptive Filter Selection Pn200 7 20 Alarm sic DM ETT TTE ET 8 22 Alarm Clear Attribute Output ALM ATB 3 31 Alarm Detection Allowable Time Setting Pn614 7 57 PANNE ISU aegen uci tune cata DU EO X ro UXOR a hcc v 10 7 Alarm Output ALM induce Sade tt ue ek ist 3 29 Alarm Reset Condition Setting Pn516 7 49 Alarm Reset Input RESET sssssese 3 21 Allowable GUETODIL xci anre oed st oe repe Etro rime v 4 18 Analog Monitor 1 Scale Setting Pn417 7 34 Analog Monitor 1 Selection Pn416 7 33 Analog Monitor 2 Scale Setting Pn419 7 35 Analog Monitor 2 Selection Pn418 7 34 Analog Monitor Cable seeeeesss 2 18 3
387. nding Servomotor 4 For Servomotors with a key remove the key before use e Outline drawing 1 Set bolt AT M depth L 2 48 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions Dimensions mm es 2 m Model o o nju mw ft 13 40 a2 1 maxis me 70 i2 8 5 mio 20 ReBG HPGS2AO53KOBC vs 1kW 5 40 s2 v wexte Me 70 i2 8 5 wi0 20 ReBG HPGSzATI2KOSBG 171 a a0 ez 77 Mexi8 Me 70 12 8 S MIO 20 RBeC HPGGZAZIKOSBCI 12r ie 50 82 14 mex16 Me 70 14 9 55 MIO 20 RBBG HPGSDAGGEKOSBCI 1783 jis so a2 74 Maxie me 70 14 9 55 MiO 20 RBSC HPGSOAMBIKOSBI 1745 n I m gt F D 3 2 9 3 2 o c 3 5 a g 3 o 5 o O 5 D 1 Indicates set bolt e Outline drawing 2 Set bolt AT suoisueullq JojeJejeoeq p p Z Key tap dimensions 1 The tolerance is h8 for R88G HPGBOLI or R88G HPG65LI QK lt gt b E 1 M depth L OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 49 2 Models and External Dimensions e For 2 000 r min Servomotors 1 5 to 5 kW Dimensions mm Outline n sl n a d udin as i d ed Li un 15 1 py rs 120 nra ws 145 ns 114 ea 98 125 35 KW vwiT RBBC HPGG2ATI2KOSBCI 1
388. nector Terminal Block seeeueuss 2 20 Connector Terminal Block Cables 2 20 3 91 Connector Terminal Block Conversion Unit 3 93 SONNE CIO ERROR T 2 18 CONACS aaan na tune d tq MM iced ctS d aaMEEUE 4 33 Contfol Cableg aba ere usce isei lta a de pco RA EVER PR S 2 20 Control I O Connector csvotosmiiecsasti eerte ee pene Petespotess 3 80 Control I O Connector Specifications CN1 3 9 Control Input Circuits seeeeeeeseseeeeeeeeeeeees 3 15 Control Input Signal Read Setting Pn515 7 49 Control Inputs CN1 iuslisas ree bete cance tvencicdescettceeduaiebe 3 10 Control Mode Selection Pn001 7 3 Control Mode Switching TVSEL 3 22 Control Output CIFCUIES 2 icut ue ee ue deseccierias 3 27 Control Output Sequence eeeeseeeeeeses 3 28 D Damping Contool eem REY 6 3 Damping Filter 1 Setting Pn215 7 22 Damping Filter 2 Setting Pn217 7 23 Damping Filter 3 Setting Pn219 7 23 Damping Filter 4 Setting Pn221 7 23 Damping Filter Selection Pn213 7 22 Damping Filter Switching 1 DFSEL1 3 23 Damping Filter Switching 2 DFSEL2
389. ng Completion Range 1 Pn431 7 37 Positioning Completion Range 2 Pn442 7 41 Power Cable Connector 0cccccccceceseeeeeessseeseeeeees 3 82 Power Cables with Brake Global Flexible Cable 3 76 Power Cables with Brake Global Non Flexible Cable 3 74 Power Cables without Brake Global Flexible Cable eeeeeessssss 3 71 Power Cables without Brake Global Non Flexible Cable 3 68 Power Supply ON Initialization Time Pn618 7 58 Preparing for Operation cccccccceceeeeessesssseeeeeeeeeees 8 3 Protective Functions uuo cese iie deoa tuno Poua o toe ioi ee 3 5 Pulse Prohibition Input IPG sess 3 24 Pulse Regeneration Output Limit Setting Pn533 7 54 H Radio noise filter eccccceceecccecesseeeeceeeeeeeseeeeeeeeaees 4 29 PROACION Rc 2 21 3 124 4 36 Reactor Dimensions ccceccceeeceeeeeeeeseeseeseeeeesaaeees 2 57 Reactor to Reduce Harmonic Current 4 36 Realtime Autotuning cccccsseeccccseeeeeeseseeeeeaneeeeeeseaees 9 4 Realtime Autotuning Customization Mode Setting PROS eeu oc er prt et he se 7 59 Realtime Autotuning Estimated Speed Selection loan P 7 59 Realtime Autotuning Machine Rigidity Setting PROOST E TR DENS 7 4 Realtime Autotuning Mode Selection Pn
390. ng from Gain 2 to Gain 1 if Switching Mode in Position Control Pn115 is set to 3 or 5 to 10 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 15 Parameter Details Pn117 Gain Switching Level in Position Control Setting 0 to 20 000 Default Cycle the range setting power supply e This parameter is enabled when Switching Mode in Position Control Pn115 is 3 5 6 9 or 10 It sets the judgment level for switching between Gain 1 and Gain 2 The a depends on the setting of Switching Mode in Position Control Pn115 Pn118 Gain Switching Hysteresis in Position Control Setting 0 to 20 000 Default Cycle the range setting power supply e Set the hysteresis width above and below the judgment level set in Gain Switching Level in Position Control Pn117 The unit depends on the setting of Switching Mode in Position Control Pn115 The definitions of Gain Switching Delay Time in Position Control Pn116 Gain Switching Level in Position Control Pn117 and Gain Switching Hysteresis in Position Control Pn118 are shown in the drawing below Pn117 Pn118 0 Gain 1 Gain 2 Gain 1 gt lt gt lt S E Pn116 e The settings for Gain Switching Level in Position Control Pn117 and Gain Switching Hysteresis in Position Control Pn118 are enabled as absolute values forward reverse Pn119 Position Gain Switching Time Position Setting O to 10 000 0 1 ms Default Cycle the range setting p
391. nge setting power supply OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 27 7 Parameter Details Pn311 No 8 Internally Set Speed Speed Setting 20 000 to 20 000 r min Default Cycle the range setting power supply e f you enabled a range of Internally Set Speed settings in Command Speed Selection Pn300 set in units of r min the first to fourth internally set soeeds in Pn304 to Pn307 or the fifth to eighth internally set speeds in Pn308 to Pn311 e The sign prefixed to the set value indicates the polarity of the internally set speed command y Forward when viewed from shaft end _ Reverse when viewed from shaft end e The absolute value of this parameter setting is limited by the value set in Overspeed Detection Level Setting Pn513 Pn312 Soft Start Acceleration Time Speed Setting O to 10 000 ms 1 000 r min Default Cycle the range setting power supply Pn313 Soft Start Deceleration Time Speed Setting 0 to 10 000 ms 1 000 r min Default Cycle the range setting power supply e Set the acceleration deceleration speed applied inside the Servo Drive to control the motor speed e The soft start function can be used with stepwise speed command input or internal speed settings e f the Servo Drive is used in combination with an external position loop do not set these acceleration and deceleration time parameters Set both Pn312 and Pn313 to 0 Internally set speed
392. nged the optimal value for Inertia Ratio 1 Pn004 may change so make small adjustments to the value in Inertia Ratio 1 Pn004 again to set a value that makes the smallest fluctuations p al o j D F D 5 F D 5 D c 0 O D D Q O o o D lt Tl c 5 o ct O 5 ejnpooojg Buneiado 91 9 l Precautions for Correct Use Damping control may not function properly or have no effect under the following conditions e The margin of error with the actual device is large for the inertia load e Equipment has more than one resonance frequency e There is a large resonance point at a frequency of 300 Hz or lower e here is a non linear element play such as a large backlash e The load inertia changes e A large disturbance torque with high frequency content is applied e The positioning setting range is small OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 51 6 Applied Functions OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details s This section explains the set value and setting details of each parameter 7 1 Basic Parameters c2 nue ROI ERES waste balk Gee aes 7 2 7 2 Gail Paramelers 5 9i ooa Rebus pae udds tea tee P teu ars 7 10 7 3 Vibration Suppression Parameters le 7 20 7 4 Analog Control Parameters 000 eee eee eee 7 26 7 5 Interf
393. nly Forward Pulse Input for line driver only Encoder Phase Z Output Phase B Output Encoder Phase B Output E Encoder E Phase Z Output SGGND Signal Ground A Z Note Do not connect anything to unused pins those indicated with 1 The input functions for general purpose inputs 1 to 10 or SI1 to S110 and the output functions for general purpose outputs SO1 SO2 and SO4 are determined by the user parameters Pn400 to Pn409 Input Signal Selection 1 to 10 and Pn410 to Pn413 Output Signal Selection 1 to 4 The Alarm Output ALM is fixed to general purpose output 3 those enclosed in brackets in the above figure The functions that are allocated by default are given in parentheses The default function allocated to each pin indicated with 2 is dependent on the control mode Refer to 6 9 Sequence I O Signals on page 6 33 for details about function allocation I Connectors for CN1 50 Pins number Drive connector 52986 5079 Molex Japan R88A CNU11C 10150 3000PE Sumitomo 3M 10350 10350 52A0 008 008 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Cable plug Cable case Shell kit 3 Specifications 3 1 5 Control Input Circuits Position Command Pulse Line Receiver Input For line driver and line receiver connections position command pulses of up to 4 Mpps can be used CWLD 44 CWLD 45 CCWLD 46 CCWLD 47 Controller
394. nnection configuration and external dimensions 70 L Servo Drive side E E ER Servomotor side R88D KPO a m BB R88M KED eum BE e Wiring Servo Drive side Servomotor side B PhaseV Ferrule M4 crim FG a 2 Cable AWG14 x 4C UL2501 D FG Servomotor side connector Straight plug model N MS3106B20 4S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Power Cables without Brake Global Flexible Cable R88A CAGDLISR e Cable types For 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW 1 000 r min Servomotors of 2 to 3 kW e e o D M 2 O o 3 5 O o o D o D ct o 5 D Outer Minimum bending Model Length L diameter of 4 Weight Sheath radius R R88A CAGD003SR 15 6 dia 100 mm Approx 1 4 kg R88A CAGD005SR Approx 2 2 kg R88A CAGD010SR 0m 0m Approx 4 2 kg R88A CAGD015SR 15m 15m Approx 6 3 kg H88A CAGDO20SR 20m 20m Approx 8 3 kg 1 For information on minimum bending radius refer to 3 5 1 Resistance to Bending of Global Flexible Cable on page 3 62 Connection configuration and external dimensions Servomotor side R88M KELJ Servo Drive side R88D KPDJ lt suoneouioeds e qeo 19Mog 100 S e Wiring Servo Drive sid
395. nput Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions Dimensions mm sm om n Mode e njam 13 4082 11 vexo me 70 12 8 5 mo 20 HGG HPGGPADSEKOBCI 15 s 82 11 wexto Me 70 12 8 5 Mio 20 RSSG HPGGATIZKOBCI 1 11 Ee 40 sz vexio Me 70 2 8 5 Mio 20 RG8G HPGSPAZTIKSBCI w21 He s sz wexto Me 7o 14 9 S5 Mio 20 RSSG HPGSDAGSEKOBEI 1 63 He so sz w wext0 Me 70 T4 9 S5 Mio 20 REBGHPGSOAASIKGD 145 Hs 4 sz wexto Me 70 12 8 5 Mio 20 RS8G HPGG2AOSEKOBCI US 15kw Ee 4082 11 wext0 Me 70 2 8 5 Mio 20 ReBGHPGSATTAKOBD 1 11 Hs 40 82 it wexto Me 70 12 8 mo 20 RSSG HPGG2AZTIKSBCI 121 16 50 82 14 wext0 Me 70 14 9 S5 Mio 20 RGBG HPGSDAGSEKOBEI 1 63 He s sz wexto Me 7o T4 o S5 Mio 20 RSSG HPGSOAISIKSBCI 1745 13 4082 1 wext0 Me 70 T2 8 5 mo 20 Reec HPGGeAosaKOBE 15 ZW fr 40 82 1 wexto Me 70 12 8 5 Mio 20 RSSG HPGG2ATIZKOBCI 1 11 He s sz w wexto Me 70 14 9 S5 Mio 20 RSSG HPGSDAZIZKOBCI 1 21 He s sz wext0 Me 70 4 9 S5 Mio 20 RGBG HPGSDAGSEKOBEI 1 63 40 82 11 wexte Me 70 T2 8 Mio 20 RS amp G HPGGeAOSGKOBEI 15 SW 16 50 82 14 wexte Me 70 14 9 S5 Mio 20 REBGHPGSOATTOKOBD 1 11 He s sz vex16 Me 70 T4 9 S5 Mio 20 RSSG HPGSDAZISKOBCI 12
396. ns 10 11 34 35 38 and 39 can be changed by parameter settings 2 Use pin 25 SGGND to connect the GND wire if the pins 21 22 49 48 23 24 are used for encoder output 3 It is not necessary to wire input pins that are not in use OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Q L o D lt e Oa lt o o D o ES o 5 0 LNO suomeourioeds 1012euu02 O I 041002 1 3 Specifications Control Inputs CN1 l Control mode Pin No Symbol Function and interface 24 VCW 24 V Open Collector Input for Command Pulse U PMP TO ee m 44 45 46 47 13 15 17 26 to 33 24 VCCW CW PULS FA CW PULS FA CCW SIGN FB CCW SIGN FB CWLD CWLD CCWLD CCWLD SGGND 24VIN SI1 to S110 NOT POT DFSEL1 26 GSEL Reverse Pulse Feed Pulse or 90 Phase Difference Signal phase A Forward Pulse Direction Signal or 90 Phase Difference Signal phase B Reverse Pulse Forward Pulse Signal Ground 12 to 24 VDC Power Supply Input Sequence Input Signal Reverse Drive Prohibition Input Forward Drive Prohibition Input Damping Filter Switching 1 Gain Switching These are position command pulse v input terminals for both line driver and open collector connections They are enabled when Command Pulse Input Selection Pn005
397. nsions mm e e fee pert Model OK bi hi tt Mi L 5 8 20 20 34 M4x9 M3 15 3 3 18 M3 6 R88G HPG11B05100BO v5 50 W sfe tatar wes we i 5 15 we 6 frese eonenn 18 s e s wii ws 25 8 5 e wa 8 ReseHeGranerioona ve s w m ss wii ws 25 5 5 3 wa 8 ResG HPGransoosoBH 1733 s 5 e m 8 RESGHPGHAROSOBI VAS s s m s ws Ws ts 8 3 18 wa 6 RBBGHPGHTBOSTOOBE 15 WOW s ee s wi ws 25 5 5 3 wa 8 RBOGHPGIAATIT008O Vin s we m ss wexio Wo 2s 5 s s va e RseGHaissaionen vet oae o wii m 36 e 7 4 Me 12 Resc HPGzoAasio08H 1733 offe e wii m 36 e 7 4 Me 12 RBBGHPGZOAASTOOBD 145 e rel ae 5 wero wd 25 s 5 3 wa 8 REBGHPGIAADSZNEC 15 OW s e ss wi m 25 5 5 5 wa 8 RBOGHPGIAAT 20080 Vin oae e wi Wi 35 8 7 4 e tz Resonanz Vei He m e s wii m 36 e 7 4 Me 12 Resc HGzoAsszno8H 1733 He m amp s Weco Wi 3e 8 7 4 we 12 ReSG HPGzoA4sz008H 145 1 Indicates set bolt A m x eh D 5 D D 5 2 o c 2 et 2 e z 3 e 2 o o 2 0 suoisuauulq JojeJe eoeq vp v c e Outline drawing 2 Set bolt AT oC2 Key tap dimensions QK 4 H b E 1 M depth L OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 43 2 Models and External Dimens
398. ntrol Unit matches the polarity set in this parameter Otherwise the Servomotor may operate abnormally Speed Command Speed Command Servomotor rotation Direction Selection Internally set speed Sign Input VSIGN diee Pn301 gn np 1 OFF Forward direction 0 to 20 000 ON Heverse direction 20 000 to 0 7 26 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn302 Heserved Setting 500 Default 500 Cycle the range setting power supply Do not set Pn303 Heserved Setting 1 Default 1 Cycle the range setting power supply e Do not set Pn304 No Internally Set Speed Setting 20 000 to 20 000 r min Default Cycle the range setting power supply Pn305 No 2 Internally Set Speed Setting 20 000 to 20 000 EM UU Default NEN Cycle the N range setting power supply gt D Pn306 No 3 Internally Set Speed e Setting 20 000 to 20 000 r min Default Cycle the 9 range setting power supply S S Pn307 No 4 Internally Set Speed 3 Setting 20 000 to 20 000 r min Default Cycle the range setting power supply i Pn308 No 5 Internally Set Speed y Setting 20 000 to 20 000 r min Default Cycle the range setting power supply Pn309 No 6 Internally Set Speed Setting 20 000 to 20 000 r min Default Cycle the range setting power supply Pn310 No 7 Internally Set Speed Setting 20 000 to 20 000 r min Default Cycle the ra
399. nual 6 11 6 Applied Functions i Gear Ratio Setting Pn008 Pn009 and Pn010 Electronic Electronic Electronic Gear Integer Gear Ratio Gear Ratio er Setting Numerator 1 Denominator PESTS Pn008 Pn009 Pn010 1 to 1 058 576 When Electronic Gear Integer Setting Pn008 is not 0 the processing is performed based on the values set in Electronic Gear Integer Setting Pn008 regardless of the values set in Electronic Gear Ratio Numerator 1 Pn009 and Electronic Gear Ratio Denominator Pn010 Command pulse input Encoder resolution Position command p Electronic Gear Integer p gt Setting Pn008 Position command pulses Encoder resolution Electronic Gear Integer Setting Pn008 When Electronic Gear Integer Setting Pn008 is not 0 switching among Electronic Gear Ratio Numerator 1 to 4 is disabled 0 1 to When Electronic Gear Integer Setting Pn008 and 1 073 741 824 Electronic Gear Ratio Numerator 1 Pn009 are 0 the processing is performed based on the value set in Electronic Gear Ratio Denominator PnO10 Command pulse input Encoder eono Position command Electronic Gear Ratio Denominator Pn010 Position command pulses Encoder resolution Electronic Gear Ratio Denominator Pn010 1 to When Electronic Gear Integer Setting Pn008 is 0 and 1 073 741 824 Electronic Gear Ratio Numerator 1 Pn009 is not 0 the processing is performed based on the values set in Electronic Gear Ratio
400. o Drive 24 Error Counter Overflow The error counter accumulated pulse y N y exceeds the set value for the Error Counter Overflow Level Pn014 1 Excessive Speed error The difference between the internal N v y position command speed and the actual speed i e the speed error exceeded the Excessive Speed Error Setting Pn602 26 Overspeed The motor rotation speed exceeded the y y V value set on the Overspeed Level set Pn513 1 Overspeed 2 The motor rotation speed exceeded the V N value set on the Overspeed Level set 2 Pn615 27 Command Pulse A command pulse frequency error was V v v Frequency Error detected 2 Command Pulse Multiplier The command pulse divider or multiplier is v y v Error not suitable 28 Pulse Regeneration Error The pulse regeneration output frequency v v v exceeded the limit OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 7 10 Troubleshooting and Maintenance Attribute Error detection function Description and error cause Hist Canbe Immediate SOY cleared stop Error Counter Overflow Error counter value based on the encoder v v pulse reference exceeded 2 536 870 912 Interface Input Duplicate A duplicate setting for the interface input Allocation Error 1 signals was detected Interface Input Duplicate Allocation Error 2 Interface Input Function An undefined number was detected in the Number Error 1 interface input signal allocations Interfa
401. o Drive with 200 V and 1 kW or more e Set the machine rigidity in 32 levels when realtime autotuning is enabled Low Machine rigidity High Low lt Servo gain High Low lt Responsiveness High e Increasing or decreasing the set value too much at a time may cause the gain to change rapidly which applies an impact on the machine Always start with a small value and gradually increase it while monitoring machine operation Pn004 Inertia Ratio 1 Setting O to 10 000 Default Cycle the range setting power supply e Set the load inertia as a percentage of the motor rotor inertia e Pn004 Load inertia Rotor inertia x 100 e When realtime autotuning is enabled the inertia ratio is continuously estimated and saved to the EEPROM every 30 minutes e When the inertia ratio is set correctly the setting unit for Speed Loop Gain Pn101 and Speed Loop Gain 2 Pn106 is Hz e f Inertia Ratio 1 Pn004 is set larger than the actual value the setting unit for speed loop gain is larger If Inertia Ratio 1 Pn004 is set smaller than the actual value the setting unit for speed loop gain is smaller Pn005 Command Pulse Input Selection Setting 0 to 1 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 Photocoupler input PULS CN1 pin 3 PULS CN1 pin 4 SIGN CN1 pin 5 SIGN CN1 pin 6 1 Input for line driver only CWLD CN1 pin 44 CWLD CN1 pin 45 CCWLD CN1 p
402. o Drives User s Manual 4 System Design i Surge Suppressors e Install surge suppressors for loads that have induction coils such as relays solenoids brakes clutches etc e The following table shows the types of surge Suppressors and recommended products A z Diodes Diodes are used for relatively small loads such Use a fast recovery diode with a short reverse 5 as relays when the reset time is not a critical recovery time S ISSU e g RU2 of Sanken Electric Co Ltd S At power shutoff the surge voltage is the a lowest but the reset time takes longer Used for 24 48 VDC systems u Thyristorsand Thyristors and varistors are used for loads Select the varistor voltage as follows 2 varistors when induction coils are large as in 200 VAC systems varistor voltage 470 V S electromagnetic brakes solenoids etc and when reset time is critical o The surge voltage at power shutoff is approximately 1 5 times the varistor voltage Capacitor The capacitor plus resistor combination is used Okaya Electric Industries Co Ltd resistor to absorb vibration in the surge at power supply xEB12002 0 2 uF 120 Q shutoff The reset time can be shortened by selecting the appropriate capacitance and resistance XEB12003 0 3 uF 120 Q e Thyristors and varistors are made by the following manufacturers Refer to manufacturer s documentation for details on these components Thyristors Ishizuka Electronics Co Varistors Ishizuka
403. o Figure D OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 17 7 Parameter Details Gain 1 Gain 2 Gain 1 Gain 2 for speed loop integral time constant only B Gain 1 for others Pn121 Gain Switching Delay Time in Speed Control Speed Setting O to 10 000 0 1 ms Default Cycle the range setting power supply e Set the delay time when returning from Gain 2 to Gain 1 if Switching Mode in Speed Control Pn120 is set to 3 to 5 Pn122 Gain Switching Level in Speed Control Setting 0 to 20 000 Default Cycle the range setting power supply e This parameter is enabled in the speed control mode when Switching Mode in Speed Control Pn120 is 3 to 5 It sets the judgment level for switching between Gain 1 and Gain 2 The unit depends on the setting of Switching Mode in Speed Control Pn120 7 18 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn123 Gain Switching Hysteresis in Soeed Control Speed Setting O to 20 000 Default Cycle the range setting power supply e Set the hysteresis width above and below the judgment level set in Gain Switching Level in Speed Control Pn122 The unit depends on the setting of Switching Mode in Speed Control Pn120 The definitions of Gain Switching Delay Time in Speed Control Pn121 Gain Switching Level in opeed Control Pn122 and Gain Switching Hysteresis in Speed Control Pn123 are show
404. o a ceu Go Ru cute od Vae ave Cd e Cu Ua uu acu cua ead ens ae in 1 4 1 3 1 ServoDrve Part NalTi8S pages osetia ean ets DLE Rea M A DU Mes 1 4 1 3 2 ServodrVve T Hle olds cedet teat tente tec horrida edu a sa esee ee O D nce E a A aot 1 5 1 4 System Block DIAG FAIN e 1 6 1 5 Applicable Standards iui eei a ceed eevee ened vaete edocs endo ks 1 10 1 5 1 EG Direttive wos nc ica ccece ceeds a w 1 10 1 5 2 IJi ando Siandaltds ssiiiu athe tele nohdesap E E AE A Maem Nici E che ata ee LU eG 1 10 1 5 3 Sjmusiraec 1 10 Section 2 Models and External Dimensions 20 2 1 Servo System CODIIGUEGIIOB scissa cao e uu accus p aveo ct ie e cuo o suas uomo deae E o SUE E TDI ands 2 2 2 2 How to Read Model Numbers c ccccceccecseceeceeceecuseueeuceeceeeaeeuseuseuseuseseeesuseuseuseuseeseeeueeeseuseuses 2 4 2 2 1 121 VD 0 ce IT M M 2 4 2 2 2 SOI VOMIOUOR METRO TN I 2 5 2 2 3 Decelerator Backlash 3 Arcminutes MAX cccccsseeceeceeeeeeeecseeeeeceaeeeeeessaeeeeeseuseeeeasaeeeeessaaeeess 2 6 2 2 4 Decelerator Backlash 15 Arcminutes max scccceccsseeeceesesseeeecaeceeeeceaeseeeessaueeeesaaaeeesessaeseees 2 7 2 3 Model Tables iine teste eleg a aa seen essen ete ieecaate aa DUE DU D I abate Cu 2 8 2 3 1 Servo Dve Mode Tables a
405. o resume operation before restarting operation Equipment damage may result Never repair the Servo Drive by disassembling it Electric shock or injury may result Be sure to turn OFF the power supply when the Servo Drive is not going to be used for a prolonged period of time Injury or malfunction may result OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 11 Safety Precautions Location of Warning Label The Servo Drive bears a warning label at the following location to provide handling warnings When handling the Servo Drive be sure to observe the instructions provided on this label Location of Warning Label R88D KP01H Instructions on Warning Label OS RRR ABE RAT HE RICEICLE BE RROLOBRK DiTtiN 15 AUS fax TAS VRE iA Be aA E A ATRL EER T Never fail to connect Protective Earth PE terminal Be DET SAA E f d HTa BRIDES AS Hazardous Do not touch terminals within 15 minutes after Voltage disconnect the power Risk of electric shock uua PUFORREU MER ERAS EEE iB EASIER Bill A N amp TESKE gh Do not touch heatsink when power is ON Temperature Risk of burn ux SEORRAU EES ge eee SFMT BCR A sis Disposal e When disposing of the battery insulate it using tape and dispose of it by following the applicable ordinances of your local government e Dispose of the Servo Drive as industrial waste 12 OMNUC G5 series Pulse train Input Type AC S
406. odels have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 36 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions e 4 kW 5 kW without Brake R88M KE4K020H S2 KE5K020H S2 e 4 kW 5 kW with Brake R88M KE4K020H B S2 KE5K020H B S2 Motor and brake n I m gt F D 3 2 9 3 2 o c 3 5 a g 3 o 5 o O 5 D connector LL 7 LM Shaft end specifications Encoder KB2 e A 5 1176 E with key and tap connector 70 A 55 50 4 13 5 H Q E M3 through M L f 10h9 7 8 fs Sii Y E F 4 vr pp eo s M12 depth 25 aT Y 0 Model Dimensions mm R88M KE4K0200 178 133 96 158 R88M KE5K0200 115 177 R88M KE4K0200 BO 207 162 96 187 R88M KE5K0200 BO 206 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change SUOISUSWIG JOJOWOAISS dz rv c OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 237 2 Models and External Dimen
407. oder connector CN2 of the Servo Drive e The encoder cable must be securely connected to the encoder connector of the Servomotor p Checking the Control I O Connector e The control cable must be securely connected to the control I O connector CN1 e The Operation Command RUN signal is OFF OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 3 K ddng 19wog eui NO DBuiuunj eJojeg x9eu2 0 Swe 1 2 8 T N U D xe Q gt e A O O o O 3 8 Operation 8 2 2 Turning ON the Power Supply e Turn ON the control circuit power after you conduct the pre power ON checking You can turn ON the main circuit power but it is not a requirement e t will take approximately 2 seconds until the Alarm Output ALM turns ON after the power supply is turned ON Configure the host controller so that it does not detect any alarm during this period if the power supply is powered ON with the host controller connected 8 2 3 Checking the Display I Display on the Servo Drive e he display on the Servo Drive changes as follows when the power supply is turned ON Default display Depends on the default display settings of parameter Pn528 8 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation 8 3 Using the Front Panel Display LED display 6 digit When an alarm occurs all LED flashes and then alarm sc
408. of R88A CAGA003SR 6 9 dia R88A CAGAO05SR R88A CAGA010SR R88A CAGA015SR R88A CAGA020SR Connection configuration and external dimensions 50 L 50 Servo Drive side R88D KPL e Wiring Servo Drive side Servomotor side Red White Blue O Green Yellow Cable AWG20 x 4C UL2464 M4 crimp terminal Servomotor side connector Connector model 172159 1 Tyco Electronics AMP KK Contact pin model 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Weight Approx 0 2 kg Approx 0 3 kg Approx 0 7 kg Approx 1 0 kg Approx 1 3 kg Servomotor side D R88M KEL e e o D M 2 O o 3 5 O o o D o D ct o 5 D suoneouioeds e qeo 19Mog 100 S 3 Specifications Power Cables without Brake Global Flexible Cable R88A CAGBLISR e Cable types 200 V For 3 000 r min Servomotors of 1 to 2 kW 2 000 r min Servomotors of 1 to 2 kW 1 000 r min Servomotors of 900 W Outer Model Length L diameter of sheath R88A CAGBO03SR 12 7 dia 90 mm Approx 0 8 kg m R88A CAGB005SR Approx 1 3 kg R88A CAGB010SR Approx 2 4 kg R88A CAGB015SR Approx 3 5 kg R88A CAGB020SR Approx 4 6 kg 1 For information on minimum bending radius refer to 3 5 1 Resistance to Bending of Global Flexible Cable on page 3 62 Minimum bending Weight radius R Co
409. ol Internally set speed control Reserved Do not set Reserved Do not set Oo C i BR W PM Reserved Do not set e Set the control mode to be used e Selecting the combined mode set value 3 enables the selection of Mode 1 or Mode 2 based on the Control Mode Switching Input TVSEL e f Control Mode Switching Input is open Mode 1 is selected e f Control Mode Switching Input is shorted Mode 2 is selected e Do not input commands during 10 ms before and after mode switching operation Control Mode Switching Input Open Closed Open Mode 1 Mode 2 Mode 1 10 ms or more 10 ms or more Pn002 Realtime Autotuning Mode Selection Setting 0 to 6 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 Disabled 1 Focus on stability 2 Focus on positioning 3 Used when unbalanced load is present i e with a vertical axis etc 4 Used when a vertical axis or other unbalanced load is present and when friction is large 5 Used only for estimating load characteristics 6 Used for customizing the realtime autotuning mode e Set the realtime autotuning operation mode OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 3 SJojoulBJed oisSeg L Z 7 7 Parameter Details Pn003 Realtime Autotuning Machine Rigidity Setting Setting 0 to 31 Default Cycle the range setting power supply 1 The default setting is 11 for a Serv
410. ol Modes You can switch between two control modes 1 Position Control Mode and 2 Speed Control Mode A single Servo Drive enables you to select the suitable mode to support various applications Suppressing Vibration of Low rigidity Mechanisms During Acceleration Deceleration The damping control function suppresses vibration of low rigidity mechanisms or devices whose tips tend to vibrate Two damping filters are provided to enable to switch the damping frequency automatically according to the operation direction and via an external signal In addition the settings can be configured easily by setting the damping frequency and filter values You are assured of stable operation even if the set values are inappropriate 1 2 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 1 Features and System Configuration 1 2 System Configuration I N o lt m r D 3 O o 5 e c e o 3 SYSMAC Position Control Unit Pulse train output Type a a Programmable Controller SYSMAC CJ CS CJ1W NC113 213 413 CJ1W NC133 233 433 CJ1W NC214 414 CJ1W NC234 434 Pulse train CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 413 Flexible Motion Controller L ae Leal MIBI Ion Oi Oi OMNUC G5 series Pulse train Input Type AC Servo Drive R88D KP FQM1 MMP22 OMNUC G5 series Pulse train Input Type AC Servomotor R88M KEL O
411. omentary maximum torque indicates the standard value Applicable load inertia e The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible e The dynamic brake is rated for short term operation Use it only for emergency stopping Configure the system to stop for at least three minutes after the dynamic brake operates Otherwise the dynamic brake circuits may fail or the dynamic brake resistor may burn The allowable radial and thrust loads are the values determined for a limit of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Radial load lt j Thrust load ALL Shaft center T 2 This is a non excitation brake It is released when excitation voltage is applied The operation time is the value reference value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd Direct current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co 3 48 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e Torque Rotation Speed Characteristics for 2 000 r min Servomotors e 2 00
412. on speed Use an External Regeneration Resistor e Set Regeneration Resistor Selection Pn016 to 2 Eg Regeneration Tr Error The Servo Drive regeneration drive Tris Replace the Servo Drive faulty 10 12 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Alarm No Cause Main Sub 21 Encoder Communications Disconnection Error Encoder Communications Error Encoder Communications Data Error 24 Error Counter Overflow 23 Excessive Speed Error 9 26 Overspeed 2 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 Troubleshooting and Maintenance A disconnection was detected because communications between the encoder and the Servo Drive were stopped more frequently than the specified value There was a communications error in data from the encoder There was a data error mainly due to noise The encode cable is connected but a communications data error occurred No communications error occurred with data from the encoder but there is an error in the contents of the data There was a data error mainly due to noise The encode cable is connected but a communications data error occurred Position error pulses exceeded the value set in Error Counter Overflow Level Pn014 e Motor operation does not follow the command The value set in Error Counter Overflow Level Pn014 is small The differ
413. onance frequency from the vibration component that appears in the motor speed during actual operation and automatically sets the frequency of the notch filter which removes the resonance component from the torque command The automatically set notch filter frequency is applied to the Notch 3 Pn207 to Pn209 and Notch 4 Pn210 to Pn212 settings Refer to 6 3 Notch Filters on page 6 8 for information on notch filter A AANI NU ARTT After vibration Motor speed suppression Position speed command Position speed Adaptive control filter Resonance frequency estimation Current loop control NEN NN Speed Feedback Load inertia estimation Realtime autotuning OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 2 2 Parameters Requiring Settings Pn200 Adaptive Filter Set the number of resonance frequencies to be estimated by the P 7 20 Selection adaptive filter and the operation to be performed after estimation 0 Adaptive filter disabled 1 One adaptive filter enabled 2 Iwo adaptive filters enabled 3 Resonance frequency measurement mode When the influence of a resonance point appears in the motor speed parameters related to notch filter 3 and 4 are set automatically according to the number of adaptive filters 4 Adaptive result cleared Parameters related to notch filter 3 and 4 are disabled and the adaptive result is cleared
414. or 15 Servo Drive Overheat 37 Parameter Destruction 16 Overload 38 Drive Prohibition Input Error 18 Regeneration Overload 44 Encoder 1 rotation Counter Error 21 Encoder Communications Error 45 Multi rotation Counter Error 23 Encoder Communications Data Error 48 Encoder Phase Z Error 24 Error Counter Overflow 49 Encoder CS Signal Error Note The following alarms are not recorded in the history 11 Control Power Supply Undervoltage 13 Main Power Supply Undervoltage 36 Parameter Error 37 Parameter Destruction 38 Drive Prohibition Input Error 95 Motor Non conformity 8 12 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation Warning Number I1 Warning occurs 7 7 7 No warning Warning number Press A to display the occurrence status of each warning e This indicates the regeneration resistance load ratio as a percentage when the detection level for the regeneration overload is 100 Overload Load Ratio e This indicates the overload ratio as a percentage when the rated load is 100 Inertia Ratio The inertia ratio 96 is displayed e I O 2 D o D 3 a 9po N JOWUO c v 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 13 8 Operation Reasons for No Rotation A number is displayed to indicate the cause why the motor does not rotate I Position control amp Reserved D d
415. or and remove the wires connected to the control I O connector CN1 To prevent problems such as vibration during jog operation set the parameter related to gains to correct values Set Inertia Ratio 1 Pn004 to O e Job operation is performed in the speed control mode Configure each setting so that the motor operates correctly in the speed control f the Operation Command RUN turns ON during jog operation the Servo Drive will display and perform normal operation based on external commands Reserved Do not set Parameter Initialization Use the following procedure to initialize the selected parameter 1 Initialize the parameter Key operation Display example Description Press key to switch to the parameter initialization mode display Press and hold A key for 5 seconds or more until appears DG The number of dashes on the display increases The initialization process for the selected parameter starts This indicates a normal completion If is displayed the parameter is not initialized Turn OFF the Servo Drive and retry 2 Return to the auxiliary function mode display Key operation la Precautions for Correct Use Display example Description Press key to return to the auxiliary function mode display The parameter cannot be initialized if alarm number 11 Power Supply Undervoltage 36 Parameter Error or 37 Parameter Destruction is displayed 8 24 OMNUC G5 series Pulse tr
416. or operation on completion of installation and wiring It explains items to check both before and after turning ON the power supply 8 2 1 Items to Check Before Turning ON the Power Supply Checking Power Supply Voltage e Check to be sure that the power supply voltage is within the ranges shown below R88D KP01H 02H 04H 08H 10H 15H Single phase or single phase 3 phase 200 VAC input Main circuit power supply Single phase or single phase 3 phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz Control circuit power supply Single phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz R88D KP20H 30H 50H 3 phase 200 VAC input Main circuit power supply 3 phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz Control circuit power supply Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz I Checking Terminal Block Wiring e The main circuit power supply inputs L1 L3 or L1 L2 L3 must be properly connected to the terminal block e The control circuit power supply inputs L1C L2C must be properly connected to the terminal block e The Servomotor s red U white V and blue W power lines and the green yellow must be properly connected to the terminal block I Checking the Servomotor e There should be no load on the Servomotor Do not connect the mechanical system e The Servomotor side power lines and the power cables must be securely connected I Checking the Encoder Wiring e The encoder cable must be securely connected to the enc
417. orrected model numbers Pages 2 16 and 2 17 Corrected specifications and deleted rows in middle table Page 3 63 Deleted rows from middle two tables Pages 3 69 3 73 3 76 and 3 79 Corrected specifications in parentheses before table Pages 3 70 3 74 3 77 and 3 80 Deleted page Page 4 6 Corrected bolt sizes and removed columns from middle table 14 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Manual Configuration Manual Configuration This User s Manual consists of the following sections Read the necessary section or sections referring the following table Section 1 Section 2 Section 3 Section 4 Section 5 Section 6 Section 7 Section 8 Section 9 Section 10 Appendices OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Features and System Configuration Models and External Dimensions Specifications System Design Basic Control Mode Applied Functions Parameter Details Operation Adjustment Functions Troubleshooting and Maintenance Outline This section explains the features of the Servo Drive name of each part and applicable EC Directives and UL standards This section explains the models of Servo Drives Servomotors Decelerators and peripheral devices and provides the external dimensions and mounting dimensions This section provides the general specifications characterist
418. osis with Alarm Displays 10 10 Excessive Speed Error Setting Pn602 7 55 External Dimensions cccccceseeeceeeeeeeeeeeeeeeeesaaeees 2 22 External Regeneration Resistor 4 42 External Regeneration Resistor Connector Specifications CNC eeeeeeeesssss 3 7 4 15 External Regeneration Resistor Dimensions 2 56 External Regeneration Resistor Setting Pn017 7 9 External Regeneration Resistor Specifications 3 122 External Regeneration Resistors 2 20 4 42 F Forward Direction Torque Offset Pn608 7 55 Forward Drive Prohibition Input POT 3 21 Forward External Torque Limit Pn525 7 52 Front Panel Parameter Write Selection Pn617 7 58 Function Expansion Setting Pn610 7 56 G Gain 3 Effective Time Pn605 7 55 Gain 3 Ratio Setting PN606 eee eres 7 55 Gain AGIUSITIeDE 24b petit eee a ud cst reduce 9 2 Gain Switching GSEL eos tutu ti b ae alloc 3 22 Gain Switching Delay Time in Position Control PATIO eve dT p 7 15 Gain Switching Delay Time in Speed Control PIZI ec P 7 18 Gain Switching Function eeeeeeeeeeessss 6 23 Gain Switching Hysteresis in Position Control PTO t TED 7 16 Gain Switching
419. ossible However doing so will reduce the output torque 2 Ifthe motor power cable exceeds 20 m the voltage drop will increase and the momentary operation range will become narrower Use the following Servomotors in the ranges shown in the graphs below Use outside of these ranges may cause the Servomotor to generate heat which could result in encoder malfunction R88M KE5KO020H 5 kW Rated torque ratio 96 Without brake Ambient temperature PC OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 49 3 Specifications 1 000 r min Servomotors Model R88M Item Rated output Rated torque Rated rotation speed Maximum rotation speed Momentary maximum torque Rated current Momentary maximum current 1 Applicable load inertia Torque constant Mechanical Electrical time constant Allowable radial load Allowable thrust load Weight Without brake Unit r min rmn ft Rotor inertia Without brake 6 70 x 1074 30 3 x 1074 With brake 7 99 x 104 31 4 x 104 A rms Approx 6 7 Approx 14 0 With brake Approx 8 2 Approx 17 5 Radiator plate dimensions material Applicable Servo Drives R88D Low oom o zm 0 86 196 KP15H KP30H 200 VAC 2 000 1 000 2 000 10 times the rotor inertia max wihoutbreke ms oe 8 m n 3 a 116 0 75 2 0 x 260 x t15 Al 2 KE3K010H 3 000 28 7
420. otor and or the Servo Drive 10 15 val a A e c c D 0 y O 5 e sKe dsiq uue v ui sisoubeiq JOU L p 0L 10 Troubleshooting and Maintenance 1 For the overload characteristics refer to 3 2 Overload Characteristics Electronic Thermal Function on page 3 35 2 Always install a thermal switch when setting the Regeneration Resistor Selection Pn016 value to 2 Otherwise the Regeneration Resistor will not be protected generate excessive heat and be burned out 8 When the Internal Position Command Speed is force set to O during an immediate stop due to the Pulse Prohibition Input IPG or Forward Reverse Drive Prohibition Input the speed deviation immediately increases The speed deviation also increases at the rising edge of the Internal Position Command Speed Therefore provide enough margin when configuring the settings 10 16 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 Troubleshooting and Maintenance 10 4 2 Error Diagnosis Using the Operation State Symptom Probable cause Check items Measures The PWR indicator The power supply wiring is Check to see if the power supply input Supply the correct power does not light incorrect is within the allowed power supply supply voltage when the Servo voltage range ONYE IS POWETEG Check to see if the power supply input Wire correctly is wired correctly on The Servomotor The Operation Command Check
421. otors 50 to 200 W Dimensions mm Outli 50W 1 5 R88G HPG11B05100BO 1 39 5 42 40 L140 46 46 40 39 5 29 27 22 15 EJ CGU D DNA ee ae ee VEI ReBG HPGTsAzi 10080 1 640 5e e0 meo 76 45 56 555 40 S 25 ar 1 1 GS REBG HPGTAAGSOSUBLI 1 646 98 e0 meo 7 0 58 66 so 70 46 S6 ss 46 ar 25 aT 00 it ReBG HPGTeATTT00eC 1 640 5e S0 GeO 70 46 50 555 40 S 25 21 sio 58 66 eo 70 48 56 ses 40 sr 25 at us 655 e0 95 oss ws 45 ss s 5o ss 75 27 vas REBG HFGzDAMSIOUBLI 2 665 90 o0 ess 105 15 ss 9 so 5S T5 zr 200W VS RSSG HPGIAAOSZOOBL 1 940 S8 60 LI 70 so so es ss 7o a5 e ss 83 75 27 r o 80 96 o ws vo ss e 59 ss 75 27 mio 86 96 os 306 70 85 e 99 88 75 27 2 1 R88G HPG20A45200BLI Note 1 The standard shaft type is a straight shaft 2 Amodel with a key and tap is indicated with J at the end of the model number the suffix shown in the box Example R88G HPG 114A05100BJ 3 The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor 4 For Servomotors with a key remove the key before use e Outline drawing 1 Set bolt AT 4 Z2 pD3h7 M depth L 2 42 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions Dime
422. otors and Servo Drives User s Manual 3 99 3 Specifications I XW2B 20J6 8A Below are the specifications of the Servo Relay Unit for connecting the following OMRON Programmable Controller models CJ2M CPU31 CPU32 CPU33 CPU34 CPU35 for 1 axis CJ2M CPU11 CPU12 CPU13 CPU14 CPU15 for 1 axis e External Dimensions CJ2M CPU31 CPU32 CPU33 CPU34 CPU35 side CJ2M CPU11 CPU12 CPU13 CPU14 CPU15 side Servo Drive side 3 5 1 35 3 5 7 lt a gt 4 45 42 8 46 e The pitch of terminals is 7 62 mm 3 100 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e Wiring The Servo Drive phase Z output signal is wired to the origin signal in this terminal block 3 Origin Snag Sao le Ground to 100 O or less CW limit 1 CCW limit 1 Contact Contact 2960 06 2960 07 T ie p D lt O J D D lt c 3 D 3 2 O D D 92 D o D ct o 5 0 24 VDC 1 CW and CCW limit input signals can also be input to an input unit For CJ2M the CW and CCW limit input signals function with the following signals CW A540 08 CCW A540 09 Pulse output 0 CW A541 08 CCW A541 09 Pulse output 1 Therefore in ladder programming use the actual input as CW and CCW limit input signals to output the following flag Example 296
423. otors of 50 to 750 W For 3 000 r min Servomotors of 1 to 2 kW R88A CAGB003B For 2 000 r min Servomotors of 1 to 2 kW R88A CAGB005B For 1 000 r min Servomotors of 900 W R88A CAGBO10B R88A CAGBOTSB RB8A CAGBO20B For 3 000 r min Servomotors of 3 to 5 kW R88A CAGD003B For 2 000 r min Servomotors of 3 to 5 kW R88A CAGD005B For 1 000 r min Servomotors of 2 to 3 kW R88A CAGD010B R88A CAGDO1T5B R88A CAGD020S R88A CAGD020B I Brake Cables Global Non Flexible Cable Specifications Model 200 V R88A CAGA003B For 3 000 r min Servomotors of 50 to 750 W R88A CAGA005B R88A CAGA010B R88A CAGA015B R88A CAGA020B Specifications 2 16 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions I Encoder Cables Global Flexible Cable 20 m R88A CRGCO20NR Specifications Model 200 V R88A CRGB003CR no For 3 000 r min Servomotors of 50 to 750 W R88A CRGBO05CR te 10 m R88A CRGBO10CR a 15 m R88A CRGBO15CR 20 m R88A CRGB020CR gt 200 V 3m R88A CRGCO03NR 3 000 r min Servomotors of 1 0 kW or more R88A CRGCO05NR For 2 000 r min Servomotors R88A CRGCO10NR For 1 000 r min Servomotors R88A CRGCO15NR 20m Motor Power Cables Global Flexible Cable eee Model Specifications For motor without brake For motor with brake 200 V R88A CAGA003SR 8 m R88A CAGAO0885R For 3 000 r min Servomotors of 50 to 750 W R88A CAGAO005SR R88A CAGA010SR E
424. oubleshooting and Maintenance 10 1 3 Replacing the Servomotor or Servo Drive Use the following procedure to replace the Servomotor or Servo Drive i Replacing the Servomotor 1 Replace the motor 2 Perform origin adjustment for position control e When the motor is replaced the motor s origin position phase Z may deviate so origin adjustment must be performed e Refer to the position controller s manual for details on performing origin adjustment i Replacing the Servo Drive 1 Take a record of all parameter settings Use the operation keys on the Servo Drive to write down all the contents of parameter settings 2 Replace the Servo Drive 3 Set the parameters Use the operation keys on the Servo Drive to set all of the parameters 10 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 2 10 Troubleshooting and Maintenance Warning List The warning function outputs a warning signal and notifies state such as an overload before activation of a protective function Set what types of warning you want the Servo Drive to output in Warning Output Selection 1 Pn440 and Warning Output Selection 2 Pn441 la Precautions for Correct Use You will be brought to the state before the occurrence of the warning automatically after recovery from the error condition However the warning state will be retained during the time period set in Warning Latch Hold Time Selection Pn627 To
425. oupler indicator is ON Motor forward command Motor reverse command J LI LI LI L ipeo INIRE DU OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 17 3 Specifications e When to Input a Command Pulse Photocoupler Input Command pulse mode Feed Pulse Direction Signal Maximum input frequency Line driver 500 kpps Open collector 200 kpps Heverse Pulse Forward Pulse Maximum input frequency Line driver 500 kpps Open collector 200 kpps 90 Phase Difference Signal Maximum input frequency Line driver 500 kpps Open collector 200 kpps Detailed timing Forward rotation command Reverse rotation command Direction signal t2 Feed pulse M t1 t1 T T At 200 kpps At 500 kpps t1 lt 0 5 us t1 0 1 us t2 2 5 us t2 gt 1 0 us T2 2 5 US T2 1 0 us T 25 0 us T 22 0 us 1 T x 100 lt 50 96 1 T x 100 lt 50 96 Forward rotation command Reverse rotation command Reverse pulse Forward pulse At 200 kpps At 500 kpps t1 lt 0 5 us t1 lt 0 1 us t2 gt 2 5 us t2 gt 1 0 us T22 5 US T2 1 0 us T25 0 us T22 0 us 1 T x 100 s 50 96 T T x 100 lt 50 96 Forward rotation command Reverse rotation command Phase A pulse Phase B pulse SSON At 200 kpps At 500 kpps t1 lt 0 5 us t1 lt 0 1 us rz 10 us T24 0 us T 220 us T 28 0 us 1 T x 100 lt 50 96 1 T x 100 lt 50 96 OMNUC G5 serie
426. ow speed operation Check to be sure that the Servomotor rotates at the set soeed and stops when the command pulses is terminated P E O D oO 5 PON o1u02 uonisog U uogeJado jen Z S 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 29 8 Operation OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Adjustment Functions SSS This section explains the functions setting methods and items to note regarding various gain adjustments 9 1 Gain Adjustment koe ied sew oes Rae km 3a nx ERR hee dew ews 9 2 9 1 1 Purpose of the Gain AGjUSIMGN Ex tuac x ot a C EA Ce OL CR CARS Ce os 9 2 9 1 2 Gain Adjustment Methods 0 0 ccc eee ees 9 2 9 1 3 Gain Adjustment Procedure 0 0 eens 9 3 9 2 Realtime AUTOIUDITIQ us das c un ro ecd a E88 ahah eer E dee e ea 9 4 9 2 1 Setting Realtime Autotuning llle 9 5 9 2 2 Setting Machine Rigidity llle 9 5 9 3 Manual TUNING ou ruts 22 a tle Uu pe EPI eons icr DRE bI ar Pd 9 11 9 3 1 BASIC SOLOS cd qu cna score Vus esitare S acra Seth vais de Saree ach d 9 11 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 1 9 Adjustment Functions 9 1 Gain Adjustment OMNUC G5 series Pulse train Input Type Servo Drives provide a realtime autotuning function With this function gain adjustments can be
427. ower is supplied Power supply supply Motor speed 30 r min TB in the above figure is the setting time in Brake Timing During Operation or the time until the motor rotation speed falls to 30 r min or lower whichever is shorter e For details refer to 6 6 Brake Interlock on page 6 18 SJ9 ouieJeg jeroodg Z Z Pn615 Overspeed Detection Level Setting at Immediate Stop Setting O to 20 000 r min Default Cycle the range setting power supply e Set the overspeed detection level in the event of an immediate stop alarm e The overspeed detection level is 1 2 times the maximum rotation speed of the Servomotor if this parameter is set to O e his parameter should normally be set to 0 The setting should be changed only when it is necessary to lower the overspeed detection level e The set value of this parameter is limited to 1 2 times the maximum rotation speed of the Servomotor 7 Pn616 Reserved Setting 1 Default 1 Cycle the range setting power supply Do not set OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 57 7 Parameter Details Pn617 Setting range Pn618 Setting range Pn619 Setting range Pn620 Setting range Pn621 Setting range Pn622 Setting range Pn623 Setting range Pn624 Setting range Front Panel Parameter Write Selection 0 to 1 Default Cycle the setting power supply Explanation of Set Values Set
428. ower supply When using the position control setting Gain Switching Time helps prevent the rapid increase of the position loop gain if the values set in Position Loop Gain Pn100 and Position Loop Gain 2 Pn105 differ significantly The position loop gain increases as the set time expires Position Gain Switching Time Position Gain Switching Time Pn119 can be set to mitigate the torque fluctuations and vibration due to a sudden change in the position loop gain when gain is switched This enables a gradual change in the gain during switching where the position loop gain gets large resulting in reduced vibration la Precautions for Correct Use e When the position loop gain is switched to a smaller value gain switching occurs immediately regardless of this parameter setting Example When Position Loop Gain Pn100 is greater than Position Loop Gain 2 Pn105 Position Loop Gain 2 Pn105 3 Position Gain 44 Switching Time ms Pn119 Position Loop Gain Pn100 Result of switching Position Loop Gain 2 Position Position Loop Gain Loop Gain 7 16 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn120 Switching Mode in Speed Control Setting 0 to 5 Default Cycle the range setting power supply Explanation of Settings V Enabled Disabled Description Gain Switching i me Gain Switching el m Delay Time in Gain Switching Hyster
429. peed Setting 10 to 20 000 r min Default Cycle the range setting power supply e The Servomotor falls in a servo lock state in the position control mode if the actual motor speed reaches the value set in this parameter or less e The set value of this parameter is valid in both forward and reverse directions regardless of the actual motor rotation direction Forward opeed Pn316 r min Pn316 r min Speed Servo lock Speed control control Pn317 Reserved Setting Default Cycle the range setting power supply Do not set Pn318 Heserved Setting Default Cycle the range setting power supply e Do not set Pn319 Heserved Setting 30 Default 30 Cycle the range setting power supply Do not set 7 30 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn320 Reserved Setting Default Cycle the range setting power supply Do not set Pn321 Reserved Setting Default Cycle the range setting power supply e Do not set Pn322 Reserved Setting Default Cycle the range setting power supply e Do not set Pn323 Heserved Setting Default Cycle the range setting power supply Do not set Pn324 Heserved Setting Default Cycle the range setting power supply Do not set SJ9 ouleJegd ogju02 PojJeuy r Pn325 Reserved Setting 10 000 Default 10 000 Cycle the range setting power supply Do not set 7
430. play 000 ce eee ees 8 5 9 4 Mode SGUING id sxc ta PERDER hee es ee er ee eee vd estes 8 6 8 4 1 Changing the Mode 00 n 8 6 9 4 2 Mohitor MOde c sinc eee ite eho sedate eid eher ai teense eee 8 7 8 4 3 Parameter Setting Mode 0 ees 8 19 8 4 4 Parameter Write Mode 0 0 ccc eee ees 8 21 8 4 5 Auxiliary Function Mode 22 4 0 22 4 0 942h2 see dneee di vee eneel sags de 8 22 3 5 Irial ODGFallODl a ior bU En bp rco bikes tended ots 8 28 8 5 1 Preparations for Trial Operation l l 8 28 8 5 2 Trial Operation in Position Control Mode 0 00 cee eee eee 8 29 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 1 8 Operation 8 1 Operational Procedure Turn ON the power supply after correct installation and wiring and check the operation of the Servomotor and Servo Drive individually Then make the function settings as required according to the use of the Servomotor and Servo Drive If user parameters are set incorrectly there is a risk of unexpected motor operation which can be dangerous Set user parameters accurately according to the setting methods in this User s Manual Wem Ce Mounting and _ Install the Servomotor and Servo Drive according to the installation Section 4 4 1 installation conditions Do not connect the Servomotor to mechanical systems before checking the operation with no load Wiring and Connect
431. pply Voltage e Check the voltage at the power supply input terminals Main Circuit Power Supply Input Terminals L1 L2 L3 R88D KPLIH 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz 750 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz 2 to 5 kW 3 phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz Control Circuit Power Supply Input Terminals L1C L2C R88D KPLIH 100 to 1 5 kW Single phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz 2 to 5 kW Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz If the voltage is out of range there is a risk of operation failure Be sure that the power supply is within the specified range e Check the voltage of the sequence input power supply 24 VIN terminal CN1 pin 7 It must be between 11 and 25 VDC If the voltage is out of range there is a risk of operation failure Be sure that the power supply is within the specified range Checking Whether an Alarm Has Occurred e Make an analysis using the 7 segment display and operation keys on the front of the Servo Drive e When an alarm has occurred Check the alarm display O0 and make an analysis based on the alarm that is indicated e When an alarm has not occurred Make an analysis according to the error conditions e In either case refer to 10 4 Troubleshooting on page 10 10 for details OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 Troubleshooting and
432. put Type AC Servomotors and Servo Drives User s Manual A 1 Appendices A 1 Connection Examples i Example 1 Connection with SYSMAC CJ1W NC133 233 433 Main Circuit Power Supply NFB OFF ON MC1MC2 O main Circuit Q 6 0 T ir 16 Contactor b Surge Suppressor 3 phase 200 to 240 VAC 50 60 Hz S S 0 5 Cu aa 4 T 6 6 eee a S CJ1W NC133 233 433 wn dne R88D KPL E Reactor T o E CCW Output BH Output CW Output AS CW Output es NM E p mE X axis Positioning Completion Input A11 INP INPCOM ae Input Common 24VIN 7 NO NO I lt Z p ET X axis External Interrupt Input A15 X axis Immediate Stop Input A16 i KH i ee ee 24 VDC 3 O UN Aca XB Brake Cable T d 24 VDC Precautions for Correct Use e The above example shows an example of connecting a Servo Drive with 3 phase 200 VAC main circuit power supply inputs Use a power supply and power cables that meet the power supply specifications of the Servo Drive e Note that incorrect connection of signal lines may cause damage to the Servo Drive and connected units e Leave unused signal wires disconnected and open e Use mode 2 for origin search e Recommended surge absorbing diode RU2 Sanken Electric Co Ltd or equivalent e Connect signal lines so that the servo can be turned ON and OFF with the RUN signal
433. quired Pulse Mode 90 phase difference A B signal Selection input Forward pulse Reverse pulse 2 90 phase difference A B signal input Feed pulse Forward or reverse signal 008 Electronic Gear Set the number of command pulses per motor 10 000 Pulse 9 to 220 Required Integer Setting rotation 009 Electronic Gear Set the electronic gear ratio 0 to 230 Ratio If Pn009 0 the encoder resolution is set in the Numerator 1 numerator Electronic Gear Ratio Numerator 1 Pn009 010 Electronic Gear 10 000 1 to 230 i Ratio Electronic Gear Ratio Denominator Pn010 Denominator 011 Encoder Set the number of output pulses per motor 2 500 P r 1 to Required Dividing rotation for phases A and B 262 144 Numerator 012 Encoder Output Select the combination of the RM B logic and Oto1 Required Direction the output source for RM regeneration output Switching Phase B canoe Not reversed Selection canoe source Encoder Phase B logic Reversed Output source Encoder 2 Reserved Do not set EE Reserved Do not set 013 No 1 Torque Set the first output torque limit of the 0 to Limit Servomotor 500 014 Error Counter Set the range of the error counter overflow level 10 0000 Command 9 to 227 Detection of error counter overflow level error is unit disabled if the set value is 0 Use as incremental encoder Overflow Level OM
434. r Clear Hold Hold Hold Hold Clear Clear e If an alarm occurs with the servo OFF the Servomotor will operate according to the value set in Stop Selection for Alarm Detection Pn510 If the main power supply is turned OFF with the servo OFF the Servomotor will operate according to the value set in Stop Selection with Main Power Supply OFF Pn507 e The dynamic brake is designed only for immediate stop Configure the system to stop for about three minutes after the dynamic brake operates 1 Immediate stop means stopping the Servomotor immediately by using control with the servo ON The torque command value at this time is limited by the value set in Immediate Stop Torque Pn51 1 O CO NI O C A C5 P 2 If the position command is supplied continuously or if the Servomotor rotates continuously with the servo OFF a Error Counter Overflow Alarm No 24 0 may occur due to the accumulation of position errors In addition if the servo turns ON with a large position error the Servomotor may start moving suddenly because the control attempts to zero the error Take extra care when using the Servo Drive with this parameter set to hold the position error counter content 9 During deceleration means the period until the motor decreases its speed to 30 r min or less from the normal operation Once the Servomotor decelerates to 30 r min or lower and falls in an After stopping state it follows the opera
435. r Straight shaft without key Straight shaft with key and tap 200 V 50 W R88M KE05030H B R88M KE05030H BS2 R88M KE10030H B R88M KE10030H BS2 R88M KE20030H B R88M KE20030H BS2 R88M KE40030H B R88M KE40030H BS2 R88M KE75030H B R88M KE75030H BS2 R88M KE1K030H B R88M KE1KO030H BS2 R88M KE1K530H B R88M KE1K530H BS2 R88M KE2K030H B R88M KE2K030H BS2 R88M KE3K030H B R88M KES3K030H BS2 R88M KE4K030H B R88M KE4K030H BS2 R88M KE5K030H B R88M KE5KO030H BS2 100 W 200 W 400 W 750 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW n2 do O 2 2 y i D o Note Models with oil seals are also available 2 000 r min Servomotors e Without brake So qe J PON J01oulOAJOS Z cZ Model Specifications With incremental encoder Straight shaft without key Straight shaft with key and tap 200 V 1 kW R88M KE1K020H R88M KE1K020H S2 1 5kW R88M KE1K520H R88M KE1K520H S2 2 kW R88M KE2K020H R88M KE2K020H S2 3 kW R88M KE3K020H R88M KE3K020H S2 4 kW R88M KE4K020H R88M KE4K020H S2 5 kW R88M KE5K020H R88M KE5K020H S2 Note Models with oil seals are also available e With brake Model Specifications With incremental encoder Straight shaft with key and tap 200 V R88M KE1K020H BS2 R88M KE3K020H B R88M KE3K020H BS2 R88M KE4K020H B R88M KE4K020H BS2 R88M KE5K020H B R88M KE5K020H BS2 Note Models with oil seals are also available OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 9 2 Models and Externa
436. r less connector type terminal blocks are used The procedure for wiring these terminal blocks is explained below Connector type terminal blocks Example R88D KP01H gt N 5 e 1 Remove the terminal block from the Servo Drive before wiring The Servo Drive may be damaged if the wiring is done with the terminal block in place 2 Strip off 8 to 9 mm of the covering from the end of each wire Refer to 4 2 2 Main Circuit and Motor Connections on page 4 14 for applicable wire sizes 8109 mm 3 Open the wire insertion slots in the terminal block using a tool There are two ways to open the wire insertion slots as follows e Pry the slot open using the lever that comes with the Servo Drive Figure A e Insert a flat blade screwdriver end width 3 0 to 3 5 mm into the opening for the driver on the terminal block and press down firmly to open the slot Figure B SUO IJOSUUND 1070 pU JINDIID UILEN Z c v Figure A Figure B 4 With the wire insertion slot held open insert the end of the wire After inserting the wire let the slot close by releasing the pressure from the lever or the screwdriver 5 Mount the terminal block to the Servo Drive After all of the terminals have been wired return the terminal block to its original position on the servo Drive Note The wire may not be inserted easily depending on the shape of the ferrule connected to it If this occurs p
437. r s Manual 3 115 3 Specifications Position Control Unit Cables XW2Z L1J A15 Below are the specifications of the cable that connects a Position Control Unit Model CJ1W NC213 NC413 with a Servo Relay Unit Model XW2B 40J6 2B e Cable types Model Length L Outer diameter of sheath Weight XW2Z 050J A15 10 0 dia Approx 0 1 kg XW2Z 100J A15 Approx 0 2 kg Connection configuration and external dimensions Position Control Unit side Servo Relay Unit side CJ1W NC213 CJ1W NC413 D Aud e Wiring Position Control Unit side Servo Relay Unit side ATIB1 A2IB2 Ii i A20 B20 A16 B16 T BU 3 116 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Position Control Unit Cables XW2Z L1J A18 Below are the specifications of the cable that connects a Position Control Unit Model CJ1W NC133 with a Servo Relay Unit Model XW2B 20J6 1B e Cable types Model Length L Outer diameter of sheath XW2Z 050J A18 10 0 dia Connection configuration and external dimensions Position Control Unit side CJ1W NC133 e Wiring Position Control Unit side Servo Relay Unit AWG20 Black Cable AWG28x4P AWG28x10C 26 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Weight Approx 0 1 kg Approx 0 2 kg Servo Relay Unit side XW2B 20J6 1B side 3 117 o o o D lt
438. rding or otherwise without the prior written permis sion of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the informa tion contained in this publication Introduction Introduction Thank you for purchasing an OMNUC G5 series Servo Drive Pulse train Input Type This User s Manual describes the installation and wiring methods of the OMNUC G65 series Servo Drives Pulse train Input Type and parameter setting method which is required for the operation as well as troubleshooting and inspection methods Intended Audience This User s 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 introducing the FA equipment e Personnel in charge of designing the FA systems e Personnel in charge of managing the FA systems and facilities Notice This User s Manual contains information you need to know to correctly use the OMNUC Gs5 series oervo Drives Pulse train Input Type and peripheral equipment Before using t
439. ready enabled lower the machine rigidity number e The adaptive filter can be left enabled when realtime autotuning is disabled after the completion of adjustments Even if the adaptive filter is disabled the set values of notch filters 3 and 4 are held no A CD D za 5 e JJ D D 3 D 2 e e O e E 2 5 e OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 5 9 Adjustment Functions la Precautions for Correct Use e After startup immediately after the first servo ON or when the value set in Realtime Autotuning Machine Rigidity Setting Pn003 is increased unusual noise or vibration may occur until the load inertia is estimated or the adaptive filter stabilizes This is not an error if it disappears right away If the unusual noise or vibration however continues for three or more reciprocating operations take the following measures in any order you can e Write the parameters used during normal operation to the EEPROM e Lower the value set in Realtime Autotuning Machine Rigidity Setting Pn003 e Manually set the notch filter e Once unusual noise or vibration occurs Inertia Ratio 1 Pn004 Torque Command Value Offset Pn607 Forward Direction Torque Offset Pn608 and Reverse Direction Torque Offset Pn609 may have changed to an extreme value In this case also take the measures described above e Out of the results of realtime autotuning Inertia Ratio 1 Pn004 Torqu
440. reen is displayed Mode key Switch between 4 modes e Monitor Mode e Parameter Setting Mode e Auxiliary Function Mode e Parameter Write Mode Increment and Decrement key Increase and decrease the parameter No or data value Shift key Shift the operating digits to the left Data key Switching the parameter and data display or storing the data e e c o 3 amp pg gt o o 5 pu Y A 5 e m D lt OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 5 8 Operation 8 4 Mode Setting 8 4 1 Changing the Mode 2 gt Default display on the front panel Parameter settings T jo ab pa 14 Q Writing y Auxiliar function 1 The display is based on Default Display Pn528 setting after the power supply is turned ON 8 6 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 4 2 Monitor Mode Position Command Error Motor Rotation Speed Position Command Speed Speed Control Command Torque Command Total Encoder Pulses Total Command Pulses Reserved Control Mode I O Signal Status Reserved Alarm Factor History Warning Number Regeneration Resistance Load Ratio Overload Load Ratio Inertia Ratio Reason for No Rotation 8 Operation Display of the Number of I O Signal Changes Reserved Reserved
441. requency 4 allowable setting is 10 2 1 Hz 2 000 221 Damping Filter Make fine adjustment to the fourth damping 0 1 Hz Oto 4 Setting control function Set a smaller value if torque 1 000 saturation occurs or a larger value to increase the responsiveness 222 Position Set the first order lag filter time constant for the 0 to Command position command ms 10 000 Filter Time Constant 215 Damping Filter 1 Setting 223 Smoothing Set the FIR filter time constant for the position 0 1 0 to Filter Time command ms 10 000 Constant A 18 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices d Speed Control Parameters Pn m Default Setting Y clethe Description power No setting range supply 300 Command Select the speed command in the speed control 1 1 to 3 Speed mode Selection o Disabled 1 No 1 Internally Set Speed to No 4 Internally Set Speed Pn304 to Pn307 2 Reserved Do not set 3 No 1 Internally Set Speed to No 8 Internally Set Speed Pn304 to Pn311 301 Speed Select the method to specify the speed 0 to 1 Command command direction p N U f D 3 D e D r o Direction Selection 302 Do not set 500 50 304 No 1 Internally Set the first internal soeed command value r min Set Speed 305 No 2 Internally Set the second internal soeed command value r min Se
442. requency Setting Pn201 Notch 2 Frequency Setting Pn204 sDunmes oiseg 6 Notch 3 Frequency Setting Pn207 or Notch 4 Frequency Setting Pn210 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 13 9 Adjustment Functions i Servo Manual Tuning Method There are four basic servo adjustment parameters as shown in the table below If the intended operation characteristics are obtained by adjusting the following 4 parameters the adjustments of other parameters are not necessary Parameter No Name Defaultvalue 2nd parameter No j Adjustment of Each Parameter The servo control loop consists of from the outside the position loop the speed loop and the current loop in this order An inner loop is influenced by outer loops and an outer loop is influenced by inner loops respectively Determine the initial value for each parameter based on the machine configuration and rigidity inertia ratio and other aspects Use the following table as a guide to determine the parameter settings for each application e Parameter Settings for Each Application Torque Position m nis P Command Application name Rigidity Loop Gain Loop Gain ihi Filter Time 1 s Constant Constant x 0 01 ms Ball Screw Horizontal 160 Ball Screw Horizontal Medium Medium 40 80 20 100 Ball Screw Horizontal Small High 80 60 15 80 Ball Screw Vertical 160 Ball Screw Vertical
443. rns OFF and power supply stops Pn438 Brake Timing Set the time after a servo OFF command is issued while the P 7 40 During Operation motor rotates until the Brake Interlock Output BKIR signal turns OFF and power supply stops If the speed drops to the setting speed or lower in Pn439 before the time set here elapses BKIR will turn OFF Pn439 Brake Release Set the speed at which to turn OFF power to the Servomotor P 7 41 Speed Setting when the Brake Interlock Output BKIR signal turns OFF after During Operation execution of a servo OFF command while the Servomotor rotates If the time set in Pn438 elapses before the speed drops to this threshold value or lower BKIR will turn OFF 6 6 3 Precautions for Correct Use of Holding Brake e he brake built into a Servomotor with a brake is a non excitation brake designed only to hold the motor in the stop status when the operation is stopped Accordingly set an appropriate time so that the brake is activated after the motor stops e f the brake is engaged while the Servomotor is rotating the brake disc will wear abnormally or sustain damage resulting in a bearing or encoder failure in the Servomotor 6 18 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 6 4 Operation I Servo ON OFF Operation Timing When Motor is Stopped Approx 2 ms Released Dynamic brake DB engaged DB released DB engaged
444. roller in use By default the control mode is set to position control pulse train commanda 3 1 1 General Specifications Item Specifications Operating ambient temperature 0 to 50 C 20 to 85 max with no condensation and humidity Storage ambient temperature and 20 to 65 C 20 to 85 max with no condensation humidity Maximum guaranteed temperature 80 C for 72 hours max with no condensation Operating and storage No corrosive gases atmosphere Vibration resistance 10 to 60 Hz and at an acceleration of 5 88 m s or less Not to be run continuously at a resonance point Insulation resistance Between power supply terminals power terminals and FG terminal 0 5 MQ min at 500 VDC Dielectric strength Between power supply terminals power terminals and FG terminal 1 500 VAC for 1 min at 50 60 Hz Protective structure Built into panel e International standard Item Specifications EC Directives EMC Directive EN55011 EN61000 6 2 IEC61800 3 Low Voltage EN61800 5 1 Directive UL standards UL508C CSA standards CSA22 2 No 14 Note 1 The above items reflect individual evaluation testing The results may differ under compound conditions 2 Never perform dielectric strength or other megameter tests on the Servo Drive Failure to follow this guideline may result in damage to the internal elements 3 Depending on the operating conditions some Servo Drive parts will require maintenance For details refer to 10 5
445. rrect Use e f Gain 3 is not used set both Gain 3 Effective Time Pn605 and the Gain 3 Ratio Setting Pn606 to O e n the Gain 3 region only the position loop gain and the speed loop gain are treated as Gain 3 and the Gain 1 setting is applied to other gains e f the Gain 2 switching condition is established in the Gain 3 region operation switches to Gain 2 e f Gain 2 switches to Gain 3 the Position Gain Switching Time Pn119 is enabled e here is a Gain 3 region even when Gain 2 is switched to Gain 1 due to a parameter change and so forth OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 43 6 Applied Functions 6 13 Friction Torque Compensation Function 6 13 1 Outline of the Function The friction torque compensation function reduces the influence of friction You can set unbalanced load compensation that offsets the constantly applied unbalance torque and dynamic friction compensation that changes the offset direction in accordance with the operating direction You can use the friction torque compensation function in the following situations e The servo is ON e The Servomotor can rotate normally without any failures 6 13 2 Parameters Requiring Settings Pn607 Torque Command Value Set the unbalanced load compensation value that is P 7 55 Offset always added to the torque command Pn608 Forward Direction Torque Set the dynamic friction compensation value that is P 7 55 Off
446. rted at a tilt Fix the Servomotor and the flange of the decelerator with bolts Bolt tightening torque Tighten the bolts of the input coupling Bolt tightening torque for duralumin Note Tighten the bolts to the torque indicated on the above table The Servomotor may slip or other problems may occur if the specified torque level is not satisfied Mount the supplied rubber cap to complete the installation OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design e Installing Decelerator When installing the R88G VRSFLILILI first make sure that the mounting surface is flat and that there are no burrs on the tap sections and then fix the mounting flanges with bolts Bolt tightening torque on the mounting flange for aluminum Tighteningtorge Nm 58 98 196 Note Uninstalling the key on a Servomotor with key enables you to install the Servomotor to the decelerator Slipping does not occur i Using a Non OMRON Decelerator Reference If the system configuration requires a non OMRON decelerator to be used in combination with an OMNUC G5 series Pulse train Input Type Servomotor select the decelerator so that the loads on the motor shaft i e both the radial and thrust loads are within the allowable ranges Refer to 3 1 2 Characteristics on page 3 3 for details on the allowable loads for the motors Also select the decelerator so t
447. rvo Drives Voltage Servo Drive Rated output With incremental encoder Single phase 900 W R88M KE90010H O R88D KP15H 3 phase 200 V 3 phase 200 V R88M KE2K010H O R88D KP30H R88M KE3K010H O R88D KP50H 1 Use these combination with caution because the Servo Drive and Servomotor have different capacities OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 11 n2 do O 2 2 y i D o So qe UOICUIQWUIOD JOJOWOAJOS pue BALIG OAIOS e z 2 Models and External Dimensions 2 3 4 Decelerator Model Tables The following tables list the Decelerator models for OMNUC G5 series Servomotors Select a decelerator based on the Servomotor capacity Backlash 3 Arcminutes max e For 3 000 r min Servomotors Specifications Servomotor capacity 50 W 100 W 200 W 400 W 750 W Model Gear ratio 1 5 R88G HPG11B05100BLI 1 9 R88G HPG11B09050BLI 1 21 R88G HPG14A21100BLI 1 33 R88G HPG14A33050BLI 1 45 R88G HPG14A45050BLI 1 5 R88G HPG11B05100BLI 1 11 R88G HPG14A11100BO 1 21 R88G HPG14A21100BLI 1 33 R88G HPG20A33100BLI 1 45 R88G HPG20A45100BLI 1 5 R88G HPG14A05200BLI 1 11 R88G HPG144A11200BLI 1 21 R88G HPG20A21200BLI 1 33 R88G HPG20A33200BLI 1 45 R88G HPG20A45200BLI 1 5 R88G HPG14A05400BLI 1 11 R88G HPG20A1 1400BLI 1 21 R88G HPG20A21400BLI 1 33 R88G HPGS32A33400BLI 1 45 R88G HPG32A45400BLI 1 5 R88G HPG20A05750BLI 1 11 R88G HPG20A1 1750BLI 1 21 R88G HPG32A2
448. rvomotor Wire correctly operates cable is wired incorrectly power cable phases U V and W momentarily but The encoder cable is wired Check the encoder cable wiring Wire correctly then it does not incorrectly operate after that The Servomotor The command pulse input Check the command eem 1 type Make sure that the command rotates without a is incorrect H input is appropriate command Check the command pulse voltage Connect a resistor that matches the voltage The Servo Drive is faulty Replace the Servo Drive The CW input and the CCW Check the command pulse type of the Connect the CW pulse signal to The Servomotor rotates opposite to input are connected in controller and that of the Servo Drive the CW input and the CCW the command reverse pulse signal to the CCW input direction respectively Motor rotation is The Servomotor power Check the wiring of the Servomotor Wire correctly unstable cable or encoder cable is power cable phases U V and W and wired incorrectly that of the encoder cable The load torque fluctuates Check the connection to mechanical Recheck and adjust the due to eccentricity of the systems machine coupling es aa a Try to operate the Servomotor with no motor shaft to mechanical load by disconnecting the motor from systems loose screws or mechanical systems poor engagement between the pulley and the gear The load s moment of Try to operate the Servomotor with
449. s Power Cable Connector R88A CNG01 4A This connector is used for power cables Use it when preparing a power cable by yourself Panel mounting hole 9 MIG ANS z J N Connector housing model The applicable panel thickness is 0 8 to 172159 1 Tyco Electronics AMP KK 2 0 mm Contact socket model 170366 1 Tyco Electronics AMP KK Brake Cable Connector R88A CNG01B This connector is used for brake cables Use it when preparing a brake cable by yourself Panel mounting hole Connector housing model The applicable panel thickness is 0 8 to 172157 1 Tyco Electronics AMP KK 2 0 mm Contact socket model 170366 1 Tyco Electronics AMP KK 3 82 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications 3 5 5 Analog Monitor Cable Specifications Analog Monitor Cable R88A CMK001S Connection configuration and external dimensions q e D m D M 2 O o 3 5 O o o D o D ct o 5 D Connector housing 51004 0600 Molex Japan Connector terminal 50011 8000 Molex Japan suoneoiioeds ejqeo 1opyuon Boyeuy S G e OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 83 3 Specifications 3 5 6 Control Cable Specifications CJ1W NCOO4 These cables are used to connect to the Position Control Unit Model CJ1W NLILI4 for OMRON SYSMAC CJ seri
450. s e his parameter is used to increase the apparent command pulse frequency with the multiplication function if the required motor speed cannot be obtained due to the limitation of the pulse oscillation capacity i e maximum allowable output frequency of the host system e Block diagram of the electronic gear function Numerator 1 Pn009 Numerator 2 Pn500 Command 4 Numerator 3 Pn501 Internal pulse p 1 Numerator 4 Pn502 command f D To error counter Denominator Pn010 Feedback pulse resolution 10 000 P rev or 21 Pirey 1 The selection of second to fourth numerators is made based on the Electronic Gear Switching 1 and 2 GESEL1 and GESEL2 settings GESEL1 GESEL2 Selected numerator OFF OFF Electronic Gear Ratio Numerator 1 ON OFF Electronic Gear Ratio Numerator 2 OFF ON Electronic Gear Ratio Numerator 3 ON ON Electronic Gear Ratio Numerator 4 Although Pn008 Pn009 and Pn010 can be set to any value within the setting range OMRON will not guarantee that the function operates as intended with any extreme electronic gear ratio setting It is recommended that the electronic gear ratio be used between 1 1 000 and 1 000 For the setting method refer also to 6 4 Electronic Gear Function on page 6 11 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 7 SJojoulBJed oiSeg L Z 7 7 Parameter Details Pn011 Encoder
451. s You can switch among up to four 26 Electronic Gear Ratio Numerators to settings in conjunction with the 33 Electronic Gear Switching 2 GESEL2 RUN Operation Command Input This signal turns ON the servo to start 29 energizing the Servomotor ECRST Error Counter Reset Input This signal resets the position error 30 counter The error counter can be reset either by the signal edge set value 0 or by the V N A Q L s o D lt e Oa lt e o o D zh O e ct o 5 a signal level set value 1 based on the value set in Error Counter Reset Condition Selection Pn517 RESET Alarm Reset Input This signal resets an alarm state 31 The error counter is reset when an alarm reset signal is input Some alarms cannot be reset with this input TVSEL Control Mode Switching This signal switches the control mode of 32 Input the Servo Drive It is enabled when Control Mode Selection Pn001 is set to 3 IPG Pulse Prohibition Input This signal is for position command 33 pulse prohibition input It is enabled when Command Pulse Prohibition Input Setting Pn518 is set to O VSEL1 Internally Set Speed These inputs are used for selecting the 33 Selection 1 speed settings when operating the LNO suoneouioeds 1012890002 O I 04JUOD v 1 VSEL2 Internally Set Speed Servomotor based on internally set 30 Selection 2 speeds Pn304 to Pn311 VSEL3 Internally Set Speed 28 Selection 3
452. s Do not connect bare stranded wires directly to terminals blocks Fire may result Only use the power supply voltage specified in this User s Manual Burn damage may result In locations where the power supply infrastructure is poor make sure the rated voltage can be supplied Failure may result Provide safety measures such as a breaker to protect against short circuiting of external wiring Fire may result If the Servo Drive is used in the following locations provide sufficient shielding measures e Location subject to static electricity or other forms of noise e Location subject to a strong electric or magnetic field e Location where exposure to radioactivity may occur e Location near power supply lines Failure may result Connect an immediate stop relay in series with the brake control relay Injury or failure may result When connecting the battery make sure the polarity is correct Battery damage or explosion may result pDpPPPPPDPbPDPBEP PBPD OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 Safety Precautions Operation and Adjustment AN Caution DPPPbPPPPPPP 10 Conduct a test operation after confirming that the equipment is not affected Equipment damage may result Before operating the Servo Drive in an actual environment check if it operates correctly based on the parameters you have set Equipment damage may result Never adjust or set para
453. s Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 19 T I O o D o D 3 ae opojN Dunes JejeureJegd p g 8 Operation 5 Return to the parameter setting mode display Key operation la Precautions for Correct Use Display example Description Press key to return to the parameter setting mode display e Some parameters will be displayed with an r before the number when the display returns to the parameter setting mode To enable the set values that are changed for these parameters you must turn the power supply OFF and ON after saving the parameters to the EEPROM e f the Front Panel Parameter Write Selection Pn617 is set to 1 the parameter set value is automatically written to EEPROM when changed e When the set value for a parameter is saved the new setting will be used for control Make gradual changes instead of changing the large numbers at once when changing values for parameters that greatly affect motor operation speed loop gain position loop gain etc in particular e For details about parameters refer to Section 7 Parameter Details 8 20 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation 8 4 4 Parameter Write Mode The following operation must be performed so that set values changed in Parameter Setting Mode are saved to EEPROM 1 Save the changed setting to memory Key operation Display example D
454. s Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Line Receiver Input Pin 44 Reverse Pulse CW Feed Pulse PULS Phase A FA Pin 45 Reverse Pulse CW Feed Pulse PULS Phase A FA Pin 46 Forward Pulse CCW Direction Signal SIGN Phase B FB Pin 47 Forward Pulse CCW Direction Signal SIGN Phase B FB e Function e The functions of these signals are dependent on the values set in Command Pulse Rotation Direction Switching Selection Pn006 and Command Pulse Mode Selection Pn007 Q L o D lt e Oa lt o o D O ES o 5 a Pn005 Pn006 Pn007 Command Set value 1 0 2 90 Phase Difference Signal l Quadruple l 1 Motor forward command Motor reverse command Heverse Pulse L HN Forward rice seo DIL Ls sjrejeq 1ndu o3002 9 1 Feed Pulse Direction TTL TL Signal Note The rotation direction is reversed when Command Pulse Rotation Direction Switching Selection Pn006 is set to 1 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 19 3 Specifications e When to Input a Command Pulse Line Receiver Input Command pulse mode Detailed timing Forward rotation command Reverse rotation command Feed Pulse Direction Signal Direction signal
455. s Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications I R88D KP20H e Main Circuit Connector Specifications CNA L1 Main circuit power supply R88D KPLIH 2 kW Lo Input 3 phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz L3 Note Single phase power supply must be connected to L1 and L3 L1C Control circuit power R88D KPLIH Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz L2C supply input e Motor Connector Specifications CNB Q L o D lt e Oa lt o o D o ES o 5 0 U Motor connection These are the output terminals to the Servomotor v terminals Be sure to wire them correctly Phase W e External Regeneration Resistor Connector Specifications CNC B1 External Regeneration Normally B2 and B3 are shorted Do not short B1 and B2 Doing so may B3 Resistor connection result in a malfunction terminals If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 B2 SUOIJ29UUO2 JOOP pue noo ule L NC Do not connect l Precautions for Correct Use e Tighten the ground screws to a torque of 0 7 to 0 8 N m M4 or 1 4 to 1 6 N m M5 e Do not connect any External Regeneration Resistors between B1 and NC OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 7 3 Specifications I R88D KP3
456. s Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Power Cables with Brake Global Non Flexible Cable R88A CAGDLIB e Cable types For 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW 1 000 r min Servomotors of 2 to 3 kW Model Length L neca 2i Weight R88A CAGD003B 14 7 dia 5 4 dia Approx 1 5 kg R88A CAGD005B R88A CAGD010B R88A CAGD015B R88A CAGD020B Approx 2 4 kg q e D m D M 2 O o 3 5 O o o D o D ct o 5 D Approx 4 5 kg Approx 6 7 kg Approx 8 8 kg Servomotor side R88M KEL Servo Drive side R88D KPL suoieouioeds qey 19Mog 10104 S e Wiring Servo Drive side Black M4 crimp X3 Brown terminal QO Ord Red M5 crimp X2 wie terminal Blue Servomotor side 1 Phase v B Phase W_ Green Yellow a L HEI N Cable AWG20 x 2C UL2464 Cable AWG10 x 4C UL2463 Servomotor side connector Straight plug model N MS3106B24 11S Japan Aviation Electronics Cable clamp model N MS3057 16A Japan Aviation Electronics OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 75 3 Specifications Power Cables with Brake Global Flexible Cable R88A CAGBLIBR e Cable types 200 V For 3 000 r min Servomotors of 1 to 2 kW 2 000 r min Servomotors of 1 to 2 kW 1 000 r min Servomotors of 900 W Outer
457. s aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Head and Understand this Manual Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when 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 purc
458. s Manual 9 Adjustment Functions Internally Set Speed Control Mode Adjustment The speed control adjustment procedure for OMNUC Gb5 series Servo Drives Pulse train Input Type is similar to the position control mode adjustment procedure Use the following adjustment procedure Start adjustment Never adjust or set parameters to extreme values as it will make the operation unstable Disable realtime autotuning Pn002 0 N Failure to follow this guideline may result in injury Gradually change the value to adjust Set each parameter according to the parameter settings for different applications Operate based on the normal operation pattern and load Are the speed response and other performances satisfied Ves No Adjustment completed the gain while checking the motor operation Increase Speed Loop Gain Pn101 to the extent that hunting does not occur upon servo lock Decrease Speed Loop Integral Time Constant Pn102 to the extent that hunting does not occur upon servo lock Does hunting or vibration occur when the motor rotates Va No Write to the EEPROM in the Parameter Write mode Adjustment completed Decrease Speed Loop Gain Pn101 Increase Speed Loop Integral Time Constant Pn102 e e D 2 c c 3 3 e If vibration persists after repeated adjustments or the positioning is slow Increase Torque Command Filter Time Constant Pn104 Set the damping frequency in the Notch 1 F
459. s User s Manual 3 123 3 Specifications 3 8 Reactor Specifications Connect a Reactor to the Servo Drive for reduction of harmonic current Select an appropriate Reactor according to the Servo Drive model Specifications Reactor Servo Drive model Rated Reactor current type R88D KP01H For single phase input 3G3AX DL2002 1 6A 21 4 mH Approx DC 0 8 kg reactor R88D KPO2H For single phase input 3G3AX DL2004 3 2 A 10 7 mH Approx 1 0 kg R88D KPO4H For single phase input 3G3AX DL2007 6 1A 6 75 mH Approx 1 3 kg R88D KPO08H 3G3AX DL2015 9 3A 3 51 mH Approx R88D KP10H For single phase input 1 6 kg R88D KP15H For single phase input 3G3AX DL2022 13 8A 2 51 mH 2 1 kg R88D KP01H 3G3AX AL2025 10 0A 2 8 mH Approx AC R88D KPO2H 2 8 kg reactor R88D KP04H R88D KP08H R88D KP10H R88D KP15H For 3 phase input R88D KP20H 3G3AX AL2055 20 0 A 0 88mH Approx R88D KP30H 4 0 kg R88D KP50H 3G3AX AL2110 34 0 A 0 35 mH 5 0 kg 3 124 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual System Design SSS This section explains the installation conditions wiring methods which include wiring conforming to EMC directives and regenerative energy calculation methods for the servo Drives Servomotors and Decelerators It also explains the performance of External Regeneration Resistors 4 1 Installation Conditions ee 4 2 4 1 1 Servo Drive Installation Conditions
460. s function e Because an immediate stop causes the motor to decelerate quickly in the position control mode the position error may become large momentarily resulting in a Error Counter Overflow Alarm No 24 0 or Overrun Limit Error Alarm No 34 0 To prevent this set Error Counter Overflow Level Pn014 and Overrun Limit Setting Pn514 to appropriate values 6 40 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 11 Disturbance Observer Function 6 11 1 Outline of the Function The disturbance observer function enables you to lower the effect of the disturbance torque and reduce vibration by using the estimated disturbance torque value You can use the disturbance observer for position control or speed control in the following situations e The servo is ON e The Servomotor can rotate normally without any failures e The realtime autotuning function is disabled e The instantaneous speed observer function is disabled Disturbance torque Torque command ub Add to the direction d Ki that negates the disturbance Motor Speed p 0 r o D 5 o D O o D D lt TI c 5 ct O 5 Setting with Pn624 Filter Disturbance observer I Disturbance torque estimation value uonounj OU JO UIMNO L L1 9 la Precautions for Correct Use If there is a resonance point below the cut off frequency e
461. s submerged in oil or water Electric shock injury or fire may result Never connect a power supply directly to the Servomotor Fire or failure may result Do not perform wiring or any operation with wet hands Electric shock injury or fire may result Do not touch the key grooves with bare hands if a Servomotor with shaft end key grooves is being used Injury may result Install the Servomotor and Servo Drive before wiring them Electric shock may result The Servo Drive radiator Regeneration Resistor Servomotor etc may become hot while the power is supplied or remain hot for a while even after the power supply is cut off Never touch these components Burn injury may result Use the Servomotor and Servo Drive in a specified combination Fire or equipment damage may result al lal all dl de al Caution Do not store or install the Servo Drive in the following locations e Location subject to direct sunlight e Location where the ambient temperature exceeds the specified level e Location where the relative humidity exceeds the specified level e Location subject to condensation due to rapid temperature changes AN e Location subject to corrosive or flammable gases e Location subject to high levels of dust salt content or iron dust e Location subject to splashes of water oil chemicals etc e Location where the Servo Drive may receive vibration or impact directly Electric shock fire or equipment damage ma
462. sabled OFF when signal input is open with COM and enabled ON when signal input is shorted with COM mm OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 37 6 Applied Functions 6 10 Forward and Reverse Drive Prohibition Functions 6 10 1 Outline of the Function e f the Forward Drive Prohibition Input POT or Reverse Drive Prohibition Input NOT is turned OFF the motor will stop rotating e You can thus prevent the Servomotor from rotating outside of the operating range of the device by using limit inputs from the device connected to the Servo Drive 6 10 2 Parameters Requiring Settings Pn400 to Input Signal Selection 1 to 10 Set the input signal allocations and logic P 7 32 Pn409 These parameters are allocated by default as follows Pn400 CN1 pin 8 NOT Logic contact NC Pn401 CN1 pin 9 POT Logic contact NC Pn504 Drive Prohibition Input Set the operation to be performed when the P 7 43 Selection Forward and Reverse Drive Prohibition Input signal turns ON Pn505 Stop Selection for Drive Set the deceleration and stop methods used when P 7 43 Prohibition Input the Forward and Reverse Drive Prohibition Input signal turns ON i Input Signal Selection Function Default Settings Pn400 Pn401 These parameters are allocated by default as follows Default setting Parameter No Setvaue Position control Speed control Pn400 Input Signal Selection 1 00
463. se train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 5 Encoder Dividing Function 6 5 1 Outline of the Function e The encoder dividing function enables you to adjust the number of output pulses from the Servo Drive e The number of output pulses per motor rotation can be set in the range of 1 to the number of encoder resolution pulses e This function is useful in the following cases e When you use a controller with a low response frequency e When you want to set the pulse rate as a simple value Example lf the encoder resolution is 5 um pulse in a mechanical system that generates a movement of 10 mm per motor rotation set the encoder dividing ratio to 2 000 pulses rotation 6 5 2 Parameters Requiring Settings PnO11 Encoder Dividing Set the number of output pulses per motor rotation for Numerator phase A and B respectively p a m o o 2 D g lt 2 3 ae Tl c 3 o c Oo 5 Pn012 Encoder Output Select the phase B logic and the output source for pulse Direction Switching regeneration output Selection Pn503 Encoder Dividing Set the denominator if the number of pulses per motor P 7 42 Denominator rotation in pulse regeneration is not an integer Pn533 Pulse Regeneration Set whether to enable or disable the detection of Alarm No P 7 54 Output Limit Setting 28 0 Pulse regeneration error 0 Disabled 1 Enabled UOHOUNY OY JO euiinO L G 9 OMNUC G5 ser
464. section explains the items that must be checked when problems occur error diagnosis using the alarm LED display and measures error diagnosis based on the operating condition and measures and periodic maintenance 10 1 Actions for Problems rlllll llle 10 2 10 1 1 Preliminary Checks When a Problem Occurs 00000 ce eee 10 2 10 1 2 Precautions When a Problem Occurs 0 0000 eee ees 10 3 10 1 3 Replacing the Servomotor or Servo Drive 0 cee ee ee 10 4 10 2 Warning ESL ih Se tw EDI E oe Sie Seen eee yee ee 10 5 10 3 Alar mM EIS ack iweb ide ACRES beta x ed ties a nd d E iua 10 6 10 4 Troubleshooting jects sce 2m 8 xn mix Bal eset eee eo hte rm 10 10 10 4 1 Error Diagnosis with Alarm Displays llle 10 10 10 4 2 Error Diagnosis Using the Operation State 000 00 eee 10 17 10 5 Periodic Maintenance llllllllllrlr 10 21 10 5 1 Servomotor Life EXpecIan6y iu ec Rack aces v ache es s Rar ae e 10 21 10 5 2 Servo Drive Life Expectancy 0 ccc ees 10 22 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 1 10 2 10 Troubleshooting and Maintenance 10 1 Actions for Problems 10 1 1 Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical software required to determine the cause of a problem if one occurs i Checking the Power Su
465. selected using the output pulse direction selection parameter 2 G5 series Servo Drives Pulse train Input Type support incremental encoders only Do not use SEN outputs OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 87 3 Specifications e Cables for Open Collector Output 2 Axes AWG 18 twisted pair cable 1 m AWG168 twisted pair cable 1 m Red 24 VDC a Blue BKIRCOM Black 24 VDC GND Black BKIR NC Unit side XG4M 5030 T OMRON Servo Drive side for Axis 1 or 3 10150 3000PE Sumitomo 3M e EM input Common feta _BKIRCOM ed S WISPULSISFA Foer reion Capa 4g XC H GNESI Revere RE a Perenne e EXC E NE dfe tme BC Encoder Phasea 21 2 Essere LA 7 ae 5 Encoder Phasa A Odit Encoder Phase Z 3Z Encoder Phase Z Output Encogerse z 2 EO Ha eu Encoder Phase 2 ut O E t Erg Comal E H ta feast eer Ga Ree no Va Positioning Completion Input Http C C HS XE re PEE commie Tee oa memo PEt a teme mur mH tte oa l Signal Ground Signal Grown c Shel HEN E AWG18 twisted pair cable 1 m CL Blue BKIRCOM CI Black BKIR Servo Drive side for Axis 2 or 4 10150 3000PE Sumitomo 3M E 24 V Power Supply for Output za ee for Output zal NM PIE a InputCommon 50 H 10 BKIRCOM Forward Direction Pulse Output I CW PULS FA Reverse Pulses with 1 6 kQ resistor EP Wu CWI P
466. sembly prohibited e This symbol indicates a compulsory item an item that must be done The specific instruction is indicated using an illustration or text inside or near e The symbol shown to the left indicates grounding required o OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Safety Precautions Precautions for Safe Use of This Product Illustrations contained in this User s Manual sometimes depict conditions without covers and safety shields for the purpose of showing the details When using this product be sure to install the covers and shields as specified and use the product according to this User s Manual If the product has been stored for an extended period of time contact your OMRON sales representative N DANGER DPPPPPPPPP PPS Be sure to ground the frame ground terminals for the Servo Drive and Servomotor with 100 VAC or 200 VAC to 100 Q or less and for the Servo Drive and Servomotor with 400 VAC to 10 Q or less Electric shock may result Never put you hand inside the Servo Drive Electric shock may result While the power is supplied do not remove the front cover terminal covers cables and options Electric shock may result Operation maintenance or inspection by unauthorized personnel is prohibited Electric shock or injury may result Before carrying out wiring or inspection turn OFF the main circuit power and wait for at least 15 minut
467. series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 49 6 Applied Functions 6 16 Instantaneous Speed Observer Function 6 16 1 Outline of the Function The instantaneous speed observer function uses a load inertia to estimate the motor speed This improves the speed detection accuracy and can provide both high responsiveness and minimum vibration when stopping This function is available in the position control mode You can use the instantaneous speed observer function in the following situations e The servo is ON e he Servomotor can rotate normally without any failures e The realtime autotuning function is disabled Speed Torque command command Speed control Current control Speed estimation Instantaneous value speed observer Total inertia Load model Motor To position control position Servo amplifier 6 16 2 Parameters Requiring Settings Pn610 Function Expansion Set whether to enable or disable the instantaneous speed P 7 56 Setting observer function Pn004 Inertia Ratio 1 Set the first inertia ratio P 7 4 Pn100 Position Loop Gain Set the position loop gain P 7 10 Pn101 Speed Loop Gain Set the speed loop gain P 7 11 6 50 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 16 3 Operating Procedure 1 Set Inertia Ratio 1 Pn004 oet the inertia ratio as correctly as possible e f Inertia Rat
468. set Encoder Position Error Encoder position error encoder units Lower L Higher H Press Q to switch Lower L and Higher H Reserved Do not set Reserved Do not set P N Voltage P N Voltage V is displayed Software Version e This indicates the software version of the Servo Drive Display example Ver 1 23 8 16 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 Operation Drive Serial Number Amplifier Serial Number Amplifier Serial Number HH Amplifier Serial Number Lower L Higher H n n Press A 2 to switch Lower L and Higher H Display example For serial number 09040001 Motor Serial Number a ao Serial Number n _ Motor Serial Number iit Motor Serial Number a Lower L Higher H Y S Press A to switch Lower L and Higher H Display example For serial number 09040001 we T N z o o z o D OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 8 17 8 Operation Accumulative Operation Time Accumulative Operation Time h is displayed Press Q to switch Lower L and Higher H Automatic Motor Recognition Function Automatic Recognition Enabled AudofF Automatic Recognition Disabled Drive Temperature and Encoder Temperature The temperature C is displayed Press A 2 to switch the desired
469. set added to the torque command when a forward direction position command is input in the position control mode Pn609 Reverse Direction Torque Set the dynamic friction compensation value that is P 7 55 Offset added to the torque command when a reverse direction position command is input in the position control mode 6 44 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 13 3 Operation Example Torque Command Value Offset Pn607 reduces the variations of positioning operations due to the movement directions when a certain amount of unbalanced load torque is always applied to the motor at the vertical axis by setting the torque command value By setting the friction torque for each rotation direction in Forward Direction Torque Offset Pn608 and Reverse Direction Torque Offset Pn609 you can reduce the deterioration of and inconsistencies in the positioning stabilization time due to dynamic friction for loads that require a large amount of dynamic friction torque due to a radial load such as the belt driven shaft Command speed Forward direction Pn608 Forward Direction Torque Offset Pn607 0 N Pn609 Torque Command Reverse Direction VaueOfset N 1 Torque Offset Reverse direction Motor Motor de energized Motor power supply de energized la Precautions for Correct Use You can use unbalanced loa
470. set value x 1 ms or the time until the motor rotation speed falls to the setting speed or lower in Brake Release Speed Setting Pn439 whichever is shorter e For details refer to 6 6 Brake Interlock on page 6 18 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn439 Brake Release Speed Setting Setting 30 to 3 000 r min Default Cycle the range setting power supply Pn438 set value Released ON Applied OFF wu Motor rotation speed i Pn439 set value HN NER c bes the set time in Pn438 Pn438 set comes earlier value _ P Released ON Applied OFF t1 Motor rotation speed Pn439 set value eS Ss When the time to reach the set value or less in Pn439 comes earlier Pn440 Warning Output Selection 1 Setting 0 to 10 Default Cycle the range setting power supply Explanation of Set Values Set value Description SJ9 9UIBJE8d bumes JOHUuOJ N 39 19 U G Z 0 OR output for all types of warnings Overload warning Excessive regeneration warning 7 Battery warning Fan warning Encoder communications warning Encoder overheating warning Vibration detection warning Service life detection warning OO CO N oO AJI W NM Reserved Do not set O Reserved Do not set e For the setting method refer also to 10 2 Warning List on page 10 5 Pn441 Warning
471. set with VSEL1 VSEL2 and VSEL3 internally set speed selection 1 2 and 3 e Pn300 1 No VSEL1 VSEL2 VSEL3 Set speed e Pn300 3 No VSEL1 VSEL2 VSEL3 Set speed OFF OFF OFF Pn304 OFF OFF Pn305 Pn308 M ojoc ajojn o O TI TI O TI TI O Z Operation Example e Internally set speed control with 4 speed changes when Pn300 is set to 1 Operation Command RUN L Servo ON Zero Speed Specified VZERO Stop 1 Drive m Internally Set Speed Selection 1 VSEL1 Open Closed Closed TTE Internally Set Speed Selection 2 VSEL2 e pen Closed Closed Speed 1 The acceleration time deceleration time and S curve acceleration deceleration time can be set in parameters Pn312 Pn313 and Pn314 respectively OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 5 Basic Control Mode la Precautions for Correct Use If more than one internally set speed selection signal is switched at the same time e g as when switching from Speed 2 to Speed 3 an internally set speed signal in the process of switching may be temporarily selected For example Speed 1 or Speed 4 may be temporarily selected The internally set speed command may be temporarily performed with a sudden change especially if the acceleration or deceleration time is set to O or small value or if the speed difference between internally set speed commands is large Use this function with the following precautions
472. setting power supply Do not set 7 52 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Parameter Details Pn528 Default Display Setting 0 to 35 Default Cycle the range setting power supply Explanation of Set Values Set value Description 0 Position command error 1 Motor speed 2 Position command speed 3 Speed control command 4 Torque command 5 Total encoder pulses 6 Total command pulses 8 Reserved Do not set 9 Control mode 10 I O signal status 11 Reserved Do not set P 12 Alarm factor history 13 Warning number a 14 Regeneration resistance load ratio 15 Overload load ratio 3 16 Inertia ratio T 17 Reason for no rotation a 18 Display of the number of I O signal changes 20 Reserved 7 Do not set 21 Reserved Do not set 22 Monitor for the number of encoder communications errors 23 Reserved Do not set 24 Position error for each encoder 25 Reserved Do not set 26 Reserved Do not set 27 P N voltage 28 Software version 29 Drive serial number 30 Motor serial number 31 Accumulative operation time 32 Automatic motor recognition function 33 Temperature information 35 Reserved Do not set e Select the type of data to be displayed by default on the 7 segment front panel display when the power supply is powered on OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 53 Parameter Details e For details about t
473. sions 1 000 r min Servomotors 200 V e 900 W without Brake R88M KE90010H S2 e 900 W with Brake R88M KE90010H B S2 Motor and brake connector Encoder connector Shaft end specifications with key and tap 70 Ty A M5 depth 12 Dimensions mm RH88M KE90010LI 156 5 111 5 136 5 H88M KE90010LI BLI 184 5 139 5 164 5 Model Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 38 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions e 2 kW 3 kW without Brake R88M KE2K010H S2 KE3K010H S2 e 2 kW 3 kW with Brake R88M KE2K010H B S2 KE3K010H B S2 Motor and brake connector at lt A m x eh D 5 D o 2 2 o c 2 ex 2 e z 3 e 2 o o 2 0 Shaft end specifications 1176 with key and tap Encoder connector M3 through Dimensions mm R88M KE2K0100 144 5 R88M KE3K0100 190 5 R88M KE2K0100 BO 173 5 R88M KE3K0100 BO 219 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are
474. sonance Characteristics Notch filter 3 after filtering Notch filter 1 Notch filter 2 6 8 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions 6 3 2 Parameters Requiring Settings Notch 4 Depth Setting Select the depth of the notch filter 4 center frequency Details are the same as those of Notch 1 Depth Setting 1 If an adaptive filter is used these parameters are set automatically l Precautions for Correct Use e Identify the resonance frequency using the frequency characteristics measurement function resonance frequency monitor or operation waveform of the waveform graphics function of CX Drive and set the identified frequency as the notch filter frequency OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Pn201 Notch 1 Frequency Setting Set the center frequency of notch filter 1 P 7 20 The notch filter is enabled at 50 to 4 999 Hz and disabled at 5 000 Hz Pn202 Notch 1 Width Setting Select the width of the notch filter 1 frequency P 7 20 Increasing the value widens the notch width Setting range 0 to 20 Pn203 Notch 1 Depth Setting Select the depth of the notch filter 1 center frequency P 7 20 Increasing the value decreases the notch depth and thereby reduces the phase delay The notch filter is disabled if 100 is set Setting range 0 to 99 Pn204 Notch 2 Frequency Setting Set the center frequency
475. sted pair cables and connect each end of those shielded cables to the frame ground e f 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 drive input section or the controller output section e For open collector specifications keep the length of wires to within two meters Em oo 3 e O o o 3 3 e gis o m O g D O 2 lt D o0 sjueuoduJo uornoeuuo funoejes z g p OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 35 4 System Design Reactor to Reduce Harmonic Current e Harmonic Current Measures Use a Reactor to suppress harmonic currents The Reactor functions to suppress sudden and quick changes in electric currents e Select the proper Reactor model according to the Servo Drive to be used Reactor Servo Drive model Rated Reactor current type R88D KPO1H For single phase input 3G3AX DL2002 21 4 mH DC reactor R88D KPO2H For single phase input 3G3AX DL2004 10 7 mH R88D KPO4H For single phase input 3G3AX DL2007 6 75 mH R88D KP08H 3G3AX DL2015 9 3A 3 51 mH R88D KP10H For single phase input R88D KP15H For single phase input 3G3AX DL2022 13 8A 2 51 mH R88D KP01H 3G3AX AL2025 10 0A 2 8 mH AC reactor R88D KP02H R88D KP04H R88D KP08H R88D KP10H R88D KP15H For 3 phase input R88D KP20H 3G3AX AL2055 20 0 A 0 88
476. stimated by the disturbance observer or if the disturbance torque contains a large amount of high frequency content the disturbance observer may not produce the expected results OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 41 6 Applied Functions 6 11 2 Parameters Requiring Settings Pn610 Function Expansion Setting Set the bits related to the disturbance observer P 7 56 Pn623 Disturbance Torque Set the compensation gain for the disturbance torque P 7 58 Compensation Gain Pn624 Disturbance Observer Filter Set the filter time constant for disturbance torque P 7 58 Setting compensation 6 11 3 Operating Procedure 1 Set Function Expansion Setting Pn610 oet whether to enable or disable the disturbance observer in bit 1 0 Disabled 1 Enabled oet the operating conditions for enabling the function in bit 2 0 Enabled at all time 1 Enabled only when Gain 1 is selected 2 Set Disturbance Observer Filter Setting Pn624 Set a small value in Disturbance Torque Compensation Gain Pn623 Change the value in Disturbance Observer Filter Setting Pn624 from a large value to a smaller one to determine a setting that provides a balance between the effect of suppressing the influence of disturbance and the operating noise level 3 Set Disturbance Torque Compensation Gain Pn623 Change the value of Disturbance Torque Compensation Gain Pn623 from a small value to a larger value to determin
477. supply R88D KPLIH 3 to 5 kW 3 phase 200 to 230 VAC input 170 to 253 VAC 50 60 Hz Control circuit power R88D KPLIH Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz supply input External Regeneration Normally B2 and B3 are shorted Do not short B1 and B2 Doing so may Resistor connection result in malfunctioning terminals If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 Do not connect Motor connection Red These are the output terminals to the Servomotor terminals Be sure to wire them correctly Green Yellow This is the ground terminal Ground to 100 Q or less la Precautions for Correct Use Do not connect any External Regeneration Resistors between B1 and NC OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design i Terminal Block Wire Sizes e 200 VAC Input Drive Wire Sizes R88D KPLILIH Model R88D KP0O8H KP10H Item Unit Mini i Rated current 1 6 0 9 2413 41 24 66 26 9 1 5 2 surely input Wes AWG 14 to 1 AWG 14 an or L1 L2andl3 Seewsze NE NE EE EN E Tightening torque tme dm Lee e Control circuit Wire size AWG 18 power supply input Screwsize BEEN B L1C and L2C C D gt N 5 5 Motor connection Rated current 1 2 bo Wiresize AWG 14 U V W ana Screw size F 2 Z Tighten
478. t ECRST Setting not available Torque Limit Switching TLSEL 89 hex Damping Filter Switching 1 DFSEL1 8A hex Damping Filter Switching 2 8B hex Electronic Gear Switching Input 1 8C hex Electronic Gear Switching Input 2 8D hex No 1 Internally Set Speed 8E hex No 2 Internally Set Speed VSEL2 8F hex No 3 Internally Set Speed VSEL3 90 hex Zero Speed Designation Input VZERO 91 hex Speed Command Sign Input VSIGN 92 hex Emergency Stop Input STOP 94 hex Inertia Ratio Switching Input J SEL 95 hex 1 The Operation Command RUN must be allocated Servo cannot be turned ON if it is not allocated p O D 2 c 5 o D O HL amp 5 D 0 2 Allocate this signal to Input Signal Selection 7 Pn406 If it is allocated to any other signal an alarm will occur sjeubis 1ndu 2 6 9 3 Allocate this signal to Input Signal Selection 10 Pn409 If it is allocated to any other signal an alarm will Occur l Precautions for Correct Use e Do not use any values other than the settings listed e f you allocate the same function to more than one input signal Interface Input Duplicate Allocation Error 1 Alarm No 33 0 or Interface Input Duplicate Allocation Error 2 Alarm No 33 1 will occur e Error Counter Reset Input ECRST can be allocated only to Input Signal Selection 7 Pn406 If it is allocated to other signals Counter Reset Allocation Error Alarm No 33 6 will occur e Pulse Prohibition Input IPG can be allo
479. t Signal Selection 9 Setting 0 to OOFFFFFF hex Default 328 965 Cycle the range setting power supply Pn409 Input Signal Selection 10 Setting 0 to OOFFFFFF hex Default 3 720 Cycle the range setting power supply Pn410 Output Signal Selection 1 Setting 0 to OOFFFFFF hex Default 197 379 Cycle the range setting power supply 7 32 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn411 Output Signal Selection 2 Setting 0 to OOFFFFFF hex Default 131 586 Cyclethe Required range setting power supply Pn412 Not used Setting Default Cycle the range setting power supply Pn413 Output Signal Selection 4 Setting 0 to OOFFFFFF hex Default 328 964 Cyclethe Required range setting power supply e For the setting method refer also to 6 9 Sequence I O Signals on page 6 33 Pn416 Analog Monitor 1 Selection Setting 0 to 21 Default Cycle the range setting power supply Explanation of Set Values Description Set value Output gain when Position command speed 900 Internal position command speed 2 900 Speed control command 500 Posioncommandemr o o 3 000 Encoder position error 9 Pulses encoder units 3 000 Reserved 3 000 eme 0000 o 8 Reserved 3 000 eme o o LENS eo SJojoujeJed Dunes JOUN e2ejioju G Z 7 J O1 BB n 15 Inertia ratio 500 16 Reserved eme 0 o 17 Reserved 1 FON 18 Reserved fom 33 OMNUC G5 s
480. t Speed 306 No 3 Internally Set the third internal soeed command value r min Set Speed 307 No 4 Internally Set the fourth internal soeed command value r min Set Speed 308 No 5 Internally Set the fifth internal soeed command value r min Set Speed 309 No 6 Internally Set the sixth internal soeed command value r min Set Speed 310 No 7 Internally Set the seventh internal soeed command value r min Set Speed 311 No 8 Internally Set the eighth internal soeed command value r min Set Speed 312 Soft Start Set the acceleration time relative to the speed Acceleration command Time 0 to 10 000 0 to 10 000 ms 0 to 1 000 313 Soft Start Set the deceleration time relative to the speed Deceleration command Time 314 S curve Set the acceleration or deceleration S curve Acceleration time for the speed command Deceleration Time Setting OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 19 Appendices Pn Default Setting J clethe Description power No setting range supply 315 Zero Speed Select the zero speed designation input 0 to 3 Designation ZEROSPD function Selection Disabled Sets the speed command value to 0 Sets the speed command value to 0 and causes a servo lock if the actual speed reaches 0 or less 3 Sets the speed command value to 0 and causes a servo lock if the speed command
481. t Type AC Servomotors and Servo Drives User s Manual 5 9 5 Basic Control Mode Speed Command Acceleration Deceleration Setting Function Pn312 Pn313 Pn314 With a step speed command the speed command can be changed based on the setting to reduce the shock caused by change in acceleration range Pn312 Soft Start Acceleration Set the acceleration time for the 0 to 10 000 ms Time speed command input 1 000 r min Pn313 Soft Start Deceleration Set the deceleration time for the 0 to 10 000 ms Time speed command input 1 000 r min Pn314 S curve Acceleration Set the first internal speed 0 to 1 000 ms Deceleration Time Setting e Soft Start Acceleration Time Pn312 and Soft Start Deceleration Time Pn313 For a step speed command input set the time until the command speed reaches 1 000 r min in Soft otart Acceleration Time Pn312 Similarly set the time until the command speed slows from 1 000 r min down to 0 r min in Soft Start Deceleration Time Pn313 Soft Start Acceleration Time ms Vc 1 000 x Pn312 x 1 ms Soft Start Deceleration Time ms Vc 1 000 x Pn313 x 1 ms Step speed command input opeed command after acceleration or 1 000 r min L2 Lo LL M Loo c LLL LLL EN deceleration process Speed r min Pn312 x 1ms Pn313x 1 ms 5 10 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 5 Basic Control Mode S curve Acceleration Deceleration Time Setting Pn314 S
482. t and Motor Connections When wiring the main circuit use proper wire sizes grounding systems and noise resistance R88D KP01H KP02H KP04H KP08H KP10H KP15H e Main Circuit Connector Specifications CNA L1 Main circuit power R88D KPLIH Lo Supply input 50 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz L3 100 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz Note Single phase power supply must be connected to L1 and L3 L1C Control circuit power R88D KPLIH Single phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz L2C supply input e Motor Connector Specifications CNB B1 External Regeneration R88D KPO1H KPO2H KPOAH pa Resistor connection Normally do not short B1 and B2 Doing so may result in a malfunction If B2 terminals there is high regenerative energy connect an External Regeneration Resistor between B1 and B2 RH88D KPO08H KP 1 0H KP 15H Normally B2 and B3 are shorted Do not short B1 and B2 Doing so may result in a malfunction If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 U Motor connection V terminals PhaseU These are the output terminals to the Servomotor Phase V Be sure to wire them correctly Phase W la Precautions for Correct Use Tighten the ground screws to a torque of 0 7 to 0 8 N m M4 or 1 4 to 1 6 N m M5 3 6 OMNUC G5 serie
483. t can be set is limited as follows Upper limit Corresponding damping frequency Lower limit Damping frequency Damping filter setting 2 100 For the setting method refer also to 6 7 Damping Control on page 6 3 Damping Frequency 4 0 to 2 000 0 1 Hz Default Cycle the setting power supply oet Damping Frequency 4 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz The range of setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is O to 0 9 Hz For the setting method refer also to 6 1 Damping Control on page 6 3 Damping Filter 4 Setting Position O to 1 000 0 1 Hz Default Cycle the setting power supply When Damping Frequency 4 Pn220 is set reduce this value if torque saturation occurs or increase this value to improve the operation speed Normally use a setting of 0 The value that can be set is limited as follows Upper limit Corresponding damping frequency Lower limit Damping frequency Damping filter setting 2 100 For the setting method refer also to 6 7 Damping Control on page 6 3 SJ9 ourjeJed uoissejddng uoneaqiA Z 7 7 Parameter Details Pn222 Position Command Filter Time Constant Setting O to 10 000 0 1 ms Default Cycle the range setting power supply e Position Command Filter Time Constant is the first order lag filter that is inserted after the electronic gear r
484. t this parameter if the gain switching function 1 0 to 1 Input Operating is used for optimal tuning Mode Selection pog Gain 1 PI P switching is enabled Gain 1 Gain 2 switching is enabled A 14 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Pn m Default Setting clethe Description power No setting range supply 115 Switching Mode in Select the conditions for switching the position 0 to 10 control gain Position Control P114 must be set to 1 F 39 Always Gain 1 Always Gain 2 2 Switching using gain switching input GSEL 3 Amount of change in torque command Always Gain 1 Command speed 6 Amount of position error p N U f 3 D e D r o Command pulse input Positioning completion output INP OFF 38 j Actual motor speed 10 Combination of command pulse input and motor speed 116 Gain Switching Set the delay time when switching from Gain 2 50 0 1 0 to Delay Time in to Gain 1 ms 10 000 Position Control 117 Gain Switching Set the gain switching level 50 0 to Level in 20 000 Position Control 118 Gain Switching Set the hysteresis in gain switching 33 0 to Hysteresis in 20 000 Position Control 119 Position Gain Set the position gain switching time in gain 33 0 1 0 to Switching Time switching ms 10 000 120 Switching Select the conditions for switching
485. te stop function occurs in the Servo Drive during an immediate stop an alarm state will occur immediately To prevent the Servomotor from running out of control during an immediate stop set an allowable overspeed level in Overspeed Detection Level Setting at Immediate Stop Pn615 An Overspeed 2 alarm Alarm No 26 1 does not support the immediate stop function and if it occurs causes an alarm trip However if this allowable level is lower than the value set in Overspeed Detection Level Setting Pn513 the Servomotor does not stop immediately because the Overspeed 2 alarm Alarm No 26 1 occurs before the Overspeed alarm Alarm No 26 0 The Servomotor also does not stop immediately if Alarm No 26 0 and Alarm No 26 1 are detected simultaneously because even though Alarm No 26 0 is indicated Alarm No 26 1 is also generated internally Immediate Stop Torque 0 to 500 Default Cycle the setting power supply e Set the torque limit for the following cases e During deceleration with Stop Selection for Drive Prohibition Input Pn505 set to 2 e During deceleration with Stop Selection with Main Power Supply OFF Pn507 set to 8 or 9 e During deceleration with Stop Selection with Servo OFF Pn506 set to 8 or 9 e The normal torque limit is used if this parameter is set to 0 e The unit is 0 1 of the rated torque OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 47 SJ9 9UulBJed popuog xX3 9 2
486. th Brake R88A CALILILILILIBR Brake Cables 50 to 750 W max e Global Non Flexible Cable R88A CAGALILILIB e Global Flexible Cable R88A CAGALILILIBR e OMNUC G5 series Pulse train Input Type AC Servomotor R88M KE Feedback Signals Encoder Cables e Global Non Flexible Cable R88A CRGLILILIEIEI e Global Flexible Cable R88A CRGLILILILILIR 3 000 r min 2 000 r min 1 000 r min e Backlash 3 Arcminutes max R88G HPG e Backlash 15 Arcminutes max R88G VRSF N I o D lt e o lt 0 D 3 O te zh e c fo ct s 3 2 Models and External Dimensions 2 2 How to Read Model Numbers 2 2 1 Servo Drive The Servo Drive model number tells the Servo Drive type applicable Servomotor capacity power supply voltage etc R88D KP01H OMNUC G5 series Servo Drive BEEN Drive Type P Pulse train input type Maximum Applicable Servomotor Capacity 01 100 W 02 200 W 04 400 W 08 750 W 10 1 kW 15 1 5 kW 20 2 kW 30 3 kW 50 5 kW Power Supply Voltage H 200 VAC 2 4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions 2 2 2 Servomotor R88M KE10030H BOS2 OMNUC G5 series Servomotor ee Motor Type E Economy type T N T o s J D D Q o 2 o c 3 oy o m Servomotor Capacity 050 50W 100 100 W 20
487. the SEMI F47 standard for momentary power interruptions voltage sag immunity for no load or light load operation e This standard applies to semiconductor manufacturing equipment Note 1 It does not apply to Servo Drives with 24 VDC specifications for the control power input 2 Always perform evaluation testing for SEMI F47 compliance in the actual system 1 10 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Models and External Dimensions This section explains the models of Servo Drives Servomotors Decelerators and peripheral devices and provides the external dimensions and mounting dimensions 2 1 Servo System Configuration 000 eee es 2 2 2 2 How to Read Model Numbers eere ees 2 4 2 2 1 SS VO DIN Cece ars dor tirs yc ee aon dine eas ey dus AE A ee LE Me 2 4 22252 SSOLUOHIDIOE 2 edt etae dU as C COS RE DOS eu TO eee ey 2 5 2 2 3 Decelerator Backlash 3 Arcminutes max 0 00 0 eee eee 2 6 2 2 4 Decelerator Backlash 15 Arcminutes max 0000 eee eee eee 2 7 2 3 M dellableS irr uoi eR Ex ERI xDbRGDe GUAE Dani Qu ER VOS paco sed 2 8 2 3 1 Servo Drive Model Table 0 0 0000 ee RR 2 8 2 3 2 Servomotor Model Tables 0 0 ccc ee ee 2 8 2 3 3 Servo Drive and Servomotor Combination Tables 2 11 2 3 4 Decelerator Model Tables 0 000000 ccc ee ees 2 12 2 3 5 Cable and Peripheral Device Mo
488. the alarm reset operation is repeated at short intervals the motor windings may burn out 3 2 1 Overload Characteristics Graphs The following characteristics graphs show the relationship between the load ratio and electronic thermal function s operation time uonounJ SUCEID sonsuoejoeJeu peono L Z D Jeuu9u 291u04199 3 SONSH9 DeIEU peo I9AQ Z Time s 100 ARSE EE EES 200 V FS el ninm 3 000 r min Servomotors 50 to 750 W th de 50 W iN C a ee 100 W 10 L4 N N D 200 W I 750W 1 ceu E mE I TELEELLEEERRLLLTTE MELEE eo FREE EEE EEE EEE EE iA n 1 l 0 1 100119 450 200 250 300 Load ratio 200 V 3 000 r min Servomotors 1 to 5 kW 2000 r min Servomotors 1000 r min Servomotors 100 300 Load ratio 96 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 35 3 Specifications 3 3 Servomotor Specifications 3 3 1 The following types of OMNUC G5 Series AC Servomotors Pulse train Input Type are available e 3 000 r min Servomotors e 2 000 r min Servomotors e 1 000 r min Servomotors There are various options available such as models with brake or different shaft types oelect a Servomotor based on the mechanical system s load conditions and the installation environment General Specifications 2 000 r min
489. the belt tension will be placed on the motor shaft Do not allow a load that exceeds the allowable radial load to be placed on the motor shaft If an excessive radial load is applied the motor shaft and bearings may be damaged e Set up a movable pulley in the middle of the motor shaft and the load shaft so that the belt tension can be adjusted Tension adjustment Set a movable structure UN Belt DI Tension Water and Drip Resistance e The protective structure for the motors is as follows Equivalent to IP65 except for through shaft parts OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design Oil water Measures Use the Servomotor with an oil seal if you are using it in an environment where oil drops can adhere to the through shaft part The operating conditions of the Servomotor with an oil seal are as follows e Keep the oil level below the lip of the oil seal e Prepare a good lubricated condition under which only oil droplets splash on the oil seal e f you are using the Servomotor with the shaft in upward direction make sure that no oil accumulates on the lip of the oil seal Radiator Plate Installation Conditions e When you mount a Servomotor onto a small device be sure to provide enough radiation space on the mounting area Otherwise the Servomotor temperature rises too high One of the preventive measures is to install a radiator plate betwee
490. the operation is the same as that of the 2 048 pulses rotation Servomotor Servo Drive Servomotor Encoder Resolution 20 bits 2 048 pulses Electronic Gear Ratio Numerator 1 Pn009 1 048 576 pulses EE Electronic Gear Ratio Denominator Pn010 512 1 048 576 1 2 048 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 13 p I m D O a o 3 o C D D Tl c 5 o ct o 3 jdwexg uonejedo p 9 6 Applied Functions la Precautions for Correct Use e Set the parameters so that the result calucurated by multiplying the command pulse by the electronic gear ratio does not exceed 175 Mpps If it exceeds 175 Mpps Alarm No 27 2 will occur Example When using an incremental encoder resolution 1 048 576 If the electronic gear ration is 500 Pn008 500 and the command pulse value is 100 kpps 100 kpps x 1 048 576 500 209 715 200 209 7152 Mpps This exceeds 175 Mpps If the electronic gear ration is 5 000 Pn008 5 000 and the command pulse value is 100 Kpps 100 kpps x 1 048 576 5 000 20 971 520 20 97152 Mpps This does not exceed 175 Mpps 1 Alarm No 27 2 will occur if 3 Gpps is exceeded when using software version 1 10 or higher The software version can be checked on the front panel or with the CX Drive For information on checking the software version on the front panel refer to 8 4 Mode Setting on page 8 6 OMNUC G5 series Pul
491. the speed 0 to 5 Mode in Speed control gain Control Pn114 must be set to 1 Always Gain 1 1 AwaysGain2 AwaysGan2 2 Switching using gain switching input GSEL Amount of change in torque command 4 Amount of change in speed command Command speed 121 Gain Switching Set the delay time when switching from Gain 2 0 1 0 to Delay Time in to Gain 1 ms 10 000 Speed Control 122 Gain Switching Set the gain switching level 0 to Level in Speed 20 000 Control 123 Gain Switching Set the hysteresis in gain switching 0 to Hysteresis in 20 000 Speed Control IPA Resened Jones i Jw qp l OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 15 Appendices Pn P Default Setting pis No P setting range p 125 Do not set supply 126 Do not set 127 Do not set z j 2 3 4 b 6 7 The default setting is 320 for a Servo Drive with 200 V and 1 kW or more The default setting is 180 for a Servo Drive with 200 V and 1 kW or more The default setting is 310 for a Servo Drive with 200 V and 1 kW or more The default setting is 126 for a Servo Drive with 200 V and 1 kW or more The default setting is 380 for a Servo Drive with 200 V and 1 kW or more The default setting is 180 for a Servo Drive with 200 V and 1 kW or more The default setting is 126 for a Servo Drive with 200 V and 1 kW or more OMNUC G5 series Pulse train Input Type
492. tio Electronic Gear Ratio Numerator 4 Pn502 DUNS IOS Electronic Gear Ratio Denominator Pn010 503 Encoder Set the denominator if the number of pulses per 0 to Required Dividing motor rotation is not an integer in pulse 262 144 Denominator regeneration 504 Drive Set the operation to be performed upon forward 1 Oto2 Required Prohibition reverse drive prohibition input Input Selection Forward or reverse drive prohibition input enabled 1 Forward or reverse drive prohibition input disabled 2 Forward or reverse drive prohibition input enabled 505 Stop Selection Make the setting upon drive prohibition input Oto2 Required for Drive The torque in the drive prohibit Prohibition direction is disabled and the Input dynamic brake is activated 1 The torque in the drive prohibit direction is disabled and free run deceleration is performed 2 The torque in the drive prohibit direction is disabled and an immediate stop is performed A 24 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Default Setting SENT Description power setting range supply 506 Stop Selection Set the stop operation to be o when 0 to 9 with Servo OFF the servo is a During deceleration Dynamic brake After stopping Dynamic brake Error counter Clear During deceleration Free run After stopping Dynamic brake Error counter Clear During deceleration Dynamic brake After s
493. tion command RUN Brake interlock Released Held output BKIR Actual brake Released lt tb Held No power Motor power Power supply is supplied supply Pn437 4 M Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay time in the brake operation tb Brake Timing when Stopped set value x 1 ms tb e For details refer to 6 6 Brake Interlock on page 6 18 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 39 SJ9 9UIBJE8d bumes JOHUuOJ N 39 19 U G Z 7 7 Parameter Details Pn438 range Brake Timing during Operation Setting O to 10 000 Default Cycle the setting power supply e Set the time required for the Brake Interlock Output BKIR CN1 pin 10 to turn OFF after the Operation Command RUN CN1 pin 29 is detected to be OFF when servo OFF status is entered while the Servomotor is operating When the Operation Command RUN turns OFF while the Servomotor is operating the motor decelerates to reduce rotation speed and the Brake Interlock Output BKIR turns ON after the set time set value x 1 ms elapsed Operation Command RUN Brake Interlock Released Held Output BKIR je 1 No power Motor power Power supply is supplied supply Motor speed The smaller value of Pn438 and Pn439 TB in the above figure is the setting time in Brake Timing During Operation Pn438
494. tion described under After stopping independent of the actual motor speed 4 The position error is always cleared to zero 7 44 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn507 Stop Selection with Main Power Supply OFF Setting 0 to 9 Default Cycle the range setting power supply Explanation of Set Values Description v cliche Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear e f an alarm occurs with the main power supply OFF the Servomotor will operate according to the value set in Stop Selection for Alarm Detection Pn510 If the main power supply is turned OFF with the servo ON and Undervoltage Alarm Selection Pn508 is set to 1 the Servomotor will operate according to the value set in Stop Selection for Alarm Detection Pn510 because a Main Power Supply Undervoltage AC cut off detection alarm Alarm No 13 1 occurs e The dynamic brake is designed only for immediate stop Configure the system to stop for about three minutes after the dynamic brake operates 1 Immediate stop means stopping the Servomotor immediately by using control with the servo ON The torque command value at this time is limited by the value set in Immediate Stop Torque Pn51 1 2 If the position command is supplied continuously or if the Servomotor rotates continuously with the main power supply OFF a Error Counter Overflow Alarm No 24 0 may o
495. tions The limit depends on the operation conditions When using the Servo Drive in continuous operation use fans or air conditioners to maintain the ambient temperature below 40 C We recommend that the ambient temperature and the power supply ON time be reduced as much as possible to lengthen the service life of the Servo Drive The limit of aluminum electrolytic capacitors is greatly affected by the operating ambient temperature Generally an increase of 10 C in the operating ambient temperature will reduce capacitor service life by 50 The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no power supplied If the Servo Drive is not used for a long time we recommend periodic inspection and a part replacement period of 5 years If the Servomotor or Servo Drive is not to be used for a long time or if they are to be used under conditions worse than those described above a periodic inspection period of 5 years is recommended Upon request OMRON will inspect the Servo Drive and Servomotor and determine if part replacement is required OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices The appendices provide connection examples with OMRON s PLC and Position Controller as well as lists of parameters A 1 Connection Examples leeelee eren A 2 A 2 Parameter LISE Eus uu REPE x Edu A 11 OMNUC G5 series Pulse train In
496. to the input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 The Pulse Prohibition Input IPG can be allocated only to pin 33 S110 Otherwise a Pulse Prohibition Input Allocation Error A337 will occur e Function This input signal enables to forcibly stop the command pulse input When this input signal is ON the Servo Drive does not count pulses while ignoring the command pulse input I Internally Set Speed Selection 1 2 and 3 VSEL1 2 and 3 Pin 33 Internally Set Speed Selection 1 VSEL1 Pin 30 Internally Set Speed Selection 2 VSEL2 Pin 28 Internally Set Speed Selection 3 VSEL3 This is the default allocation Remember however that Command Speed Selection Pn300 is set to 1 enabled by default Change the value set in Command Speed Selection Pn300 to 1 or 3 enabled before attempting to change the internally set speed The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 e Function The internally set speed function performs the speed control according to the internally set speed value in the parameter You can select the desired motor speed from up to eight internally set speed values boo VSEL1 VSEL2 VSEL3 Speed command selection 1 OFF OF Internally Set Speed 1 Pn304 ON OFF Internally Set Speed 2 Pn305 OFF ON Inter
497. to the position error status e Use this parameter in combination with Positioning Completion Range 1 Pn431 to set the behavior of the positioning completion output INP CN1 pin 39 Pn433 Positioning Completion Hold Time Setting 0 to 30 000 Default Cycle the range setting power supply e The positioning completion hold time is infinite when Pn433 is set to 0 and the ON status will be held until the next position command is input OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 37 SJ9 9UIBJE8d bumes JOHUuO N 39 19 U G Z 7 7 Parameter Details Pn434 Zero Speed Detection Setting 10 to 20 000 r min Default Cycle the range setting power supply e Set the general purpose output timing as rotation speed r min e The general purpose output 1 ZSP turns ON when the motor speed is lower than the set value of this parameter e The set value of this parameter is valid in both forward and reverse directions regardless of the actual motor rotation direction This setting has a hysteresis of 10 r min Forward Speed Pn434 10 r min gt Pn434 10 r min OUTM1 ON Pn435 opeed Conformity Detection Range Setting 10 to 20 000 r min Default Cycle the range setting power supply e The Speed Conformity Output signal will output if the speed command value matches the motor speed e his setting has a hysteresis of 10 r min for detection Speed Conform
498. too large Check to see if there is a mechanical resonance Check to see if the control signal wiring of the Servo Drive is too long Check to see if the control signal line and power supply line are bound together Check to see if positional deviation occurs in the coupling between mechanical systems and the Servomotor Check to see if the control signal line and power supply line are bound together Check to see if the cable is a common shielded twisted pair cable with at least 0 08 mm core wires Check the length of the control I O signal cable Check for the following e Is the load too high e Is the motor speed too high Measures e Readjust the Torque Command Filter Time Constant values If there is a resonance set the following parameters Notch 1 Frequency Setting Pn201 Notch 1 Width Setting Pn202 Notch 1 Depth Setting Pn203 Shorten the control signal line e Move the control signal line away from power supply line e Use a low impedance power supply for control signals Correct the coupling between mechanical systems and the Servomotor Take measures against noise for example separating the control signal line from the power supply line Use a control I O signal cable that meets the specifications Limit the wiring length of the control I O signal cable to 10 m or less for line driver input and 3 m or less for open collector input Perform manual tuning
499. topping Servo free Error counter Clear During deceleration Free run After stopping Servo free Error counter Clear During deceleration Dynamic brake After stopping Dynamic brake Error counter Hold During deceleration Free run After stopping Dynamic brake Error counter Hold During deceleration Dynamic brake After stopping Servo free Error counter Hold During deceleration Free run After stopping Servo free Error counter Hold During deceleration Emergency stop After stopping Dynamic brake Error counter Clear During deceleration Emergency stop After stopping Servo free Error counter Clear 507 Stop Selection Set the stop operation to be performed when 0 to 9 with Main the main power supply is turned OFF Power Supply The set values for this parameter are the same OFF as those of Stop Selection with Servo OFF Pn506 508 Undervoltage Select whether to allow an LV trip or turn OFF 1 0 to 1 Alarm the servo when a main power supply alarm Selection occurs 509 Momentary Set the Main Power Supply Alarm detection 70 1 ms 70to Required Hold Time time 2 000 p N U f 3 D e D r o OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 25 Appendices Pn Default Setting Cyclethe Description power No setting range supply 510 Stop Selection Set the operation sequence in case of an alarm 0 to 7 ER After stopping Dynamic
500. tor capacity 3 4 1 Models and Specifications i Backlash 3 Arcminutes max e For 3 000 r min Servomotors Rated R Allowable Allowable ated 2 maximum rotation Efficiency maximum Weight Model torque rotation inertia Speed torque speed ee ee ae Kg 1 5 R88G 0 50 1 200 500x107 0 3 HPG11B05100BLI 1 9 R88G 1 12 3 00 x 107 0 3 HPG11B09050BLI 1 21 R88G 143 5 00 x 109 1 358 1 0 HPG14A21100BLI 1 33 R88G 91 3 75 71 182 11 2 440 x 108 389 1 555 1 0 HPG14A33050BLI 1 45 R88G 67 5 11 71 134 15 3 4 40 x 10 427 1 707 1 0 HPG14A45050BLI 100 1 5 R88G 1 28 1 200 3 80 5 00 x 107 135 538 0 3 W HPG11B05100BLI 1 11 R88G 273 2 64 75 546 7 84 6 00 x 109 280 1 119 1 0 HPG14A11100BLI 1 21 R88G 143 5 38 286 16 0 5 00 x 108 340 1 358 1 0 HPG14A21100BLI 1 33 R88G 91 6 86 65 182 20 4 6 50 x 108 916 3 226 2 4 HPG20A33100BLI 1 45 R88G 67 9 36 65 134 27 8 650x109 1 006 3 541 2 4 HPG20A45100BLI 200 1 5 R88G 2 50 78 1 200 7 45 2 07 x 10 221 883 1 0 W HPG14A05200BLI 111 R88G 273 5 98 85 546 17 9 1 93 x 10 280 1 119 1 1 HPG14A11200BLI 1 21 R88G 143 10 2 76 286 30 5 4 90 x 10 800 2 817 2 9 HPG20A21200BLI 1 33 R88G 91 17 1 81 182 51 1 4 50 x 10 916 3 226 9 HPG20A33200BLI 1 45 R88G 67 23 3 81 134 450x10 1 006 3 541 HPG20A45200BLI ro Iv 9 3 54 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Rated Allowable Allowable Rated 23
501. tor parts are listed below Bearings 20 000 hours Decelerator 20 000 hours Oil seal 5 000 hours Encoder 30 000 hours These values assume a motor operating ambient temperature of 40 C a shaft load within the specified value rated operation rated torque and rated rotation speed and proper installation as described in this manual The bearings decelerator oil seal and encoder can be replaced for repair e The radial load during Servomotor operation on timing pulleys and other components contacting belts is two or more times the static load or more Consult with the belt and pulley manufacturers and adjust designs and system settings so that the motor allowable axial load is not exceeded even during operation If a motor is used under a shaft load exceeding the allowable limit the motor shaft can break and the bearings can be damaged OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 21 10 Troubleshooting and Maintenance 10 5 2 Servo Drive Life Expectancy 10 22 The lifetimes for the different drive parts are given below Aluminum electrolytic capacitors 28 000 hours at a drive operating ambient temperature of 50 C constant output at rated torque constant output at rated rotation speed and installation as described in this manual Axial flow fan 10 000 to 30 000 hours The limit depends on the operating conditions Inrush current prevention relay Approximately 20 000 opera
502. trol I O connector CN1 In addition you can change the logic However some signals have limitations in the allocation Refer to nput Signal Allocation Method on page 6 34 for details o If you replace a G series Servo Drive use the G5 series Servo Drive with the default settings s 3 Default Input Signal Settings 8 The allocations of the default input signals are as follows Refer to nput Signal Allocation Method on a page 6 34 when you change the allocation to use S D Default setting state Parameter Default setting Speed control Pn402 SI3 0091910A hex 9539850 DFSEL1 VZERO NC Pn403 S14 00060606 hex 394758 GSEL GSEL NO GESEL1 VSEL3 NO R uonoun OY JO UINO 1 6 9 Pn406 SI7 00000107 hex 3847 NO Pn409 00000E88 hex 3720 NO NO and NC in the Logic column above refer to the following states NO Disabled OFF when signal input is open with COM Enabled ON when signal input is shorted with COM NC Disabled OFF when signal input is shorted with COM Enabled ON when signal input is open with COM OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 33 6 Applied Functions Parameters That can be Allocated Use the following parameters when changing the input signal allocations For the setting method refer to Input Signal Allocation Method on page 6 34 Pn400 Input Signal Selection 1 Set the SI1 input function allocation This P 7 32 parameter must be set in he
503. tromagnetic brake of the Servomotor Drive is ready to be energized This signal turns ON when the control main power supply is ON and the Servo Drive is not in an alarm state This output signal indicates the Servo N OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications l Control mode Pin No Symbol Function and interface 10 ALM Servo Alarm This output signal turns OFF if an alarm v y 37 occurs in the Servo Drive 11 ALMCOM 34 36 to INP1 Positioning Completion This output signal turns ON according to y 39 39 Output 1 the condition set in Positioning INP1COM Completion Condition Selection 38 Pn432 if the position error is equal to or less than the value set in Positioning Completion Range 1 Pn431 TGON Motor Rotation Speed This output signal turns ON when the 39 Detection Output motor speed reached the value set in TGONCOM dines dn for Motor Rotation 38 etection Pn436 TLIMT Torque Limit Output This output signal turns ON when the v TLIMTCOM torque limit function is enabled Q L s o D lt e Oa lt e o o D zh O e ct o 5 a A Q ZSP Zero Speed Detection This output turns ON when the motor v y ZSPCOM Signal rotation speed is equal to or less than 9 the value set in the Zero Speed Detection Pn434 o VCMP Speed Conformity Output This output signal turns ON when the v O VCMPCOM Signal command
504. tset Mode 1 ems EN T S NN 4 Reserved Donors 5 Reserved Donors 68 4 Reserved not set 002 Realtime Set the realtime autotuning operation mode the realtime Set the realtime autotuning operation mode operation mode 0 to 6 Auri isabled Mode Selection ELM EXE Focus on stability EC Focus on position control Used when an unbalanced load is present on a vertical axis etc EX Used when friction is large p N U f D 3 D D Lr o Used when an unbalanced load is present on a vertical axis etc and friction is large Used when customizing the realtime autotuning function 003 Realtime Set the machine rigidity when realtime 13 0 to 31 Autotuning autotuning is enabled Machine Rigidity Setting 004 Inertia Ratio Set the load inertia as a percentage of the 250 0 to motor rotor inertia 10 000 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 11 Appendices Pn Description Default No p setting Setting Cyclethe range dde supply 005 Command Pulse Input Selection Select the command pulse input mode Photocoupler input 1 Input for line driver only 006 Command Select the command pulse count direction H Pulse Rotation F irecti orward direction Hil Oto1 Required Switching 1 Reverse direction Selection 007 Command i Set the command pulse mode 1 Oto3 Re
505. turbance 53 0 01 10 to Observer Filter torque compensation ms 2 500 Setting 627 Warning Latch Select the warning latch time Oto 10 Required de us 0 Latchtimeinfinite Latchtimeinfinte time infinite election 1to 10 Latch time 1 to 10 seconds 631 Realtime Set the speed to estimate the load characteristic Autotuning while the realtime autotuning is enabled Estimated Fixes the estimated result when load Speed estimation is stabilized Selection 1 Estimates every minute from the load characteristic changes 2 Estimates every second from the load characteristic changes 3 Estimates the optimum from the load characteristic changes 632 Realtime Set the details of the realtime autotuning Autotuning customization mode P N U f D 3 D D r o e Customization Mode Setting 637 Vibration Set the vibration detection threshold 0 196 0 to Detection If torque vibration that exceeds this setting is 1 000 Threshold detected a vibration detection warning occurs 638 Warning Mask Set the warning mask to disable detection of a Setting particular warning If you set the corresponding bit to 1 detection of the corresponding warning detection is disabled la Precautions for Correct Use Pn700 to Pn799 and Pn800 to Pn899 are not used Do not change the settings OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 31 Appe
506. unction to reduce vibration This is effective on vibration generated by a low rigidity machine The applicable frequencies are from 1 to 200 Hz oince the damping control is performed using the position command it cannot be used with the speed control The end vibrates Position Controller Servo Drive The damping frequency changes based on the position o A Og t 3j Y 3 i e o Movement 2 a 6 1 2 Parameters Requiring Settings Pn001 Control Mode Selection Set to the position control mode P 7 3 0 Position control 3 Control mode 1 of position speed control Pn213 Damping Filter Selection Select the damping filter selection mode according to the P 7 22 condition of the unit 0 Damping filters 1 and 2 enabled 1 Switching via external input DFSEL1 2 Switching via external input DFSEL1 DFSEL2 3 Switching based on the command direction T 4 O C D O 9 S D TI c 5 Oo c O 5 Pn214 Damping Frequency 1 Set Damping Frequency 1 to suppress vibration at the end P 7 22 of the load in damping control If the damping control function is not used set the damping frequency to O Pn215 Damping Filter 1 Setting When Damping Frequency 1 Pn214 is set reduce this P 7 22 setting if torque saturation occurs or increase this setting to improve the operation speed Normally 0 is set If Damping Filter 1 is disabled this parameter is also disabled OMNUC G5 series Pulse tr
507. unt of Position Error Gain switching is performed based on the accumulated pulse in the error counter Amount of position error command Pn116 Gain 1 Gain 2 Gain 1 p e Gain Switching Mode 7 Switching by Position Command Input 7 Gain switching is performed when a position command corresponding to 1 command unit or more is 7 input z o 2 gt e age Tl Position 5 3 Pn116 Gain 1 Gain 2 Gain 1 kA n1 no y o PER o 3 D e D o m D O c 0p D 2 o OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 27 6 Applied Functions e Gain Switching Mode 8 Switching by Positioning Completion Signal OFF Switching to the Gain 2 is performed when the accumulated pulse in the error counter exceeds Positioning Completion Range 1 Pn431 Amount of accumulated pulse in the error counter INP1 ON INP1 OFF INP1 ON Pn116 Cancelled when the time conditions are not met Gain 1 Gain 2 Gain 1 e Gain Switching Mode z 10 Switching by Combination of Position Command Input and Speed Switching to Gain 2 occurs when the position command is input Switching to Gain 1 occurs if no position command is issued for the period of Gain Switching Delay Time in Speed Control Pn121 and the speed also becomes the same as or less than the result of Gain Switching Level Pn122 minus Gain Switching Hysteresis Pn123 r min e Lj me
508. unting Mounting dimensions External Dimensions 2 M4 140 e Front Mounting Using Front Mounting Brackets Mounting dimensions External Dimensions 1 158 Rectangular hole 170 gm E Rectangular hole dimensions are reference values OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions Single phase 3 phase 200 VAC R88D KPO08H 750 W e Wall Mounting External Dimensions Mounting dimensions 2 M4 n A m x eh D 5 D o 5 2 o c 5 et 2 e z 3 z o o 2 0 SUOISUSWIG SAUG OM9S r c e Front Mounting Using Front Mounting Brackets External Dimensions Mounting dimensions 170 158y Rectangular hole 41 25 Rectangular hole dimensions are reference values OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 25 2 Models and External Dimensions Single phase 3 phase 200 VAC R88D KP10H KP15H 900 W to 1 5 kW e Wall Mounting Mounting dimensions External Dimensions e Front Mounting Using Front Mounting Br
509. upply and power cables that meet the power supply specifications of the Servo Drive e Note that incorrect connection of signal lines may cause damage to the Servo Drive and connected units e Leave unused signal wires disconnected and open Use mode 2 for origin search e Recommended surge absorbing diode RU2 Sanken Electric Co Ltd or equivalent e Connect signal lines so that the servo can be turned ON and OFF with the RUN signal OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual A 3 Appendices I Example 3 Connection with SYSMAC CS1W NC133 233 433 Main Circuit Power Supply NFB OFF ON MC1MC2 main Circuit Q 6 0 m T a Contactor a Surge Suppressor 3 phase 200 to 240 VAC 50 60 Hz S Q 6 0o di MC4 MC2 X1 2 T 6 S O Ground to CS1W NC133 233 433 100 Q or Less R88D KP 5 V Power Supply for Pulse Output VDC EJ Reactor 5 V GND for Pulse Output A3 MEN a 24N Power Supply for Output A1 on a 3 O IUE ES 0 V Power Supply for Output A2 31 e MC1 MC2 CCW Output A7 CCN ODE ras S L8 66w CW Output A5 3 CW C Output Ae _ _ _ F2 6W ee ee MEN EE R88M KE C HEN a Motor X axis Error Counter Reset Output A10 ECRST X axis Origin Line Driver Input ees z X axis Positioning Completion Input 1789 NP a rs VE INPCOM PELL A24
510. urge Suppressor Servo Error Display Noise Filter Ground t pears R88 KPD __ Reactor 4 I I I I I I I I I I I I I l I I I I Input for Output Power Supply 37 1 M BERE UN t2 j Output COM EN RD Hi ev NCA MC B CW Output zc MEN We o Output como 3 co GEE pem 4 B exe emj oO N OS z O Saari Tul E 30 ECRST R88M KE Origin Input 24 VDC 1 SGGND B2 Sora omotat p EE Uu Hed Motor Cable Postoning VD 15 t mE V Bue yy Completion Signal VLD 17 P D T TEC ANE Origin Proximity it 7 24VIN Input Signal OVLD 6 bn Jm MENDA AR puo LUE tt i oi Py ieee hr e 3 RN 2avoc et i ee a ni 4 1 BRR ed pei po Shel XB Brake Cable aleo 24 VDC Precautions for Correct Use e Note that incorrect connection of signal lines may cause damage to the Servo Drive and connected units e Leave unused signal wires disconnected and open e Use mode 2 for origin search e Use a dedicated power supply 24 VDC for the command pulse power e Use a separate power supply 24 VDC for the brake independent of the 24 VDC control power supply e Recommended surge absorbing diode RU2 Sanken Electric Co Ltd or equivalent OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Example 8 Connection with SYSMAC Customizable Counter Unit
511. ut Type AC Servomotors and Servo Drives User s Manual 6 23 6 Applied Functions 6 7 2 Parameter No Pn114 Parameters Requiring Settings Gain Switching Input Set to enable or disable the gain switching function P 7 13 Operating Mode Selection Position control mode Pn115 Pn116 Pn117 Pn 118 Pn119 Switching Mode in Position Set the condition for switching between Gain 1 and Gain 2 P 7 14 Control Gain Switching Delay Time Set the time to return from Gain 2 to Gain 1 P 7 15 in Position Control Unit 0 1 ms Gain Switching Level in Set the judgment level for switching between Gain 1 and Gain 2 P 7 16 Position Control Gain Switching Hysteresis Set the hysteresis width to be used for the judgment level set in P 7 16 in Position Control Gain Switching Level Pn117 Position Gain Switching Set the time to change gradually from low to high gain P 7 16 Time Unit 0 1 ms OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions Timing of Gain Switching by Gain Switch Setting Switching between the Gain 1 Pn100 to Pn104 and Gain 2 Pn105 to Pn109 occurs at the following timing For the position loop gain switching occurs based on the value set in Pn119 For information of each gain refer to Section 7 Parameter Details The details of the gain switch settings vary depending on the control mode to be used For details about the settings availabl
512. ut Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions 2 4 6 Reactor Dimensions I 3G3AX DL2002 A m x eh D 5 D o 5 2 o c 5 ex 2 e z 3 z o o 2 0 Ground terminal M4 suoisueull J0 12e9H 9 p Z 3G3AX DL2004 Ground terminal M4 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 57 2 Models and External Dimensions 3G3AX DL2007 Ground terminal M4 Ground terminal M4 2 58 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 Models and External Dimensions 3G3AX DL2022 Ground terminal MA n I m gt F D 3 2 9 3 2 o c 3 5 ro g 3 o 5 o Oo 5 D suoisueull J0 12e9H 9 p Z 3G3AX AL2025 AL2055 Terminal screw 6 K Ground terminal M5 Terminal block Ro RSo STo T Connection Diagram is Dimensions mm Model PAT C OTE H HY X JY KW 3G3AX AL2026 130 82 60 40 150 92 50 67 M4 95 3G3AX AL2055 140 98 60 40 150 92 50 75 M4 95 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 2 59 2 Models and External Dimensions I 3G3AX AL2110 Terminal hole 6 oK A Ro R So S To T HE E lL Ro RSo STo T Connection Diagram XM 0 4 pel 4 06 Cutout 9 W Terminal width Ground terminal M6
513. uted due to restrictions on the control mode or load conditions or if ensuring that the maximum responsiveness matching each load is required Position control mode adjustment P 9 12 Internally set soeed control mode adjustment P 9 13 Note 1 Take sufficient measures to ensure safety 2 f vibration unusual noise or vibration occurs immediately turn OFF the power supply or turn OFF the servo OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 9 Adjustment Functions 9 1 3 Gain Adjustment Procedure Start adjustment Automatic adjustment Yes Realtime autotuning settings Realtime autotuning Operation OK Yes Default setting Manual tuning Operation OK lt n gt Yes Write to EEPROM Adjustment completed Gain Adjustment and Machine Rigidity To improve machine rigidity e Install the machine on a secure base so that it does not have any play Use couplings that have a high rigidity and that are designed for servo systems Use a wide timing belt and use a tension within the range of allowable axial load for the motor or decelerator output Use gears with small backlash The specific vibration resonance frequencies of mechanical systems has a large impact on the gain adjustment of the servo The servo system responsiveness cannot be set high for machines with a low resonance frequency low machine rigidity Q m 3 gt 2 c o
514. value Description 0 Writing to the EEPROM is not performed simultaneously with parameter changes 1 Writing to the EEPROM is performed simultaneously with parameter changes Select whether to write to the EEPROM when a parameter is changed from the front panel Power Supply ON Initialization Time 0 to 100 Default Cycle the setting power supply Set the initialization time after turning ON the power supply to the standard 1 5 seconds plus the specified value Encoder Phase Z Setting All 0 to 32 767 Pulses Default Cycle the Required setting power supply Make fine adjustment to the encoder phase Z width if the number of pulses per motor rotation after pulse output dividing is not an integer Reserved Default Cycle the setting power supply Do not set Reserved Default Cycle the setting power supply Do not set Reserved Default Cycle the setting power supply Do not set Disturbance Torque Compensation Gain Position 100 to 100 Default Cycle the setting power supply Set the compensation gain for the disturbance torque Disturbance Observer Filter Setting 10 to 2 500 0 01 ms Default Cycle the setting power supply Set the filter time constant for disturbance torque compensation OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Parameter Details Pn627 Warning Latch Hold Time Selection Setting 0 to 10 Default Cycle the range setting power supply Explanation of Set
515. value reaches the value set in Zero Speed or less Level Setting lock mode 317 Do not set 318 Do not set 319 Do not set 320 Do not set 321 Do not set 322 Do not set 323 Do not set 324 Do not set 325 Do not set 326 Do not set 327 Reserved Do not set 0 0 328 Reserved Do not set 16 000 16 000 329 Reserved Do not set 9 1 9 i Interface Monitor Setting Parameters Cyclethe Pn T Default y Description power No setting supply 400 Input Signal Set the function and logic of input signal 1 8 553 090 Required Selection 1 10 to 20 000 r min CO CO 10 000 10 000 OOFFFFFF hex 401 Input Signal Set the function and logic of input signal 2 8 487 297 Selection 2 Required 00FFFFFF hex 402 Input Signal Set the function and logic of input signal 3 9 539 850 Selection 3 0 to Required 00FFFFFF hex 403 Input Signal Set the function and logic of input signal 4 394 758 Selection 4 0 to Required 00FFFFFF hex 4 108 0 to Required O0FFFFFF hex 404 Input Signal Set the function and logic of input signal 5 Selection 5 405 Input Signal Set the function and logic of input signal 6 197 379 0 to Required OOFFFFFF hex Selection 6 A 20 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Appendices Cyclethe power supply Pn D
516. ve s control I O connector CN1 to the terminal block e XW2B 50G4 M3 Screw Terminal Block q e D m D M 5 2 O o 3 3 D O o o D o D ct o D External Dimensions Flat cable connector MIL type plug suoieouioeds ejqeo o4u02 9 g g Use 0 3 to 1 25 mm wire AWG22 to 16 e The wire inlet is 1 8 mm height x 2 5 mm width e Strip the insulation from the end of the wire as shown below OOOO ER rm OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 93 3 Specifications e XW2B 50G5 M3 5 Screw Terminal Block e External Dimensions Flat cable connector MIL type plug e When using crimp terminals use crimp terminals with the following dimensions e When connecting wires and crimp terminals to a terminal block tighten them to a torque of 0 59 N m Round terminal Fork terminal 3 2 mm 15 6 8 ETC 3 7 mm 6 8 8 mm max mm 6 8 mm max Ld t Applicable crimp terminals Applicable wires Round terminals 1 25 3 AWG22 to 16 0 3 to 1 25 mm 2 3 5 AWG16 to 14 1 25 to 2 0 mm Fork terminals 1 25 Y 3 AWG22 to 16 0 3 to 1 25 mm 2 3 5 AWG16 to 14 1 25 to 2 0 mm 3 94 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications e XW2D 50G6 M3 Screw Terminal Block e External Dimensions e When using crimp terminals use crimp terminals with the fol
517. vely the voltage across the positive and negative terminals in the main power supply converter dropped below the specified value while the servo was ON 200 V products Approx 110 VDC Approx 75 VAC The power supply voltage is low A momentary power interruption occurred Insufficient power supply capacity The power supply voltage dropped because there was inrush current when the main power supply was turned ON Phase loss A Servo Drive with 3 phase input specifications was operated with single phase power supply e The Servo Drive is faulty circuit fault The current flowing between the positive and negative terminals in the converter exceeded the specified value The Servo Drive is faulty faulty circuit faulty IGBT part etc The Servomotor cable is short circuited between phases U V and W The Servomotor cable is ground faulted Motor windings are burned out The Servomotor wiring contacts are faulty The relay for the dynamic brake has been welded due to frequent servo ON OFF operations The command pulse input timing is the same as or earlier than the Servo ON timing Measures Measure the voltage across the L1 L2 and L3 lines on the connectors and the terminal block e Increase the power supply voltage Change the power supply Eliminate the cause of the failure of the electromagnetic contactor on the main circuit power supply and then turn ON the power again Chec
518. vo Drive characteristics eeeeeeessssss 3 3 Servo Drive DIMENSIONS ovs poeni Da Eo Ur Up ERR EDS 2 22 Servo Drive Functions eeeeessssseeeeenee 1 5 Servo Drive Installation Conditions 4 2 Servo Drive Life Expectancy eeeseuuusss 10 22 Servo Drive model serina 2 8 Servo Drive Part Names eeeeesseeeeeeenr 1 4 Servo Drive Relay Unit cables 3 108 Servo Ready Completed Output READY 3 29 Servo Relay Unit iei cp Dar RR geb eU S 2 18 Servo Relay Unit Cables Position Control Unit 2 19 Servo Relay Unit Cables Servo Drive 2 19 Servo Relay Units eesssssssseeeeeeene 3 96 SEIVOMOLON Sueno deas d ei uU EM DELE IE 4 3 Servomotor characteristics seeeeeeseesssss 3 37 Servomotor Installation Conditions 4 3 Servomotor Life Expectancy eeesuuusss 10 21 Servomotor Model ccccccececesseeeeeeeeeeeeeeeeeseeeeasaeeeeeees 2 8 Smoothing Filter Time Constant Pn223 7 25 Soft Start Acceleration Time Pn312 7 28 Soft Start Deceleration Time Pn313 7 28 Specified Cables for Position Control Unit 3 84 Speed Command Direction Selection Pn301 7 26 Sp
519. vo Drives User s Manual 3 Specifications fi General purpose Input External power supply 12 VDC 5 to A ass E 24 VDC x 5 L Pa Photocoupler Input current rating a 1 0 kQ a e IM p 10 mA max M A lt per point d O 4 7 kQ Ex A Signal level 10kQ ue e ON level 10 V min Em LES input OFF level 3 V max ae D Minimum ON time 9 40 ms D To another input To another input circuit circuit s GND common 3 1 6 Control Input Details Below are the details of the CN1 connector input pins High speed Photocoupler Input Pin 3 Reverse Pulse CW Feed Pulse PULS Phase A FA Pin 4 Reverse Pulse CW Feed Pulse PULS Phase A FA Pin 5 Forward Pulse CCW Direction Signal SIGN Phase B FB CCW Direction Signal SIGN Phase B FB Co ET o O O 2 o 5 O c O D m o Pin 6 Forward Pulse e Function e The functions of these signals are dependent on the values set in Command Pulse Rotation Direction Switching Selection Pn006 and Command Pulse Mode Selection Pn007 Pn005 PnOO6 Pn007 Set value Command pulse mode 0 2 90 Phase Difference Signal Quadruple 1 Heverse Pulse Forward Pulse 3 Feed Pulse Direction Signal Note 1 The rotation direction is reversed when Command Pulse Rotation Direction Switching Selection PnOO6 is set to 1 2 The precondition for H is that the photoc
520. vo Drives User s Manual 3 41 3 Specifications e Brake Specifications Model R88M aa a Item Unit KE5K030H Excitation voltage 24 VDC 10 Current consumption at 20 C 0 90 10 Static friction torque 16 1 min Backlash Allowable work per braking Allowable total work 1 470 1 470 LE 2 2 x 108 2 2 x 106 Allowable angular rad s 10 000 acceleration Brake life 10 million times min Rating Continuous Insulation class Class F 1 2 3 4 5 6 T These are the values when the Servomotor is combined with a Servo Drive at normal temperature 20 C 65 The momentary maximum torque indicates the standard value Applicable load inertia e The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate Servomotor and confirm that operation is possible e The dynamic brake is rated for short term operation Use it only for emergency stopping Configure the system to stop for at least three minutes after the dynamic brake operates Otherwise the dynamic brake circuits may fail or the dynamic brake resistor may burn The allowable radial and thrust loads are the values determined for a limit of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Radial load Thrust lo
521. wer Check the wiring Wire correctly cable is wired incorrectly The encoder cable is wired incorrectly The control I O connector Check the command pulse wiring Wire correctly ONT IS WICGO Inconel Check the command pulse type Set the command pulse type of the Servo Drive so that it matches the command pulse type of the controller Check the command pulse voltage Connect resistors appropriate for the voltage Power is not supplied Check the power supply and the PWR Turn ON the power supply indicator Check the voltage across the power Wire the power on circuit terminals correctly The speed command is Check to see if the speed command e Set the internal speed disabled input method is correct correctly The torque command is Check to see if the torque command Set the torque command disabled input method is correct correctly Both the CW and CCW Check the command pulse wiring e Input the pulse signal to inputs are turned ON either the CW or CCW input simultaneously e Unused input terminals must be always OFF The Servo Drive is faulty a ee Replace the Servo Drive OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 10 17 md rg A c c D 0 o 5 e 9181S uonejedo eui Bulsp sisouDeliq 10113 Z p 0L 10 Troubleshooting and Maintenance Symptom Probable cause Check items Measures The Servomotor The Servomotor power Check the wiring of the Se
522. x 0 2 kg Connection configuration and external dimensions Servo Relay Unit side lt XW2B 40J6 2B Position Control Unit side Servo Relay Unit side A1 B1 A2 B2 Position Control Unit side CS1W NC213 5 CS1W NCA13 m C200HW NC213 C200HW NC413 e Wiring lj A24 B24 A20 B20 I il 34 3 112 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 Specifications Position Control Unit Cables XW2Z L1J A10 Below are the specifications of the cable that connects a Position Control Unit Model CS1W NC133 with a Servo Relay Unit Model XW2B 20J6 1B e Cable types Model Length L Outer diameter of sheath Weight XW2Z 050J A10 10 0 dia Approx 0 1 kg XW2Z 100J A10 Approx 0 2 kg Connection configuration and external dimensions o o o D lt e JJ o 9 lt c 3 9 2 a O 9 oO D o o D O 9 ct 5 a 47 L 6 Servo Relay Unit side XW2B 20J6 1B Position Control Unit side CS1W NC133 a ea e Wiring Position Control Unit side Servo Relay Unit side No AWG20 Black suoreoyioeds eiqe yun Aejay HUN 04u00 UONISOY 9 e Crimp terminal m i Cable AWG28x4P AWG28x10C 26 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3 113 3 Specifications Position Control Unit Cables XW2Z L1J A11 Below are the specificat
523. xadecimal notation The display on the front panel is indicated as a decimal input Signal Allocation Method Input the setting in each control mode to any of the parameters from Pn400 to Pn409 to allocate the signal These parameters must be set in hexadecimal notation Set the set value of the function for each control mode in below Refer to the function number table provided below for the set value of each function The logic setting is included in the function number 0000 h Position control Speed control For parameters reserved for the system do not change the values Example Position control Electronic Gear Switching input 1 with NO normally open contacts OC hex Speed control Internally Set Speed Selection 1 with NC normally close contacts 8E hex 00008bEO0Ch Position control Speed control The set value on the front panel is indicated as a decimal which is 36 364 in this case 6 34 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 6 Applied Functions e Function Number Table The set values to be used for allocations are as follows Set value Signal Symbol No T Disabled QOhe Setting not available Forward Drive Prohibition Input POT ohx 81 hex Reverse Drive Prohibition Input ee 82 hex Alarm Reset Input RESET Setting not available Control Mode Switching Input TVSEL 85 hex Gain Switching GSEL 86 hex Error Counter Reset Inpu
524. y result OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 7 Safety Precautions Storage and Transportation AN Caution When transporting the Servo Drive do not hold it by the cables or Servomotor shaft Injury or failure may result Do not overload the Servo Drive or Servomotor Follow the instructions on the product label Injury or failure may result Use the Servomotor eye bolts only when transporting the Servomotor Do not use them to transport the machine Injury or failure may result OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Safety Precautions Installation and Wiring N Caution Do not step on the Servo Drive or place heavy articles on it Injury may result Do not block the intake or exhaust openings Do not allow foreign objects to enter the Servo Drive Fire may result Be sure to observe the mounting direction Failure may result Provide the specified clearance between the Servo Drive and the inner surface of the control panel or other equipment Fire or failure may result Do not apply strong impact on the Servo Drive Failure may result Wire the cables correctly and securely Runaway Servomotor injury or failure may result Tighten the Servo Drive mounting screws terminal block screws and cable screws to the specified torque Failure may result Use crimp terminals to wire screw type terminal block
525. y three times the rated output and can be output for up to 3 seconds Therefore select no fuse breakers with an operation time of at least 5 seconds at 300 of the rated current ratio General or low speed no fuse breakers is suitable e Select a no fuse breaker with a rated current greater than the total effective load current of all the motors when multiple Servo Drives are used The rated current of the power supply input for each motor is provided in 4 2 2 Main Circuit and Motor Connections on page 4 14 e Add the current consumption of other controllers and any other components when selecting e Inrush Current e The following table lists the Servo Drive inrush currents e With low speed no fuse breakers an inrush current 10 times the rated current can flow for 0 02 second e When the power of multiple Servo Drives are turned ON simultaneously select a no fuse breaker with a 20 ms allowable current that is greater than the total amount of the inrush current in the following table Inrush current Ao p Servo Drive model Control circuit power supply power supply R88D KP01H 28 R88D KP02H 28 R88D KP04H 28 R88D KP08H 28 R88D KP10H 28 R88D KP15H 28 R88D KP20H 14 R88D KP30H 14 R88D KP50H 14 4 26 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 4 System Design g Leakage Breaker e Select a leakage breaker for high frequencies and surge resistance e When selecting leakage brea

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