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SmartStep 2 servo system USER'S MANUAL

1. External Dimensions Mounting Hole Dimensions 65 70 170 4 a Two M4 a on iad fa CO lie i aola El ane 3 s pesii goles o0 Yis oof o oja l omi g woh 7 5 50 aJ 65 Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions Reference 65 70 170 22 Hs 2 5 2 dia 28 yw Tim iim Ke Beier il i 25 ies Ol ze Ra a 2 R S J Ae Rg Square hole amp a m H m H Egesz f Ize BB res i gA I 7 rae eS ta Wao eee E v fl v i H 7 A R2 6 N 26 o 5 2 67 20 40 The dimensions of the square hole are reference values 10 10 Dimensions for front panel mounting are references values that provide leeway Appendix 2 10 2 Standard Models and Dimensions Servomotor E 3 000 r min Servomotor 750W Encoder connector R88M G75030H S2 G75030H B S2 TNs Brake connector Motor connector LL Four Z dia CxC S dia h 6 KL1 a 12 dia po a Dimensions of shaft en
2. Two M4 F par E Ground terminal l 56 M4 66 Four 5 2 x 8 85 om EE i 2 i Tl Og p fe O y i ae iy O OF ie E9 LA ajo EPD PE NI tola 2 2 Two M4 Ground terminal 19 i i M4 56 66 Four 5 2 x 8 95 Ese iy Pas i i Tl i h a g i 10 2 Standard Models and Dimensions E 3G3AX DL2007 amp X 72 90 DTD D Two M4 Tr Tr Ground terminal Io O J Foli D i M4 y 56 Four 5 2 x 8 E 3G3AX DL2015 72 90 Two M4 bas oF Ground terminal H Ql _y M4 y 66 Four 5 2 x 8 115 p p J o 98 fia S 10 14 Append
3. 35 15 Mounting Hole 5 20 Dimensions Te J Two M4 y to cgt ry Z r a wr Qam omron Oaadaa Ol N 1 3 i Q 0 pS pli 5 N Pa i 1 a i ly i Lo eala e J 2 3 c in 7 a L 4 i A LI oh Sere 77 F B lj Oy eel i an Oel l an J k Q kel IL ooood HA tsa oO 5 2 70 105 15 20 7 23 oaoagondgd amp Sef o n0ng0ug Mm i 20o0000 Bori o0o000 o Dag i a 0 0 0O 2 10 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounted Dimensions m R7D BPO2L BP02HH BPO4H 200 W 400 W
4. Terminal Block pitch 7 62 mm 3 51 3 4 Servo Relay Units and Cable Specifications stop imi imi External Common Common interrupt RESE Ji i 24 VDC 1 The XB contacts are used to turn ON OFF the electromagnetic brake 2 Do not connect unused terminals 3 The 0 V terminal is internally connected to the common terminals 4 Applicable crimp terminal R1 25 3 round with open end E XW2B 40J6 2B This Servo Relay Unit connects to the following OMRON Position Control Units CJ1W NC213 NC233 NC413 NC433 CS1W NC213 NC233 NC413 NC433 C200HW NC213 NC413 Dimensions X axis Servo Y axis Servo Position Control Unit connector Drive connector Drive connector 3 5 180 3 5 Terminal Block pitch 7 62 mm 3 52 Specifications Specifications 3 4 Servo Relay Units and Cable Specifications
5. 3 o 5 o c wn S uv fo Waj oO S a g oS 28 5 fe S g oN 5 8 m 4 S ae oO P 8 8 s D N ml S22 MEE E Poe S S 58 See 5 5 v 2 z EN DE 2 gfo i000 BS 28g ogg JO00 0 0000 RES p Ev ooog YJOoYJo i PF 28 BERE e o io io Lo E ioa io a ag O 100 O oio o i g z oS OOOO o YOoO amp A eos ofo oo ooog g N XY a p8 O YO0 O o GOo LO S ci as 6 See iooi i000 2 va Oe Z oag olog A000 E ZA 22 olog 8000 5 E GES ofooio oooi iS OSs odoo oooO O O wog oO oO ofo 2 E ofo o GOo FO 8 o OELSE AOAO oO AO Eo megg oloto toio bs w 22 _ Cfoofo ofiocto aN Er TY goloi oioi oS E Ox D m 3 4 Servo Relay Units and Cable Specifications FQM1 MMP22 Signal Names R B 94 2 94 R a vr 9 RN TaS1L14s9 1 ones Y LNO S TSS TLIAS Z meg ZLNO R LSHOS HOMES zLNO LSHOAz oMeg 91NO 1aSaY HOMES 8 LLNO o 1ASSY z OMeg SLNO NAH HFOMeS oLnoO NAyz ou s vLNO x ZNI N A0 uowwog J LLNI N AQ uowwog RK 9NI w AQ uowwog D OLNI A 0 uowwog R GNI B AQ uowwog 3 6NI A 0 uowwog 2 YNI F AQ uowwoo g 8NI D A 0 uowwog l Hyg om s A0 uowwog ol yiygz ou gs A 0 uowwop DI NIY I Oms d
6. F RUN Command ky a l t aN len wal 2 ibe 4 7kQ Alarm Reset r ee Input AVS Z l RESETL3 ee 4 7 KQ Deviation Counter AY lt x i Reset Input ECRST 4 oN 4 7 KQ Gain Switch TA Input x l GSELI5 esna 4 7 KQ Electronic Gear r ee Switch Input AYS lt l GESEL 6 E 4 7 KQ Reverse Drive tw Prohibit Input X 4 7 KQ Forward Drive tw Prohibit Input 8 AYS S 9 10 11 12 13 21 14 Shell 26 ALM Alarm Output INP Positioning Completed Output BKIR Brake Interlock WARN Warning Output OGND Z Z phase Output GND Encoder A phase A Output B Encoder B phase B Output Z Encoder Z phase Z Output FG Frame ground open collector output Maximum operating voltage 30 VDC Maximum Output Current 50 mA DC Line driver output Conforms to EIA RS 422A Load resistance 220 Q min 3 4 Specifications Specifications 3 1 Servo Drive Specifications E Control I O Signals Control Inputs CN1 ae Slgel Name Function Interface o name DC power supply Power supply input terminal 12 to 24 VDC for sequence 1 24VIN l input for control input pin 1 2 RUN RUN Command ON Servo ON Starts power to Servomotor Input ON Servo alarm status is reset s RESET Alar
7. CCWHSIGNGFB 24 CCW SIGN FB 25 Z 21 as pg a a E Ca 17 Servo Drive Servo Drive O R7D BP Signal No a O a _ Wire mark color Signal 24VIN 4 1 1 24VIN a ECRST VSEL2 Patt Aa ic ECRST VSEL2 GSEL VZERO TLSEL 5 5 GSEL VZERO TLSEL SESELIVSEL1 6 Pe OO ence SESELIVSEL1 NOT 7 Z SS lt A 8 Orange Black 1 POT ALM ALM meron io o OOOO r eree i nrcon BKIR 4 i oa Blue Red 2 BKIR WARN 2 2 Bella 2 WARN OGND 13 Pink Red 2 OGND Orange Red 2 B A H HH ECE H HH aH e s CW PULS FA 22 O PULSER 2 gt H 7 344 Blue Red 3 CW PULS FA Blue Black 3 CW PULS FA CCW SIGN FB Pink Black 3 CCW SIGN FB Terminal Block Connector Connector socket XG4M 3430 Strain relief XG4T 3404 Cable AWG28 x 13P UL2464 Servo Drive Connector Connector plug 10126 3000PE Sumitomo 3M Connector case 10326 52A0 008 Sumitomo 3M 3 45 Green Red 3 Z 3 3 Cable and Connector Specifications E Connector Terminal Block Conversion Unit By using the Connector Terminal Block Conversion Unit in combination with a Connector Terminal Block Cable XW2Z J B28 the Servo Drive s Control I O Connector CN1 can be converted to a terminal block XW2B 34G4 M3 screw terminal block Use 0 30
8. pulse outpu X axis dev cntr reset output X axis origin input 24 V X axis origin common X axis positioning complete input 24 V power supply for outputs 0 V power supply for output X axis input common X axis external interrupt input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emerg stop input NFB OFF ON Moi Moa j 2 E ks Wo 2 eee SUP Surge killer i od _ X1 3 phase 200 240 VAC 50 60 Hz S 2 4 MC1MC2 X1 lee E T 2 T O S gt zZ Ground to C 100 Q or less R7D BP Reactor Contents R7A CPB OS 5VDC T ont CW output MC1 MC2 CW output Connect External Regeneration CCW output Resistor when required CCW output ECRST oF R88M G GND Servomotor Power 1 Z Red _ Cable i i White R7A CABLIS INP o i i Blue i i Green 1 Yellow oC 2AVIN T i Encoder Cable T z RUN R88A CRGBOC y OGND XE 4 Lifi ooi ALM Brake Cable 24 VDC R88A CAGALIB BKIR XB FG 24 VDC Precautions for Correct Use 9 3 Incorrect signal wiring can cause damage to Units and the Servo Drive Leave unused signal line
9. Mounting Hole Dimensions Lo Two M4 i PIN asset fi cece sae ce dz pe ee a ite ry 1h pwr am omRon Dood s N 3 i o D a c pen j i N 4 1 e ee a ite olojo Bo mn Ca oe FLA o li S 9 a 9 Fre ij pp N rho 1 i 42 Ve aL E 1 Tele N 4 D o o B li h g i x A J 5 z j LEN El ooo0o00 A 5 1 5 2 70 105 a a a 0 080 moen cc a 0 0 eu oof Oo Oo La ma cE a Oa 0 an0 0 1 o 0 0 0 2 11 2 2 External and Mounted Dimensions Servomotors E 3 000 r min 50 100 W Servomotors R88M G05030H S2 G10030L S2 G10030H S2 G05030H B S2 G10030L B S2 G10030H B S2 Brake Connector Motor Connector LL 25 Encoder Connector a gt ra 6 ted KR 2 D Dimensions of shaft end 3 i 3 40x40 with gi tap 5 g ene a 3 height 9 5 Yl y 1ey i i roa M3 Two 4 3 dia depth 6 LL LN Model mm mm R88M G05030H 72 26 5 R88M GO05030H B 102 265 R88M G10030L 2 92 46 5 R88M G10030L1 B 1 2 122 46 5 1 This is the model number for the Servomotor with a brake 2 Put L or H in the place indicated by the box Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end
10. p When using crimp terminals use crimp terminals with the following Precautions di for Correct Use MENSON When connecting wires and crimp terminals to a Terminal Block tighten them with a tightening torque of 0 7 N m Round Crimp Terminals Fork Terminals 3 2 mm dia arn rd 5 8 mm max e 3 2 mm 5 8 mm max Applicable Crimp Terminals Applicable Wires Round Crimp AWG22 to 16 Terminals 1 25103 0 3 to 1 25 mm AWG22 to 16 Fork Terminals 1 25Y to 3 0 3 to 1 25 mm 3 48 Specifications Specifications 3 3 Cable and Connector Specifications Terminal Block Wiring Example for XW2B 34G4 XW2B 34G5 and XW2D 34G6 Line driver Connections GSEL CW ccw 24 V RESETIVZERO NOT ALM BKIR OGND A 4Z PULS SIGN 33 TLSEL FA FB ECRST GESEL INP CW CCW 2 mon Feast ror asnan ono a RE Fo 34 X1 24 VDC 1 The XB contacts are used to turn the electromagnetic brake ON and OFF Open collector Connections GSEL 24 V RESETIVZERO NOT TLSEL IECRST ey INP X1 E E 0 Z O zZ s l m l z Bo Red he gt is bal zo OQ O25 a O gt Vcc 24VDC o pag haha 1 The XB contacts are used to turn th
11. Rated Servo Drive Servomotor output ape 5 Pulse string input Without brake With brake 50 W R88M G05030H R88M G05030H B ____ R7D BP01H 100 W R88M G10030H R88M G10030H B 200 W R7D BP02H R88M G20030H R88M G20030H B 400 W R7D BP04H R88M G40030H R88M G40030H B 3 000 r min Flat Servomotors Rated Servo Drive Servomotor output ae 3 3 Pulse string input Without brake With brake 100 W R7D BP01H R88M GP10030H R88M GP10030H B 200 W R7D BP02H R88M GP20030H R88M GP20030H B 400 W R7D BP04H R88M GP40030H R88M GP40030H B Note 1 The standard models have a straight shaft Note 2 A model with a key and tap is indicated by adding J to the end of the model number the suffix shown in the box Example R88G HPG11A05100BJ 2 3 Accessories and Cables E Encoder Cables for CN2 2 1 Standard Models Specifications Model Global Cables Non Flexible Cables 3m R88A CRGB003C 5m R88A CRGBO05C 10m R88A CRGB010C 15m R88A CRGB015C 20m R88A CRGBO20C Global Cables Flexible Cables 3m R88A CRGBO003CR 5m R88A CRGBOO5CR 10m R88A CRGB010CR 15m R88A CRGBO15CR 20m R88A CRGB020CR European Cables Flexible and Shielded Cables 1 5m R88A CRGB001 5CR E 3m R88A CRGBOO3CR
12. NEB OFF ON MC1 MC2 acd Main circuit contact RO 6 0O T fac Lu es SUP Surge killer 3 phase 200 240 VAC 50 60 Hz oi0 g X1 P 2 2 7 MGT MC2 X1 ED Servo error display i zZ TO Od Ground to 100 Q or less MDR PRAES R7A CPB 24VDC zi 2 kQ MC1 MC2 AW Connect External Regeneration 2 kQ Resistor when required AMW R88M GO GND Servomotor Power Z Red Cable INP White R7A CABLIS Blue Yellow x M ees 24VIN 24VDC RUN Encoder Cable OGND ALM R88A CRGBLIC loecen ecco esse ecco Scud Brake Cable R88A CAGALIB Appendix 1 UI D BKIR FG 24 VD C Precautions for Correct Use Incorrect signal wiring can cause damage to Units and the Servo Drive Leave unused signal lines open and do not wire them Use the 24 VDC power supply for the command pulse inputs as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent 9 9 Chapter 10 Appendix 2 SMARTSTEP 2 750 W Model Features and System Configuration 0008 10 1 Ove TATE wW
13. Setting Explanation During deceleration After stopping Deviation counter content 0 Dynamic brake Dynamic brake Clear 1 Free run Dynamic brake Clear 2 Dynamic brake Servo free Clear 3 Free run Servo free Clear 4 Dynamic brake Dynamic brake Hold 5 Free run Dynamic brake Hold 6 Dynamic brake Servo free Hold 7 Free run Servo free Hold Reference Dynamic Brake at Power OFF By default the dynamic brake of the Servo Drive will be engaged when the main circuit power is turned OFF For this reason it feels slightly heavier to rotate the Servomotor shaft manually than in servo free status To release the dynamic brake disconnect the wirings U V W from the Servomotor Be sure to reconnect these wirings before restoring the power Pn6A Brake Timing When Stopped All modes Setting range 0 to 100 Unit x2ms Default setting 10 Power OFF gt ON When the RUN Command Input is turned OFF while the Servomotor is stopped the Brake Interlock Signal BKIR will turn OFF and the Servo will turn OFF after the time set for this parameter setting x 2 ms elapses RUN command RUN Releasea Hold Servomotor ON OFF ON OFF status Pn6A lt M _ Brake interlock BKIR Actual braking Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay in the brake operation tb Brake timing when stopped s
14. 3 e When using crimp terminals use crimp terminals with the following Precautions di for Correct Use mensions e When connecting wires and crimp terminals to a terminal block tighten N them with a tightening torque of 0 7 N m I ka z Round Crimp Terminals Fork Terminals Q 3 2 mm dia lt x 5 8 mm max ETC32 mm 5 8 mm max Applicable Crimp Terminals Applicable Wires f AWG22 16 Round Crimp Terminals 1 25 3 0 3 to 1 25 mm AWG22 16 Fork Terminals 1 25Y 3 0 3 to 1 25 mm 10 41 10 4 System Design 10 4 System Design 10 4 1 Servo Drive Specifications E Oil Seal Motor model Shaft diameter mm Outer diameter mm Width mm R88M G75030 19 8 30 4 10 4 2 Wiring Connecting Cables E This section shows the types of connecting cables used in an SMARTSTEP 2 750 W Model servo system A wide selection of cables are available when configuring a servo system with an OMRON SYSMAC Motion Control Unit or Position Unit which makes wiring easy E System Configuration Controller Motion Control Unit Motion Control Unit Cable For 1 axis D z x lt ae Oo For2 mT c or 2 axes 0 0 CN1 Q gi T lt V2 Control I O Connector Q Q oflo lt CS1W MC221 421 V1 aek Position Control Unit Ser
15. 5 24 Operating Functions Operating Functions 5 10 User Parameters 2 Power Pn Parameter Explanation Default Unit Setting OFF gt gt No name setting range ON 31 Gain Switch Select the condition for switching between gain 1 Setting and gain 2 in one of the position control modes The Gain Switching Input Operating Mode Selec tion Pn30 must be set to 1 enabled 0 Always gain 1 1 Always gain 2 2 Switching using Gain Switch Input GSEL 3 Amount of change in torque command 0 0 to 10 4 Always gain 1 5 Command speed 6 Amount of position deviation 7 Command pulses received 8 Positioning Completed Signal INP OFF 9 Actual Servomotor speed 10 Combination of command pulse input and speed 32 Gain Switch This parameter is enabled when the Gain Switch Time Setting Pn31 is set to 3 or 5 to 10 Set the delay R time from the moment the condition set in the Gain 30 166 us 40000 Switch Setting Pn31 is not met until returning to gain 1 33 Gain Switch This parameter is enabled when the Gain Switch Level Setting Setting Pn31 is set to 3 5 6 9 or 10 Set the P aa 0 to judgment level for switching between gain 1 and 600 20000 gain 2 The unit for the setting depends on the condition set in the Gain Switch Setting Pn31 34 Gain Switch Set the hysteresis width above and below t
16. T Automatic gain Automatic filter Servo Position spoed adjustment A adjustment A Torque motor comman command Current Current gt Position speed Adaptive Servo gt control filter control motor Operation commands for actual conditions of use Estimated resonance frequency M Estimated load inertia Realtime autotuning Senor v motor speed 7 Servo Drive Encoder Precautions for Correct Use e The adaptive filter operates under the following conditions Conditions under which the adaptive filter operates Control mode e The control mode is not torque control e The adaptive filter may not operate correctly under the following conditions If it does not take measures against resonance by following the manual adjustment procedure using Notch Filter 1 Pn1D 1E or Notch Filter 2 Pn28 to 2A e Adaptive filter may not operate correctly under the following conditions Conditions under which the adaptive filter does not function properly e If the resonance frequency is 300 Hz or lower Resonance e f the resonance peak or control gain is low and the Servomotor speed is not af points fected by it e f there are multiple points of resonance Load e f the Servomotor speed with high frequency components changes due to back lash or other non linear elements Command e f the acceleration deceleration suddenly changes i e 3 000 r min or more pattern in
17. speed 5 je When the speed loop gain is low 2 ot N S wA Time c gt LL Pn12 Speed Loop Integration Time Constant Allmodes d sS Setting range 1 to 1000 Unit ms Default setting 20 Power OFF gt ON p Set the speed loop integration time constant A The higher the setting the lower the responsiveness and the lower the resiliency to external force O If the setting is too low it causes oscillation This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 When the speed loop integration time constant is changed the response is as shown in the following diagram Overshoots when the speed loop integration time constant Servomotor 4 is small speed hen the speed loop integration time constant is large gt lime Pni3 Speed Feedback Filter Time Constant Ali modes Setting range 1to5 Unit Default setting 0 Power OFF gt ON The encoder signal is converted to the speed signal via the low pass filter The higher the setting the higher the time constant and the lower the noise level generated by the Servomotor Normally use a setting of 4 or less This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 5 37 5 10 User Parameters P
18. Explanation of Settings Setting Explanation 0 No switching Both filter 1 and filter 2 are enabled a Filter 1 or filter 2 can be selected using vibration filter switching DFSEL DFSEL open Vibration filter 1 Pn2B and Pn2C is selected DFSEL closed Vibration filter 2 Pn2D and Pn2E is selected Switching with position command direction N 2 Forward Vibration filter 1 Pn2B and Pn2C is selected X Reverse Vibration filter 2 Pn2D and Pn2E is selected D Q 2 Autotuning Operation Settin p Pn25 g Op g All modes Setting range 0to7 Unit Default setting 0 Power OFF gt ON Explanation of Settings Setting Rotation direction Number of rotations 0 Forward to reverse Reverse to forward Two rotations Forward to forward Reverse to reverse Forward to reverse Reverse to forward One rotation oO a A Ww N Forward to forward 7 Reverse to reverse Set the operating pattern for normal mode autotuning 10 79 10 5 Operating Functions Pn26 Overrun Limit Setting Setting range 0 to 1000 Unit 0 1 revolution Default setting 10 Power OFF gt ON e Use this parameter to set the Servomotor s allowable operating range for the position command input range e An overrun limit error alarm code 34 will occur if the setting is excee
19. N m 4 0 0 95 0 95 l 3000 0 8 po Repetitive usage 0 6 0 4 10 32 0 32 oy Continuous usage 0 20 O 1000 2000 3000 4000 5000 min 3 2 Servomotor Specifications The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M G10030H N m oe 0 95 0 8 4 06 Repetitive usage 0 4 40 32 0 32 0 2 0 19 Continuous usage O 1000 2000 3000 4000 5000 min R88M G40030H N m 4 0 3 60 3 60 3200 3 0 4 Repetitive usage 20 2 1 1 3 1 3 1 0 4 f 0 88 Continuous usage 9 4000 2000 3000 4000 5000 min 3 000 r min Flat Servomotors R88M G20030H N m 2 0 J 1 82 1 82 4300 1 65 1 5 4 Repetitive usage 1 0 4 0 64 0 64 0 5 4 Continuous usage 0 36 14000 2000 3000 4000 5000 Min The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input R88M GP10030L N m 1 0 4 0 85 0 85 4100 0 8 4 0 75 06 Repetitive usage 0 4 0 32 0 32 0 2 0 22 Continuous usage O 4000 2000 3000 4000 5000 Min R88M GP20030L N m 2 0 4 1 86 Pee 3400 15 4 Repetitive usage 1 0 4 0 64 0 64 0 7 0 5 Continuous usage 0 32 O 4000 2000 3000 4000 5000 min 3 22 Specifications Specifications 3 2 Servomotor Specifications The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input
20. Y Run under actual operating pattern and load y Positioning time and other operational performance satisfactory Vas No Adjustment completed k 7 en nnn ee nnn ne ee en ee ee ee eee ee ee eee eee eee Yy 1 Increase the Speed Loop Gain Pn11 but not so much that it causes hunting when the servo is locked y i Reduce the Speed Loop Integration Time Constant Pn12 but not so much that it causes hunting when the servo is locked lt i y Any hunting vibration when the Servomotor rotates 7 No Y Y Reduce the Speed Loop Gain Pn11 i Increase the Position Loop Gain Pn10 but not so much that it causes overshooting y i Increase the Speed Loop Integration y Time Constant Pn12 Change to Parameter Write Mode and write to EEPROM v aM EA y i Adjustment completed If vibration does not stop no matter how many i times you perform adjustments or if positioning is slow i Increase the Torque Command Filter Time Constant Pn14 i 7 16 Adjustment Functions x Adjustment Functions 7 5 Manual Tuning E Adjustment in Internally Set Speed Control Mode The following parameters are adjustable Speed Loop Gain Pn11 and Pn19 Speed Loop Integration Time Constant Pn12 and Pn1A and Torque Command Filter Time Constant Pn14 and PniC Start a
21. Power ce parameter Setting Explanation Beevi Unit Saing OFF No name setting range ON Set this parameter to 1 or 2 if an external gener ation resistor is mounted The external regeneration processing cir 0 cuit will not operate Regenerative energy will be processed with the built in capaci tor An External Regeneration Resistor is used and an External Regeneration Re Regeneration R 6C Resistor 1 sistor overload alarm alarm code 18 will 0 _ 0to3 ne i occur when the resistance exceeds 10 Selection ake of the operating limit An External Regeneration Resistor is 2 used but an External Regeneration Re sistor overload alarm will not occur The external regeneration processing cir 3 cuit will not operate Regenerative energy will be processed with the built in capaci tor 6D Not used Do not change setting 0 6E Not used Do not change setting 0 6F Not used Do not change setting 0 Overspeed Set the No 1 overspeed detection level when Oto 70 Detection Level torque limit switching is enabled in the Zero speed 0 r min 6000 Setting Designation Torque Limit Switch Pn06 Set the No 2 torque limit when torque limit switch 71 e Torque ing is enabled in the Zero speed Designation 100 a Torque Limit Switch Pn06 No 2 Deviation Set the No 2 deviation counter overflow level when x 256 1 to 72 Counter torque limit switching is enabled in the Zero
22. Speed PI Processor Pn11 Speed Gain 1 Pn12 Integration Time Constant 1 Pn19 Speed Gain 2 Pn1A Integration Time Constant 2 Pn20 Inertia Ratio Position Deviation Monitor Pn13 Filter 1 Pn1B Filter 2 Speed Detection Filter xE F Actual Speed Divider Setting Monitor Phase A B Z Pn44 Numerator Pn45 Denominator Pn46 Direction Switch Noten mier Torque Command Limit Pn1D Filter 1 Frequency Pn14 Filter gt gt Pn 1E Filter 1 Width PniC Filter 2 Pn28 Filter 2 Frequency Pn2g Filter 2 Width Pn2F Adaptive Filter Pn2A Notch Filter 2 Depth Pn5E No 1 Torque Limit Pn5F No 2 Torque Limit Torque Limit Torque Command Monitor PCL ____ gt 3 V 100 Torque Limit Input Torque Limit NCL Receive Encoder Signal Current Feedback 10 48 Appendix 2 10 Parameter No Appendix 2 10 5 Operating Functions 10 5 2 Internally Set Speed Control Function e Performs Servomotor speed control using the speeds set in the No 1 to 8 Internally Set Speeds e Select the internally set speed using the Internally Set Speed Selection 1 to 3 of the control input terminals VSEL1 CN1 pin 33 VSEL2 CN1 pin 30 VSEL3 CN1 pin 28 Controller Speed selection command Internally set speed control can be per formed using o
23. Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A28 50 cm Approx 0 1 kg XW2Z 100J A28 im 10 0 dia Approx 0 2 kg XW2Z 200J A28 2m Approx 0 3 kg Connection Configuration and External Dimensions FQM1 FQM1 MMP22 CJ Tn Tr om snme2o TT Servo Relay Unit XW2B 80J7 12A Wiring 3 74 Specifications Specifications 3 4 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A30 This Cable connects the special I O connector of a Flexible Motion Controller FQM1 MMP22 toa Servo Relay Unit XW2B 80J7 12A FQM1 MMP22 Gi 3 75 Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A30 50 cm Approx 0 1 kg XW2Z 100J A30 im 10 0 dia Approx 0 2 kg XW2Z 200J A30 2m Approx 0 3 kg Connection Configuration and External Dimensions Wiring FQM1 Servo Relay Unit D XW2B 80J7 12A 40 3 5 Parameter Unit Specifications 3 5 Parameter Unit Specifications The Parameter Unit is required for parameter setting and monitoring for the Servo Drive R88A PRO2G Hand held Parameter Unit E General Specifications Item Specifications Operating ambient temperature 0 to 55 C Operating ambient humidity 90 RH max with no condensation Storage ambient temperature 20 to 80 C Storage ambient humidity 90 RH max w
24. Setting Command pulse mode Input pins Servomotor forward command Servomotor reverse command I I 22 FA Phase A FTE TL mAai 90 phase difference 23 FA i Oore signals 24 FB Phase Br I 4 25 FB Line driver t1 gt 22 us Open collector t1 gt 5 us 124 Low 22 CW 2 B A Reverse pulse forward 23 CW 4 pulse 24 CCW FH I Low 25 CCW t2 te Line driver t2 gt 1 us Open collector t2 gt 2 5 us I tert WE eee Ly 22 PULS 12 t2 oie g 3 Feed pulse direction 23 PULS i 25 SIGN Line driver t2 gt 1 us Open collector t2 gt 2 5 us If the photocoupler LED is turned ON each signal will go high as shown above 3 11 3 1 Servo Drive Specifications Control Output Circuits E Position Feedback Output Servo Drive Controller R 120t02200 _ysy 1 Rica pessos A Phase A gt J R Phase A 16 A A Output line driver isle sl i AM26C31or PhaseB gt ele al R Phase B equivalent ae i al Phase sua Pa J R Phase Z 20 Z Z OV ao anol 7v OV pce ore OV Applicable line receiver V Shell r I v Aa i a AM26C32 or equivalent E Control Alarm Outputs Servo Drive To other output circuits x wy J External power supply Di 24 VDC 1 V Maximum operati
25. lt gt AWG20 red i ee yt a a S O O 4 3 a ee a e D e aa eee a ee LY Sp a a E ee ae A ee ara e a ee O ee 9 H a ee ee e a a a a ee a A20 820 ee a a e pee Z ae P66 Q a a a B10 AA a E o DTe A oe 3 68 Specifications Specifications 3 4 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A14 This Cable connects a Position Control Unit CJ1W NC113 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A14 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A14 im Approx 0 2 kg Connection Configuration and External Dimensions Position Control Unit Servo Relay Unit CJ1W NC113 a 9r 0z e CY xw2B20ve 18 Wiring Position Control Unit Servo Relay Unit 3 69 3 4 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A15 This Cable connects a Position Control Unit CU1W NC213 413 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A15 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A15 im Approx 0 2 kg Connection Configuration and External Dimensions Position Control Unit Servo Relay Unit XW2B 40J6 2B
26. R88M GP10030H R88M GP20030H N m N m 2 0 4 1 0 1 82 1 82 4700 0 90 0 90 9285 0 8 1 5 0 6 Repetitive usage Repetitive usage 1 0 4 0 4 0 32 0 32 0 64 0 64 0 5 Ee al 0 2 Continuous usage 0 16 Continuous usage 0 28 O 4000 2000 3000 4000 5000 min O 4000 2000 3000 4000 5000 min R88M GP40030H N m 4 0 3 60 3 60 3600 3 0 Repetitive usage 2 0 4 2 0 1 3 1 3 1 0 Continuous usage 0 64 O 4000 2000 3000 4000 5000 min E Temperature Characteristics of the Servomotor and Mechanical System G Series Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s maximum momentary torque increases and as the temperature rises the Servomotor s maximum momentary torque decreases The maximum momentary torque rises by 4 at a normal temperature of 20 C compared to a temperature of 10 C Conversely the maximum momentary torque decreases about 8 when the magnet warms up to 80 C from the normal temperature of 20 C An increase in load friction torque seemingly increases load inertia Therefore even if the Servo Drive gains are adjusted at a normal temperature the Servomotor may not operate properly at low temperatures Check to see whether there is optimal operation even at low temperatures 3 23 Precautions for Correct Use 50 W Without Oil Sea
27. ica NFB OFF ON MC1 MC2 Z Main circuit contact RO C z Trs en 4 t ici eE Se sup 4 Surge killer 3 phase 200 240 VAC 50 60 Hz Ss SD 2 MC1 MC2 X1 Servo error display TOS Ground to co CJ1W NC133 233 433 100 Qor less sae R7D BP adi CN1 CNA Contents R7A CPBLIS _ 5 VDC power supply for pulse output i 1 Li 5VDC L2 5 V GND for pulse output i L3 e 2 CW output X i122 cw MC1 MC2 3 CW output i 23 cw P Connect External Regeneration 2 CCW output 124 CCW B1 Resistor when required a CCW output 25 CCW X axis dev cntr reset output 4 ECRST E S ivemator Pawar R88M G X axis origin input 24 V xx m 14 GND CNB _IRed Cable X axis origin common H i 21 Z U Whit R7A CABOS X axis positioning complete input 10 INP V BI 24 V power supply for outputs i i WwW E 0 V power supply for output i _ pow X axis input common DA VDC E E 1_ 24VIN MA 4 X axis external interrupt input 1 r 2 RUN CN2 Encoder Cable X axis origin proximity input ae _R88A CRGBLIC X axis CCW limit input 13 OGND XE X axis CW limit input i S X axis emerg stop input Afi X1 i 9 ALM Brake Cable 24 VDC TE R88A CAGALIB BH 11 BKIR XB a 26 FG 24 VDC Incorrect signal wiring can cause damage to Units and the Servo Drive for Correct Use Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 5 VDC power s
28. Setting range 0 to 32767 Unit Pulse Default setting 25 Power OFF gt ON Set the deviation counter value for the Positioning Completed Output INP The Positioning Completed Output INP turns ON when the accumulated pulses in the deviation counter fall below the setting of this parameter Set the number of rotations for the warning output zero speed detection output Accumulated pulses Pn60 _v 5 A INP Pn60 e The encoder resolution is 2 500 pulses rotation but in the Servo Drive it is regarded as 10 000 5 pulses rotation i e 2 500 pulses rotation x 4 gt T Pn61 Zero Speed Detection All modes Setting range 0 to 20000 Unit r min Default setting 20 Power OFF gt ON S o Q O The Warning Output Selection Pn09 must be set to 1 to output zero speed detection Zero speed detection will be output if the Servomotor speed falls below the set speed regardless Speed 4 Forward of the direction of rotation i Reverse WARN There is an hysteresis of 10 r min so set a value higher than 10 5 55 5 10 User Parameters Pn62 Rotation Speed for Servomotor Rotation Detection Internally set speed Setting range 0 to 20000 Unit r min Default setting 50 Power OFF gt ON Set the number of rotations for the Servo
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30. Note 1 Parameters that are automatically set cannot be changed if realtime autotuning is enabled Note 2 Pn31 is 10 when position control is used and the Realtime Autotuning Mode Selection Pn21 is set to 1 to 6 Otherwise it is 0 e Unusual noise or vibration may occur until the load inertia is estimated or the adaptive filter stabilizes after startup immediately after the first servo turns ON or when the Realtime Autotuning Machine Rigidity Selection Pn22 is increased This is not a problem if it disappears right away If the unusual noise or vibration however continues for three or more reciprocating operations take the following measures in any order you can e Write the parameters used during normal operation to the EEPROM e Lower the Realtime Autotuning Machine Rigidity Selection Pn22 e Manually set the notch filter e Once unusual noise or vibration occurs the Inertia Ratio Pn20 may have changed to an extreme value In this case also take the measures described above e Out of the results of realtime autotuning the Inertia Ratio Pn20 is automatically saved to the EEPROM every 30 minutes Realtime autotuning will use this saved data as the default value when the power is turned OFF and turned ON again e The Instantaneous Speed Observer Setting Pn27 will automatically be disabled 0 if realtime autotuning is enabled Precautions for Correct Use 10 7 Adjustment Functions 10 7 3 Normal Mode A
31. Maximum response frequency command pulses Line driver 500 kpps Open collector 200 kpps Weight 0 35 kg 0 42 kg Applicable motor capacity 50 W 100 W 200 W Servo Drive model Item R7D R7D R7D R7D BPO1H BPO2HH BP02H BP04H Continuous output current 10A 16A 16A 25A rms Momentary maximum output 33A 49A 49A 78A current rms 0 27 KVA 0 69 KVA Power supply capacity 0 30 KVA 0 35 KVA 0 42 KVA 0 77 KVA Input power supply voltage main circuit Both single phase and three phase 200 to 240 VAC 170 to 264 V 50 60 Hz Input power supply current 0 7 A 1 8 A rms main circuit 1 5 A TBA IAA 3 5 A Heat generated main circuit 14W 16 W 20 W 26W Control method All digital servo Inverter method IGBT driven PWM method PWM frequency 12 kHz 6 kHz eA a d pulses Line driver 500 kpps Open collector 200 kpps Weight 0 35 kg 0 42 kg Applicable motor capacity 100 W 200 W 200 W 400 W 1 Values inside parentheses are for single phase 200 V use 3 2 Specifications Specifications 3 1 Servo Drive Specifications Main Circuit and Servomotor Connector Specifications CNA and CNB E R7A CNBO1P Main Circuit Connector CNA Specifications 5 10 1 6 CNA Connector Main Circuit Conne
32. Operation RUN Command RUN TT LS OON ooo o Zero Speed Designation VZERO Stop Drive Internally Set Speed Selection1 VSEL1 OFF ON SEE ON Internally Set Speed Selection 2 VSEL2 7 See OF ON ON The Sewon Speed 2 decelerates Speed pe Speed 3 according to Speed 1 shaded the Soft Start Deceleration Time Pn59 Time peed 4 The Servomotor accelerates according to the Soft Start Acceleration Time Pn58 5 5 5 2 Internally Set Speed Control Parameter Block Diagram for Internally Set Speed Control Mode 4 Internally Set Speed Setting Pn53 No 1 Internally Set Speed Pn54 No 2 Internally Set Speed Pn55 No 3 Internally Set Speed Pn56 No 4 Internally Set Speed Phase Dividing Rate Setting A B Z Pn44 Encoder Dividing Rate Setting Pn45 Encoder Output Direction Switch Notch Filter Pn1D Notch Filter 1 Frequency Pn1E Notch Filter 1 Width Pn2F Adaptive Filter Table Number Display Acceleration Deceleration Time Setting Pn58 Soft Start Acceleration Time Pn59 Soft Start Deceleration Time Speed Monitor Pn14 Pn1C Speed PI Pr ocessor Pn11 Speed Loop Gain Pn12 Speed Loop Integration Time Constant Pn19 Speed Loop Gain 2 Pn1A Speed Loop Integration Time Constant 2 Pn20 Inertia Ratio Speed Detection Pn13 Speed Feedback Filter Time Constant Torque Command Filter Torque Command Filter Time Con
33. Pn2B Position Setting range 0 to 5000 Unit x 0 1 Hz Default setting 0 Power OFF gt ON Set vibration frequency for vibration control to suppress vibration at the end of the load The minimum frequency that can be set is 100 10 0 Hz The parameter will be disabled if it is set to 0 to 99 The Notch Filter 1 Frequency Pn1D and Realtime Autotuning Mode Selection Pn21 must be disabled if vibration control function is used with the Control Mode Selection Pn02 set to 0 high response position control For details refer to Vibration Control on page 7 23 Pn2C Vibration Filter Setting Position Setting range 200 to 2500 Unit x 0 1 Hz Default setting 0 Power OFF gt ON Set the vibration filter for vibration control to suppress vibration at the end of the load When the Vibration Frequency Pn2B is set set a small value if torque saturation occurs and set a large value to achieve faster positioning Normally set the parameter to 0 For details refer to Vibration Control on page 7 23 Pn2D Not used Do not change setting Pn2E Not used Do not change setting 5 42 Operating Functions Operating Functions 5 10 User Parameters Pn2F Adaptive Filter Table Number Display Advanced position Setting range 0 to 64 Unit Default setting 0 Power OFF gt ON This parameter displays the table entry number corresponding to the frequency of the a
34. To save the new settings move to Parameter Write Mode and save the parameters in EEPROM precautione Execute autotuning when a load is connected If autotuning is executed without a load i e Servomotor Servo Drive only the Inertia Ratio Pn20 will be 0 A tuning error will occur if any of the following conditions occur while autotuning is being executed 1 If an error occurs If the Servo is turned OFF e g the RUN Command Input RUN is turned OFF If the deviation counter is reset e g using the Deviation Counter Reset Input ECRST If auto tuning is executed near a limit sensor 2 If the inertia or load is too large and the output torque becomes saturated 3 If oscillation occurs and tuning cannot be performed correctly If a tuning error occurs the setting of each gain parameter will return to the value before tuning was executed Except for times when an error occurs the Servomotor will not stop Depending on the load the message does not appear and oscillation may occur M Autotuning Operation Waveform The following figure illustrates how the operation waveform will appear when autotuning is executed The waveform will be distorted immediately after the execution but will gradually smooth out LA AAA imin i Hr 7 10 Adjustment Functions x Adjustment Functions ial 7 3 Autotuni
35. m Er lt lt aa Wi m om a 1 5 B R van _ N m g an _ Er Position deviation 8 pulses 1000 r min Torque output 100 Position control display Input signal No 0 enabled No current errors Software version 1 07 No current warnings 30 of allowable regeneration energy Overload load ratio 30 Inertia ratio 300 Total feedback pulses 50 Total command pulses 10 Automatic Servomotor recognition enabled RS 232 communications The Servomotor rotation speed will be displayed the first time the power is turned ON after purchase To change the initial display when the power is turned ON change the setting of the Default Display Pn01 For details refer to the description of the Default Display Pn01 on page 5 32 6 7 6 3 Using the Parameter Unit E Position Deviation fon Lal I _ han Displays the number of accumulated pulses in the deviation counter unit pulse Accumulated pulses during reverse rotation are displayed with E Servomotor Rotation Speed li I l I eee tos Displays the Servomotor rotation speed unit r min Rotation speeds during reverse rotation are displayed with
36. 7 98 Model Dimension mm L 3G3AX DL2002 85 3G3AX DL2004 95 3G3AX DL2007 2 17 Ground terminal M4 Four 66 5 2 x8 72 V Jg 90 Two M4 98 98 N Four 5 2x8 2 2 External and Mounted Dimensions E 3G3AX AL2025 Six M4 Ground terminal M5 terminal screws l 60_ _40 Connections Ro R So S To T a FES 4 oO OO O0 t Ro R So STo T l D ppt Four GU IL 50 1 N 6 dia 67 1 I 130 82 ois i DIN Rail Mounting Unit Dimensions R7A DINO1B Two M4 35 mounting screws 1 _20 6 ive j y Mounting panel o o i LO eg ry ab Ho Ss See e Rail stopper j Rail stopper p 6 1 Two mounting screws M4 length 8 are included 2 When the rail stopper is extended this dimension becomes 10 mm Standard Models and Dimensions Chapter 3 Specifications 3 1 3 4 3 5 3 6 3 7 Servo Drive Spe
37. Setting range 0 to 20000 Unit Default setting 600 Power OFF gt ON This parameter is enabled when the Gain Switch Setting Pn31 is set to 3 5 6 9 or 10 Set the judgment level for switching between gain 1 and gain 2 The unit for the setting depends on the condition set in the Gain Switch Setting Pn31 This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn34 Gain Switch Hysteresis Setting Position Setting range 0 to 20000 Unit Default setting 50 Power OFF gt ON Set the hysteresis width above and below the judgment level set in the Gain Switch Level Setting Pn33 The Gain Switch Hysteresis Setting Pn34 is defined as shown in the following figure Pn33 gt Gain 1 Gain2 Gain 1 gt i lt gt lt 1 Pn32 gt This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 5 46 Operating Functions Operating Functions 5 10 User Parameters Pn35 Position Loop Gain Switching Time Position Setting 1 Setting range O to 10000 Unit x 166 us Default setting 20 Power OFF gt ON If the Gain Switching Input Operating Mode Selection
38. Sumitomo 3M 3 7 3 1 Servo Drive Specifications Control Input Circuits E Position Command Pulse Inputs Line Driver Input Controller Servo Drive Applicable line driver AM26LS31A or equivalent Precautions f The twisted pair cable should not exceed 10 m in length Open collector Input Controller Servo Drive Vcc tT R WwW Note Select a value for resistance R so that the input current will be from 7 to 15 mA Refer to the following table Vcc R 24V 2 kQ 12V 1kQ Precautions for Correct Use The twisted pair cable should not exceed 2 m in length E Control Inputs 24 ili External power supply 12 VDC 5 to a 1 2 KQ AY Photocoupier input 24 VDC 5 RUN 2 Power supply capacity 50 mA min per Unit Y To other input circuit To other input circuits ground commons Signal Levels ON level 10 V min OFF level 3 V max 3 8 Specifications 3 1 Servo Drive Specifications Control Input Details Details on the input pins for the CN1 connector are described here E RUN Command Input RUN Pin 2 RUN Command Input RUN Function This input turns ON the power drive circuit for the main circuit of the Servo Drive The Servomotor cannot operate without the input of this signal i e servo OFF status The
39. amp 5 a o Serv Drive end R7D BP lt _ Wiring Servo Drive Servomotor A Brake A Brake Cable AWG20 x 2C UL2464 B Brake M4 crimp terminal Servomotor Connector Connector pins 170366 1 or 170362 1 Tyco Electronics AMP KK Connector case 172157 1 Tyco Electronics AMP KK 3 33 3 3 Cable and Connector Specifications E European Cables for Brakes Flexible Cables Cable Models Model Length L Weight R88A CAGA001 5BR E 1 5m Approx 0 1 kg R88A CAGA003BR E 3m Approx 0 1 kg R88A CAGAO05BR E 5m Approx 0 2 kg R88A CAGA010BR E 10m Approx 0 4 kg R88A CAGA015BR E 15m Approx 0 7 kg R88A CAGA020BR E 20m Approx 0 9 kg Connection Configuration and External Dimensions L Serv Drive end Servomotor end R7D BPL lt 2 a a p gt meow Wiring Servo Drive Servomotor Cable AWG20 x 2C M4 crimp terminal Servomotor Connector Connector pins 170366 1 or 170362 1 Tyco Electronics AMP KK Connector case 172157 1 Tyco Electronics AMP KK 3 34 Specifications Specifications 3 3 Cable and Connector Specifications Power Cable Specifications This is the Cable that supplies power to the Servo Drive Power Cables are available in two forms single phase and three phase Select the Cable matching the Servo Drive to be used When connec
40. e Use this parameter to enable or disable the Pulse Prohibit Input IPG CN1 pin 33 e Command pulse inputs will be prohibited when the connection between the IPG input and COM is open e Set this parameter to 1 when the IPG input is not used This will eliminate the necessity to externally connect the IPG input CN1 pin 33 and COM CN1 pin 41 10 89 10 5 Operating Functions Pn44 Encoder Divider Numerator Setting All modes Setting range 1 to 32767 Unit Default setting 2500 Power OFF gt ON Yes Pn45 Encoder Divider Denominator Setting All modes Setting range 0 to 32767 Unit Default setting 0 Power OFF gt ON Yes e Use this parameter to set the number of encoder pulses output from the pulse outputs A CN1 pin 21 A CN1 pin 22 B CN1 pin 48 B CN1 pin 49 e If the Encoder Divider Denominator Setting Pn45 is 0 the number of output pulses for one Servomotor rotation can be set for A and B using the Encoder Divider Numerator Setting Pn44 The resolution of the pulse output after multiplication by 4 will be as follows Pulse output resolution per rotation Encoder Divider Numerator Setting Pn44 x 4 e If the Encoder Divider Denominator Setting Pn45 is not 0 the pulse output resolution per rotation can be set using the following encoder divider equation Pn44 Encoder Divider Numerator Setting Pulse output resolution per rotation p p Pn45 En
41. E Torque Output L i 1 a _ lt Displays the percentage of Servomotor torque output When the rated toque output for the Servomotor is used 100 is displayed Torque outputs during reverse rotation are displayed with E Control Mode I Z l Position Control Mode 5 Pp a cm E Internally Set Speed Control Mode Displays whether the position control or internally set speed control is being used The High response Position Control Mode and Advanced Position Control Mode are displayed as Position Control Modes 6 8 Operation Operation 6 3 Using the Parameter Unit E I O Signal Status 6 9 _ Input signal No 00 ON Output signal No 09 OFF or disabled n r i L W OFF or disabled Signal No display 0 to 1F hex 7 Input ot Output Displays the status of the control input and output signals connected to CN1 Input Signals 6 3 Using the Parameter Unit CN1 Signal Pin Function No Symbol Name No 00 RUN RUN Command 2 If the RUN signal turns ON a Servo lock oc curs and is displayed 01 RESET Alarm Reset 3 If the RESET signal turns ON the alarm is re set and is displayed 02 NOT Reverse Drive Prohibit 7 If the Drive Pro
42. J l I F Value set for Pn21 rr i I Pn23 1 and then press the key for 3 s while the dot at the far right is flashing Perform the servo lock and set the rigidity to 0 as shown in the display above The front panel display will wre Fit gain will start change to 000 000 The front panel display will change along with the machine operation Time is required before the change 1 1 is made Completed normally Error occurred E Fit Gain Results If fit gain is completed normally n 5h will be displayed and E o _ will be displayed if it is completed with an error To apply the results obtained from fit gain after resetting the power supply write the data to the EEPROM Refer to the following description Z IZ I I 4 t Move the dot to this point using the key and press the key for 3 s min to write the present settings to the EEPROM 10 113 10 7 Adjustment Functions E Automatically Set Parameters The following parameters are set automatically Parameter No Parameter name Pn10 Position Loop Gain Pni1 Speed Loop Gain Pni2 Speed Loop Integration Time Constant Pn13 Speed Feedback Filter Time Constant Pn14 Torque Command Filter Time Constant Pn18 Position Loop Gain 2 Pn19 Speed Loop Gain 2 PniA Speed Loop Integration Time Constant 2 P
43. Key operation Display example Explanation Press the Increment key to display the Jog Operation Mode on the alarm reset display in Auxiliary Function Mode Press the Data key to enter Jog Operation Mode Press and hold the Increment key until Ready is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase This completes preparations for jog operation Press and hold the Shift key until Sev_on is displayed The decimal point will move to the left when the key is pressed for 3 s or longer The Servo will turn ON OG Forward operation will be performed while the Increment key is pressed and reverse operation will be performed while the Decrement key is pressed The Servomotor will stop when the key is released The rotation speed set for Jog Speed Pn57 will be used for jogging 2 Returning to the Display of Auxiliary Function Mode Key operation Display example Explanation Press the Data key to return to the Auxiliary Function Mode Display The servo lock is released The system is now in servo free status 6 19 6 3 Using the Parameter Unit Copy Mode In Copy Mode user parameters set in the Servo Drive can be copied to the Parameter Unit and user parameters stored in the Parameter Unit can be copied to the Servo Drive This function can be used to e
44. Mode 1 10 ms min 10 ms min Pn03 Torque Limit Selection Setting range 0to3 Unit Default setting 1 Power OFF gt ON Explanation of Settings Setting Explanation 0 Reserved 1 Use Pn5E as the limit value for forward and reverse operation 2 Use Pn5E as the limit value for forward operation and Pn5F as the limit value for reverse operation 3 Use Pn5E as the value when the GSEL TLSEL input is open and use Pn5F as the value when the GSEL TLSEL input is closed e Use this parameter to set the torque limit method for forward and reverse operation e If this parameter is set to O the torque limit input for forward and reverse operation will be limited by the No 1 Torque Limit Pn5E e When using torque control the No 1 Torque Limit Pn5E will be the limit value for forward and reverse operation regardless of the setting of this parameter 10 68 Appendix 2 10 5 Operating Functions Pn04 Drive Prohibit Input Selection All modes Setting range O0to2 Unit Default setting 1 Power OFF gt ON Yes Explanation of Settings Setting Explanation 0 Forward Drive Prohibit Input and Reverse Drive Prohibit Input enabled 1 Forward Drive Prohibit Input and Reverse Drive Prohibit Input disabled 2 Forward Drive Prohibit Input and Reverse Drive Prohibit Input enabled e Install limit switches at both ends of the axis to prohibit th
45. 0 to 500 Unit 2ms Default setting 0 Power OFF gt ON e Use this parameter to set the pseudo S curve acceleration deceleration value to add to the speed command to enable smooth operation This parameter is useful for applications where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration 1 Set the linear acceleration and deceleration times in Pn58 and Pn59 2 Set the time width for the S curve portion centered on the inflection points for acceleration and deceleration in Pn5A unit 2 ms Set as follows ta Pn58 ta id td Pn59 t8 is and ts ts Pn5A 2 2 Pn5B Reserved Setting range Unit Default setting Power OFF gt ON Pn5C Reserved Setting range Unit Default setting Power OFF gt ON Pn5D Reserved Setting range Unit Default setting Power OFF gt ON Pn5E No 1 Torque Limit All modes Setting range 0 to 500 Unit Default setting 300 Power OFF gt ON Pn5F J No 2 Torque Limit Setting range 0 to 500 Unit Default setting 100 Power OFF gt ON e Use these parameters to set the limit value for the output torque Pn5E No 1 Torque Limit Pn5F No 2 Torque Limit of the Servomotor e The maximum torque in the forward and reverse di
46. Always use twisted pair shielded cable for the pulse command and deviation counter reset signal lines and connect both ends of the shield to frame grounds If the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the Servo Drive input section or the controller output section For open collector specifications keep the length of wires to within two meters E Selecting Other Parts for Noise Resistance 4 25 This section explains the criteria for selecting other connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable conditions when selecting the components For more details contact the manufacturers directly 4 3 Wiring Conforming to EMC Directives Noise Filters for the Power Supply Input Use a noise filter to attenuate external noise and reduce noise emitted from the Servo Drive Select a noise filter with a rated current that is at least two times greater than the effective load current the rated current of the main circuit power supply input given in Main Circuit Wiring on page 4 11 Maker Model Rated current Applicable standards Remarks GT 2050 5A GT 2100 10A UL CSA VDE TUV Single phase GT 2150 15A NEC TOKIN GT 2200 20A HFP 2153
47. Related Parameters The main functions provided by the parameters related to Internally Set Speed Control are described in the following table Function Explanation Reference The Torque Limit Switch Input TLSEL is used when the Zero Speed Desig S nation Torque Limit Switch Pn06 is set to 2 The following parameters are a Torque Limit Switch switched Overspeed Detection Level Torque Limit and Deviation Counter Page 5 15 Overflow Level Zero Speed The Zero Speed Detection Signal will be output if the speed of the Servomotor ES falls below the setting of this parameter The Warning Output Selection Page 5 55 Pn09 must be set to 1 to use this function Motor Rotation The Servomotor Rotation Speed Detection Output TGON will be output if Page 5 56 Detection the speed of the Servomotor exceeds the setting of this parameter Operating Functions Operating Functions 5 2 Internally Set Speed Control Selecting the Internally Set Speeds The four internally set speeds are switched by using the Internally Set Speed Selection 1 Input VSEL1 and Internally Set Speed Selection 2 Input VSEL2 Internally set speed Internally Set Speed Selection 1 Internally Set Speed Selection 2 Input VSEL1 CN1 6 Input VSEL2 CN1 4 No 1 Internally Set Speed Pn53 OFF OFF No 2 Internally Set Speed Pn54 ON OFF No 3 Internally Set Speed Pn55 OFF ON No 4 Internally Set Speed Pn56 ON ON
48. When the speed loop gain is changed the response is as shown in the following diagram Overshoots when speed loop gain is Servomotor 4 Pa high Oscillates when gain is too high speed gt Time Pn12 Speed Loop Integration Time Constant All modes Setting range 1 to 1000 Unit ms Default setting 20 Power OFF gt ON e Use this parameter to set the speed loop integration time constant e The smaller the setting the faster the deviation will come close to 0 when stopping If 1000 is set the integral will be ineffective When the speed loop integration time constant is changed the response is as shown in the following diagram Overshoots when speed loop integration time constant is small Servomotor 4 speed When speed loop integration time constant is large gt Time 10 75 10 5 Operating Functions Pni3 Speed Feedback Filter Time Constant All modes Setting range 0to5 Unit Default setting 0 Power OFF gt ON e Use this parameter to set the time constant for the low pass filter LPF after speed detection to one of six value 0 to 5 e Increasing the setting increases the time constant and decreases the noise generated by the Servomotor Responsiveness however also decreases e Normally use the default setting Pn14 Torque Command Filter Time Constant All modes Setting range 0 to 2500 Unit 0 01ms
49. 10 7 10 2 Standard Models and Dimensions Description Connecto to Model Terminal block cable for external signals Position control units high speed type 0 5 m XW2Z C50X for input common forward reverse run pro CJ1W NC234 1m XW2Z 100X hibited inputs emergency stop input origin CU1W NC434 proximity input and interrupt input CJ1W NC214 2m XW2Z 200X CJ1W NC414 Terminal block for external signals M3 3m _ XW2Z 300X screw pin terminals 5m XW2Z 500X Terminal block ext signals M3 5 screw 10m XW2Z 010X fork round terminals z XW2B 20G4 Terminal block ext signals M3 screw fork XW2B 20G5 round terminals 5 XW2B 20G6 CS1W NC103 CJ1W NC103 1m XW2Z 100J B25 C200HW NC113 213 413 CS1W NC2113 4L13 CJ1W NC2113 4130r 2m IXW2Z 200J B25 Cable from servo relay unit to servo drive CQM1H PLB21 CJ1M CPU21 22 23 1m XW2Z 100J B31 2m XW2Z 200J B31 CS1W NC103 CJ1W NC103 or _ XW2B 20J6 1B C200HW NC113 position control unit 1 axis CS1W NC2113 4113 CJ1W NC2113 4013 or _ XW2B 40J6 2B C200HW NC213 413 position control unit 2 axes Servo relay unit CQM1H PLB21 t XW2B 20J6 3B 1 axis CJ1M CPU21 22 23 XW2B 20J6 8A 1 axis XW2B 40J6 9A 2 axes CQM1H PLB21 0 5 m XW2Z 050J A3 im XW2Z 100J A3 CS
50. 1m R7A CPB001S 2m R7A CPB002S 2 8 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models E Connector Terminal Block Conversion Units Specifications Model M3 screws type XW2B 34G4 M3 5 screws type XW2B 34G5 M3 screws type XW2D 34G6 E External Regeneration Resistors Specifications Model Regeneration capacity 70 W 47 Q R88A RR22047S Regeneration capacity 20 W 100 Q R88A RR080100S Regeneration capacity 20 W 50 Q R88A RRO8050S E Reactors Specifications Applicable Servo Drive Model R7D BPA5L 3G3AX DL2002 Single phase 100 V R7D BPO1L 3G3AX DL2004 R7D BP02L 3G3AX DL2007 R7D BP01H 3G3AX DL2004 Single phase 200 V R7D BPO2HH 3G3AX DL2004 R7D BP04H 3G3AX DL2007 R7D BP01H 3G3AX AL2025 Three phase 200 V R7D BP02H 3G3AX AL2025 R7D BP04H 3G3AX AL2025 m DIN Rail Mounting Unit Specifications Model DIN Rail Mounting Unit R7A DINO1B 2 9 2 2 External and Mounted Dimensions 2 2 External and Mounted Dimensions Servo Drives m R7D BPASL BP01L BP01H BP02H 50 W 100 W 200 W
51. E Tr Nore Phase BH 4 I Line driver t1 gt 2 us Open collector t1 gt 5 us Forward pulse and reverse pulse inputs p Low T M a t2 t2 li Low t2 t2 I Line driver t2 gt 1 us Open collector t2 gt 2 5 us Feed pulse input and forward reverse signal age E t2 t2 112 t2 3 Ae High Low t2 t2 ra t2 Line driver t2 gt 1 us Open collector t2 gt 2 5 us Pn43 Not used Do not change setting Pn44 Encoder Dividing Rate Setting Ali modas Setting range 1 to 16384 Unit Pulse Default setting 2500 PowerOFF gt ON Yes Set the number of encoder pulses to be output from the Servo Drive for each rotation The setting can be made from 1 to 16 384 pulses but the setting will not be valid if it exceeds 2 500 pulses Any setting that exceeds the encoder resolution will be invalid Even if the dividing rate is changed there will always be 1 pulse per rotation for phase Z 5 49 5 10 User Parameters Pn45 Encoder Output Direction Switch All modes Setting range Oor1 Unit Default setting 0 Power OFF gt ON Yes This parameter can be used to reverse the logic of the encoder pulses output from the Servo Drive Phase Z is synchronized with phase A The logic of phase Z cannot be reversed Explanation of Settings Setting Explanation Forward Rotation Phase A 0 i Phase B Phase Z Positive logic Reverse R
52. PULS FA CW Re verse Pulses Input GSEL TLSEL Feed Pulses Input or Gain Switch Torque Limit Switch VZERO DFSEL Zero Speed Designation Input Vibration Filter Switch 90 Phase Difference Pulse Input Phase A 90 Phase Difference Pulse Input Phase A Forward Pulses Direction Signal or PULS FA CCW SIGN FB CCW Forward Pulses Direction Signal or RUN Command GESEL VSEL3 Electronic Gear Switch Internally Set Speed Selection 3 90 Phase Difference Pulse Input Phase B 90 Phase Difference Pulse Input Phase B SIGN FB 24VIN Reverse Drive 12 to 24 VDC Alarm Reset Input ECRST VSEL2 Deviation Counter Reset Internally Set Speed Selection 2 Power Supply Input Prohibit Input Brake IPG VSEL1 Forward Drive Pulse Prohibit Input Internally Set Speed Selection 1 Reserved Prohibit Input Interlock Output BKIRCOM General Brake Servo Ready Output READYCOM Servo Ready Output Interlock Output purpose Output 1 SENGND Ground Alarm Output ALMCOM Alarm Output Common Reserved Reserved INP TGON Positioning Completed Output Ser vomotor Rotation Speed Detection Output INPCOM TGONCOM Positioning Completed Output Ser vomotor Rotation Speed Detection Output Common Reserved Reserved G
53. Specifications Specifications 3 4 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A10 This Cable connects a Position Control Unit CS1W NC133 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A10 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A10 im Approx 0 2 kg Connection Configuration and External Dimensions Position Control Unit CS1W NC133 G Servo Relay Unit 9 D XW2B 20J6 1B Wiring Position Control Unit Servo Relay Unit No AWG20 black ODO AWG20 red 3 67 3 4 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A11 This Cable connects a Position Control Unit CS1W NC233 433 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050U A11 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A11 im Approx 0 2 kg Connection Configuration and External Dimensions i 47 L 6 i 9 Q Position Control Unit Servo Relay Unit ol CS1W NC233 o XW2B 40J6 2B CS1W NC433 lt F D 10 FLO t 11 00 l Wiring Position Control Unit Servo Relay Unit i AWG20 black
54. Wiring X V axis X axis 24 V lemergency CW stop imi 0j ov ceW nan RON aS ALM BK fe ci cow wie RUN ae Aww BKR i origin origin imi proximity RUN ALM BKIR imi imi proximity RUN ALM BKIR fe Common Common Common f external X axis Common Common interrupt X axis X axis RESET ALMCOM Y axis Common Common external interrupt Y axis RESET ALMCOM Y axis Common Common 24 VDC 1 The XB and YB contacts are used to turn ON OFF the electromagnetic brake 2 Do not connect unused terminals 3 The 0 V terminal is internally connected to the common terminals 4 Applicable crimp terminal R1 25 3 round with open end E XW2B 20J6 3B This Servo Relay Unit connects to the following OMRON Programmable Controllers 3 53 Dimensions Two 3 5 dia CQM1H PLB21 Pulse I O Board for CQM1H CPU51 CPU61 CQM1 CPU43 V1 CQM1 connector Servo Drive connector 3 5 135 3 5 7 Z Terminal Block pitch 7 62 mm 39 3 4 Servo Relay Units and Cable Specifications CQM1 Input Uni
55. m Consult your OMRON representative when using the product after a long period of storage N WARNING Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 Q or less Not doing so may result in electric shock Do not touch the inside of the Servo Drive Doing so may result in electric shock When turning OFF the main circuit power supply turn OFF the RUN Command Input RUN at the same time Residual voltage may cause the Servomotor to continue rotating and result in injury or equipment damage even if the main circuit power supply is turned OFF externally e g with an emergency stop Do not remove the front cover terminal covers cables or optional items while the power is being supplied Doing so may result in electric shock gt gt amp Precautions for Safe Use Installation operation maintenance or inspection must be performed by authorized personnel only Not doing so may result in electric shock or injury Wiring or inspection must not be performed for at least 15 minutes after turning OFF the power supply Doing so may result in electric shock Do not damage pull on put excessive stress on or put heavy objects on the cables Doing so may result in electric shock stopping product operation or burning Do not touch the rotating parts of the Servomotor during operation Doing so may result in injury Do not modify the product Do
56. oe 3 phase 200 Z O oi0 _ 8 x1 S i 5 4 MGI MCA XI ED Servo error display 7 Zz TOO Gro t FQM1 MMP21 o ed R7D BP Reactor Contents noe ee 5 VDC power supply for pulse output 5VDC i 5 V GND Ti i r CW MC1 MC2 CW Connect External Regeneration i CCW Resistor when required CCW EGRST R88M G f f Servomotor Power 1 i enp Red Cable INP White R7A CABLIS i Blue M f f green 24VIN 24 VDC RUN Encoder Cable 4 mean eee OGND E ul K ALM Brake Cable 24 VDC Ge R88A CAGALIB KB BKIR z Zz FG 24 VDC Incorrect signal wiring can cause damage to Units and the Servo Drive Leave unused signal lines open and do not wire them Use the 24 VDC power supply for the command pulse inputs as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Precautions for Correct Use Recommended surge absorption diode RU2 Sanken Electric or the equivalent 9 8 Appendix 1 9 1 Connection Examples E Connection Example 9 Connecting to SYSMAC CPM2C CPU Unit with 10 inputs and outputs An example of a transistor output sink model CPM2C 10CLIDTC D Contents 24V Main circuit power supply COM OUT 00 CW pulse output OUT 01 CCW pulse output
57. 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 forward Amount Pn15 pnie Eoedtonvard 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 Command Filter Position Loop Gain Appendix 2 Pn18 2 19 38 46 57 73 84 105 126 157 188 241 293 356 440 524 649 Pn19 Speed Loop Gain2 9 18 22 27 35 40 50 60 75 90 115 140 1170 210 250 310 Speed Loop PniA Integration Time 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 Constant 2 Speed Feedback Pn1B Filter Time 0 0 0 0 01 10 0 01 10 0 0 10 0 0 04 0 Constant 2 Torque Command PniC_ Filter Time 253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10 Constant 2 2 Pn20 Inertia Ratio Estimated load inertia ratio Instantaneous Pn27 Speed Observer 0o 0 0 0 0 0 0 0 0 0 040 0 0 0 0 Setting Gain Switching Pn30 Input Operating 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Mode Selection pn314 Control Gain Switch 4 40 10 10 10 10 10 10 10 10 10 10 10 10 10 10 1 Setting Pn32 Gain Switch 1 Time 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 Gain Switch 1 Level Pn33 l 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 Setting pna4 Gain Switch 1 33 33 33 33 33 33
58. 3G3AX ZCL2 OMRON Servo Drive output and power cable ESD R 47B 2 NEC TOKIN Servo Drive output and power cable ZCAT3035 1330 TDK Encoder cable and I O cable 1 Mainly used for 200 400 W The maximum number of windings is three turns 2 Mainly used for 50 100 W The maximum number of windings is two turns 3 Also used on the Servo Drive output power lines to comply with the EMC Directives Only a clamp is used This clamp can also be used to reduce noise current on a frame ground line i Fey Dimensions N 8 3G3AX ZCL2 ESD R 47B oO aed N gt u ga i 2 oO 5 _26 _ ae Ny Two MS a po I Lm ZCAT 3035 1330 39 z p 30 34 13 4 21 4 3 Wiring Conforming to EMC Directives Impedance Characteristics 3G3AX ZCL2 ESD R 47B 1000 10000 100 1000 A cS g o o g 10 e T S ke Y o o Q Q E DE 0 1 1 1 10 100 1000 10000 1 10 100 1000 Frequency kHz Frequency MHz ZCAT 3035 1330 1000 8 2100 o xe oO Q 10 10 100 1000 Frequency MHz 4 22 System Design System Design 4 3 Wiring Conforming to EMC Directives Surge Suppressors Install surge suppressors for loads that have induction coils such as re
59. 72 RUN RESET PinkRea 2 15 i5 ____ _ 3 RESET BKIR CTO 16 16 BKIR 7ALM Greenea 2 17 H 17 9 JALM ooo Aa Orange Red 2 21 m 21 Imamas TA A TorangerBiack al 22 H a Imata A 38 Gray Rea 2 23 l 323 18 B B TGraviBiack 2 24 24 AA 17 E GSEL VZERO TLSEL Blue Red 3 25 25 5 GSELVZERO MTLSEL ae 26 FG Servo Relay Unit Connector Connector socket XG4M 3030 Strain relief XG4T 3004 Cable AWG28 x 7P AWG28 x 6C UL2464 Servo Drive Connector Connector plug 10126 3000PE Sumitomo 3M Connector case 10326 52A0 008 Sumitomo 3M 3 62 Specifications Specifications 3 4 Servo Relay Units and Cable Specifications E Servo Drive Cable XW2Z _ J B32 This Cable connects the Servo Drive to a Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B32 im Approx 0 1 kg XW2Z 200J B32 2m ener Approx 0 2 kg Connection Configuration and External Dimensions Cia L Servo Relay Unit Servo Drive XW2B 20J6 8A C1 y R7D BPO XW2B 40J6 9A op Wiring Servo Relay Unit Connector Servo Drive Noci oea ee No Symbol avn Buemi 1 m tf 24VIN 06ND Buemi 2 7 Has OGND SCCW SIGNGEB_ Pinl Red t 3 3 24 COW SIGNS P cOw siGn rs Pnek A S 4 4 CCWLSIGN EB CW PULS FA Green Red 1 5 H CW PULS FA
60. Check that the Servomotor is rotating in the correct direction and the rotation speed and amount of rotation are as specified by the command 2 Mechanical System Connection Turn OFF the power Firmly connect the Servomotor shaft to the load i e the mechanical system Tighten screws and make sure they are not loose Turn ON the power 3 Low speed Operation with Actual Load Connected Send a low speed command from the host position controller to start the Servomotor The definition of low speed depends on the mechanical system but a rough estimate is 1 10 to 1 5 of normal operating speed Check the following items a Are the emergency stop and over load switch operating correctly b Is the operating direction of the machine correct 6 4 Trial Operation c Are the operating sequences correct d Are there any abnormal sounds or vibration If vibration occurs when starting or stopping the machine refer to Chapter 7 Adjustment Functions and adjust the gain e Is any error or alarm generated If anything abnormal occurs refer to Chapter 8 Troubleshooting and take the appropriate countermeasures 4 Regular Pattern Operation Operate the Servomotor in a regular pattern and check the following items a Is the operating speed correct b Is the load torque almost equivalent to the measured value c Are the positioning points correct d When an operation is repeated is there any discrepancy
61. Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn22 gt F 6 1426 28 607 50 258 Disabled when Pn22 gt F 7 1372 29 584 51 248 Disabled when Pn22 gt F 8 1319 30 562 52 239 Disabled when Pn22 gt F 9 1269 31 540 53 230 Disabled when Pn22 gt F 10 1221 32 520 54 221 Disabled when Pn22 gt E 11 1174 33 500 55 213 Disabled when Pn22 gt E 12 1130 34 481 56 205 Disabled when Pn22 gt E 13 1087 35 462 57 197 Disabled when Pn22 gt E 14 1045 36 445 58 189 Disabled when Pn22 gt E 15 1005 37 428 59 182 Disabled when Pn22 gt D 16 967 38 412 60 Disabled 17 930 39 396 61 Disabled 18 895 40 381 62 Disabled 19 861 41 366 63 Disabled 20 828 42 352 64 Disabled 21 796 43 339 10 123 10 7 Adjustment Functions 10 7 5 Manual Tuning Basic Settings As described before the SMARTSTEP 2 750 W Model Servo Drives have an autotuning function Depending on load conditions or other restrictions however readjustment may be required if the gain cannot be properly adjusted when autotuning is performed or the optimum responsiveness or stability is required to match each load This section describes how to perform manual tuning for each control mode and function E Before Manual Setting The front panel or the Parameter Unit can be used to adjust the Servomotor machine while monitoring the operation or noise but mor
62. E Realtime Autotuning Realtime autotuning estimates the load inertia of the mechanical system in realtime and automatically sets the optimal gain according to the estimated result Realtime autotuning includes the adaptive filter function that estimates the resonance frequency from the vibrating component in the motor speed and automatically sets the notch filter coefficient to suppress the resonance point vibration E Autotuning Autotuning operates the Servomotor according to the operating pattern set in the Autotuning Operation Setting Pn25 estimates the load inertia through the torque required and automatically sets the optimal gain E Manual Tuning Use manual tuning when autotuning cannot be performed due to the restrictions of the operating pattern or load conditions or when maximum responsiveness needs to be obtained for individual loads The default setting is for manual tuning 7 1 7 1 Gain Adjustment Gain Adjustment Procedure Begin adjustment Use automatic adjustment Yes No Command input possible No Autotuning Set realtime autotuning l Operation OK No Realtime Yes autotuning Adaptive filter Turn OFF automatic e adjustment y Default settings Manual tuning Turn OFF automatic Basic adjustme
63. Figure E 9 Actual Servomotor speed Figure B Enabled Enabled Enabled r min r min 10 Combination of command pulse input and Enabled Enabled Enabled speed Figure F r min r min 1 The Gain Switch Time Pn32 is used when switching from gain 2 to gain 1 7 19 7 5 Manual Tuning 2 The Gain Switch Hysteresis Setting Pn34 is defined as shown in the following figure Pn33 gt Gain 1 Gain2 Gain 1 gt q gt lt 3 The amount of change is the value within 166 us Example When the condition is a 10 change in torque in 166 us the set value is 200 4 This is the encoder resolution value 5 The meanings of the Gain Switch Time Gain Switch Level Setting and Gain Switch Hysteresis Setting are different from normal if this parameter is set to 10 Refer to Figure F Figure A Figure C Speed V Differential pulses Foe Torque T Time gt lt i Gaini Gain 2 Gain 1 gt lt gt lt i 7 2 9 2 i i Command Figure D j speed S ae I l faliki i1 l 1 Time i i Time DTA sa A Lalit i Time m 1 2442 e Gant 2 2al Gaini i Gain 2 Gain 1 1 1 l l B _ 5 E BX Speed V Figure B Figure E Actual Time H gt 1 Gain 2 4 I Gain 1 Gain 2 Gai
64. P CWEPULSEFA Greena 8 E 8 A A CW PULS FA ee e ee ECRST VSEL2 ee a ooz GrayRed 10 7 2 i rysek a 9 HIAS Z Neen piense re y S E e INP TGON RUN BluerBlack 2 13 i3 RUN ja GSELIVZERO TLSEL Pini Red 3 15 5 GSELIVZEROMTLSEL RESET Prsa 16 ie maota RESET M BKR lGreenRed ey 17 ir jm BKIR INM GreenvBiack 18 is 9 TALM i 9 e 20 ae aa FG Servo Relay Unit Connector Connector socket XG4M 2030 Strain relief XG4T 2004 Cable AWG28 x 4P AWG28 x 9C UL2464 Servo Drive Connector Connector plug 10126 3000PE Sumitomo 3M Connector case 10326 52A0 008 Sumitomo 3M 3 63 3 4 Servo Relay Units and Cable Specifications Position Control Unit Servo Relay Unit Cable Specifications E Position Control Unit Cable XW2Z J A3 This Cable connects a Programmable Controller CQM1H PLB21 CQM1 CPU43 V1 to a Servo Relay Unit XW2B 20J6 3B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A3 50 cm Approx 0 1 kg 7 5 dia XW2Z 100J A3 im Approx 0 1 kg Connection Configuration and External Dimensions CQM1 CQM1H PLB21 y CQM1 CPU43 V1 a Wiring CQM1 No Hood cover No 39 L 6 gt Servo Relay Unit XW2B 20J6 3B Servo Relay Unit Cable AWG28 x 4P AWG28 x 4C 3 64 Specifications Specifications 3 4 Servo Relay
65. Pn48 4 Pn48 Make reductions so that the values fit into the setting ranges as shown above Related Parameter The main function provided by the parameter related to electronic gears is given in the following table ee Parameter name Explanation Reference The command pulses are multiplied by a factor of 2 or 4 when Pn40 Command Pulse using 90 phase difference signal inputs is selected as the in Page 5 48 Multiplying Setting put format for the command pulses in the Command Pulse 9 Mode Pn42 5 10 Operating Functions Operating Functions 5 6 bBrake Interlock 5 6 bBrake Interlock You can set the Brake Interlock Signal BKIR timing to turn ON and OFF the electromagnetic brake Bracautlons The electromagnetic brake of a Servomotor with a brake is a non excitation brake designed for holding Set the parameter to first stop the Servomotor and then turn OFF the power supply to the brake If the brake is applied while the Servomotor is rotating the brake disk may become damaged due to friction leading to the Servomotor malfunction Parameters Requiring Setting reas Parameter name Explanation Reference Pn6A Brake Timing when Use this parameter to set the output timing of the Brake Interlock Page 5 58 Stopped Signal BKIR when the Servomotor is stopped g Pn6B Brake Timing during Use this parameter to set the output timing of the Brake Interlock Page 5 59 Operation Sig
66. Specifications 3 1 Servo Drive Specifications Encoder Connector Specifications CN2 Pin No Signal name Name Function Interface 1 ESV Encoder power supply 5 V Power supply output for the encoder 2 EOV Encoder power supply GND 5 V 70 mA 3 NC Do not connect anything to these pins 4 NC 5 S Encoder phase S I O RS 485 line driver I O 6 S Encoder phase S I O Shell FG Shield ground Cable shield ground E Connectors for CN2 6 Pins Name Model Maker Servo Drive Connector 53460 0629 Molex Japan Co Cable Connector 55100 0670 3 15 3 2 Servomotor Specifications 3 2 Servomotor Specifications Select a Servomotor based on the mechanical system s load conditions and the installation environment There are various options available on the Servomotors such as models with brakes General Specifications Item Specifications Ambient operating temperature Ambient operating humidity 0 to 40 C 85 RH max with no condensation Ambient storage temperature Ambient storage humidity 20 to 65 C 85 RH max with no condensation Storage and operating atmosphere No corrosive gases Vibration resistance 49 m s max in the X Y and Z directions Impact resistance Acceleration of 98 m s max 3 times each in the X Y and Z directions Insulation resistance Between the power line terminals and FG 20 MQ min a
67. VZERO and Torque Limit Switch Input Torque Limit TLSEL Syn 0 Both inputs disabled 1 E Oto2 Yes 1 Zero speed designation enabled 2 Torque limit switching enabled 07 Not used Do not change setting 0 08 Not used Do not change setting 0 09 Warning Allocate the function of the Warning Output Output WARN aplacton 0 Output while torque is being limited 1 Output for zero speed detection 2 Output for over regeneration overload or fan rotation speed error 2 os Oto6 ue 3 Output for over regeneration overload warning 4 Output for overload warning 5 Not used 6 Output for fan rotation speed error alarm OA Not used Do not change setting 0 OB Not used Do not change setting 0 OC Not used Do not change setting 2 OD Not used Do not change setting 0 OE Not used Do not change setting 0 OF Not used Do not change setting 0 5 21 E Servo Gain Parameters 5 10 User Parameters z Power Pn Parameter Explanation Default Unit Setting OFF gt No name setting range ON 10 Position Loop Set to adjust the position control system respon Oto Wi 40 1 s Gain siveness 32767 11 Speed Loop Set to adjust the speed loop responsiveness 1 to 60 Hz Gain 3500 12 Speed Loop Set to adjust the speed loop integral time
68. for Correct Use S LATIS Turn ON the Alarm Reset Input RESET Turn OFF the power supply then turn it ON again e Reset the alarm on the Parameter Unit Note however that some alarms can only be cleared by recycling the power turn ON gt OFF gt ON e If you clear an alarm while the RUN Command Input RUN is turned ON the Servo Drive will start operation as soon as the alarm is cleared which is dangerous Be sure to turn OFF the RUN Command Input RUN before clearing the alarm If the RUN Command Input RUN is always ON first check safety sufficiently before clearing the alarm E Alarms Only shows the alarm codes that are different than in the previous sections For the other alarm codes refer to Chapter 8 Troubleshooting Aarm Error detection function Detection details and cause of error alarm l peel code possible 13 Main power supply undervoltage The DC voltage of the main circuit is low Yes The number of accumulated pulses in the 24 Deviation counter overflow deviation counter exceeded the setting for Yes the Deviation Counter Overflow Level Pn70 26 Overspeed The Servomotor exceeded the maximum Yes number of rotations The setting for the electronic gear ratio 27 Electronic gear setting error Pn48 to 4B is not appropriate Yes 46 Muttit rn c ntererror Incremental encoder phase AB signal No error was detected 49 Encoder PS signal error SN error was detec
69. known e Perform Pn20 Inertia Ratio normal mode auto tuning and measure the inertia ratio e The default is 300 Gain Switching Input Prso Operating Mode Selection 9 a Pn31 Control Gain Switch 1 Setting 7 Pn32 Gain Switch 1 Time 30 Pn33 Gain Switch 1 Level Setting 0 Pn34 Gain Switch 1 Hysteresis 0 Setting Pn35 Position Loop Gain Switching 0 Time E Setting Gain Switching Conditions Position Control Mode O Relevant parameter enabled Disabled R Gain Switch Setting Setting parameters for position control mode 3 4 Gain Switch Level Gain Switch Hysteresis oO pn34 Conditions for switching to Fig Gain Switch Time Setting Setting 2 a gain 2 ure Q Pn32 Pn33 Pn34 lt o Always gain 1 1 Always gain 2 2 Switching using Gain Switch __ E Input GSEL g Amount of change in torque O O 3 0 05 166 us O 3 0 05 166 us command 4 Always gain 1 A 5 Command speed O O r min O r min 6 Amount of position deviation C O O 4 pulse 4 pulse 7 Command pulses received D O 8 Positioning Completed F O o Output 9 Actual Servomotor speed C O O r min O r min 10 Combination of command G O O r min O r min pulse input and speed Appendix 2 10 7 Adjustment Functions Machine Resonance Control When machine rigidity is low shaft torsion may cause reso
70. lt gt lt 26 gt lt gt lt NIN WIW gt gt YALM YRUN YALMRS YSGND YSOUT Y GND Y A 16 17 18 19 20 21 22 23 26 27 28 29 30 31 32 33 34 35 36 Connector plug AWG20 Red AWG20 Black White Black 1 Gray Black 1 Orange Black 2 White Red 1 White Black 1 Yellow Red 1 Yellow Black 14 Pink Red 1 Pink Black gt O Orange Red 1 l Orange Black 1 QX y O Pink Black 1 Yellow Black 1 Gray Red 1 lt gt Orange Black White Red 1 White Black 1 Q Yellow Red 1 i Yellow Black 1 lt gt Pink Black 1 Orange Red 1 Orange Black 1 lt gt Cable AWG26 x 5P AWG26 x 6C 10 35 10136 3000PE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M Servo Drive Signal Connector plug REF TREFIVLIM 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Connector plug 10150 3000PE Sumitomo 3M 10350 52A0 008 Sumitomo 3M e The Motion Control Unit signals are the DRVX and DRVY connector signals For the DRVZ and DRVU connectors X and Y are indicated as Z and U respectively e Pins marked with asterisks are for absolute encoders Connect 24 VDC to the two lines red and black extending from the Motion Control Unit connector red 24 V black 10 3 Specifications E General purpose Control Cables R88A CPGL S A General purpose Control Cable connects to the Servo Drive s contro
71. manually set the Realtime Autotuning Mode Selection Pn21 to 0 Position loop gain is generally calculated as follows Command pulse frequency pulses s Position loop gain Kp 1 s Deviation counter accumulated pulses pulses When the position loop gain is changed the response is as shown in the following diagram yo the position loop gain is high Servomotor 4 speed Time If the speed loop gain and position loop gain are optimally set the Servomotor operation for the command will be delayed 2 Kp at acceleration and delayed 3 Kp at deceleration 2 t K n Or Position ie spee command 5 36 Operating Functions 5 10 User Parameters Pn11 Speed Loop Gain All modes Setting range 1 to 3500 Unit Hz Default setting 60 Power OFF gt ON This gain adjusts the speed loop response Increase the gain to increase servo rigidity Generally the greater the inertia ratio the higher the setting If the gain is too high it causes oscillation This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 When the speed loop gain is changed the response is as shown in the following diagram Overshoots when the speed loop gain is Servomotor 4 vA high Oscillates when the gain is too high
72. responsiveness If the setting is changed suddenly by a large amount the gain will change rapidly subjecting the machine to shock Always start with a small value in the setting and gradually increase the setting while monitoring machine operation Pn23 Not used Do not change setting Pn24 Not used Do not change setting Pn25 Autotuning Operation Setting All mod s Setting range 0 to 7 Unit Default setting 0 Power OFF gt ON Set the operating pattern for autotuning Explanation of Settings Setting Rotation direction Number of rotations 0 CCW gt CW Two rotations 1 CW gt CCW 2 CCW gt CCW 3 CW gt CW 4 CCW gt CW One rotation 5 CW gt CCW 6 CCW gt CCW 7 CW gt CW Pn26 Overrun Limit Setting Position Setting range 0 to 1000 Unit x 0 1 rotation Default setting 10 Power OFF gt ON Set the allowable operating range for the Servomotor The overrun limit function is disabled if the setting is 0 For details refer to Overrun Limit on page 5 16 Pn27 Not used Do not change setting Pn28 Not used Do not change setting Pn29 Not used Do not change setting Pn2A Not used Do not change setting 5 41 5 10 User Parameters Vibration Frequency
73. 0 08 mm Use the Control I O Cable that meets specifications Noise is entering the Con trol I O Cable because the cable is longer than the specified length Check the length of the Control I O Cable Shorten the Control I O Ca ble to 3 m or less Noise is entering the cable because the Encoder Ca ble does not meet specifi cations Check that the cable wires are twisted pair wires or shielded twist ed pair wires that are at least 0 12 mm Use the Encoder Cable that meets specifications Noise is entering the En coder Cable because the cable is longer than the specified length Check the length of the Encoder Cable Shorten the Encoder Cable to 20 m or less Noise is entering the signal wires because the Encod er Cable is stuck or the sheath is damaged Check whether the Encoder Cable is damaged Correct the Encoder Cable s pathway to prevent damage Too much noise is entering the Encoder Cable Check whether the Encoder Cable is tied up in a bundle with or too close to high current lines Lay the Encoder Cable ina way surges are not applied 8 14 Troubleshooting Troubleshooting 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasures The Servomotor is producing unusual noises or the machine is vibrating Continued from previous page The FG s potential is fluc tuating due to devices near the Ser
74. 0 10 20 30 40 E Applicable Load Inertia The drivable load inertia ratio load inertia rotor inertia depends on the configuration and rigidity of the machine being driven Machines with high rigidity can be operated with a large load inertia Select the appropriate Servomotor and confirm the applicable load inertia Frequently operating a dynamic brake with a large load inertia may burn the dynamic brake resistor Do not turn ON OFF the Servomotor frequently with the dynamic brake enabled Encoder Specifications Item Specifications Encoder system Optical encoder incremental encoder No of output pulses Phases A and B 2 500 pulses rotation Phase Z 1 pulse rotation Power supply voltage 5 V 5 Power supply current 180 mA max Output signals S S Output interface EIA RS 485 compliance Bidirectional serial communications data 3 25 3 3 Cable and Connector Specifications 3 3 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the encoder between the Servo Drive and Servomotor Encoder Cables with connectors for CN2 are available Precautions p no gi for Correct Use Use flexible cables for applications with moving parts E Global Cables for Encoders Non Flexible Cables Specifications Cable Models Model Length L Outer diameter of sheath Weight R88A CRGB
75. 10 93 10 5 Operating Functions e If the setting is 0 the control cycle will be 0 1 x 166 166 us If the setting is 1 the control cycle will be 1 1 x 166 332 us Likewise if the setting is 31 the control cycle will be 31 1 x 166 5 312 us 4 Response with position loop gain Y Response with position Y OP gain z tr E Pn4E Deviation Counter Reset Condition Setting Setting range 0to2 Unit Default setting 1 Power OFF gt ON Explanation of Settings Setting Explanation 0 Clears the deviation counter when the signal is closed for 100 us or longer A Clears the deviation counter on the falling edge of the signal open and then closed for 100 us or longer 2 Disabled e If Pn4E is set to 0 the minimum time width of the ECRST signal will be as follows ECRST pin 30 100 us min gt 4 Pn4F Reserved Setting range Unit Default setting Power OFF gt ON 10 94 Appendix 2 Appendix 2 10 5 Operating Functions E Speed and Torque Control Parameters Pn50 and Higher Pn50 Reserved Setting range Unit Default setting Power
76. 10 ms Brake life 10 000 000 operations Rating Continuous 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature The maximum momentary torque shown above indicates the standard value 2 For detailed information on the applicable load inertia refer to Applicable Load Inertia on page 3 25 3 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The values are also for the locations shown in the following diagram 4 The brakes are non excitation operation type They are released when excitation voltage is applied 5 The operation time is the measured value reference value with a varistor installed as a surge suppressor iad load lt gt Thrust load fds Center of shaft LR 2 3 20 Specifications Specifications 3 2 Servomotor Specifications E Torque and Rotation Speed Characteristics 3 000 r min Cylindrical Servomotors The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input R88M G05030H N m ak 0 48 0 4 4 0 3 _ Repetitive usage 02 046 0 16 a Continuous usage 0 0 O 4000 2000 3000 4000 5000 min R88M G20030L N m 2 0 1 78 1 78 3300 1 5 4 Repetitive usage 1 0 4 0 90 0 64 0 64 0 5 Continuous usage 0 36 O 4000 2000 3000 4000 5000 N 3 21 R88M G10030L
77. 1A Speed Loop Integration Time Constant 2 1000 1000 1000 1000 1000 1000 1000 1000 1B Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0 1C Torque Command Filter Time Constant 2 30 25 20 16 13 11 10 10 20 Inertia Ratio Estimated load inertia ratio 7 11 Reference The parameter default values are set according to the machine rigidity number The parameter settings are automatically changed when autotuning is executed 7 3 Autotuning The following parameters are set automatically The settings will not be changed even if realtime autotuning is executed Pn Parameter name Machine Rigidity No no OtoF 15 Feed forward Amount 300 16 Feed forward Command Filter 50 30 Gain Switching Input Operating Mode Selection 1 31 Gain Switch Setting 10 32 Gain Switch Time 30 33 Gain Switch Level Setting 50 34 Gain Switch Hysteresis Setting 33 35 Position Loop Gain Switching Time 20 Regardless of the machine rigidity number the settings cannot be changed 7 12 Adjustment Functions a Adjustment Functions fl 7 4 Disabling the Automatic Gain Adjustment Function 7 4 Disabling the Automatic Gain Adjustment Function This section explains how to disable realtime autotuning and the adaptive filter These functions are enabled by default Precautions When disabling the automatic adjustment function the RUN Comma
78. 2 0 Always gain 1 Pn10 to Pn14 x x x 1 Always gain 2 Pn18 to PniC x x x 2 Switching using Gain Switch Input 3 E GSEL for CN1 pin 27 a Amount of change in torque o oe command Figure A 0 05 166 us 0 05 166 us 4 Amount of change in speed o o o command Figure B 10 r min s 10 r min s 5 Command speed Figure C O O r min O r min Torque Control Mode Explanation Setting Gain Switch Time Gain Switch Gain Switch Gain switching conditions Pn32 37 4 Level Setting Hysteresis Set Pn33 38 ting Pn34 39 0 Always gain 1 Pn10 to Pn14 x x x 1 Always gain 2 Pn18 to PniC x x x 2 Switching using Gain Switch Input y GSEL for CN1 pin 27 g Amount of change in torque command 5 o o Figure A 0 05 166 us 0 05 166 us e Use this parameter to select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input Operation Mode Selection Pn30 is set to 1 e The gain is always gain 1 regardless of the gain input if the Control Gain Switch 1 Setting Pn31 is 2 and the Torque Limit Selection Pn03 is 3 1 The Gain Switch 1 Time Pn32 is used when returning from gain 2 to gain 1 2 The Gain Switch 1 Hysteresis Setting Pn34 is defined as shown in the following figure 3 The amount of change is the value within 166 us Example When the condition is a 10 change in torque in 166 us the set value is 200 4 This is the encoder re
79. 3 V 200 torque N Torque command 3 V 400 torque Pn09 General purpose Output 2 Selection All modes Setting range 0to8 U nit Default setting Power OFF gt ON BSS Explanation of Settings Setting Explanation 0 Output during torque limit Zero speed detection output Any warning Over regeneration warning output Overload warning output Battery warning output Fan lock warning output Reserved oo N oO oa A wy N Speed conformity output e Use this parameter to assign the function of General purpose Output 2 OUTM2 CN1 pin 40 10 71 10 5 Operating Functions Pn0A General purpose Output 1 Selection All modes Setting range 0to8 Unit Default setting 1 Power OFF gt ON Explanation of Settings Setting Explanation 0 Output during torque limit Zero speed detection output Any warning Over regeneration warning output Overload warning output Battery warning output Fan lock warning output Reserved o NI DO a BR WO DY Speed conformity output e Use this parameter to assign the function of General purpose Output 1 OUTM1 CN1 pin 12 Pn0B Operation Switch When Using Absolute Encoder All modes Setting range Oto2 Unit Default setting 0 Power OFF gt ON Yes Ex
80. 4 Appendix 2 Appendix 2 10 1 Features and System Configuration 10 1 4 Applicable Standards EC Directives EC Directive Product Applicable standards Comments Low Voltage AC Servo Drive EN 50178 Safety requirements for electrical equipment for Directive measurement control or laboratory use AC Servomotor IEC 60034 1 5 Rotating electrical machines Limits of radio disturbance and measurement EN 55011 Class A Group1 methods for industrial scientific and medical radio frequency equipment EN 61000 6 2 Electromagnetic compatibility EMC Immunity standard for industrial environments EMC Directive AC Serve Drive and EC 61000 4 2 Electrostatic discharge immunity testing AC Servomotor IEC 61000 4 3 Radio frequency radiation field immunity testing IEC 61000 4 4 Electrical fast transient burst immunity testing IEC 61000 4 5 Lightning surge immunity testing IEC 61000 4 6 High frequency conduction immunity testing IEC 61000 4 11 Momentary power interruption immunity testing UL and CSA Standards Standard Product Applicable standards File number Comments UL AC Servo Drive UL 508C E179149 Power conversion equipment standard AC Servomotor UL1004 E179189 Electric motor CSA standard AC Servomotors CSA22 2 No 100 E179189 Motor and generator 10 2 Standard Models and Dimensions 10 2 Standard Models and Dimensions 10 2 1 Standard Models Servo Drive Servo
81. 7 3 7 4 7 5 Gain Adj UStMEN nseni ere rai waa lit a a aE E E 7 1 Realtime Autotuning eee ett A tt tt renee 7 3 PRIVOUUIIING cco oectt Mercere ske scoot tad A ln deem a acanlatuedacd 7 8 Disabling the Automatic Gain Adjustment Function 00 cccceeee 7 13 Man al UAN 25 cat to a es eee see aoe as eee SAE PARF EErEE EEEE EPEE PEETRE eed 7 15 Chapter 8 Troubleshooting 8 1 Error Processing ic eng ees dae eee eee eae 8 1 8 2 Alarm Table naor tthe ali ee a loci a E charadeeatateraiedt 8 3 8 3 TPROUDIGSHOOUNG raster er cnestrags castes tanec cavers ons ee cans cus ane ee ave cen aa ube eek 8 5 8 4 Overload Characteristics Electronic Thermal Function 0 8 16 8 5 Periodic Maintenance St seta Ss rsh abet cathe Gas en Sea cad Gases cee dea treuee theses Seeuehe 8 17 Chapter 9 Appendix 1 9 1 Connection Examples lt cscccists ccrceci ies eens ed as Me Steel aber 9 1 Chapter 10Appendix 2 10 1 10 2 10 3 10 4 10 5 10 6 10 7 10 8 Features and System Configuration ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeteteeeees 10 1 Standard Models and Dimensions cccceeeeeeeeeeeeceeeeeeeeeeeeeeeeeeeenaaees 10 6 Specifications Eee ee me me Ce a ee enema eee 10 16 MV SUCIM DO SIG I ae eee oes Sac ee a es Rats Sac Sea ante sees 10 42 Operating Functions 2 So ces haga eet an coressloaes Sai tute aint tart aestaens tas 10 47 AT SP FAUCET UMNO Pete hh ssl er tn eta a eta ot ae ls oh aks 10 105 Adj stmen
82. 9A nrrainn a anina 3 56 XW2B 8057 12A i ssrrissresstresrsiriosesisrrsirisssrorezisirstess 3 57 XW2Z _J A10 XW2Z _J A11 XW2Z _J A14 XW2Z _J A15 XW2Z _J A18 XW2Z _J A19 XW2Z _J A28 KW 22 JAI hei a E XW2Z _J A30 XW2Z _J A33 XW2Z J A O irane atedeneceeettvasceoeesttenvatneds o KW ALE J AT vvciccccwstevsccacectaatennevasevastivactedvenianevetnet e XW2Z _J B29 XW2Z _J B30 XW2Z _J B32 Z Zero Speed Designation 3 10 5 4 Zero Speed Designation Input VZERO 10 19 Zero Speed Designation Speed Command Direction Switch PN06 0 csccsessessessessesecsessessestesessesseesesseees 10 70 Zero Speed Detection PN61 ceeeeeeeeeeees 10 97 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Cat No 1561 E2 01 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content Dec 2011 750 W Servo Drive included R 1 OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 568 13 00 Fax 31 0 23 568 13 88 industrial omron eu Au e Bel o Cz o 5 e stria 43 0 2236 377 800 industrial omron at lgium 32 0 2 466 24 80 industrial omron be ech Republic 420 234 602 602 dustrial omron cz Denmark 45 43 44 0O 11 industrial omron
83. AMP KK 3 3 Cable and Connector Specifications E Global Cables for Brakes Non Flexible Cables Cable Models Model Length L Outer diameter of sheath Weight R88A CAGA003B 3m Approx 0 1 kg R88A CAGA005B 5m Approx 0 2 kg R88A CAGA010B 10m 5 4 dia Approx 0 4 kg R88A CAGA015B 15m Approx 0 6 kg R88A CAGA020B 20 m Approx 0 8 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Connection Configuration and External Dimensions 50 L 50 5 Serv Drive end X Servomotor end CTE 2 R7D BP CoE R88M G Wiring Servo Drive Servomotor iS Brown Cable AWG20 x 2C UL2464 M4 crimp terminal Servomotor Connector Connector pins 170366 1 or 170362 1 Tyco Electronics AMP KK Connector case 172157 1 Tyco Electronics AMP KK 3 32 Specifications Specifications 3 3 Cable and Connector Specifications m Global Cables for Brakes Flexible Cables Cable Models Model Length i Outer diameter of sheath Weight R88A CAGA003BR 3m Approx 0 1 kg R88A CAGAO005BR 5m Approx 0 2 kg R88A CAGA010BR 10m 6 1 dia Approx 0 4 kg R88A CAGA015BR 15m Approx 0 7 kg R88A CAGA020BR 20m Approx 0 9 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Connection Configuration and External Dimensions 50 L 50 Servomotor end SPIS Y rema
84. Brake Interlock Output BKIR timing to turn ON and OFF the electromagnetic brake Parameters Requiring Settings Parameter No Parameter name Explanation Pn6A Brake Timing when Stopped Use this parameter to set the output timing of the Brake Interlock Output BKIR Pn6B Brake Timing Pn6A Delay time setting from BKIR OFF until servo OFF during Operation Pn 6B Wait time setting from servo OFF until BKIR OFF m RUN Command Timing When Servomotor Is Stopped ON RUN Command RUN OFF es Approx 42 ms AE a 1to5ms Brake Interlock BKIR OM f oe oR C CSCsS OFF pan Approx 2 ms Brak l a rake power supply OFF le 200 ms max a 100 ms max Brake operation ON OFF Speed command V or pulse command Approx 2 ms 3 Released Dynamic brake Engaged Approx 42 ms i Pn6A 2 Energized i Servomotor f i Deenergized 10 58 Appendix 2 10 5 Operating Functions 1 The time from turning ON the brake power supply to the brake being released is 200 ms max Take this delay into account and be sure the brake has been released before providing a speed command pulse command 2 The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis take this delay into account and set the Brake Timing when Stopped Pn6A so that the Servomotor is deenergized after the brake has
85. CJ1W NC213 CJ1W NC413 Wiring Position Control Unit A1 B A2 B2 gt gt O a k tre a a oir mi S a oa S k N ooN 0 NI N o A14 A20 B20 A16 B16 Ww B14 ll NIN N NIN N Servo Relay Unit No 3 70 Specifications Specifications 3 4 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A18 Position Control Unit CJ1W NC133 CJ 3 71 This Cable connects a Position Control Unit CJ1W NC133 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A18 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A18 im Approx 0 2 kg Connection Configuration and External Dimensions Servo Relay Unit 99 D gt xw2e 206 1 Wiring Position Control Unit Servo Relay Unit AWG20 black No Q AWG20 red 3 4 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z J A19 This Cable connects a Position Control Unit CU1W NC233 433 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A19 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A19 im Approx 0 2 kg Connection Configuration and External Di
86. Command Filter Time Constant 2 20 Inertia Ratio 2F Adaptive Filter Table Number Display The following parameters are set automatically The settings will not change even if realtime autotuning is executed Pn No Parameter name Set value 15 Feed forward Amount 300 16 Feed forward Command Filter 50 30 Gain Switching Input Operating Mode Selection 1 31 Gain Switch Setting 10 32 Gain Switch Time 30 33 Gain Switch Level Setting 50 34 Gain Switch Hysteresis Setting 33 35 Position Loop Gain Switching Time 20 7 6 Adjustment Functions a Adjustment Functions ia 7 2 Realtime Autotuning BiGcautlone An unusual noise or resonance may occur right after turning ON the first RUN Command Input RUN after the power ON or when the setting of the Realtime Autotuning Machine Rigidity Selection Pn22 is increased Usually the noise or resonance may continue until the load inertia is estimated or the adaptive filter stabilizes If the unusual noise or resonance stops immediately there is no problem However if the unusual noise or resonance occurs for more than three reciprocating operations perform the following measures in any order you can 1 Save the parameter settings when the machine operated normally to EEPROM 2 Decrease the setting of the Realtime Autotuning Machine Rigidity Selection Pn22 3 Set the Realtime Autotuning Mode Selection Pn21 to 0 to disable the adaptive
87. Cylindrical Servomotor Time s 100 50 W 100 W 100 V 100 W 200 V 10 _ 200 W 400 W 2i E 5 100 150 200 250 300 Torque m R88M GP Flat Servomotor Time s 100 100W to 400 W 0 1 11 100 5 150 200 250 300 Torque 8 16 Troubleshooting Troubleshooting 8 5 Periodic Maintenance 8 5 Periodic Maintenance The Servomotor and Servo Drive contain many components and will function fully only when each of the individual components operates properly Some of the electrical and mechanical components require maintenance depending on application conditions Periodic inspection and part replacement are necessary to ensure the proper long term operation of the Servomotor and Servo Drive quotes from The Recommendation for Periodic Maintenance of a General purpose Inverter published by JEMA The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotor and Servo Drive Recommended maintenance times are listed below for reference in determining actual maintenance schedules Resume operation only after transferring all data required for operation to the new Unit Not doing so may result in damage to the product Do not dismantle or repair the product Doing so may result in electric shock or injury Servomotor Service Life The service life for components is listed below Bearings 20 000 hou
88. Default setting 80 Power OFF gt ON e Use this parameter to set the time constant for the first order lag filter inserted into the torque command e This parameter may be effective in suppressing oscillation due to torsion resonance Pn15 Speed Feed forward Amount Setting range 2000 to 2000 Unit 0 10 Default setting 300 Power OFF gt ON e Use this parameter to set the feed forward amount in Position Control Mode e Increasing the setting decreases the position deviation and increases the responsiveness Overshooting however will occur more easily Pni6 Feed forward Command Filter Setting range 0 to 6400 Unit 0 01ms Default setting 100 Power OFF gt ON e Use this parameter to set the time constant for the first order lag filter inserted into the feed forward e Setting the Feed forward Command Filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed forward is set high Pn17 Reserved Setting range Unit Default setting Power OFF gt ON Pn18 Position Loop Gain 2 Setting range 0 to 3000 Unit 1 s Default setting 20 Power OFF gt ON e Use this parameter to set the responsiveness of the position control system for the second position loop Pn19 Speed Loop Gain 2 All modes Setting range 1 to 3
89. Display Pn01 will appear on the display If there is an error an alarm code will appear The number shown an alarm code depends on the cause of the error Operation 6 3 6 3 Using the Parameter Unit 6 3 Using the Parameter Unit This section describes the basic operation of the Parameter Unit the jog operation with just the Servomotor and Servo Drive and the Parameter Unit s copy function Names of Parts and Functions E Parameter Unit Names g LED Display 6 Digits g PARAMETER UNIT Unit No Display 2 Digits R88A PRO2G lo Mode key Increment key Shift key Data key _ Decrement key E Parameter Unit Functions Name Function LED Display Displays the parameters and data settings Displays the Unit No set in Unit No Setting Pn00 Displays the parameter number in Parameter Setting Mode Unit No Display Mode key Switches among the six modes Data key eo between the parameter and setting displays saves data set Increment key Increases the parameter number or set value Decrement key Decreases the parameter number or set value Shift key Shifts the digit to the left 6 4 Operation Operation 6 3 Using the Parameter Unit Display When Power Is Turned ON Turn ON the power with the Parameter Unit connected to the Servo Drive or connect the Parameter Unit to the Servo Drive with Servo Drive power already turned O
90. Drives have achieved high speed response capabilities exceeding OMRON s W Series models with a high response frequency of 1 KHz compared to 400 Hz for the W Series E Suppressing Vibration of Low rigidity Mechanisms during Acceleration Deceleration The vibration control function suppresses vibration of low rigidity mechanisms or devices whose ends tend to vibrate Two vibration filters are provided to enable switching the vibration frequency automatically according to the direction of rotation and also via an external signal In addition the settings can be made easily merely by just setting the vibration frequency and filter values and you are assured of stable operation even if the settings are inappropiate m High speed Positioning via Resonance Suppression Control The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain The adaptive filter automatically suppresses vibration caused by resonance Also two independent notch filters make it possible to reduce vibration of a mechanism with multiple resonance frequencies E Simplified Speed Control with Internal Speed Settings Eight internal speed settings allow you to change the speed easily by using external signals 10 1 Features and System Configuration 10 1 2 Names of Parts and Functions Servo Drive Part Names Unit Na switch Analog monitor 1 che amp pin IM Display area Se
91. E External Regeneration Resistor Connection Cable with Crimp Pins Cable Models Model Length L Outer diameter of sheath Weight R7A CLBO002RG 2m 6 1 dia Approx 0 1 kg Connection Configuration and External Dimensions 50 2000 50 External Regeneration Resistor T i end g Servo Drive end R88A RR22047S amp R88A RR080100S i 0 EF D R7D BP R88A RRO8050S Wiring Insert into the P pin 5 and B1 pin 3 slots of the Main Circuit Connector CNA 3 37 3 3 Cable and Connector Specifications Communications Cable Specifications E Personal Computer Monitor Cable Cable Models Model Length L Outer diameter of sheath Weight R88A CCG002P2 2m 4 2 dia Approx 0 1 kg Connection Configuration and External Dimensions 38 2000 Personal computer end J Wiring Personal computer Signal PC Connector 17JE 13090 02 D8A DDK Ltd z Communications with the Host Device Precautions for Correct Use Cable AWG28 x 3C UL20276 Servo Drive Servo Drive end R7D BP After confirming the startup of the Servo Drive initiate communications with the host device Note that irregular signals may be received from the host interface during startup Fo
92. I O connector CN1 to a terminal block XW2B 50G4 M3 screw terminal block 3 e Use 0 30 to 1 25 mm wire AWG22 to AWG16 Precautions ioe f for Correct Use e The wire inlet is 1 8 mm height x 2 5 mm width e Strip the insulation from the end of the wire for 6 mm as shown below 10 39 10 3 Specifications XW2B 50G5 M3 5 Screw Terminal Block e Dimensions F e When using crimp terminals use crimp terminals with the following Precautions di i for Correct Use menson e When connecting wires and crimp terminals to a terminal block tighten them with a tightening torque of 0 59 N m Round Crimp Terminals Fork Terminals 3 7 mm dia 6 8 mm max 3 7 mm 6 8 mm max Applicable Crimp Terminals Applicable Wires 1 25 3 AWG22 16 0 3 to 1 25 mm Round Crimp Terminals AWG16 14 oe 1 25 to 2 0 mm AWG22 16 KENS 0 3 to 1 25 mm Fork Terminals 2 35 AWG16 14 1 25 to 2 0 mm 10 40 Appendix 2 10 3 Specifications XW2D 50G6 M3 Screw Terminal Block e Dimensions XG4A MIL Connector 184 Two 4 5 dia 144 as e iiessmeE f i H 40 ey i A aS 5 7 45 7j DIN Track lock 4 5 Kne 1 2 h M3
93. OFF Check whether the POT input and NOT input are ON or OFF in moni tor mode e Turn ON the POT and NOT inputs e If the POT and NOT inputs are not used disabled them The control mode is not correct Check the Control Mode Selection Pn02 Set the control mode to match the command type The Deviation Counter Reset Input ECRST is ON Check whether the ECRST Input is ON or OFF in monitor mode e Turn the ECRST Input OFF e Correct the wiring The Command Pulse Mode Pn42 setting is incorrect Check the Controllers command pulse type and the Servo Drive s command pulse type Set the Servo Drive s pulse type to match the Control lers command pulse type The Zero Speed Designa tion Input VZERO is OFF Check whether the VZERO Input is ON or OFF in monitor mode e Turn ON the VZERO Input e Correct the wiring The internally set speeds are not set Check the settings for Pn53 to Pn56 Set the desired speeds The Torque Limit Pn5E is set to 0 Check the setting for Pn5E Return the setting to the de fault The Servomotor Power Cable is wired incorrectly The Encoder Cable is wired incorrectly Check the wiring Wire correctly The control I O connector CN1 is wired incorrectly Check the command pulse s wiring Wire correctly Check the command pulse type Set the Servo Drive s pulse type to match the C
94. ON Yes e Use this parameter to set the amount of time required until shutoff is detected if the main power supply remains shut off e The main power OFF detection will be disabled if this parameter is set to 1000 10 102 Appendix 2 10 5 Operating Functions Pn6E Emergency Stop Torque All modes Setting range 0 to 500 Unit Default setting 0 Power OFF gt ON e Use this parameter to set the torque limit for the following cases e Drive prohibit deceleration with the Stop Selection for Drive Prohibition Input Pn66 set to 2 e Deceleration with the Stop Selection with Main Power OFF Pn67 set to 8 or 9 e Deceleration with the Stop Selection with Servo OFF Pn69 set to 8 or 9 e The normal torque limit will be used if this parameter is set to 0 Pn6F Reserved Setting range Unit Default setting Power OFF gt ON Pn70 Deviation Counter Overflow Level Setting range 0 to 32767 Unit 256 x resolution Default setting 100 Power OFF gt ON e Use this parameter to set the deviation counter overflow level e The set value is calculated using the following formula Set value Deviation counter overflow detection pulses pulses 256 e If the positioning loop gain is small and the setting of this parameter is too small a deviation counter overflow alarm code 24 may be de
95. Operating Describes the electronic gear function and other operating func Chapter 5 3 Functions tions as well as the parameter setting procedure Chapter 6 Operation eae operating procedures and how to use the Parameter Adjustment Describes realtime autotuning function manual tuning and other Chapter 7 Functions procedures for gain adjustment Describes items to check for troubleshooting error diagnoses us Chapter 8 Troubleshooting ing alarm displays and the countermeasures error diagnoses based on the operation status and the countermeasures and peri odic maintenance Appendix 1 Provides examples of connection with OMRON PLCs and Position Chapter 9 Connection P Controllers Examples Appendix 2 Provides the specifications and operation of SMARTSTEP 2 Chapter 10 SMARTSTEP 2 SE AA p P 750 W Model i CONTENTS MEFOOUGH OM serene Rss ce EE EE ETTET 1 Precautions for Safe Se siiscesiseeesscecc seed eeacea hae svoowees ences 5 Items to Check When Unpacking ccccceecceeeeeeeeeeeeeeseeeeeeeees 11 About this Manual comet crocs sheets tet clcece recut a i lutea caesar 13 Chapter 1 Features and System Configuration el OVERVIEW seimcro sacs ons ana E A A a A eet setts 1 1 1 2 System Configuration cccccceccccceecee eee eee eeeeeseeaeaeeeeeeeeeeeeeeeeeeeneaasaaees 1 2 1 3 Names of Parts and FUNCTIONS 0 cccceecee eee eeeeeceeee eee eeeeeeeeeeteteeeeneneaaees 1 3 1 4 System Block Diagrams
96. 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 Prohibit Input NOT is OFF the Servomotor cannot be driven in the reverse direction but it can be driven in the forward direction Servo locked 5 4 Encoder Dividing Encoder Dividing The number of pulses can be set for the encoder signals output from the Servo Drive The number of pulses per Servomotor rotation can be set within a range of 1 to 2 500 pulses rotation Use this function for the following applications When using a controller with a low response frequency When it is desirable to set a pulse rate that is easily divisible Example To use a resolution of 5 um pulse in a mechanical system in which one Servomotor rotation corresponds to a travel of 10 mm set the encoder dividing rate to 2 000 pulses rotation Parameters Requiring Setting a Parameter name Explanation Reference Encoder Dividing Set the number of encoder pulses to be output from the Servo Rate Setting Drive for each rotation The default setting is 2 500 pulses ro tation Pn44 The setting can be made from 1 to 16 384 pulses rotation but Page 5 49 the setting will not be valid if it exceeds 2 500 pulses rotation Even if the dividing rate is changed there will always be 1 pulse per rotation for phase Z Pn45 Encoder Output This parameter ca
97. RR22047S 479 220 W 70 W Thickness 170 C 5 NC contact Rated 3 0 5 output 250 VAC 0 2 A max 3 7 Reactor Specifications 3 7 Reactor Specifications A Reactor is connected to the Servo Drive as a harmonic current control measure Select a model matching the Servo Drive to be used E Specifications Specifications Reactor type z Model Rated current A Inductance mH Weight kg 3G3AX DL2002 1 6A 21 4 mH 0 8 kg Single phase 3G3AX DL2004 3 2A 10 7 mH 1 0 kg Reactors 3G3AX DL2007 6 1A 6 75 mH 1 3 kg Three phase 3G3AX AL2025 10A 2 8 mH 2 8 kg Reactor 3 78 Specifications Specifications 3 8 EMC Filter Specifications 3 8 3 79 EMC Filter Specifications Specifications 3 ANA Filter Model Rated current Leakage Current Rated Voltage R7D BP01H R7D BP02HH R7A FIB104 RE 4A 3 5 mA 230 VAC R7D BP04H Chapter 4 System Design 4 1 4 2 4 3 4 4 Installation Conditions ceeeteeeeeeeeeeeeeeeeeees 4 1 SELV OND IV OS Sete ees e creer ee seers renee ra ear ore seen eee eee eee 4 1 SETVOMOLOMS serra tectonics ergs Se ee eg eae ee 4 3 WV LEUNG ireree ctes cues tse suse seeceascuevausteweceerterscrsiecetoeetarae 4 5 Connecting C ables were a a eee E Sree eters 4 5 Selecting Connecting Cables ee ceeeseeseeeeeeeeeseeeeenterenees 4 6 Peripheral Device Connection Examples ccccscceceeees 4 9 MAM CAROLE AIT
98. Re a ae eee FG Servo Relay Unit Connector Connector socket XG4M 2030 Strain relief XG4T 2004 Cable AWG28 x 4P AWG28 x 9C UL2464 Servo Drive Connector Connector plug 10126 3000PE Sumitomo 3M Connector case 10326 52A0 008 Sumitomo 3M 3 61 3 4 Servo Relay Units and Cable Specifications E Servo Drive Cable XW2Z _ J B30 This Cable connects the Servo Drive to a Servo Relay Unit XW2B 80J7 12A Use this Cable for the FQM1 MMP22 Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B30 im Approx 0 1 kg XW2Z 200J B30 2m oe Approx 0 2 kg Connection Configuration and External Dimensions Servo Relay Unit Servo Drive N xwaB sozaa y 3 D R7D BP t 14 m Wiring Servo Relay Unit Connector Servo Drive Symbol Wire mark color No Symbol 24VIN Blue Red 1 1 4 Sp 1 24VIN OGND Buek 2 H 2 _X___X_it_ a3 OGND CCW SIGN FB 24 CCW SIGN FB CCW SIGN FB Pink Black 1 _ 4 H a ___ __ _ 25 CCW _SIGN FB CW PULS FA Green Red 1 5 5 22 CW PULS FA CW PULS FA Green Black 6 _6_ X ____X_ _ 23 CW PULS FA ooo ooo i Orange Red 1 _7 ECRST VSEL2 Orange 8 H e X 4 ECRSTIVSEL z o Terava 9 o i9 47 2 erayibtack t _ 40 _ 40 ___ 0 Z INETGON Bue Red Wat ieee aN BtuerBiack 12 12
99. Resistor with the re quired regeneration absorption capacity e The operating limit of the e Set Pn6C to 2 External Regeneration For details refer to Param Resistor is limited to eter Details on page 5 32 10 21 Encoder Occurs during opera e The encoder is discon e Fix the locations that are disconnection tion nected disconnected detected e Connector contacts are e Correct the wiring faulty e The encoder wiring is in correct e Correct the wiring e The encoder is dam aged e Replace the Servomotor e The Servo Drive is faulty e Replace the Servo Drive e The Servomotor is me chanically being held e f the Servomotor shaft is being held by external force release it 8 8 Troubleshooting 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 23 Encoder data error Occurs when the power e The encoder signal wir e Correct the wiring supply is turned ON or ing is incorrect during operation g OP e Noise on the encoder e Take measures against wiring causes incorrect noise on the encoder wir operation ing e The power supply volt e Provide the required en age for the encoder has coder power supply volt dropped especially age 5 VDC 5 when the cable is long 24 Deviation counter Occurs when the Ser e The Servomotor power e Correct the wiring overflow vomotor does not ro wi
100. Servomotor rotates in the opposite direction from the command The CW input and CCW input are connected reversely Check the Controller s command pulse type and the Servo Drive s command pulse type Connect the CW pulse sig nal to the CW Input and the CCW pulse signal to the CCW Input Servomotor rotation is unstable The Servomotor Power Cable or Encoder Cable is wired incorrectly Check the wiring of the Servomotor Power Cable s phases U V and W and check the Encoder Cable s wir ing Wire correctly The coupling system between the Servomotor shaft and the mechanical system has eccentricity and declination loose screws or the torque is fluctuating due to engagement between pulleys or gears Check the mechanical system s coupling section Try rotating the Servomotor without a load Disconnect it from the me chanical system Review and adjust the ma chine The load s moment of inertia exceeds the Servo Drive s allowable value Try rotating the Servomotor without a load Disconnect it from the me chanical system e Reduce the load e Replace it with the Servo motor and Servo Drive with higher capacity The pulse signal line s connections failure Check the pulse signal wiring at the Controller and Servo Drive Wire correctly Check the Controller s command pulse type and the Servo Drive s command pulse type Set the Servo Drive s
101. Shielded cables must be used for all I O signal lines and encoder lines Use tin plated mild steel wires for the shielding All cables I O wiring and power lines connected to the Servo Drive must have clamp filters installed The shields of all cables must be directly connected to a ground plate Wiring Method SD AC power FC CNA CNB FC supply 7 gt Li U a T7 NF b L2 V e 5 L3 W f FC FC oa CN1 CN2 d e Ground to 100 Q 9 or less l 1 SM o L TB Switch box S Servomotor ON 100 VAC h rotation command Note For models with a single phase power supply input R7D BPLI_IL BP01H BPO2HH BP04H the main input power supply terminals are L1 and L3 Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a ground plate for the frame ground for each Unit as shown in the above diagrams and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible No fuse breakers surge absorbers and noise filters should be positioned near the input terminal bloc
102. Speed Control Mode 1 or 2 can be selected If O is selected in Position Control Mode pin CN1 5 will be used as the Gain Switch Input GSEL If the Torque Limit Switch Input TLSEL is used always set the following parameters Overspeed Detection Level Setting Pn70 No 2 Torque Limit Pn71 and No 2 Overspeed Detection Level Setting Pn73 If the Torque Limit Switch Input is used with the default settings an overspeed alarm alarm code 26 will occur Explanation of Settings Explanation Setting Zero Speed Designation Input VZERO Torque Limit Switch Input TLSEL 0 Disabled Disabled 1 Enabled Disabled 2 Disabled Enabled Pn07 Not used Do not change setting Pn08 Not used Do not change setting Pno9 Warning Output Selection Ali modes Setting range Oto 6 Unit Default setting 2 Power OFF gt ON Set the function of the Warning Output WARN Explanation of Settings Setting Explanation 0 Output while torque is being limited 1 Output for zero speed detection 2 Output for regeneration overload or fan rotation speed alarm warning 3 Output for regeneration warning 4 Output for overload warning 5 Not Used 6 Output for fan rotation speed alarm warning 5 34 Operating Functions Operating Functions 5 10 User Parameters PnOA Not used Do not change
103. Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A6 This Cable connects a Position Control Unit CS1W NC113 C200OHW NC113 to a Servo Relay Unit XW2B 20J6 1B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A6 50 cm Approx 0 1 kg 8 0 dia XW2Z 100J A6 im Approx 0 1 kg Connection Configuration and External Dimensions Servo Relay Unit o D XW2B 20J6 1B 47 L 6 toi i a O Position Control Unit CS1W NC113 es He C200HW NC113 H O t 11 Wiring Position Control Unit No Al A16 o 3 65 Servo Relay Unit 3 4 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A7 This Cable connects a Position Control Unit CS1W NC213 413 C200HW NC213 413 to a Servo Relay Unit XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A7 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A7 im Approx 0 2 kg Connection Configuration and External Dimensions 47 L 6 CS1W NC213 n Llo CS1W NC413 C200HW NC213 C200HW NC413 Wiring Position Control Unit A1 B1 A2 B2 Servo Relay Unit x g D XW2B 40J6 2B Servo Relay Unit No No a 8 Doo a4 O 34 3 66
104. When Servo Is ON 120 ms min i ON Alarm Reset RESET OFF Approx 2 ms Released Dynamic brake Engaged Approx 40 ms Servomotor Energized Deenergized Approx 2 ms Brake Interlock Output ON BKIR OFF Servo Ready Output ON READY OFF ON Alarm Output ALM OFF 220 ms min ON Servo position speed 10 or torque input OFF Appendix 2 10 60 Appendix 2 10 5 Operating Functions 10 5 8 Gain Switching Function This function switches the speed loop and position loop gain Enabled when Pn30 is set to 1 and Pn31 is not set to 1 2 or 4 or when Pn36 is not set to O or 1 under Speed Control e If GSEL gain switching signal is not input perform control using the Speed Loop Gain Pn11 Speed Loop Integration Time Constant Pn12 and Position Loop Gain Pn10 If GSEL is input perform control using the Speed Loop Gain 2 Pn19 Speed Loop Integration Time Constant 2 Pn1A and Position Loop Gain 2 Pn18 e If the mechanical system inertia fluctuates too much or if you want different responsiveness during operation and stoppage you can perform applicable control using gain switching e If realtime autotuning is not effective under the conditions shown below the gain switching function will be useful e When the load inertia fluctuates in 200 ms or less e When rotation speed does not excee
105. above sea level max 860 hp min Protective structure Built into panel IP 10 EMC EN 55011 class A group 1 EC Directive EN 61000 6 2 Interna Direc Low tional tives Voltage EN 50178 stan Directive dards UL standards UL 508C cUL standards cUL C22 2 No 14 Note 1 The above items reflect individual evaluation testing The results may differ under compound conditions Note 2 Depending on the operating conditions some Servo Drive parts will require maintenance Refer to Servo Drive Service Life on page 8 18 in the User s Manual for details Note 3 The service life of the Servo Drive is 50 000 hours at an average ambient temperature of 40 C at 80 of the rated torque excluding axial flow fan ANEATNGINIINCE Never perform withstand voltage or other megameter tests on the Servo Drive Characteristics E Control Specifications 3 1 Servo Drive Specifications Servo Drive model Item R7D R7D R7D BPA5L BPO1L BPO2L Continuous output current 10A 16A 25A rms Momentary maximum output 3 3 A 51A 75A current rms Power supply capacity 0 16 KVA 0 25 KVA 0 42 KVA Input power supply voltage main circuit Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz ee aan 22A aA Heat generated main circuit 12W 16 W 22 W Control method All digital servo Inverter method IGBT driven PWM method PWM frequency 12 kHz 6 kHz
106. and deceleration times e The load is too large e Reduce the load e Select a suitable Servo motor 34 Overrun limit error Occurs during opera e The Overrun Limit Set e Adjust the gain tion ting Pn26 is exceeded e Increase the setting for during operation Pn26 e Set Pn26 to 0 to disable the function 36 Parameter error Occurs when the power e There are errors in the e Reset all parameters supply is turned ON parameters that were read e The Servo Drive is faulty e Replace the Servo Drive 37 Parameter corruption Occurs when the power e The parameters that e Replace the Servo Drive supply is turned ON were read are corrupt 38 Drive prohibit input Occurs when the Servo e The Forward Drive Pro e Correct the wiring error is turned ON or during hibit Input POT and Re e Replace the limit sensor operation verse Drive Prohibit Input e Check whether the pow NOT were both OFF at er supply for control is in the same time put correctly e Check whether the set ting for Drive Prohibit In put Selection Pn04 is correct 48 Encoder phase Z Occurs during opera e Aphase Z pulse from the e Replace the Servomotor error tion encoder was not detect ed regularly 49 Encoder CS signal Occurs during opera e A logic error of the CS e Replace the Servomotor error tion signal from the encoder was detected 8 10 Troubleshooting Troubleshooting 8 3 Troubleshooting Alarm Sta
107. and the green yellow ground wire must be properly connected to the terminal block Operation E Checking the Servomotor There should be no load on the Servomotor Do not connect the mechanical system The Servomotor s power lines and the power cables are securely connected The Encoder Cable must be securely connected to the Encoder Connector CN2 at the Servo Drive The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor E Checking the I O Control Connectors The Control Cable must be securely connected to the I O Control Connector CN1 The RUN Command Input RUN must be OFF m Checking Parameter Unit Connections The Parameter Unit R88A PRO2G must be securely connected to the CN3 connector Turning ON Power After checking the above items turn ON the main circuit power supply The alarm output ALM will take approximately 2 seconds to turn ON after the power has been turned ON Do not attempt to detect an alarm using the Host Controller during this time when power is being supplied with the Host Controller connected 6 2 Preparing for Operation Checking Displays After turning ON the power confirm that the Servo Drive s power supply LED indicator PWR is lit green When the power is turned ON one of the following will appear on the Parameter Unit display Normal Error alarm display If Servo Drive is normal the item set for Default
108. brake Deviation counter Cleared During deceleration Dynamic brake 2 After stopping Servo free Deviation counter Cleared 69 Stop Selection During deceleration Free run 0 a Oto7 with Servo OFF 3 After stopping Servo free Deviation counter Cleared During deceleration Dynamic brake 4 After stopping Dynamic brake Deviation counter Hold During deceleration Free run 5 After stopping Dynamic brake Deviation counter Hold During deceleration Dynamic brake 6 After stopping Servo free Deviation counter Hold During deceleration Free run 7 After stopping Servo free Deviation counter Hold When the Servomotor is stopped and the RUN Brake Timin Command Input RUN is turned OFF the Brake In Oto 6A When Sto a terlock Signal BKIR will turn OFF and the Servo 10 2ms 100 pp motor will turn OFF after the time set for this parameter elapses i e setting x 2 ms When the Servomotor is operating and the RUN Command Input RUN is turned OFF the Servo Brake Timing motor will decelerate to reduce speed and the Oto 6B during Brake Interlock Signal BKIR will turn OFF after a 50 2ms j 100 Operation set time i e setting x 2 ms has elapsed BKIR will also turn OFF if the speed drops to 30 r min or lower before the set time elapses 5 30 Operating Functions Operating Functions 5 10 User Parameters
109. canvaveveatsusasusnvoscsusuccdevedsvecusaaiandte 7 13 Disabling Realtime Autotuning cc eee eeeeeeeeeeeees 7 13 Disabling the Adaptive Filter 0 eee ee eee eeeeeeeeees 7 14 7 5 Manual TUNniNg i tira scstsastesesecacsescceicdenseetswasasasae 7 15 Function Differences in Control Modes 7 15 Basic Adjustment Procedures cccceecseesssceeeeeeeeeeeeneeees 7 16 Gain Switching FUNCTION 0 0 0 eeeeeeeeseeeneeeeeeeseeeeeneeeeneeees 7 19 Machine Resonance Control 2 ccccceceeeeeteeeeeesereeeseeeees 7 21 WA IKIT A KOOTA EA E E ta ra tates eae A era 7 23 Adjustment Functions 7 1 Gain Adjustment 7 1 Gain Adjustment SMARTSTEP 2 Series Servo Drive has realtime autotuning and autotuning functions With these functions gain adjustments can be made easily even by those who use a servo system for the first time If autotuning cannot be used use manual tuning Purpose of the Gain Adjustment The Servomotor must operate in response to commands from the Servo Drive with minimal time delay and maximum reliability The gain is adjusted to make the Servomotor operation follow the commands as strictly as possible to the operations specified by the commands and to maximize the performance of the mechanical system Actual Servomotor speed Gain Adjustment Methods The SMARTSTEP 2 Series Servo Drive has three gain adjustment methods realtime autotuning autotuning and manual tuning
110. command Setting pulses in the Command Pulse Mode Pn42 1 4 1to4 Yes Multiply by 2 2 3 Multiply by 4 4 41 Command Set the Servomotor rotation direction for the com Pulse Rotation mand pulse input Direction The Servomotor rotates in the direction Switch 0 a specified by the command pulse 1 The Servomoior rotates in the opposite 0 ve 0to3 Yes direction from the direction specified by 2 the command pulse The Servomotor rotates in the direction 3 p specified by the command pulse 42 Command Set the input format of the pulse sent as input com Pulse Mode mands to the Servo Drive from the position control ler 0 90 phase difference phases A and B signal inputs 1 Forward pulse and reverse pulse inputs 1 ie gies ves 2 90 phase difference phases A and B signal inputs 3 Feed pulse input and forward reverse sig nal 43 Not used Do not change setting 0 44 Encoder Set the number of encoder pulses to be output from Dividing Rate the Servo Drive for each rotation 1 to Setting The setting can be made from 1 to 16 384 pulses 2500 Pulses 16384 Yes rotation but the setting will not be valid if it exceeds 2 500 pulses rotation 45 Encoder Set to reverse the logic of encoder pulses output Output from the Servo Drive Direction 0 Positive lodi 0 Oor1 Yes Switch seleee 1 Negative logic 46 Electronic Gear Set the pulse rate for command pulses and Servo 1 to Ratio motor travel distance 10000
111. constant Integration 20 fis 1 to Time Constant 1000 4 13 Speed Feed The encoder signal is converted to the speed sig back Filter Time nal via the low pass filter 0 Oto5 Constant 14 Torque Set to adjust the primary lag filter time constant for CommandFilter the torque command section 100 0 01 ms 0 to S Time Constant 2500 4 15 Feed forward Set the position control feed forward compensa 2000 Amount tion value 300 0 1 to e 2000 16 Feed forward Set the position control feed forward command fil CommandFilter ter 100 o 01ms 2t 4 i 6400 17 Not used Do not change setting 0 18 Position Loop Set to adjust the position control system respon 20 qs 0 to a Gain 2 siveness 32767 19 Speed Loop Set to adjust the speed loop responsiveness 80 Hz 1 to me Gain 2 1 3500 1A Speed Loop Set to adjust the speed loop integral time constant Integration 1 to ea Time Constant 3 ms 1000 2 1B Speed Feed The encoder signal is converted to the speed sig back Filter Time nal via the low pass filter 0 Oto5 Constant 2 1 1C Torque Set to adjust the primary lag filter time constant for Command Filter the torque command section 100 0 01 ms 0 to Time Constant 2500 2 1D Notch Filter 1 Set the notch frequency of the resonance sup 100 to i 1500 Hz Frequency pression notch filter 1500 1E Notch Filter 1 Set the width to one of five levels for the reso Width nance sup
112. data is not lost when the power is turned OFF If an autotuning error occurs the values for each gain will return to the value before executing autotuning Precautions for Correct Use 6 17 6 3 Using the Parameter Unit Auxiliary Function Mode The Auxiliary Function Mode includes the alarm reset and jog operation Displaying Auxiliary Function Mode Key operation Display example Explanation The items set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key four times to display Auxiliary Function Mode E Alarm Reset 1 Executing Alarm Reset Key operation Display example Explanation Press the Data key to enter Alarm Reset Mode Press and hold the Increment key until Start is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase Alarm reset will start This display indicates a normal completion lff o is displayed an alarm has not been reset Reset the power supply to clear the error 2 Returning to the Display of Auxiliary Function Mode Key operation Display example Explanation Press the Data key to return to the Auxiliary Function Mode Display 6 18 Operation Operation 6 3 Using the Parameter Unit E Jog Operation 1 Executing Jog Operation
113. dk Finland o 358 0 207 464 200 industrial omron fi France 33 0 156 63 70 00 industrial omron fr o Germany el 49 0 2173 680 00 industrial omron de Hungary 36 0 1399 30 50 industrial omron hu o Italy el 39 02 32 681 industrial omron it Middle East amp Africa el 31 0 23 568 11 00 industrial omron eu Note Specifications subject to change without notice Cat No 1561 E2 01 OMRON Netherlands Tel 31 0 23 568 11 00 industrial omron nl Norway Tel 47 0 22 65 75 00 industrial omron no Poland Tel 48 0 22 645 78 60 industrial omron com pl Portugal Tel 351 21 942 94 00 industrial omron pt Russia Tel 7 495 648 94 50 industrial omron ru Spain Tel Ind Sw Tel ind 34 913 777 900 ustrial omron es eden 46 0 8 632 35 00 ustrial omron se Switzerland Tel ind Turkey Tel 41 41 748 13 13 ustrial omron ch 90 0 216 474 00 40 industrial omron com tr Un Tel ited Kingdom 44 0 870 752 08 61 industrial omron co uk
114. engaged 3 The Servo ON status will not occur until the Servomotor drops to 30 r min or less E Power Supply OFF Timing When Servomotor Is Stopped ON Power supply OFF ON ty 25 to 35 ms Brake Interlock BKIR OFF a gt Pn A 1 Energized Servomotor Deenergized 1 The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis take this delay into account and set the Brake Timing when Stopped Pn6A so that the Servomotor is deenergized after the brake has engaged m RUN Command Errors and Power Supply OFF Timing When Servomotor Is Rotating ON Power supply OFF 25 to 35 ms S Ready READY Ce G o ervo Ready OFF RUN Command RUN ON OFF ON Alarm Output ALM OFF ee eee Pn6B 2 Appendix 2 ON Brake Interlock BKIR OFF ae Ss a Approx 1to5ms f Released i Dynamic brake i Engaged Energized Servomotor Deenergized C a Approx 10 ms dami Servomotor rotation speed A Braking using dynamic brake 1 After the Servomotor is deenergized it will rotate by inertia for approximately 10 ms until the dynamic brake operates 2 The Brake Interlock BKIR signal will turn OFF when the Servomotor s rotation speed is 30 r min or lower or the time set in the Brake Timing during Operation Pn6B has elapsed 10 59 10 5 Operating Functions E Alarm Clear
115. error display NFB OFF ON MCI MC2 A ee en ee i JESN H oO SUP oo l X1 MMC 4 MC1MC2X1 e f Q ped i TO S gt 2 t R7D BP Reactor R7A CPBLIS i ee CW MC1 MC2 o CW0O Cwo CCWO0 CW CCW CCWwo Origin search 0 CIO 0101 02 24 VDC input terminal 24 VDC input terminal COM CIO 0101 00 to 0101 03 Input terminal block Pulse 0 origin input signal CIO 0001 03 COM CIO 0000 t 24 VDC Precautions for Correct Use 9 5 Pulse 0 origin proximity input signal CIO 0001 05 CCW ECRST INP GND Z 24VIN RUN 1 Connect External Regeneration Resistor when required Servomotor Power Red Cable White R7A CABLIS R88M G Blue Green allow Encoder Cable R88A CRGBLIC OGND ALM 2 BKIR FG Brake Cable XE R88A CAGALIB XB oe Z 24 VDC Incorrect signal wiring can cause damage to Units and the Servo Drive Leave unused signal lines open and do not wire them Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommende
116. filter Then enable realtime autotuning again Refer to Disabling Realtime Autotuning on page 7 13 for information on inertia estimation resetting adaptive operations and disabling realtime autotuning 4 Set Notch Filter 1 Frequency Pn1D and Notch Filter 1 Width Pn1E manually For information on notch filters refer to Machine Resonance Control on page 7 21 After an unusual noise or resonance occurred the setting of the Inertia Ratio Pn20 or Adaptive Filter Table Number Display Pn2F may have been changed to an extreme value Perform the above measures as well Among the realtime autotuning results the Inertia Ratio Pn20 and Adaptive Filter Table Number Display Pn2F parameters are automatically saved to EEPROM every 30 minutes Realtime autotuning will use this data as the default settings when the power is turned ON 7 7 7 3 Autotuning 7 3 Autotuning Autotuning operates the Servomotor according to command patterns created automatically in the Servo Drive estimates the load inertia from the required torque and automatically sets the optimal gain RR Autotuning may not function properly under the conditions described in the for Correct Use following table If autotuning does not function properly use manual tuning Conditions under which autotuning does not function properly Load inertia If the load inertia is less than 3 times the rotor inertia If the load inertia is more tha
117. gear setting error Note The following alarms are not recorded in the history 11 Power supply undervoltage 36 Parameter error 37 Parameter corruption 38 Drive prohibit input error 95 Servomotor non conformity 96 LSI setting error E Software Version a mT I dd l Displays the software version of the Servo Drive m Warning Display rma No warning 4 Warning Overload 85 or more of the alarm level for overload Over regeneration 85 or more of the alarm level for regeneration overload The alarm level will be 10 of the operating ratio of the regeneration resistance if the Regeneration Resistance Selection Pn6C is set to 1 Not used E Regeneration Load Ratio fom I J I a I Displays the load ratio as a percentage of the detection level for the regeneration load 6 13 6 3 Using the Parameter Unit E Overload Load Ratio fan a on ni x m I of Displays the percentage of the load ratio as a percentage of the rated load E Inertia Ratio Displays the inertia ratio as a percentage a E Total Feedback Pulses Total Command Pulses ree ose Displays the total number of pulses after the power supply is turned ON The display will overflow as shown in the following fig
118. ies 2 15 SPECIFICATIONS eee eeeeeeeeeteeeeeeeeeteteeeeteeeteaes 3 76 Personal Computer Monitor Cables 2 6 3 38 phase Z OULPUE oc cecees esse cceeesee ences sccce te nescceeneescneaeenis 3 14 Phase Z Output Z cc cecesceseeeeseeeeeeeeeeeeeeeeeeeeee 10 21 Phase Z Output Common ZCOM 10 21 PIN arrangement cece eee eee e eee eee 10 22 Position Command Filter Time Constant Setting PM4G cetera iiessicis cists catalan ees katie ake fet 10 93 POSITION CONTIOL ote eeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeenneeeeees 5 1 Position Control Mode we 10 125 Position Loop Gain P10 n se 10 74 Position Loop Gain 2 Pn18 eseese 10 76 Position Loop Gain Switching Time Pn35 10 86 Positioning Completed Output eee 3 13 5 55 Positioning Completed Output INP 10 21 10 25 Positioning Completion Condition Setting Pn63 10 98 Positioning Completion Range Pn60 10 97 OA E E a E E teegedecgente test Power Cables SPECIFICATIONS cece eeeeceeeeeteeteaeeeeteeteteeeteaes single phase three phase ceeeeeeeeesseceeeesseeeeeeeseeeees Power Supply Cables ccccecseeeeseeeeeteeeeeees power supply LED indicator PUES si a ce asosalls Eai 3 11 Pulse Prohibit Input IPG 10 20 10 23 PWR ee aoe ana ienihanas token ads 1 4 Index R RZA GMBO TA ssion ainkoaren eee nathan RZA CNBO TA vet Loe a eh doe ales R7A CNBOIP 1 eeeeeeeeeeeeeeeeeeeeeese
119. incorrect e Correct the wiring Occurs when a long string of command pulses is given e Gain adjustment is insufficient e Adjust the gain e The acceleration and deceleration rapid e Extend the acceleration and deceleration times e The load is too large e Reduce the load e Select a suitable Servomotor 10 136 Appendix 2 10 8 Troubleshooting et Error Status when error occurs Cause Countermeasure e The setting for the e Increase the setting of Deviation Counter Pn70 Deviation counter Overflow Level Pn70 e Reduce the rotation 24 overflow Occurs during operation was exceeded speed Continued from e Lighten the load previous page e Extend the acceleration and deceleration time e The speed command e Set the command input is too large pulse frequency to 500 kpps max e The setting for the e Set Pn48 and Pn49 so Electronic Gear Ratio that the command Numerator Pn48 or pulse frequency is Occurs during high Pn49 is not 500 kpps max speed rotation appropiate e The maximum number e Adjust the gain 26 Overspeed of rotations is e Reduce the maximum exceeded due to command speed overshooting e The encoder wiring is e Correct the wiring incorrect e The Overspeed e If torque limit oa Detection Level switching is used Occurs when torque limit ar cat 2 Setting Pn73 has ben correctly set the switching is used exceeded allowable
120. limit function is disabled if this 10 rotation 1000 parameter is set to 0 27 Not used Do not change setting 0 28 Not used Do not change setting 0 29 Not used Do not change setting 0 2A Not used Do not change setting 0 2B Vibration Set the vibration frequency to suppress vibration 0 0 4Hz 0 to Frequency at the end of the load i 5000 2C Vibration Filter Set the vibration filter to suppress vibration at the 200 Setting end of the load 0 0 1Hz to 2500 2D Not used Do not change setting 0 2E Not used Do not change setting 0 2F Adaptive Filter Displays the table entry number corresponding to Table Number the frequency of the adaptive filter This parameter Display 1 is set automatically and cannot be changed if the 0 E 0 to 64 7 adaptive filter is enabled i e if the Realtime Au totuning Mode Selection Pn21 is set to 1 to 3 or 7 30 Gain Switching Enable or disable gain switching Input Operating If gain switching is enabled the setting of the Gain Mode Selection Switch Setting Pn31 is used as the condition for switching between gain 1 and gain 2 0 Disabled The gain set in Pn10 to Pn14 is used and the Gain Switch Input 1 Oor1 GSEL will be used to switch between PI operation and P operation 1 Enabled The gain will be switched be tween gain 1 Pn10 to Pn14 and gain 2 Pn18 to PniC
121. load 3 N 147 Without brake kg Approx 2 3 Weight With brake kg Approx 3 1 Radiation shield dimensions material 170 x 160 x t12 Al Applicable Servo Drives R88D GP0O8H Brake inertia kg m GD2 4 75x 10 Excitation voltage 4 V 24VDC 5 Power consumption at 20 C W 10 Current consumption at 20 C A 0 42 a Static friction torque N m 2 45 min 6 Attraction time ms 70 max 8 Release time ms 20 max E Backlash 1 reference value H Allowable work per braking J 196 E Allowable total work J 147 x 10 Allowable angular acceleration rad s 30 0909 ETA ee fone must Brake life 10 000 000 operations Rating Continuous Insulation grade Type B Appendix 2 Appendix 2 10 3 Specifications 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature 20 C 65 The maximum momentary torque indicates the standard value 2 Applicable Load Inertia e The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible e If the dynamic brake is activated frequently with high load inertia the dynamic brake resistor may burn Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled 3 The allowable radial and thrust loads are the
122. more must not be stopped acceleration in less than 10 ms Brake life 10 000 000 operations Rating Continuous 3 19 3 2 Servomotor Specifications kem Unit R88M R88M R88M GP10030H GP20030H GP40030H Rated output Ww 100 200 400 Rated torque N m 0 32 0 64 1 3 Rated rotation speed r min 3000 Max rotation speed r min 5000 Max momentary torque N m 0 90 1 82 3 60 Rated current A rms 1 0 1 6 4 4 Max momentary current A 0 p 4 3 6 8 18 6 Rotor inertia kg m 9 0 x 108 3 4 x 10 6 4 x 10 Applicable load inertia 20 times the rotor inertia max 2 Power rate kW s 11 4 11 8 25 5 Allowable radial load 3 N 68 245 245 Allowable thrust load N 58 98 98 Without brake kg 0 7 1 3 1 8 E With brake kg 0 9 2 0 2 5 jena shieig dimensions m 130 x 120 x t10 Al 170 x 160 x t12 Al Brake inertia kg m 3 0 x 10 9 0 x 106 9 0 x 10 6 Excitation voltage 4 V 24 VDC 10 te w 7 10 10 a alae A 0 29 0 41 0 41 2 Static friction torque N m 0 29 min 1 27 min 1 27 min 3 Attraction time ms 50 max 60 max 60 max 5 Release time ms 15 max 15 max 15 max A Backlash 1 max Allowable work per J 137 196 196 braking operation Allowable total work J 44 1 x 108 147 x 108 147 x 103 Allowable angular radja 10 000 max acceleration Speed of 950 r min or more must not be stopped in less than
123. number Pn01 Default Display All modes Setting range Oto 15 Unit Baloo the tolowing Default setting 1 Power OFF gt ON Yes table Use this parameter to set the item to be displayed on the Parameter Unit when the power supply is turned ON Explanation of Settings Setting Explanation Unit 0 Position deviation Displays the number of accumulated pulses in the devi Pulse ation counter 1 Servomotor rotation speed Displays the Servomotor rotation speed r min 2 Torque output Displays the Servomotor output torque as a percentage o of the rated torque output Control mode Displays the control mode i e position control or Inter 3 nally Set Speed Control 4 I O signal status Displays the status of control input and output signals 2 connected to CN1 5 Alarm display and history Displays the 14 most recent alarms including current Be alarms 6 Not used oes 7 Warning display Displays overload and over regeneration warnings 8 Regeneration load ratio Displays the load ratio as a percentage of the regener o ation overload alarm operation level 9 Overload load ratio Displays the load ratio as a percentage of the rated o load 10 Inertia ratio Displays the inertia ratio 11 Total feedback pulses Displays the total number of pulses since the power Pulse supply was turned ON Total command pulses PPly 12 Pulse Press the Da
124. origin input 24 V GND Servomotor Power X axis origin common l i Z Red Cate CAB s X axis positioning complete input T F INP Blug i i Yellow X axis input common 24VIN p 24 VDC L X axis external interrupt input 14 i RUN Encoder Gablen X axis origi SEES R88A CRGBLIC axis origin proximity input eo i R A X axis CCW limit input pel OGND E X axis CW limit input T E 4 X axis emerg stop input Laji 7 ALM Brake Cable 24 VDC R88A CAGACIB BKIR XB FG 24 VDC Incorrect signal wiring can cause damage to Units and the Servo Drive for Correct Use Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 24 VDC power supply for the command pulse inputs as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent I 2s c Q Q lt 9 4 Appendix 1 9 1 Connection Examples m Connection Example 5 Connecting to SYSMAC CP1H Y20DT D 3 phase 200 240 VAC 50 60 Hz sS CP1H Y20DT D Output terminal block Ground to ais 100 Q or less Main circuit power supply Main circuit contact Surge killer Servo
125. position controller Is the wiring to CN1 correct Is it T disconnected Has the power supply voltage changed Is the correct voltage being input Are the connecting parts loose ZO 1 Is there any unusual noise EH Is the wiring to coming from the Servomotor 2 CN2 correct Is it c i disconnected Is the electromagnetic 0 4 8 My brake operating Z A Za Cc ql amp a A I N Ma Servo e chine motor Is the coupling loose Is the connecting section disconnected wire breaking or faulty connection Is the wiring correct 8 5 Error Diagnosis Using the Displayed Alarm Codes 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 11 Power supply Occurs when the Servo e The power supply volt e Increase the power sup undervoltage Drive is turned ON age is low ply capacity e Momentary power inter e Change the power sup ruption occurred ply e Power supply capacity is e Turn ON the power sup insufficient ply e The power supply volt age drops because the main power supply is OFF e The main power supply is not input e Power supply capacity is e Increase the power sup insufficient ply capacity e Phase loss e Connect the phases L1 L2 L3 of the power sup ply voltage correctly e For single p
126. setting PnOB Not used Do not change setting Pn0C Not used Do not change setting PnoOD Not used Do not change setting PnOE Not used Do not change setting PnOF Not used Do not change setting 5 35 5 10 User Parameters E Gain Parameters Pn10 Position Loop Gain Position Setting range 0 to 32767 Unit 1 s Default setting 40 PowerOFF gt ON Set this parameter to adjust the position loop response according to the mechanical rigidity The responsiveness of the servo system is determined by the position loop gain Servo systems with a high loop gain have a high response and can make positioning faster To increase the position loop gain you must improve mechanical rigidity and increase the specific oscillation frequency The value should be 50 to 70 1 s for ordinary machine tools 30 to 50 1 s for general use and assembly machines and 10 to 30 1 s for industrial robots Since the default position loop gain is 40 1 s be sure to lower the setting for machines with low rigidity Increasing the position loop gain in systems with low mechanical rigidity or systems with low specific oscillation frequencies may cause machine resonance resulting in an overload alarm If the position loop gain is low you can shorten the positioning time by using feed forward This parameter is automatically changed by executing realtime autotuning function To set it
127. shafts adjustable 4 1 Installation Conditions When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to be placed on the motor shaft If an excessive radial load is applied the motor shaft and bearings may be damaged Set up a structure so that the belt tension can be adjusted Pulley Tension E Water and Drip Resistance The protective structure for the Servomotors is as follows IP65 except for through shaft parts and cable outlets E Oil Seal Part Number Tension adjustment Make adjustable Belt O see With G Series Servomotors an oil seal can be installed afterwards Refer to the installation instructions from NOK Corporation for information on installing the oil seal The following oil seals are not standard NOK products Check with the manufacturer The expected service life of the oil seals is approximately 5 000 hours but the actual life depends on the application conditions and environment Motor model Shaft Outer diameter Width Material NOK part number diameter mm mm mm rubber SC type R88M G05030H 8 9 17 4 A435 BC6646 E0 R88M G10030L H 8 9 17 4 A435 BC6646 E0 R88M G20030L H 14 28 4 A435 BC5102 E1 R88M G40030H 14 28 4 A435 BC5102 E1 R88M GP10030L H 8 9 22 4 A435 BC5101 E1 R88
128. speed 100 ulses 32767 Overflow Level Designation Torque Limit Switch Pn06 p No 2 Set the No 2 overspeed detection level when Overspeed Be E RA E f 0 to 73 torque limit switching is enabled in the Zero speed 0 r min Detection Level nee 6000 Designation Torque Limit Switch Pn06 Setting 74 Not used Do not change setting 0 75 Not used Do not change setting 0 76 Not used Do not change setting 0 77 Not used Do not change setting 0 78 Not used Do not change setting 0 79 Not used Do not change setting 0 7A Not used Do not change setting 0 7B Not used Do not change setting 0 7C Not used Do not change setting 0 7D Not used Do not change setting 0 7E Not used Do not change setting 0 7F Not used Do not change setting 0 5 31 5 10 User Parameters Parameter Details This section describes the user parameters in detail Be sure to fully understand the meanings of the parameters and change them properly Do not change settings of the parameters marked Not used E Function Selection Parameters Unit No Setting Pnoo All modes Setting range 1 to 15 Unit Default setting 1 Power OFF gt ON Yes Use this parameter to set the unit
129. stop or is hard to stop even if the RUN Command Input RUN is turned OFF while the Servomotor is ro tating The load inertia is too large Check the following e Is the load too large e Is the Servomotor speed too high Re evaluate the load condi tions and replace the Servo motor Servo Drive with an appropriate model if neces sary The stop circuit failed Replace the Servo Drive The Servomotor is producing un usual noises or the machine is vibrating Continued on next page There are problems with the machine s installation Check whether the Servomotor s mounting screws are loose Tighten the mounting screws Check whether the axes are mis aligned in the mechanical coupling system Align the mechanical cou plings Check whether the coupling is un balanced Adjust the coupling s bal ance There is a problem with the bearings Check for noise or vibration around the bearings Contact your OMRON repre sentative The gain is doesn t match e Use autotuning e Perform manual tuning The Speed Feedback Fil ter Time Constant Pn13 is wrong Check the setting of Pn13 Return the setting to 4 de fault or increase the setting Noise is entering the Con trol I O Cable because the cable does not meet spec ifications Check that the cable wire is a twist ed pair wire or shielded twisted pair cable with wires of at least
130. the expected service life E Keeping Foreign Objects Out of Units Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the Units during installation Be sure to remove the cover after installation is complete If the cover is left on during operation Servo Drive s heat dissipation is blocked which may result in malfunction Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of Servo Drives 4 2 System Design System Design 4 1 Installation Conditions Servomotors E Operating Environment The environment in which the Servomotor is operated must meet the following conditions Operating the Servomotor outside of the following ranges may result in malfunction of the Servomotor Ambient operating temperature 0 to 40 C Ambient operating humidity 85 RH max with no condensation Atmosphere No corrosive gases E Impact and Load The Servomotor is resistant to impacts of up to 98 m s Do not apply heavy impacts or loads during transportation installation or removal When transporting hold the Servomotor body itself and do not hold the Encoder Cable or connector areas Doing so may damage the Servomotor Always use a pulley remover to remove pulleys couplings or other objects from the shaft Secure cables so
131. thermal switch output so that the main circuit power supply is Precautions hut OFF when th tact for Correct Use shu when the contacts open l l When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch 10 46 Appendix 2 Appendix 2 10 5 Operating Functions 10 5 Operating Functions 10 5 1 Position Control Function e Perform control using the pulse string input from CN1 pins 3 to 6 e The Servomotor rotates using the value of the pulse string input multiplied by the Electronic Gear Ratio Pn48 to Pn4B Controller with pulse string output Position Control Unit CJ1W NC113 133 CJ1W NC213 233 CJ1W NC413 433 CS1W NC113 133 440 CWLD Position Control CS1W NC213 233 Mode G Series Servo Drive CS1W NC413 433 CPU Units with built in 46 0 CCWLD Electronic Gear Ratio pulse I O 47 O CCWLD Pn48 to Pn4B CJIM CPU21 22 23 Pulse string zba CP1H X XA Y CP1L M L 40 CW Flexible Motion 504 Controller FQM1 MMP22 SMARTSTEP 2 750 W Model Servomotor Numerator x Ratio Denominator Parameters Requiring Settings Parameter No Parameter name Explanation Pn02 Control Mode Selection Select the control mode for position control setting O to 6 Pn40 Command Pulse Input Select
132. to 20000 Unit r min Default setting 300 Power OFF gt ON 2 No 4 Internally Set Speed 5 Pn56 Os ee many set Pee Internally set speed Setting range 20000 to 20000 Unit r min Default setting 400 Power OFF gt ON These speed settings are used for Internally Set Speed Control LL Use internally set speeds No 1 to No 4 when Internally Set Speed Control is selected in the a Control Mode Selection Pn02 The sign of the setting indicates the direction of rotation Settings with a plus sign normally not 5 indicated are for the forward direction and settings with minus sign are for the reverse direction a For details refer to Internally Set Speed Control on page 5 4 O Pn57 Jog Speed All modes Setting range 0 to 500 Unit r min Default setting 200 Power OFF gt ON Use this parameter to set the speed for jog operation For details refer to Auxiliary Function Mode on page 6 18 Pn58 Soft Start Acceleration Time Internally set speed Setting range 0 to 5000 Unit x 2 ms Default setting 0 Power OFF gt ON Pn59 Soft Start Deceleration Time internally set speed Setting range 0 to 5000 Unit x 2 ms Default setting 0 Power OFF gt ON Set the acceleration or deceleration time for Internally Set Speed Control Set the time setting x 2 ms required until the Servomotor rotation speed reaches 1 000 r min or until operation stops from 1 000 r min Internally Set Speed 1000 r min Spe
133. trial operation is to confirm that the servo system operates electrically correctly Make sure that the host position controller and all peripheral devices are connected and turn ON the power Then perform trial operation at low speed to confirm the operation Next perform actual run patterns to confirm that the system works properly n If an error occurs during the trial operation refer to Chapter 8 Precautions Troubleshooting to eliminate th Th fety and for Correct Use rou ee ooting to eliminate the cause Then ensure safety and resume operation If the machine vibrates when starting or stopping refer to Chapter 7 Adjustment Functions and perform the gain adjustment first Preparation for Trial Operation E Turning OFF the Power Some parameters are enabled by turning OFF the power and turning it ON again First turn OFF the main circuit power E Preparing for Turning OFF the Servomotor In order that the Servomotor can be immediately turned OFF if an abnormality occurs in the machine set up the system so that the power and the RUN Command Input can be turned OFF Operation Trial Operation 1 Operating without a Load Turn ON the power to the main circuit and peripheral devices and then turn ON the RUN Command Input Check that the Servomotor is in Servo ON status Send the command to start the Servomotor from the host position controller and check that the Servomotor operates properly according to the command
134. values determined for a service life of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Radi load Thrust load ul Center of shaft LR 2 4 This is an OFF brake It is reset when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Torque Rotational Speed Characteristics for 3 000 r min Servomotor e 3 000 r min Servomotor with 200 VAC Power Input The following graph show the characteristics with a 3 m standard cable and a 200 VAC input R88M G75030H 750 W 7 05 3600 Continuous usage 0 1000 2000 3000 4000 5000 r min E Temperature Characteristics of the Servomotor and Mechanical System e SMARTSTEP 2 750 W Model AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s maximum momentary torque increases and as the temperature rises the Servomotor s maximum momentary torque decreases e The maximum momentary torque rises by 4 at a normal temperature of 20 C compared to a temperature of 10 C Conversely the maximum momentary torque decreases about 8 when the magnet warms up to 80 C from the normal temperature e Generally when the temperature drops in a mechanical system the
135. waveform ON 50 ms min Positionin complete OFF 1smin e In addition to the precautions for realtime autotuning be aware of the following conditions under which operation may not be performed correctly If that occurs use normal realtime autotuning Conditions under which the fit gain does not function properly e One position command is too short i e less than two revolutions Operating e Positioning is not completed after the position command is completed and before pattern the next position command starts e The acceleration deceleration is sudden i e 3 000 r min 0 1 s 10 7 Adjustment Functions Before starting the fit gain function make the following settings using the fit gain window on the front panel parameter setting mode the Parameter Unit or CX Drive Parameter Setting Remarks Make one of the following settings 1 Normal mode almost no change The parameters at the left Realtime Autotuning 2 Normal mode gradual change can also be set using the Mode Selection Pn21 3 Normal mode sudden change execution display in the fit 4 Vertical axis mode almost no change gain window on the front 5 Vertical axis mode gradual change panel 6 Vertical axis mode sudden change Realtime Autotuning Machine Rigidity Selection 0 Realtime rigidity No 0 Pn22 Adaptive Filter Selection Pn23 1 Enabled Positioning Completion 17 bit encoder 20 pulses min R
136. with DFSEL PNSEL e Under the following conditions vibration control may not operate properly or may have no effect Conditions under which the effect of vibration control is inhibited e f forces other than commands such as external forces cause vibration Load e f the ratio of the resonance frequency to anti resonance frequency is large e If the vibration frequency is outside the range of 10 0 to 200 0 Hz 10 133 10 7 Adjustment Functions E Operating Procedure 1 Setting the Vibration Frequency Frequency 1 Pn2B Frequency 2 Pn2D Measure the vibration frequency at the end of the machine When the end vibration can be measured directly using a laser displacement sensor read the vibration frequency f Hz from the waveform measurement and set it as the Vibration Frequency Pn2B Pn2D If no measurement device is available use CX Drive data tracing function and read the residual vibration frequency Hz from the position deviation waveform as shown in the following figure e The following gives the vibration frequency in the Command lt Position deviation figure speed Calculation of vibration frequency f Hz 1 J T s Pn2B Pn2D 10 x f e Example Vibrati When the vibration cycle is 100 ms and 20 ms the ibration cycle T vibration frequency is 10 Hz and 40 Hz therefore set Pn2B 100 Pn2D 400 2 Setting the Vibration Filter Filter 1 Pn2C Filter 2 Pn2E First set the V
137. workpiece If this occurs y set the Stop Selection for Drive Prohibition Input Pn66 to 2 or limit operation using the host a controller rather than using this parameter c ef Q Pn05 Command Speed Selection lt Setting range 0to3 Unit Default setting 0 Power OFF gt ON Explanation of Settings Setting Explanation 0 Reserved 1 No 1 Internally Set Speed to No 4 Internally Set Speed Pn53 to Pn56 2 Reserved 3 No 1 Internally Set Speed to No 8 Internally Set Speed Pn53 to Pn56 and Pn74 to Pn77 Use this parameter to select the speed command when using speed control The Servo Drives has internally set speeds that can be used to easily achieve speed control by using contact inputs 10 69 10 5 Operating Functions Pn06 Zero Speed Designation Speed Command Direction Switch Setting range 0to2 Unit Default setting 0 Power OFF gt ON Explanation of Settings Setting Explanation 0 The zero speed designation input will be ignored and a zero speed designation will not be detected The zero speed designation input will be enabled and the speed command will be assumed to be zero when the connection between the input and common is open Speed mode Use as the speed command sign The rotation direction is forward when the connection between the input and common is open and reverse when the conn
138. 0 1 s E Operating Procedure 1 Set the Adaptive Filter Selection Pn23 to 1 The adaptive filter will be enabled Setting Adaptive filter Adaptive operation 0 Disabled 1 Yes Enabled 2 Yes hold Set the Adaptive Filter Selection to 2 if the resonance point may not have changed when the adaptive operation is completed i e Pn2F does not change 2 Write the data to the EEPROM if the results are to be saved 10 115 e An unusual noise or vibration may occur until the adaptive filter stabilizes Precautions for Correct Use 10 7 Adjustment Functions after startup immediately after the first servo ON or when the Realtime Autotuning Machine Rigidity Selection Pn22 is increased but this is not a problem if it disappears right away If the unusual noise or vibration however continues for three or more reciprocating operations take one or more of the following measures e Write the parameters used during normal operation to the EEPROM e Lower the Realtime Autotuning Machine Rigidity Selection Pn22 e Disable the adaptive filter by setting the Adaptive Filter Selection Pn23 to 0 resetting the inertia estimation and the adaptive operation e Manually set the notch filter e Once unusual noise or vibration occurs the Adaptive Filter Table Number Display Pn2F may have changed to an extreme value In this case also take the measures described above e The Adaptive Filter T
139. 0 21 10 24 Servo Relay Units ccccceeseeeeeeeeeeeeeeeeeeeeee 2 7 4 7 Position Control Unit Cables c cccccccccceeees 2 8 specifications Servo Drive Cables cccccccccccccccsessssseeeeeeeeeees 2 7 SPECIFICATIONS ceeseceeeesseeeeeesees 3 61 3 63 Servomotor connector specifications CNB 10 17 Servomotor Connectors ccccceeeeeeeeee 2 6 3 3 3 40 Servomotor Power Cables SPecificatlonS cia ced cc nceeeet aii cesieeneties 3 29 Servomotor Rotation Speed Detection Output 3 13 5 56 Servomotor Rotation Speed Detection Output TGON gern si2ebs E TEE ATT 10 21 10 25 SOrVOMONOSS E EEEE 2 1 3 000 r min Flat Servomotors characteristics cccccccceesesseeseeessssseseeees 3 19 CIMENSIONS ssena a a 2 14 torque and rotation speed characteristics 3 22 3 000 r min Servomotors characteristics eee eeeeseeeeeeseeeeeeeenneees 3 17 GIMENSIONS ceeeeeeeeeeeeeeeeeeeeeteeeeeeeteeees 2 12 torque and rotation speed characteristics 3 21 general specifications eee eee 3 16 SIGN eee tts Sud vs ere bored st rods oan To ee cereale 3 11 Smoothing Filter Setting Pn4D ee 10 93 Soft Start Acceleration Time Pn58 10 95 Soft Start Deceleration Time Pn59 10 95 SP Selection PNO7 ccesceeseeeeeeeeeeeeeeeeeteeeeeeees 10 70 Speed Feedback Filter Time Constant Pn13 10 76 Speed Feedback Filter Time Constant 2 Pn1B 10 77 Speed Loop
140. 0 250 300 Torque When the torque command 0 and a constant torque command is continuously applied after three or more times the overload time constant has elapsed the overload time t s will be t s Overload time constant s x log 1 Overload level Torque command The overload time constant s depends on the Servomotor The standard overload level is 115 e Overload alarm code 16 cannot be reset for approximately 10 seconds Precautions for Correct Use after its occurrence 10 138 Appendix 2 Index Numerics 12 to 24 VDC Power Supply Input 24VIN 10 19 24 V Open collector Input for Command Pulse FOAM OCW EE cc epee dip EE TETT 3 000 r min Flat Servomotors 3 000 r min Servomotors 90 degree Phase Difference Pulse Input Phase A FA eee ets Sova Ay E aa eR i a 10 19 90 degree Phase Difference Pulse Input Phase B FB i neh ee hah andes aha aide 10 19 90 degree Phase Difference Signal 0 04 3 11 A A2 Standard Models and Dimensions Appendix 6 10 1 adaptive fiter sinnene 7 5 7 14 Adaptive Filter Selection Pn23 10 79 Adaptive Filter Table Number Display Pn2F 10 82 alarm LED indicator e ec eeeceeeeeseeeeeeeneeeeeenneeeeees 1 4 alarm OUutpUlisce icine nae eee ae 3 13 6 2 Alarm Output ALM we 10 21 10 25 alarm reset INPUt eee eeeeneeeeeeeeeeeeeeeeeeeeeeaeeeens 3 9 Alarm Reset Inpu
141. 003C 3m Approx 0 2 kg R88A CRGBOO5C 5m Approx 0 3 kg R88A CRGB010C 10m 6 5 dia Approx 0 6 kg R88A CRGB0O15C 15m Approx 0 9 kg R88A CRGB0O20C 20m Approx 1 2 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Connection Configuration and External Dimensions L Servo Drive end 3 Servomotor end ol foe 4 14 4 Wiring Servo Drive Servomotor 6 5 dia K ra Servo Drive Connector Servomotor Connector Connector pins Connector pins 50639 8028 Molex Japan 170365 1 Tyco Electronics AMP KK Connector case Connector case Crimp type I O Connector Molex Japan 172160 1 Tyco Electronics AMP Kk 3 26 Specifications 3 3 Cable and Connector Specifications E Global Cables for Encoders Flexible Cables 3 27 Cable Models Model Length L Outer diameter of sheath Weight R88A CRGBO03CR 3m R88A CRGBOO5CR 5m R88A CRGBO10CR 10m R88A CRGBO15CR 15m R88A CRGBO20CR 20m 7 5 dia Approx 0 2 kg Approx 0 4 kg Approx 0 8 kg Approx 1 1 kg Approx 1 5 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Connection Configuration and External Dimensions Servo Drive end R7D BP Wiring Servo Drive Servomotor Servomotor end 4 14 4 Servo Drive Connector Connector pins 50639 8028 Molex Japan
142. 10 3 Specifications E Power Cables for Servomotors Flexible Cables Model Length L Outer diameter of sheath Weight R88A CAGA003SR 3m Approx 0 2 kg R88A CAGA005SR 5m Approx 0 3 kg R88A CAGA010SR 10m Approx 0 7 kg R88A CAGA015SR 15m Approx 1 0 kg R88A CAGA020SR 20m cas Approx 1 3 kg R88A CAGA030SR 30m Approx 1 9 kg R88A CAGA040SR 40m Approx 2 6 kg R88A CAGA050SR 50m Approx 3 2 kg E Brake Cables Non Flexible Cables Model Length L Outer diameter of sheath Weight R88A CAGA003B 3m Approx 0 1 kg R88A CAGA005B 5m Approx 0 2 kg R88A CAGA010B 10m Approx 0 4 kg R88A CAGA015B 15m Approx 0 6 kg R88A CAGA020B 20m ai Approx 0 8 kg R88A CAGA030B 30 m Approx 1 2 kg R88A CAGA040B 40m Approx 1 6 kg R88A CAGA050B 50m Approx 2 1 kg E Brake Cables Flexible Cables Model Length L Outer diameter of sheath Weight R88A CAGA003BR 3m Approx 0 1 kg R88A CAGAO005BR 5m Approx 0 2 kg R88A CAGA010BR 10m Approx 0 4 kg R88A CAGA015BR 15m Bats Approx 0 7 kg R88A CAGA020BR 20m Approx 0 9 kg R88A CAGA030BR 30m Approx 1 3 kg R88A CAGA040BR 40m Approx 1 8 kg R88A CAGA050BR 50m Approx 2 2 kg 10 32 Appendix 2 10 3 Specifications E Control I O Connector R88A CNU11C This connector connects to the control I O connector CN1 on the Ser
143. 13 4 4 Regenerative Energy Absorption ceceeeeeeeeeneeeeee ee eeeeeeeeeeteeeeeeeeeees 4 28 Chapter 5 Operating Functions Beli Poston COMM OM dienen ese ie a a liao 521 oe BE oo ite os 5 1 5 2 Internally Set Speed Control 2 ceeceeeeececcecee cee eeeeeeeeeteeeecaeaeeeeeeeeeeees 5 4 5 3 Forward and Reverse Drive Prohibit cccccccssseeceeesseeeeeeseeeeseaeeees 5 7 5 4 Encoder DIVIGING ceca ctevel estab exetelecutede ta thtaes ia thet oe el oto es ae ices 5 8 5 5 EICirOniG Geak 4 26 wnetesnscece screened aE E S ets 5 9 5 6 bBrake Interlock 25 2 foleved fected ccc di duce enr re ear a Ee E e a ERa EERE ESR TENEI 5 11 57 GaN SWC O e a a a a hic dace ots otf O calc ee cules 5 13 5 8 ToqUe OME Minne ne ey Bee ere a e eee ee een A oe eee en eon ea 5 15 5 9 COME MMMM cs r sau tee E ens eatensanscaneanceaenesbenanacestawanaaassaunnots 5 16 5 10 User Parameter ccccccseccccceeseeceeeeeeeeceeeeeeeeesseeeseeeeeseseeeeaeaeeessaaeeees 5 17 14 CONTENTS Chapter 6 Operation 6 1 Operational PFOCCOURG ss ccsecsccseincasviaeisetenssuishanbankandsabaarecbaatetbacisabaateaveateds 6 1 6 2 Preparing for Operation 2 0 2 2 cee cee ceeeeeceeececee cee e eee eee teeeeaaaeaeeaeeeeeeeeeeeenes 6 2 6 3 Using the Parameter Unit cccccceeeceeeeee eee eeeeeeeeeeeeeeeeseeseeeseeseenaaaaes 6 4 64 Thal Operation aoee ieceres a Racks ateag thks 6 23 Chapter 7 Adjustment Functions 7 1 7 2
144. 15A UL CSA TUV Three phase HFP 2303 30A SUP EW5 ER 6 5A SUP EW10 ER 6 10A Okaya Electric SUP EW15 ER 6 15A Single phase Industries Co SUP EW20 ER 6 20A UL cUL SEMKO ie SUP EW30 ER 6 30A 3SUP HU10 ER 6 10A Three phase 3SUP HU20 ER 6 20A ZRCS2006 00S 6A ZRCS2010 00S 10A TDK UL CSA NEMKO Single phase ZRCS2020 00S 20A ZRCS2030 00S 30A Note 1 To attenuate noise at low frequencies below 200 kHz use an isolation transformer and a noise filter Note 2 To attenuate noise at high frequencies over 30 MHz use a ferrite core and a high frequency noise filter with a feed through capacitor Note 3 If multiple Servo Drives are connected to a single noise filter select a noise filter with a rated current at least two times the total rated current of all the Servo Drives Noise Filters for Servomotor Output Use noise filters without built in capacitors on the Servomotor output lines Select a noise filter with a rated current at least two times the Servo Drive s continuous output current The following table shows the recommended noise filters for Servomotor output Maker Model Rated current Remarks 3G3AX NFO001 6A OMRON For inverter output 3G3AX NF002 12A Note 1 Servomotor output lines cannot use the same noise filters for power supplies Note 2 Typical noise filters are made for power supply frequencies of 50 60 Hz If these noise filters are connected to the PWM output of the Servo Drive an e
145. 18 Resistor connection Rated A rms 1 0 1 6 2 5 current Servomotor Maximum connection moinen terminal U V A rms 3 3 5 1 7 5 wW tary current Wire size AWG18 Wire size AWG14 min Frame ground Screw size M4 Torque N m 1 2 to 1 4 No fuse Breaker or fuse A rms 3 5 7 capacity 1 Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals 2 Use a no fuse breaker or a surge withstand fuse The maximum inrush current is 20 A 4 11 4 2 Wiring Item Unit R7D BP01H R7D BP02HH R7D BP02H R7D BP04H Power supply capacity kVA i 3 0 35 0 42 om Main circuit power Rated A rms ee 1 6 14 18 supply input L1 current 1 5 3 5 L2 Wire size AWG18 External Regeneration Wire size AWG18 Resistor connection Matsa A rms 1 0 1 6 1 6 2 5 current Servomotor Maximum connection momen terminal U V A rms 3 3 4 9 4 9 7 8 Ww 2 tary current Wire size AWG18 Wire size AWG14 min Frame ground Screw size M4 Torque N m 1 2 to 1 4 No fuse breaker or fuse 5 capacity A rms 3 2 y 1 Values in parentheses are for using single phase 200 V 2 Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals 3 Use a no fuse breaker or a surge withstand fuse The maximum inrush current is 20 A E Wire Size and Allowable Current Reference The following table sh
146. 197 Disabled when Pn22 gt E 14 1045 36 445 58 189 Disabled when Pn22 gt E 15 1005 37 428 59 182 Disabled when Pn22 gt D 16 967 38 412 60 Disabled 17 930 39 396 61 Disabled 18 895 40 381 62 Disabled 19 861 41 366 63 Disabled 20 828 42 352 64 Disabled 21 796 43 339 e This parameter displays the table entry number corresponding to the frequency of the adaptive filter e This parameter is set automatically and cannot be changed if the adaptive filter is enabled if the Adaptive Filter Selection Pn23 is not 0 e When the adaptive filter is enabled data will be saved in EEPROM every 30 min If the adaptive filter is enabled the next time the power supply is turned ON adaptive operation will start with the data saved in EEPROM as the default value e To clear this parameter and reset the adaptive operation disable the adaptive filter by setting the Adaptive Filter Selection Pn23 to 0 and then enable it again 10 82 Appendix 2 10 5 Operating Functions Pn30 Gain Switching Input Operating Mode Selection All modes Setting range Oor1 Unit Default setting 1 Power OFF gt ON Explanation of Settings Setting Explanation 0 Gain 1 PI P switching enabled Gain 1 gain 2 switching enabled e Use this parameter to select whether to switch between PI and P operation or to switch between gain 1 and gain 2 in Speed Control Mode e PI P operation switchin
147. 1W NC113 or C200HW NC113 0 5 m XW2Z 050J A6 1m XW2Z 100J A6 CS1W NC213 413 or C200HW NC213 413 0 5 m XW2Z 050J A7 1m XW2Z 100J A7 CS1W NC133 0 5 m XW2Z 050J A10 1m XW2Z 100J A10 CS1W NC233 433 0 5m XW2Z 050J A11 1m XW2Z 100J A11 Position control unit connecting cable CJ1W NC113 0 5m XW2Z 050J A14 1m XW2Z 100J A14 CJ1W NC213 413 0 5m XW2Z 050J A15 1m XW2Z 100J A15 CJ1W NC133 0 5m XW2Z 050J A18 1m XW2Z 100J A18 CJ1W NC233 433 0 5m XW2Z 050J A19 1m XW2Z 100J A19 CJ1M CPU21 22 23 0 5m XW2Z 050J A33 1m XW2Z 100J A33 10 8 Appendix 2 10 2 Standard Models and Dimensions Description Connecto to Model For general purpose controllers 1m _ R88A CPG001S General purpose cable 2m R88A CPG002S For general purpose controllers 1m XW2Z 100J B24 Terminal block cable 2m XW2Z 200J B24 Terminal block M3 screw and for pin xweB s0G4 terminals Terminal block M3 5 screw and for fork XWe2B 50G5 round terminals Terminal block M3 screw and for fork xwep 50G6 round terminals Appendix 2 10 9 10 2 Standard Models and Dimensions 10 2 2 External and Mounting Hole Dimensions Servo Drive E Single phase Three phase 200 VAC R88D GPO8H 750 W Wall Mounting
148. 2 m cables are also available Servo Drive Cables also come in two lengths 1 m and 2 m For information on cable lengths refer to Accessories and Cables on page 2 4 4 7 Note 2 Two Servo Drive Cables are required if 2 axis control is performed using one Position Control Unit 4 2 Wiring E Connector Terminal Block Conversion Units and Cables These Conversion Units and Cables are used for connecting to Controllers for which no specific cable is available The Cables and Connector Terminal Block Unit convert the Servo Drive s control I O Connector CN1 signals to a terminal block Name Model Comments XW2B 34G4 Terminal block with M3 screws Connector Terminal Block Conversion XW2B 34G5 Terminal block with M3 5 screws Unit XW2D 34G6 Terminal block with M3 screws This cable is used to connect a Connector Termi nal Block Conversion Unit The cable length is in Connector Terminal XW2Z J B28 dicated in the boxes of the model number Block Cable There are two cable lengths 1 m and 2 m Model number example for 1 m cable XW2Z 100J B28 E General purpose Control Cables CN1 A General purpose Control Cable is used to prepare a cable by yourself to connect to the Servo Drive s Control I O Connector CN1 Name Model Comments One end of the cable has loose wires Generalpurbose The digits in the model number indicat
149. 200J B32 For FQM1 MMP22 1m XW2Z 100J B30 XW2B 80J7 12A 2m XW2Z 200J B30 2 7 2 1 Standard Models E Servo Relay Unit Cables for Position Control Units Specifications Model Position Control Unit Cables For CJU1W NC133 0 5 m XW2Z 050J A18 1m XW2Z 100J A18 For CJ1W NC233 NC433 0 5 m XW2Z 050J A19 1m XW2Z 100J A19 For CS1W NC133 0 5 m XW2Z 050J A10 1m XW2Z 100J A10 For CS1W NC233 NC433 0 5 m XW2Z 050J A11 1m XW2Z 100J A11 For CJ1W NC113 0 5 m XW2Z 050J A14 1 m XW2Z 100J A14 For CJ1W NC213 NC413 0 5 m XW2Z 050J A15 1m XW2Z 100J A15 For CS1W NC113 For C200OHW NC113 0 5 m XW2Z 050J A6 1m XW2Z 100J A6 For CS1W NC213 NC413 For C200OHW NC213 NC413 0 5 m XW2Z 050J A7 1m XW2Z 100J A7 For CJ1M CPU21 For CJ1M CPU22 For CJ1M CPU23 0 5 m XW2Z 050J A33 1m XW2Z 100J A33 General purpose I O Cables For FQM1 MMP22 0 5 m XW2Z 050J A28 1 m XW2Z 100J A28 2m XW2Z 200J A28 Special I O Cables 0 5 m XW2Z 050J A30 1m XW2Z 100J A30 2m XW2Z 200J A30 For CQM1H PLB21 For CQM1 CPU43 V1 0 5 m XW2Z 050J A3 1m XW2Z 100J A3 E Control Cables for CN1 Specifications Model Connector Terminal Block Cables 1m XW2Z 100J B28 2m XW2Z 200J B28 General purpose Control Cables
150. 2F Adaptive Filter Table Displays the table entry number corresponding to the Number Display frequency of the adaptive filter The setting of this parameter cannot be changed 1 For information on table entry numbers and frequency refer to Disabling the Adaptive Filter on page 7 14 Notch Filter 1 Pn1D Pn1E Adjust the notch frequency of the notch filter according to the machine resonance frequency 7 21 7 5 Manual Tuning Notch Filter Function Torque Command Filter Function Machine Characteristics at Resonance Machine Characteristics at Resonance Resonance i Gain Anti resonance T uenc Notch Filter Characteristics F 9Uency Torque Command Filter Characteristics as alae pie Gain if Notch 7 i Frequency Cut off frequency Frequency Adjust approximately l 0 9 f lower Resonance peak disappears a Anti resonance i Anti resonance Frequency Frequency Example of an Adaptive Machine Gain Gain Gain Frequency Frequency gt RTTA gt Y Frequency 4 Rises 2 gt mse a Response speed A machine with a resonance point A machine with a resonance peak that changes due to individual A machine with a resonance point in a frequency range separated differences and age deterioration whose frequency does not chan
151. 31 is not met until returning to gain 1 Set the judgment level for switching between gain 1 and gain 2 Pn33 Sa bevel The unit for the setting depends on the condition set in the Gain Page 5 46 g Switch Setting Pn31 Pn34 Gain Switch Set the hysteresis width above and below the judgment level set Hysteresis Setting in the Gain Switch Level Setting Pn33 Position Loop Gain When switching between gain 1 and gain 2 is enabled set the Pn35 p phased switching time only for the position loop gain at gain Page 5 47 Switching Time switching 1 These settings are disabled when the Gain Switch Setting Pn31 is set to always use gain1 or gain 2 or set to the Gain Switching Input CN1 5 5 7 Gain Switching Related Parameters Parameter No Parameter name Explanation Reference as Set the position control system responsiveness The higher j Pale Position Loop Gain the setting the shorter the positioning time page oe Pn11 Speed Loop Gain Set the speed loop responsiveness Page 5 37 Speed Loop The integration constant is included in the speed loop This pa Pni2 Integration Time rameter functions to quickly eliminate minor speed deviations Page 5 37 Constant after stopping The lower the setting the faster the action Speed Feedback The encoder signal is converted to the speed signal via the low Pni3 Filter Time pass filter Noise from the Servomotor can be reduced by in Page 5 37
152. 33 33 33 33 33 33 33 33 33 33 Hysteresis Setting pn35 Position Loop Gain 59 59 20 20 20 20 20 20 20 20 20 20 20 20 20 20 Switching Time e The parameters Pn15 Pn16 Pn1A Pn30 and Pn32 to Pn36 are set to fixed values For normal mode autotun ing the default rigidity is 2 1 The value is 10 for position control and 0 for speed and torque control 2 The lower limit is set to 10 if a 17 bit encoder is used and to 25 if a 2 500 pulse revolution encoder is used 10 120 Appendix 2 10 7 Adjustment Functions E Front Panel Operating Procedure 1 Switch to the Normal Mode Autotuning from the Monitor Mode Press the Data key and then press the Mode key three times to change the mode G Servomotor rotation speed display default display 2 Input the machine rigidity number using the Increment and Decrement keys Cannot be set to 0 when using the Parameter Unit OL i mt mi Z fame en t Machine rigidity No G tine F Machine rigidity No High T 1 L Press the A key to move in the direction of the arrow y Press the key to move in the opposite direction of the arrow Qo tino H Machine rigidity No Low Drive system Machine rigidity No Ball screw direct coupling 6toC Ball screw and timing belt 4toA Timing belt 2108 Gears rack and pinion dri
153. 4 VDC model 3 An External Regeneration Resistor can be connected Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive Refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 30 Note 1 The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF Note 2 When turning OFF the main circuit power supply turn OFF the RUN Command Input RUN signal at the same time 4 10 System Design 4 2 Wiring Main Circuit Wiring When wiring a Terminal Block use proper wire sizes grounding systems and take into account anti noise characteristics E Terminal Names and Functions Signal Name Function L1 Mainicircuitpower s ppl Single phase 100 to 115 VAC 85 to 126 VAC 50 60 Hz L2 B PPly Single phase three phase 200 to 230 VAC 170 to 264 VAC input 50 60 Hz L3 P External regeneration PEE f If regenerative energy is high connect an External Regener resistor connection P B1 terminal ation Resistor erminals Frame ground This is the ground terminal Ground to 100 Q or less c D D E Terminal Wire Sizes 5 Item Unit R7D BPA5L R7D BPO1L R7D BP02L D Power supply capacity kVA 0 16 0 25 0 42 gt N Main circuit power Rated A rms 1 4 2 2 3 7 supply input L1 Current L2 Wire size AWG18 External Regeneration Wire size AWG
154. 500 Unit Hz Default setting 80 Power OFF gt ON e Use this parameter to set the responsiveness of the second speed loop 10 76 Appendix 2 10 5 Operating Functions PniA Speed Loop Integration Time Constant 2 All modes Setting range 1 to 1000 Unit ms Default setting 50 Power OFF gt ON e Use this parameter to set the second speed loop integration time constant Pn1B Speed Feedback Filter Time Constant 2 All modes Setting range Oto5 Unit aa Default setting 0 Power OFF gt ON e Use this parameter to set the second speed feedback filter time constant PnicC Torque Command Filter Time Constant 2 All modes Setting range 0 to 2500 Unit 0 01 ms Default setting 100 Power OFF gt ON e Use this parameter to set the second torque command filter time constant e The parameters from Pn18 to PniC are the gain and time constants to be selected when gain switching is enabled in the Gain Switching Input Operating Mode Selection Pn30 e The gain is switched according to the condition set in the Control Gain Switch 1 Setting Pn31 e If the mechanical system inertia changes greatly or if you want to change the responsiveness when the Servomotor is rotating and when it is being stopped you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions and swi
155. 6 1 4x 10 Applicable load inertia 30 times the rotor inertia max Power rate kW s 10 4 20 1 30 3 Allowable radial load 3 N 68 68 245 Allowable thrust load N 58 58 98 Without brake kg 0 3 0 5 0 8 With brake kg 0 5 0 7 1 3 aea Shieid dimensions 100 x 80 x t10 Al 130 x 120 x t12 Al Brake inertia kg m 2 0 x 107 2 0 x 107 1 8 x 10 6 Excitation voltage 4 V 24 VDC 10 E TAA w 7 7 9 m A 0 30 0 30 0 36 2 Static friction torque N m 0 29 min 0 29 min 1 27 min S Attraction time ms 35 max 35 max 50 max 3 Release time ms 20 max 20 max 15 max Backlash 1 max a Allowable Work per J 39 2 39 2 137 braking operation Allowable total work J 4 9 x 108 4 9 x 10 44 1 x 108 Allowable angular rad s2 30 000 max acceleration Speed of 2 800 r min or more must not be changed in less than 10 ms Brake life 10 000 000 operations Rating Continuous 3 17 3 2 Servomotor Specifications tem Unit R88M R88M R88M R88M G05030H G10030H G20030H G40030H Rated output Ww 50 100 200 400 Rated torque N m 0 16 0 32 0 64 1 3 Rated rotation speed r min 3000 Max rotation speed r min 5000 Max momentary torque N m 0 48 0 95 1 78 3 60 Rated current A rms 1 1 1 1 1 6 2 6 Max momentary current A rms 3 4 3 4 4 9 7 9 Rotor inertia kg m 2 5 x 10 6 5 1 x 10 6 1 4x 10 2 6 x 108 Applic
156. 6 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn22 gt F 6 1426 28 607 50 258 Disabled when Pn22 gt F 7 1372 29 584 51 248 Disabled when Pn22 gt F 8 1319 30 562 52 239 Disabled when Pn22 gt F 9 1269 31 540 53 230 Disabled when Pn22 gt F 10 1221 32 520 54 221 Disabled when Pn22 gt E 11 1174 33 500 55 213 Disabled when Pn22 gt E 12 1130 34 481 56 205 Disabled when Pn22 gt E 13 1087 35 462 57 197 Disabled when Pn22 gt E 14 1045 36 445 58 189 Disabled when Pn22 gt E 15 1005 37 428 59 182 Disabled when Pn22 gt D 16 967 38 412 60 Disabled 17 930 39 396 61 Disabled 18 895 40 381 62 Disabled 19 861 41 366 63 Disabled 20 828 42 352 64 Disabled 21 796 43 339 When the Adaptive Filter Table Number Display Pn2F is greater than 49 the Realtime Autotuning Machine Rigidity Selection Pn22 may have automatically disabled the adaptive filter In this case the Notch Filter 1 Frequency Pn1D does not need to be set 7 14 Adjustment Functions E Adjustment Functions fl 7 5 Manual Tuning 7 5 Manual Tuning Use manual tuning to adjust the gain when adjustments cannot be made properly with autotuning described in the previous section due to load conditions or other restrictions or when loads that have been adjusted with autotuning need to be readjusted individually to achieve optimal response and stability This section explains ma
157. 6 toC Ball screw timing belt 4toA Timing belt 2108 Gear rack and pinion drive 2to8 Machine with low rigidity etc 0 to 4 Machine rigidity numbers D to F can be used for machines with no resonance high rigidity and a low inertia ratio 5 Moving to Autotuning Mode After setting the machine rigidity press the Data key to move to Autotuning Mode For details refer to Autotuning Mode on page 6 17 l IIi 6 Turning ON the Servo Turn ON the RUN Command Input RUN The Servo will turn ON L Autotuning Mode 7 Executing Autotuning Press and hold the Increment key until 5 amp Mode on page 6 17 The Servomotor will rotate and autotuning will begin The operating pattern depends on the Autotuning Operation Setting Pn25 If Pn25 is set to 0 the Servomotor will rotate two times in is displayed For details refer to Autotuning 7 9 7 3 Autotuning both forward and reverse for approximately 15 seconds This will be repeated up to 5 cycles It is not an error if the Servomotor stops before cycling 5 times Repeat step 4 Selecting Machine Rigidity to step 7 Executing Autotuning until satisfactory responsiveness can be obtained 8 Saving the Gain Settings When system responsiveness is satisfactory move to Parameter Write Mode and save the settings in EEPROM so they will not be lost For details on operations refer to Parameter Write Mode on page 6 16
158. 70362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK 10 30 Appendix 2 Appendix 2 10 3 Specifications Global Cables E Encoder Cables Non Flexible Cables Model Length L Outer diameter of sheath Weight R88A CRGBO003C 3m Approx 0 2 kg R88A CRGBO005C 5m Approx 0 3 kg R88A CRGB010C 10m 6 5 dia Approx 0 6 kg R88A CRGB015C 15m Approx 0 9 kg R88A CRGB020C 20m Approx 1 2 kg R88A CRGBO030C 30m Approx 2 4 kg R88A CRGB040C 40m 6 8 dia Approx 3 2 kg R88A CRGB050C 50m Approx 4 0 kg E Encoder Cables Flexible Cables Model Length L Outer diameter of sheath Weight R88A CRGBO003CR 3m Approx 0 2 kg R88A CRGBO05CR 5m Approx 0 4 kg R88A CRGB010CR 10m 7 5 dia Approx 0 8 kg R88A CRGB015CR 15m Approx 1 1 kg R88A CRGB020CR 20m Approx 1 5 kg R88A CRGBO030CR 30m Approx 2 8 kg R88A CRGB040CR 40m 8 2 dia Approx 3 7 kg R88A CRGBO50CR 50m Approx 4 6 kg Power Cables for Servomotors Non Flexible Cables Model Length L Outer diameter of sheath Weight R88A CAGA003S 3m Approx 0 2 kg R88A CAGA005S 5m Approx 0 3 kg R88A CAGA010S 10m Approx 0 6 kg R88A CAGA015S 15m kdk Approx 0 9 kg R88A CAGA020S 20 m Approx 1 2 kg R88A CAGA030S 30 m Approx 1 8 kg R88A CAGA040S 40 m Approx 2 4 kg R88A CAGA050S 50 m Approx 3 0 kg 10 31
159. 88M G10030H R88M G10030H S2 200 W R88M G20030H R88M G20030H S2 400 W R88M G40030H R88M G40030H S2 100 200 V 50W R88M G05030H B R88M G05030H BS2 100 V 100 W R88M G10030L B R88M G10030L BS2 3 200 W R88M G20030L B R88M G20030L BS2 200 V 100 W R88M G10030H B R88M G10030H BS2 200 W R88M G20030H B R88M G20030H BS2 400 W R88M G40030H B R88M G40030H BS2 2 1 Note Models with oil seals are also available 2 1 Standard Models E 3 000 r min Flat Servomotors Model Specifications Straight shaft Straight shaft with key and tap 100 V 100W R88M GP10030L R88M GP10030L S2 2 200W R88M GP20030L R88M GP20030L S2 200 V 100W R88M GP10030H R88M GP10030H S2 200W R88M GP20030H R88M GP20030H S2 3 400W R88M GP40030H R88M GP40030H S2 100 V 100W R88M GP10030L B R88M GP10030L BS2 g 200W R88M GP20030L B R88M GP20030L BS2 200 V 100W R88M GP10030H B R88M GP10030H BS2 200W R88M GP20030H B R88M GP20030H BS2 400W R88M GP40030H B R88M GP40030H BS2 Note Models with oil seals are also available Parameter Unit Specifications Model R88A PRO2G Parameter Unit Servo Drive Servomotor Combinations Only the Servomotor and Servo Drive combinations listed here can be used Do not use other combinations E Single phase 100 VAC Combinations 3 000 r min Servomotors Rated Servo Drive Servomotor output With brake R88M G05030H B R88M G10030L B R88M G20030
160. A 3 5 mA at 500 VAC Industries Co Ltd a 115 105 p 95 5 5 5 TR Ground 000000 terminal l OJ M4 o Cover mounting 0000000 D y X r M E ET cover ko wo c A i Noise Filter Q lt x E Noise Filter for the Brake Power Supply Model Rated current Rated voltage Leakage current Manufacturer 1 0mA Okaya Electric Indus SUR EKSEH gt A 230 V at 250 Vrms 60 Hz tries Co Ltd 10 45 10 4 System Design E Contactors Manufacturer Model Rated current Coil voltage J7L 09 22200 11A 200 VAC J7L 12 22200 13A 200 VAC J7L 18 22200 18A 200 VAC J7L 32 22200 26 A 200 VAC OMRON J7L 40 22200 35A 200 VAC J7L 50 22200 50 A 200 VAC J7L 65 22200 65 A 200 VAC J7L 75 22200 75A 200 VAC E Reactors to Reduce Harmonic Current Reactor Specifications Servo Drive Model number Rated current Inductance R88D GP08H 3G3AX DL2015 9 3 A 3 51 mH R88D GP08H 3G3AX AL2025 10 0A 2 8 mH Connecting an External Regeneration Resistor E R88D GP08H 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 ee a i 4 gt Thermal Switch Output B1 HK External Regeneration B3 O 00 Resistor ee x Q Remove the short circuit bar between B2 and B3 Connect the
161. A CPBLIS ee ze 24VDC i l 2kQ H X i MC1MC2 AW i F Connect External Regeneration 2 kQ r i Resistor when required W i i R88M G GND Servomotor Power l SO 7 Red Cable White R7A CABLIS INP Blue I f Yellow i 24VIN 24 VDC ee ee TI X1 i i Encoder Cable i RB8A CRGBDC OGND E ult K ALM Brake Cable 24 VDC eE SKR R88A CAGALIB KB 7 F FG 24 VDC Precautions for Correct Use 9 7 Incorrect signal wiring can cause damage to Units and the Servo Drive Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 24 VDC power supply for the command pulse inputs as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent 9 1 Connection Examples E Connection Example 8 Connecting to FQM1 MMP21 Flexible Motion Controller Main circuit power supply NFB OFF ON MC1 MC2 acd Main circuit contact RO 6 0 ici 4 2 Lh T YY h 240 VAC 50 60 H 5 To
162. C First set the Vibration Filter Setting Pn2C to 0 The settling 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 in a range that will not cause torque saturation under actual operation conditions The effects of vibration suppression will be lost if torque saturation occurs Pn2C is set appropriately Pn2C is large Torque saturation Adjustment Functions x a Torque command 7 24 Chapter 8 Troubleshooting 8 1 8 2 8 5 Erro Processing rive naccscscsaacenccwendeccocccdceseweuewisss 8 1 Preliminary Checks When a Problem OcculS e0eee 8 1 Precautions When Troubleshooting ssesssesssrrrsrrrnserrreserress 8 2 Replacing the Servomotor and Servo Drive c ceeeeee 8 2 Alarm Table eeaeee annee ee eea eieae aaneres 8 3 Alarm Indicator on the Servo Drive ssssesessseeesesrrrersersereeene 8 3 Aa Sa ASA 8 4 Mroubleshooting sissiseeeseecceneeeneennennnnnnennnnn nennen 8 5 A E E A A AA E AE A A E A ees 8 5 Error Diagnosis Using the Displayed Alarm Codes 8 6 Error Diagnosis Using the Operating Status 0 ee 8 12 Overload Characteristics Electronic Thermal Function 00 8 16 Overload Characteristics Graphs cccecceeeeeeteeetenees 8 16 Periodic Maintenance eeeeeeseeeeeeeeeeees 8 17 Servomotor S
163. Cat No 1561 E2 01 SmartStep 2 servo system Model R7D BP_ servo drive R88D GPO8H_ servo drive 750 W R88M G_ servo motor USER S MANUAL St Introduction Introduction Thank you for choosing the SMARTSTEP 2 Series This User s Manual describes installation wiring methods and parameter setting procedures required for the operation of the SMARTSTEP 2 Series as well as troubleshooting and inspection methods Intended Readers This manual is intended for the following personnel Those with knowledge of electrical systems a qualified electrical engineer or the equivalent as follows Personnel in charge of introducing FA equipment Personnel in charge of designing FA systems Personnel in charge of managing FA systems and facilities NOTICE This manual contains information necessary to ensure safe and proper use of the SMARTSTEP 2 Series and its peripheral devices Please read this manual thoroughly and understand its contents before using the products Please keep this manual handy for future reference Make sure this User s Manual is delivered to the actual end user of the products as Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in mat
164. Connector case Crimp type I O Connector Molex Japan Servomotor Connector Connector pins 170365 1 Tyco Electronics AMP Kk Connector case 172160 1 Tyco Electronics AMP Kk 3 3 Cable and Connector Specifications E European Cables for Encoders Flexible and Shielded Cables Cable Models Model Length L Weight R88A CRGB001 5CR E 1 5m Approx 0 1 kg R88A CRGBOO3CR E 3m Approx 0 2 kg R88A CRGBOO5CR E 5m Approx 0 4 kg R88A CRGBO10CR E 10m Approx 0 8 kg R88A CRGB015CR E 15m Approx 1 1 kg R88A CRGBO20CR E 20m Approx 1 5 kg Connection Configuration and External Dimensions L Servo Drive end Servomotor end R7D BP ig 5 O gt R88M G Wiring Servo Drive Servomotor Servo Drive Connector AWG24x2P Servomotor Connector Connector Connector Crimp type I O Connector Molex Japan 172160 1 Tyco Electronics AMP KK Connector pins Connector pins 50639 8028 Molex Japan 170365 1 Tyco Electronics AMP KK 3 28 Specifications Specifications 3 3 Cable and Connector Specifications Servomotor Power Cable Specifications These are the cables connecting between the Servo Drive and Servomotor Servomotor Power Cables with connectors for the CNB are available When using Cables for a Servomotor with a brake a Brake Cable is also required Brake cables are also available as standard cables and robot cables Precautions TORT F
165. Constant creasing the setting Normally set it to 4 or less Torque Command Set to adjust the primary lag filter time constant for the torque Pni4 Filter Time command section Page 5 38 Constant Pnig Position Loop Gain These settings are for gain 2 Page 5 39 2 These parameters function in the same way as the parameters Pn19 Speed Loop Gain 2 described above Page 5 39 Speed Loop PniA Integration Time Page 5 39 Constant 2 Speed Feedback PniB Filter Time Page 5 39 Constant 2 Torque Command PniC Filter Time Page 5 39 Constant 2 5 14 Operating Functions Operating Functions 5 8 Torque Limit 5 8 Torque Limit This function limits the output torque of the Servomotor This function is effective in the following cases Pressing a moving part of a machine such as a bending machine against a workpiece with a constant force Protecting the Servomotor and mechanical system from excessive force or torque The Warning Output Selection Pn09 can be set to output an alarm to the Warning Output WARN when the torque limit function is enabled Two torque limits can be set and you can switch between them To switch the torque limit setting enable the Torque Limit Switch Input TLSEL in the Zero Speed Designation Torque Limit Switch Pn06 Parameters Requiring Setting Parameter No Parameter name Explanation Reference Set the torque limit as a percentage of the maximum torque of the a e
166. Controller 1 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 Appendix 2 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 No fuse breakers surge absorbers and noise filters should be positioned near the input terminal block ground plate and I O lines should be separated and wired at the shortest distance E Noise Filter for Power Supply Input Noise Filter Servo Drive model Model Red l opagas Veimum leee Manufacturer current current 60 Hz Okaya Electric 3 5 mA at 500 VAC Industries Co Ltd R88D GP08H 38SUP HQ10 ER 6 10A Three 10 44 10 4 System Design m No fuse Breakers NFB Inrush current Ao p Servo Drive model Main circuit power supply Control circuit power supply R88D GP08H 60 28 E Noise Filter for the Power Supply Input Noise Filter Servo Drive model A Model Rated Maximum leakage Manufacturer current current 60 Hz Okaya Electric R88D GP08H 3SUP HQ10 ER 6 10
167. Drive Prohibition Input Pn66 changes the operation when these inputs are enabled RUN Command Input RUN Pin 29 RUN Command Input RUN Functions e This input turns ON the power drive circuit for the main circuit of the Servo Drive If this signal is not input i e servo OFF status the Servomotor cannot operate Deviation Counter Reset Input ECRST Pin 30 Deviation Counter Reset Input ECRST Functions e Position Control Mode The value of the deviation counter will be reset when the deviation counter reset input turns ON The condition for resetting is selected in the Deviation Counter Reset Condition Setting Pn4E The pulse width of the Deviation Counter Reset Signal must be at least 1 ms Alarm Reset Input RESET Pin 31 Alarm Reset Input RESET Functions Appendix 2 e Pin 31 is the external reset signal for Servo Drive alarms The alarms are reset when this signal is input e The alarm status is reset when RESET is connected to the 24 V power supply ground for 24VIN for 120 ms or longer e The deviation counter is also reset when alarms are reset e Eliminate the cause of the alarm before resuming operation To prevent danger turn OFF the RUN Command Input first then input the alarm reset signal Pulse Prohibit Input IPG and Internally Set Speed Selection 1 VSEL1 Pin 33 Pulse Prohibit Input IPG Internally Set Speed Selection 1 VSEL1 Functions e Position Control Mode Pin 33 is th
168. E 10000 Numerator 1 z Electronic Gear Ratio Numerator 1 Pn46 47 Electronic Gear Electronic Gear Ratio Numerator Exponent Pn4A Ratio on x2 un a 1 to E Numerator 2 Electronic Gear Ratio Numerator 2 Pn47 10000 Electronic Gear Ratio Denominator Pn4B 48 Not used Do not change setting 0 49 Not used Do not change setting 0 5 26 Operating Functions Operating Functions 5 10 User Parameters Power Pn Parameter Explanation Default Unit Setting OFF gt gt No name setting range ON 4A Electronic Gear Set the pulse rate for command pulses and Servo Ratio motor travel distance 0 ES 0to 17 Jea Numerator Exponent Electronic Gear Ratio Numerator 1 Pn46 or 9 Electronic Gear Ratio Numerator Exponent Pn4A 4B Electronic Gear Electronic Gear Ratio Numerator 2 Pn47 1to Ratio 2500 Denominator Electronic Gear Ratio Denominator Pn4B 10000 4C Position Set the time constant for the primary lag filter for the CommandFilter command pulse input 0 S 0to7 So Time Constant If the parameter is set to 0 the filter will not function Setting The larger the setting the larger the time constant 4D Not used Do not change setting 0 4E Smoothing Select the FIR filter time constant used for the com Filter Setting mand pulse input The larger the setting the smoother the command 9 ae ves pulses 4F Not used Do not cha
169. E 5m R88A CRGBOO5CR E 10m R88A CRGBO10CR E 15m R88A CRGB015CR E 20m R88A CRGBO20CR E E Servomotor Power Cables for CNB Specifications Model Global Cables Non Flexible Cables 3m R7A CAB003S 5m R7A CAB005S 10m R7A CAB010S 15m R7A CABO015S 20m R7A CAB020S Global Cables Flexible Cables 3m R7A CAB003SR 5m R7A CABO005SR 10m R7A CABO10SR 15m R7A CABO15SR 20m R7A CABO20SR European Cables Flexible and Shielded Cables 1 5m R7A CABO01 5SR E 3m R7A CABO003SR E 5m R7A CABO05SR E 10m R7A CAB0O10SR E 15m R7A CABO15SR E 20m R7A CABO20SR E 2 4 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models E Brake Cables Specifications Model Global Cables Non Flexible Cables 3m R88A CAGA003B 5m R88A CAGAO005B 10m R88A CAGA010B 15m R88A CAGA015B 20m R88A CAGA020B Global Cables Flexible Cables 3m R88A CAGA003BR 5m R88A CAGAO05BR 10m R88A CAGA010BR 15m R88A CAGA015BR 20m R88A CAGA020BR European Cables Flexible Cables 1 5m R88A CAGA001 5BR E 3m R88A CAGA003BR E 5m R88A CAGAO05BR E 10m R88A CAGA010BR E 15m R88A CAGA015BR E 20m R88A CAGA020BR E 2 5 Power Supply Cables 2 1 Standard Models Specifications Model Power Supply Input Cable for Single Phase Power connectors 2m R7A CLB00282 attached Power Supply Input Cable for Three Phase Power conne
170. FF gt ON 10 98 Appendix 2 Appendix 2 10 5 Operating Functions Pn65 Undervoltage Alarm Selection All modes Setting range Oor1 Unit Default setting 1 Power OFF gt ON Explanation of Settings Setting Explanation When the main power supply is interrupted during Servo ON status a main power supply 0 undervoltage alarm alarm code 13 does not occur and the Servo OFF status is entered When the main power supply turns ON again the Servo ON status is reset 1 When the main power supply is interrupted during Servo ON status an error occurs for a main power supply undervoltage alarm code 13 e Use this parameter to select whether to activate the main power supply undervoltage function alarm code 13 if the main power supply is interrupted for the Momentary Hold Time Pn6D e If the Momentary Hold Time Pn6D is set to 1 000 Pn65 is disabled e If the setting of Momentary Hold Time Pn6D is too long and the voltage between P and N in the main power supply converter drops below the specified value before a main power supply interruption is detected a main power supply undervoltage alarm code 13 will occur regardless of the setting of Pn65 Pn66 Stop Selection for Drive Prohibition Input All modes Setting range Oto2 Unit Default setting 0 Power OFF gt ON Yes Explanation of Settings Setting Explanation 0 During decele
171. G5 GO G7 GA 89 OODOMDOOOD OOD WO LYBUGBGLOWY 3 60 Specifications Specifications 3 4 Servo Relay Units and Cable Specifications Servo Drive Servo Relay Unit Cable Specifications E Servo Drive Cable XW2Z _ J B29 This Cable connects the Servo Drive to a Servo Relay Unit XW2B 20J6 1B 3B XW2B 40J6 2B Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B29 im Approx 0 1 kg XW2Z 200J B29 2m ene Approx 0 2 kg Connection Configuration and External Dimensions Servo Relay Unit XW2B 20J6 1B XW2B 40J6 2B XW2B 20J6 3B Wiring Servo Relay Unit Wire mark color 24VIN N X ap t 14 Connector NE p No 1 1 CHAH OGND CCW SIGN FB CCW SIGN FB Servo Drive D R7D BP Servo Drive Symbol 24VIN CH o SHH OGND 24 CCW SIGN FB C Sek ow CCW SIGN FB ee CW PULS FA 22 CW PULS FA CW PULS FA GreemvBlack 1 6 _6 _ _ ____X_ CW PULS FA pT 4 eee ie es ECRSTVSEL2 ECRST VSEL2 OrangerBiack 9 _ 9 j Zz 2 Trayek 41 1 ___ 107 7 INPTGON Blue Red 2 12 10_ _INP TGON RN lue Biack 2 13 RUN GSELVZERO TLSEL PinRed o 15 5 TGSELVZERO TLSEL r E RESET Prwsia 16 ie tH RESET BKR Greenvfred ey 17 ir Mr BKIR AM GreenfBiack _1 _ _1 _ mM TALM a
172. GB IC ml Brake Cable 24 VDC R88A CAGALIB Bor i XB g 24 VDC Incorrect signal wiring can cause damage to Units and the Servo Drive for Correct Use Leave unused signal lines open and do not wire them Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent I ka c Q Q lt 9 6 Appendix 1 9 1 Connection Examples E Connection Example 7 Connecting to SYSMAC CJ1M CJ1M Contents Input for the output power supply Main circuit power supply Output COM CW output CCW output Deviation counter reset output Origin input signal OV Positioning completed output OV Origin proximity input signal OV NEB OFF ON MC1 MC2 Main circuit contact ROE Og ee EE eun es SUP Surge killer 3 phase 200 240 VAC 50 60 Hz 0 d 8 X1 E S fa B MC 1 MC2 X1 FD Servo error display 3 ra TO Od Ground to Ai 100 Q or less i i R7
173. Gain PN11 ees eeeeeeeseeeeeeeeeeees 10 75 Speed Loop Gain 2 PIN19 cceseeeseeeeteeeeeeeees 10 76 Speed Loop Integration Time Constant Pn12 10 75 Speed Loop Integration Time Constant 2 Pn1A 10 77 Standard Cables for Encoders ccceeeeeteeeeeees 4 6 Standard Cables for Servomotor Powet 06 4 6 Stop Selection for Alarm Generation Pn68 10 100 Stop Selection for Drive Prohibition Input Pn66 10 99 Stop Selection with Main Power OFF Pn67 10 100 Stop Selection with Servo OFF Pn69 4 10 101 surge absorbers oi ce ceeese tecesecueeetenccecesaevectecectensers 4 19 Surge SUPPIESSOIS c1ciccececedeeteneseustedatnoodecededensters 4 23 Torque Command Filter Time Constant Pn14 10 76 Torque Command Filter Time Constant 2 Pn1C 10 77 Torque Limit Selection Pn03 Torque Limit Switch Torque Limit Switch TLSEL Undervoltage Alarm Selection Pn65 Unit No Setting Pn00 unit No switch Vibration Filter 1 Setting Pn2C Vibration Filter 2 Setting Pn2E Vibration Filter Selection Pn24 Vibration Filter Switch DFSEL Vibration Frequency 1 Pn2B Vibration Frequency 2 Pn2D X XW2B 2056 1B iniiis ccs sceensecneteaesecteestedeseraenvienetes 3 51 XW2B 20J6 3B 0 eee eee eee e eee eeeee seine 3 53 XW2B 20J6 8A uo eee e eee eee ere oara 3 54 XW2B40J0 2B woz icastcdsctecibedeadeobecshahadssabesedeneadeaadors 3 52 XW2B40J6
174. L B Without brake R88M G05030H R88M G10030L R88M G20030L Pulse string input 50 W R7D BPA5L 100 W R7D BPO1L 200 W R7D BP02L 3 000 r min Flat Servomotors Rated Servo Drive Servomotor output Pulse string input Without brake With brake Standard Models and Dimensions 100 W R7D BPO1L R88M GP10030L R88M GP10030L B 200 W R7D BP02L R88M GP20030L R88M GP20030L B 2 2 Standard Models and Dimensions 2 1 Standard Models E Single phase 200 VAC Combinations 3 000 r min Servomotors Rated Servo Drive Servomotor output ae 5 F Pulse string input Without brake With brake 50 W R88M G05030H R88M G05030H B ______ R7D BP01H 100 W R88M G10030H R88M G10030H B 200 W R7D BP02HH R88M G20030H _ R88M G20030H BL 400 W R7D BP04H R88M G40030H R88M G40030H B 3 000 r min Flat Servomotors Rated Servo Drive Servomotor output Rta 7 Pulse string input Without brake With brake 100 W R7D BP01H R88M GP10030H R88M GP10030H B 200 W R7D BP02HH R88M GP20030H R88M GP20030H B 400 W R7D BP04H R88M GP40030H R88M GP40030H B E Three phase 200 VAC Combinations 3 000 r min Servomotors
175. Leakage current form other Controllers should also be added to the total leakage current To prevent incorrect operation due to inrush current it is necessary to select a current value of ten times the total leakage current for uses other than surge resistance Refer to the specifications from the relevant manufacturer for information on leakage breakers 4 18 System Design 4 3 Wiring Conforming to EMC Directives E Surge Absorbers Use surge absorbers to absorb lightning surge voltage or abnormal voltage from power supply input lines When selecting surge absorbers take into account the varistor voltage the allowable surge current and the energy For 200 VAC systems use surge absorbers with a varistor voltage of 620 V The surge absorbers shown in the following table are recommended Max Suurde Maker Model limit 9 Type Remarks immunity voltage Okaya Pere i 700 V Single phase 4 Electric PUAN rI BNA 20 2500A Block 100 200 VAC oc Industries 700 V Three phase Co Ltd R A V 781BXZ 4 420 2500 A 200 VAC c Note 1 Refer to the manufacturers documentation for operating details 2 Note 2 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either 0 decrease the current or change to
176. M GP20030L H 14 28 4 A435 BC5102 E1 R88M GP40030H 14 28 4 A435 BC5102 E1 E Other Precautions Take measures to protect the shaft from corrosion The shafts are coated with anti corrosion oil when shipped but anti corrosion oil or grease should also be applied when connecting the shaft to a load 2 gt Do not apply commercial power directly to the Servomotor Doing so may result in fire Do not dismantle or repair the product Doing so may result in electric shock or injury 4 4 System Design System Design 4 2 Wiring 4 2 Wiring Connecting Cables This section shows the types of connecting cables used in a SMARTSTEP 2 system A wide selection of cables are available when using Position Control Units for OMRON SYSMAC PLCs making it easy to wire a servo system E System Configuration Controller pou cae pr SYSMAC PLC with pulse string output CP1H X40D0 0 CP1H XA40DL CP1H Y20DT D CP1L O000DT7T 0O CQM1H PLB21 CS1W HCP22 CJ1M CPU21 CPU22 CPU23 Flexible Motion Controller FQM1 MMP21 22 Position Control Unit Position Control Unit with a pulse string output CJ1W NC113 133 CJ1W NC213 233 CJ1W NC413 433 CS1W NC113 133 CS1W NC213 233 CS1W NC413 433 C200HW NC113 C200HW NC213 C200HW NC413 4 5 1 General purpose Control Cable and Control 1 0 Connector 2 Servo Relay
177. Model R88A RR080100S R88A RROB0100S R884 RR22047S R88A RR22047S Resistance 2 50 2 100 Q 25 Q 50Q 47Q 940 Connection R method O R O O O O R O JIO R R o R 1 Select a combination that has an absorption capacity greater than the average regeneration power Pr 2 Do not use a combination of resistors with a resistance lower than the minimum external regenerative resistance of each Servo Drive For information on the minimum external regenerative resistance refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 30 4 31 Chapter 5 Operating Functions 5 1 POSITION COMIN i ccovs cecseercsceescrcersetssentesnreversesies 5 1 High Response Position Control vs Advanced Position EYOTA RO aretnet tact bot eonteed aren bet E bo siea bes A 5 1 Parameters Requiring Settings ee eeeeeseeeeseeeesreeeeneerenees 5 1 Related Parameters mae aa oreensssacceets necenseotacesn crete 5 2 Parameter Block Diagram for Position Control Mode 5 3 5 2 Internally Set Speed Control ccceeeeeeee 5 4 Parameters Requiring Settings eeeeeeeeseeeesseeeeneeeenterenees 5 4 RelatediPRarametesiecrsrcss cracesseccescssccresessecressste A anaE a N 5 4 Selecting the Internally Set Speeds ccccceeeeseeeeeeeeeeeees 5 5 OJay 1 21110 t iaearten A A R E E A 5 5 Parameter Block Diagram for Internally Set Speed Control Modo E A 5 6 5 3 Forward and Reverse Drive Prohibi
178. N Then the following indications appear on the display The Parameter Unit is initialized oc The display flashes every 0 6 second pete Parameter Unit version display eisie ia since talent Displays the Unit No r Ga Default Display Display depends on the setting of the Default Display Pn01 6 5 6 3 Using the Parameter Unit Changing the Mode ro I J rm c R N J 53g n E O5 ES o D fairo Buryes Jayoweled c ae Wi Wi aM JOE OWweled gt uoneiado JI c L JW pas IL F I c JI c an Bulunjoiny a Wha uy ey O oli My Q9 A I u uonoun4 Aeixny a rr an er an x 13 i cr a IL T oc T J UL a b 6 6 6 3 Using the Parameter Unit Monitor Mode Position deviation Servomotor rotation speed Torque output Control mode I O signal status Alarm histor
179. N2 an Symbol Name Function Interface 1 ESV i power supply Power supply output for the encoder 5 2 V 180 mA Encoder power supply 2 EOV GND 3 BAT Battery Backup power supply output for the absolute encoder 3 6 V 100 uA for operation during power interruption 265 uA for 4 BAT Battery power interruption timer and 3 6 uA when power is supplied to Servo Drive 5 PS Encoder phase S input ine driver input corresponding with the EIA RS 485 communica 6 PS Encoder phase input tions method Shell FG Shield ground Cable shield ground Connectors for CN2 6 Pins Name Model Manufacturer Servo Drive Connector 53460 0629 Molex Japan Co Cable Connector 55100 0670 10 25 10 3 Specifications 10 3 2 Servomotor Specifications E 3 000 r min Servomotor Model R88M 200 VAC Item Unit G75030H Rated output t WwW 750 Rated torque N m 2 4 Rated rotation speed r min 3000 Max momentary rotation speed r min 4500 Max momentary torque N m 7 05 Rated current A rms 4 Max momentary current A rms 12 1 Rotor inertia kgm GD 4 8 7 x 10 Applicable load inertia 20 times the rotor inertia max Torque constant 7 N m A 0 64 Power rate kW s 66 ll ns 24s Electrical time constant ms 4 6 Allowable radial load 3 N 392 Allowable thrust
180. NI L OM S N ATY 2 omg i dNI Z ones 8 a g C1 Z aseud 1 om s q7 Z eseud 1 OES Q ENI 1 A 0 uowwog a7 g seyd om q7 g seyd 1 om s X ZNI A 0 uowwog amp 7 y eseud 1 ones q7 y eseud 1 ones Q LNI n A 0 uowwog ei ndu g yeuBbis yoyeq Y uowwoo g euss yoyeq N ONI AN A0 uowwop wdul peusis yoye uowwo jeubis yoI R Atz AO 8 JAS Q AO Q Zx Ave AO weu jeubis eweu jeubis S aueu jeus Ss eueu jeubis suo eoiineds 1 Use as a power supply for FQM1 MMP22 pulse outputs or for the SEN output for an Absolute Encoder Servo Drive 2 Use as a power supply for IN4 to IN11 OUTO to OUT7 or Servo Drive control signals 3 Use as a power supply for INO to IN3 interrupt inputs or latch inputs 3 59 3 4 Servo Relay Units and Cable Specifications Wiring Example Servo Drive signals FQM1 signals 1 2 For Servo Drive 1 For Servo Drive 2 RUN 74 34 N 54 OUTO 14 OUT4 ECRST 76 36 56 OUT2 16 OUT6 INP 47 7 69 IN4 29 IN8 ALM 67 27 70 INS 30 INQ BKIR 68 28 71 IN6 31 IN10 Terminal block No 20 24 V 60 6D 62 63 64 65 60 67 68 69 CO CD CI CI GA GI G DGI GI 40 41 42 43 44 45 46 G7 48 49 60 61 62 63 64 65 6 67 68 69 20 CD 23 23 24 CD 26 ED 28 29 GO G1 G2 G3 84
181. OFF gt ON Pn51 Reserved Setting range Unit Default setting Power OFF gt ON Pn52 Reserved Setting range Unit Default setting Power OFF gt ON Pn53 No 1 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 100 Power OFF gt ON Pn54 No 2 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 200 Power OFF gt ON Pn55 No 3 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 300 Power OFF gt ON Pn56 No 4 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 50 Power OFF gt ON Pn57 Reserved Setting range Unit Default setting Power OFF gt ON Pn58 Soft Start Acceleration Time Setting range 0 to 5000 Unit 2 ms 1000 r min Default setting 0 Power OFF gt ON Pn59 Soft Start Deceleration Time Setting range 0 to 5000 Unit 2 ms 1000 r min Default setting 0 Power OFF gt ON e A soft start can be set when inputting speed commands of stepping movement or when using internally set speed e Do not set acceleration and deceleration times when using the Servo Drive in combination with an 10 95 Speed ta td external position loop Set both Pn58 and Pn59 to 0 Internally Set Speed 1000 r min 10 5 Operating Functions Pn5A S curve Acceleration Deceleration Time Setting Setting range
182. Operating Mode Selection Pn30 must be set to 1 to enable gain switching Explanation of Settings O Enabled x Disabled Explanation Setting l Eaa 7 Gain Switch Gain Switch Gain Switch Gain switching conditions Time Level Settin Hysteresis Setting Pn32 1 9 Pn34 2 0 Always gain 1 Pn10 to Pn14 x x x 1 Always gain 2 Pn18 to PniC x x x 2 Switching using Gain Switch Input y p GSEL for pin CN1 5 3 Amount of change in torque command A 3 o3 Figure A x 0 05 x 0 05 4 Always gain 1 Pn10 to Pn14 x x x 5 Command speed Figure B O O r min O r min z a o ao 6 Amount of position deviation Figure C O Pulse Pulse 7 Command pulses received Figure D O x x 8 Positioning Completed Output INP O OFF Figure E 9 Actual Servomotor speed Figure B O O r min O r min 49 Combination of command pulse input a o o and speed Figure F r min r min 5 44 Operating Functions Operating Functions 5 10 User Parameters 1 The Gain Switch Time Pn32 is used when returning from gain 2 to gain 1 2 The Gain Switch Hysteresis Setting Pn34 is defined as shown in the following figure Pn34 0 Gain 1 Gain2 Gain4 gt lt a Pn33 5 1 rise 3 The amount of change is the value within 166 us Example When the condition is a 10 change in torque in 166 us the set value is 200 4 This is the enco
183. P encoder outputs phases A B and Z Encoder Phase A Output A 06 Abe Encoder Phase A Output A cceeseeeeeeees Encoder Phase B Output B n se Encoder Phase B Output B re Encoder Phase Z Output Z eeseseeeneeeees Encoder Phase Z Output Z n encoder Specifications ceeceeeeeeeeeeeteeeeeeeeereee error diagnosis using the displayed alarm codes 10 136 External Regeneration Resistor Connection Cables 3 37 External Regeneration Resistors 2 9 2 16 4 30 dimensions 2 16 specifications 3 77 F aS Feed PUISE nani eiriaa eniai E ei anina 3 11 Feed Pulse PULS eccceeeeceeeeeeeeeeeeeeeeeeeeeteee 10 19 feedback OUtDUt eee eee cece eeeeeeeeeeeeeeeeeteeeeteeeetee 3 14 Feed forward Amount Pn15 00 10 76 Feed forward Command Filter Pn16 2 5 10 76 Forward Drive Prohibit Input 0 e 3 11 5 33 Forward Drive Prohibit Input POT 10 19 10 23 Forward Pulse 3 11 Forward Pulse CCW c ccecceeeeeeeeeeeeeeneeeeneeeees 10 19 Forward Pulse CCWLD ccceeeeeeeeeeeeteeeeeee 10 20 Frame Ground FG 5 Front Key Protection Setting PnOE 0 10 73 G Gain SWithi4 s ccndnnene ati hanna faces 3 10 Gain Switch GSEL 0 cee ceeeeeeeeeeeeeeeeeteeeeteeees 10 19 Gain Switch 1 Hysteresis Setting Pn34 10 86 Gain Sw
184. Pn30 is set to 1 gain switching enabled set the phased switching time only for position loop gain at gain switching Example 5166 166 Kp1 Pn10 lt Kp2 Pn18 Kp2 Pni0 gt pra5 ON Bold solid line Kp1 Pni8 gt Gain 1 Gain 2 Gain 1 gt lt p The switching time is set only when switching from a small position loop gain to a large position loop gain Kp1 to Kp2 This is to reduce the shock to the machine due to sudden changes in the gain Set a value smaller than the difference between Kp2 and Kp1 This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn36 Not used Do not change setting Pn37 Not used Do not change setting Pn38 Not used Do not change setting Pn39 Not used Do not change setting Pn3A Not used Do not change setting Pn3B Not used Do not change setting Pn3C Not used Do not change setting Pn3D Not used Do not change setting Pn3E Not used Do not change setting Pn3F Not used Do not change setting 5 47 5 10 User Parameters E Position Control Parameters Pn40 Command Pulse Multiplying Setting Position Setting range 1to4 Unit Default setting 4 Power OFF gt ON Yes The
185. Pn47 Electronic Gear Ratio Numerator 1 Pn46 or x2 Electronic Gear Ratio Numerator Exponent Pn4A Electronic Gear Ratio Numerator 2 Pn47 Electronic Gear Ratio Denominator Pn4B For details refer to Electronic Gear on page 5 9 Pn4C Position Command Filter Time Constant Setting Position Setting range Oto7 Unit Default setting 0 Power OFF gt ON Set the time constant for the primary lag filter for command pulse inputs If the command pulses are erratic the normal countermeasure is to reduce the stepping movement of the Servomotor Explanation of Settings Setting Explanation 0 No filter 1 Time constant 0 2 ms Time constant 0 6 ms Time constant 1 3 ms Time constant 2 6 ms Time constant 5 3 ms Time constant 10 6 ms N OO ony A W N Time constant 21 2 ms Pn4D Not used Do not change setting 5 51 5 10 User Parameters Pn4E Smoothing Filter Setting Position Setting range 0 to 31 Unit Default setting 0 Power OFF gt ON Yes Select the FIR filter time constant used for the command pulses FIR Finite impulse response The higher the setting the smoother the command pulses Input position command A Position command after ones filter processing N Command y Position command after FIR filter p
186. R88A CAGA010BR E 15m R88A CAGA015BR E 20m R88A CAGA020BR E Computer Cable Specifications Model Computer cable RS232 2m _ R88A CCG002P2 E Connectors Specifications Model I O connector kit 50 pins for CN1 R88A CNU11C Power cable connector motor side R88A CNG01A Encoder connector Servo drive side CN2 R88A CNW01R Incremental encoder cable connector motor side R88A CNGO2R E Reactor Specifications Model R88D GP08H 3G3AX AL2025 E External Regeneration Resistors Regenerative resistor unit model Specifications R88A RR08050S 50 Q 80 W R88A RR080100S 100 80 W R88A RR22047S 47 Q 220 W R88A RR50020S 20 Q 500 W Control Cables for CN1 Description Connecto to Model Position control units high speed type 1m XW2Z 100J G9 Control cable CJ1W NC234 7 line driver output for 1 axis CJ1W NC434 Sk 1 AWE OGY 10m XW2Z 10MJ G9 Control cable Position control units high speed type 1m XW2Z 100J G13 CJ1W NC214 open collector output for 1 axis CJ1W NC414 3m _ XW2Z 300J G13 Position control units high speed type 1m XW2Z 100J G1 Control cable CJ1W NC234 E line driver output for 2 axis CJ1W NC434 P eee eS 10m XW2Z 10MJ G1 C ntrol cabi Position control units high speed type 1m XW2Z 100J G5 CJ1W NC214 open collector output for 2 axis CJ1W NC414 3m XW2Z 300J G5
187. RUN Command Input is enabled approximately 2 seconds after the power supply is turned ON After turning ON the RUN Command Input wait for a minimum of 100 ms to lapse before inputting pulses or a speed command E Alarm Reset Input Specifications Pin 3 Alarm Reset Input RESET Function Pin 3 is the external reset signal input for Servo Drive alarms The alarms are reset when this signal is input Eliminate the cause of the alarm before resuming operation To prevent danger turn OFF the RUN Command Input first then input the alarm reset signal Resetting is performed after the Alarm Reset Input is kept ON for 120 ms or longer Some alarms cannot be cleared using the Alarm Reset Input For details refer to 8 2 Alarm Table E Deviation Counter Reset Internally Set Speed Selection 2 Input Pin 4 Deviation Counter Reset Internally Set Speed Selection 2 Input ECRST VSEL2 Function Deviation Counter Reset Pin 4 is the Deviation Counter Reset Input ECRST in Position Control Mode when Pn02 is set to 0 or 2 When the deviation counter reset signal turns ON the value of the deviation counter will be reset and the position loop will be disabled Input the reset signal for 2 ms minimum The counter may not be reset if the signal is too short Function Internally Set Speed Selection 2 Pin 4 is the Internally Set Speed Selection 2 Input VSEL2 in Internal Speed Control Mode when Pn02 is set to 1 Four speed
188. S2 Encoder connector Servomotor connector k gt Break connector TG iF NI 7 7 Four xC 2 o Z dia Dimensions of shaft end a 5 with key and tap Ds c 2 o A Berd QK 5 J n ag 4 FASA ae wo os aes ie f y y q EN KO A A WEY j M depth L ATE oe i LL LR S D1 D2 F G Model mm mm mm mm mm mm mm mm R88M GP100300 1 60 5 25 8 70 50 60 3 7 R88M GP100300 B t 2 84 5 25 8 70 50 60 3 7 R88M GP200300 67 5 30 11 90 70 80 5 8 R88M GP200300 B t 2 100 30 11 90 70 80 5 8 R88M GP40030H 82 5 30 14 90 70 80 5 8 R88M GP40030H B 2 115 30 14 90 70 80 5 8 Dimensions for models with key and tap 3 KL1 Z Model QK b h ti M L mm mm mm mm mm mm R88M GP100300 43 4 5 12 5 3h9 3 1 8 M3 6 R88M GP100300 B 12 43 4 5 12 5 3h9 3 1 8 M3 6 R88M GP200300 1 53 5 5 18 4h9 4 2 5 M4 8 R88M GP200300 B 12 53 5 5 18 4h9 4 25 M4 8 R88M GP40030H 53 5 5 22 5 5h9 5 3 0 M5 10 R88M GP40030H B 2 53 5 5 22 5 5h9 5 3 0 M5 10 1 Put L or H in the place indicated by the box 2 This is the model number for the Servomotor with a brake 3 A model with a key and tap is indicat
189. Unit Cable M Servo Drive Cable Position Control Unit Cable a 5 Servo Relay Unit Ei Connector Terminal Block and Cable Connector Cable for Connector Terminal Block Terminal Block DH i fan Servo Drive R7D BP CN1 Control I O Connector owes D AM omron CN2 Encoder Input Connector 9J OKOKO Power Supply Servomotor Power Cable Cable Encoder Cable Servomotor R88M G 4 2 Wiring Selecting Connecting Cables E Encoder Cables CN2 Name Model Comments Global Cables See er orencodets Rebacraccioe ia a a me mosolnamberhctete Non Flexible Cables g ae Global Cables ee Saad forEncoders Rasacraaccon Ther a a aa ge naer mtoe e Flexible Cables g i European Cables for a Encoders The digits in the model number indicate the Flexible and REBA CRGB CRE cable length 3 m 5 m 10 m 15 m or 20 m Shielded Cables E Servomotor Power Cables CNB Name Model Comments Global Cables for Servomotor Power R7A CAB S Non Flexibl
190. a larger capacity surge absorber m S Dimensions gt no Single phase BWZ Series Three phase BXZ Series 4 2 dia 4 2 dia ae i x XX x i z i LO a ooo o N l Ly Q i Ghee Sa i no ak Oe DA g moga a A 9 A 9 vt S ri ft TA be H 41 Equalizing Circuits Single phase BWZ Series Three phase BXZ Series O 0 8 0 0 0 ey E 1 LKE LEER ap Yd GH CHD 4 19 4 3 Wiring Conforming to EMC Directives E Noise Filter for the Power Supply Input Use the following noise filter for the Servo Drive s power supply Noise filter Servo Drive model Rated Rated Max leakage Model Anani E current Maker g 60 Hz Okaya Electric R7D BP Series 3SUP HU10 ER 6 10A 230 VAC 0 4 mA phase Industries Co Ltd Dimensions 115 E 105 95 5 5 5 Ground terminal ps 000000 SMa TA o 0 z Label e 2t Cover mounting screw LO O Mg al 0000000 i M4 i ooon S coi IX Noise Filter 4 20 System Design 4 3 Wiring Conforming to EMC Directives E Radio Noise Filters and Emission Noise Prevention Clamp Cores Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal oscillation circuit Model Maker Application
191. able Number Display Pn2F is written to the EEPROM every 30 minutes and when the power supply is turned OFF and turned ON again this data is used as the initial values for the adaptive operation e The adaptive filter is normally disabled when torque control is performed Automatically Set Parameters The following parameters are set automatically Parameter No Parameter name Pn10 Position Loop Gain Pni1 Speed Loop Gain Pni2 Speed Loop Integration Time Constant Pn13 Speed Feedback Filter Time Constant Pn14 Torque Command Filter Time Constant Pn18 Position Loop Gain 2 Pn19 Speed Loop Gain 2 PniA Speed Loop Integration Time Constant 2 PniB Speed Feedback Filter Time Constant 2 PniC Torque Command Filter Time Constant 2 Pn20 Inertia Ratio 10 116 Appendix 2 Appendix 2 10 7 Adjustment Functions 10 117 The settings for the following parameters are automatically set and cannot be changed The settings will not change even if realtime autotuning is executed Parameter No Parameter name Set value Pni5 Speed Feed forward Amount 300 Pn16 Feed forward Command Filter 50 Pn27 Instantaneous Speed Observer Setting 0 Pn30 Gain Switching Input Operating Mode Selection 1 Pn31 Control Gain Switch 1 Setting 10 Pn32 Gain Switch 1 Time 30 Pn33 Gain Switch 1 Level Setting 50 Pn34 Gain Switch 1 Hysteresis Setting 33 Pn35 Position Loop Gain Switching Time 20
192. able load inertia 30 times the rotor inertia max Power rate kW s 10 4 20 1 30 3 62 5 Allowable radial load 3 N 68 68 245 245 Allowable thrust load N 58 58 98 98 Without brake kg 0 3 0 5 0 8 1 2 with brake kg 0 5 0 7 1 3 1 7 e snieg oimengions 100 x 80 x t10 Al 130 x 120 x t12 Al Brake inertia kgm 2 0 x107 2 0 x 107 1 8 x 108 7 5 x 10 Excitation voltage 4 V 24 VDC 10 ro w 7 7 9 9 oe A 0 30 0 30 0 36 0 36 2 Static friction torque N m 0 29 min 0 29 min 1 27 min 1 27 min S Attraction time ms 35 max 35 max 50 max 50 max 5 Release time ms 20 max 20 max 15 max 15 max 4 Backlash 1 max amp Allowable work per J 39 2 39 2 137 196 braking operation Allowable total work J 4 9 x 10 4 9 x 108 44 1 x 10 147 x 108 Allowable angular rad s l 30 000 max acceleration Speed of 2 800 r min or more must not be stopped in less than 10 ms Brake life 10 000 000 operations Rating Continuous 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature The maximum momentary torque shown above indicates the standard value 2 For detailed information on the applicable load inertia refer to Applicable Load Inertia on page 3 25 3 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The values are also for the locations shown in the following diagram 4 The bra
193. abled 6 Sudden changes in load inertia 7 Not used Enabled Pn02 2 When the degree of load inertia change is high set the value to 3 or 6 Enable the adaptive filter if the load inertia change is affected by resonance 3 Normal Operation Turn ON the RUN Command Input RUN and run the machine as usual 7 2 Realtime Autotuning 4 Machine Rigidity Selection To increase responsiveness gradually increase the setting of the Realtime Autotuning Machine Rigidity Selection Pn22 If the machine produces an unusual noise or resonates lower the setting 5 Saving Gain Adjustment Values To save the gain setting change to Parameter Write Mode and save the parameters in EEPROM For operation details refer to Parameter Write Mode on page 6 16 the Unit power is turned ON or when the RUN Command Input RUN is The setting of the Realtime Autotuning Mode Selection is changed when Precautions turned ON To disable realtime autotuning set Pn21 to 0 and then turn OFF the RUN Command Input RUN and turn if ON again Operating Procedures Insert the connector of the Parameter Unit into CN2 of the Servo Drive and then i turn ON the power to the Servo Drive Setting Parameter Press the Data key Press the Mode key Press the Increment or Decrement key to select the parameter to be set In this case select Pn21 Press the Data key Press the Incremen
194. aeeeeeeeeseeeeneaes radio noise filters Reactors n dimensions specifications realtime autotuning Realtime Autotuning Machine Rigidity Selection P22 astute Settee 10 78 Realtime Autotuning Mode Selection Pn21 10 78 Regeneration Resistor Selection Pn6C 10 102 regenerative CNeLGY cece eee eeeeeeeeeeeees 4 28 RESET E E A 3 9 Reverse Drive Prohibit Input 3 11 5 33 Reverse Drive Prohibit Input NOT Reverse Pulse seseeeeeeeeeeeeees Reverse Pulse CW c cccesceseeeeeeteeeeeeeeeeeeeeeeee Reverse Pulse CWLD ceeseeeteeeeeeeeeeneeeteee Robot Cables for Brakes Robot Cables for Encoders Robot Cables for Servomotor POWET cccceeeee 4 6 Rotation Speed for Motor Rotation Detection Pn62 10 98 rotational speed characteristics for 3 000 r min SOrvOmMotors seneki niire ra iernii RS 232 Baud Rate Setting PnOC RS 485 Baud Rate Setting PnOD RUN Command RUN RUN Command Input eeeeeeeceeeeeeeeeeeeeeeeeeeeeee S S curve Acceleration Deceleration Time Settings PASA de a a ed eh keen 10 96 Sensor ON Input SEN 10 19 Servo Drive functions 0 0 0 0 ee ceeeeeeeeceeeeeeeeeeeeeeeees 10 3 belea DIVES AE AES E EE E TE 2 1 characteristics sre ae tea sie 3 2 CIMENSIONS 25 222 sees i iaa ieai aT EE 2 10 general specifications s seeeseeeeereeeeeener 3 1 Servo Ready Output READY 00 1
195. ain i Highgain Gain Gain 1 yi Gain2 Gain 1 forth a ms 2 ee Vibration is suppressed by lowering the gain Application Example The example is for a case where noise is a problem when the Servomotor is stopped servo lock and the noise is reduced by switching to a lower gain setting after the Servomotor has stopped Set Gain 2 Perform Pn18 to PniC Set gain Adjust Pn11 Parameter Parametername manual tuning to the same switching and Pn14 No without gain values as Gain conditions for Gain 1 switching 1 Pn10 to Pn30 to Pn35 when stopped Pn14 Pn10 Position Loop Gain 60 Pni1 Speed Loop Gain 50 30 Pn12 Speed Loop Integration Time 16 Constant Pn13 Speed Feedback Filter Time 0 Constant Pni4 Torque Command Filter Time 50 85 Constant Pn15 Speed Feed forward Amount 300 Pn16 Feed forward Command 50 Filter Pn18 Position Loop Gain 2 60 Pn19 Speed Loop Gain 2 50 PniA Speed Loop Integration Time 16 Constant 2 Pn1B Speed Feedback Filter Time 0 Constant 2 Pnic Torque Command Filter Time 60 Constant 2 10 127 10 7 Adjustment Functions Set Gain 2 Perform Pn18 to PniC Set gain Adjust Pn11 Parameter Name manual tuning tothe same switching and Pn14 No without gain values as Gain conditions for Gain 1 switching 1 Pn10 to Pn30 to Pn35 when stopped Pn14 e Enter the value for load calcu lation if already
196. ake Interlock Output BKIR Pin 11 Brake Interlock Output BKIR Functions Pin 11 outputs an external brake timing signal according to the settings of the Brake Timing When Stopped Pn6A and Brake Timing During Operation Pn6B Servo Ready Output READY Pin 35 Servo Ready Output READY Functions e This output signal indicates that the Servo Drive is turned ON and ready to start operation This output will turn ON if no errors occur after the main circuit power supply is turned ON 10 24 Appendix 2 Appendix 2 10 3 Specifications Alarm Output ALM Pin 37 Alarm Output ALM Functions e The alarm output is turned OFF when the Servo Drive detects an error e This output is OFF at power ON but turns ON when the Servo Drive s initial processing has been completed Positioning Completed Output INP or Servomotor Rotation Speed Detection Output TGON Pin 39 Positioning Completed Output INP or Servomotor Rotation Speed Detection Output TGON Functions e Position Control Mode The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than the Positioning Completion Range Pn60 The output condition is set in the Positioning Completion Condition Setting Pn63 e Internal Speed Mode The TGON signal turns ON when the speed of the Servomotor exceeds the setting of the Rotation Speed for Motor Rotation Detection Pn62 Encoder Connector Specifications C
197. ake cable yourself p 23 7404 a S y O i ae a D A I a C D n L S lt 4 2 2 8 8 8 9 8 0 15 Connector housing 172157 1 Tyco Electronics AMP KK Contact socket 170366 1 Tyco Electronics AMP KK Applicable panel thickness 0 8 to 2 0 mm T N to qaj S38 i o 8 f 7o le y 25 16 35 1 6_ _ 10 35 _ N wo u a ya niod F o 7 OY FT 2 5 5 35 1 6 10 35 3 42 Specifications Specifications 3 3 Cable and Connector Specifications Control Cable Specifications E General purpose Control Cables A General purpose Control Cable connects to the Servo Drive s Control I O Connector CN1 Do not wire the pins that have no signals allocated Cable Models Model Length L Outer diameter of sheath Weight R7A CPB001S im Approx 0 2 kg 9 5 dia R7A CPB002S 2m Approx 0 3 kg Connection Configuration and External Dimensions Controller end o Q 3 43 37 2 Servo Drive end D R7D BP 3 3 Cable and Connector Specifications Wiring No Wire color mark color Signal 1 Orange Red 1 24VIN 2 Orange Black 1 RUN 3 G
198. ameter 2 1 mm max Sheath outer diameter 6 7 0 5 mm Dimensions Connector plug 55100 0670 Molex Japan Co R88A CNGO2R Servomotor Connector Use the following cable Applicable wire AWG22 max Insulating cover outer diameter 1 75 mm max 11 64 ee Pi eat af D N to a a F 2S lt o y o h z gd amp E y y i 2 5 5 35 4 2 2 8 a 8 8 lae P i 1 6 10 35 9 879 Connector housing 172160 1 Tyco Electronics AMP Kk Contact socket 170365 1 Tyco Electronics AMP KK Applicable panel thickness 0 8 to 2 0 mm 3 41 3 3 Cable and Connector Specifications E Power Cable Connector R88A CNG01A This Connector is used for Power Cables Use it when preparing a power cable yourself 1 1 8 0 4 23 7 0 4 SS Feat i a WZ g vt YEU 2 WAS F O n 4 2 2 8 8 8 SS hacer ASP 2 9 gt0 15 Connector housing 172159 1 Tyco Electronics AMP Kk Contact socket 170366 1 Tyco Electronics AMP KK Applicable panel thickness 0 8 to 2 0 mm E Brake Cable Connector R88A CNG01B This Connector is used for brake cables Use it when preparing a br
199. ameter Write Mode Press the Data key to enter Parameter Write Mode The bar indicator will increase A Press and hold the Increment key for at least 5 s Writing will start This display will appear only momentarily This display indicates a normal completion In addition to Finish either eSEt Or a may be displayed Iff e5ex _ is displayed writing has been completed normally but some of the changed parameters will be enabled only after the power is turned ON again Turn OFF the Servo Drive power supply and then turn it ON again Iffe o is displayed there is a writing error Write the data again 2 Returning to the Display of Parameter Write Mode Key operation Display example Explanation Press the Data key to return to the Parameter Write Mode Display If a writing error occurs write the data again If a writing error continues to occur there may be a fault in the Servo Drive Do not turn OFF the power supply while writing in EEPROM Incorrect data may be written if the power supply is turned OFF If the power supply is turned OFF perform the settings again for all parameters and write the data again Do not disconnect the Parameter Unit from the Servo Drive during the time from writing start Start to writing completion Finish or Reset If the Parameter Unit is disconnected repea
200. ange Pn60 2 500 P r encoder 10 pulses min E Operating Procedure 1 Set the front panel display to the execution display of the fit gain window 2 With the dot at the far right flashing decrease the rigidity to 0 and press the Decrement key on the front panel for 3 s min to start the fit gain function 3 Input a position command that satisfies the operating pattern conditions If the fit gain is completed normally F 17 S4 will be displayed and 7o7_ will be displayed if it is completed with an error The E o _ display can be cleared using the keys e Time is required for the change to be made for fit gain operation It may take approximately 2 or 3 min depending on the equipment configuration which may require up to approximately 50 reciprocating operations Normally the fit gain will be completed when the optimal realtime rigidity number is found e ar_ will be displayed in the following cases e The INP signal becomes unstable or a realtime rigidity number without small vibration is not found e The keys on the front panel are used while fit gain is operating or the applicable conditions are not satisfied 10 112 Appendix 2 Appendix 2 10 7 Adjustment Functions E Operating Procedure Front Panel Display Example Selection display Execution display Execution display in fit Fit gain window gain window l Ll 7 a
201. apacity 050 50 W 100 100 W 200 200 W 400 400 W 750 750W Rated Rotation Speed 30 3000 r min Power Supply Voltage H 200 VAC L 100 VAC Options None Straight shaft B With brake O With oil seal S2 With key and tap 1 For the SmartStep 2 750W servo motor specifications and dimensions please refer to the Appendix 2 at the end of this manual 12 About this Manual About this Manual This manual consists of the following chapters Refer to this table and choose the required chapters of the manual Overview Chapter 1 aganla ang Describes the features and names of parts of the product as well P ySre P as the EC Directives and the UL standards Configuration Standard Models Provides the model numbers external and mounted dimensions Chapter 2 i and Dimensions for Servo Drives Servomotors and peripheral devices Provides the general specifications performance specifications connector specifications and I O circuit specifications for Servo Chapter 3 Specifications Drives and the general specifications and performance specifica tions for Servomotors as well as specifications for accessories such as encoders Describes the installation conditions for Servo Drives Servomo Chapter 4 System Design tors EMC conforming wiring methods calculations of regenerative energy and performance information on the External Regenera tion Resistor
202. arm code 34 E Right Side Operation Servo ON When the position command to the right is input the Servomotor s allowable operating range will increase by the input position command and will be the range with the rotations set in Pn26 added on both sides of the position command input range Servo 1 Ui LIILILILIT IL LLL F 1 ZALIL MAITI Lo a d ZALILA motor Y tte Position command Pn26 input range Pn26 H Range for generating Servomotor s allowable operating Range for generating alarm code 34 _fange alarm code 34 E Left Side Operation Servo ON When the position command to the left is input the position command input range will further increase Servo motor Pn26 Position command input range Range for generating Range for generating alarm code 34 Servomotor s allowable operating range lalam code 34 10 57 10 5 Operating Functions 10 5 7 Brake Interlock Precautions for Using the Electromagnetic Brake e The electromagnetic brake on a Servomotor with a brake is a nonexcitation brake designed for holding Set the parameter to first stop the Servomotor and then turn OFF the power supply to the brake e If the brake is applied while the Servomotor is rotating the brake disk may become damaged due to friction damaging the Servomotor Function e You can set the
203. asily set the same user parameters for more than one Servo Drive E Copying from the Servo Drive to the Parameter Unit 1 Displaying Copy Mode Key operation Display example Explanation e p The item set for the Default Display Pn01 is displayed eS Pd Press the Data key to display Monitor Mode Press the Mode key five times to display Copy Mode 2 Executing Copying Key operation Display example Explanation s Press the Data key to enter Copy Mode m Z Z T ag Press and hold the Increment key until EEPCLR is displayed aZ _ The bar indicator will increase when the key is pressed for 3 s or longer Sa The bar indicator will increase Initialization of the EEPROM in the Parameter Unit will start This display indicates a normal completion 3 Returning to the Display of Copy Mode Key operation Display example Explanation Press the Data key to return to the Copy Mode Display Precautions If Error is displayed before completion repeat the procedure from the for Correct Use beginning Press the Data key to clear the error Do not disconnect the Parameter Unit from the Servo Drive while copying is being performed If the Parameter Unit is disconnected reconnect it and repeat the procedure from the beginning If an error is repeatedly displayed the following are the possible causes cable disconnection connector c
204. atched Press the Data key to cancel copying before completion 4 Executing Copying Key operation Display example Explanation Lal I OM ri 1 Writing user parameters in EEPROM of the Servo Drive will start This display indicates a normal completion 6 21 6 3 Using the Parameter Unit 5 Returning to the Display of Copy Mode Key operation Display example Explanation Press the Data key to return to the Copy Mode Display i If Error is displayed before completion repeat the procedure from the Precautions saci Press the Data key to clear the error lf an error is repeatedly displayed the following are the possible causes cable disconnection connector contact failure incorrect operation due to noise or EEPROM fault in the Parameter Unit Do not disconnect the Parameter Unit from the Servo Drive while copying is being performed If the Parameter Unit is disconnected incorrect data may be written and the data may be corrupted Copy the user parameters again from the source Servo Drive to the Parameter Unit and then copy the user parameters from the Parameter Unit to the other Servo Drive 6 22 Operation 6 4 Trial Operation 6 4 Trial Operation When you have finished installation wiring Servomotor Servo Drive jog operation and user parameter setting perform trial operation The main purpose of
205. bles 10 29 R88A CAGALISR E Cable Models For 3 000 r min Servomotors of 750 W Model Length L R88A CAGA001 5SR E 1 5m R88A CAGA003SR E 3m R88A CAGAO005SR E 5m R88A CAGA010SR E 10m R88A CAGA015SR E 15m R88A CAGA020SR E 20m Connection Configuration and Dimensions 50 L ____ 50 Servo Drive Servomotor D R88D G F R88M G o Wiring Servo Drive Servomotor Red Phase U White Phase V Wel Phase W CoO reen Yellow FG Cable AWG20x4C M4 crimp terminals Servomotor Connector Connector 172159 1 Tyco Electronics AMP KK Connector pins 170362 1 Tyco Electronics AMP KK 170366 1 Tyco Electronics AMP KK 10 3 Specifications E European Brake Cable Flexible Cables R88A CAGAL BR E Cable Models For 3 000 r min Servomotors of 750 W Model Length L R88 CAGA001 5BR E 1 5m R88A CAGAO003BR E 3m R88A CAGAO05BR E 5m R88A CAGA010BR E 10m R88A CAGA015BR E 15m R88A CAGA020BR E 20m Connection Configuration and Dimensions L Servo Drive Servomotor Ss R88D G C _ R88M G Wiring Servo Drive Servomotor Black 1 Black 2 Cable AWG20 x 2C M4 crimp terminals Servomotor Connector Connector 172157 1 Tyco Electronics AMP KK Connector pins 1
206. cautions for Correct Use The adaptive filter may not function properly under the conditions described in the following table In that case use manual tuning with Notch Filter 1 Frequency Pn1D and Notch Filter 1 Width Pn1E as a countermeasure for resonance For details on the notch filter refer to Machine Resonance Control on page 7 21 Conditions under which the adaptive filter does not function properly Resonance If the resonance frequency is 300 Hz or less points If the resonance peak or control gain is low and the Servomotor speed is not af fected by it If there are multiple resonance points Load If the Servomotor speed with high frequency components varies due to backlash or other non linear elements Operating If the acceleration deceleration suddenly changes i e 3000 r min or more in 0 1 s pattern 7 2 Realtime Autotuning Automatically Set Parameters When realtime autotuning is enabled the following parameters will be set automatically Parameters that are set automatically cannot be changed manually Parameter No Parameter name Pn No 10 Position Loop Gain 11 Speed Loop Gain 12 Speed Loop Integration Time Constant 13 Speed Feedback Filter Time Constant 14 Torque Command Filter Time Constant 18 Position Loop Gain 2 19 Speed Loop Gain 2 1A Speed Loop Integration Time Constant 2 1B Speed Feedback Filter Time Constant 2 1C Torque
207. cc cncnicao seco sonodocedocioconasonocenedonococesonodacndondodane 4 11 Wiring Conforming to EMC Directives 4 13 WinlmG Meth OG e ea EEEE A a fs 4 13 ERO E ES AE O 4 15 Selecting Connection Components 2 ceceeceeeesereeeeeees 4 17 Regenerative Energy Absorption 4 28 Calculating the Regenerative Energy esceseseeeseeeneees 4 28 Servo Drive Regenerative Energy Absorption Capacity 4 30 Absorbing Regenerative Energy with an External Regenerate SSO 4 30 System Design 4 1 Installation Conditions 4 1 Installation Conditions Servo Drives E Space around Drives Install Servo Drives according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel Also if the Servo Drives are installed side by side install a fan for air circulation to prevent uneven temperatures from developing inside the panel _ a Fan Fan 100 mm min Air Z Servo Servo Servo Side Drive Drive Drive panel nr LW pill 100 mm min Air Z 40 mm min W 10 mm min E Mounting Direction Mount the Servo Drives in a direction perpendicular so that the model number can be seen properly E Operating Environment The environment in which Servo Drives are operated must meet the following conditions Servo Drives may malfunction if operated under any other conditions Ambient operating temperat
208. ce omc Main circuit power supply CS OFF ON IMC 2MC r5 gt J J t 1MC Ground to aa C 100 Q or less Se Ea Surge killer 1 IMC 2MC X Servo error display G Series G Series AC Servo Drive AC Servomotor Power Cable XB N LIC I Z O lee 24VDC IMC y 2MC e O Reactor 13 N DOSE SIATA 2 ee eee _ _ Ground to xe Regeneration 100 Qor less T resistor 4 B3 Q Encoder Cable Qo o T Lie O37 ALM 24 VDC O36 ALMCOM To ensure safety i e to ensure that the power supply can be shut OFF for contactor welding we recommend using two magnetic contactors MC 22 User control device Control Cable 10 43 BKIRCOM 10 23 4 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes The brake is not affected by the polarity of the power supply Connect B2 B3 for the models with a built in regeneration resistor If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 10 4 System Design 10 4 3 Wiring Conforming to EMC Directives Wiring Method R88D GP08H Single phase 200 VAC Single phase gt I 100 VAC TB
209. cifications ceeeeeeeeeee 3 1 General Specifications ee o a eee a Eaa cere aer eee accent 3 1 AEE Sa era ee eee eon E ere 3 2 Main Circuit and Servomotor Connector Specifications CNA AMG NB Ree sercc et eee ibeinn sein mM rire 3 3 Control I O Connector Specifications CN1 ccceeeeees 3 4 Controlinput Circ its wees cee eee eee eres 3 8 Control nputlDetalls eee ee tee ee eee ee ee ene 3 9 ControlkOutouts Gnu Saeron secret eee seers eee 3 12 ControlOutouteDetallsS terse cee eee ere ee eee 3 13 Encoder Connector Specifications CN2 ccceeeeeeees 3 15 Servomotor Specifications ccesseeeeee 3 16 Generali Specifications esenee e ae E 3 16 AEEA a E ores ee are E eee 3 17 Encoder Specifications ariere sete eee eee 3 25 Cable and Connector Specifications 3 26 Encoder Cable Specifications ccccsccecscceeeeetteeeeseneeees 3 26 Servomotor Power Cable Specifications cceeeee 3 29 Power Cable Specifications ccccccceeeeeeeeeeeeeseeeeessneeees 3 35 Communications Cable Specifications ccceceseeteee 3 38 Connector Specifications aaa a 3 39 Control Cable Specifications ccccccceceeeeeseeeeeeeteeeeteees 3 43 Servo Relay Units and Cable Specifica ONS ee eaer e aeee Pee enrere aeret e Eana aani 3 51 Servo Relay Units Specifications ccccccsceeeeeeeseeeeeeeees 3 51 Servo Drive Servo Relay Unit Cable Speci
210. ck 4 READY 10 Orange Red 2 BKIRCOM 36 Yellow Red 4 ALMCOM 11 Orange Black 2 BKIR 37 Yellow Black 4 ALM 12 Yellow Black 1 OUTM1 38 Pink Red 4 INPCOM TGONCOM 13 Gray Black 2 GND 39 Pink Black 4 INP TGON 14 White Red 2 REF TREF1 VLIM 40 Gray Red 4 OUTM2 15 White Black 2 AGND 41 Orange Black 4 COM 16 Yellow Red 2 PCL TREF2 42 Gray Red 5 BAT 17 ee AGND 43 Gray Black 5 BATGND 18 Pink Red 2 NCL 44 White Red 5 CWLD 19 Orange Red 5 Z 45 White Black 5 CWLD 20 Gray Red 2 SEN 46 Yellow Red 5 CCWLD 21 Orange Red 3 A 47 Yellow Black 5 CCWLD 22 Orange Black 3 A 48 Pink Black 5 B 23 Gray Red 3 Z 49 Pink Red 5 B 24 Gray Black 3 Z 50 25 Orange Black 5 ZCOM Shell FG 26 White Red 3 eer Connector plug 10150 3000PE Sumitomo 3M Connector case 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 An orange red 1 wire and orange black 1 wire form are a twisted pair 10 37 10 3 Specifications m Connector Terminal Block Cables XW2Z _ J B24 This Cable is for the connector terminal block of the Servo Drive s control I O connector CN1 All of the pins in the control I O connector CN1 can be converted to terminals on the terminal block Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B24 im Approx 0 2
211. coder Divider Denominator Setting x Encoder resolution e The encoder resolution for a 17 bit absolute encoder is 131 072 pulses rotation and a 2 500 pulse rotation 5 core incremental encoder is 10 000 pulses rotation e The pulse output resolution per rotation will never exceed the encoder resolution If the above settings are used the pulse output resolution per rotation will be equal to the encoder resolution e One phase Z signal is output for each rotation of the Servomotor e If the value from the above equation is a multiple of 4 phases Z and A are synchronized In all other cases the output width of phase Z will coincide with the encoder resolution so phases A and Z will not be synchronized Pn44 _ P44 Encoder resolution x Pn45 Multiple of 4 Encoder resolution x Pn45 Not multiple of 4 A A Z M Z o Synched Not synched 10 90 Appendix 2 10 5 Operating Functions Pn46 Encoder Output Direction Switch All modes Setting range Oor3 Unit Default setting 0 Power OFF gt ON Yes Setting Phase Forward motor operation Reverse motor operation Phase A 0 2 Non inverted phase B 1 3 Inverted phase B Explanation of Settings Setting Explanatio
212. command pulses are multiplied by a factor of 2 or 4 when 90 phase difference signal inputs are selected as the input format for the command pulses in the Command Pulse Mode Pn42 Explanation of Settings Setting Explanation 1 Multiply the input pulses by 2 2 3 Multiply the input pulses by 4 4 Pn41 Command Pulse Rotation Direction Switch Position Setting range 0to3 Unit Default setting 0 Power OFF gt ON Yes Set the Servomotor rotation direction used for the command pulse input Explanation of Setting Setting Explanation 0 The Servomotor rotates in the direction specified by the command pulse 1 The Servomotor rotates in the opposite direction of the 2 direction specified by the command pulse 3 The Servomotor rotates in the direction specified by the command pulse 5 48 Operating Functions Operating Functions 5 10 User Parameters Pn42 Command Pulse Mode Position Setting range Oto3 Unit Default setting 1 Power OFF gt ON Yes Set the input format of the pulse inputs sent as commands to the Servo Drive from the position controller Explanation of Setting Setting Command pulse mode Servomotor forward command Servomotor reverse command 90 phase difference phases A and B signal inputs Phase A
213. control box case when screws are tightened make adjustments to prevent this from occurring Do not leave any conductive part unconnected Ground all Units within the case to the case itself 4 15 4 3 Wiring Conforming to EMC Directives m Door Structure Use a metal door Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams below Use a conductive gasket between the door and the case as shown in the diagrams below Refer to the diagrams below Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting so that they will be electrically conductive The door may warp and gaps may appear between the door and case when screws are tightened Be sure that no gaps appear when tightening screws Case A Door B Door Oil resistant gasket Conductive gasket Control panel Cross sectional view of A B Oil resistant gasket Conductive gasket Door interior view 4 16 System Design System Design 4 3 Wiring Conforming to EMC Directives Selecting Connection Components This section explains the criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable conditions when selecting the componen
214. ction Configuration and External Dimensions oe i _ 50 5 Servo Drive end Servomotor end R7D BPO AEs R88M G 410 0 4 Wiring Servo Drive Servomotor Red ee a T o oe a UU Green Yellow Cable AWG20 x 4C UL2464 pal Servo Drive Connector Servomotor Connector Connector pins Connector pins 5556PBTL Molex Japan 170366 1 or 170362 1 Connector case Tyco Electronics AMP KK 5557 06R 210 Molex Japan Connector case 172159 1 Tyco Electronics AMP KK 3 30 Specifications Specifications 3 3 Cable and Connector Specifications E European Cables for Servomotor Power Flexible and Shielded Cables Cable Models Model Length L Weight R7A CAB001 5SR E 1 5m Approx 0 1 kg R7A CABO03SR E 3m Approx 0 2 kg R7A CABOO5SR E 5m Approx 0 3 kg R7A CAB010SR E 10m Approx 0 7 kg R7A CAB0O15SR E 15m Approx 1 0 kg R7A CABO20SR E 20m Approx 1 3 kg Connection Configuration and External Dimensions L Servo Drive end R7D BP Wiring Servo Drive Servo Drive Connector Connector pins 5556PBTL Molex Japan Connector case 5557 06R 210 Molex Japan 3 31 Servomotor end Cable AWG20 x 4C UL2464 ry D R88M G Servomotor Servomotor Connector Connector pins 170366 1 or 170362 1 Tyco Electronics AMP KK Connector case 172159 1 Tyco Electronics
215. ction Precautions N Caution Resume operation only after transferring to the new Unit the contents of the data required for operation restart Not doing so may result in equipment damage Do not dismantle or repair the product Doing so may result in electric shock or injury O gt Precautions for Safe Use E Warning Label Position Warning labels are located on the product as shown in the following illustration Be sure to follow the instructions given there Warning label Example of R7D BP01H m Warning Label Contents BERE AEE Fob aat N i P orense E Disposing of the Product FRR ST RRBARBERACHRCRICL B SERMOLORE OMTERMTSCL tk PRS ORI LB BETHE RY HT BALEARES oe SEH DANGER Read fa manual and follow the salety instructions before use Never tail lo connect Protective Earth PE terminal BEODHS BREAST MT a BRE 155 HRA FBS AMT RE SAS Do not touch terminals within 15 minutes after disconnect the power Risk of electric shock PIE ORHS E by gt 7m ARETE A AN JESKE Do not touch heatsink when power is ON Risk of burn Dispose of the product as industrial waste 10 Items to Check When Unpacking Items to Check When Unpacking Check the following items after removing the product from the package Has the correct product been delivered Has the pro
216. ctor CNA Pin Arrangement Symbol Pin No Name Function L1 10 For three phase 200 V connect to L1 pin 10 L2 L2 8 Main circuit power pin 8 and L3 pin 6 supply input terminals For single phase 100 200 V connect to L1 pin 10 L3 6 and L3 pin 6 a Eerma Regeneration If regenerative energy is high connect an External Resistor connection f B1 3 terminals Regeneration Resistor FG 1 Frame ground This is the ground terminal Ground to 100 Q or less E R7A CNB01A Servomotor Connector CNB Specifications 3 6 i H a 0 EB D iia CNB Connector UU Servomotor Connector CNB Pin Arrangement Symbol Pin No Name Color Function U 1 Red Servomotor These are the output terminals to the Ser V 4 White connection terminals vomotor Be careful to wire them correctly W 6 Blue 3 Frame ground a Connect the Servomotor FG terminals 3 3 3 1 Servo Drive Specifications Control I O Connector Specifications CN1 E Control I O Signal Connections and External Signal Processing 2200 yb Reverse CW 122 pulse Cw123 Forward eal 24 pulse en 25 22090 vs gt 12 to 24 VDC sA
217. ctors 2m R7A CLB002S3 attached External Regeneration Resistor Connection Cable 2m R7A CLB002RG E Personal Computer Monitor Cable Specifications Model Personal Computer Monitor Cable 2m R88A CCG002P2 E Connectors Specifications Model Main Circuit Connector CNA R7A CNBO1P Servomotor Connector CNB R7A CNBO1A Control I O Connector CN1 R88A CNW01C Encoder Input Connector CN2 R88A CNW01R Servomotor Connector for Encoder Cable R88A CNG02R Servomotor Connector for Servomotor Power Cable R88A CNGO1A Brake Cable Connector R88A CNG01B 2 6 Standard Models and Dimensions Standard Models and Dimensions 2 1 Standard Models E Servo Relay Units for CN1 Specifications Model For CJ1W NC133 NC113 For CS1W NC133 NC113 For C200HW NC113 XW2B 20J6 1B For CJ1W NC233 NC433 NC213 NC413 For CS1W NC233 NC433 NC213 NC413 For C200HW NC213 NC413 XW2B 40J6 2B Servo Relay Units For CJ1M CPU21 For CJ1M CPU22 For CJ1M CPU23 XW2B 20J6 8A XW2B 40J6 9A for 2 axes For FQM1 MMP22 XW2B 80J7 12A For CQM1H PLB21 For CQM1 CPU43 V1 XW2B 20J6 3B E Servo Relay Unit Cables for Servo Drives Specifications Model For Position Control Unit CQM1 1m XW2Z 100J B29 XW2B 1J6 L1B 2m XW2Z 200J B29 Servo Drive For CJ1M 1m XW2Z 100J B32 Cables XW2B 20J6 8A XW2B 40J6 9A 2m XW2Z
218. ctronic Gear oe Se Switch Input iY i Encoder Phase B Coad s e ance GESEL 28 ite poe _ Output 120 Q min N B I 4 7kQ x Deviation Counter ee ee Z D Reset Input i AY Encoder Phase Z c ECRST 30 ies ee i _7 Output Q i 47kQ Q a Reset AY Sensor ON lt RESET 31 aoe r 4 7 KQ He eu 1 uF 13 SENGND rule Prohibit te VW p IPG 33 NN Ve oe eee 42 47KO BAT Backup Battery v meee er ee m Input 1 Reverse Drive EA 434 BATGND 3 6 V Prohibit Input a NOTTS i 4 7kQ Forward Drive a bee 4 Prohibit Input AY PoT o bee Appendix 2 10 3 Specifications m Control I O Signals CN1 Control Inputs Pin a Control No Symbol Name Function Interface ae 1 424VCW 24 V Open collector Input for Command Pulse Input terminals for position command pulses o t24VCC 24 V Open collector Input These are selected by setting the Command Pulse Input w for Command Pulse Selection Pn40 to 0 3 _tCW Reverse Pulses Input Ene er input PULS FA Maximum response frequency 500 kpps Feed Pulses Input m a Open collector input Position Cw or 90 Phase Difference Maxi f 200 k 4 Pulse Input Phase A aximum response frequency pps PULS FA Any of the following can be selected by using the Pn42 CCW setting reverse and forward pulses CW CCW feed pulse 5 SIGN FB Slava Soaks ae and direction signal PULS SIGN 90 phase difference irection Signal p
219. d Electronic Gear Ratio Numerator 2 Pn49 Operation Calculation Method The following equation shows the relation between the number of internal command pulses F multiplied by the electronic gear ratio and the number of command pulses f per Servomotor rotation 10 54 Appendix 2 10 5 Operating Functions F f x Pn46 x 2A Pn4B e When an encoder with a resolution of 2 500 pulses rotation is used the number of internal command pulses F in the Servo Drive will be 10 000 pulses rotation 2 500 pulses rotation x 4 e Given the conditions above the relation between the number of command pulses per Servomotor rotation f and the electronic gear ratio is as follows F _ 10000 _ Pn48 x 2 n4A f f Pn4B Calculation Examples For a 2 500 pulses rotation encoder e Make the following settings to operate with 2 000 pulses rotation 10000 Pn48 x 2 Pn4A 2000 Pn4B Appendix 2 e Similarly make the following settings to operate with 1 000 pulses rotation 10000 Pn48 x 2 Pn4A 1000 Pn4B e Conversely make the following settings to increase the resolution per rotation and operate with 40 000 pulses rotation 10000 2500 Pn4g x 20 Pn4A 40000 10000 Pn4B The setting ranges for Pn48 Pn49 and Pn4B are from 1 to 10 000 so reduction is required in the settings Calculation Example For a 17 bit encoder e Use the following setting to operate at 5 000 pulses rotation 1 Pn48
220. d with key and tap QK a b x SNE 4 test i T J M effective depth L Dimensions mm Model LL LR S D1 D2 C G KL1 Z QK byJh Mitty Ll R88M G75030 112 2 35 19 90 70 80 8 53 6 22 6h9 6 M5 3 5 10 10 R88M G75030L1 B 149 2 35 19 90 70 80 8 53 6 22 6h9 6 M5 3 5 10 Appendix 2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number E External Regeneration Resistor R88A RR08050S RR080100S 1 5 dia Thermal switch output External Regeneration Resistor Dimensions 0 75mm 500 10 11 10 2 Standard Models and Dimensions R88A RR22047S __ Thermal switch output Q Q t12 20 R88A RR50020S 10 12 Appendix 2 Appendix 2 10 2 Standard Models and Dimensions Reactor Dimensions m 3G3AX DL2002 E 3G3AX DL2004 10 13 i T h PCN CI DEOPD P E NS
221. d 500 r min or output torque does not exceed 50 of the rated torque e When external force is constantly applied as with a vertical axis Note When No 2 gain has been selected i e GSEL ON realtime autotuning will not operate normally If using the gain switching function set the Realtime Autotuning Mode Selection Pn21 to O not used Parameters Requiring Settings sored Parameter name Explanation Position Loop Gain a stat Pn18 2 Set the responsiveness of the position control system when gain 2 is selected Pn19 Speed Loop Gain 2 Set the responsiveness of the speed loop when gain 2 is selected Speed Loop PniA Integration Time Set the integration time constant of the speed loop when gain 2 is selected Constant 2 Gain Switching Set switching between PI and P operation for speed control or switching between Pn30 Input Operating gain 1 and gain 2 This parameter can be set if 0 to 2 is set for the Torque Limit Mode Selection Selection Pn03 setting 1 If 1 is set for the Gain Switching Input Operating Mode Pn31 Control Gain Selection Pn30 set the switching conditions for gain 1 and gain 2 setting 0 Switch 1 Setting If a composite mode is set the setting of this parameter is valid when the first control mode is used 10 61 10 5 Operating Functions 10 5 9 Torque Limit Function e The torque output by the Servomotor can be limited e This function is effective in the
222. d control Encoder e A7 core absolute encoder is used e The instantaneous speed observer may not function properly or the effect may not be apparent under the following conditions Conditions under which the instantaneous speed observer does not function properly e If the margin of error with the actual device is too large for the inertia load of the Servomotor and load combined Example If there is a large resonance point at the frequency of 300 Hz or lower Load There is a non linear element such as large backlash e If the load inertia changes e f a large disturbance torque with high frequency elements is applied Others e If the stabilization range for positioning is extremely small 10 7 Adjustment Functions E Operating Procedure 1 Set the Inertia Ratio Pn20 Set the inertia ratio as correctly as possible e Use the Pn20 setting if the Inertia Ratio Pn20 is found using realtime autotuning that can be used in normal position control e Input the calculated value if it is already known by load calculation e If the inertia ratio is not known perform normal mode autotuning and measure the inertia 2 Perform adjustments for normal position control 3 Set the Instantaneous Speed Observer Setting Pn27 e Set the Instantaneous Speed Observer Setting Pn27 to 1 The speed detection method will switch to Instantaneous Speed Observer e If the change in torque waveform or the operation
223. d surge absorption diode RU2 Sanken Electric or the equivalent 9 1 Connection Examples m Connection Example 6 Connecting to SYSMAC CP1H X40DT D CP1L DT Main circuit power supply NFB OFF ON MC1 MC2 acd Main circuit contact Ae hi e 2 ee SUP Surge killer 3 phase 200 240 VAC 50 60 Hz omy 4X1 i S g o 8 MCIMC2 XI ED Servo error display i TO S gt l Groundto E CP1H X40DT D 100 Q or less R7D BP U a RA CRBS Output terminal block 2 kQ h i CWO CIO 0100 00 NW MC1 MC2 COM for CIO 0100 00 2 kQ gt Connect External Regeneration CCWO CIO 0100 01 W i gt Resistor when required COM for CIO 0100 01 i Origin search 0 CIO 0101 02 i R88M G 24 VDC input terminal 4 Servomotor Power 24 VDC input terminal 4 f Red er CABOS COM CIO 0101 00 to 0101 03 Lt White Blue Input terminal block t Tree Pulse 0 origin input signal CIO 0001 03 r allow COM CIO 0000 to 24 VDC Pulse 0 origin proximity input signal CIO 0000 01 gt Encoder Cable MBEN CN
224. d then press the Mode key once Set the parameter number Pn using the Increment and Decrement keys Display the parameter setting by pressing the Data key Change the parameter setting using the Increment Decrement and Shift keys eSave the changed setting to memory and return to the parameter number display by pressing the Data key E Operating Procedures Displaying Parameter Setting Mode PRO2G keys Front panel keys Display example Explanation ra Ld The default display is displayed DATA r Ty an tan a Press the Data key to display Monitor Mode a lt Sj a Press the Mode key to display Parameter Setting Mode Setting the Parameter Number Proze Ponipanei Display example Explanation keys keys Pay P P AS Al Set the number of the parameter to be set or checked 10 65 10 5 Operating Functions Displaying Parameter Settings PRO2G keys keys Front panel Display example Explanation The parameter number will be displayed DATA Press the Data key The setting of the parameter will be displayed Changing Parameter Settings e The following operation is not required if you are only checking a parameter setting PRUE from Wane Display example Explanation keys keys pay P P The present setting wi
225. daptive filter This parameter is set automatically and cannot be changed if the adaptive filter is enabled in the Realtime Autotuning Mode Selection Pn21 When the adaptive filter is enabled data will be saved in EEPROM every 30 minutes If the adaptive filter is enabled the next time the power supply is turned ON adaptive operation will start with the data saved in the EEPROM as the default value To reset the adaptive filter when operation is not normal set the Realtime Autotuning Mode Selection Pn21 to O or to between 4 and 6 and disable the filter and enable it again If the display for this parameter is 49 or higher the adaptive filter may be automatically disabled depending on the Realtime Autotuning Machine Rigidity Selection Pn22 Explanation of Settings ae eee altel Bere Moreni iter q a Notch Filter 1 Frequency Hz alg requency Hz ie Frequency Hz E 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn22 gt F 6 1426 28 607 50 258 Disabled when Pn22 gt F 7 1372 29 584 51 248 Disabled when Pn22 gt F 8 1319 30 562 52 239 Disabled when Pn22 gt F 9 1269 31 540 53 230 Disabled when Pn22 gt F 10 1221 32 520 54 221 Disabled when Pn22 gt E 11 1174 33 500 55 213 Disabled when Pn22 gt E 12 1130 34 481 56 205 D
226. de To use the adaptive filter use the Advanced Position Control Mode Pn03 Not used Do not change setting Pn04 Drive Prohibit Input Selection All modes Setting range Oor1 Unit Default setting 1 Power OFF gt ON Yes Set whether to use the drive prohibit inputs You can prevent the Servomotor from rotating beyond the device s operating range by connecting limit inputs When only the Forward Drive Prohibit Input POT is turned ON the Servomotor can operate in the forward direction but cannot operate in the reverse direction Explanation of Settings 5 33 Setting Explanation Drive prohibit inputs enabled 0 When the Forward Drive Prohibit Input POT and the Reverse Drive Prohibit Input NOT are ON the Servomotor can operate in the forward and reverse directions Drive prohibit inputs disabled Operation is possible regardless of the POT and NOT inputs 5 10 User Parameters Pn05 Not used Do not change setting Pno6 Zero Speed Designation Torque Limit Switch All maces Setting range O0to2 Unit Default setting 1 PowerOFF gt ON Yes Use this parameter to select whether to use the Zero Speed Designation Input VZERO or Torque Limit Switch Input TLSEL as the function of pin CN1 5 For Position Control Mode 0 or 2 can be selected For Internally Set
227. ded e The function will be disabled if the setting is 0 Pn27 Instantaneous Speed Observer Setting Setting range Oto 1 Unit Default setting 0 Power OFF gt ON Explanation of Settings Setting Explanation 0 Disabled 1 Enabled e The instantaneous speed observer can both increase the responsiveness and reduce vibration at stopping by improving the speed detection accuracy for devices with high rigidity The Inertia Ratio Pn20 must be set correctly e The Instantaneous Speed Observer Setting Pn27 will be O disabled if the Realtime Autotuning Mode Selection Pn21 is not set to 0 enabled Pn28 Notch Filter 2 Frequency All modes Setting range 100 to 1500 Unit Hz Default setting 1500 Power OFF gt ON e Use this parameter to set the notch frequency of notch filter 2 for resonance suppression e The notch filter will be disabled if the setting is 1500 Pn29 Notch Filter 2 Width All modes Setting range 0 to 4 Unit Default setting 2 Power OFF gt ON e Use this parameter to set the notch width of notch filter 2 for resonance suppression e Increasing the setting will increase the notch width Normally use the default setting Pn2A Notch Filter 2 Depth All modes Setting range 0 to 99 Unit Default setting 0 Power OFF gt ON e Use this parameter to set the notch dep
228. der Phase A Output Outputs encoder pulses according to the Encoder 48 B Encoder Phase B Output Dividing Rate Setting Pn44 and Pn45 All 49 B Encoder Phase B Output SA line driver output equivalent to 23 Z Encoder Phase Z Output 24 Z Encoder Phase Z Output 35 READY Output signal to indicate that power can be sup Servo Ready Output plied to the Servo Drive ON if no errors are found All 34 READYCOM after the power is supplied to the main circuit 37 ALM The output is OFF when an alarm is generated for Alarm Output A All 36 ALMCOM the Servo Drive 39 INP The accumulated pulses in the deviation counter Positioning Completed Output are within the setting for Positioning Completion Position 38 INPCOM Range Pn60 39 TGON The number of Servomotor rotations exceeds the Servomotor Rotation Speed Internally value set for Rotation Speed for Motor Rotation 38 TGONCOM Detection Output Detection Pn62 Speed 7 Used according to the setting of the General pur 40 OUTM2 General purpose Output 2 pose Output 2 Selection Pn09 All 41 COM kere Output Ground common for sequence outputs All ommon Shell FG Frame Gioura Connected to the ground terminal inside the Ser All vo Drive 10 21 10 3 Specifications m CN1 Pin Arrangement JAV Open 24VCW collector Input 24 V Open collector Input for Command Pulse 2AVCCW for Command Pulse Re verse Pulses Input Feed Pulses Input or CW
229. der resolution 5 The meanings of the Gain Switch Time Gain Switch Level Setting and Gain Switch Hysteresis Setting are different from normal if this parameter is set to 10 Refer to Figure F Figure A Figure C Speed V Differential pulses Torque T Level F75 i i J Time gt lt i i Gaini Gain 2 Gain 1 gt lt gt lt l AT a i T 3 k i Level C ai Figure D Command gt te pies lt 1 3 1 gt 1 2 y2 Gain 1 2 2 Gain 1 sc Gain 2 Gain 1 A Actual speed N Time gt lt i i Gaini Gain 2 ia Gain 1 gt e a 1 Gain 2 is used only during the Speed Loop Integration Time Constant Gain 1 is used at other times 5 45 5 10 User Parameters Pn32 Gain Switch Time Position Setting range O to 10000 Unit x 166 us Default setting 30 Power OFF gt ON This parameter is enabled when the Gain Switch Setting Pn31 is set to 3 or 5 to 10 Set the delay time from the moment the condition set in the Gain Switch Setting Pn31 is not met until returning to gain 1 This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn33 Gain Switch Level Setting Position
230. ding on the holding time of the power supply this time may be shorter than the value set in Pn6B Operating Functions 5 12 Operating Functions 5 7 Gain Switching 5 7 Gain Switching In Position Control Mode you can switch between PI proportional and integral operation and P proportional operation or between gain 1 and gain 2 With PI P operation switching the repulsion to external forces applied to the load can be weakened by eliminating the integral of the speed deviation i e the difference between the speed command and speed feedback Gain 1 gain 2 switching is effective in the following cases Reducing the gain to suppress vibration caused by changes in load inertia during operation Reducing the gain to suppress vibration due to an increase in speed Increasing responsiveness by increasing the gain during operation Increasing servo lock rigidity by increasing the gain when stopping Reducing the gain to suppress vibration when stopping Parameters Requiring Setting Ea np Parameter name Explanation Reference Gain Switching Input PE f Pn30 Operating Mode Select whether to use PI P operation switching or gain 1 gain 2 Page 5 44 switching in Position Control Mode Selection Pn31 Gain Switch Setting Select the condition for switching between gain 1 and gain 2 Page 5 44 4 Set the delay time from the moment the condition set in the Gain PNS Gain Swie Time Switch Setting Pn
231. ding to the instructions in this manual Item Contents Reference Install the Servomotor and Servo Drive according to the installation Mounting and a Chapter 4 conditions Do not connect the Servomotor to the mechanical system installation i Page 4 1 before checking the no load operation 1 Connect the Servomotor and Servo Drive to the power supply and Wiring and peripheral devices Chapter 4 connections Specified installation and wiring requirements must be satisfied Page 4 5 particularly for models conforming to the EC Directives 1 Preparing for Check the necessary items and then turn ON the power supply Chapter 6 f Check with the display indications to see whether there are any operation Page 6 2 internal errors in the Servo Drive 1 Checking Check the operation of the Servomotor and Servo Drive by Chapter 6 operation performing jogging operations without a load Page 6 4 L Setting Set the functions according to the operating conditions with the Chapter 5 functions user parameters Page 5 17 1 To enable the parameter settings turn OFF the power first Connect the Servomotor to the mechanical system Turn ON the power and check to see whether protective functions Daa Chapter 6 Trial operation such as the emergency stop and operational limits work properly A Page 6 23 Check operation without a workpiece or with dummy workp
232. djustment eter oditeine Do not perform extreme adjustment y and setting changes They may Disable realtime autotuning Pn21 0 or 7 AN destabilize operation possibly y resulting in injury Set parameters Pn11 Pn12 and Pn14 to the values in table 1 Adjust the gain a little at a time y while checking the Servomotor Set the Inertia Ratio Pn20 Calculated value at Servomotor selection operation y Run under actual operating pattern and load y Speed responsiveness and other operational performance satisfactory Vas No Adjustment completed Rat ce a aa on ae Ae e e e e stata 1 y i Increase the Speed Loop Gain Pn11 but not so much that it causes hunting when the servo is locked Y i Reduce the Speed Loop Integration Time Constant Pn12 but not so much that it causes hunting when the servo is locked i p Y Any hunting vibration when the Servomotor rotates Yes No y Reduce the Speed Loop Gain Pn11 y i Change to Parameter Write Mode and write to EEPROM y Increase the Speed Loop Integration y Time Constant Pn12 Adjustment complete Y If vibration does not stop no matter how many times you perform adjustments or if positioning is slow Increase the Torque Command Filter Time Constant Pn14 Woe ee i 7 17 Table 1 Parameter Adjustm
233. duct been damaged in shipping E Accessories Provided with Product Safety Precautions document x 1 No connectors or mounting screws are provided They have to be prepared by the user Should you find any problems missing parts damage to the Servo Drive etc please contact your local sales representative or OMRON sales office m Understanding Model Numbers Servo Drive Models The model number provides information such as the Servo Drive type the applicable Servomotor capacity and the power supply voltage R 7D BP 01H SMARTSTEP 2 Servo Drive 50 400 W Drive Type P Pulse string input type Applicable Servomotor Capacity A5 50W 01 100 W 02 200 W 04 400 W Power Supply Voltage L 100 VAC H Single Three phase 200 VAC HH Single phase 200 VAC R 88D GP08H SMARTSTEP 2 Servo Drive 750 W 1 Drive Type P Pulse string input type Applicable Servomotor Capacity 08 750 W Power Supply Voltage H 230 VAC 1 For the SmartStep 2 750W servo drive specifications dimensions and operation please refer to the Appendix 2 at the end of this manual 11 Items to Check When Unpacking Servomotor Models The model number provides information such as the Servomotor type Servomotor capacity rated rotation speed and options R 88M GP 10030 H BOS2 G Series Servomotor Motor Type None Cylinder type P Flat type Servomotor C
234. e Cables Global Cables for Servomotor Power R7A CABI SR The digits in the model number indicate the cable length 3 m 5 m 10 m 15 m or 20 m System Design The digits in the model number indicate the cable length 3 m 5 m 10 m 15 m or 20 m Flexible Cables European Cables for Servomotor Power The digits in the model number indicate the Flexible and RGA ORG SR E cable length 3 m 5 m 10 m 15 m or 20 m Shielded Cables E Brake Cables Name Model Comments Glebal Cabins The digits in the model number indicate the for Brakes RSSA CAGANLILIB cable length 3 m 5 m 10 m 15 m or 20 m Non Flexible Cables g ak as Global Cables eee shag for Brakes e e hn e e Flexible Cables g i i i European Cables for The digits in the model number indicate the Brakes R88A CAGA BR E cable length 3 m 5 m 10 m 15 m or 20 m Flexible Cables 4 6 4 2 Wiring E Power Supply Cables CNA Name Model Comments Cable for Single phase Power Supply Input R7A CLB002S2 Cable length 2 m Cable for Three phase Power Supply Input R7A CLB002S3 Cable length 2 m Cable for Connecting to External Regenerat
235. e Front panel key operations can be limited to Monitor Mode This function can be used to prevent unintended changes to parameters because of incorrect key operations e Even if this parameter is set to 1 parameters can be changed by using communications e Use communications to return this parameter to 0 10 73 10 5 Operating Functions PnOF Reserved Setting range Unit Default setting Power OFF gt ON E Gain Parameters Pn10 to Pn3D Pn10 Position Loop Gain Setting range 0 to 3000 Unit 1 s Default setting 40 Power OFF gt ON e Use this parameter to adjust the position loop response to suit the mechanical rigidity e The responsiveness of the servo system is determined by the position loop gain Servo systems with a high loop gain have a high responsiveness and fast positioning To increase the position loop gain you must improve mechanical rigidity and increase the specific oscillation frequency This should be 50 to 70 1 s for ordinary machine tools 30 to 50 1 s for general use and assembly machines and 10 to 30 1 s for industrial robots The default position loop gain is 40 1 s so be sure to lower the setting for machines with low rigidity e Increasing the position loop gain in systems with low mechanical rigidity or systems with low specific oscillation frequencies may cause machine resonance resulting in an overload alarm e If the posi
236. e Increment key for at least 5 s the set data will be written in EEPROM Exit Parameter Write Mode Press the Data key to return to the display of Parameter Write Mode 5 10 User Parameters m Operating Procedures 1 Displaying Parameter Setting Mode Key opera tion Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key to display Parameter Setting Mode 2 Setting the Parameter Number Key operation Display example Explanation A OS Use the Shift Increment and Decrement keys to set the parameter num ber If the parameter number is too high you can change the parameter number faster by using the Shift key to change the digit The decimal point will flash for the digit that can be set 3 Displaying the Parameter Setting Key operation Display example Explanation Press the Data key to display the setting of the parameter 4 Changing the Parameter Setting Key operation Display example Explanation g eS Use the Shift Increment and Decrement keys to change the setting Press the Data key to save the new setting 5 18 Operating Functions Operating Functions 5 10 User Parameters 5 Saving the New Setting to Memory Key operation Display example Explanation Press the Mode ke
237. e Pulse Prohibit Input When the input is OFF inputting command pulses will be disabled The Pulse Prohibit Input can be disabled by setting the Command Pulse Prohibited Input Pn43 10 23 10 3 Specifications E Control Output Functions Encoder Outputs Phases A B and Z Pin 21 A 22 A 48 B 49 B 23 Z 24 Z Functions e Pin 21 outputs the phase A phase B and phase Z encoder signals for the Servomotor e The encoder outputs conform to the RS 422 communication method e The dividing ratio is set in the Encoder Divider Numerator Setting Pn44 and the Encoder Divider Denominator Setting Pn45 e The logical relation of phase B to the phase A pulse is set in the Encoder Output Direction Switch Pn46 e The ground for the output circuit line driver is connected to the signal ground GND It is not isolated e The maximum output frequency is 4 Mpps after multiplying by 4 The output frequency equals the Servomotor encoder resolution x Pn44 Pn45 x 4 x Servomotor rotation speed r min 60 e The output phases are shown below They are the same for both incremental and absolute encoders Phase A Phase A Phase B ol Phase B Phase Z Phase Z Synched Not synched e f the Servomotor encoder resolution x Pn44 e In cases except for the one on the left phases Pn45 is a multiple of 4 phases Z and A are A and Z are not synchronized synchronized Br
238. e Servomotor from traveling in the direction specified by the switch This can be used to prevent the workpiece from traveling too far and thus prevent damage to the machine e Operation will be as follows if 0 is set e Connection between Forward Drive Prohibit Input POT CN1 pin 9 and COM closed Forward limit switch not operating and status normal e Connection between Forward Drive Prohibit Input POT CN1 pin 9 and COM open Forward drive prohibited and reverse drive permitted e Connection between Reverse Drive Prohibit Input NOT CN1 pin 8 and COM closed Reverse limit switch not operating and status normal e Connection between Reverse Drive Prohibit Input NOT CN1 pin 8 and COM open Reverse drive prohibited and forward drive permitted e If this parameter is set to 0 the Servomotor will decelerate and stop according to the sequence set in the Stop Selection for Drive Prohibition Input Pn66 e If this parameter is set to O and the forward and reverse prohibit inputs are both open an error will be detected in the Servo Drive and a drive prohibit input error alarm code 38 will occur e If this parameter is set to 2 a drive prohibit input error alarm code 38 will occur when the connection between either the forward or reverse prohibit input and COM is open e If a limit switch above the workpiece is turned OFF when using a vertical axis the upward torque will be eliminated and there may be repeated vertical movement of the
239. e Servomotor s allowable operating range set in Overrun Limit Setting Pn26 is exceeded The overrun limit is effective in the following case Preventing impact on the edges of the machine because of Servomotor oscillation Parameters Requiring Settings ela Parameter name Explanation pe ieienee Overrun Limit Set the operating range for the Servomotor The overrun 7 Pn26 Setting limit is disabled if the setting is 0 KAJE SEA Operation E Servomotor Stopped Servo Locked Since the Servomotor is stopped the Servomotor s allowable operating range is within the travel distance set in the Overrun Limit Setting Pn26 for both sides of the Servomotor stop position If the load of the Servomotor enters the shaded area due to oscillation an alarm will occur Servomotor s allowable Range of Err43 operating range Range of Err43 E In Operation Traveling When a position command is input the Servomotor s allowable operating range will increase according to the position command In the following figure an alarm will occur if the load enters the setting range on the left side before travel and the setting range on the right side after travel due to oscillation or for other reason Servo motor Servomotor s allowable operating range Range of Err43 Range of Err43 5 16 Operating Functions Operating Functions 5 10 User Parameter
240. e Zero Speed Designation Input VZERO is turned ON the Servomotor will accelerate according to the Soft Start Acceleration Time Pn58 When the Zero Speed Designation Input VZERO is turned OFF the Servomotor will decelerate to a stop according to the Soft Start Deceleration Time Pn59 Switching between the internally set speeds is controlled by the Internally Set Speed Selection 1 and 2 Inputs VSEL1 CN1 6 VSEL2 CN1 4 Parameters Requiring Settings ee Parameter name Explanation Reference Pno2 Control Mode Select the control mode for internally set speeds setting 1 Page 5 33 Selection Zero speed Always enable the zero speed designation when internally set Pn06 Designation speeds are used setting 1 Page 5 34 Torque Limit Switch Pn53 No 1 Internal Set the internally set speeds r min The settings can be made Speed Setting from 20 000 to 20 000 r min Be sure to set the speeds within the allowable range of rotation speed of the Servomotor Pn54 No 2 Internal Speed Setting 7 Page 5 53 o 3 Interna Prap Speed Setting No 4 Internal ENE Speed Setting Pn58 Soft Start Set the acceleration time for Internally Set Speed Control Set Acceleration Time the time setting x 2 ms until 1 000 r min is reached 5 oe age 5 Pn59 Soft Start Set the deceleration time for Internally Set Speed Control Set Deceleration Time the time setting x 2 ms until operation stops from 1 000 r min
241. e a E E crane anrcaa ne E AA A eae AAE 10 1 Names of Parts and Functions ccccccceesceeeeeeseeeeeeeneeees 10 2 System Block Diagrams e a nr rite menrerera 10 4 Applicable Standa E E 10 5 Standard Models and Dimension6 c s1s108 10 6 Sanda M ode S eee etn ects ae eeeeea ee eer 10 6 External and Mounting Hole Dimensions 80 10 10 Specifications e isiccgccsnectceceecesasnccenseevneesceesereectsieceses 10 16 Servo Drive Specifications cccccecceeeeteeeeeeeteeeeeeneeetees 10 16 Servomotor Specifications cceceeceeeeeeeeeeeeeeeeeeeeeeeeeeees 10 26 Cable and Connector Specifications eee 10 28 SVSlSNU DESIG a A E 10 42 Servo Drive Specifications cccccecceeeeeeeeeeeeeeeeseteeeeees 10 42 MWE E E E E E A usenet 10 42 Wiring Conforming to EMC Directives 10 44 Operating FUNCTIONS cccsseeeeeeeeeesseeeeeteeeeeees 10 47 Position Control t ae e e cerca cede ener eves E s 10 47 Internally Set Speed Control ccceececeeeeeeeeeeeeeeeeeeeseeeees 10 49 Forward and Reverse Drive Prohibit 10 52 EmCode miBDIViGin aene a e E E ts 10 53 Erea OET E a AA E ene ere 10 54 Overrun Linit ee e ee A A A 10 56 Brakerlmterlock sits seer E a 10 58 GainiSwWitehing ane a e E 10 61 IKTKO VEE e E E rant ease eeoee 10 62 SOS ree oe Se ee eee Oe 10 63 Position Command EE aoran e e E T 10 64 M fener E A 10 65 Trial Op ration ceases scesadeeraseseccottcscseewce
242. e electromagnetic brake ON and OFF 2 Select a value for resistance R so that the input current will be from 7 to 15 mA Refer to the following table Vcc R 24 V 2 kQ 12V 1 kQ 3 49 Terminal Block Signal Names No Signal 1 24VIN 2 RUN 3 RESET 4 ECRST VSEL2 5 GSEL VZERO TLSEL 6 SESEL VSEL1 7 NOT 8 POT 9 ALM 10 INP TGON 11 BKIR 12 WARN 13 OGND 14 GND 15 A 16 A 17 B 18 B 19 Z 20 Z 21 Z 22 CW PULS FA 23 CW PULS FA 24 CCW SIGN FB 25 CCW SIGN FB 26 FG 27 28 29 30 31 32 33 34 3 3 Cable and Connector Specifications 3 50 Specifications Specifications 3 4 Servo Relay Units and Cable Specifications 3 4 Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Units and Cables used for connecting to Position Control Units for OMRON Programmable Controllers SYSMAC Select the models that match the Position Control Unit to be used For details refer to Selecting Connecting Cables on page 4 6 Servo Relay Units Specifications m XW2B 20J6 1B This Servo Relay Unit connects to the following OMRON Position Control Units CJU1W NC113 NC133 CS1W NC113 NC133 C200HW NC113 Dimensions Position Control Unit connector Servo Drive connector 35 135 3 5
243. e encoder wiring is in correct e Correct the wiring Occurs when torque limit switching is used e The Overspeed Detec tion Level Setting Pn70 or No 2 Overspeed De tection Level Setting Pn73 has been exceed ed o If torque limit switching is used correctly set the al lowable operating speed for Pn70 and Pn73 8 9 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 27 Electronic gear Occurs when com e The setting for the Elec e Set Pn46 and Pn47 so setting error mand pulses are given tronic Gear Ratio Numer that the command pulse ator Pn46 or Pn47 is not frequency is 500 kpps appropriate max 29 Deviation counter Occurs when the Ser e The Servomotor power e Correct the wiring overflow vomotor does not ro wiring or the encoder wir tate even if command ing is incorrect ulses are input z P P e The Servomotor is me e If the Servomotor shaft is chanically being held held by external force re lease it e Release the electromag netic brake e Control PCB error e Replace the Servo Drive Occurs during high e The Servomotor power e Correct the wiring speed rotation wiring or the encoder wir ing is incorrect Occurs when long com e Gain adjustment is insuf e Adjust the gain mand pulses are given ficient e The acceleration and de e Extend the acceleration celeration are too rapid
244. e for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omiss
245. e position control To use the adaptive filter select the advanced position control mode Parameters Requiring Settings Go Parameter name Explanation Reference Pno2 Control Mode Select a control mode for position control setting 0 or 2 Page 5 33 Selection Pn42 Command Pulse Set to match the command pulse form of the controller Page 5 49 Mode Pn46 Electronic Gear Ratio Set the pulse rate for command pulses and Servomotor travel Numerator 1 amount Electronic Gear Ratio Pn4A Niumeratar Exponent Electronic Gear Ratio Numerator 1 Pn46 x 1 Electronio Gear Ratio Numerator Exponent Pn4A Page 5 50 Pn4B Electronic Gear Ratio Electronic Gear Ratio Denominator Pn4B n Denominator The maximum value of the calculated numerator is 2 621 440 Positionin The Positioning Completed Output INP turns ON when the Pn60 9 number of pulses in the deviation counter is equal to or less than Page 5 55 Completion Range the setting of this parameter 5 1 5 1 Position Control Reference The Control Mode Selection Pn02 is set as follows Setting Control mode 0 High Response Position Control 1 Internally Set Speed Control 2 Advanced Position Control To perform position control select 0 high response position control or 2 advanced position control for the control mode Related Parameters The main functions provided by the parameters related to position control are described
246. e product Doing so may result in fire Be sure to install the product in the correct direction Not doing so may result in malfunction Keep the specified distance between the Servo Drive and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply a strong impact on the Servomotor shaft or Servo Drive Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure that all the mounting screws terminal block screws and cable connector screws are tightened securely Not doing so may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to the protective ground terminal Doing so may result in fire Always use the power supply voltage specified in the Users Manual Not doing so may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Use particular caution if the product is used in a place where a stable power supply cannot be provided Not doing so may result in equipment damage Install breakers and take other safety measures against short circuiting of external wiring Not doing so may result in fire Take sufficient shielding measures when using the product in the following locations Not doing so may result in damage to the produc
247. e reliable adjustment can be performed quickly by using waveform monitoring with the data tracing function of CX Drive or by measuring the analog voltage waveform with the monitor function Analog Monitor Output The actual Servomotor speed command speed torque and number of accumulated pulses can be measured in the analog voltage level using an oscilloscope or other device Set the type of signal to be output and the output voltage level by setting the SP Selection Pn07 and IM Selection Pn08 OMRON _AC SERVO DRIVE 686888 BOHA w A MCO O Q 1kQ 117 1kO CX Drive Data Tracing Commands to the Servomotor and Servomotor operation e g speed torque commands and position deviation can be displayed on a computer as waveforms Refer to the CX Drive Operation Manual Cat No W453 RS 232 connection cable a Connect to CN3B Do not connect to CN3A 10 124 Appendix 2 10 7 Adjustment Functions E Position Control Mode Adjustment Use the following procedure to make adjustments in position control for the SMARTSTEP 2 750 W Model C Start of adjustment D Never make extreme adjustment or changes to settings Doing so will result in unstable operation and may lead to injuries Adjust the gain in small increments while checking Servomotor op
248. e the purp R7A CPB S cable length 1 m or 2 m Control Cable Example model number for 1 m cable R7A CPB001S 4 8 System Design System Design 4 2 Wiring Peripheral Device Connection Examples m R7D BPASL BP01L BP02L BP01H BPO2HH BP04H R T Single phase 100 to 115 VAC 50 60 Hz R7D BPLILIL Single phase 200 to 240 VAC 50 60 Hz R7D BP01H BP02HH BP04H Q Q maei NFB Q Q Noise filter eke Main circuit contactor 1 1 2 1 Main circuit E NF power supply Gma I 3 4 OFF ON 1MC 2MC Ea Ground to if j Lg j j imo 100 Q or less eal Surge killer 1 J X 1MC 2MC x yan Servo error display is TMC e 4 SMARTSTEP 2 Series G Series Servo Drive Servomotor 2MC Reactor Brake Cable XB zZ 24VDC Servomotor Power Cable External regeneration resistor 3 Ground to 1009 or less 24VDC T A ee IMC 2MC Encoder cable control device Control cable 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended Relay OMRON G7T Relay 24 VDC model 3 An External Regeneration Resistor can be connected Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the S
249. e updated with the result e When realtime autotuning is enabled the inertia ratio is continuously estimated and saved in EEPROM every 30 min e If the inertia ratio is set correctly the setting unit for the Speed Loop Gain Pn11 and Speed Loop Gain 2 Pn19 will be Hz e If the Inertia Ratio Pn20 is set larger than the actual value the setting for speed loop gain will increase If the inertia ratio is set smaller than the actual value the setting for speed loop gain will decrease Pn21 Realtime Autotuning Mode Selection All modes Setting range 0 to 7 Unit Default setting 0 Power OFF gt ON Explanation of Settings Setting Explanation 0 Realtime autotuning is disabled 1 Normal mode There is almost no change 2 Normal mode There are gradual changes 3 Normal mode There are sudden changes 4 Vertical axis mode There is almost no change 5 Vertical axis mode There are gradual changes 6 Vertical axis mode There are sudden changes 7 No gain switching There is almost no change e Use this parameter to set the operating mode for realtime autotuning e The higher the value that is set e g 3 or 6 the faster the response is for a change in inertia during operation Operation however may be unstable depending on the operating pattern Normally set the parameter to 1 or 4 e Use a setting of 4 to 6 if a vertical axis is used e Use setting 7 if vibratio
250. ec2 lt G1 lt MPU amp ASIC Display circuit Position speed and torque processor VCC lt Control power G2 il supply ge ns o RS 1 Sy 2 Q Qa Input signals Output signals 485 s 2 O IF M gt o Fan 1 CW CCW 1 Phases A B Z a alarm 2 ECRST 2 INP D l 3 RUN 4 RESET 3 BKIR VCC gt 8 5 POT 6 NOT 4 ALM G gt 2 O 7 GSEL GESEL 5 WARN S G CN1 control I O connector CN3 connector 1 5 Applicable Standards 1 5 Applicable Standards EC Directives EC Directive Product Applicable standards Comments Low Voltage AC Servo Drive EN 50178 Safety requirements for elec Directive tronic equipment for measure ment control or laboratory use AC Servomotor IEC 60034 1 Rotating electric machines EMC AC Servo Drive and EN 55011 class A Radio disturbance limits and Directive AC Servomotor group1 measurement methods of in dustrial scientific and medical radio frequency equipment EN 61000 6 2 Electromagnetic compatibility EMC Immunity standard for industrial environments Note To conform to the EMC Directives the Servomotor and Servo Drive must be installed under the conditions described in 4 3 Wiring Conforming to EMC Directives UL Standards Standard Product Applicable standards File number Comments UL Standard AC Servo Drive UL 508C E179149 Power conversion equipment Features and System Configuration Chapter 2 Standa
251. ection between the input and common is closed e Use this parameter to set the function of the Zero speed Designation Input VZERO CN1 pin 26 Pn07 SP Selection All modes Setting range 0to9 Unit Default setting 3 Power OFF gt ON Explanation of Settings Setting Explanation 0 Actual Servomotor speed 6 V 47 r min Actual Servomotor speed 6 V 188 r min Actual Servomotor speed 6 V 750 r min Actual Servomotor speed 6 V 3000 r min Actual Servomotor speed 1 5 V 3000 r min Command speed 6 V 47 r min Command speed 6 V 188 r min Command speed 6 V 750 r min Appendix 2 Command speed 6 V 3000 r min o N aj A Wy PN Command speed 1 5 V 3000 r min 10 70 Appendix 2 10 5 Operating Functions Pn08 IM Selection All modes Setting range Oto 12 U nit Default setting Power OFF gt ON Explanation of Settings Setting Explanation 0 Torque command 3 V rated 100 torque a Position deviation 3 V 31 pulses Position deviation 3 V 125 pulses Position deviation 3 V 500 pulses Position deviation 3 V 2000 pulses Position deviation 3 V 8000 pulses Reserved Reserved Reserved oO ON DO a A WwW N Reserved a oO Reserved a a Torque command
252. ed 5 53 5 10 User Parameters Pn5A Not used Do not change setting Pn5B Not used Do not change setting Pn5C Not used Do not change setting Pn5D Not used Do not change setting Pn5E Torque Limit All modes Setting range 0 to 500 Unit Default setting 300 Power OFF gt ON Set the limit for the maximum torque of the Servomotor Normally the Servomotor generates an instantaneous torque three times the rated value Limit the maximum torque however if a torque of three times the rated value may cause problems with the strength of the mechanical system Make the setting as a percentage of the rated torque Example Maximum torque limited to 150 Torque Forward 300 max Pn5E 150 200 4 100 rated T A A Speed rated maximum Reverse Both the forward and the reverse torque are limited at the same time This parameter will be used for No 1 torque control if the Zero Speed Designation Torque Limit Switch Pn06 is set to 2 The default setting depends on the combination of Servomotor and Servo Drive Values exceeding the default setting cannot be set Refer to Torque Limit on page 5 15 Pn5F Not used Do not change setting 5 54 Operating Functions 5 10 User Parameters E Sequence Parameters Pn60 Positioning Completion Range Position
253. ed by adding S2 to the end of the model number Note The standard models have a straight shaft Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounted Dimensions Parameter Unit Dimensions m R88A PRO2G 62 Di 62 24 M3 depth 5 an ZE Ly 15 gt MD connector Note The standard models have a straight shaft A model with a key and tap is indicated by adding J to the end of the model number the suffix shown in the box 2 2 External and Mounted Dimensions External Regeneration Resistor Dimensions E External Regeneration Resistor R88A RRO08050S R88A RR080100S _ Thermal switch output N 3 dia 0 75 mm A i 6 t1 2 500 L 104 a 20 k 122 130 e at 3 R88A RR22047S Thermal switch output A 0 75 mm 2 16 Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounted Dimensions Reactor Dimensions E 3G3AX DL2002 DL2004 72 90 Two M4 L Ground terminal At M4
254. ed forward 500 Inertia Ratio 300 Inertia Ratio 300 Inertia Ratio 300 10 106 Appendix 2 10 7 Adjustment Functions Gain Adjustment Methods Function Explanation Realtime autotuning estimates the load inertia of the mechanical Realtime autotuning system in realtime and automatically sets the optimal gain according to the estimated load inertia The fit gain function automatically searches for the appropriate rigidity setting by repeating input of an operation with a specified pattern to automatically make the rigidity setting for realtime autotuning when position control is performed Fit gain function The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration compo nent that appears in the Servomotor speed during actual operation and automatically sets the coefficient of the notch filter which removes the resonance component from the torque command Automatic adjustment Adaptive filter Normal mode autotuning automatically sets the appropriate gain by operating the Servomotor with the command pattern automatically generated by the Servo Drive and estimating the load inertia from the torque required at that time Normal Mode Autotuning This function disables the default settings for realtime autotuning Automatic gain adjustment reset and the adaptive filter Manual tuning is performed if autotuning cannot be executed due to restrictions
255. ed ieee or Power X axis origin common _ Whit R7A CABLS axis positioning complete inpu Blue gt i t Green i f Yellow X axis input common EE r 24VIN 24 VDC x1 Encoder Cable X axis external interrupt input 1 RUN PEEN REEE 1 R88A CRGBLIC X axis origin proximity input ee 1 t X axis CCW limit input J 4 oo OGND E X axis CW limit input m i eee 7 X axis emerg stop input aji i r r ALM Brake Cable vee TE R88A CAGALIB BKIR D XB T FG 24 VDC 2 Incorrect signal wiring can cause damage to Units and the Servo Drive for Correct Use Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 24 VDC power supply for the command pulse inputs as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent I ka c Q Q lt 9 2 Appendix 1 9 1 Connection Examples m Connection Example 3 Connecting to SYSMAC CS1W NC133 233 433 Position Control Units CS1W NC133 233 433 5 VDC power supply for pulse output 5 V GND for pulse output Main circuit power supply 8 Q N Main circuit contact
256. ed to reduce the stepping movement of the Time Constant Servomotor Setting The larger the setting the larger the time constant setting range 0 to 7 Operation Example e The characteristics for each filter are shown below e Servomotor acceleration and deceleration are delayed further than the characteristics shown below due to position loop gain Acceleration 2 Kp s Deceleration 3 Kp s Kp Position loop gain E Primary Filter Speed Command pulse input frequency Input frequency x 0 63 Appendix 2 Input frequency x 0 37 lt gt a Time constant Time constant Note The time constant will be as follows according to the setting of Pn4C Pn4C Time constant ms 0 Disabled 0 2 0 6 1 3 2 6 5 3 10 6 21 2 Ni OO aj A oj N 10 64 Appendix 2 10 5 Operating Functions 10 5 12 User Parameters Set and check the user parameters in Parameter Setting Mode Fully understand what the parameters mean and the setting procedures and set the parameters according to the control system Some parameters are enabled by turning the power OFF and then ON again After changing these parameters turn OFF the power confirm that the power indicator has gone OFF and then turn ON the power again Setting and Checking Parameters E Overview Use the following procedure to set or check parameters eGo to Parameter Setting Mode Press the Data key an
257. ed wire faulted between phases e Measure the insulation resistance at the Servo motor and if there is a short circuit replace the Servomotor e Miswiring between e Correct the wiring phase U V or W and ground e Servomotor winding is e Measure the wire wound burned out resistance and if the winding is burned out re place the Servomotor e The relay forthe dynamic e Do not frequently input brake has been conse the RUN Command In quently welded put e Do not operate the sys tem by turning the Servo Drive ON and OFF e Servomotor non confor e Use a Servomotor that is mity appropriate for use with 8 the Servo Drive e The pulse input timing is e Wait 100 ms min before too fast inputting pulses after turning ON the RUN oD Command Input RUN S e The resistor in the Servo e Reduce the ambient tem Drive is abnormally over perature of the Servo re heating Drive to 55 C or lower on e If the relay does not click ry when the power supply is ro turned ON replace the gt Servo Drive 16 Overload Occurs when the Servo e There is an error in the e Wire the Servomotor Drive is turned ON Servomotor wiring e g the wiring or the contacts are faulty Power Cable correctly e The electromagnetic brake is ON e Reset the brake e The Servo Drive is faulty e Replace the Servo Drive Occurs during opera tion e The actual torque ex ceeds the rated torq
258. eed Pn75 No 6 Speed Pn77 No 8 Speed Speed Command Monitor Speed PI Processor Soft Start Setting i e Meccan NN i n11 Speed Gain a SEA a i Pn12 Integration Time 1 n eceleration Time Constant 1 Pn5A rea idn Pn19 Speed Gain 2 cceleration z Pn1A Integration Time Deceleration Constant 2 Pn20 Inertia Ratio N aa x Speed Detection Filter _ Actual Speed xe Monitor Pn13 Filter 1 T Divider Setting a Pn1B Filter 2 Q Phase A B Z Pn44 Numerator i Q Pn45 Denominator i lt x Pn46 Direction i Receive Encoder Switch Signal Notch Filter Torque Command Limit 1 Pn1D Filter 1 Frequency Pn14 Filter Torque gt PniE Filter 1 Width Pn1C Filter 2 PI Pn28 Filter 2 Frequency Pn5E No 1 Torque Limit i Processor Pn29 Filter 2 Width Pn5F No 2 Torque Limit Pn2A Notch Filter 2 Depth Pn2F Adaptive Filter Current Feedback P Torque Command Torque Limit Monitor PCL Torque Limit Input Torque Limit NCL 3 V 100 10 51 10 5 Operating Functions 10 5 3 Forward and Reverse Drive Prohibit Function e When the Forward Drive Prohibit Input POT CN1 pin 9 and Reverse Drive Prohibit Input NOT CN1 pin 8 are turned OFF the Servomotor will stop rotating e You can stop the Servomotor from ro
259. either case this is not an error 2 Moving the Load Move the load to the position where there s no problem if the Servomotor operates according to the setting in Pn25 The Servomotor will rotate once or twice in both forward and reverse depending on the settings 3 Moving to the Autotuning Mode Display For information on moving to the Autotuning Mode Display refer to Autotuning Mode on page 6 17 Adjustment Functions Bi Adjustment Functions 7 3 Autotuning Autotuning Mode Display ee Machine rigidity No 4 Selecting Machine Rigidity Press the Increment or Decrement key to select the machine rigidity number a rc an Lowest machine rigidity rr z an o a _ y Highest machine rigidity The machine rigidity number sets the machine rigidity and can be set to a value from 0 to F hex The greater the machine rigidity the higher the machine rigidity number is The higher the machine rigidity is set the higher the gain can be set Under normal conditions set the machine rigidity gradually from a low level in autotuning Set the value in a range where an unusual noise oscillation and vibration do not occur Reference Machine Rigidity Number Setting by Machine Drive System Drive system Machine rigidity No Ball screw direct coupling
260. eleration and deceleration E Selecting the Internally Set Speeds The following tables show the internally set speeds that are set with VSEL1 VSEL2 and VSEL3 Internally Set Speed Selection 1 2 and 3 Inputs 10 49 10 5 Operating Functions Pn05 1 No VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF OFF Pn53 1 ON OFF OFF Pn54 2 OFF ON OFF Pn55 3 ON ON OFF Pn56 4 OFF OFF ON Pn53 5 ON OFF ON Pn54 6 OFF ON ON Pn55 7 ON ON ON Pn56 Pn05 2 Reserved Pn05 3 No VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF OFF Pn53 1 ON OFF OFF Pn54 2 OFF ON OFF Pn55 3 ON ON OFF Pn56 4 OFF OFF ON Pn74 5 ON OFF ON Pn75 6 OFF ON ON Pn76 7 ON ON ON Pn77 E Operation Example e Internally Set Speed Control with Four Speed Changes When Pn05 1 10 50 Appendix 2 10 5 Operating Functions RUN Command RUN Servo ON Zero Speed Designation VZERO r Drive Internally Set Speed Selection1 VSEL1 Stop i Open Closed Open osed Open Open Closed Closed Internally Set Speed Selection 2 VSEL2 1 The acceleration time deceleration time and S curve acceleration deceleration time can be set using parameters Pn58 Pn59 and Pn5A Parameter Block Diagram for Internal Set Speed Control Mode Internally Set Speed Setting Pn53 No 1 Speed Pn55 No 3 Speed Pn74 No 5 Speed Pn76 No 7 Speed Pn54 No 2 Speed Pn56 No 4 Sp
261. ency pulse signal from the host device to start low speed operation Check the Servomotor rotation speed in Monitor Mode Check to see if the Servomotor is rotating at the specified speed and to see if the Servomotor stops when the command pulses are stopped 10 7 Adjustment Functions 10 7 Adjustment Functions 10 7 1 Gain Adjustment SMARTSTEP 2 750 W Model Servo Drive provide realtime autotuning and normal mode autotuning functions With these functions gain adjustments can be made easily even by those who use a servo system for the first time If you cannot obtain desired responsiveness with autotuning use manual tuning Purpose of the Gain Adjustment The Servomotor must operate in response to commands from the host system with minimal time delay and maximum reliability The gain is adjusted to bring the actual operation of the Servomotor as close as possible to the operations specified by the commands and to maximize the performance of the machine Example Ball screw High Gain Setting and Low Gain Setting Feed forward Setting High Gain Setting r min 2000 0 0 125 250 375 0 0 125 250 375 Position Loop Gain 20 Position Loop Gain 70 Position Loop Gain 100 Speed Loop Gain 40 Speed Loop Gain 50 Speed Loop Gain 80 Speed Loop Integration Speed Loop Integration Speed Loop Integration Time Constant 50 Time Constant 30 Time Constant 20 Speed feed forward 0 Speed feed forward 0 Speed fe
262. endix 2 10 5 Operating Functions Pn4C Position Command Filter Time Constant Setting Setting range 0 to 7 Unit Default setting 0 Power OFF gt ON Explanation of Settings Setting Explanation 0 No filter 1 Time constant 0 2 ms 2 Time constant 0 6 ms 3 Time constant 1 3 ms 4 Time constant 2 6 ms 5 Time constant 5 3 ms 6 Time constant 10 6 ms 7 Time constant 21 2 ms e The position command filter is the first order lag filter for the command pulse input e The time constant of the position command filter can be set to one of eight values e The position command filter can be used for the following e If the command pulses change abruptly the filter can be used to reduce the stepping movement of the Servomotor e The following are examples of when the command pulses can change abruptly The electronic gear setting is high 10 times or higher The command pulse frequency is low Pn4D Smoothing Filter Setting Setting range 0 to 31 Unit Default setting 0 Power OFF gt ON Yes e Use this parameter to select the FIR filter time constant used for the command pulses FIR Finite impulse response e The higher the setting the smoother the command pulses Input position command A Position command after smoothing filter processing wa i Command Time tf Pn4E 1 x Control cycle
263. ener al purpose Output Common General purpose Output 2 Reserved Sensor ON BATGND Phase Z Absolute Encoder Backup Battery Input Absolute Encoder Backup Battery Input Output open collector Input Encoder Phase A Encoder Reverse Pulse input for line driver only Reverse Pulse input for line driver only Phase A Output Output Encoder Phase Z Encoder Forward Pulse input for line driver only CCWLD Forward Pulse input for line driver only Phase Z Output Output Note m CN1 Connectors 50 Pins Phase Z Output open collector Common Do not connect anything to unused pins Encoder Phase B Output Encoder Phase B Output Reserved Appendix 2 Name Model Manufacturer Servo Drive Connector 52986 3679 Molex Japan Cable Plug 10150 3000PE Cable Case Shell Kit 10350 52A0 008 Sumitomo 3M 10 22 10 3 Specifications E Control Input Functions Reverse Drive Prohibit Input NOT and Forward Drive Prohibit Input POT Pin 8 Reverse Drive Prohibit Input NOT Pin 9 Forward Drive Prohibit Input POT Functions e These inputs are used to prohibit driving in the forward and reverse directions e If the Drive Prohibit Input Selection Pn04 is set to 1 both inputs will be disabled e The Stop Selection for
264. ent Guidelines 7 5 Manual Tuning Pn No Parameter name Guideline 10 Position Loop Gain 27 11 Speed Loop Gain 15 12 Speed Loop Integration Time Constant 37 13 Speed Feedback Filter Time Constant 14 Torque Command Filter Time Constant 15 Feed forward Amount 16 Feed forward Command Filter 18 Position Loop Gain 2 19 Speed Loop Gain 2 1A Speed Loop Integration Time Constant 2 1B Speed Feedback Filter Time Constant 2 1C Torque Command Filter Time Constant 2 152 1D Notch Filter 1 Frequency 1500 1E Notch Filter 1 Width 2 20 Inertia Ratio 1 1 Input the Inertia Ratio Pn20 The inertia ratio can be measured with autotuning or set to a calculated value When the inertia ratio is unknown set 300 in Pn20 7 18 Adjustment Functions a 7 5 Manual Tuning Gain Switching Function With manual tuning gain 1 and gain 2 can be set manually For example the gain can be switched according to the following conditions To increase responsiveness by increasing the gain during operation To increase servo lock rigidity by increasing the gain when operation is stopped To switch to an optimal gain according to the Operating Mode To reduce the gain to suppress vibration when operation is stopped The function of switching from gain 1 to gain 2 can be used in a variety of applica
265. er input command pulse e To increase the nominal command pulse frequency by using a multiplier when the desired Servomotor speed cannot be achieved due to the limited pulse oscillation capability of the host controller e Electronic Gear Block Diagram 1 Numerator 1 Pn48 5 Exponent Pn4A xX Internal Command pulses if ao d 4 Numerator P49 command To deviation TATA eee counter Denominator Pn4B Brr 10 000 pulses rev or resolution 217 pulses rev 1 Numerator 1 or Numerator 2 is selected using the Electronic Gear Switch Input GESEL CN1 pin 28 GESEL input open Numerator 1 Pn48 selected GESEL input connected to COM Numerator 2 Pn49 selected e The gear ratio is set using the following equations If the numerator equals 0 the following value is set automatically Numerator Pn48 or Pn49 x 2P 4A Encoder resolution In this case the number of command pulses per revolution can be set in Pn4B Encoder resolution Electronic gear ratio f Number of command pulses per Servomotor rotation Pn4B If the numerator does not equal 0 the gear ratio is as follows Electronic gear ratio numerator exponent Pn4A Electronic gear ratio numerator Pn48 or Pn49 x 2 Electronic gear ratio Electronic gear ratio denominator Pn4B The upper limit of the calculated numerator Pn48 or Pn49 x 2Pn4A is 4 194 304 Pn4D setting 1 10 92 Appendix 2 App
266. er to Error Diagnosis Using the Displayed Alarm Codes on page 8 6 for alarm countermeasures Reset the alarm using one of the following methods Be sure to remove the cause of the alarm before resetting Turn ON the Alarm Reset Input RESET Turn OFF the power supply then turn it ON again Perform the Alarm Reset operation on the Parameter Unit The following alarms can only be reset by turning OFF the power supply then turning it ON again 14 15 18 21 23 36 37 48 49 95 and 96 If you reset an alarm while the RUN Command RUN is turned ON the Servo Drive will start operation as soon as the alarm is reset which is dangerous Be sure to turn OFF the RUN Command RUN before resetting the alarm If the RUN Command RUN is always ON ensure safety thoroughly before resetting the alarm Alarm Indicator on the Servo Drive The alarm LED indicator on the front of the Servo Drive lights up if an error is detected The indicator shows the alarm code by the number of orange and red flashes Example When an overload alarm alarm code 16 has occurred and the Unit has stopped the indicator will flash 1 time in orange and 6 times in red Orange 10s digit Red 1s digit 1s 0 5s 05s 05s 05s _0 5s m Orange Red Red Red Red Red Red 2 5 later 1s 05s 05s 05s 05s 05s 05s Alarm List 8 2 Alarm Table Nam Alarm E Error detection function Detection detail
267. eration y Disable realtime autotuning Pn21 0 or 7 y Set each parameter to the values in Table 1 y Set the Inertia Ratio Pn20 value calculated at motor selection y Operate with a normal operating pattern and load y Positioning time and other operation performance satisfactory No Ek Aap ky ke AEAEE a a ta Ba al ea AG at i Aa a ah i y Yes End of adjustment Increase the Speed Loop Gain Pn11 but not so much that it causes hunting when the servo is locked y Reduce the Speed Loop Integration Time Constant Pn12 but not so much that it causes hunting when the servo is locked Yy Does hunting vibration occur when the Servomotor is rotated Yes No y y Reduce the Speed Loop Gain Pn11 Increase the Position Loop Gain Pn10 but not so much that it causes overshooting Y Increase the Speed Loop Integration Time AA Constant Pn12 Write the data to EEPROM in the parameter write mode Y End of adjustment Appendix 2 Set the following parameters 10 125 If vibration does not stop no matter how many times you perform adjustments or if positioning is slow Increase the Torque Command Filter Time Constant Pn14 s EEEE E 10 7 Adjustment Functions Table 1 Parameter Adjustment Values Parameter No Parameter name Gu
268. erials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON
269. ervice Lifessa cee re ea aae Ee EE AE A 8 17 Sewo Drive Semeer E E 8 18 Troubleshooting 8 1 Error Processing 8 1 Error Processing This section explains preliminary checks required to determine the cause of problems that might occur and cautions for the problems Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical tools required to determine the cause of problems that might occur E Checking the Power Supply Voltage Check the voltage at the power supply input terminals Main circuit Power Supply Input Terminals L1 L2 L3 R7D BPLILLL Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R7D BPO2HH Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz R7D BPLILIH Single phase three phase 200 to 240 VAC 170 to 264 V 50 60 Hz R7D BPO2H Three phase 200 to 240 VAC 170 to 264 V 50 60 Hz If the voltage is outside of this range there is a risk of operation failure Be sure to supply the power correctly Check the voltage for the sequence input power supply Within the range of 11 to 25 VDC 24 VIN terminal pin CN1 1 If the voltage is outside of this range there is a risk of operation failure Be sure to supply the power correctly m Checking Whether an Alarm Has Occurred Check the alarm LED indicator on the front of the Servo Drive to see whether an alarm has occurred or check the alarm code on the Parameter Unit When an alarm has occ
270. ervo Drive Refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 30 Note 1 The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF Note 2 When turning OFF the main circuit power supply turn OFF the RUN Command Input RUN signal at the same time 4 9 4 2 Wiring E R7D BP01H BP02H BP04H RS T 000 Three phase 200 to 240 VAC 50 60 Hz R7D BP01H BP02H BP04H oo NFB 1 2 3 Noise filter Mainscircuit Main circuit contactor 1 1 E NF ower suppl p pply a 45 6 OFF ON 1MC 2MC CE7 i J J 1MC Ground to Li J 100 Q or less L C ome x Surge killer 1 X eo Servo error display imc SMARTSTEP 2 Series G Series Servo Drive Servomotor 2MC Reactor Brake Cable XB 6 m Z 6 1 24VDC Servomotor Power Cable External regeneration resistor O 3 Ground to 2E 100 Q or less d1 24VIN 24VDC rc 2 RUN IMC 2MC l Encoder cable amp O9 ALM xB O11 BKIR 24vDC 2 13 OGND User control device Control cable 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended Relay OMRON G7T Relay 2
271. es the width Normally use the default setting PniF Not used Do not change setting 5 39 5 10 User Parameters Pn20 Inertia Ratio All modes Setting range 0 to 10000 Unit Default setting 300 Power OFF gt ON Set the mechanical system inertia load inertia at the Servomotor shaft as a percentage of the Servomotor rotor inertia This parameter is automatically changed by executing autotuning This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 When realtime autotuning is performed the estimated inertia ratio is saved in EEPROM every 30 minutes If the inertia ratio is set correctly the setting unit for Speed Loop Gain Pn11 and Speed Loop Gain 2 Pn19 will be Hz If the Inertia Ratio Pn20 is set larger than the actual value the setting for speed loop gain will increase If the inertia ratio is set smaller than the actual value the setting for speed loop gain will decrease Pn21 Realtime Autotuning Mode Selection All modes Setting range 0 to 7 Unit Default setting 0 Power OFF gt ON Set the operating mode for realtime autotuning The higher the setting value is e g 3 or 6 the faster the response is to a change in inertia during operation Operation however may become un
272. et to anything other than 2 When Zero Speed Designation Input VZERO is OFF the speed command is zero Turn ON the Zero Speed Designation Input VZERO for normal operation Zero Speed Designation Input VZERO is enabled when the Zero Speed Designation Torque Limit Switch Pn06 is set to 1 and disabled when Pn06 is set to 0 Function Torque Limit Switch Pin 5 is the Torque Limit Switch Input TLSEL in both Position Control Mode and Internal Speed Control Mode when the Zero Speed Designation Torque Limit Switch Pn06 is set to 2 This input switches the Overspeed Detection Level Torque Limit and Deviation Counter Overflow Level parameters When the input is OFF torque limit 1 Pn70 Pn5E Pn63 is enabled and when the input is ON torque limit 2 Pn71 Pn72 Pn73 is enabled E Electronic Gear Switch Internally Set Speed Selection 1 Input Pin 6 Electronic Gear Switch Internally Set Speed Selection 1 Input GESEL VSEL1 Function Electronic Gear Switch Pin 6 is the Electronic Gear Switch Input GESEL in Position Control Mode when Pn02 is set to 0 or 2 The numerator setting for the electronic gear can be switched between Electronic Gear Ratio Numerator 1 and Electronic Gear Ratio Numerator 2 When the input is turned OFF Electronic Gear Ratio Numerator 1 Pn46 is enabled and when the input is turned ON Electronic Gear Ratio Numerator 2 Pn47 is enabled It takes 1 to 5 ms to switch the electronic gear after t
273. etion Range does not affect the precision of the final position Accumulated pulses K Pn61 Zero Speed Detection All modes Setting range 10 to 20000 Unit r min Default setting 20 Power OFF gt ON e Use this parameter to set the rotation speed threshold at which to output a zero speed detection output or speed coincidence output from the general purpose output OUTM1 CN1 pin 12 or OUTM2 CN1 pin 40 e If a speed detection output is assigned an output will be made when the speed of the motor is lower than the value set for this parameter e If a speed coincidence output is assigned an output will be made when difference between the speed command and the speed of the motor is lower than the value set for this parameter e The setting of this parameter is valid for both forward and reverse operation regardless of the Servomotor rotation direction This setting has a hysteresis of 10 r min Forward Speed Pn61 10 r min Pn61 10 r min 10 97 10 5 Operating Functions Pn62 Rotation Speed for Motor Rotation Detection Setting range 10 to 20000 Unit r min Default setting 50 Power OFF gt ON e Use this parameter to set the rotation speed r min at which to output the Servomotor Rotation Detection Output TGON CN1 pin 39 T ONCOM CN1 pin 38 e The Servomotor Rotation Detection Output TGON will turn ON when the Servomotor speed exceed
274. etting x 2 ms gt tb 5 58 Operating Functions Operating Functions 5 10 User Parameters Pn6B Brake Timing during Operation All modes Setting range 0 to 100 Unit x2ms Default setting 50 Power OFF gt ON When the RUN Command Input is turned OFF while the Servomotor is operating the Servomotor will decelerate the number of rotations will drop and the Brake Interlock Signal BKIR will turn OFF after the time set for this parameter has elapsed setting x 2 ms RUN command RUN Brake interlock Released Hold BKIR PELIN Servomotor ON OFF ON OFF status Servomotor speed 30 r min TB in the above figure is the brake timing during operation setting x 2 ms or the time required until the Servomotor rotation speed falls to 30 r min or lower whichever is shorter Pn6C Regeneration Resistor Selection All modes Setting range 0to3 Unit Default setting 0 Power OFF gt ON Set whether to mount an External Regeneration Resistor Explanation of Settings Explanation Setting l Regeneration resistor used Regeneration resistor overload alarm Servo Drive built in The external regeneration processing circuit does not oper 0 ate Regenerative energy is processed with the built in capac capacitor itor A External Regeneration An External Regeneration Re
275. ettings ee Parameter name Explanation Pn58 Soft Start Set the time using the following formula Acceleration Time Setting Acceleration time setting x 2 ms from 0 r min to 1 000 r min Pn59 Soft Start Set the time using the following formula Deceleration Time Setting Deceleration time setting x 2 ms from 1 000 r min to O r min 10 63 e If the soft start function is not used set this parameter to O default setting e The actual acceleration and deceleration time is as follows Speed command l ta Pn58 x 2 ms 1000 r min i td Pn59 x 2 ms 1000 r min speed y NL 10 5 Operating Functions 10 5 11 Position Command Filter Function e Perform soft start processing for the command pulses using the selected filter to gently accelerate and decelerate e Select the filter characteristics using the Position Command Filter Time Constant Setting Pn4C e This function is effective in the following cases e There is no acceleration deceleration function in the command pulse controller e The command pulse frequency changes abruptly causing the machinery to vibrate during acceleration and deceleration e The electronic gear setting is high G1 G2 gt 10 Parameters Requiring Settings Parameter p No Parameter name Explanation Position This is a first order lag filter for the command pulse input section If the command pulses Pn4C Command Filter change abruptly this filter can be us
276. ewed from the end f gt Reverse CW J Forward CCW CW rotation is reverse 10 3 10 1 Features and System Configuration 10 1 3 System Block Diagrams R88D GP08H CNA CNB ai L1 l B3 Internal egenerdion resisbr m gt H 5 __ Voltage A J detection vin aij na pri 4 S lt c SW pover x al 15V lt _ Regene Over Current supply Reby l current Gate drive detection drive control detection control Oo G1 lt Main circuit vcc1 lt _Internal E5V lt _ control Display VCC lt _ power MPU amp ASIC setting circuits G2 lt _ supply Postion speed andorque processor PWM control av a ar H la 2 8 16 Encoder RS t Q ications Sormen catons 485 5 y N j4 E5V gt o Cortrol I O interface Y EG 8 RS 232 RS 485 S interfa interfa RBAT a zx CG l Yy CN3A CN3B CN1 control I O connector connector connector 10
277. f Use flexible cables for applications with moving parts E Global Cables for Servomotor Power Non Flexible Cables Cable Models Model Length L Outer diameter of sheath Weight R7A CAB003S 3m Approx 0 2 kg R7A CABO005S 5m Approx 0 3 kg R7A CAB010S 10m 6 2 dia Approx 0 6 kg R7A CAB015S 15m Approx 0 9 kg R7A CAB020S 20m Approx 1 2 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Connection Configuration and External Dimensions 50 L 50 Servo Drive end R7D BP Wiring Servo Drive 6 2 dia Servomotor end a R88M G Servo Drive Connector Connector pins 5556PBTL Molex Japan Connector case 5557 06R 210 Molex Japan 3 29 Green Yellow Cable AWG20 x 4C UL2464 Servomotor Connector Connector pins 170366 1 or 170362 1 Tyco Electronics AMP Kk Connector case 172159 1 Tyco Electronics AMP Kk 3 3 Cable and Connector Specifications E Global Cables for Servomotor Power Flexible Cables Cable Models Model Length L Outer diameter of sheath Weight R7A CAB003SR 3m Approx 0 2 kg R7A CAB005SR 5m Approx 0 3 kg R7A CAB010SR 10m 6 9 dia Approx 0 7 kg R7A CAB015SR 15m Approx 1 0 kg R7A CAB020SR 20m Approx 1 3 kg 1 The maximum distance between the Servo Drive and Servomotor is 20 m Conne
278. f an error occurs the servo turns OFF the main power supply is turned OFF drive prohibit is enabled or a deviation counter reset occurs while normal mode autotuning is in operation Note 2 If normal mode autotuning is executed and the load inertia cannot be estimated the gain will remain the same as it was before normal mode autotuning Note 3 When normal mode autotuning is being executed the Servomotor output torque can be output to the maximum set in the No 1 Torque Limit Pn5E parameter Note 4 Take sufficient care to ensure safety If vibration occurs immediately turn OFF the power supply or the servo and return the gain to the default by using the parameter settings 10 118 Appendix 2 10 7 Adjustment Functions E Normal Mode Autotuning Operation e Normal mode autotuning sets the responsiveness with the machine rigidity number Machine Rigidity Numbers The degree of rigidity for the machine used is set to a number from 0 to F The higher the rigidity of the machine the higher the rigidity number and gain that can be set Normally start with a low rigidity number increase the number in sequence while repeating normal mode autotuning and stop before oscillation unusual noise or vibration occurs e The operating pattern set in the Autotuning Operation Setting Pn25 is repeated for up to five cycles The operating acceleration doubles each cycle starting with the third cycle Depending on the load operation ma
279. fications 3 61 Position Control Unit Servo Relay Unit Cable Specifications aora n eens cese ier E te reece tees 3 64 Parameter Unit Specifications 0ss 3 76 External Regeneration Resistors SPECICATION S i iccvsccscevsseuteeessersrevsarsstanceeteescete cvs 3 77 Reactor Specifications s scccceeeseseeeeeees 3 78 EMC Filter Specifications cccceeeeees 3 79 Specifications 3 1 Servo Drive Specifications 3 1 Servo Drive Specifications Select the Servo Drive matching the Servomotor to be used General Specifications 3 1 Item Specifications Ambient operating temperature Ambient operating humidity 0 to 55 C 90 RH max with no condensation Ambient storage temperature Ambient storage humidity 20 to 65 C 90 RH max with no condensation Storage and operating atmosphere No corrosive gasses no dust no iron dust no exposure to moisture or cutting oil Vibration resistance 10 to 60 Hz acceleration 5 9 m s 0 6 G max Impact resistance Acceleration of 19 6 m s max 3 times each in X Y and Z directions Insulation resistance Between power supply power line terminals and frame ground 0 5 MQ min at 500 VDC Dielectric strength Between power supply power line terminals and frame ground 1 500 VAC for 1 min at 50 60 Hz Between each control signal and frame ground 500 VAC for 1 min Altitude 1 000 m
280. fire or damage to the products gt Do not store or install the product in the following places Doing so may result in fire electric shock or damage to the product Locations subject to direct sunlight Locations subject to ambient temperature exceeding the specified level A Locations subject to relative humidity exceeding the specified level AN Locations subject to condensation due to temperature fluctuations Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salt Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration power is being supplied or for some time after the power is turned OFF Doing so may result in burn injuries ft Do not touch the Servo Drive radiator Regeneration Resistor or Servomotor while the E Storage and Transportation Precautions Z Caution Do not hold the product by the cables or motor shaft while transporting it Doing so may result in injury or malfunction Do not overly pile the products Follow the instructions on the product package Doing so may result in injury or malfunction gt gt Precautions for Safe Use E Installation and Wiring Precautions N Caution Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet outlet ports and do not let any foreign objects enter th
281. following cases Pressing a moving part of a machine such as a bending machine against a workpiece with constant force and protecting the Servomotor and mechanical system from excessive force or torque e The torque limit method depends on the setting of Pn03 Parameters Requiring Settings Pn03 0 Reserved Pn03 1 Torque is limited during operation to a constant torque parameter settings For both forward and reverse operation use Pn5E to limit the maximum torque Pn03 2 Torque is limited during operation to a constant torque parameter settings To limit the maximum torque use Pn5E for forward operation and Pn5F for reverse operation Pn03 3 Use Pn5E to limit the maximum torque when pin 27 is OFF and use Pn5F when pin 27 is ON 10 62 Appendix 2 Appendix 2 10 5 Operating Functions 10 5 10 Soft Start Function e This function accelerates and decelerates the Servomotor in the set acceleration and deceleration times e You can set the acceleration and deceleration independently of each other using the trapezoidal acceleration and deceleration curve e The soft start processes speed command input REF or internally set speed control switching to reduce impact during acceleration and deceleration e This function is effective for simple positioning and speed switching operations e Do not use this function for a position controller with an acceleration deceleration function Parameters Requiring S
282. for the CW CCW limit inputs in the CJ1M are as follows CW A540 08 CCW A540 09 for pulse output 0 and CW A541 08 CCW A541 09 for pulse output 1 For example the flag for the CW limit input A540 08 can be controlled with an output from the ladder diagram using a bit allocated to the actual input CIO 2960 06 on the Input Unit as shown below Example 2967 06 oy asao 08 2 The XB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is invalid 4 Do not connect unused terminals 5 The 0 V terminal is internally connected to the common terminals 6 Applicable crimp terminal R1 25 3 round with open end 3 55 3 4 Servo Relay Units and Cable Specifications m XW2B 40J6 9A This Servo Relay Unit connects to the following OMRON Programmable Controllers CJ1M CPU21 CPU22 CPU23 for 2 axes Dimensions X axis Servo Y axis Servo CJ1M CPU21 22 23 connector Drive connector Drive connector 3 5 180 3 5 Terminal Block pitch 7 62 mm Wiring The Servo Drive phase Z output signal is wired to the origin proxim
283. friction torque and the load torque increase For that reason overloading may occur at low temperatures e An increase in load friction torque seemingly increases load inertia Therefore even if the Servo Drive gains are adjusted at a normal temperature the Servomotor may not operate properly at low temperatures Check to see whether there is optimal operation even at low temperatures 10 27 10 3 Specifications 10 3 3 Cable and Connector Specifications European Cables E European Encoder Cable Specifications Flexible and Shielded Cables R88A CRGBLICR E Cable Models For incremental encoders 3 000 r min Servomotors of 750 W Model Length L R88A GRGBO001 5CR E 1 5m R88A CRGBO03CR E 3m R88A CRGBOOS5CR E 5m R88A CRGB010CR E 10m R88A CRGBO015CR E 15m R88A CRGBO20CR E 20m Connection Configuration and Dimensions Servo Drive R88D G Wiring Servo Drive Signal Servo Drive Connector AWG24x2P Connector Crimp type I O Connector Molex Japan Connector pins 50639 8028 Molex Japan Servomotor R88M G Servomotor Signal Servomotor Connector Connector 172160 1 Tyco Electronics AMP KK Connector pins 170365 1 Tyco Electronics AMP KK 10 28 Appendix 2 Appendix 2 10 3 Specifications E European Power Cable for Servomotors without Brakes Flexible and Shielded Ca
284. g is performed using gain switching GSEL CN1 pin 27 Pl is not changed however if the Torque Limit Selection PnO3 is set to 3 Gain input Speed loop operation COM open PI operation COM connection P operation Appendix 2 Pn31 Control Gain Switch 1 Setting Setting range Oto 10 Unit Default setting 0 Power OFF gt ON Explanation of Settings Position Control Mode O Enabled x Disabled Explanation ee Gain switching conditions isk ans 1 a Hysteresis Set Pn33 ting Pn34 0 Always gain 1 Pn10 to Pn14 x x x 1 Always gain 2 Pn18 to PniC x x x 2 Switching using Gain Switch Input 7 s GSEL for CN1 pin 27 3 Amount of change in torque O 3 o command Figure A x 0 05 x 0 05 4 Always gain 1 Pn10 to Pn14 x x x 5 Command speed Figure B O O r min O r min 6 Amount of position deviation a Oo oF Figure C Pulse Pulse 7 Command pulses received Figure D O x x 8 Ae T Signal INP o P E 9 Actual Servomotor speed Figure B O O r min O r min 49 Combination of command pulse input O i O i and speed Figure F r min r min 10 83 Speed Control Mode 10 5 Operating Functions Explanation Setting Gain Switch Time Gain Switch Gain Switch Gain switching conditions Pn32 37 Level Setting Hysteresis Set 7 Pn33 38 ting Pn34 39
285. ge from the response speed Adjusts to a resonance Suppresses a large resonance Reduces all resonance peaks point and suppresses it point whose frequency in the high frequency range immediately does not change Width Torque command Torque after command ae filtering e Frequency auto adjustment Frequency Cut off frequency Adaptive filter Notch filter Torque filter 7 22 x Adjustment Functions c e c gt LL c oO l xe lt x 7 5 Manual Tuning Vibration Control When the machine end vibrates vibration control removes the vibration frequency component from the command and suppresses vibration Vibrating end Position change sensor monitors vibration AY Sets end vibration frequency Driver Motor K 92 Jh t Movement i Position controller MAN Ball screw k Machine stand Position Torque pee Command TE com i aaan Position mand Current 4 M Load Speed control command o i Feedback pulses Servo Drive Precautions The following conditions must be met to use vibration control for Correct Use Conditions under which vibration control operates Control Mode The Position Control Mode must be used If the Control Mode Selection Pn02 is set to 0 realtime autotuning and notch filter 1 must be disabled in High Response Positi
286. ge setting 0 5D Not used Do not change setting 0 5E Torque Limit Set the limit to the Servomotor s maximum torque 300 0 to 500 5F Not used Do not change setting 0 5 28 N c O O c 5 IL e c ho Q Q O Operating Functions 5 10 User Parameters E Sequence Parameters Power ra parameter Setting Explanation Beran Unit Seung OFF No name setting range ON Positioning E 60 Completion Set the range for the Positioning Completed Output 25 Pulses 0 to _ R INP 32767 ange 61 Zero Speed Set the rotation speed for the Warning Output for 20 Fin 0 to Detection zero speed detection 20000 i a Set the rotation speed for the Servomotor Rotation Oto 62 Speed Detection Output TGON for Internally Set 50 r min Rotation 20000 D Speed Control etection Deviation Set the detection level for the Deviation Counter x 256 oto 63 Counter Overflow Alarm The alarm level is the setting value 100 ulses 32767 Overflow Level multiplied by 256 pulses p Enable or disable the Deviation Counter Overflow ar Alarm Deviation 64 Counter 0 Deviation Counter Overflow Alarm en 0 a Oori D Overflow Alarm abled Disabled A Deviation Counter Overflow Alarm dis abled 65 Not used Do not change setting 0 Set the operation used to decelerate to a stop after the For
287. hase con nect to L1 and L3 correct ly e The main circuit power e Replace the Servo Drive supply part is damaged e Control PCB error 12 Overvoltage Occurs when power e Main circuit power supply e Change the main circuit supply is turned ON voltage is outside the al lowable range power supply voltage to within the allowable range Occurs when the Ser vomotor is decelerat ing e Load inertia is too large e Calculate the regenera tive energy and connect an External Regenera tion Resistor with the re quired regeneration absorption capacity e Extend the deceleration time e Main circuit power supply voltage is outside the al lowable range e Change main circuit power supply voltage to within the allowable range Occurs during descent vertical axis e Gravitational torque is too large e Add a counterbalance to the machine to lower gravitational torque e Slow the descent speed e Calculate the regenera tive energy and connect an External Regenera tion Resistor with the re quired regeneration absorption capacity 8 6 Troubleshooting 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 14 Overcurrent Occurs when the Servo e Control PCB error e Replace the Servo Drive Ever URBA ON e Servomotor power line is e Repairthe short circuited short circuited or ground or ground fault
288. hase A B signals FA FB CcCw or 90 Phase Difference 6 siGn ep Pulse Input Phase B 7 24VIN 12 to 24 VDC Power Power supply input terminal 12 to 24 VDC for sequence All Supply Input inputs 8 NOT Reverse Drive Prohibit Reverse rotation overtravel input All Input OFF Prohibited ON Permitted 9 POT Forward Drive Prohibit Forward rotation overtravel input All Input OFF Prohibited ON Permitted 20 SEN Sensor ON Input ON Initial incremental pulses are sent All 13 SENGND When the Zero Speed Designation Speed Command Di rection Switch Pn06 is set to 0 Zero Speed Designation Input is disabled VZERO Zero Speed Designation When the Zero Speed Designation Speed Command Di Internally Input rection Switch Pn06 is set to 1 Zero Speed Designation Speed Input is enabled 26 OFF Speed Command is regarded as 0 ON Normal operation Vibration filter switch input when the Vibration Filter Selec wat a tion Pn24 is set to 1 i DFSEL Vibration Filter Switch OF Vibration filter 1 Pn2B Pn2C enabled Postion ON Vibration filter 2 Pn2D Pn2E enabled Gain switch input when the Torque Limit Selection Pn03 is set to 0 to 2 If the Gain Switching Input Operating Mode Selection Pn30 is set to 0 OFF PI Proportional Integral operation Beet Gain Switch ON P Proportional operation Al When the Gain Switching Input Operating Mode Selection 27 Pn30 is set to 1 switches between Gain 1 and Gain 2 The
289. he Gear Switch input changes Therefore do not input a command pulse for 10 ms before and after switching 3 10 Specifications Specifications 3 1 Servo Drive Specifications Function Internally Set Speed Selection 1 Pin 6 is the Internally Set Speed Selection 1 Input VSEL1 in Internal Speed Control Mode when Pn02 is set to 1 Four speeds can be selected by using pin 6 in combination with the Internally Set Speed Selection 2 Input VSEL2 E Reverse Drive Prohibit Forward Drive Prohibit Input Pin 7 Reverse Drive Prohibit Input NOT Pin 8 Forward Drive Prohibit Input POT Functions These inputs prohibit forward and reverse operation overtravel When an input is ON operation is possible in that direction These inputs can be disabled using the setting of Drive Prohibit Input Selection Pn04 The motor will stop according to the setting of the Stop Selection for Drive Prohibition Input Pn66 E Reverse Pulse Forward Pulse Feed Pulse Direction Signal 90 Phase Difference Signal Phase A Phase B Pin 22 Reverse Pulse CW Feed Pulse PULS or Phase A FA Pin 23 Reverse Pulse CW Feed Pulse PULS or Phase A FA Pin 24 Forward Pulse CCW Direction Signal SIGN or Phase B FB Pin 25 Forward Pulse CCW Direction Signal SIGN or Phase B FB Functions The functions of these signals depend on the setting of the Command Pulse Mode Pn42
290. he Oto Hysteresis judgment level set in the Gain Switch Level Setting 50 20000 Setting Pn33 35 Position Loop When switching between gain 1 and gain 2 is en Oto Gain Switching abled set the phased switching time only for the 20 166 us ef a ee 10000 Time position loop gain at gain switching 36 Not used Do not change setting 0 37 Not used Do not change setting 0 38 Not used Do not change setting 0 39 Not used Do not change setting 0 3A Not used Do not change setting 0 3B Not used Do not change setting 0 3C Not used Do not change setting 0 3D Not used Do not change setting 0 3E Not used Do not change setting 0 3F Not used Do not change setting 0 1 These parameters are automatically changed by executing realtime autotuning function To set them manually set the Realtime Autotuning Mode Selection Pn21 to 0 5 25 5 10 User Parameters E Position Control Parameters Power Pn Parameter Explanation Default Unit Setting OFF_ gt No name setting range ON 40 Command The command pulses are multiplied by a factor of 2 Pulse or 4 when using 90 phase difference signal inputs Multiplying is selected as the input format for the
291. he positive direction is shown as positive and acceleration in the negative direction is shown as negative The regenerative energy values for each region can be derived from the following equations 1 2 Egt 3 N1 Tp1 tr J 0 0524 Ni Tor tr J 1 270 Eo 5 Gy Nz Tn2 te J 0 0524 Ne Toot2 J N1 N2 Rotation speed at beginning of deceleration r min Tp1 Tp2 Deceleration torque N m t1 t2 Deceleration time s Note Due to the loss of winding resistance and PWM the actual regenerative energy will be approximately 90 of the values derived from these equations Average regeneration power Pr Regeneration power produced in one cycle of operation Pr Eg1 Eg2 T W T Operation cycle s 4 28 System Design 4 4 Regenerative Energy Absorption t Since an internal capacitor absorbs regenerative energy the value for Eg a Ego unit J must be lower than the Servo Drive s regenerative energy absorption capacity For details refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 30 If an External Regeneration Resistor is connected be sure that the average regeneration power Pr does not exceed the External Regeneration Resistor s regenerative energy absorption capacity 12 W E Vertical Axis N1 Falling Servomotor operation Rising N2 Servomotor output torque T Note In the output torque graph acceleration in the p
292. hibit Input Selection Pn04 is set to disable the prohibit inputs setting 1 is displayed 03 POT Forward Drive Prohibit 8 If Pn04 is set to enable the prohibit inputs set ting 0 the Servomotor stops and is displayed when the POT signal turns OFF 04 Not used The Servomotor stops and is displayed if 05 VZERO Zero Speed 5 this signal turns OFF when the Zero Speed Designation Designation Torque Limit Switch Pn06 is set to 1 Electronic Gear If the GESEL signal turns ON the Electronic 06 GESEL h 6 Gear Ratio Numerator 2 is enabled and is Switch displayed 07 to 08 Not used When the Gain Switching Input Operating Mode Selection Pn30 is set to 0 and the 99 eee Conseil GSEL signal turns OFF PI operation is en abled and is displayed Deviation Counter Used to reset the deviation counter 0A ECRST 4 When the ECRST signal turns ON is Reset displayed 0B Not used oC VSEL1 Internally Set Speed 6 When VSEL1 and VSEL2 are ON is Selection 1 displayed oD VSEL2 Internally Set Speed 4 Selection 2 OE to 1F Not used 6 10 Operation Operation 6 3 Using the Parameter Unit Output Signals CN1 Signal Pin Function No Symbol Name No 00 Not used If an alarm occurs the ALM signal turns oi IALM ii 9 OFF and is displayed Positionin When a workpiece is positioned within the set 02 INP Com ahile 10 ting range the Posi
293. hich vibrates because of the low rigidity of the load Features of the SMARTSTEP 2 Series The SMARTSTEP 2 Series has the following features m Compact AC Servo Drives Compared to the SMARTSTEP A Series the SMARTSTEP 2 Series can reduce the installation space by 48 and the installation size by 39 in terms of volume The AC Servo Drives of the SMARTSTEP 2 Series are equipped with newly developed functions for applications requiring more precise positioning E Suppressing Vibration of Low rigidity Mechanisms during Acceleration Deceleration The vibration control function can suppress vibration of low rigidity mechanisms or devices whose ends tend to vibrate m High speed Positioning via Resonance Suppression Control The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain The adaptive filter automatically suppresses vibration caused by resonance Compatible with Command Pulse of 90 Phase Difference Inputs In addition to conventional CW CCW inputs 2 pulse inputs and SIGN PULS inputs 1 pulse input the SMARTSTEP 2 supports 90 phase difference inputs This makes it possible to input encoder output signals directly into the Servo Drive for simplified synchronization control E A Wide Range of Pulse Setting Functions A wide range of pulse setting functions such as the command pulse multiplying electronic gear and encoder dividing enable you to perform p
294. high for machines with a low resonance frequency low machine rigidity 10 108 Appendix 2 Appendix 2 10 7 Adjustment Functions 10 7 2 Realtime Autotuning Realtime autotuning estimates the load inertia of the machine in realtime and automatically sets the optimal gain according to the estimated load inertia Automatic gain Automatic filter Position speed adjustment Aadiustment Torque Servo command command motor Position speed Adaptive Current current Servo m gt control filter control motor Operation commands for actual conditions of use gt Estimated resonance frequency Estimated load inertia Realtime autotuning Servomotor speed 7 Encoder Servo Drive properly use normal mode autotuning or manual tuning Conditions under which realtime autotuning does not function properly Precautions described in the following table If realti totuning d t functi for Correct Use escribea In the following table realtime autotuning aoes not tunction e If the load inertia is too small or too large compared with the rotor inertia i e less Load inertia than 3 times more than 20 times or more than the applicable load inertia ratio e If the load inertia changes quickly i e in less than 10 seconds e If the machine rigidity is extremely low toag e f there is backlash or play in the system e f the speed i
295. ibit Input NOT is turned ON Explanation of Settings Setting Explanation 0 The torque in the drive prohibit direction is disabled and the dynamic brake is activated A The torque in the drive prohibit direction is disabled and free run deceleration is performed to stop 2 The servo lock stop is used in a Position Control Mode and the zero speed designation stop is used in Internally Set Speed Control Mode Pn67 Not used Do not change setting Pn68 Stop Selection at Alarm All modes Setting range 0to3 Unit Default setting 0 Power OFF gt ON Set the operating condition during deceleration and after stopping when an alarm occurs The deviation counter will be cleared when an alarm occurs Explanation of Settings Explanation Setting During deceleration After stopping Deviation counter content 0 Dynamic brake Dynamic brake Clear 1 Free run Dynamic brake Clear 2 Dynamic brake Servo free Clear 3 Free run Servo free Clear 5 57 5 10 User Parameters Pn69 Stop Selection with Servo OFF All modes Setting range Oto7 Unit Default setting 0 Power OFF gt ON Set the operation during deceleration and after stopping as well as the deviation counter status when the RUN Command Input RUN turns OFF Explanation of Settings
296. ibration Filter Pn2C Pn2E to 0 The stabilization time can be reduced by setting a large value however torque ripple will increase at the command change point as shown in the following figure Set a range that will not cause torque saturation under actual operation conditions The effects of vibration suppression will be lost if torque saturation occurs Vibration filter Vibration filter setting too large setting appropriate Torque saturation a Torque command e The vibration filter setting is restricted by the following equation 10 0 Hz Vibration frequency lt Vibration filter setting lt Vibration frequency 3 Set the Vibration Filter Selection Pn24 Vibration filters 1 and 2 can be switched according to the conditions of the machine vibration Pn24 Switching mode 0 No switching 1 and 2 both enabled Switching with DFSEL PNSEL input 1 Open Vibration filter 1 Closed Vibration filter 2 Switching with command direction 2 Forward operation Vibration filter 1 Reverse operation Vibration filter 2 10 134 Appendix 2 Appendix 2 10 8 Troubleshooting 10 8 Troubleshooting 10 8 1 Alarm Table If the Servo Drive detects an error the Alarm Output ALM will turn ON the power drive circuit in the Servo Drive will turn OFF and the alarm code will be displayed e Reset the alarm using one of the following methods Remove the cause of Precautions the al first
297. ideline Pn10 Position Loop Gain 30 Pni1 Speed Loop Gain 50 Pni2 Speed Loop Integration Time Constant 40 Pn13 Speed Feedback Filter Time Constant 0 Pn14 Torque Command Filter Time Constant 160 Pni5 Speed Feed forward Amount 0 Pn16 Feed forward Command Filter 0 Pn18 Position Loop Gain 2 30 Pn19 Speed Loop Gain 2 50 PniA Speed Loop Integration Time Constant 2 40 PniB Speed Feedback Filter Time Constant 2 0 PniC Torque Command Filter Time Constant 2 160 PniD Notch Filter 1 Frequency 1500 PniE Notch Filter 1 Width 2 Pn20 Inertia Ratio 1 Input the Inertia Ratio Pn20 The inertia ratio can be measured with normal mode autotuning or set to a calculated value When the inertia ratio is unknown enter 300 as the inertia ratio 10 126 Appendix 2 Appendix 2 10 7 Adjustment Functions Gain Switching Function With manual tuning Gain 1 and Gain 2 can be set manually The gain can be switched according to the operation Switching from Gain 1 to Gain 2 can be used for the following applications e To increase responsiveness by increasing the gain during operation e To increase servo lock rigidity by increasing the gain when operation is stopped e To switch to an optimal gain according to the operating mode e To reduce the gain to suppress vibration when operation is stopped Operation Commana i speed i i Stop Drive i Stop gt Time Status Servo lock Servo lock Low gain Low g
298. ieces at low and high speed Operate using commands from a position controller 1 Adjustments Manually adjust the gain if necessary Further adjust the various Chapter 7 functions to improve the control performance 1 Operation Operation can now be started If any problems should occur refer Chapter 8 to Chapter 8 Troubleshooting 6 2 Preparing for Operation 6 2 Preparing for Operation This section explains the procedure to prepare the mechanical system for trial operation after the installation and wiring of the Servomotor and Servo Drive are completed It also explains the items that need to be checked before and after turning ON the power Items to Check Before Turning ON the Power E Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below R7D BPLILIL Single phase 100 VAC input Main circuit power supply Single phase 100 115 VAC 85 to 127 V 50 60 Hz R7D BPLILH Single phase three phase 200 VAC input Main circuit power supply Single phase three phase 200 240 VAC 170 to 264 V 50 60 Hz R7D BPLILIHH Single phase 200 VAC input Main circuit power supply Single phase 200 240 VAC 170 to 264 V 50 60 Hz E Checking Terminal Block Wiring The main circuit power supply input lines L1 L3 or L1 L2 L3 must be properly connected to the terminal block The Servomotor s red U white V and blue W power lines
299. ilter is disabled Realtime autotuning is used Use this setting if there are sudden changes in load inertia during operation The adaptive filter is disabled Realtime autotuning is not used The adaptive filter is enabled if Pn02 is set to 2 Oto7 22 Realtime Autotuning Machine Rigidity Selection Set the machine rigidity during realtime autotuning to one of 16 levels The higher the machine rigidity the greater the setting needs to be The higher the setting the higher the responsiveness Oto 15 23 Not used Do not change setting 24 Not used Do not change setting 5 23 5 10 User Parameters Power Pn Parameter Explanation Default Unit Setting OFF gt No name setting range ON 25 Autotuning Set the operating pattern for autotuning Operation 0 Rotation direction CCW CW two Setting P rotations 1 Rotation direction CW gt CCW two rotations 2 Rotation direction CCW gt CCW two rotations 3 Rotation direction CW CW two rotations 0 Oto7 4 Rotation direction CCW CW one rotation 5 Rotation direction CW CCW one rotation 6 Rotation direction CCW CCW one rotation 7 Rotation direction CW CW one rotation 26 Overrun Limit Set the allowable operating range for the Servo ie oie tae ae 0 1 0 to Setting motor The overrun
300. in 2 to gain 1 if the Control Gain Switch 1 Setting Pn31 is 3 to 5 For Torque Control Mode use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1 Setting Pn31 is 3 10 5 Operating Functions Pn33 Gain Switch 1 Level Setting All modes Setting range 0 to 20000 Unit Default setting 600 Power OFF gt ON e For Position Control Mode use this parameter to set the judgment level for switching between gain 1 and gain 2 If the Control Gain Switch 1 Setting Pn31 is set to 3 5 6 9 or 10 Pn33 is enabled The unit depends on the Control Gain Switch 1 Setting Pn31 e For Speed Control Mode use this parameter to set the judgment level for switching between gain 1 and gain 2 If the Control Gain Switch 1 Setting Pn31 is set to 3 to 5 Pn33 is enabled The unit depends on the Control Gain Switch 1 Setting Pn31 e For Torque Control Mode use this parameter to set the judgment level for switching between gain 1 and gain 2 If the Control Gain Switch 1 Setting Pn31 is set to 3 Pn33 is enabled The unit depends on the Control Gain Switch 1 Setting Pn31 Pn34 Gain Switch 1 Hysteresis Setting All modes Setting range 0 to 20000 Unit Default setting 50 Power OFF gt ON e Use this parameter to set the hysteresis width for the judgment level set in the Gain Switch 1 Level Setting Pn33 The unit depends on the Cont
301. in positioning e Are there any abnormal sounds or vibration If vibration occurs when starting or stopping the machine refer to Chapter 7 Adjustment Functions and adjust the gain f Is the Servomotor or the Servo Drive abnormally overheating g Is any error or alarm generated If anything abnormal occurs refer to Chapter 8 Troubleshooting and take the appropriate countermeasures 5 Trial Operation Completed Performing the above completes the trial operation Next adjust the gain to improve control performance 6 24 Operation Chapter 7 Adjustment Functions 7 1 Gain Adjustment siescevececsanecscreccwcevseussacdarseverstecen 7 1 Purpose of the Gain Adjustment cccccecceeeeesteeeeeteees 7 1 Gain Adjustment Methods cccccccceeeeeeeeeeeeeeeeeesneeeeseeeeees 7 1 Gain Adjustment Procedure cccccccsceeeeeeeeeeeeeetseeeeeneeees 7 2 7 2 Realtime Autotuning eeeeeeeeeeeeeeeeeeeeeees 7 3 Realtime Autotuning Setting Method l a 7 3 Operating Proceduro S ie EEE 7 4 Adap e E E E E ere ao aes 7 5 Automatically Set Parameters cccccceeccceeeeseeeeeseeteeeteeaes 7 6 19 N oA TIT Kev cece cenreccescsataveasscccesccecsssweucvesctteceueaters 7 8 Autotuning Setting Method ee ceseesseeesneeesneeeeneeeeeeeeaes 7 8 Automatically Set Parameters cccccccceeceeeeeeeeeeeeeeeeeeees 7 11 7 4 Disabling the Automatic Gain Adjustment PUIG TIONN cocc Coen ccec
302. in the following table Function Explanation Reference The Gain Switching Input GSEL is used when the Zero Speed Designation Gain Switchin Torque Limit Switch Pn06 is set to a value other than 2 The Gain Switching Page 5 13 g Input is used to switch between PI and P operation or to switch between gain g 1 and gain 2 The Torque Limit Switch Input TLSEL is used when the Zero Speed Desig E nation Torque Limit Switch Pn06 is set to 2 The following parameters are Torque Limit Switch switched Overspeed Detection Level Torque Limit and Deviation Counter Page 5 15 Overflow Level Vibration Control Vibration control can be used to reduce vibration when using a low rigidity Page 7 23 mechanism or equipment whose ends tend to vibrate Autotuning automatically estimates the load inertia of the machine in realtime Realtime 3 S gs Autotuning and sets the optimal gain The adaptive filter automatically suppresses vibra Page 7 3 tion caused by resonance 5 2 Operating Functions 5 1 Position Control Parameter Block Diagram for Position Control Mode Command Pulse Input Conditions Setting Pn40 Command Pulse Multiplying Setting Pn41 Command Pulse CW Rotation Direction cc Switch Pn42 Command Pulse Mode Pn15 Feed forward Amount Pn2B Vibration Frequency Pn2C Vibration Filter Setting c Oo c gt LL O Phase Dividing Rate Setting A B Z Pn44 Encoder Di
303. ine tuning the position and speed of two lines that are to be synchronous e When using a position controller with a low command pulse frequency e When you want to set the machine travel distance per pulse to 0 01 mm for example Parameters Requiring Settings Be Parameter name Explanation Pn48 Electronic Gear Ratio Set the pulse rate for command pulses and Servomotor travel distance Numerator 1 Pn49 Electroni Gear Hatio a a Electronic Gear Ratio Numerator Exponent Pn4A Numerator 2 or x2 p i j 4 n Electronic Gear Ratio Electronic Gear Ratio Numerator 2 Pn49 n Numerator Exponent Electronic Gear Ratio Denominator Pn4B The upper limit of the gear ratio numerator is determined by the following formulas e Electronic Gear Ratio Numerator 1 Pn48 x 2 PM4A lt 4 194 304 Pn4D 1 e Electronic Gear Ratio Numerator 2 Pn49 x 2 PM4A lt 4 194 304 Pn4D 1 Pn4B Electronic Gear Ratio Pn48 Electronic Gear Ratio Numerator 1 Denominator Pn49 Electronic Gear Ratio Numerator 2 Pn4A Electronic Gear Ratio Numerator Exponent Pn4D Smoothing Filter Setting Any higher setting will be invalid and the numerator will be 4 194 304 Pn4D 1 If the numerator is 0 the encoder resolution will be automatically set to the value of the numerator and the number of command pulses per rotation can be set in Pn4B 1 The Electronic Gear Switch Input GESEL is used to switch between Electronic Gear Ratio Numerator 1 Pn48 an
304. ing so may result in injury or damage to the product Provide a stopping mechanism on the machine side to ensure safety The holding brake is not designed as a stopping mechanism for safety purposes Not doing so may result in injury Provide an external emergency stopping mechanism that can stop operation and shut off the power supply immediately Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power interruption to avoid danger due to an unexpected restart Doing so may result in injury Take precautions to secure safety in case of an unexpected restart Confirm safety after an earthquake has occurred Not doing so may result in electric shock injury or fire gt P e RPEPEEEEE Do not use external force to drive the Servomotor Doing so may result in fire Precautions for Safe Use N WARNING Do not place any flammable materials near the Servomotor Servo Drive or Regeneration Resistor Doing so may result in fire Mount the Servomotor Servo Drive and Regeneration Resistor on metal or other non flammable materials Not doing so may result in fire Do not turn ON OFF the main power supply of the Servo Drive repeatedly at frequent intervals Doing so may result in product failure Pe gt N Caution Use the Servomotors and Servo Drives in a combination as specified in the manual Not doing so may result in
305. installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease Wire the noise filter as shown at the left in the following illustration The noise filter must be installed as close as possible to the entrance of the control box O Correct Separate input and output x Wrong Noise not filtered effectively AC input AC output AC input Ground AC output Use twisted pair cables for the power supply cables or bind the cables O Correct Properly twisted O Correct Cables are bound Servo Drive Servo Drive OL1 QL AAAA O13 T F L2 OL3 Pa Binding Separate power supply cables and signal cables when wiring Control Panel Structure Openings in the control panel such as holes for cables operating panel mounting holes and gaps around the door may allow electromagnetic waves into the panel To prevent this from occurring observe the items described below when designing or selecting a control panel E Case Structure Use a metal control panel with welded joints at the top bottom and sides so that the surfaces will be electrically conductive If assembly is required strip the paint off the joint areas or mask them during painting to make them electrically conductive If gaps appear in the
306. ion Resistor R7A CLB002RG Cable length 2 m E Servo Relay Units and Cables c rey Select the Servo Relay Unit and Cable according to the model of the Position Control Unit to be H used 8 m ROTER Position Control Unit Cable Servo Relay Unit Servo Drive Cable g CJ1W NC133 XW2Z J A18 XW2B 20J6 1B V gt CJ1W NC233 dp XW2Z J A19 XW2B 40J6 2B CJ1W NC433 CS1W NC133 XW2Z J A10 XW2B 20J6 1B CS1W NC233 XW2Z J A11 XW2B 40J6 2B CS1W NC433 CJ1W NC113 XW2Z J A14 XW2B 20J6 1B CJ1W NC213 XW2Z J B29 XW2Z J A15 XW2B 40J6 2B CJ1W NC413 CS1W NC113 XW2Z J A6 XW2B 20J6 1B C200HW NC113 CS1W NC213 CS1W NC413 XW2Z J A7 XW2B 40J6 2B C200HW NC213 C200HW NC413 SEPUR XW2B 20J6 8A CJ1M CPU22 XW2Z J A33 XW2B 40J6 9A XW2Z J B32 CJ1M CPU23 for 2 axe9 General purpose i x VO Cable XW2Z J A28 FQM1 MMP22 XW2B 80J7 12A XW2Z J B30 Special I O XW2Z J A30 Cable CQM1H PLB21 XW2Z J A3 XW2B 20J6 3B XW2Z J B29 CQM1 CPU43 V1 Note 1 The cable length is indicated in the boxes of the model number Position Control Unit cables come in two lengths 0 5 m and 1 m some
307. ions Precautions for Safe Use Precautions for Safe Use E To ensure safe and proper use of the SMARTSTEP 2 Series and its peripheral devices read the Precautions for Safe Use and the rest of the manual thoroughly to acquire sufficient knowledge of the devices safety information and precautions before using the products E Make sure this User s Manual is delivered to the actual end users of the products E Please keep this manual close at hand for future reference Explanation of Signal Words E The precautions indicated here provide important information for safety Be sure to heed the information provided with the precautions m The following signal words are used to indicate and classify precautions in this manual Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Failure to heed the precautions classified as Caution may also lead to serious results Strictly heed these precautions Safety Precautions E This manual may include illustrations of the product with protective covers or shields removed in order to show the components of the product in detail Make sure that these protective covers and shields are put in place as specified before using the product
308. ions 3 1 Servo Drive Specifications E Control I O Signal CN1 Pin Arrangement RUN 24VIN Command 12 to 24 VDC power supply input for control Input Deviation RESET Counter Reset Internally Set ECRST Alarm Reset Input Encoder Phase A Output Ground Common VSEL2 Speed Selection 2 Electronic Gear Switch Internally Set GSEL VZERO TLSEL GESEL Gain Switch Zero Speed Designation Torque Limit Switch Encoder Phase B Output Encoder Phase A Output VSEL1 Speed Selection 1 NOT Forward Drive Reverse Drive Prohibit Encoder Phase Z Output Encoder Phase B Output Prohibit Input Positioning Completed Servomotor Alarm Output Phase Z Output Encoder Phase Z Output Rotation Speed Detection Warning Brake Interlock Output Reverse Pulses Feed Pulses Phase A Reverse Pulses Feed Pulses Phase A Output m CN1 Connectors 26 Pins Soldered Connectors Output Ground Common Forward Pulses Forward Pulse Reverse Pulse Phase B Forward Pulses Forward Pulse Reverse Pulse Phase B Frame ground Name Model Manufacturer Servo Drive Connector 5178238 4 Tyco Electronics AMP Cable plug 10126 3000PE Cable case shell kit 10326 52A0 008
309. isabled when Pn22 gt E 13 1087 35 462 57 197 Disabled when Pn22 gt E 14 1045 36 445 58 189 Disabled when Pn22 gt E 15 1005 37 428 59 182 Disabled when Pn22 gt D 16 967 38 412 60 Disabled 17 930 39 396 61 Disabled 18 895 40 381 62 Disabled 19 861 41 366 63 Disabled 20 828 42 352 64 Disabled 21 796 43 339 5 43 5 10 User Parameters Pn30 Gain Switching Input Operating Mode Selection Position Setting range Oor1 Unit Default setting 1 Power OFF gt ON Set this parameter to enable or disable gain switching If gain switching is disabled the gain switching input can be used to switch between PI operation and P operation If gain switching is enabled the setting of the Gain Switch Setting Pn31 is used as the condition for switching between gain 1 and gain 2 Explanation of Settings Setting Explanation Gain switching is disabled Gain 1 Pn10 to Pn14 is used and the Gain Switch Input GSEL will be used to switch be tween PI operation and P operation Gain switching is enabled The gain will be switched between gain 1 in Pn10 to Pn14 and gain 2 Pn18 to Pn1C Pn31 Gain Switch Setting Position Setting range 0 to 10 Unit Default setting 0 Power OFF gt ON Select the condition for switching between gain 1 and gain 2 The Gain Switch Input
310. itch 1 Level Setting PN33 eee 10 86 Gain Switch 1 Time PN32 eeeeeeeeeeeeeeeeeeees 10 85 gain switching function eee 10 127 Gain Switching Input Operating Mode Selection PASO Saapa N keane 10 83 General purpose Control Cables 2 8 3 43 4 8 10 36 General purpose Output 1 OUTM1 eeesee 10 21 General purpose Output 1 Selection Pn0A 10 72 General purpose Output 2 OUTM2 ee 10 21 l n S a A IM Selection PNO8 eeeeeeeeeeeeteeeeeeseeeeeeeteee 10 71 Inertia Ratio PN20 c eee eeeeeeeseeeeteeeeeeeeteeeeeeeee 10 78 MIN Pkg E EA EE E 3 13 5 55 instantaneous speed observer sser 10 131 Instantaneous Speed Observer Setting Pn27 10 80 internally set speed Control eens Internally Set Speed Selection 1 Internally Set Speed Selection 1 VSEL1 Internally Set Speed Selection 2 0 0 Internally Set Speed Selection 2 VSEL2 Internally Set Speed Selection 3 VSEL9 10 20 J JOG Operation yine nh at eink anaes Jog Speed Pn3D L leakage breakers eee eee cece eee a 4 18 M machine rigidity NUMbETS cere 10 119 Main Circuit Connector 2 6 3 3 3 39 main Circuit CONNECHOM ccceeeeeeeeeeeeeeeeeeeeeeeees 10 17 Main Circuit Connector Specifications CNA 10 17 Momentary Hold Time PN6D eeeeeeees 10 102 Motion Control Unit Cables cccsseeessseeeees 10 33 mot
311. ith no condensation Operating and storage atmosphere No corrosive gases Vibration resistance 5 9 m s max E Performance Specifications Item Specifications Type Hand held Cable length 1 5m Connectors Mini DIN 8P MD connector Display 7 segment LED External dimensions 62 W x 114 H x 15 D mm Weight Approx 0 1 kg including cable Standard RS 232 j Communications method Asynchronous ASYNC Cc S Baud rate 9 600 bps a g S Start bits 1 bit E 3 Data 8 bits O 0 O Parity None Stop bits 1 bit 3 76 Specifications 3 6 External Regeneration Resistors Specifications 3 6 External Regeneration Resistors Specifications Refer to 4 4 Regenerative Energy Absorption to ensure correct use of External Regeneration Resistors En E R88A RR08050S RR080100S RR22047 Specifications Regeneration Heat Resis Nominal absorption for ee Thermal switch output Model p A radiation TERT tance capacity 120 C San specifications f condition temperature rise Aluminum F 250 x 250 Operating temperature R88A RR08050S 50 Q 80 W 20 W 150 C 5 NC contact Rated Thickness 3 0 output 30 VDC 50 mA max Aluminum 250 x 250 Operating temperature R88A RRO080100S 100 Q 80 W 20 W 150 C 5 NC contact Rated Thickness 3 0 output 30 VDC 50 mA max Aluminum 350 x 350 Operating temperature R88A
312. ity signal in this Terminal Block 3 3 X axis X axis X axis X axis X axis Y axis Y axis Y axis Y axis Y axis pav me r fien Prine ae mo free faon func ace ac X axis X axis Y axis Y axis O OV Common Common Common Common Common Common Ee Common Common Common Common f Common FG 39 RESET ALMCOM RESET ALMCOM X axis X axis Y axis Y axis ear CW limit CCW limit 24 VDC CW limit CCW limit 24 VDC ClO ClO CIO CIO 2960 06 2960 07 2960 08 2960 09 1 1 1 1 24 VDC 1 CW and CCW limit input signals can also be input through Input Units The bits for the CW CCW limit inputs in the CJ1M are as follows CW A540 08 CCW A540 09 for pulse output 0 and CW A541 08 CCW A541 09 for pulse output 1 For example the flag for the CW limit input A540 08 can be controlled with an output from the ladder diagram using a bit allocated to the actual input CIO 2960 06 on the Input Unit as shown below 3 56 Specifications Specifications 3 4 Servo Relay Units and Cable Specifications Example pae A540 08 2 The XB and YB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is invalid 4 Do not connect unused terminals 5 The 0 V terminal is internally connected to the common terminals 6 Applicable crimp terminal R1 25 3 r
313. ix 2 Appendix 2 10 2 Standard Models and Dimensions E 3G3AX DL2022 oH Epp P og qQ o Ground terminal F 7 Two M4 M4 71 86 our 6 x 9 105 Izh 116 n E 3G3AX AL2025 AL2055 Ground terminal M5 Six M4 terminal screws Terminal block 60 40 Ro R So S To T d o I I I I i ite i i N i j ae O 00 00 0 i Ro RSo STo T I I i I f T i aU En Connection Diagram i 5041 iN Four 6 dia Vet Notch A C 9 5 TENUL Dimensions mm Model A C Y 3G3AX AL2025 130 82 67 3G3AX AL2055 140 98 75 10 15 10 3 Specifications 10 3 Specifications 10 3 1 Servo Drive Specifications Characteristics Item R88D GP08H Continuous output current rms 40A Momentary maximum output current rms 14 1A Power supply capacity 1 3 KVA Main circuit Power supply voltage Single phase or three phase 200 to 240 VAC 170 to 264 V 50 60 Hz Input power Rated current 5 0 supply Power supply Single phase 200 to 240 VAC 170 to Cont
314. k ground plate and I O lines should be separated and wired at the shortest distance 4 3 Wiring Conforming to EMC Directives E Unit Details Symbol Name Manufacturer Model Remarks Okaya Electric RAV781BWZ 4 Single phase 100 VAC SG Surge absorber i Industries Co Ltd RAV781BXZ 4 Three phase 200 VAC TOES Okaya Electric 3SUP HQ10 ER 6 Single phase ao ner Industries Co Ltd 100 200 VAC R7D BP02L Single phase 100 VAC SD Servo Drive OMRON Corp R7D BP04H Three phase 200 VAC R88M G20030L 100 VAC SM Servomotor OMRON Corp R88M G40030H 200 VAC FC Clamp core TDK ZACT305 1330 TB Switch box E Cable Details Symbol Supplies from Connects to Cable name Length Remarks Shielded Ferrite Single 2m phase No No 100 VAC a AC power supply Noise filter Power supply line Three 3m phase No No 200 VAC b Noise filter Servo Drive Power supply line 2m No Yes c Servo Drive Servomotor Power cable 20m Yes Yes d Servo Drive Servomotor Encoder cable 20m No Yes e Switch box Servo Drive I O cable 1m No Yes f Frame ground Noise filter Frame ground line 1 5 m No No 9 Frame ground Noise filter Frame ground line 1 5 m No No h AC power supply Switch box Power supply line 1 5m No No 4 14 System Design System Design 4 3 Wiring Conforming to EMC Directives lf no fuse breakers are
315. kes are non excitation operation type They are released when excitation voltage is applied 5 The operation time is the measured value reference value with a varistor installed as a surge suppressor re load lt gt Thrust load aan Center of shaft LR 2 3 18 Specifications Specifications 3 2 Servomotor Specifications E 3 000 r min Flat Servomotors Item Unit Bos RSSM GP10030L GP20030L Rated output Ww 100 200 Rated torque N m 0 32 0 64 Rated rotation speed r min 3 000 Max rotation speed r min 5 000 Max momentary torque 7 N m 0 85 1 86 Rated current A rms 1 6 2 5 Max momentary current A 0 p 6 9 10 5 Rotor inertia kgm 9 0 x 10 3 4 x 10 Applicable load inertia 20 times the rotor inertia max 2 Power rate kW s 11 4 12 0 Allowable radial load N 68 245 Allowable thrust load N 58 98 Without brake kg 0 65 1 3 With brake kg 0 90 2 0 fae shieldidimensions st 130 x 120 x t10 Al 170 x 160 x t12 Al Brake inertia kg m 3 0 x 106 9 0 x 108 Excitation voltage 4 V 24 VDC 10 Gece w 7 10 ao A 0 29 0 41 is Static friction torque N m 0 29 min 1 27 min z Attraction time 5 ms 50 max 60 max Release time ms 15 max 15 max Backlash 1 max x E raking operation J 197 196 Allowable total work J 44 1 x 108 147 x 108 Allowable angular 2 110 099 max rad s Speed of 950 r min or
316. kg 11 2 dia XW2Z 200J B24 2m Approx 0 4 kg Connection Configuration and Dimensions Connector terminal block XW2B 50G64 XW2B 50G5 XW2D 50G6 Terminal block Zz B 8 5 5 4 5 5 4 c9 09 09 09 c0 c9 09 09 69 09 n9 N9 p9 Ny Ino Ny Ng Py p 4 4 Ino a Nolan foolno a SoN oa Co R S 09 N G Or N cd N3 S O oo N13 8 03 5 G cO n9 A So 0 ALAA B84 8 4 9 09 0910900 1c9 69 09 69 09 9 Nd p 19 Ino Ny pg Py 9 p a lalalala SoN SaR oHe Naaa Rna eo fe 50 50 L Bi 68 1 Connector Q t 6 1 Servo Drive Wire mark color Blue Red 1 Servo Drive D R88D G Blue Black 1 24VCW Wires with the same wire color and 24VCCW the same number of marks form a Pink Red 1 CW PULS FA twisted pair Pink Black 1 CW PULS FA Green Red 1 CCWASIGN FB Example CCW SIGN _FB A yellow black 1 wire and Green Black 1 Orange Red 1 24VIN pink black 1 wire form a twisted NOT pair olo NI AA wWN Gray Red 1 Gray Black 1 POT BKIRCOM Blue Red 2 Blue Black 2 BKIR Pink Red 2 SENGND Pink Black 2 SEN Green Red 2 REF TREF1 VLIM AGND Green Black 2 2 PCL TREF2 2 Orange Red 2 Orange Black 2 AGND Gra
317. l Rated Torque Ratio 3 2 Servomotor Specifications Use Cylindrical Servomotors in the ranges shown in the following graphs Using outside of these ranges may cause the Servomotor to generate heat which could result in encoder malfunction 50 W With Oil Seal Rated Torque Ratio me Mithi brake ie Without brake ener eee ner ae 95 With brake 80 80 4 5 70 60 60 p eaea 60 40 40 4 20 4 20 0 T T Ambient temperature 0 T j T t Ambient temperature 10 20 30 40 10 20 30 40 100 W Without Oil Seal 100 W With Oil Seal Rated Torque Ratio Rated Torque Ratio With brake Without brake 109 hasmara E 95 199 4 With brake 80 80 4 ae 75 i ee 60 4 60 TO 40 40 4 20 4 20 4 T T Ambient temperature T T Ambient temperature O 10 20 30 40 O 10 20 30 40 3 24 Specifications Specifications 3 2 Servomotor Specifications 400 W Without Oil Seal Rated Torque Ratio 200 W With Oil Seal Rated Torque Ratio Without brake rA With brake 80 1 DA 80 100 PA ss 70 60 40 4 20 T t T Ambient temperature 400 W With Oil Seal Rated Torque Ratio With brake 100 90 100 With brake 80 80 75 60 60 0 3 40 20 20 Ambient temperature 0 T T t Ambient temperature 10 20 30 40
318. l I O connector CN1 The connector for the controller is not provided When connecting to a Position Control Unit which doesn t have a specified cable or connecting to another company s controller prepare wiring suited for the controller to be connected e When connecting to a controller which doesn t have a specified cable either use a General purpose Control Cable or a Connector Terminal Block Cable and a Connector Terminal Block Cable Models Model Length L Outer diameter of sheath Weight R88A CPG001S 1m Approx 0 3 kg 12 8 dia R88A CPG002S 2m Approx 0 6 kg Connection Configuration and Dimensions 7 L 4 39 Whe Servo Drive Controller 30 q R88D G O t 18 10 36 Appendix 2 Appendix 2 10 3 Specifications Wiring No Wire mark color Signal No Wire mark color Signal 1 Orange Red 1 24VCW 27 Pink Black 3 GSEL TLSEL 2 Orange Black 1 24VCCW 28 White Black 3 GESEL VSEL3 3 Gray Red 1 CW PULS FA 29 Yellow Red 3 RUN 4 Gray Black 1 CW PULS FA 30 Pink Red 3 ECRST VSEL2 5 White Red 1 CCW SIGN FB 31 Yellow Black 3 RESET 6 White Black 1 CCW SIGN FB 32 Gray Black 4 TVSEL 7 Yellow Red 1 24VIN 33 Orange Red 4 IPG VSEL1 8 Pink Red 1 NOT 34 White Red 4 READYCOM 9 Pink Black 1 POT 35 White Bla
319. l operate according to the internal resistor with approximately 1 duty Regeneration resistor used External resistor 1 The regeneration processing circuit will operate and regeneration overload alarm code 18 will cause a trip when the operating rate of the regeneration resistor exceeds 10 Regeneration resistor used External resistor 2 The regeneration processing circuit will operate but regeneration overload alarm code 18 will not Regeneration resistor used None 3 The regeneration processing circuit and regeneration overload alarm code 18 will not operate and all regenerative energy will be processed by the built in capacitor e Do not touch the External Regeneration Resistor It can be very hot and may cause burns e Always provide a temperature fuse or other protective measure when using an External Regeneration Resistor Regardless of whether the regeneration overload is enabled or disabled the External Regeneration Resistor can become extremely hot and may cause burning e Set this parameter depending on whether the built in regeneration resistor is used or the built in regeneration resistor is disconnected and an External Regeneration Resistor is connected The External Regeneration Resistor is connected between B1 and B2 e To use the built in regeneration resistor always set this parameter to 0 Pn6D Momentary Hold Time All modes Setting range 35 to 1000 Unit 2ms Default setting 35 Power OFF gt
320. lays solenoids brakes clutches etc The following table shows the types of surge suppressors and recommended products Type Features Recommended products Diodes are used for relatively small loads when the reset time is not an issue such as relays At power shutoff the surge voltage is the lowest but the reset time becomes longer Used for 24 48 VDC systems Use a fast recovery diode with a short reverse recovery time e g RU2 of Sanken Electric Co Ltd Diode Thyristors and varistors are used for loads when induction coils are large as in electro Thyristor or magnetic brakes solenoids etc and when varistor reset time is an issue The surge voltage at power shutoff is approximately 1 5 times the varistor voltage Select the varistor voltage as follows 24 VDC system Varistor VO 39 V 100 VDC system Varistor VO 200 V 100 VAC system Varistor VO 270 V 200 VAC system Varistor VO 470 V The capacitor and resistor dissipate and ab Capacitor sorb the surge at power shutoff The reset resistor time can be shortened by selecting the ap propriate capacitor and resistance values Okaya Electric Industries Co Ltd XEB12002 0 2 uF 120 Q XEB12003 0 3 pF 120 Q Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for details on these components Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Elec
321. lect the data to display on the Parameter Unit when the power supply is turned ON 0 Position deviation Pulses 1 Servomotor rotation speed r min 2 Torque output 3 Control mode 4 I O signal status 5 Alarm display and history 6 Not used 7 Warning display 1 Oto 15 Yes 8 Regeneration load ratio 9 Overload load ratio 10 Inertia ratio 11 Total feedback pulses Pulses 12 Total command pulses Pulses 13 Not used 14 Not used 15 Automatic Servomotor recognition en a abled disabled display 02 Control Mode Set the control mode to be used Selection 0 High response position control 2 O0to2 Yes 1 Internally set speed control 2 Advanced position control 03 Not used Do not change setting 0 04 Drive Prohibit You can prevent the Servomotor from rotating be Input Selection yond its operating range by connecting limit inputs 0 Enabled 1 Oor1 Yes 1 Disabled 05 Not used Do not change setting 0 5 20 Operating Functions Operating Functions 5 10 User Parameters Pn Parameter Setting Explanation Default Unit Setting Power No name setting range OFF gt ON 06 Zero Speed Select the function of the Zero Speed Designation Designation Input
322. lection Pn30 The gain is switched according to the condition set in the Gain Switch Setting Pn31 If the mechanical system inertia changes greatly or if you want to change the responsiveness while the Servomotor is rotating and stopped you can achieve the appropriate control by setting the gains and time constants beforehand for each condition and switch between them according to the condition These parameters are automatically changed by executing realtime autotuning function To set Gain switching function is enabled only for position control For Internally Set Speed Control operation will be performed using gain 1 Pn11 Pn12 Pn13 and Pn14 them manually set the Realtime Autotuning Mode Selection Pn21 to 0 PniD Notch Filter 1 Frequency All modes Setting range 100 to 1500 Unit Hz Default setting 1500 Power OFF gt ON Set the notch frequency of the resonance suppression notch filter Set this parameter to approximately 10 lower than the resonance frequency of the mechanical system The notch filter function will be disabled if this parameter is set to 1500 PniE Notch Filter 1 Width All modes Setting range 0to4 Unit Default setting 2 Power OFF gt ON Set the width to one of five levels for the resonance suppression notch filter Increasing the setting increas
323. ll be displayed Use the Shift Increment and Decrement keys to change the setting AE AI K The Shift key is used to change the digit Saving the New Setting to Memory and Returning to the Parameter Number Display e The following operation is not required if you are only checking a parameter setting PRO2G keys Front panel keys Display example Explanation DATA Press the Data key The new parameter setting will be saved and the parameter number will be displayed again 10 66 Appendix 2 Appendix 2 10 5 Operating Functions Parameters Details e This section provides an explanation for all parameters Be sure to fully understand the meanings of parameters before making changes to the parameter settings E Function Selection Parameters Pn00 to PnOF Pnoo Unit No Setting All modes Setting range Oto 15 Unit Default setting Power OFF gt ON Yes e If communications with a computer or other host controller are used by multiple Units via RS 232 or RS 485 it is necessary to identify which Unit the host is accessing With this parameter the unit number can be confirmed using alphanumeric characters e The unit number is determined by the unit number switch setting on the front panel when the power supply is turned ON This number is the unit number when using serial communications e The setting of this parameter has no effect on Servomot
324. ly Input the calculated load Values for Pn10 or other parameters related to gain The load inertia cannot be are the same as before estimated execution inertia es does not The ECRST pin 30 of CN1 is input a OFF the ECRST pin 30 of 10 122 Appendix 2 Appendix 2 10 7 Adjustment Functions 10 7 4 Disabling the Automatic Gain Adjustment Function This section provides precautions for disabling realtime autotuning and the adaptive filter These functions are enabled by default Precautions for Correct Use e When disabling the automatic adjustment function the RUN Command Input RUN must be turned OFF Disabling Realtime Autotuning By setting the Realtime Autotuning Mode Selection Pn21 to 0 the automatic estimation of the Inertia Ratio Pn20 will stop and realtime autotuning will be disabled However the estimated Inertia Ratio Pn20 will remain If the Pn20 value is obviously incorrect perform normal mode autotuning or calculate and set the appropriate value manually Precautions for Correct Use e To enable the Realtime Autotuning Mode Selection Pn21 turn OFF the RUN Command Input RUN and then turn it back ON Disabling the Adaptative Filter Pn2F Notch Filter 1 Frequency Hz Pn2F Notch Filter 1 Frequency Hz Pn2F Notch Filter 1 Frequency Hz 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2
325. m Reset input Must be ON for 120 ms min Deviation Counter Reset Input in Position Control Mode a when Pn02 is set to 0 or 2 Deviation Counter ON Pulse commands prohibited and deviation counter 4 ECRST Reset Input or cleared Must be ON for at least 2 ms VSEL2 Internally Set Speed Selection 2 Input Internally set speed selection 2 in Internal Speed Control Mode when Pn02 is set to 1 ON Internally Set Speed Selection 2 Input Gain Switch Input in Position Control Mode when Pn02 is set to 0 or 2 when Zero Speed Designation Torque Limit Switch Pn06 is set to O or 1 Zero speed designation input in Internal Speed Control Gain Switch Input Mode when Pn02 is set to 1 pus OFF Speed command is zero GSEL Zero Speed A F f Input can also be disabled by the Zero Speed Designation 5 VZERO Designation Input AA S nae Torque Limit Switch Pn06 setting Enabled Pn06 1 TLSEL or Torque Limit 3 Disabled Pn06 0 Switch Input Torque limit selection in both Position Control Mode and Internal Speed Control Mode when Zero Speed Designa tion Torque Limit Switch Pn06 is set to 2 OFF Torque limit 1 enabled Pn70 5E 63 ON Torque limit 2 enabled Pn71 72 73 Electronic Gear Switch Input in Position Control Mode when Pn02 is set to 0 or 2 2 Electronic Gear OFF Electronic Gear Ratio Numerator 1 Pn46 6 GESEL Switch Input or ON Electronic Gear Ratio Numerator 2 Pn47 VSEL1 Internally Set Speed Selection 1 Inp
326. mbinations are given in the following table R7D BP Series Resistor capaci tor measurement Clamp leak tester measurement filter ON with HIOKI 3283 5 m power cable 5 m power cable 20 m power cable Servo Drive model Specifications Leakage current Leakage current Leakage current mA mA mA R7D BPA5L Single phase 100 V 50 W 0 48 0 08 0 13 R7D BPO1L Single phase 100 V 0 59 0 09 0 13 100 W R7D BP02L Single phase 100 V 0 50 0 10 0 15 200 W Single three phase 200 V 0 91 0 25 0 37 50 W R7D BP01H Single three phase 200 V 1 18 0 18 0 29 100 W R7D BP02HH Single phase 200 V 0 95 0 30 0 40 200 W R7D BP02H Three phase 200 V 1 17 0 26 0 37 200 W R7D BP04H Single three phase 200 V 1 25 0 55 0 72 400 W Note 1 The resistor plus capacitor measurement provides a guide to the leakage current level that may flow through people if the Servomotor and Servo Drive are not properly grounded The actual value changes depending on the ambient temperature and humidity Note 2 The clamp leak tester measurement is the leakage current actually detected at the inverter and surge resistant leakage breaker Triple this value when using a general leakage breaker Actual Selection The leakage breaker starts to detect leakage current from 50 of the rated leakage current so provide a margin of two times Also a large amount of leakage current will flow from the noise filter
327. mensions Position Control Unit CJ1W NC233 CJ1W NC433 Wiring Servo Relay Unit gt xw2e 4o 2 L 6 Position Control Unit Servo Relay Ee AWG20 black No aapa LOX AWG20 red A1 B1 A2 B2 A14 A20 B20 A16 B16 ll B14 NIN N B ienien olo 2 2 ElO E 2 Bzz a 1 ojo N aN To co Nan DI ro S Sa Co S BTI 32 i AEREE EOE ern eh aes ase Pets eel H 33 Cable AWG28 x 8P AWG28 x16C 34 Crimp terminal Unit 3 72 Specifications Specifications 3 4 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A33 This Cable connects a Programmable Controller CJ1M CPU21 CPU22 CPU23 to a Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A33 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A33 im Approx 0 2 kg Connection Configuration and External Dimensions CJ1M Servo Relay Unit a o g XW2B 20J6 8A CJ1M CPU23 igl XW2B 40J6 9A Wiring 3 73 3 4 Servo Relay Units and Cable Specifications E Position Control Unit Cable XW2Z _ J A28 This Cable connects the general purpose I O connector of a Flexible Motion Controller FQM1 MMP22 to a Servo Relay Unit XW2B 80J7 12A
328. monitored Lowest input signal number _ E lt N Highest input signal number Lowest output signal number _ i Highest output signal number lt E Alarm code is displayed if no alarms have occurred mr Current alarm C l2 Alarm 0 newest alarm I I Z l2 a g Alarm 13 oldest alarm Up to 14 alarms including the current one can be viewed in the alarm history The display will flash when an alarm occurs If an alarm that is recorded in the history occurs the alarm code for the current alarm and for alarm O will be the same 6 12 Operation Operation 6 3 Using the Parameter Unit Alarm Codes and Meanings Atei Meaning Alarm Meaning codes codes 11 Power supply undervoltage 29 Deviation counter overflow 12 Overvoltage 34 Overrun limit error 14 Overcurrent 36 Parameter error 15 Built in resistor overheat 37 Parameter corruption 16 Overload 38 Drive prohibit input error 18 Regeneration overload 48 Encoder phase Z error 21 Encoder disconnection detection 49 Encoder CS signal error 23 Encoder data error 95 Servomotor non conformity 24 Deviation counter overflow 96 LSI setting error 26 Overspeed Others Other errors 27 Electronic
329. motor Combination The table in this section show the possible combination of SMARTSTEP 2 750 W Model Servo Drive and Servomotor The Servomotor and Servo Drive can only be used in the listed combinations The box L at the end of the model number is for options E 3 000 r min Servomotor and Servo Drive Rated Servo Drive Servomotor Voltage sss z output Pulse string input Without brake With brake Single phase three phase 200 VAC 750W R88D GP08H R88M G75030H R88M G75030H B Accessories and Cables E Encoder Cables Specifications Model 1 5m R88A CRGBO001 5CR E 3m _ R88A CRGBO03CR E Encoder cable 5m _ R88A CRGBOO5CR E R88M G75030H 10m R88A CRGBO10CR E 15m R88A CRGB015CR E 20m R88A CRGBO20CR E E Servomotor Power Cables Specifications Model 1 5m R88A CAGA001 5SR E For 750 W servomotors without brake 3m_ R88A CAGA003SR E R88M G75030H L1 S2 5m _ R88A CAGAO05SR E For servomotors with brake a separate cable 10m R88A CAGAO10SR E R88A CAGALIBR E is needed 15m IR88A CAGA015SR E 20m R88A CAGA020SR E 10 6 Appendix 2 Appendix 2 10 2 Standard Models and Dimensions E Brake Cables Specifications Model Brake cable only For R88M G75030H BS2 servomotors 1 5m R88A CAGA001 5BR E 3m R88A CAGA003BR E 5m R88A CAGAO05BR E 10m
330. motor Rotation Speed Detection Output TGON during Internally Set Speed Control The Servomotor Rotation Speed Detection Output TGON will turn ON if the Servomotor speed exceeds the set speed regardless of the direction of rotation Speed Pn62 gt Forward Reverse TGON There is a hysteresis of 10 r min so set a value higher than 10 Pn63 Deviation Counter Overflow Level Position Setting range 0 to 32767 Unit x 256 pulses Default setting 100 Power OFF gt ON Set the detection level for the deviation counter overflow alarm The alarm level is the setting value multiplied by 256 pulses Pn64 Deviation Counter Overflow Alarm Disabled Position Setting range Oor1 Unit Default setting 0 Power OFF gt ON The deviation counter overflow alarm can be disabled so that it does not occur Explanation of Settings Setting Explanation 0 Enabled 1 Disabled Pn65 Not used Do not change setting 5 56 Operating Functions Operating Functions 5 10 User Parameters Pn66 Stop Selection for Drive Prohibit Input All modes Setting range 0to2 Unit Default setting 0 Power OFF gt ON Yes Set the operation to be used to decelerate to a stop after the Forward Drive Prohibit Input POT or Reverse Drive Proh
331. n 0 Phase B output Not inverted Output source Encoder position 1 Phase B output Inverted Output source Encoder position 2 Phase B output Not inverted Output source External scale position 3 Phase B output Inversed Output source External scale position e Use this parameter to set the phase B logic for pulse output B CN1 pin 48 B CN1 pin 49 e This parameter can be used to invert the output direction of the phase B pulse to reverse the relation of the phase B pulse to the phase A pulse X Pn47 Reserved 2 Setting range Unit Default setting Power OFF gt ON xe D a Pn48 Electronic Gear Ratio Numerator 1 Q lt q Setting range 0 to 10000 Unit Default setting 0 Power OFF gt ON Pn49 Electronic Gear Ratio Numerator 2 Setting range 0 to 10000 Unit Default setting 0 Power OFF gt ON Pn4A Electronic Gear Ratio Numerator Exponent Setting range 0 to 17 Unit Default setting 0 Power OFF gt ON 10 91 10 5 Operating Functions Pn4B Electronic Gear Ratio Denominator Setting range 1 to 10000 Unit Default setting 10000 PowerOFF gt ON e Use these parameters to set the electronic gear e The electronic gear can be used for the following e To set the amount of Servomotor rotation or movement p
332. n 1 gt lt gt lt Command speed S Figure F Actual speed N Level Time gt lt i Dob gi I i Gaini Gain 2 a Gain 1 Gain 2 is used only during the Speed Loop Integration Time Constant Gain 1 is used at other times g 7 g p f 7 20 Adjustment Functions x Adjustment Functions 7 5 Manual Tuning Machine Resonance Control When machine rigidity is low shaft torsion may cause resonance leading to vibration or noise thus not allowing the gain to be set high In this case the resonance can be suppressed by using the two filter types E Torque Command Filter Time Constant Pn14 Pn1C The filter time constant is set to attenuate the resonance frequency The cut off frequency can be calculated using the following equation 1 1 Cut off frequency Hz fe gt ent 2n x Parameter setting x 10 E Notch Filter Adaptive Filter Pn21 Pn2F By using the adaptive filter the Servo Drive can suppress vibration of loads with various resonance points for each machinery which conventional notch filters or torque command filters were unable to cope with Enable the adaptive filter by selecting advanced position control 2 for the Control Mode Selection Pn02 and setting the Realtime Autotuning Mode Selection Pn21 to 1 to 3 or 7 Pn No Parameter name Explanation 21 Realtime Autotuning Mode The adaptive filter is enabled when this parameter is set to 1 Selection to 3 or 7
333. n 20 times the rotor inertia If the load inertia changes Load If the machine rigidity is extremely low If there is backlash or play in the system If the static friction torque is greater than the dynamic friction torque A tuning error will occur if the servo turns OFF e g the RUN Command Input RUN turns OFF or a deviation counter reset occurs e g the Deviation Counter Reset ECRST during the autotuning If the load inertia cannot be estimated during autotuning the setting of each gain cannot be changed and remains the same as before autotuning When autotuning is being executed the Servomotor output torque will reach the maximum output torque set in the Torque Limit Pn5E When autotuning is being executed the Forward Drive Prohibit Input and Reverse Drive Prohibit Input will be ignored Precaitions If the Servomotor oscillates immediately cut off the power or turn OFF the reais Use RUN Command Input RUN Then return each gain to the default setting Autotuning Setting Method 1 Setting the Operating Pattern Set the operating pattern using the Autotuning Operation Setting Pn25 The operating pattern set in Pn25 will repeat in a maximum of five cycles Starting with the third cycle the acceleration level will double every cycle Depending on the load the operating pattern does not repeat in five cycles when operation is completed or the acceleration does not change In
334. n be used to reverse the output phase of the Page 5 50 Direction Switch encoder signal output from the Servo Drive 9 Operation The output phases of the encoder signal output from the Servo Drive are as shown below Phase A Phase B Phase Z Forward Rotation Reverse Rotation Phase A Phase B Phase Z Operating Functions Operating Functions 5 5 Electronic Gear 5 5 Electronic Gear The Servomotor can be rotated for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio This function is effective in the following cases When fine tuning the position and speed of two lines that are to be synchronous When using a position controller with a low command pulse frequency When you want to set the machine travel distance per pulse to 0 01 mm for example Parameters Requiring Settings ES Parameter name Explanation Reference Electronic Gear Set the pulse rate for command pulses and Servomotor travel dis Pn46 Ratio Numerator 1 tance 4 Electronic Gear Ratio Numerator 1 Pn46 Page 5 50 Electronic Gear i 2 Electronic Gear Ratio Numerator Exponent Pn4A Ena n atio Numeratorg Electronic Gear Ratio Numerator 2 Pn47 f Electronic Gear Ratio Denominator Pn4B Electronic Gear Pn4A Ratio Numerator The maximum value of the calculated numerator is 2 621 440 Exponent Any higher setting than this will be invalid and the numerator will be 2 621 440 Page 5 51 Elec
335. n is caused by gain switching Pn22 Realtime Autotuning Machine Rigidity Selection All modes Setting range Oto 15 Unit Default setting 2 Power OFF gt ON e Use this parameter to set the machine rigidity to one of 16 levels when realtime autotuning is enabled Low lt Machine rigidity High Low lt Servo gain High Pn22 O 1 eee eee E F Low lt Responsiveness High If the setting is changed suddenly by a large amount the gain will change rapidly subjecting the machine to shock Always start by making small changes in the setting and gradually increase the setting while monitoring machine operation 10 78 Appendix 2 10 5 Operating Functions Pn23 Adaptive Filter Selection Setting range 0to2 Unit Default setting 0 Power OFF gt ON Yes Explanation of Settings Setting Explanation 0 Adaptive filter disabled 1 Adaptive filter enabled 2 Hold The adaptive filter frequency when the setting was changed to 2 will be held e Use this parameter to set the operation of the adaptive filter e The Adaptive Filter Table Number Display Pn2F will be reset to 0 when the adaptive filter is disabled e The adaptive filter is normally disabled in the torque control mode Pn24 Vibration Filter Selection Setting range 0to2 Unit Default setting 0 Power OFF gt ON
336. nal BKIR when the Servomotor is rotating g Operation m RUN Command Timing When Servomotor Is Stopped RUN command is OFF He Approx 10 ms al e Approx 1 to 5 ms N Brake Interlock BKIR OFF ON Brake power suppl p pply OFF coh ates 100 ms max el fo 200 ms max Brake operation Released Held Pulse command Supplied ate Approx 40 to 45 ms gt Pn6A 2 Servomotor power supply Not supplied 1 The time from turning ON the brake power supply to releasing the brake is 200 ms max Provide a pulse command after the brake has been released taking into account this delay 2 The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis take this delay into account and set the Brake Timing when Stopped Pn6A longer so that the Servomotor power is turned OFF after the brake has been held 5 11 5 6 bBrake Interlock m RUN Command Errors and Power Supply Timing When Servomotor Is Rotating ON Power supply OFF RUN command ON OFF Alarm output ALM OFF ON Bbrake interlock BKIR OFF se Approx 1 to 5 ms Servomotor Supplied ower suppl PES Not supplied 5 1 This time is the shorter value of either the setting for the Brake Timing during Operation Pn6B or the time it takes until the Servomotor rotation speed drops to 30 r min or lower Depen
337. nal Procedure cccccceeeeeeeseeeeeeeeees 6 1 6 2 Preparing for Operation ccccccceeeessseeeeeeeees 6 2 Items to Check Before Turning ON the Powet ceee 6 2 MUMMING ON ROW ies aee eee EEE AA E AE AEA A eres saes 6 2 Checking Displays eA EE EAE eae ces ese EEEE EAE A 6 3 6 3 Using the Parameter Unit cccccceeeeeeeeeeeeeees 6 4 Names of Parts and FUunctions ccceeseeeseeeseeeeneeeeseerenees 6 4 Display When Power Is Turned ON 2 cccceceeeeeeeeeeeeeeeeees 6 5 Changingithe Mode sere cece sea erm areca teen es 6 6 Mornitoni Mode tx trr E AEE E E ERE steve rere nec eres tev 6 7 Parameter Setting Mode cecceeseesesceeesereseneeeeneerenneeenes 6 15 Parameter Write Modo ae e ee e E E EE R 6 16 A tot niNg Modea E E E 6 17 Auxiliary FUNC OMO 6 18 COM oea AA 6 20 6 4 Trial Operation erener eneee etenetan etsean sien 6 23 Preparation for Trial Operation ccccceceeeeeeeeeeeeeeeeneeees 6 23 Tinlal OPeratlOmisenctee error wettest EAE teeters ter caer 6 23 Operation 6 1 Operational Procedure 6 1 Operational Procedure After installation and wiring turn ON the power and check the operation of the Servomotor and Servo Drive Then make the function settings as required according to the use of the Servomotor and Servo Drive If the parameters are set incorrectly there is a danger of the Servomotor operating in an unpredictable manner Set the parameters accor
338. nance leading to vibration or noise thus not allowing the gain to be set to a high value In this case the resonance can be suppressed by using the two filter types Torque Command Filter Pn14 Pn1C The filter time constant is set to attenuate the resonance frequency The cut off frequency can be calculated using the following equation Cut off frequency Hz fc Be 2nT 2n x parameter setting x 10 Notch Filter e Adaptive Filter Pn23 Pn2F The SMARTSTEP 2 750 W Model Servo Drive use an adaptive filter to control vibration for loads that are difficult to handle with the previous notch filters and torque filters such as when each device has a different resonance point The adaptive filter is enabled by setting the Adaptive Filter Selection Pn23 to 1 r E Parameter name Explanation Pn23 Adaptive mey 1 The adaptive filter is enabled Selection Adaptive Filter Table Displays the table number corresponding to the frequency for Pn2F Number Displa the adaptive filter pay The setting of this parameter cannot be changed e Notch Filters 1 and 2 Pn1D Pn1E Pn28 Pn29 and Pn2A The SMARTSTEP 2 750 W Model Servo Drive provide two normal notch filters Notch Filter 1 can be used to adjust the frequency and width and Notch Filter 2 can be used to adjust frequency width and depth with parameters ara Parameter name Explanation Paip ASen Fher Set 10 lower Frequency Pn1E Notch Fil
339. nd for Correct Use Input RUN must be turned OFF Disabling Realtime Autotuning By setting the Realtime Autotuning Mode Selection Pn21 to 0 or 7 the automatic estimation of the Inertia Ratio Pn20 will stop and realtime autotuning will be disabled However the estimated results of the Inertia Ratio Pn20 will remain If the Pn20 value is obviously incorrect perform autotuning or set the calculated value manually after disabling realtime autotuning Precautions To enable the Realtime Autotuning Mode Selection Pn21 turn OFF the for Correct Use RUN Command Input RUN and then turn it back ON 7 4 Disabling the Automatic Gain Adjustment Function Disabling the Adaptive Filter Setting the Realtime Autotuning Mode Selection Pn21 to O or 4 to 6 will disable the adaptive filter which automatically adjusts for load resonance If the properly functioning adaptive filter is disabled the effect of the suppressed resonance may appear and noise and vibration may occur Disable the adaptive filter only after manually setting the Notch Filter 1 Frequency Pn1D based on the displayed value of the Adaptive Filter Table Number Display Pn2F Displayed Notch Filter 1 Displayed Notch Filter 1 Displayed Notch Filter 1 value Frequency Hz value Frequency Hz value Frequency Hz 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 4
340. nd operation cannot continue The following table shows the regenerative energy and amount of regeneration that each Servo Drive can absorb If these values are exceeded take the following measures Add an External Regeneration Resistor Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time to decrease the regenerative energy produced per time unit Lengthen the operation cycle i e the cycle time to decrease the average regeneration power Regenerative energy that can be ab Minimum external regenerative Servo Drive sorbed by the internal capacitor resistance J Q R7D BPA5L R7D BPO1L 20 R7D BP02L 12 20 R7D BP01H 8 50 R7D BP02H R7D BP02HH 1 ae R7D BP04H 16 35 Absorbing Regenerative Energy with an External Regeneration Resistor If the regenerative energy exceeds the absorption capacity of the Servo Drive connect an External Regeneration Resistor Connect the External Regeneration Resistor to CNA pins 5 and 3 between terminals P and B1 of the Servo Drive Double check the pin numbers when connecting the resistor because the Regeneration Resistor may be damaged by burning if connected to the wrong terminals The External Regeneration Resistor will heat up to approximately 120 C Do not place it near equipment or wiring that is easily affected by heat Attach radiator plates suitable for the heat
341. nd pulse input when the Command Pulse Reverse Pulse Input Selection Pn40 is set to 1 45 CWLD input for line driver only Line driver input Maximum response frequency 2 Mpps Position 46 CCWLD Any of the following can be selected by using the Pn42 set Forward Pulse ting reverse and forward pulses CW CCW feed pulse fall eens input for line driver only and direction signal PULS SIGN 90 phase difference phase A B signals FA FB 1 Do not input a command pulse within 10 ms before and after switching 2 Dynamic brake operation and deviation counter clear can be selected using the Stop Selection with Servo OFF Pn69 3 Must be ON for 2 ms min 4 The deviation counter is cleared when the alarm is reset Some alarms cannot be reset with this input 10 20 Appendix 2 Appendix 2 10 3 Specifications CN1 Control Outputs Pin a Control No Symbol Name Function Interface ode 10 BKIRCOM Brake Interlock Output Outputs holding brake timing signals All 11 BKIR P Releases the holding brake when ON Used according to the setting of the General 12 OUTM1 General purpose Output 1 purpose Output 1 Selection PnOA All 19 z Phase Z Output open collector Outputs the encoder phase Z signal 1 pulse All Phase Z Output open revolution Open collector output 25 ZCOM collector common 21 A Encoder Phase A Output 22 A Enco
342. ng Automatically Set Parameters The following parameters will be set automatically according to the autotuning machine rigidity number selected Pn Parameter name Machine Rigidity No ne 0 1 2 alz 5 6 7 10 Position Loop Gain 27 32 39 48 63 72 90 108 11 Speed Loop Gain 15 18 22 27 35 40 50 60 12 Speed Loop Integration Time Constant 37 31 25 21 16 14 12 11 13 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0 14 Torque Command Filter Time Constant 152 126 103 84 65 57 45 38 18 Position Loop Gain 2 31 38 46 57 73 84 105 126 19 Speed Loop Gain 2 15 18 22 27 35 40 50 60 1A Speed Loop Integration Time Constant 2 1000 1000 1000 1000 1000 1000 1000 1000 1B Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0 1C Torque Command Filter Time Constant 2 152 126 103 84 65 57 45 38 20 Inertia Ratio Estimated load inertia ratio Pn Parameter name Machine Rigidity No Ne ESE het toed eta eed sal oon Radome Pe E 10 Position Loop Gain 135 162 206 251 305 377 449 557 11 Speed Loop Gain 75 90 115 140 170 210 250 310 12 Speed Loop Integration Time Constant 9 8 7 6 5 4 4 3 13 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0 14 Torque Command Filter Time Constant 30 25 25 25 25 25 25 25 18 Position Loop Gain 2 157 188 241 293 356 440 524 649 19 Speed Loop Gain 2 75 90 115 140 170 210 250 310
343. ng voltage 30 VDC Maximum output current 50 mA x p kA gt Di T i Di Diode for preventing surge voltage Use high speed diodes E Phase Z Output Open collector Output Servo Drive Controller 21 Z 14 GND Maximum operating voltage 30 VDC e FG Maximum output current 50 mA 3 12 Specifications 3 1 Servo Drive Specifications Control Output Details The details of the output pins for the CN1 connector are described as follows E Control Output Sequence Power supply input ON L1 and L2 eel Le i Approx 2 s 30 s max Alarm Output ALM ON e Positioning Completed oy Output INP OFF Brake Interlock Output ON KIP A T ee Oto35ms __i2ms 0to35ms _ 2ms Specifications RUN Command Input ON RUN a S R S E CCiS E Alarm Output Pin 9 Alarm Output ALM Function The alarm output is turned OFF when the Servo Drive detects an error This output is OFF at startup but turns ON when the initial processing of the Servo Drive has been completed E Positioning Completed Output Servomotor Rotation Speed Detection Output Pin 10 Positioning Completed Output Servomotor Rotation Speed Detection Output INP TGON Function Positioning Completed Output Pin 10 is the Positioning Completed Output INP in Position Control Mode when Pn02 is set to 0 or 2 The INP signal turns ON when the number of accumulated pulses in the de
344. nge setting 0 5 27 5 10 User Parameters E Internally Set Speed Control Parameters n Power Pn Parameter Explanation Default Unit Setting OFF gt No name setting range ON 50 Not used Do not change setting 0 51 Not used Do not change setting 0 52 Not used Do not change setting 0 No 1 Internally 20000 53 Set Speed Set the No 1 internally set rotation speed 100 r min to 20000 No 2 Internally f 20000 54 Set Speed Set the No 2 internally set rotation speed 200 r min to 20000 No 3 Internally 20000 55 Set Speed Set the No 3 internally set rotation speed 300 r min to 20000 No 4 Internally P P 20000 56 Set Speed Set the No 4 internally set rotation speed 400 r min to 20000 57 Jog Speed Set the rotation speed for jogging 200 r min O to 500 Soft Start Set the acceleration time for internally set A 58 Acceleration speed control Set the time setting x 2 ms re 0 2 ms 5000 Time quired until 1 000 r min is reached Soft Start Set the deceleration time for internally set speed Oto 59 Deceleration control Set the time setting x 2 ms required until 0 2ms i 5000 Time operation stops from 1000 r min 5A Not used Do not change setting 0 5B Not used Do not change setting 0 5C Not used Do not chan
345. ni DetallSincesccc cecstcreortnatt tts ee Soe evunate cate men caeeeae tn aan 5 32 Operating Functions 5 1 Position Control 5 1 High Response Position Control vs Advanced Position Control The two position control modes have the following differences Position Control Positioning can be performed according to the pulses input into the pulse string inputs CN1 22 to 25 The Servomotor rotates using the value of the pulse string inputs multiplied by the value of the electronic gear Pn46 Pn47 Pn4A and Pn4B SMARTSTEP2 Series Servo Drives have two position control modes high response position control and advanced position control Select the mode better suited for your operational conditions ee Realtime Autotun Adaptive Filter Sa ee D Fre kre ing Mode Selec Table Number q y q y tion Pn21 Display Pn2F High Response a ai as fe Conditional Conditional Conditional Disabled Position Control pavanced Enabled Enabled Enabled Enabled Position Control The Notch Filter 1 Frequency Vibration Frequency and Realtime Autotuning Mode Selection cannot be used at the same time in high response position control mode The parameter entered first will be given priority Example When the Realtime Autotuning Mode Selection is set the Servo Drive will be forcibly set to 1500 disabled even if the Notch Filter 1 Frequency is input The adaptive filter will be disabled under high respons
346. ni4 Torque Command Filter Time Constant Ailmodes Setting range 0 to 2500 Unit x 0 01 ms Default setting 100 Power OFF gt ON Set this parameter to adjust the primary lag filter time constant for the torque command This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn15 Feed forward Amount Position Setting range 2000 to 2000 Unit x 0 1 Default setting 300 Power OFF gt ON Set the feed forward compensation value during position control When performing feed forward compensation the effective servo gain increases improving responsiveness There is almost no effect however on systems whose position loop gain is sufficiently high Use this parameter to shorten positioning time Setting a high value may result in machine vibration Set the feed forward amount for general machinery to 80 maximum Make adjustments while checking machine response This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn16 Feed forward Command Filter Setting range 0 to 6400 Unit x 0 01 ms Default setting 100 Power OFF gt ON Set the feed forward primary lag command filter to use during position c
347. niB Speed Feedback Filter Time Constant 2 PniC Torque Command Filter Time Constant 2 Pn20 Inertia Ratio Pn22 Realtime Autotuning Machine Rigidity Selection The following parameters are set automatically The settings will not change even if realtime autotuning is executed Parameter No Parameter name Set value Pni5 Speed Feed forward Amount 300 Pn16 Feed forward Command Filter 50 Pn27 Instantaneous Speed Observer Setting 0 Pn30 Gain Switching Input Operating Mode Selection 1 Pn31 Control Gain Switch 1 Setting 10 Pn32 Gain Switch 1 Time 30 Pn33 Gain Switch 1 Level Setting 50 Pn34 Gain Switch 1 Hysteresis Setting 33 Pn35 Position Loop Gain Switching Time 20 e Some degree of noise or vibration may occur during fit gain operation but Precautions ais ae this is normally not a problem because the gain is lowered automatically If the noise or vibration continues however press any key on the front panel to cancel the fit gain operation for Correct Use 10 114 Appendix 2 Appendix 2 10 7 Adjustment Functions Adaptive Filter The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the Servomotor speed during actual operation and automatically sets the coefficient of the notch filter This removes the resonance component from the torque command
348. ning or manual tuning Conditions under which realtime autotuning does not function properly Load inertia If the load inertia is less than 3 times the rotor inertia If the load inertia is more than 20 times the rotor inertia If the load inertia changes quickly i e in less than 10 seconds Load If the machine rigidity is extremely low If there is backlash or play in the system If the static friction torque is greater than the dynamic friction torque Operating If the Servomotor is continuously run at a low speed below 100 r min pattern If the acceleration deceleration is gradual at less than 2000 r min in 1 s than 40 ms For abrupt operations e g if the speed or acceleration condition is met in less If the acceleration deceleration torque is unbalanced and smaller compared to the viscous friction torque 1 Stopping the Servomotor Pn21 Setting Realtime Autotuning Setting Method Turn OFF the RUN Command Input RUN to the Servomotor The Servomotor will stop 2 Realtime Autotuning Mode Selection Pn21 Adjustment Functions B Setting Realtime Autotuning Degree of change in load inertia Adaptive filter during operation 0 Not used Disabled 1 Almost no change in load inertia 3 EEEN Enabled 2 Gradual changes in load inertia Pn02 2 3 Sudden changes in load inertia Used 4 Almost no change in load inertia 5 Gradual changes in load inertia Dis
349. nly digital 1 0 signals 28 OVSEL3 30 OVSEL2 33 OVSEL1 G Series Servo Drive Internally set speed control No 1to8 Internally Set Speeds Pn53 to Pn56 Pn74 to Pn77 SMARTSTEP 2 750 W Model Servomotor Parameters Requiring Settings Parameter name Explanation Pn02 Control Mode Selection Select the control mode for internally set speeds setting 1 Make a setting to use the internally set speeds Pn05 Command Speed Selection setting 1 2 or 3 Pn53 No 1 Internally Set Speed Set the internally set speeds r min The settings can be made from 20 000 to 20 000 r min Pn54 No 2 Internally Set Speed Be sure to set the speeds within the allowable range of rotation speed Pn55 No 3 Internally Set Speed Of the Servomotor Pn56 No 4 Internally Set Speed Pn74 No 5 Internally Set Speed Pn75 No 6 Internally Set Speed Pn76 No 7 Internally Set Speed Pn77 No 8 Internally Set Speed Pn58 Soft Start Acceleration Time Set the acceleration time for internally set speed control Set the time setting x 2 ms until 1 000 r min is reached Pn59 Soft Start Deceleration Time Set the deceleration time for internally set speed control Set the time setting x 2 ms until 1 000 r min is reached Pn5A S curve Acceleration Set the S curve time width setting x 2 ms centered on the inflection Deceleration Time Setting points for acc
350. nnnrinsernnennne 7 23 Default Display PNnO1 eeeeeeeeeeeeereee 10 67 Deviation Counter Overflow Level Pn70 10 103 Deviation Counter Reset Condition Setting Pn4E 10 94 Deviation Counter Reset Input eceeeseeeeeeees 3 9 Deviation Counter Reset Input ECRST 10 20 10 23 DIN Rail Mounting Unit eee rene 2 9 dIM ENSIONS 42 kako aes 2 18 Direction Signal isinisisi 3 11 Direction Signal SIGN eeeeeeseeeeeern 10 19 disabling realtime autotuning 0 cee 10 123 Drive Prohibit Input Selection Pn04 ee 10 69 E EC Directives ECRST 05 electronic gear Electronic Gear Ratio Denominator Pn4B 10 92 Electronic Gear Ratio Numerator 1 Pn48 10 91 Electronic Gear Ratio Numerator 2 Pn49 10 91 Electronic Gear Ratio Numerator Exponent Pn4A 10 91 Electronic Gear Switch 000 2 eeceeeeeeeeeeeeeeeeeeneeeeaee 3 10 Electronic Gear Switch GESEL 10 20 EMC Directives 4 13 Emergency Stop Torque Pn6E 10 103 Encoder Cables cccccccccccccccsssssssseeeees 2 4 3 26 4 24 encoder connector specifications CN2 10 25 Encoder Connectors ccccccceccesesceeeeeeeeeseeeeseeeesaes 3 15 Encoder Divider Denominator Setting Pn45 10 90 Encoder Divider Numerator Setting Pn44 10 90 encoder dividing 0 0 eee cree eisenii Encoder Input Connector CN2 essees Encoder Output Direction Switch Pn46
351. noise is large return the setting to 0 and check the precautions above as well as the Inertia Ratio Pn20 again e If the change in torque waveform or the operation noise is small make small adjustments in the Inertia Ratio Pn20 to find the setting that makes the smallest change while monitoring the position deviation waveform and the actual speed waveform If the Position Loop Gain or Speed Loop Gain is changed the optimal setting for the Inertia Ratio Pn20 may have changed so set it again by making small adjustments 10 132 Appendix 2 Appendix 2 10 7 Adjustment Functions Vibration Control When the machine end vibrates vibration control removes the vibration frequency from the commands reducing vibration a Vibrating end N Vibration measured Set the frequency of the vibrating end P with Displacement Sensor Servo Drive Move Servomotor ment Ball screw Position controller gt j g Coupling Moving body Machine table Position on j p command rou Position MAaNd Current speed control control Feedback pulse Servo Drive Precautions e The following conditions must be met to use vibration control for Correct Use Conditions under which vibration control operates e The Position Control Mode must be used Control Mode Pn02 0 Position control e Stop operation before changing the parameters or switching
352. nt Gain switch adjustment Machine resonance suppression Vibration control Operation OK Yes a y y Contact OMRON Write in EEPROM Adjustment completed Reference Gain Adjustment and Machine Rigidity The specific vibration resonance frequency of the mechanical system has a large impact on the gain adjustment The servo system responsiveness cannot be set high for machines with a low resonance frequency low machine rigidity Check the following items to increase mechanical system rigidity Lay the foundation firmly and set up a machine so that it does not wobble Use a Decelerator with minimal backlash Use couplings of a type with high rigidity and designed for servo systems Use a wide timing belt and use a tension within the allowable axial load for the Servomotor 7 2 Adjustment Functions x 7 2 Realtime Autotuning 7 2 Realtime Autotuning Realtime autotuning estimates the load inertia of the machine in realtime and automatically sets the optimal gain according to the estimated load inertia The adaptive filter automatically suppresses vibration caused by resonance In the default settings realtime autotuning is disabled Refer to the following procedures to enable realtime autotuning Precautions for Correct Use Realtime autotuning may not function properly under the conditions described in the following table If realtime autotuning does not function properly use autotu
353. nual tuning which is used to manually adjust the gain Function Differences in Control Modes The following table shows the adjustment ranges of manual tuning for each control mode Pno2 Control Mode Basic Gain Torque Notch Vibration setting adjustment switch filter filter control switch 0 High response Supported Supported Supported Supported Supported Position Control See note See note 1 Internally Set speed Supported Supported Supported Supported Not Control supported 2 Advanced Position Supported Supported Supported Supported Supported Control 1 The notch filter and vibration control cannot be used at the same time in High response Position Control The parameter entered first will be given priority Example When vibration control is set the Servo Drive will be forcibly set to 1500 disabled even if the Notch Filter 1 Frequency Pn1D is input 7 5 Manual Tuning Basic Adjustment Procedures m Adjustment in Position Control Mode Start adjustment Do not perform extreme y adjustment and setting changes Disable realtime autotuning Pn21 0 or 7 They may destabilize operation y possibly resulting in injury Set the parameters to the values shown in table 1 Adjust the gain a little at a time y while checking the Servomotor Set the Inertia Ratio Pn20 Calculated value at Servomotor selection operation
354. o display the setting Operation 4 Changing the Parameter Setting Key operation Display example Explanation A 0S Use the Shift Increment and Decrement keys to change the setting The decimal point will flash for the digit that can be changed Press the Data key to save the new setting 5 Retu rning to the Display of Parameter Setting Mode Key operation Display example Explanation Press the Data key to return to the Parameter Setting Mode Display Some parameters will be displayed with an r before the number when the Parameter Setting Mode is displayed To enable the settings that have been changed for these parameters you must turn the power supply OFF and ON after saving the parameters in EEPROM Once the setting for a parameter is saved the new setting will be used for control Make changes little by little not widely when setting the parameters in particular the speed loop gain position loop gain etc which can affect the motor operation greatly For details on parameters refer to Parameter Details on page 5 32 Precautions for Correct Use 6 15 6 3 Using the Parameter Unit Parameter Write Mode Settings changed in the Parameter Setting Mode must be saved in EEPROM To do so the following procedure must be performed 1 Saving Changed Settings Key operation Display example Explanation Press the Mode key to display Par
355. of the model number Standard Models and Dimensions Standard Models and Dimensions 2 2 External and Mounted Dimensions E 3 000 r min 200 400 W Servomotors R88M G20030L S2 G20030H S2 G40030H S2 G20030L B S2 G20030H B S2 G40030H B S2 Dimensions of shaft end Brake connector with key and tap Encoder Servomotor connector QK b connector p AE J 5 i y_ Hv N wae A M depth L N N o En SE Oye L Ee pa iS ive te z Dimensions for models with key and tap a Model QK b h t1 M L mm mm mm mm mm mm R88M G200300 1 79 5 11 18 4h9 4 2 5 M4 8 R88M G200300 B 12 116 11 18 4h9 4 2 5 M4 8 R88M G40030H 99 14 22 5 5h9 5 3 M5 10 R88M G40030H B 2 135 5 14 22 5 5h9 5 3 M5 10 1 Put L or H in the place indicated by the box 2 This is the model number for the Servomotor with a brake 3 A model with a key and tap is indicated by adding S2 to the end of the model number Note The standard models have a straight shaft 2 2 External and Mounted Dimensions m 3 000 r min 100 200 400 W Flat Servomotors R88M GP10030L S2 GP10030H S2 GP20030L S2 GP20030H S2 GP40030H S2 R88M GP10030L B S2 GP10030H B S2 GP20030L B S2 GP20030H B S2 GP40030H B
356. on Control If the Control Mode Selection Pn02 is set to 2 Advanced Position Control Mode is used Stop operation before changing parameters Under the following conditions vibration control may not operate properly or may have no effect Conditions under which the effect of vibration control is inhibited Load When forces other than commands such as external forces cause vibration When the difference between the resonance frequency and anti resonance frequency is large When the vibration frequency is large more than 100 Hz 7 23 7 5 Manual Tuning E Operating Procedure 1 Setting the Vibration Frequency Pn2B Measure the vibration frequency at the end of the machine If the end vibration can be measured directly using a laser displacement sensor read the vibration frequency Hz from the measured waveform and set it in the Vibration Frequency Pn2B If no measurement device is available use the CX Drive waveform graphic function and read the residual vibration frequency Hz from the position deviation waveform as shown in the following figure The set values from 0 to 99 are invalid lt Position deviation Command speed XN Vibration frequency calculation t Measure the distance between the residual peaks t and calculate the vibration frequency Hz using the following formula 1 t s f Hz 2 Setting the Vibration Filter Pn2
357. on the control mode or load conditions or if ensuring the maximum responsiveness to match each load is required Manual tuning basic Position control mode adjustment Basic procedure Speed control mode adjustment Torque control mode adjustment Gain switching can be used with internal data or external signals Gain switching to perform such actions as reducing vibration at stopping shortening stabilization time and improving command follow up It is sometimes not possible to set the gain high because of vibration or sound due to resonance caused by shaft contortion when the machine rigidity is low In these cases two types of filters can be used to suppress resonance Machine resonance suppression Manual adjustment This function initializes control parameters and gain switching Automatic gain setting parameters to settings that match the normal mode autotuning rigidity parameters before manual tuning is performed The following application functions can be used to further Manual tuning application improve performance if the specifications cannot be satisfied using basic adjustment Appendix 2 The instantaneous speed observer both increases responsiveness and reduces vibration at stopping by estimating the Servomotor speed using a load model and improving the speed detection accuracy Instantaneous speed observer Vibration control reduces vibration by removing the vibration Vibration cont
358. ontact failure incorrect operation due to noise or EEPROM fault in the Parameter Unit 6 20 Operation 6 3 Using the Parameter Unit E Copying from the Parameter Unit to the Servo Drive 1 Displaying Copy Mode Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key five times to display Copy Mode WOE Press the Increment key to switch to the copy display for copying from the Parameter Unit to the Servo Drive 2 Checking the Servo Drive Model Code Key operation Display example Explanation Press the Data key to enter Copy Mode i O Press and hold the Increment key until EEP_CH is displayed DIFFER will be displayed if a different model code is entered The bar indicator will increase when the key is pressed for 3 s or longer Operation The bar indicator will increase The Servo Drive model code is being checked If a different model code has been entered refer to 3 Different Model Codes below to perform the procedure If the model codes match the display will proceed to the display in 4 Ex ecuting Copying 3 Different Model Codes Key operation Display example Explanation The decimal point will move to the left when the Shift key is pressed for 3 s or longer The model codes are being m
359. ontrol If the Positioning Completed Signal INP is interrupted i e repeatedly turns ON and OFF because of feed forward compensation and speed overshooting occurs the problem may be solved by setting the primary lag filter This parameter is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Pn17 Not used Do not change setting 5 38 Operating Functions Operating Functions 5 10 User Parameters Position Loop Gain 2 Pni8 Position Setting range 0 to 32767 Unit 1 s Default setting 20 Power OFF gt ON Pn19 Speed Loop Gain 2 All modes Setting range 1 to 3500 Unit Hz Default setting 80 Power OFF gt ON PniA Speed Loop Integration Time Constant 2 Alimodes Setting range 1 to 1000 Unit ms Default setting 50 Power OFF gt ON PniB Speed Feedback Filter Time Constant 2 All modes Setting range 0to5 Unit Default setting 0 Power OFF gt ON PniC Torque Command Filter Time Constant 2 Alimodes Setting range 0 to 2500 Unit x 0 01 ms Default setting 100 Power OFF gt ON These parameters are for the gain and time constants selected when gain switching is enabled in the Gain Switching Input Operating Mode Se
360. ontrol lers command pulse type Check the command pulse s volt age Connect a resistor that matches the voltage The power supply is not ON Check whether the power supply is ON and check the PWR LED indi cator Turn ON the power supply Check the voltage across the pow er supply terminals Wire the power supply s ON circuit correctly The CW Input and CCW Input are ON at the same time Check the command pulse s wiring e Input the pulse signal ei ther to the CW Input or CCW Input e Always turn OFF the termi nal that is not input to Servo Drive is faulty Replace the Servo Drive 8 12 Troubleshooting Troubleshooting 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasures The Servomotor operates mo mentarily but it does not operate after that The Servomotor Power Cable is wired incorrectly Check the wiring of the Servomotor Power Cable s phases U V and W Wire correctly The Encoder Cable is wired incorrectly Check the Encoder Cable s wiring Wire correctly The Servomotor rotates without a command The command pulse input is incorrect Check the command pulse type Set the command pulse in put appropriately Check the command pulse s volt age Connect a resistor that matches the voltage The Servo Drive is faulty Replace the Servo Drive The
361. operating speed for Pn73 e The setting for the e Set Pn48 and Pn49 so Electronic gear setting Occurs when command Electronic Gear Ratio that the command 27 signal is input or Numerator Pn48 to pulse frequency is 500 error ae command is input Pn49 is not kpps max appropiate 45 Multi turn counter Occurs when the power e The encoder is faulty e Replace the error supply is turned ON Servomotor e A logic error was e Replace the Encoder PS signal F detected in the PS Servomotor 49 Occurs during operation error signal from the encoder 10 137 10 8 Troubleshooting 10 8 3 Overload Characteristics Electronic Thermal Function An overload protection electronic thermal function is built into the Servo Drive to protect the Servo Drive and Servomotor from overloading If an overload does occur first eliminate the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning ON the power again If the power is turned ON again repeatedly at short intervals the Servomotor windings may burn out Overload Characteristics Graph The following graph show the characteristics of the load rate and electronic thermal function s operation time Time s 100 Fa T 750W J 10 Eaa 1 0 1 iis 100 150 20
362. or operation e The setting of this parameter can be changed only by using the unit number switch on the front panel Pn01 Default Display All modes Setting range 0 to 17 Unit Default setting 1 Power OFF gt ON Yes Explanation of Settings Setting Explanation 0 Position deviation 1 Servomotor rotation speed 2 Torque output 3 Control mode 4 I O signal status 5 Alarm code and history 6 Software version 7 Warning display 8 Regeneration load ratio 9 Overload load ratio 10 Inertia ratio 11 Total feedback pulses 12 Total command pulses 13 Reserved 14 Reserved 15 Automatic Servomotor recognition display 16 Reserved 17 Reason for no rotation Select the data to be displayed on the 7 segment display on the front panel after the power supply is turned ON 10 67 10 5 Operating Functions Pn02 Control Mode Selection All modes Setting range 0to6 Unit Default setting 0 Power OFF gt ON Yes Explanation of Settings Setting Explanation 0 Position Control Mode pulse string command 1 Internal Speed Mode Reserved Reserved Reserved 2 3 4 Reserved 5 6 Reserved e Use this parameter to set the control mode e Do not input a command within 10 ms before or after switching Control Mode Closed Switch Input Open Open Mode 1 gt lt Mode 2 gt
363. or or Servo Drive m Replacing the Servomotor 1 Replace the Servomotor 2 Perform machine origin position alignment for position control When the Servomotor is replaced the Servomotor s origin position phase Z may deviate so origin alignment must be performed Refer to the Position Controller s operation manual for details on performing origin alignment E Replacing the Servo Drive 1 Copy the parameters Use the copy function of the Parameter Unit to copy all the parameter settings to the Parameter Unit Alternatively use the Parameter Unit to display all the parameter settings and write them down 2 Replace the Servo Drive 3 Set the parameters Use the copy function of the Parameter Unit to transfer all the saved parameters to the Servo Drive Alternatively use the Parameter Unit to set all the parameters 8 2 Troubleshooting Troubleshooting 8 2 Alarm Table 8 2 Alarm Table If the Servo Drive detects an error the Alarm Output ALM will turn ON the power drive circuit will turn OFF and the alarm code will be displayed If a warning is detected torque limit imposed zero speed detection over regeneration overload or fan rotation speed error the Warning Output WARN will turn ON and the warning will be displayed Operation will continue 7 The Warning Output is output only for warnings set in the Warning Output Precautions Selecti Pno9 for Correct Use election Pn09 Ref
364. or rotation directions c c ceeceeeeeeeeeeeeeeeeee 3 16 N NEB aea edee eaea e e a E tite et 4 17 No 1 Internally Set Speed PN53 eee 10 95 No 1 Torque Limit PN5E ee eeeeeeeeeeeeeeeeee 10 96 No 2 Internally Set Speed Pn54 10 95 No 2 Torque Limit PN5F 0 02 10 96 No 3 Internally Set Speed Pn55 10 95 10 103 10 104 No 4 Internally Set Speed Pn56 10 95 noise filters for power supply input noise filters for Servomotor output 4 26 NOISE FESISTANCE 1 22 ee eeeeeceeeeeeeeeeeeeeeeeeeseeeeeeeseeeeetens 4 25 NON fUSE DreAKEIS cece ecteeceeeeteeeeteeeeeteeeeteaeeeeee 4 17 Notch Filter 1 Frequency Pn1D ceeeeeee 10 77 Notch Filter 1 Width PN1E ceeeeeeeeeeeeeeeees Notch Filter 2 Depth Pn2A Notch Filter 2 Frequency Pn28 Notch Filter 2 Width Pn29 NOCH fiters os sckccaecnes ee asc asii itapa einasi O oI ME EYE 1 EE EEE E T S 4 4 Operation Switch When Using Absolute Encoder Aaloe EE E A 10 72 Overload Detection Level Setting Pn72 10 103 overrun limMit aaaanaannnnnnnnnnnenneessnnnnnnnnnnnnnneene 5 16 5 41 Overrun Limit Setting Pn26 10 80 Overspeed Detection Level Setting Pn73 10 103 P a parameter details 0 eeeeeeeeeeeeneeeeeeeneeeeeeaees 10 67 Parameter Unit nnnnnnuenessnnenessnnnrnnnnennne 2 2 3 76 6 4 GIMONSIONS aiiidh ceekev eels eeeteeeeeee
365. ositive direction rising is shown as positive and acceleration in the negative direction falling is shown as negative The regenerative energy values in each region can be derived from the following equations 1 270 Eg 7 60 Ni Tpo1 t1 J 0 0524 N1 Tpi ti J 2T Eg2 60 No TL2 t2 J 0 105 N2 Tp2 ts J 1 2 Es 5 55 N2 Toe ts J 0 0524 N2 Toe ts J Ni Nz Rotation speed at beginning of deceleration r min Tp1 Tp2 Deceleration torque N m TL2 Torque when falling N m t1 ts Deceleration time s te Constant velocity running time when falling s Note Due to the loss of winding resistance and PWM the actual regenerative energy will be approximately 90 of the values derived from these equations The average regeneration power Pr Regeneration power produced in one cycle of operation W Pr Eg1 Eg2 Eg92 T W T Operation cycle s Since an internal capacitor absorbs regenerative energy the value for Eg and Ego Egg Unit J must be lower than the Servo Drive s regenerative energy absorption capacity For details refer to Servo Drive Regenerative Energy Absorption Capacity 4 29 4 4 Regenerative Energy Absorption Servo Drive Regenerative Energy Absorption Capacity The SMARTSTEP 2 Servo Drives absorb regenerative energy internally with built in capacitors If the regenerative energy is too large to be processed internally an overvoltage error AL12 occurs a
366. otation Phase A Phase B Phase Z Forward Rotation Phase A 1 Phase B Phase Z Negative logic Reverse Rotation Phase A Phase B Phase Z Pn46 Electronic Gear Ratio Numerator 1 Position Setting range 1 to 10000 Unit Default setting 10000 Power OFF gt ON Pn47 Electronic Gear Ratio Numerator 2 Position Setting range 1 to 10000 Unit Default setting 10000 Power OFF gt ON Set the pulse rate for command pulses and Servomotor travel distance along with Pn4A and Pn4B Electronic Gear Ratio Numerator 1 Pn46 or Electronic Gear Ratio Numerator 2 Pn47 2 Electronic Gear Ratio Numerator Exponent Pn4A Electronic Gear Ratio Denominator Pn4B For details refer to Electronic Gear on page 5 9 Pn48 Not used Do not change setting Pn49 Not used Do not change setting 5 50 Operating Functions Operating Functions 5 10 User Parameters Pn4A Electronic Gear Ratio Numerator Exponent Position Setting range Oto 17 Unit Default setting 0 Power OFF gt ON Pn4B Electronic Gear Ratio Denominator Position Setting range 1 to 10000 Unit Default setting 2500 Power OFF gt ON Set the pulse rate for command pulses and Servomotor travel distance along with Pn46 and
367. ound with open end XW2B 80J7 12A This Servo Relay Unit connects to the following OMRON Programmable Controller FQM1 MMP22 Dimensions Signal selection switch i 160 4 5 dia 1 5 Servo Drive me a git E f I selection switch oooooooo0oo0oo0ojooo0o0000000 Q cacao ici oe SOOOOOOCOOQ IOOOCOOOOCOOO 100 90 eoooo0oo0oo0oo0o0o0jesoo0o0000000 BSS SSS EA EAA IBOOODOOOOO OOO00000000 oooooooooojoooo0oo0oo0o0000 SSS SSS 38S SeoigSseasnae elalelelalalalalelellelelalelalalelalala eoo0oo0oo000000je6e000000000 2205555008505 00500000 ol rom a Ar t py K lo Controller general purpose I O Controller special O Y axis Servo Drive X axis Servo Drive 3 57 Motion Control Module FQM1 MMP22 3 4 Servo Relay Units and Cable Specifications Flexible Motion Controller System Configuration Example FQM1 SUuOo edIIN98dS 3 58 19
368. ower OFF gt ON 10 104 Appendix 2 10 6 Trial Operation 10 6 Trial Operation Preparation for Trial Operation E Checks before Trial Operation Check the following items before starting trial operation Wiring e Make sure that all wiring is correct especially the power supply input and motor output e Make sure that there are no short circuits Check the ground for short circuits as well e Make sure that there are no loose connections Power Supply Voltage e Make sure that the voltage corresponds to the rated voltage Motor Installation e Make sure that the Servomotor has been securely installed Disconnection from Mechanical System e If necessary make sure that the Servomotor has been disconnected from the mechanical system Brake e Make sure that the brake has been released Trial Operation in Position Control Mode 10 105 oah WN Connect connector CN1 Input power 12 to 24 VDC for the control signals 24VIN COM Turn ON the power supply to the Servo Drive Confirm that the parameters are set to the standard settings Set the outputs from the host device to agree with the Command Pulse Mode Pn42 Write the parameters to EEPROM and then turn OFF the power supply and turn it ON again Connect the RUN Command Input RUN CN1 pin 29 to COM CN1 pin 41 Servo ON status will be entered and the Servomotor will be activated Input a low frequ
369. ows the allowable current when there are three power supply wires Use a current below these specified values 600 V Heat resistant Vinyl Wire HIV Nominal Allowable current A for ambient Configura Conductive r cross 7 temperature AWG size tion resistance sectional iresmm Olk area mm wires mm Q km 30 C 40 C 50 C 20 0 5 19 0 18 39 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6 9 53 23 20 16 4 12 System Design System Design 4 3 Wiring Conforming to EMC Directives 4 3 Wiring Conforming to EMC Directives Conformance to the EMC Directives EN55011 class A group 1 EMI and EN61000 6 2 EMS can be ensured by wiring under the conditions described below These conditions are for conformance of the SMARTSTEP 2 products to the EMC Directives EMC related performance of these products however will vary depending on the configuration wiring and other conditions of the equipment in which the products are installed The EMC conformance of the system as a whole must be confirmed by the customer The following are the requirements for EMC Directive conformance The Servo Drive must be installed in a metal case control panel The Servomotor does not however have to be covered with a metal plate Noise filters and surge absorbers must be installed on power supply lines
370. peed Loop Gain 2 PniA Speed Loop Integration Time Constant 2 PniB Speed Feedback Filter Time Constant 2 R Pn1C Torque Command Filter Time Constant 2 xo 3 Settings for the following parameters are set automatically a Parameter No Parameter name Set value Pni5 Speed Feed forward Amount 300 Pn16 Feed forward Command Filter 50 Pn27 Instantaneous Speed Observer Setting 0 Pn30 Gain Switching Input Operating Mode Selection 1 Pn31 Control Gain Switch 1 Setting 10 Pn32 Gain Switch 1 Time 30 Pn33 Gain Switch 1 Level Setting 50 Pn34 Gain Switch 1 Hysteresis Setting 33 Pn35 Position Loop Gain Switching Time 20 1 The setting is 10 for position control and 0 for speed and torque control 10 130 Appendix 2 10 7 Adjustment Functions Instantaneous Speed Observer 10 131 The instantaneous speed observer improves speed detection accuracy increases responsiveness and reduces vibration at stopping by estimating the Servomotor speed using a load model Speed control Estimated Poan speed 4 Speed command Torque command Feedback pulse To position control Servo Drive Precautions e The instantaneous speed observer cannot be used unless the following for Correct Use conditions are satisfied Conditions under which the instantaneous speed observer operates e Position control or speed control is used Control mode Pn02 0 Position control Pn02 1 Internal Spee
371. perating range for both forward and reverse is within 2147483647 after the po Others sition command input range is cleared to zero If the condition 1 above is not met the Overrun Limit Setting will be disabled until the conditions for clearing the position command input range are satisfied as described below If the conditions 1 and 2 above are not met the position command input range will be cleared to zero Conditions for Clearing the Position Command Input Range The position command input range will be cleared to zero under the following conditions e The power supply is turned ON e The position deviation is cleared The deviation counter clearing is enabled and drive prohibit input is enabled by setting the Stop Selection for Drive Prohibition Input Pn66 to 2 e Normal Mode Autotuning starts or ends 10 56 Appendix 2 Appendix 2 10 5 Operating Functions Operating Examples E No Position Command Input Servo ON No position command is input and so the Servomotor s allowable operating range for both sides will be the range of the travel distance set in Pn26 An overrun limit error will occur if the load enters the range for generating alarm code 34 range of slanted lines due to oscillation Servo l YY PLIPLILLITLLLLL FI ZA Load VILILILILDIMIPILIMILILLI LL LLL LL ILA L LL LD motor WY Pn26 Pn26 Range for generating Sen Range for generating alarm code 34 operating range al
372. planation of Settings Setting Explanation 0 Use as absolute encoder 1 Use as incremental encoder 2 Use as absolute encoder but ignore multi turn counter overflow e Use this parameter to set the operating method for the 17 bit absolute encoder e The setting of this parameter is disabled if a 5 core 2 500 pulse revolution incremental encoder is used 10 72 Appendix 2 Appendix 2 10 5 Operating Functions Pn0C RS 232 Baud Rate Setting Setting range Oto5 Unit Default setting 2 Power OFF gt ON Yes Explanation of Settings Setting Explanation 0 2 400 bps 1 4 800 bps 2 9 600 bps 3 19 200 bps 4 38 400 bps 5 57 600 bps e Use this parameter to select the baud rate for RS 232 communications e Baud rate error 0 5 PnOD RS 485 Baud Rate Setting Setting range 0to5 Unit Default setting 2 Power OFF gt ON Yes Explanation of Settings Setting Explanation 0 2 400 bps 1 4 800 bps 2 9 600 bps 3 19 200 bps 4 38 400 bps 5 57 600 bps e Use this parameter to select the baud rate for RS 485 communications e Baud rate error 0 5 Pn0E Front Key Protection Setting Setting range Oto 1 Unit Default setting 0 Power OFF gt ON Yes Explanation of Settings Setting Explanation 0 All enabled 1 Limited to Monitor Mode
373. pression notch filter Normally use the 2 0 to 4 default setting 1F Not used Do not change setting 0 20 Inertia Ratio Set the ratio between the mechanical system iner 300 o 0 to tia and the Servomotor rotor inertia 7 10000 5 22 rm f O 5 O c 5 IL e c 5 ho Q Q O Operating Functions 5 10 User Parameters Pn No Parameter name Explanation Default setting Unit Setting range Power OFF ON 21 Realtime Autotuning Mode Selection Set the operating mode for realtime autotuning 0 Realtime autotuning is not used The adaptive filter is disabled Realtime autotuning is used Use this setting if there are almost no changes in load inertia during operation The adaptive filter is enabled if Pn02 is set to 2 Realtime autotuning is used Use this setting if there are gradual changes in load inertia during operation The adaptive filter is enabled if Pn02 is set to 2 Realtime autotuning is used Use this setting if there are sudden changes in load inertia during operation The adaptive filter is enabled if Pn02 is set to 2 Realtime autotuning is used Use this setting if there are almost no changes in load inertia during operation The adaptive filter is disabled Realtime autotuning is used Use this setting if there are gradual changes in load inertia during operation The adaptive f
374. pulse type to match the Control lers command pulse type The gain doesn t match e Use autotuning e Perform manual tuning The CN1 input signal is chattering Check the RUN Command Input RUN Deviation Counter Reset In put ECRST Zero Speed Desig nation Input VZERO Internally set Speed Selection 1 2 VSEL1 VSEL2 Correct the wiring so that there is no chattering The Servomotor is overheating The ambient temperature is too high Check that the ambient tempera ture around the Servomotor is be low 40 C Lower the ambient tempera ture to 40 C or less Use a cooler or fan Ventilation is obstructed Check to see whether anything is blocking ventilation Improve ventilation The Servomotor is overloaded The Servomotor is rotating with vibration Try rotating the Servomotor without a load Disconnect it from the me chanical system e Reduce the load e Replace the Servomotor and Servo Drive with a Ser vomotor and Servo Drive with higher capacities 8 13 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasures The holding brake is ineffec tive Power is supplied to the holding brake Check whether power is supplied to the holding brake Configure a circuit that cuts power to the holding brake when the motor stops and the load is held by the hold ing brake The Servomotor doesn t
375. r Pn74 No 5 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 500 Power OFF gt ON 10 103 10 5 Operating Functions Pn75 No 6 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 600 Power OFF gt ON Pn76 No 7 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 700 Power OFF gt ON Pn77 No 8 Internally Set Speed Speed Setting range 20000 to 20000 Unit r min Default setting 800 Power OFF gt ON Pn78 Reserved Setting range Unit Default setting Power OFF gt ON Pn79 Reserved Setting range Unit Default setting Power OFF gt ON Pn7A Reserved Setting range Unit Default setting Power OFF gt ON Pn7B Reserved Setting range Unit Default setting Power OFF gt ON Pn7C Reserved Setting range Unit Default setting Power OFF gt ON Pn7D Reserved Setting range Unit Default setting Power OFF gt ON Pn7E Reserved Setting range Unit Default setting Power OFF gt ON Pn7F Reserved Setting range Unit Default setting P
376. r ON time be reduced as much as possible to lengthen the service life of the Servo Drive The service life of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally an increase of 10 C in the ambient operating temperature will reduce the capacitor life by 50 Aluminum electrolytic capacitors deteriorate even if the Servo Drive is stored with no power supplied If the Servo Drive is not used for a long time we recommend a periodic inspection and part replacement in five years If the Servomotor or Servo Drive is not used for a long time or if they are used under conditions worse than those described above a periodic inspection of five years is recommended 8 18 Troubleshooting Chapter 9 Appendix 1 Connection Examples 9 1 Connection Examples cccccccceeeeeeeeseeseeeeeeees 9 1 Appendix 1 9 1 Connection Examples 9 1 Connection Examples E Connection Example 1 Connecting to SYSMAC CJ1W NC133 233 433 Position Control Units Main circuit power supply
377. r this reason take appropriate initialization measures such as clearing the receive buffer 3 38 Specifications Specifications 3 3 Cable and Connector Specifications Connector Specifications E Main Circuit Connector R7A CNBO01P The Main Circuit Connector connects to the Servo Drive s Main Circuit Connector CNA Dimensions Connector pins 5556PBTL Molex Japan Connector case 5557 10R 210 Molex Japan 3 39 3 3 Cable and Connector Specifications E Servomotor Connector R7A CNB01A The Servomotor Connector connects to the Servo Drive s Servomotor Connector CNB Dimensions 8 5 10 7 9 6 6 3 Connector pins 5556PBTL Molex Japan Connector case 5557 06R 210 Molex Japan 2 7 8 4 2 7 13 8 E Control I O Connector R88A CNW01C This Connector connects to the Control I O Connector CN1 of the Servo Drive Use this Connector when preparing a control cable yourself Dimensions 39 N N Connector plug 9 10126 3000PE Sumitomo 3M Connector case h 10326 52A0 008 Sumitomo 3M 3 40 Specifications Specifications 3 3 Cable and Connector Specifications E Encoder Connectors These Connectors are used for Encoder Cables Use them when preparing an encoder cable yourself R88A CNW01R CN2 Servo Drive Connector This connector is soldering type Use the following cable Applicable wire AWG16 max Insulating cover outer di
378. radiation conditions E External Regeneration Resistor Performance Specifications Resis Nominal Regeneration Heat Model absorption at radiation Thermal switch output specifications tance capacity 3 wA 120 C condition R88A Aluminum Operating temperature 150 C 5 RR08050S 50 Q 80 W 20 W 250 x 250 NC contact Thickness 3 0 Rated output 30 VDC 50 mA max R88A Aluminum Operating temperature 150 C 5 RR080100S 100 Q 80 W 20 W 250 x 250 NC contact Thickness 3 0 Rated output 30 VDC 50 mA max R88A Aluminum Operating temperature 170 C 5 RR22047S 479 220 W 70 W 350 x 350 NC contact Thickness 3 0 Rated output 250 VAC 0 2 A max 4 30 System Design System Design 4 4 Regenerative Energy Absorption Wiring Method Connect the External Regeneration Resistor between terminals P and B1 Servo Drive WL External Regeneration Resistor Connect the thermal switch output so that the power supply is shut OFF when the contacts open Configure a sequence to shut OFF the power via the thermal output Not doing so may cause the resistor to overheat resulting in a fire or damage to the equipment Precautions for Correct Use Combining External Regeneration Resistors pPegeneralionabs 20W 40 W 70 W 140 W sorption capacity R88A RRO8050S R88A RRO8050S
379. rake operation tb Brake timing when stopped setting x 2 ms gt tb Pn6B Brake Timing during Operation All modes Setting range 0 to 100 Unit 2ms Default setting 50 Power OFF gt ON e Use this parameter to set the brake timing from when the RUN Command Input RUN CN1 pin 10 101 29 is detected to be OFF until the Brake Interlock Output BKIRCOM CN1 pin 10 BKIR CN1 pin 11 turns OFF when Servo OFF status is entered while the Servomotor is operating When the RUN Command Input is turned OFF while the Servomotor is operating the Servomotor will decelerate reducing the number of rotations and the Brake Interlock Signal BKIR will turn OFF after the time set for this parameter has elapsed setting x 2 ms 10 5 Operating Functions RUN Command RUN Brake Interlock BKIR Released Hold lt 8 gt Servomotor ON OFF status ON OFF Servomotor speed 30 r min TB in the above figure is the brake timing during operation setting x 2 ms or the time until the speed of the Servomotor falls to 30 r min or lower whichever is shorter Pn6C Regeneration Resistor Selection All modes Setting range 0to3 Unit Default setting 0 Power OFF gt ON Yes Explanation of Settings Setting Explanation Regeneration resistor used Built in resistor 0 The regeneration processing circuit will operate and the regeneration overload alarm code 18 wil
380. range Unit Default setting Power OFF gt ON Pn39 Reserved Setting range Unit Default setting Power OFF gt ON Pn3A Reserved Setting range Unit Default setting Power OFF gt ON Pn3B Reserved Setting range Unit Default setting Power OFF gt ON Pn3C Reserved Setting range Unit Default setting Power OFF gt ON Pn3D Jog Speed All modes Setting range 0 to 500 Unit r min Default setting 200 Power OFF gt ON e Use this parameter to set the speed for jog operation Pn3E Reserved Setting range Unit Default setting Power OFF gt ON Pn3F Reserved Setting range Unit Default setting Power OFF gt ON 10 87 10 5 Operating Functions E Position Control Parameters Pn40 to Pn4E Pn40 Command Pulse Input Selection Setting range Oori Unit Default setting 0 Power OFF gt ON Yes Explanation of Settings Setting Explanation 0 Photocoupler input PULS CN1 pin 3 PULS CN1 pin 4 SIGN CN1 pin 5 SIGN CN1 pin 6 A Line driver input CWLD CN1 pin 44 CWLD CN1 pin 45 CCWLD CN1 pin 46 CCWLD CN1 pin 47 e Use this parameter to select whether to use photocoupler or line driver input for the command pulse input Pn41 Command Pulse Rotation Direction Switch Setting range Oor1 Unit Defa
381. ration The dynamic brake is activated After stopping The torque command in the drive prohibit direction is set to 0 Deviation counter contents Held During deceleration The torque command in the drive prohibit direction is set to 0 After 1 stopping The torque command in the drive prohibit direction is set to 0 Deviation counter contents Held During deceleration An emergency stop is performed After stopping The servo is locked 2 faire Deviation counter contents Cleared before and after deceleration e Use this parameter to set the drive conditions during deceleration or after stopping after the Forward Drive Prohibit Input POT CN1 pin 9 or Reverse Drive Prohibit Input NOT CN1 pin 8 is enabled e If this parameter is set to 2 the Emergency Stop Torque Pn6E will be used to limit the torque during deceleration e With a vertical axis there is a risk that the load may drop when drive is prohibited by the drive prohibit input To prevent this it is recommended that the deceleration method be set to use emergency stop torque in the Drive Prohibit Input Stop Selection parameter Pn66 and that stopping in the servo lock state be set set value 2 10 99 10 5 Operating Functions Pn67 Stop Selection with Main Power OFF All modes Setting range 0to9 Unit Default setting 0 Power OFF gt ON Explanation of Settings Explanation Set
382. ray Red 1 RESET 4 Gray Black 1 ECRST VSEL2 5 White Red 1 GSEL VZERO TLSEL 6 White Black 1 GESEL VSEL1 7 Yellow Red 1 NOT 8 Yellow Black 1 POT 9 Pink Red 1 ALM 10 Pink Black 1 INP TGON 11 Orange Red 2 BKIR 12 Orange Black 2 WARN 13 Gray Red 2 OGND 14 Gray Black 2 GND 15 White Red 2 A 16 White Black 2 A 17 Yellow Black 2 B 18 Yellow Red 2 B 19 Pink Red 2 Z 20 Pink Black 2 Z 21 Orange Red 3 Z 22 Gray Red 3 CW PULS FA 23 Gray Black 3 CW PULS FA 24 White Red 3 CCW SIGN FB 25 White Black 3 CCW SIGN FB 26 Orange Black 3 FG Connector plug 10126 3000PE Sumitomo 3M Connector case 10326 52A0 008 Sumitomo 3M Cable AWG24 x 13P UL20276 Wires with the same wire color and number of marks form a twisted pair Pin Arrangement 3 44 Specifications Specifications 3 3 Cable and Connector Specifications E Connector Terminal Block Cables XW2Z This Cable is for the Connector Terminal Block of the Servo Drive s Control I O Connector CN1 J B28 Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B28 im Approx 0 1 kg XW2Z 200J B28 2m ne Approx 0 2 kg Connection Configuration and External Dimensions 6 L Connector Terminal Block XW2B 34G4 XW2B 34G5 XW2D 34G6 Wiring Connector Terminal Block
383. rd Models and Dimensions 2 1 Standard Model Sisco sccicccstessececansicsssasiecercetsencacns 2 1 SCIVOUD IVES protests te nace en ee ere oe retin ener gene eae oe 2 1 SS CIVOMOLOMS seerrecsessececcee seeeseaccetcrent A E 2 1 Parameter W mites cee recicestececcncncsenecnese osnee heneereenceeny 2 2 Servo Drive Servomotor Combinations ceccceeeeeeeeees 2 2 Accessories and Cables ie mnn ae aeaaee ea setae etree ene 2 4 2 2 External and Mounted Dimensions 2 10 SONVOIDMIVGS E E A hae he ann A cece 2 10 SS CIVOMOLOMS oa Sec ae e Seatac a e r E eer nees 2 12 Parameter Unit Dimensions c ccccccceeeeeeeeeeeeeeeenttneeeenees 2 15 External Regeneration Resistor Dimensions 05 2 16 Reactor Dimensions raer a E 2 17 DIN Rail Mounting Unit Dimensions 00 eee 2 18 Standard Models and Dimensions 2 1 Standard Models 2 1 Standard Models Servo Drives Servomotors Specifications Model Single phase 100 VAC 50 W R7D BPA5L 100 W R7D BPO1L 200 W R7D BP02L ee 50 W Habeo 100 W 400 W R7D BP04H Single phase 200 VAC 200 W R7D BP02HH Three phase 200 VAC 200 W R7D BP02H E 3 000 r min Servomotors Specifications nea Straight shaft Straight shaft with key and tap 100 200 V 50W R88M G05030H R88M G05030H S2 g 100 V 100 W R88M G10030L R88M G10030L S2 S 200 W R88M G20030L R88M G20030L S2 3 200 V 100 W R
384. rections is limited in Torque Control Mode and the settings of the Torque Limit Selection Pn03 and No 2 Torque Limit Pn5F are ignored e Make the settings as a percentage of the rated torque Torque 300 max 4 Pn5E Pn5F 150 200 100 rated 4 Example Maximum torque is limited to 150 Forward A A Speed Rated Maximum Reverse 10 96 Appendix 2 Appendix 2 10 5 Operating Functions Pn60 Positioning Completion Range Setting range 0 to 32767 Unit Pulse Default setting 25 Power OFF gt ON e Use this parameter in combination with the Positioning Completion Condition Setting Pn63 to set the timing to output the Positioning Completed Output INP CN1 pin 39 The Positioning Completed Output INP will turn ON when command pulse input is completed the Servomotor workpiece movement stops and the number of the accumulated pulses in the deviation counter is less than the setting of this parameter e For position control set the number of encoder pulses e The basic unit for accumulated pulses is the encoder resolution The encoder resolutions are as follows e 17 bit encoder 217 131 072 e 2 500 pulse revolution encoder 4 x 2500 10000 e If this parameter is set to a very small value the time required for the INP signal to turn ON will increase and the output may chatter The setting of the Positioning Compl
385. ring or the encoder wir tate even when ing is incorrect mman r SG d pulses re e The Servomotor is me e If the Servomotor shaft is input chanically being held held by external force re lease it e Release the electromag netic brake e Control PCB error e Replace the Servo Drive Occurs during high e The Servomotor power e Correct the wiring speed rotation wiring or the encoder wir ing is incorrect Occurs when long com e Gain adjustment is insuf e Adjust the gain 8 mand pulses are given ficient e The acceleration and de e Extend the acceleration celeration are too rapid and deceleration times e The load is too large e Reduce the load e Select a suitable Servo motor 8 Occurs during opera e The setting for the Devia e Increase the setting of g tion tion Counter Overflow Pn63 a Level Pn63 was ex e Slow the rotation speed ceeded e Reduce the load S e Extend the acceleration fe and deceleration times t e 26 Overspeed Occurs during high e The speed command in e Set the command pulse speed rotation put is too large frequency to 500 kpps max e The setting for the Elec tronic Gear Ratio Numer ator Pn46 or Pn47 is not appropriate e Set Pn46 and Pn47 so that the command pulse frequency is 500 kpps max e The maximum number of rotations is exceeded due to overshooting e Adjust the gain e Reduce the maximum command speed e Th
386. rocessing Er tp Pn4E 1 x Control cycle Control Cycles with High response Position Control Pn02 0 Setting 0 Cycle 0 1 x 166 166 us Setting 1 Cycle 1 1 x 166 332 us Setting 31 Cycle 31 1 x 166 5312 us Control Cycles with Advanced Position Control Pn02 2 Setting 0 Cycle 0 1 x 333 333 us Setting 1 Cycle 1 1 x 333 666 us Setting 31 Cycle 31 1 x 333 10656 us Time 4 Response with position loop gain Response with position loop gain Pn4F Not used Do not change setting 5 52 Operating Functions 5 10 User Parameters E Internally Set Speed Control Parameters Pn50 Not used Do not change setting Pn51 Not used Do not change setting Pn52 Not used Do not change setting Pn53 No 1 Internally Set Speed Internally set speed Setting range 20000 to 20000 Unit r min Default setting 100 Power OFF gt ON Pn54 No 2 Internally Set Speed Internally set speed Setting range 20000 to 20000 Unit r min Default setting 200 Power OFF gt ON 5 Pn55 No 3 Internally Set Speed Internally set speed Setting range 20000
387. rol Gain Switch 1 Setting Pn31 The following shows the definitions for the Gain Switch 1 Time Pn32 Gain Switch 1 Level Setting Pn33 and Gain Switch 1 Hysteresis Setting Pn34 Pp x 7 Pn34 0 Gain 1 Gain 2 gt lt Gain 1 Pn32 e a e The settings for the Gain Switch 1 Level Setting Pn33 and the Gain Switch 1 Hysteresis Setting Pn34 are effective as absolute values positive negative Pn35 Position Loop Gain Switching Time Setting range O to 10000 Unit x 166 us Default setting 20 Power OFF gt ON e When switching between gain 1 and gain 2 is enabled set the phased switching time only for position loop gain at gain switching Example 166 166us J Kp1 Pn10 gt Kp2 Pn18 Kp1 Pn10 gt Bold solid line Pn35 0N MPSS i aes Kp2 Pni8 Gain 1 gt e 10 86 Appendix 2 Appendix 2 10 5 Operating Functions Pn36 Reserved Setting range Unit Default setting Power OFF gt ON Pn37 Reserved Setting range Unit Default setting Power OFF gt ON Pn38 Reserved Setting
388. rol circuit voltage 264 V 50 60 Hz Rated current 0 05 A Heat Main circuit 38 7 W generated Control circuit 4 3 W PWM frequency 6 0 KHz Weight Approx 1 5 kg Maximum applicable motor capacity 750 W Applicable 3 000 r min Servomotors INC G75030H Servomotors Control method All digital servo Inverter method IGBT driven PWM method 10 16 Appendix 2 Appendix 2 10 3 Specifications Main Circuit and Servomotor Connections When wiring the main circuit use proper wire sizes grounding systems and anti noise measures E R88D GP08H Main Circuit Connector Specifications CNA Symbol Name Function L1 L2 Main circuit power R88D GP08H 750W Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz supply input R88D GP08H 750W Three phase 200 to 240 VAC 170 to 264 V 50 60 Hz L3 L1C Control circuit power c R88D GPO8H Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz L2C supply input Servomotor Connector Specifications CNB Symbol Name Function B1 External DEN Re e eration 750 W Normally B2 and B3 are connected If there is high regenerative energy B2 gs remove the short circuit bar between B2 and B3 and connect an External Resistor connection Regeneration Resistor between B1 and B2 B3 terminals U Red V White Servomotor These are the output terminals to the Servomotor Ww connection terminals Blue Be sure to wire them co
389. rol frequency component from the command when the end of mechanisms or devices vibrates Note 1 Take sufficient care for safety Note 2 If oscillation occurs e g abnormal sound or vibration immediately turn OFF the power supply or let the servo OFF status occur 10 107 10 7 Adjustment Functions Gain Adjustment Procedure Start of adjustment Use automatic adjustment No Yes s command input possible No Yes Realtime autotuning setting Realtime autotuning Will rigidity also be set automatically Normal mode autotuning Yes Fit gain function Is operation OK N Yes Reset of automatic Is operation OK adjustment Yes function Default setting Is operation OK Reset of automatic adjustment function Yes Writing in EEPROM End of adjustment Consult your OMRON representative E Gain Adjustment and Machine Rigidity Do the following to increase the machine rigidity e Install the machine on a secure base so that it does not wobble e Use couplings that have a high rigidity and that are designed for servo systems e Use a wide timing belt and use a tension within the allowable axial load for the Servomotor e Use gears with small backlash The specific vibration resonance frequency of the mechanical system has a large impact on the gain adjustment The servo system responsiveness cannot be set
390. rrectly Green Yellow Frame ground This is the ground terminal Ground to a 100 Q or less 10 17 10 3 Specifications Control I O Connector Specifications CN1 E Control I O Signal Connections FZAVCW I 2 2 kQ Frame ground 1 Use only when an absolute encoder If a backup battery is connected an encoder cable with a battery is not required 10 18 Reverse pulse popio 11 BKIR 500 kpps max Brake Interlock Maximum 10 BKIRCOM operating voltage Forward 35 READY 30 VDC pulse O i Servo Ready Output Maximum 34 READYCOM output F current evers 37 ALM 50 mA DC P Alarm Output 36 ALMCOM 2Mppsmax bet Tg et ET Ponar poreeiene 39LINP Positioning pulse Completed Output me a 38 INPCOM I O 12 to 24 VDC ui 4 7kO RUN Command SA Input RUN 29 eF ia 4 7kQ Vibration Filter Po er Switch A y DFsELl2 n i 47kO Gain Switch TENE H i Input GSEL 27 A y F X L o ara Phase A Y Line driver output 10 t 47KO A Conforms to i ue ee ee EIA RS 422A e
391. rs Oil seal 5 000 hours Encoder 30 000 hours These values presume an ambient Servomotor operating temperature of 40 C shaft loads within the allowable range rated operation rated torque and rated r min and install as described in this manual The oil seal can be replaced If timing pulleys are belt driven the radial loads during operation rotation are as twice as the static loads Consult with the belt and pulley manufacturers and adjust designs and system settings so that the Servomotor s allowable shaft load is not exceeded even during operation If a Servomotor is used under a shaft load exceeding the allowable limit the Servomotor shaft may break and the bearings may burn out 8 5 Periodic Maintenance Servo Drive Service Life The service life of the Servo Drive is provided below Consult with your OMRON representative to determine whether or not components need to be replaced Aluminum electrolytic capacitors 50 000 hours at an ambient Servo Drive operating temperature of 40 C 80 of the rated operation output rated torque installed as described in this manual Axial fan 30 000 hours at an ambient Servo Drive operating temperature of 40 C and an ambient humidity of 65 RH When using the Servo Drive in continuous operation use a fan or air conditioner to maintain an ambient operating temperature of 40 C or lower We recommend that the ambient operating temperature be lowered and the powe
392. s 5 10 User Parameters A Parameter Unit R88A PR02G is required to set and change parameters For information on operating procedures refer to 6 3 Using the Parameter Unit Set and check the user parameters in Parameter Setting Mode Fully understand the parameter meanings and setting procedures before setting user parameters according to your system Some parameters are enabled by turning the power OFF and then ON again When changing these parameters turn OFF the power check that the power LED indicator has gone OFF and then turn ON the power again Setting and Checking Parameters 5 m Overview Use the following procedure to set and check parameters Display Parameter Setting Mode When the power supply is turned ON the item set for the Default Display Pn01 will be displayed Press the Data key to go to Monitor Mode Then press the Mode key to go to Parameter Setting Mode Set the parameter number Press the Shift Increment and Decrement keys to set the parameter number Display the parameter setting Press the Data key to display the setting Change the parameter setting Press the Shift Increment and Decrement keys to change the displayed setting and then press the Data key to enter the setting of the parameter Save the changed setting to memory Press the Mode key to go to the display of Parameter Write Mode and then press the Data key to move on to Parameter Write Mode By pressing th
393. s overflow exceeded 134 217 728 on The Servomotor exceeded the allowable operating range set in the ai Overrun Or Overrun Limit Setting Pn26 ves 36 Parameter ertor Data in the parameter saving area was corrupted when data was No read from the EEPROM at power ON A The checksum didn t match when data was read from the EEPROM 37 Parameter corruption No at power on 38 Drive prohibit input error The forward drive prohibit and reverse drive prohibit inputs are both Yes turned OFF 48 Encoder phase Z error A phase Z pulse was not detected regularly No 49 Encoder CS signal error A logic error of the CS signal was detected No The combination of the Servomotor and Servo Drive is not appropri 95 Servomotor ate No non conformity The encoder was not connected when the power supply was turned ON 96 LSI setting error ars noise caused the LSI setting not to be completed proper No Others Other errors The Servo Drive s self diagnosis function detected an error in the No Servo Drive 8 4 Troubleshooting Troubleshooting 8 3 Troubleshooting 8 3 Troubleshooting If an error occurs in the machine determine the error conditions from the alarm indicator and operating status identify the cause of the error and take appropriate countermeasures Points to Check Is the power supply LED indicator PWR lit red or orange Is the connector disconnected s the LED indicator flashing Host
394. s and cause of error reset possible 11 Power supply The DC voltage of the main circuit fell below the specified value while Yes undervoltage the RUN Command Input was ON 12 Overvoltage The DC voltage of the main circuit is abnormally high Yes 14 Overc rrent Overcurrent flowed to the IGBT Servomotor power line ground fault No or short circuit 15 Built in resistor overheat The resistor in the Servo Drive is abnormally overheating No 16 Overload Operation was performed with torque significantly exceeding the rat Yes ed level for several seconds to several tens of seconds 18 Regeneration overload The regeneration energy exceeded the processing capacity of the No regeneration resistor Encoder disconnection The encoder wiring is disconnected 21 No detected 23 Encoder data error Data from the encoder is abnormal No 24 Deviation counter The number of accumulated pulses in the deviation counter exceed Yes overflow ed the setting in the Deviation Counter Overflow Level Pn63 The Servomotor exceeded the maximum number of rotations 26 Olersb cd If the torque limit function was used the Servomotor s rotation speed Yes P exceeded the settings in the Overspeed Detection Level Setting Pn70 and Pn73 Electronic gear setting The setting in Electronic Gear Ratio Numerator 1 Pn46 or Electron 27 F 3 Yes error ic Gear Ratio Numerator 2 Pn47 is not appropriate 29 Deviation counter The number of accumulated pulses for the deviation counter Ye
395. s can be selected by using pin 4 in combination with the Internally Set Speed Selection 1 Input VSEL1 3 9 3 1 Servo Drive Specifications E Gain Switch Zero Speed Designation Torque Limit Switch Input Pin 5 Gain Switch Zero Speed Designation Torque Limit Switch Input GSEL VZERO TLSEL Function Gain Switch Pin 5 is the Gain Switch Input GSEL when Pn02 is set to 0 or 2 Position Control Mode and the Zero Speed Designation Torque Limit Switch Pn06 is set to anything other than 2 The Gain Switch Input GSEL switches between PI and P operation or between gain 1 and gain 2 When the Gain Switch Input Operating Mode Selection Pn30 is set to O this input switches between PI and P operation When Pn30 is set to 1 and the Gain Switch Setting Pn31 is set to 2 this input switches between gain 1 and gain 2 Gain 1 includes the Position Loop Gain Pn10 Speed Loop Gain Pn11 Speed Loop Integration Time Constant Pn12 Speed Feedback Filter Time Constant Pn13 and Torque Command Filter Time Constant Pn14 Gain 2 includes the Position Loop Gain 2 Pn18 Speed Loop Gain 2 Pn19 Speed Loop Integration Time Constant 2 Pn1A Speed Feedback Filter Time Constant 2 Pn1B and Torque Command Filter Time Constant 2 Pn1C Function Zero Speed Designation Pin 5 is the Zero Speed Designation Input VZERO when Pn02 is set to 1 Internal Speed Control Mode and the Zero Speed Designation Torque Limit Switch Pn06 is s
396. s continuously run at a low speed below 100 r min e f the acceleration deceleration gradually changes at less than 2 000 r min in 1 s Operating e f the acceleration deceleration torque is too small compared with the unbalanced pattern load and the viscous friction torque e If a speed of 100 r min or an acceleration deceleration of 2 000 r min s does not continue for at least 50 ms 1 Stop the Servomotor i e turn the servo OFF 2 Set the Realtime Autotuning Mode Selection Pn21 to 1 to 7 The default setting is 1 Setting Realtime Autotuning Degree i ce inania curing 0 Not used 1 No change in load inertia 2 Normal mode Gradual changes in load inertia 3 Sudden changes in load inertia 4 No change in load inertia 5 Vertical axis mode Gradual changes in load inertia 6 Sudden changes in load inertia 7 No gain switching mode No change in load inertia 10 109 10 7 Adjustment Functions When the degree of load inertia change is high set the value to 3 or 6 Use a setting of 4 to 6 when the vertical axis is used Use setting 7 if vibration occurs due to gain switching 3 Set the Realtime Autotuning Machine Rigidity Selection Pn22 to 0 or a low value 4 Turn the servo ON and operate the machine as normally 5 To increase system responsiveness gradually increase the setting of the Realtime Autotuning Machine Rigidity Selection Pn22 If the machine produce
397. s open and do not wire them Use mode 2 for origin search Use the 5 VDC power supply for the command pulse inputs as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent 9 1 Connection Examples m Connection Example 4 Connecting to SYSMAC CS1W NC113 213 413 C200HW NC113 213 413 Position Control Units Main circuit power supply NFB OFF ON MC1 MC2 acd Main circuit contact O 6 0 _ J 4 nae i 2 Lu sP Surge killer 3 phase 200 240 VAC 50 60 Hz SO S gt 9 crc x1 p 2 ED Servo error display TO o 6 CS1W NC113 213 413 Ground to fai C200HW NC113 213 413 100 Q or less ail Contents No R7A CPB LIS 24 V power supply for outputs A1 24 VDL i aa 0 V power supply for output A2 i m MC1 MC2 a CW witha resistor A6 i CW gt Connect External Regeneration CW without a resistor _AS CCW gt Resistor when required g CCW with a resistor A8 i CCW a ccw without a resistor A7 i X axis dev cntr reset output ECRST R88M G X axis
398. s the setting of this parameter e The setting of this parameter is valid for both forward and reverse operation regardless of the Servomotor direction This setting has a hysteresis of 10 r min Pn62 10 r min TGON Speed Pn62 10 r min eS eee 4 lt lt OFF ON Pn63 Positioning Completion Condition Setting Setting range 0to3 Unit Default setting 0 Power OFF gt ON Explanation of Settings Setting Explanation 0 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 and there is no position command Positioning completion output turns ON when the zero speed detection signal is ON the po sition deviation is within the Positioning Completion Range Pn60 and there is no position command Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 and there is no position command The ON status will be main tained until the next position command is received e Use this parameter in combination with the Positioning Completion Range Pn60 to set the operation for Positioning Completed Output INP CN1 pin 39 Pn64 Reserved Setting range Unit Default setting Power O
399. s unusual noise or oscillation return the Realtime Autotuning Machine Rigidity Selection to a low value e g 0 to 3 immediately 6 Write data to the EEPROM if the results are to be saved Operating Procedure Insert the Parameter Unit connector into CN3B of the Servo Drive and turn ON the Servo Drive power supply Setting Parameter Pn21 Press the key Press the key Select the number of the parameter to be set by using the A and keys Pn21 is selected in this example Press the key Change the value by using the A and keys Press the key Setting Parameter Pn22 Select Pn22 by using the A key Press the key Increase the value by using the A key Decrease the value by using the key Press the key Writing to EEPROM Press the key Press the key The bars as shown in the figure on the right will increase when the key is pressed down for approx 5 s Writing will start momentary display End OL C a uw a i co Co I 1 Default setting Z arte Uh PSE a i IET Ea Ee G GG Writing completed Writing error occurred 10 110 Appendix 2 Appendix 2 10 7 Adjustment Functions Filt Gain Function 10 111 SMARTSTEP 2 750 W Model include a fit gain function that automatically sets the rigidity to match the device when realtime autotuning is
400. selected Gain will differ depending on the settings for Pn31 and Pn36 Torque limit switch input when the Torque Limit Selection TLSEL Torque Limit Switch Pn09 iS set to 3 All OFF No 1 Torque Limit Pn5E enabled ON No 2 Torque Limit Pn5F enabled 10 19 10 3 Specifications Pin Control No Symbol Name Function Interface more Electronic gear switch input a GESEL Electronic Gear Switch OFF Electronic Gear Ratio Numerator 1 Pn48 Position 28 ON Electronic Gear Ratio Numerator 2 Pn49 VSEL3 Internally Set Speed Internally set speed selection 3 Internally Selection 3 ON Internally set speed selection 3 is input Speed 29 RUN RUN Command ON Servo ON Starts power to Servomotor 2 All Deviation Counter Reset Deviation counter reset input bi Bone Input ON The deviation counter is reset i e cleared Fosition 30 VSEL2 Internally Set Speed Internally set speed selection 2 Internally Selection 2 ON Internally set speed selection 2 is input Speed ON Servo alarm status is reset 31 RESET Alarm Reset Input Must be ON for 120 ms min All Pulse prohibit input IPG when the Command Pulse Pro IPG Pulse Prohibit Input hibited Input Pn43 is set to 0 Position 33 OFF The command pulse is ignored VSEL1 Internally Set Speed Internally set speed selection 1 Internally Selection 1 ON Internally set speed selection 1 is input Speed 44 CWLD Position comma
401. set set value 2 10 52 Appendix 2 Appendix 2 10 5 Operating Functions 10 5 4 Encoder Dividing Function e The number of pulses can be set for the encoder signals output from the Servo Drive Parameters Requiring Settings eae Parameter name Explanation Pn44 Encoder Divider Set the number of pulses to be output in combination with the Encoder Divider Numerator Setting Denominator Setting Pn45 Encoder Divider Set the number of pulses to be output in combination with the Encoder Divider Pn45 Denominator F Setting Numerator Setting Pn44 Pn46 Encoder Output Set the phase B logic and output source for the pulse output CN1 B pin 48 Direction Switch CN1 B pin 49 Operation e Incremental pulses are output from the Servo Drive through a frequency divider Encoder Servo Drive Ce ee ee i S i _ gt Frequency i Phase A f Processing circuit Phase Z V EEEE E E T E ATE e The output phases of the encoder signal output from the Servo Drive are as shown below Forward Rotation Reverse Rotation Phase A Phase A Phase B Phase B l Phase Z Phase Z 10 53 10 5 Operating Functions 10 5 5 Electronic Gear Function e The Servomotor can be rotated for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio e This function is effective under the following conditions e When f
402. sistor alarm alarm code 18 will Resistor occur when the resistance exceeds 10 of the operating limit 2 mead Regenerator The regeneration resistor overload alarm does not operate Resistor Servo Drive built in The external regeneration processing circuit does not oper 3 S ate Regenerative energy is processed with the built in capac capacitor itor 7 Always install a thermal fuse or other external protection when Pn6C is set Precautions 2 for Safe Use to 2 Without protection for the External Regeneration Resistor it may generate abnormal heat and result in burning Pn6D Not used Do not change setting Pn6E Not used Do not change setting 5 59 5 10 User Parameters Pn6F Not used Do not change setting Pn70 Overspeed Detection Level Setting Allqnodes Setting range 0 to 6000 Unit r min Default setting 0 Power OFF gt ON Set the No 1 overspeed detection level when torque limit switching is enabled in the setting of the Zero Speed Designation Torque Limit Switch Pn06 When the No 1 torque limit is selected an overspeed error will occur if the rotation speed of the Servomotor exceeds the setting This parameter is disabled when torque limit switching is disabled Pn71 No 2 Torque Limit All modes Setting range 0 to 500 Unit Default setting 100 Power OFF gt ON Set the No 2 torque limi
403. solution 5 The meanings of the Gain Switch Time Gain Switch Level Setting and Gain Switch Hysteresis Setting are different from normal if this parameter is set to 10 Refer to Figure F 10 84 Appendix 2 Appendix 2 10 5 Operating Functions Figure A Torque T Figure C Accumulated pulses Level Time gt lt 1 Gain 1 Gain 2 en 1 Command Figure D speed S Time a Gain 1 Gain 2 Gain 1 gt lt gt lt Speed V ee F1 Figure B Figure E _ _ Time i 1 i Gain 1 dia Gain 2 A Gain 1 RE Time gt lt 1o Gaint Gain 2 Gain 1 gt lt gt lt Command Figure F speed S amp if Level me Time gt i UE ae I Gaini Gain 2 1 Gain1 gt lt So Gain 1 is used at other times Gain 2 is used only during the Speed Loop Integration Time Constant Pn32 Gain Switch 1 Time All modes Setting range 0 to 10000 Unit x 166 us Default setting 30 Power OFF gt ON 10 85 e For Position Control Mode use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1 Setting Pn31 is 3 or 5 to 10 e For Speed Control Mode use this parameter to set the delay time when returning from ga
404. stable depending on the operating pattern Normally set the parameter to 1 or 4 To enable the adaptive filter the Control Mode Selection Pn02 must be set to 2 advanced position control The adaptive filter table entry number display will be reset to 0 if the adaptive filter is disabled Changes to this parameter are enabled when the Servo status shifts from OFF to ON The Notch Filter 1 Frequency Pn1D and Vibration Frequency Pn2B must be disabled if realtime autotuning function is used with the Control Mode Selection Pn02 set to 0 high response position control Explanation of Settings Setting Realtime autotuning Degree of change in load inertia during operation Adaptive filter 0 Not used Disabled 1 There is almost no change Enabled 2 There are gradual change Pn02 2 3 There are sudden changes Used 4 There is almost no change 5 There are gradual changes Disabled 6 There are sudden changes Enabled 7 Not used Pn02 2 5 40 Operating Functions Operating Functions 5 10 User Parameters Pn22 Realtime Autotuning Machine Rigidity Selection All modes Setting range Oto 15 Unit Default setting 2 Power OFF gt ON Set the machine rigidity to one of 16 levels for executing realtime autotuning The greater the machine rigidity the higher the setting The higher the setting the higher the
405. stant Torque Command Filter Time Constant 2 Torque Limit No 2 Torque Limit Pn1B Speed Feedback Filter Time Constant 2 Receive Encorder Signal Torque Command Monitor O Torque PI Processor Current Feedback d en V Operating Functions Operating Functions 5 3 Forward and Reverse Drive Prohibit 5 3 Forward and Reverse Drive Prohibit When the Forward Drive Prohibit Input POT CN1 8 and Reverse Drive Prohibit Input NOT CN1 7 are turned OFF the Servomotor will stop rotating You can prevent the Servomotor from rotating beyond the device s travel range by connecting limit inputs Parameters Requiring Settings ee Parameter name Explanation Reference Pno4 Drive Prohibit Input Enable or disable the Forward Reverse Drive Prohibit Inputs Page 5 33 Selection Set the operation for decelerating to a stop after the Forward Pn66 Stop Selection for Reverse Drive Prohibit Input turns OFF This parameter can be Page 5 57 Drive Prohibit Input used to set whether to stop with the dynamic brake or free run g ning Operation Stopping Methods When Forward Reverse Drive Prohibit Is OFF Stop Selection for Drive Deceleration Method Stopped status Prohibit Input Pn66 0 Dynamic brake a Servo unlocked POT NOT turns OFF l gt Free run 2 Servo locked or zero speed designation While the Forward Drive Prohibit Input
406. t 5 7 Parameters Requiring Settings eeeeeeeererrerrereenne 5 7 PS PAtiON eek rora e eE E E E EARE 5 7 5 4 Encoder DIViGiiGieicivcssiensaescecesstvedscdecscecsstecaencsne 5 8 Parameters Requiring Setting ee eeeeeeseeeeseeeesneeeeneereaees 5 8 Operatioma eene eE e E a EE cena Pees 5 8 5 5 Electronic Gal nui csefecccciecscvesedecices autnasdevestevesvocec 5 9 Parameters Requiring Settings ee eeseseseeeeeeeeesreeeeneerenees 5 9 Operations r er treats EE E Se Ree ARIE ey 5 9 Related Rarameteniscecscccrs seccecesctccesscrccvesseccevesseccsessstsccesreses 5 10 5 6 bBrake Interlock sseeeeesseenceeceeeeeeeeees 5 11 Parameters Requiring Setting eeesseesseeeeseeeeeeeeeeteens 5 11 PSratiOn asset csscatecrs eects A O eae 5 11 Be Galli SWINNEN 5 13 Parameters Requiring Setting ee esseesseeeeseeeeseeeesteeees 5 13 Related Parameters oeaan ress EE E AREETA 5 14 5 8 Torge Limit eea ee oe Ren errs ener er corre 5 15 Parameters Requiring Setting ee eseesseeeeseeeeseeeeeeeeens 5 15 Related Para ameterS aeaea aee E E eraser eeen sess teneser sees 5 15 5 9 Ove Elm icccrcica a e 5 16 Parameters Requiring Settings cesessseeeeeeeeeeeeeeeeeees 5 16 perationaes crac tansretcrae A A E rae freee 5 16 5 10 User Parameters ceeseeeessseeneeecceeeeeeeeees 5 17 Setting and Checking Parameters ceee 5 17 RarameternliSts assist acest E E AE 5 20 Paramete
407. t Fz amp ji 24 VDC If this signal is input the output pulse from the CQM1 will be input to the high speed counter N Input this output signal to a CQM1 Input Unit 3 The XB contacts are used to turn ON OFF the electromagnetic brake 4 The phase Z is an open collector 5 Do not connect unused terminals 6 The 0 V terminal is internally connected to the common terminals NJ Applicable crimp terminal R1 25 3 round with open end E XW2B 20J6 8A This Servo Relay Unit connects to the following OMRON Programmable Controllers CJ1M CPU21 CPU22 CPU23 for 1 axis 3 54 Specifications Specifications 3 4 Servo Relay Units and Cable Specifications Dimensions CJ1M CPU21 22 23 connector Servo Drive connector 3 5 135 3 5 7 Terminal Block pitch 7 62 mm Wiring The Servo Drive phase Z output signal is wired to the origin proximity signal in this Terminal Block Common Common RESE CW limit 1 CCW limit 1 Ti CIO 2960 06 CIO 2960 07 24 VDC Ji l 24 VDC 1 CW and CCW limit input signals can also be input through Input Units The bits
408. t Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power lines gt Pe PEEP EEPEEE Connect an emergency stop shutoff relay in series with the brake control relay Not doing so may result in injury or product failure Precautions for Safe Use E Operation and Adjustment Precautions N Caution Confirm that no adverse effects will occur in the system before performing the test operation Not doing so may result in equipment damage Check that the newly set parameters function properly before the actual operation Not doing so may result in equipment damage Do not make any extreme adjustments or setting changes Doing so may result in injury Check for the proper operation of the Servomotor separately from the mechanical system before connecting it to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Do not operate the Servomotor connected to a load that exceeds the applicable load inertia Doing so may result in malfunction gt gt EPEEEE E Maintenance and Inspe
409. t 500 VDC Dielectric strength Between the power line terminals and FG 1 500 VAC for 1 min at 50 60 Hz Operating position All directions Insulation grade Type B Structure Totally enclosed self cooling Protective structure IP65 excluding through shaft parts and lead wire ends Vibration grade V 15 Mounting method Flange mounting EN 60034 1 2004 oe EC Direc irective 5 P tives 25 cow Voltage IEC 60034 5 2001 ce irective oO S ULstandards UL 1004 File No E179189 cUL standards cUL 22 2 No 100 E Motor Rotation Directions In this manual the Servomotors rotation directions are defined as forward and reverse Viewed from the end of the motor s output shaft counterclockwise CCW rotation is forward and clockwise CW rotation is reverse Reverse Forward 3 16 Specifications Specifications 3 2 Servomotor Specifications Characteristics E 3 000 r min Cylindrical Servomotors tem Unit R88M R88M R88M G05030H G10030L G20030L Rated output Ww 50 100 200 Rated torque N m 0 16 0 32 0 64 Rated rotation speed r min 3000 Max rotation speed r min 5000 Max momentary torque N m 0 48 0 95 1 78 Rated current A rms T1 1 7 2 5 Max momentary current A rms 3 4 5 1 7 6 Rotor inertia kg m 2 5 x 10 6 5 1 x 10
410. t RESET eee 10 20 10 23 alarm tables tccfees cae a nad 10 135 ALM 3 13 6 2 applicable load inertia ccccccccceeeeeseteeeeeeeeeeeees 3 25 AULOLUMIAG Ea cee cece A E 7 8 Autotuning Operation Setting Pn25 10 79 autotuning table eee eeeeeeeeeeeeee 10 120 B Brake Interlock Brake Interlock Output BKIR Brake Timing during Operation Pn6B Brake Timing When Stopped Pn6A 05 Cc GOW E R E Ss cwtens E A Geant eee 3 11 check pins a 10 3 CIAIMP COMES sinoi oieose iatera ia enia a aa 4 21 Command Pulse Input Selection Pn40 10 88 Command Pulse Mode Pn42 nsee 10 89 Command Pulse Prohibited Input Pn43 10 89 Command Speed Selection Pn05 connecting CAbDIES eee eee teenie Connector Terminal Block Cables cccee Connector Terminal Block Cables 2 8 3 45 4 8 Connector Terminal Block Conversion Unit 3 46 10 39 Connector Terminal Block Conversion Units 2 9 4 8 CONTACTOS iinne 4 23 10 46 Control Gain Switch 1 Setting P31 10 83 Control I O Connectors c ccceeeereees 2 6 3 40 Control I O CONNECHOSS cccccccccecesessssestseeeeeeeeeees 10 33 control input Signals eee cee eee eee eee Control Mode Selection Pn02 Copy Modesa iaip one denen cee CW a dheteainaseetanatenth urseneaxtens D T damping control ss essnnssissinsinsinsrnnr
411. t FUNCIONS aeneon Faw ted deeded eade tee deh tee cae aa aa ET aE E 10 106 Hrevel INO OUT me E E 10 135 15 Chapter 1 Features and System Configuration Wd Overview na eee EE aaae E aE E EE E 1 1 Overview of the SMARTSTEP 2 Series ccsscccccescsssetseees 1 1 Features of the SMARTSTEP 2 Sefries c c ccccccccsssstteeeeees 1 1 1 2 System Configuration ccccccseeeeeeeseseeeeeees 1 2 1 3 Names of Parts and Functions 0000s00 1 3 SEenvolDrivermarteNameserecses rete eee eee eee eee 1 3 Semo Drive FUNCIONS e e Ee e Eae E e E 1 4 1 4 System Block Diagrams eceeeeeseeeeeeees 1 5 1 5 Applicable Standards sccssssseesseeeeeeeeees 1 6 EC Directive Sroa iee rene ea E aetna R I ase 1 6 Ue Sda A 1 6 Features and System Configuration 1 1 Overview 1 1 Overview Overview of the SMARTSTEP 2 Series The SMARTSTEP 2 Series is a series of pulse string input type Servo Drives for position controlling and it has been designed to function for low capacity positioning systems In spite of the compact size the SMARTSTEP 2 Series features realtime autotuning and adaptive filter functions that automatically perform complicated gain adjustments A notch filter can also be automatically set to suppress machine vibration by reducing mechanical resonance during operation The vibration control function of the SMARTSTEP 2 Series realizes stable stopping performance in a mechanism w
412. t Servo XALMRS XSGND XSOUT X GND gt lt gt lt gt lt gt lt gt lt gt lt NIN GOI W gt XOUT XAGND F24V FDC GND YALM YRUN YALMRS YSGND YSOUT Y GND lt lt lt lt lt lt NI IN OO W gt gt lt O G Sj YAGND AWG20 Red AWG20 Black White Black 1 1 Gray Red 1 _ OC Orange Black 2 i White Red 1 White Black 1 SX Yellow Red 1 Yellow Black 1 SC Pink Red 1 Pink Black 1 XD Orange Red 1 Orange Black 1 Gray Black 1 Cable AWG26 x 5P AWG26 x 6C Connector plug 10136 3000PE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M Drive Signal REF TREFIVLIM 4 9450 3000PE ALMCOM Servo Drive R88D G Servo Drive R88D G Connector plug Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Appendix 2 e The Motion Control Unit signals are the DRVX and DRVY connector signals For the DRVZ and DRVU connectors X and Y are indicated as Z and U respectively e Pins marked with asterisks are for absolute encoders e Connect 24 VDC to the two lines red and black extending from the Motion Control Unit connector red 24 V black 10 34 Appendix 2 10 3 Specifications e Cables for Two Axes Motion Control Unit Signal 24V DCGND XALM XRUN XALMRS XSGND XSOUT X GND gt lt gt
413. t in Position Control Mode Positioning when Pn02 is set to 0 or 2 Completed ON The residual pulses for the deviation counter are within Output or the setting for Positioning Completion Range Pn60 10 INP TGON Servomotor Rotation Speed Motor rotation detection output in Internal Speed Control Detection Mode when Pn02 is set to 1 Output ON The number of Servomotor rotations exceeds the value set for Servomotor Rotation Detection Speed Pn62 11 BKIR Brake Interlock Outputs the holding brake timing signals Release the hold Output ing brake when this signal is ON 12 WARN Warning Output The signal selected in the Warning Output Selection Pn09 is output Output Ground Ground common for sequence outputs pins 9 10 11 and 13 OGND Common 12 Ground Common for Encoder output and phase Z output pin 21 14 GND Common 15 A Encoder These signals output encoder pulses according to the 16 A Phase A Output Encoder Dividing Ratio Setting Pn44 17 B Encoder This is the line driver output equivalent to RS 422 18 3B Phase B Output 19 Z Encoder 20 Phase Z Output 21 z Phase Z Output Outputs the phase Z for the Encoder 1 pulse rotation This is the open collector output 1 This is OFF for approximately 2 seconds after turning ON the power Note An open collector output interface is used for sequence outputs maximum operating voltage 30 VDC maximum output current 50 mA 3 6 Specifications Specificat
414. t or Decrement key to change the setting Press the Data key Setting Parameter Press the Increment key to set the parameter number to Pn22 Press the Data key Pn21 T a 1 wi a a I 1 co co Pn22 Press the Increment key to increase the setting Default setting Press the Decrement key to decrease the setting Press the Data key 7 4 Adjustment Functions x Adjustment Functions 7 2 Realtime Autotuning Writing in EEPROM Press the Mode key Press the Data key Press the Increment key for at least 5 s The bars will increase as shown in the diagram 7 on the right Writing will start Start will be displayed momentarily Writing completed oc DN 1 wi nm rv T owe Writing completed Writing error occurred After writing has been completed return to the display for Parameter Write Mode Adaptive Filter The adaptive filter will be enabled if the Control Mode Selection Pn02 is set to advanced position control setting of 2 and the Realtime Autotuning Mode Selection Pn21 is set to 1 to 3 or 7 7 5 The adaptive filter estimates the resonance frequency from the vibration component in the motor speed during operation eliminates the resonance component from the torque command by automatically setting the notch filter coefficient and suppresses the resonance point vibration Pre
415. t the procedure from the beginning Precautions for Correct Use 6 16 Operation 6 3 Using the Parameter Unit Autotuning Mode For details on autotuning refer to 7 3 Autotuning This section describes only the operating procedure 1 Displaying Autotuning Mode Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key three times to display Autotuning Mode D 2 Executing Autotuning Key operation Display example Explanation Press the Data key to enter Autotuning Mode Press and hold the Increment key until Start is displayed The bar indicator will increase when the key is pressed for 5 s or longer i DO The bar indicator will increase The Servomotor will start and autotuning will begin Operation This display indicates a normal completion Iff o is displayed a tuning error has occurred 3 Returning to the Display of Autotuning Mode Key operation Display example Explanation Press the Data key to return to the Autotuning Mode Display Do not remove the Parameter Unit from the Servo Drive during the time from Start to Finish If the Parameter Unit is removed during autotuning repeat the procedure from the beginning Always save each gain value changed with autotuning in EEPROM so that the
416. t when torque limit switching is enabled in the setting of the Zero Speed Designation Torque Limit Switch Pn06 This parameter is disabled when torque limit switching is disabled Refer to Torque Limit on page 5 54 for information on setting details Pn72 No 2 Deviation Counter Overflow Level Alpacas Setting range 1 to 32767 Unit x 256 pulse Default setting 100 Power OFF gt ON Set the No 2 deviation counter overflow level when torque limit switching is enabled in the setting of the Zero Speed Designation Torque Limit Switch Pn06 This parameter is disabled when torque limit switching is disabled Refer to Deviation Counter Overflow Level on page 5 56 for information on setting details Pn73 No 2 Overspeed Detection Level All modes Setting range O to 6000 Unit r min Default setting 0 Power OFF gt ON Set the No 2 overspeed detection level when torque limit switching is enabled in the setting of the Zero Speed Designation Torque Limit Switch Pn06 When No 2 torque limit is selected an overspeed error will occur if the rotation speed of the Servomotor exceeds the setting This parameter is disabled when torque limit switching is disabled Pn74 Not used Do not change setting to Pn7F Not used Do not change setting 5 60 Operating Functions Chapter 6 Operation 6 1 Operatio
417. ta key for 5 s or longer to reset the value 13 Not used 14 Not used ose 15 Automatic Servomotor Automatic Servomotor recognition is always enabled recognition display 5 32 Operating Functions 5 10 User Parameters Pn02 Control Mode Selection All modes Setting range Oto2 Unit Default setting 2 Power OFF gt ON Yes Set the control mode to be used Explanation of Settings Operating Functions Setting Explanation 0 High response Position Control 1 Internally Set Speed Control 2 Advanced Position Control Differences between High response Position Control and Advanced Position Control are Realtime Autotun Adaptive Filter P aly D Fre bce ae ing Mode Selection Table Number quency quency Pn21 Display Pn2F High response Position Conditional Conditional Conditional Disabled Control Advanced Position Enabled Enabled Enabled Enabled Control The Notch Filter 1 Frequency Vibration Frequency and Realtime Autotuning Mode Selection cannot be used at the same time in High response Position Control Mode The parameter entered first will be given priority Example When the Realtime Autotuning Mode Selection is set the Servo Drive will be forcibly set to 1500 disabled even if the Notch Filter 1 Frequency is input The adaptive filter is disabled in High response Position Control Mo
418. tating beyond the device s operating range by connecting limit inputs Parameters Requiring Settings ee Parameter name Explanation Pn04 Drive Prohibit Input Selection Enable or disable the Forward Reverse Drive Prohibit Inputs Stop Selection for Drive Set the operation for decelerating to a stop after the Forward Reverse Pn66 Ros Drive Prohibit Input turns OFF Set whether to use the dynamic brake Prohibition Input to stop or free running Operation Stopping Methods When Forward Reverse Drive Prohibit Is OFF Stop Selection for Drive Deceleration Method Stopped Status a a i Dynamic brake Disables torque in drive 0 prohibited direction POT NOT turns OFF r gt Free run Emergency Stop Torque Pn6E gt Servo locked While the Forward Drive Prohibit 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 Prohibit Input NOT is OFF the Servomotor cannot be driven in the reverse direction but it can be driven in the forward direction With a vertical axis there is a risk that the load may drop when drive is prohibited by the drive prohibit input To prevent this it is recommended that the deceleration method be set to use emergency stop torque in the Drive Prohibit Input Stop Selection parameter Pn066 and that stopping in the servo lock state be
419. tch them according to the condition e These parameters are automatically changed by executing realtime autotuning To set them manually set the Realtime Autotuning Mode Selection Pn21 to 0 e Gain switching is enabled only for position control Appendix 2 Pn1iD Notch Filter 1 Frequency Setting range 100 to 1500 Unit Hz Default setting 1500 Power OFF gt ON e Use this parameter to set the frequency of notch filter 1 for resonance suppression e The notch filter function will be disabled if this parameter is set to 1500 PniE Notch Filter 1 Width Setting range 0 to 4 Unit Default setting 2 Power OFF gt ON e Use this parameter to set the width of notch filter 1 for resonance suppression to one of 5 levels e Increasing the setting increases the notch width Normally use the default setting PniF Reserved Setting range Unit Default setting Power OFF gt ON 10 77 10 5 Operating Functions Pn20 Inertia Ratio All modes Setting range 0 to 10000 Unit Default setting 300 Power OFF gt ON e Use this parameter to set the load inertia as a percentage of the Servomotor rotor inertia e Pn20 Load inertia Rotor inertia x 100 e When normal mode autotuning is executed the load inertia will be automatically estimated after the specified operation and this parameter will b
420. tected even during normal operation e Deviation counter overflow alarm code 24 will not be detected if this parameter is set to 0 Pn71 Reserved Setting range Unit Default setting Power OFF gt ON Pn72 Overload Detection Level Setting All modes Setting range 0 to 500 Unit Default setting 0 Power OFF gt ON Appendix 2 e Use this parameter to set the overload detection level e The overload detection level will be 115 if this parameter is set to 0 e This parameter should normally be set to 0 The setting should be changed only when it is necessary to reduce the overload detection level e The setting of this parameter is limited to 115 of the Servomotor rating Pn73 Overspeed Detection Level Setting All modes Setting range 0 to 20000 Unit r min Default setting 0 Power OFF gt ON e Use this parameter to set the overspeed detection level e The overspeed detection level will be 1 2 times the maximum Servomotor rotation speed if this parameter is set to 0 e This parameter should normally be set to 0 The setting should be changed only when it is necessary to reduce the overspeed detection level e The setting of this parameter is limited to 1 2 times the maximum Servomotor rotation speed e The detection margin of error for the setting is 3 r min for a 7 core absolute encoder and 36 r min for a 5 core incremental encode
421. ted in the PS No 10 135 10 8 Troubleshooting 10 8 2 Troubleshooting Error Diagnosis Using the Displayed Alarm Codes wee Error Status when error occurs Cause Countermeasure e The power supply e Check the power voltage is low supply capacity e Momentary power e Change the power interruption occurred supply e Power supply capacity e Turn ON the power Occurs when the Servo is insufficient supply Drive is turned ON e The power supply e Extend the voltage is reduced Momentary Hold Time beacuse the main Pn6D power supply is OFF 13 Main power supply e The main power supply undervoltage is not input e Phase loss e Correctly connect the phases of the power supply voltage Occurs when power e Correctly connect the supply is turned ON single phase e The main circuit power e Replace the Servo supply is damaged Drive e Control PCB error 10 e The Servomotor e Correct the wiring power wiring or the encoder wiring is N incorrect x Occurs when the e The Servomotor is e If the Servomotor D Servomotor does not mechanically being shaft is held by pa rotate even when held external force release 4 command pulses are it Q input e Release the lt x electromagnetic brake Deviation counter e Control PCB error e Replace the Servo oy overflow Drive Continued on next page Occurs during high speed rotation e The Servomotor power wiring or the encoder wiring is
422. ter 1 Width Set according to the characteristics of the resonance points pnas Rotch rere Set 10 lower Frequency Pn29 Notch Filter 2 Width Set according to the characteristics of the resonance points Pn2A Notch Filter 2 Depth 10 129 10 7 Adjustment Functions Automatic Gain Setting Automatic gain setting initializes the control parameters and the gain switching parameters to gain settings for normal mode autotuning to match the rigidity before manual tuning is performed Precautions e Stop operation before making changes when executing the automatic gain for Correct Use E Operating Procedure setting function Refer to Front Panel Display Example on page 113 1 Stop operation 2 Start the automatic gain setting function in the fit gain window on the front panel If the fit gain is completed normally F n 5hj will be displayed and if it is completed with an error The display can be cleared using the keys 3 Write data to the EEPROM if the results are to be saved E Automatically Set Parameters The following parameters are set automatically will be displayed Parameter No Parameter name Pn10 Position Loop Gain Pn11 Speed Loop Gain Pn12 Speed Loop Integration Time Constant Pn13 Speed Feedback Filter Time Constant Pn14 Torque Command Filter Time Constant Pn18 Position Loop Gain 2 10 Pn19 S
423. th of notch filter 2 for resonance suppression e Increasing the setting will decrease the notch depth and the phase lag Pn2B Vibration Frequency 1 Setting range 0 to 2000 Unit 0 1 Hz Default setting 0 Power OFF gt ON e Use this parameter to set vibration frequency 1 for vibration control to suppress vibration at the end of the load e Measure the frequency at the end of the load and make the setting in units of 0 1 Hz e Setting frequency 10 0 to 200 0 Hz The function will be disabled if the setting is O to 9 9 Hz 10 80 Appendix 2 Appendix 2 10 5 Operating Functions Pn2C Vibration Filter 1 Setting Setting range 200 to 2000 Unit 0 1 Hz Default setting 0 Power OFF gt ON e First set the Vibration Frequency 1 Pn2B Then reduce the setting of Pn2C if torque saturation occurs or increase the setting of Pn2C to increase operation speed Normally use a setting of 0 e Other than the setting range the following restriction also applies 10 0 Hz Pn2B lt Pn2C lt Pn2B Pn2D Vibration Frequency 2 Setting range 0 to 2000 Unit 0 1 Hz Default setting 0 Power OFF gt ON e Use this parameter to set the vibration frequency 2 for vibration control to suppress vibration at the end of the load e Measure the frequency at the end of the load and make the setting in units of 0 1 Hz e Setting frequency 10 0 to 200 0 Hz The f
424. that there is no impact or load placed on the cable connector areas E Connecting to Mechanical Systems The axial loads for Servomotors are specified in Characteristics on page 3 17 If an axial load greater than that specified is applied to a Servomotor it will reduce the service life of the motor bearings and may break the motor shaft When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity and declination For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree of precision for example JIS class 2 normal line pitch error of 6 um max for a pitch circle diameter of 50 mm If the gear precision is not adequate allow backlash to ensure that no radial load is placed on the motor shaft Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision the gear precision and temperature changes Provide appropriate backlash or take other measures to ensure that a thrust load larger than the specified level is not applied Do not put rubber packing on the flange surface If the flange is mounted with rubber packing the motor flange may crack under the tightening force Servomotor shaft center line Backlash moveable 4 3 X Ball screw center line Do not offset center lines lt gt Structure in which the distance between
425. the following cables in the same duct Control Cables for brakes solenoids clutches and valves Dimensions ESD SR 250 31 6 A l 13 dia 31 5 38 0 Impedance Characteristics ESD SR 250 10000 1000 Impedance Q gt O x fo 1 10 l 100 1000 Frequency MHz For information on the TDK clamp filter ZCAT3035 1330 refer to Radio Noise Filters and Emission Noise Prevention Clamp Cores on page 4 21 4 24 System Design System Design 4 3 Wiring Conforming to EMC Directives E Improving Control I O Signal Noise Resistance Positioning can be affected and I O signal errors can occur if control I O is influenced by noise Use completely separate power supplies for the control power supply especially 24 VDC and for the external operation power supply In particular do not connect the two power supply ground wires Install a noise filter on the primary side of the control power supply If Servomotors with brakes are used do not use the same 24 VDC power supply for both the brakes and the control I O Additionally do not connect the ground wires Connecting the ground wires may cause I O signal errors Keep the power supply for pulse commands and deviation counter reset input lines separated from the control power supply as far apart as possible In particular do not connect the two power supply ground lines We recommend using line drivers for the pulse command output
426. ting During deceleration After stopping Deviation counter 0 Dynamic brake Dynamic brake Cleared 1 Free run Dynamic brake Cleared 2 Dynamic brake Servo free Cleared 3 Free run Servo free Cleared 4 Dynamic brake Dynamic brake Held 5 Free run Dynamic brake Held 6 Dynamic brake Servo free Held 7 Free run Servo free Held 8 Emergency stop Dynamic brake Cleared 9 Emergency stop Servo free Cleared e Use this parameter to set the operation to be performed after the main power supply is shut off if the Undervoltage Alarm Selection Pn65 is set to 0 e Operation during deceleration and after stopping e Clearing the deviation counter If this parameter is set to 8 or 9 the Emergency Stop Torque Pn6E will be used to limit the torque during deceleration Pn68 Stop Selection for Alarm Generation All modes Setting range 0to3 Unit Default setting 0 Power OFF gt ON Explanation of Settings Explanation Setting During deceleration After stopping Deviation counter 0 Dynamic brake Dynamic brake Held 1 Free run Dynamic brake Held 2 Dynamic brake Servo free Held 3 Free run Servo free Held e Use this parameter to set the operation to be performed after stopping or during deceleration when any protective function of the Servo Drive operates and an error occurs e The deviation counter is cleared when an alarm is cleared 10 100 Appendix 2 Appendix 2 10 5 Opera
427. ting Functions Pn69 Stop Selection with Servo OFF All modes Setting range 0to9 Unit Default setting 0 Power OFF gt ON e Use this parameter to set the operation to be performed after Servo OFF status is entered i e after RUN CN1 pin 29 changes from ON to OFF e Operation during deceleration and after stopping e Clearing the deviation counter e The relations between set values operation and deviation counter processing for this parameter are the same as for the Stop Selection with Main Power OFF Pn67 Pn6A Brake Timing When Stopped All modes Setting range 0 to 100 Unit 2ms Default setting 10 Power OFF gt ON e Use this parameter to set the brake timing from when the Brake Interlock Output BKIRCOM CN1 pin 10 BKIR CN1 pin 11 turns OFF i e braking held until the Servomotor is deenergized servo free when Servo OFF status is entered while the Servomotor is stopped e When the RUN Command Input is turned OFF while the Servomotor is stopped the Brake Interlock Signal BKIR will turn OFF and the Servo will turn OFF after the time set for this parameter setting x 2 ms elapses RUN Command wo Oooo o Brake Interlock BKIR Released Hold i l Actual brake Releasedi 4 tb I Hold Servomotor ON OFF ON OFF status Pn6A lt gt e Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay in the b
428. ting an External Regeneration Resistor use an External Regeneration Resistor Cable E Single phase Power Cable with CNA Connector Cable Models Model Length L Outer diameter of sheath Weight R7A CLB002S2 2m 6 1 dia Approx 0 1 kg Connection Configuration and External Dimensions 50 2000 50 S Power supply end 2 Servo Drive end Single phase 5 c 100 200 VAC S X RZD BPLI Wiring Power supply end Servo Drive Blue Red Cable AWG18 x 2C UL2464 Ean w Sl P el B ZI se e pe o M4 crimp terminal 3 35 Servo Drive Connector Connector pins 5556PBTL Molex Japan Connector case 5557 10R 210 Molex Japan 3 3 Cable and Connector Specifications E Three phase Power Cable with CNA Connector Cable Models Model Length L Outer diameter of sheath Weight R7A CLB002S3 2m 6 4 dia Approx 0 1 kg Connection Configuration and External Dimensions 50 2000 90 Power supply end Servo Drive end Three phase 200 VAC R7D BP O 6 4dia Wiring Power supply end Servo Drive Blue White Red e Cable AWG18 x 3C UL2464 M4 crimp Servo Drive Connector terminal Connector pins 5556PBTL Molex Japan Connector case 5557 10R 210 Molex Japan 3 36 Specifications Specifications 3 3 Cable and Connector Specifications
429. tion loop gain is low you can shorten the positioning time using feed forward e This parameter is automatically changed by executing realtime autotuning To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Position loop gain is generally expressed as follows Command pulse frequency pulses s Position loop gain Kp pigain Kp Deviation counter accumulated pulses pulses 1 s When the position loop gain is changed the response is as shown in the following diagram Servomotor 4 y position loop gain is high speed a A G a When speed loop gain is low Time e If the speed loop gain and position loop gain are optimally set the Servomotor operation for the command will be delayed 2 Kp at acceleration and delayed 3 Kp at deceleration Servomotor Positi speed osition hoy command x 10 74 Appendix 2 Appendix 2 10 5 Operating Functions Pn11 Speed Loop Gain All modes Setting range 1 to 3500 Unit Hz Default setting 50 Power OFF gt ON e Use this parameter to determine speed loop responsiveness e The setting for the Speed Loop Gain must be increased to increase the Position Loop Gain and improve the responsiveness of the entire servo system Setting the Speed Loop Gain too high however may result in oscillation e The setting unit for Pn11 will be Hz if the Inertia Ratio Pn20 is set correctly
430. tioning Completion Range P Pn60 INP turns ON and 4 is displayed The output transistor for the electromagnetic o3 eee Brake Interlock i brake signal turns ON and is displayed When the Warning Output Selection Pn09 is 04 Zero Speed Detection 12 set to 1 and Zero Speed Detection output turns ON is displayed When the Warning Output Selection Pn09 is 05 Torque Limiting 12 set to 0 and Torque Limiting output turns ON A is displayed 06 to 08 Not used When the actual motor speed exceeds the Ro 09 TGON Servomotor Rotation 10 tation Speed for Servomotor Rotation Detec Speed Detection tion Pn62 TGON turns ON and is displayed OA to 1F Not used Switching between Input Signals and Output Signals a 1 If the decimal point is at the right of the signal number the signal number can be changed Move the flashing decimal point with the Shift key ig Ii IA l I I I alle If the decimal point is at the right of the input output indication you can switch between inputs and outputs Switch between inputs and outputs with the Increment Decrement keys lt lt p_e I I mn a Z The following procedure can also be used to switch between input and output 6 11 6 3 Using the Parameter Unit A Press the Increment or Decrement key to select the signal number to be
431. tions E Explanation of Settings To use the gain switching function the Gain Switching Input Operating Mode Selection Pn30 and Gain Switch Setting Pn31 parameters must be set For details on parameter settings refer to Parameter Details on page 5 32 Gain Switching Input Operating Mode Selection Pn30 Set Pn30 to 1 to enable the gain switching function Gain Switch Setting Pn31 Gain switching can be used by first enabling the gain switching function and then setting the switching conditions for gain 1 and gain 2 with Gain Switch Setting Pn31 Pn31 Explanation setting R 7 FE 7 7 7 z no Gain switch condition Gain Switch Gain Switch Gain Switch c Time Pn32 Level Setting Hysteresis Ke l Pn33 Setting Pn34 p 2 0 Always gain 1 Pn10 to Pn14 Disabled Disabled Disabled iD 1 Always gain 2 Pn18 to PniC Disabled Disabled Disabled 2 Switching using Gain Switch Input GSEL Disabled Disabled Disabled 5 at pin CN1 5 3 Amount of change in torque command Enabled Enabled Enabled r Figure A x 0 05 x 0 05 gt D 4 Always gain 1 Pn10 to Pn14 Disabled Disabled Disabled lt 5 Command speed Figure B Enabled Enabled Enabled r min r min 6 Amount of position deviation Figure C Enabled Enabled 4 Enabled 4 pulse pulse 7 Command pulses received Figure D Enabled Disabled Disabled 8 Positioning Completed Signal INP OFF Enabled Disabled Disabled
432. to 1 25 mm wire AWG22 to AWG16 Precautions for Correct Use The wire slot is 1 8 mm height x 2 5 mm width Strip the insulation from the end of the wire for 6 mm as shown below ee E 3 46 Specifications 3 3 Cable and Connector Specifications XW2B 34G5 M3 5 screw terminal block G e _ S S A V Terminal 7 8 5 7 3 block 7 z When using crimp terminals use crimp terminals with the following Precautions di for Correct Use ImeENSIONS When connecting wires and crimp terminals to a Terminal Block tighten them with a tightening torque of 0 59 N m Round Crimp Terminals Fork Terminals 3 7 mm dia fp SRo 6 8 mm max ELC 3 7 mm 6 8 mm max Applicable Crimp Terminals Applicable Wires 1 25 to 3 AWG22 to pled te Round Crimp 0 3 to 1 25 mm5 Terminals oe AWG16 to AWG14 i 1 25 to 2 0 mm AWG22 to AWG16 Leries 0 3 to 1 25 mm Fork Terminals 2 to 3 5 AWG16 to AWG14 1 25 to 2 0 mm 3 47 3 3 Cable and Connector Specifications XW2D 34G6 M3 screw terminal block Dimensions Flat cable connector MIL plug w7 DIN Track lock 4 5
433. tor CN1 PAIN T 1 SJ aes Le Encoder input connector CN2 J Uc N 42 mE Motor connector CNB 1B 0 ee FG terminals for power supply and le ate Servomotor powers TE Main circuit connector CNA 8 1 3 Names of Parts and Functions Servo Drive Functions E Power Supply LED Indicator PWR LED Indicator Status Lit green Main power is ON Flashing orange at A warning has occurred i e an overload excessive 1 second intervals regenerative energy or fan speed error Lit red An alarm has occurred E Alarm LED Indicator ALM This indicator is lit when an alarm has occurred The number of orange and red flashes indicate the alarm code For details on the alarm code refer to Alarm List on page 8 4 Example When an overload alarm alarm code 16 has occurred and the Unit has stopped the indicator will flash 1 time in orange and 6 times in red Orange 10s digit Red 1s digit 1s 05s 0 55 055 0 58 0 58 4G G DE DEEE M DEE DE Orange Red Red Red Red Red Red 1s 05s 05s 05s 05s 05s 0 58 2 s later Features and System Configuration 1 4 System Block Diagrams 1 1 4 System Block Diagrams c e VCC1 S P p B1 oe At Q L1 o vot E Ck ARE ARE G1 S ist ft __ ma y D Tr Oldal Tw a T 2 Ej 9 P EE GR 5 e es ee T 15V lt sw pover supp o VCCI Main circuit control LL v
434. tric Industrial Co E Contactors Select contactors based on the circuit s inrush current and the maximum momentary phase current The Servo Drive inrush current is covered in the preceding explanation of no fuse breaker selection and the maximum momentary phase current is approximately twice of the rated current The following table shows the recommended contactors Maker Model Rated current Coil voltage J7L 09 22200 11A 200 VAC J7L 12 22200 13A 200 VAC OMRON J7L 18 22200 18A 200 VAC J7L 32 22200 26 A 200 VAC 4 23 4 3 Wiring Conforming to EMC Directives E Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder s noise resistance Always use the specified Encoder Cables If cables are joined midway be sure to use connectors and do not remove more than 50 mm of the cable insulation In addition always use shielded cables Do not coil cables If cables are long and coiled mutual induction and inductance will increase and cause malfunctions Always use cables fully extended When installing noise filters for Encoder Cables use clamp filters The following table shows the recommended clamp filters Maker Product name Model Specifications NEC TOKIN Clamp filter ESD SR 250 For cable diameter up to 13 mm TDK Clamp filter ZCAT3035 1330 For cable diameter up to 13 mm Do not place the Encoder Cable with
435. tronic Gear Pn4B Ratio Denominator 1 The Electronic Gear Switch Input GESEL is used to switch between Electronic Gear Ratio Numerator 1 Pn46 and Electronic Gear Ratio Numerator 2 Pn47 Operation Calculation Method The following equation shows the relation between the number of internal command pulses F after the electronic gear ratio multiplication and the number of command pulses f per Servomotor rotation Pn46 x 2a Pn4B The Servomotor has a 2 500 pulses rotation encoder Therefore the number of internal command pulses F in the Servo Drive is 10 000 pulses rotation 2 500 pulses rotation x 4 F f x Given the conditions above the relation between the number of command pulses per Servomotor rotation f and the electronic gear ratio is as follows F 10000 _ Pn46 x p Pn4A S Encoder resolution by a factor of 4 a Pn4B Number of command pulses for Servomotor rotation 5 5 Electronic Gear Calculation Examples To operate with 2 000 pulses rotation 10000 Pn46 x 20 Pn4A 2000 Pn48 To operate with 1 000 pulses rotation 10000 Pn46 x 2 Pn4A 1000 Pn48 Conversely to increase the resolution per rotation and operate with 40 000 pulses rotation 10000 Pn46 x 20 Pn4A 40000 Pn48 The setting ranges for Pn46 Pn47 and Pn4B however will be 1 to 10 000 so reduction to one of the following is required 2500 Pn46 x 20 Pn4A 5 1 Pn46 x 20 Pn4A 10000
436. ts For more details contact the manufacturers directly E No fuse Breakers NFB When selecting a no fuse breaker consider the maximum input current and the inrush current Maximum Input Current The Servo Drive s maximum momentary output is approximately three times the rated output and can be output for up to three seconds Therefore select a no fuse breaker with an operating time of at least five seconds at 300 of the rated current General purpose and low speed no fuse breakers are generally suitable Select a no fuse breaker with a rated current greater than the total effective load current of all the Servomotors The rated current of the power supply input for each Servomotor is provided in Main Circuit Wiring on page 4 11 Add the current consumption of other controllers and any other components when selecting the NFB Inrush Current The following table lists the Servo Drive inrush currents With low speed no fuse breakers an inrush current 10 times the rated current can flow for 0 02 second When multiple Servo Drives are turned ON simultaneously select a no fuse breaker with a 20 ms allowable current that is greater than the total inrush current shown in the following table Inrush current AO p Servo Drive model Main circuit power supply R7D BP Series 20 4 17 4 3 Wiring Conforming to EMC Directives E Leakage Breakers The leakage current for the Servomotor and Servo Drive co
437. ttings area Analog monitor 2 chek pin SP Main circuit power terminals L1 L2 L3 Control circuit pover terminals L1G L2C Exteinal Regeneation Resistor connection teminals gt B1 B2 B3 Sewomotor connection teminals U VW Protective ground terminals Chek pin G GND RS 485 Communications connector CN3A RS 232 Communications connector Parameter Unit connector CN3B Control I O connector CN1 Encoder connector CN2 Not used 10 2 Appendix 2 Appendix 2 10 1 Features and System Configuration Servo Drive Functions E Display Area A 6 digit 7 segment LED display shows the Servo Drive status alarm codes parameters and other information E Check Pins IM SP and G The actual Servomotor speed command speed torque and number of accumulated pulses can be measured based on the analog voltage level by using an oscilloscope The type of signal to output and the output voltage level are set in the SP Selection Pn07 and IM Selection Pn08 parameters E Unit No Switch The Servo Drive number in serial communications is set to a value from 0 to F This number is used to identify which Servo Drive the computer is accessing in RS 232 485 communications between multiple Servo Drives and a computer Forward and Reverse Motor Rotation counterclockwise CCW rotation is forward and clockwise y When the motor output shaft is vi
438. tus when error Error Cause Countermeasure code occurs 95 Servomotor Occurs when the power e The Servomotor and e Use a correct combina non conformity supply is turned ON Servo Drive combination is incorrect tion e The encoder wiring is disconnected e Wire the encoder e Fix the locations that are disconnected 96 LSI setting error e Incorrect operation due to noise e Take measures against noise Others Other errors e The Servo Drive s self di agnosis function detect ed an error in the Servo Drive e Turn OFF the power sup ply and turn it ON again e Replace the Servomotor or Servo Drive 8 11 Error Diagnosis Using the Operating Status 8 3 Troubleshooting Symptom Probable cause Items to check Countermeasures The power LED The power supply cable is Check whether the power supply Supply the correct voltage indicator PWR wired incorrectly input is within the allowed voltage does not light when the power supply is turned ON range Check whether the power supply input is wired correctly Correct the wiring The Servomotor does not rotate even if commands are input from the Controller The RUN Command Input is OFF Check whether the RUN signal is ON or OFF in monitor mode e Turn ON the RUN Com mand Input e Correct the wiring The Forward Drive Prohibit Input POT and Reverse Drive Prohibit Input NOT are
439. ue e The starting torque ex ceeds the maximum torque e Review the load condi tions and operating con ditions e Review the Servomotor capacity e An unusual noise oscilla tion or vibration is caused by faulty gain adjustment e Adjust the gain correctly e The Servo Drive is faulty e Replace the Servo Drive 8 7 8 3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs 18 Regeneration Occurs when the Ser e Load inertia is too large e Calculate the regenera overload vomotor is decelerat tive energy and connect ing an External Regenera tion Resistor with the re quired regeneration absorption capacity e Extend the deceleration time e The deceleration time is e Reduce the Servomotor too short rotation speed e The Servomotor rotation e Extend the deceleration speed is too high time e Calculate the regenera tive energy and connect an External Regenera tion Resistor with the re quired regeneration absorption capacity e The operating limit of the e Set Pn6C to 2 External Regeneration For details refer to Param Resistor is limited to eter Details on page 5 32 10 Occurs during descent e Gravitational torque is e Add a counterbalance to vertical axis too large the machine to lower gravitational torque e Slow the descent speed e Calculate the regenera tive energy and connect an External Regenera tion
440. ulse settings suitable for your device or system E Simplified Speed Control with Internal Speed Settings Four internal speed settings allow the speed to be easily switched by using external signals m Encoder Dividing Output Function The number of motor encoder pulses output by the Servo Drive can be freely set in the range of 1 to 2 500 pulses per rotation A parameter can also be set to change the phase 1 1 1 2 System Configuration 1 2 System Configuration SYSMAC PLC Position Control Unit with pulse string output Pulse string SYSMAC Position Control Unit CJ1 CS1 C Series CJ1 W NC113 213 413 p bie Controll CJ1 W NC133 233 433 co ner CS1 W NC113 213 413 CS1 W NC133 233 433 C200H W NC113 213 413 SYSMAC PLC with pulse output functions 0 SMARTSTEP 2 Servo Drive R7D BP SYSMAC CP1H CP1L G Series Servomotor R88M GL GP Features and System Configuration Features and System Configuration 1 3 Names of Parts and Functions 1 3 Names of Parts and Functions Servo Drive Part Names Power supply LED indicator ___ Alarm LED indicator ALM PWR ALM OmRON Gone Communications connector CN3 oo 3 J 0 eS eae Control I O connec
441. ult setting 0 Power OFF gt ON Yes Explanation of Settings Setting Explanation 0 The Servomotor rotates in the direction specified by the command pulse 1 The Servomotor rotates in the opposite direction from the direction specified by the command pulse 10 88 Appendix 2 Appendix 2 10 5 Operating Functions Pn42 Command Pulse Mode Setting range O0to3 Unit Default setting 1 Power OFF gt ON Yes Explanation of Settings Setting Command pulse mode Servomotor forward command Servomotor reverse command 90 phase difference Oor2 phases A and B sig nal inputs t1 ti w u tt Phase A k Phase B t4 ti Line driver t1 gt 2 us Open collector t1 gt 5 us Reverse pulse and for ward pulse inputs t2 t2 Line driver t2 gt 1 us Open collector t2 gt 2 5 us Feed pulse input and 3 forward reverse signal input Line driver t2 gt 1 us Open collector t2 gt 2 5 us e Use this parameter to set the form of the pulse inputs sent as commands to the Servo Drive from the position controller Pn43 Command Pulse Prohibited Input Setting range Oor1 Unit Default setting 1 Power OFF gt ON Explanation of Settings Setting Explanation 0 Enabled 1 Disabled
442. unction will be disabled if the setting is 0 to 9 9 Hz Pn2E Vibration Filter 2 Setting Setting range 200 to 2000 Unit 0 1 Hz Default setting 0 Power OFF gt ON e First set the Vibration Frequency 2 Pn2D Then reduce the setting of Pn2E if torque saturation occurs or increase the setting of Pn2E to increase operation speed Normally use a setting of 0 e Other than the setting range the following restriction also applies 10 0 Hz Pn2D lt Pn2E lt Pn2D 10 81 10 5 Operating Functions Pn2F Adaptive Filter Table Number Display Setting range 0 to 64 Unit Default setting 0 Power OFF gt ON Explanation of Settings Displayed Notch Filter 1 Displayed Notch Filter 1 Displayed Notch Filter 1 value Frequency Hz value Frequency Hz value Frequency Hz 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn22 gt F 6 1426 28 607 50 258 Disabled when Pn22 gt F 7 1372 29 584 51 248 Disabled when Pn22 gt F 8 1319 30 562 52 239 Disabled when Pn22 gt F 9 1269 31 540 53 230 Disabled when Pn22 gt F 10 1221 32 520 54 221 Disabled when Pn22 gt E 11 1174 33 500 55 213 Disabled when Pn22 gt E 12 1130 34 481 56 205 Disabled when Pn22 gt E 13 1087 35 462 57
443. upling of the mechanical system and the Servo motor is misaligned Couple the mechanical sys tem and the Servomotor cor rectly Noise is entering the Devi ation Counter Reset Input ECRST Check whether the control signal lines and power supply lines are bundled together Take measures against noise such as separating the control signal lines and power lines The gain is does not match e Use autotuning e Perform manual tuning The load inertia is too large Check the following e Check whether the load is too large e Check whether the rotation speed of the Servomotor is too high e Adjust the gain e Review the load condi tions and replace the Ser vomotor and Servo Drive with appropriate models 8 15 8 4 Overload Characteristics Electronic Thermal Function 8 4 Overload Characteristics Electronic Thermal Function An overload protection electronic thermal function is built into the Servo Drive to protect the Servo Drive and Servomotor from overloading If an overload does occur eliminate the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning on the power again If the power is turned ON again repeatedly at short intervals the Servomotor windings may burn out Overload Characteristics Graphs The following graphs show the characteristics of the load rate and electronic thermal operating time m R88M G
444. upply for the command pulse inputs as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Recommended surge absorption diode RU2 Sanken Electric or the equivalent 9 1 9 1 Connection Examples E Connection Example 2 Connecting to SYSMAC CJ1W NC113 213 413 Position Control Units Main circuit power supply aca NFB OFF ON Me MC2 Main circuit contact RO O 0 _ nS fic D BM i N i 7 Es suP Surge killer O S gt JA l 3 phase 200 240 VAC 50 60 Hz S 8 MC1MC2 X1 D Servo error display i Z TO 6 0 _ ji CJ1W NC113 213 413 Groundto gee 100 Q or less Contents No R7A CPBLIS _ 24 V power supply for outputs A1 24 VDG zoezi 0 V input for output i r MC1 MC2 B CW with a resistor gt Connect External Regeneration 3 CW without a resistor xx gt Resistor when required 2 CCW with a resistor q a ccw without a resistor 1 X axis dev cntr reset output amp tor P R88M G X axis origin input 24 V or R
445. ure 2 147 483 647 pulses 0 2 147 483 647 pulses 2 147 483 647 pulses Power ON Reverse lt Forward Use the Shift key to switch the display between the upper and lower digits of the total number of pulses Upper digits Lower digits ree eee O A wee ot G ve E L i O Ii When the Data key is pressed for 5 s or longer the total number of pulses will be reset and the display will return to 0 E Automatic Servomotor Recognition R 1 m Automatic recognition enabled Always this indication is displayed ae 6 14 Operation 6 3 Using the Parameter Unit Parameter Setting Mode 1 Disp laying Parameter Setting Mode Key operation Display example Explanation The item set for the Default Display Pn01 is displayed Press the Data key to display Monitor Mode Press the Mode key to display Parameter Setting Mode 2 Setti ng the Parameter Number Key operation Display example Explanation 0S Use the Shift Increment and Decrement keys to set the parameter num ber If the parameter number is large the setting can be made more quickly by using the Shift key to change the digit that is being set The decimal point will flash for the digit that can be set 3 Disp laying the Parameter Setting Key operation Display example Explanation Press the Data key t
446. ure 0 to 55 C Take into account temperature rises in the individual Servo Drives themselves Ambient operating humidity 90 RH max with no condensation Atmosphere No corrosive gases 4 1 4 1 Installation Conditions E Ambient Temperature Control Servo Drives should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability Temperature rise in any Unit installed in a closed space such as a control box will cause the Servo Drive s ambient temperature to rise Use a fan or air conditioner to prevent the Servo Drive s ambient temperature from exceeding 55 C Servo Drive surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and keep its distance from any devices or wiring that are sensitive to heat The service life of a Servo Drive is determined by the temperature around the internal electrolytic capacitors The service life of an electrolytic capacitor is affected by a drop in electrostatic capacity and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements If a Servo Drive is operated at the ambient temperature of 55 C with the rated torque output and rated rotation speed its service life is expected to be approximately 28 000 hours excluding axial flow fan A drop of 10 C in the ambient temperature will double
447. urred Check the status of the alarm LED indicator ALM and evaluate the problem based on the alarm indicated Check the alarm code and perform analysis based on the alarm code information When an alarm has not occurred Make an analysis according to the problem Note In either case refer to 8 3 Troubleshooting for details 8 1 8 1 Error Processing Precautions When Troubleshooting When checking and verifying I O after a problem has occurred the Servomotor Servo Drive may suddenly start to operate or stop so always use the following precautions You should assume that anything not described in this manual is not possible with this product E Precautions Disconnect the cable before checking for wire breakage Even if you test conduction with the cable connected test results may not be accurate due to conduction via bypassing circuit If the encoder signal is lost the Servomotor may run away or an error may occur Be sure to disconnect the Servomotor from the mechanical system before checking the encoder signal When performing tests first check that there are no persons in the vicinity or inside the equipment and that the equipment will not be damaged even if the Servomotor runs away Before performing the tests verify that you can immediately stop the machine using an emergency stop even if the Servomotor runs away Replacing the Servomotor and Servo Drive Use the following procedure to replace the Servomot
448. used at position control A fully automatic search is performed for the optimal rigidity setting by repeating a specified reciprocating operation with position control Position command reciprocating command A Estimated resonance Servo for trapezoidal x Position Torque motor Servo speed waveform deviation Position Adaptive command Current current n gt O 5 gt motor 7 speed control filter control Estimated load inertia Realtime autotuning Stabilization Automatic setting of to i Vibration time rigidity and gain table H detection aa Fit gain function Pe Servo Drive Precautions e To be applicable this function must satisfy the following conditions in for Correct Use addition to the conditions for realtime autotuning Conditions under which the fit gain functions properly Realtime e The realtime autotuning operates normally autotuning e The Servo is ON operation e Pn21 1 to 6 Operation is not possible if Pn21 is 0 or 7 e The adaptive filter is enabled Adaptive ther Pn23 1 Enabled Control mod e The control mode is position control Pn02 0 Position control e The position command is for reciprocating operation e The time per position command is at least 50 ms e The minimum frequency for the position command is 1 kpps Acceleration deceleration lt 3 000 r min 0 1 s Operating pattern Command
449. using a photocoupler input or a line driver input as the command Selection pulse input Command Pulse Rotation Pn41 Direction Switch irection Switc Set to match the command pulse form of the controller Pn42 Command Pulse Mode Pn48 to Pn4B Electronic Gear Ratio Set the pulse rate for command pulses and Servomotor travel amount 10 47 Related Functions 10 5 Operating Functions e The main functions related to position control are as follows Function Explanation Position command filter function Sets the soft start for the comman d pulse Feed forward function Adds the command pulse differential to the speed loop to reduce the positioning time Torque limit function Limits the Servomotor s torque output Parameter Block Diagram for Position Control Mode Input Condition Electronic Gear Setting Pn48 Numerator cw Pn40 Input Pn4D l Selection Smoothing Filter __ Pate Numerator CCW Pn41 Rotation Setting Pn4A Numerator gt Direction Exponent Pn42 Mode i Pn4B Denominator Vibration Filter Pn2B Frequency 1 Pn2C Filter 1 Pn2D Frequency 2 Pn2E Filter 2 Y Speed Command Monitor Speed FF Pn15 FF Amount Pn16 FF Command Filter Deviation Counter Pn10 Loop Gain 1 Pn18 Loop Gain 2 Gi Pn4C G2 Position Command Filter
450. ut Internally set speed selection 1 in Internal Speed Control Mode when Pn02 is set to 1 ON Internally set speed selection 1 is input 7 NOT Reverse Drive Reverse rotation overtravel input Prohibit Input OFF Prohibited ON Permitted 8 POT Forward Drive Forward rotation overtravel input Prohibit Input OFF Prohibited ON Permitted 1 Some alarms cannot be cleared using this input For details refer to 8 2 Alarm Table 2 Do not input command pulses for 10 ms before or after switching the electronic gear 3 5 3 1 Servo Drive Specifications pin Signal Name Function Interface No name 22 CW Reverse Pulses Input terminals for position command pulses PULS FA Input Feed Pulses Input or 90 Phase Line driver input 23 CW Difference Pulses Maximum response frequency 500 kpps PULS FA Phase A Open collector input Maximum response frequency 200 kpps 24 CCW Forward Pulses SIGN FB Direction Signal or Any of the following can be selected by using the Pn42 Bew 90 Phase setting forward and reverse pulses CW CCW feed 25 SIGN EB Difference Pulses pulse and direction signal PULS SIGN 90 phase differ Phase B ence phase A B signals FA FB Control Outputs CN1 ae Signal name Name Function Interface Alarm Output When the Servo Drive generates an alarm the output turns 9 ALM 4 OFF S Positioning completed outpu
451. utotuning Normal mode autotuning operates the Servomotor according to command patterns automatically created in the Servo Drive then estimates the load inertia based on the torque required at that time and automatically sets the appropriate gain Position command Motor acceleration Normal mode autotuning Internal mi man position Position command speed control generation Servomotor torque Servo Drive Precautions ni for Correct Use Normal mode autotuning operates under the following conditions Conditions under which normal mode autotuning operates Control mode All control modes can be used Others e The servo is ON e The deviation counter reset signal is not input Note Set the Torque Limit Selection Pn03 to 1 Operation may be incorrect if the setting is not 1 e Normal mode autotuning may not function properly under the conditions described in the following table If normal mode autotuning does not function properly use manual tuning Conditions under which normal mode autotuning does not function properly Appendix 2 e If the load inertia is too small or too large compared with the rotor inertia i e less Load inertia than 3 times more than 20 times or more than the applicable load inertia ratio e If the load inertia changes Load e f the machine rigidity is extremely low e f there is backlash or play in the system Note 1 A tuning error will occur i
452. vecevass sass 10 105 Adjustment Functions sccceeeeeeeeeeeeeeeeeeeees 10 106 GaimrAcjustime mt er a e a eeeren E E EEEE 10 106 ReMANO 10 109 Normal Mode Autotuning sssssssssssnessrnssrirnssrrnnssrrnsnerrnne 10 118 Disabling the Automatic Gain Adjustment Function 10 123 Maa E A east rears 10 124 TAKI AEA eei ae ka 10 135 Alarmtables m orne o oe eonceecererceeerearceereo 10 135 MrouBlesShooting Wears a E E E E A A a T 10 136 Overload Characteristics Electronic Thermal Function 10 138 Appendix 2 10 1 Features and System Configuration 10 1 Features and System Configuration 10 1 1 Overview Overview of the SMARTSTEP 2 750 W Model The SMARTSTEP 2 750 W Model is a pulse input Servo Drive for Position Control Servomotors with 2 500 pulse incremental encoders are available as standard models The SMARTSTEP 2 750 W Model features realtime autotuning and adaptative filter functions that automatically perform complicated gain adjustments A notch filter can also be automatically set to suppress machine vibration by reducing mechanical resonance during operation The vibration control function of the SMARTSTEP 2 750 W Model realizes stable stopping performance in a mechanism which vibrates beacuse of the low rigidity of the load Features of the SMARTSTEP 2 750 W Model The SMARTSTEP 2 750 W Model has the following features m High speed Response The SMARTSTEP 2 750 W Model AC Servomotors and Servo
453. ves 2to8 Machines with low rigidity etc 0 to 4 3 Press the Data key to enter the Monitor Run Mode 4 Press and hold the Increment key until the display changes to StA t The Servo will be ON for pin 29 of connector CN1 10 121 10 7 Adjustment Functions 5 Press the Increment key for approx 3 s The bar indicator will increase as shown in the following figure The Servomotor will start to rotate For a period of approximately 15 s the Servomotor will make two revolutions in the forward reverse direction which will comprise one cycle and will be repeated up to five times There is no problem if operation ends before five cycles have been completed al O A E on 1 r Tuning completed normally Tuning error occurred 6 Write the data to the EEPROM so that the gain values are not lost when the power supply is shut off e Do not perform normal mode autotuning with the Servomotor or Servo Drive alone The Inertia Ratio Pn20 will become 0 Precautions for Correct Use Problem Likely cause Countermeasures e Do not operate the Servomotor near the Limit Switches or Origin Proximity Sensor e Turn the servo ON e Release the deviation counter reset An alarm has occurred the servo is An error is displayed OFF or the deviation counter is reset e Lower Pn10 to 10 and Pn11 to 50 and then execute again e Make the adjustment manual
454. viation counter is less than the Positioning Completion Range Pn60 Function Servomotor Rotation Speed Detection Output Pin 10 is the Servomotor Rotation Speed Detection Output TGON in Internal Speed Control Mode when Pn02 is set to 1 The TGON signal turns ON when the motor rotation speed exceeds the Rotation Speed for Servomotor Rotation Detection Pn62 3 13 3 1 Servo Drive Specifications E Brake Interlock Output Pin 11 Brake Interlock Output BKIR Function The external brake timing signal is output This output is turned ON to release the external brake m Warning Output Pin 12 Warning Output WARN Function Pin 12 outputs the warning signal selected in the Warning Output Selection Pn09 E Feedback Output Pin 15 Encoder Phase A Output Pin 16 Encoder Phase A Output Pin 17 Encoder Phase B Output Pin 18 Encoder Phase B Output Pin 19 Encoder Phase Z Output Pin 20 Encoder Phase Z Output A B B Z Function This signal outputs encoder pulses according to the Encoder Divider Setting Pn44 Line driver output equivalent to RS 422 The output logic can be reversed with Encoder Output Direction Switch Pn45 E Phase Z Output Pin 21 Phase Z Output Z Pin 14 Ground Common GND Function Pin 21 is the open collector output for the phase Z signal The encoder phase Z is output One pulse is output for each rotation 3 14 Specifications
455. viding O Rate Setting Q Pn45 Encoder Output O Direction Switch Notch Filter Pn1D Notch Filter 1 Frequency 4 Pn1E Notch Filter 1 Width Pn2F Adaptive Filter Table Number Display Pn16 Feed forward Command Filter Electronic Gear Setiing Pn46 Electronic Gear Ratio Numerator 1 Pn47 Electronic Gear Ratio Numerator 2 Pn4A Electronic Gear Ratio Numerator Exponent Pn4B Electronic Gear Ratio Denominator Pn4E Smoothing Filter Setting Pn4c Position Command Filter Time Constant Setting Speed PI Processor Pn11 Speed Loop Gain Pn12 Speed Loop Integration Time Constant 4 Pn19 Speed Loop Gain 2 Pn1A Speed Loop Integration Time Constant 2 Pn20 Inertia Ratio Deviation Counter Pn10 Position Loop Gain Pn18 Position Loop Gain 2 Position Deviation Monitor Speed Detection Pn13 Speed Feedback Filter Time Constant Pn1B Speed Feedback Filter Time Constant 2 Receive Encorder Signal Torque Command Monitor Torque Command Filter 4 O Torque PI A_A V Processor Current Feedback Pn14 Torque Command Filter Time Constant Pn1C Torque Command Filter Time Constant 2 Pn5E Torque Limit Pn71 No 2 Torque Limit 5 2 Internally Set Speed Control Internally Set Speed Control The speed of the Servomotor can be controlled using the speeds set in the No 1 to 4 Internal Speed Setting parameters After the RUN Command Input RUN is turned ON and then th
456. vo Drive Use this connector when preparing a control cable yourself Dimensions 39 es B Connector plug 10150 3000PE Sumitomo 3M s 52 4 Connector case y 10350 52A0 008 Sumitomo 3M t 18 E Motion Control Unit Cables R88A CPGUML Use this cable to connect to the Motion Control Units in OMRON SYSMAC Programmable Controllers Cables are available for either one axis or two axes The following Motion Control Units can be used CS1W MC221 421 V1 Cable Models e Cables for One Axis Model Length L Outer diameter of sheath Weight R88A CPG001M1 im Approx 0 2 kg 10 R88A CPG002M1 2m Approx 0 3 kg R88A CPG003M1 3m ao Approx 0 4 kg N R88A CPG005M1 5m Approx 0 6 kg x ko e Cables for Two Axes A Model Length L Outer diameter of sheath Weight R88A CPG001M2 im Approx 0 3 kg R88A CPG002M2 2m Approx 0 5 kg 8 3 dia R88A CPG003M2 3m Approx 0 7 kg R88A CPGO05M2 5m Approx 1 0 kg Connection Configuration and Dimensions e Cables for One Axis Motion Control Unit CS1W MC221 421 V1 Servo Drive R88D G 10 33 e Cables for Two Axes Motion Control Unit CS1W MC221 421 V1 a Wiring 10 3 Specifications e Cables for One Axis Motion Control Uni
457. vo Relay Unit Cable Paton conta apur Postion Conto Servo Drive RE8D GPOGH CJ1W NC113 213 413 Unit cable Oe Terminal block CN2 CJ1W NC133 233 433 lt Ra Di ol Ad Encoder Connector CS1W NC113 213 413 CS1W NC133 233 433 Savo Relay Unit i C200HW NC113 213 413 CPU Units with Pulse string Outputs CQM1 CPU43 V1 5 Power Cable i 6 Encoder Cable 1 1 Power Cable Encoder Cable E connector Terminal Block and Cable 7 Robot Cables i 7 Robot Cables Other Controllers CPU Units with Pulse string Cable for Connector Outputs Terminal Block n CP1H X40DL_ Connector 5 CP1H XA40DL_ n Terminal gt 1 Use a robot cable when the cable must be flexible CP1H Y20DT D Block CP1L _ DTL D CJ1M CPU21 22 23 General purpose Control Cable and Control 1 0 Connector aid o Flexible Motion Controlle FQ1M MMA22 FQ1M MMP22 S o Servomotor a R88M G75030H o 10 42 10 4 System Design Peripheral Device Connection Examples m R88D GP08H R T Single three phase 200 to 240 VAC 50 60 Hz R88D GP08H NFB Neeti Main circuit contactor 1 oise filter I en
458. vomotor such as a welding machine Check for grounding problems fail ure to ground or incomplete grounding at devices such as a welding machine near the Servo motor Ground the equipment prop erly and prevent currents from flowing to the encoder FG Errors are being caused by excessive vibration or shock on the encoder There are problems with mechani cal vibration or motor installation such as the mounting surface pre cision attachment or axial mis alignment Reduce the mechanical vi bration or correct the Servo motor s installation The machine and the Ser vomotor are resonating Check whether the machine is res onating e Readjust the Torque Com mand Filter Time Constant e If there is resonance set the Notch Filter 1 Frequen cy Pn1D and Notch Filter 1 Width Pn1E Vibration is occurring at the same frequency as the power supply Inductive noise is occur ring Check whether the Servo Drive control signal lines are too long Shorten the control signal lines Check whether control signal lines and power supply lines are bundled together e Separate control signal lines from power supply lines e Use a low impedance power supply for control signals The position is misaligned Position mis alignment occurs without an alarm being output There is an error in the coupling of the mechanical system and the Servomo tor Check whether the co
459. ward Drive Prohibit Input POT or Reverse Drive Prohibit Input NOT is turned ON The torque in the drive prohibit direction is 0 disabled and the dynamic brake is acti Stop Selection vated 66 for Drive 0 0to2 Yes Prohibit Input The torque in the drive prohibit direction is 1 disabled and free run deceleration is per formed to stop A servo lock stop is used in position con 2 trol and a zero speed designation stop is used in Internally Set Speed Control 67 Not used Do not change setting 0 Set the operation to use during deceleration and af ter stopping when an alarm occurs The deviation counter will be cleared when an alarm occurs 0 During deceleration Dynamic brake After stopping Dynamic brake 68 Stop Selection During deceleration Free run 0 0to3 at Alarm 1 A After stopping Dynamic brake 2 During deceleration Dynamic brake After stopping Servo free 3 During deceleration Free run After stopping Servo free 5 29 5 10 User Parameters Power ae aramee Setting Explanation poten Unit Saing OFF No name setting range ON Set the operation to use during deceleration and af ter stopping and set the deviation counter status when the RUN Command Input RUN is turned OFF During deceleration Dynamic brake 0 After stopping Dynamic brake Deviation counter Cleared During deceleration Free run 1 After stopping Dynamic
460. 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 e Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations e Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsibl
461. x217 Pn4A 5000 Pn4B Related Parameter The main function provided by the parameter related to the electronic gear is given in the following table Parameter No Parameter name Explanation aa Command Pulse Input The command pulses are multiplied by a factor of 2 or 4 when using 90 Selection phase difference signal inputs is selected as the input format for the command pulse in the Command Pulse Mode Pn42 10 55 10 5 Operating Functions 10 5 6 Overrun Limit Function e The Servomotor can be stopped with an alarm for an overrun limit error alarm code 34 if the Servomotor exceeds the allowable operating range set in the Overrun Limit Setting Pn26 with respect to the position command input e This can be used to prevent impact on the edges of the machine because of Servomotor oscillation Parameters Requiring Settings Parameter No Parameter name Explanation Set the Servomotor s allowable operating range for the position nee command input range une Overrun Limit Seting An overrun limit error alarm code 34 will occur if the set value is exceeded Operating Conditions e The overrun limit will operate under the following conditions Conditions under which the overrun limit will operate Position Control Mode is used Operating mode Pn02 0 Position control 1 The servo is ON 2 The Overrun Limit Setting Pn26 is not 0 3 The allowable o
462. xtremely large about 100 times larger leakage current will flow through the noise filters condenser and the Servo Drive could be damaged 4 26 System Design System Design 4 3 Wiring Conforming to EMC Directives Dimensions Four M Dimensions mm Model A B C E F G H J M P 3G3AX NF001 140 125 110 70 95 22 50 20 4 5 156 3G3AX NF002 160 145 130 80 110 30 70 25 5 5 176 Measures against Brake Line Noise To reduce the noise from the brake line of the Servomotor use a clamp filter of the same type used for the Encoder Cable 4 27 4 4 Regenerative Energy Absorption 4 4 Regenerative Energy Absorption _ The Servo Drives have internal regenerative energy absorption circuitry which absorbs the regenerative energy produced during Servomotor deceleration and prevents the DC voltage from increasing An overvoltage error occurs however if the amount of regenerative energy from the Servomotor is too large In this case measures must be taken to reduce the regenerative energy by changing operating patterns or to increase the regenerative energy absorption capacity by connecting an External Regeneration Resistor Calculating the Regenerative Energy E Horizontal Axis c d N1 O oO m Servomotor E operation D gt V N2 Servomotor output torque EE Note In the output torque graph acceleration in t
463. y Software version c Warning display fe Regeneration load b ratio Overload load ratio Inertia ratio Total feedback pulses Total command pulses Not used Not used Automatic Servomotor recognition enabled disabled display Communications method display mr T a ran l 1 li a Lo lt I N i ols gt J gt Se i J3 rc li _ an pl J gt 1 gt w ran l _ l J gt I r I rc tle e M Ml M lN gt a Ce J d D ran gt lt mT Lz a I I g ran gt J ri gt a t A T es Te I m R m L t gt I lt I a rm b fo fo fo fo f fo fo fo fo fo fo fo fo fo fo fe a a
464. y Pn5E Torque Limit Servomotor Page 5 54 Deviation Counter Set the alarm detection level for deviation counter overflow Pn63 Page 5 56 Overflow Level Overspeed An overspeed alarm will occur if the Servomotor rotation speed Pn70 Detection Level exceeds the setting of this parameter Page 5 60 Setting 2 1 Values exceeding the default setting cannot be set The default setting depends on the combination of the Servomotor and Servo Drive 2 The Overspeed Detection Level Setting Pn70 will function only when torque limit switching function is enabled Related Parameters The following parameters must be set to use torque limit switching function Bonide Parameter name Explanation Reference Pn71 No 2 Torque Limit 1 These parameters are set when using the No 2 torque limit Se These parameters function in the same way as the parameters Noe Deviation described above Pn72 Counter Overflow Level Page 5 60 No 2 Overspeed Pn73 Detection Level Setting 2 1 Values exceeding the default setting cannot be set The default setting depends on the combination of Servomotor and Servo Drive 2 The No 2 Overspeed Detection Level Setting Pn73 will function only when torque limit switching function is enabled 5 9 Overrun Limit 5 9 Overrun Limit The overrun limit function is enabled only in Position Control Mode The overrun limit is used to stop operation via an alarm if th
465. y Red 2 NCL Gray Black 2 OUTM1 Blue Red 3 Z Blue Black 3 ZCOM Pink Red 3 A Pink Black 3 A Green Red 3 Appendix 2 Z Green Black Z VZERO DFSEL PNSEL 3 Orange Red 3 3 GSEL TLSEL Orange Black Gray Red 3 GESEL VSEL3 Gray Black 3 RUN Blue Red 4 ECRST VSEL2 Blue Black 4 RESET Pink Red 4 Pink Black 4 TVSEL IPG VSEL1 Green Red 4 READYCOM READY Orange Red 4 ALMCOM Green Black 4 4 Orange Black 4 ALM Servo Drive Connector Gray Red 4 INPCOM TGONCOM Connector plug Gray Black 4 INP TGON 10150 3000PE Sumitomo 3M Blue Red 5 OUTM2 Connector case Blue Black 5 COM Pink Red 5 BAT 10350 52A0 008 Sumitomo 3M Pink Black 5 BATGND Green Red 5 CWLD Terminal Block Connector Green Black 5 CWLD Connector socket XG4M 5030 CCWLD OMRON Orange Red 5 Orange Black 5 CCWLD Strain relief XG4T 5004 Gray Red 5 B OMRON Gray Black 5 B Orange Black 1 Cable FG AWG28 x 25P UL2464 10 38 Appendix 2 10 3 Specifications E Connector Terminal Block Conversion Unit The Connector Terminal Block Conversion Unit can be used along with a Connector Terminal Block Cable XW2Z J B24 to convert the Servo Drive s control
466. y end before completing five cycles or the operating acceleration may not change This is not an error Normal Mode Autotuning Setting Method 10 119 1 2 3 A Set the operating pattern using the Autotuning Operation Setting Pn25 parameter Move the load to a safe position even if the Servomotor performs the operating pattern set in Pn25 Prohibit the command Turn the servo ON Start normal mode autotuning Start normal mode autotuning from the front panel or by using CX Drive Adjust the machine rigidity for the desired responsiveness at a level where vibration does not occur If there are no problems with the results write the data to the EEPROM 10 7 Adjustment Functions Automatically Set Parameters Normal Mode Autotuning Parameter Parameter Rigidity No No name 0 1 2a 8 e S ol ry el o Ale eel EE Pn10 Position Loop Gain 12 32 39 48 63 72 90 108 135 162 206 251 305 377 449 557 Pni1 Speed Loop Gain 9 18 22 27 35 40 50 60 75 90 115 140 170 210 250 310 Speed Loop Pn12 Integration Time 62 31 25 21 16 14 12 11 9 8 7 6 5 4 4 3 Constant Speed Feedback Pn13 Filter Time 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Constant Torque Command Pn14 __ Filter Time 253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10 Constant Speed Feed 300
467. y to display Parameter Write Mode Press the Data key to move on to Parameter Write Mode Press the Increment key for at least 5 s The bar indicator will appear Writing will start This display will appear only momentarily This display indicates a normal completion In addition to Finish either E5E Or E 3 may be displayed Iff esex is displayed writing has been completed normally but some of the changed parameters will be enabled only after the power is turned ON again Turn OFF the Servo Drive power supply and then turn it ON again lf 3 _ is displayed there is a writing error Write the data again 6 Returning to the Display of Parameter Write Mode Key operation Display example Explanation Press the Data key to return to the display of Parameter Write Mode 5 19 5 10 User Parameters Parameter List Some parameters are enabled by turning the power OFF and then ON again When changing these parameters turn OFF the power check that the power LED indicator has gone OFF and then turn ON the power again Do not make any settings for parameters marked Not used E Function Selection Parameters Pn Parameter Setting Explanation Default Unit Setting Power No name setting range OFF gt ON 00 Unit No Setting Set the unit number 1 1to15 Yes 01 Default Display Se

SmartStep 2 servo system USER'S MANUAL

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