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Omron Omnuc FND-X series position driver user manual

1. Word 100 OUT Slave 1 OUT Slave 0 Bit Signal name Signal allocation Bit Signal name Signal allocation 15 IN7 OUT15 7 STOP OUT7 14 OUT14 6 TEACH OUT6 13 IN5 OUT13 5 JOG OUT5 12 P IN4 OUT12 4 JOG OUT4 11 IN3 OUT11 3 SEARCH OUT3 10 IN2 OUT10 2 RESET OUT2 9 P IN1 OUT9 1 START OUT1 8 P INO OUT8 0 RUN OUTO Word 108 IN Slave 1 IN Slave 0 Signal name Signal allocation i Signal name Signal allocation 15 IN15 7 ALM IN7 14 P OUT6 IN14 6 INP ING 13 P OUT5 IN13 5 RUNON IN5 12 P OUT4 IN12 4 T COM INA 11 P OUT3 IN11 3 ORGSTP IN3 10 P OUT2 IN10 2 S COM IN2 9 P OUT1 IN9 1 READY IN 1 8 P OUTO IN8 0 BO INO Note 1 When using the CQM1 SRM21 as the Master Unit be sure to set the number of points allo cated to one node address to 8 point mode If used in 4 point mode an area overlap error will be occur Note 2 For details regarding Master Unit word allocation refer to the Master Unit operation manual CompoBus S Communication Status Indicators Indicator Status Meaning Power supply Lit The power is turned ON Not lit The power is turned OFF COMM Communicating Yellow Lit Communications are being executed nor mally Not lit There is a communications error or com munications are being awaited ERR Communications error Red Lit A communications error has occurred Not
2. 3 S COM Origin search completed CN1 23 IN2 4 ORGSTP Origin stop CN1 24 IN3 5 T COM Teaching completed CN1 25 IN4 6 RUNON Motor running CN1 26 IN5 7 INP Positioning completed CN1 27 IN6 8 ALM Alarm CN1 28 IN7 9 P OUTO Point output 0 Position CN1 29 IN8 selection 1 10 P OUT1 Point output 1 Position CN1 30 INQ selection 2 11 P OUT2 Point output 2 Position CN1 31 IN10 selection 3 12 P OUTS Point output 3 Position CN1 32 IN 11 selection 4 13 P OUT4 Point output 4 Speed CN1 33 IN12 selection 14 P OUT5 Point output 5 CN1 32 IN13 15 P OUT6 Point output 6 CN1 35 IN14 4 7 Application Chapter 4 4 3 Monitor Output The Position Driver outputs analog a voltage proportional to the motor s rotation speed and current The monitor voltage is output from the monitor output terminal on the front panel of the Position Driver This analog output can be used to install a meter in the con trol panel or to provide more precise gain adjustments Monitor Output Terminal on Driver s Front Panel 2 Speed monitor Current monitor 1 GND Monitor output terminal MON H XU Monitor Output Circuitry 3300 2 Speed monitor Current monitor 4700pF GND
3. Design and Installation Chapter 2 Dimensions Model Drawing Dimensions mm Set V PUZBAB A B Bi c D Ej F H J KkK Li M 2 5A4 2MH 1 120 71 120 40 50 105 20 M6 10 5 7 M4 5A2 1MH 120 71 120 40 50 105 20 M6 10 5 7 M4 10A1 1MH 2 130 88 130 50 65 130 22 M6 11 5 7 20 0 53 130 88 114 105 50 65 130 22 M6 11 5 7 5 Drawing 1 Drawing 2 xviYwz M Terminal M Terminal P d HI IJ Tp i Lee e Nameplate T ES 1 9 x Y Z oon um L a 5 0 4 H he lacs NEN fact DES LEE AEN Bl Details of mounting hole i Mounting bolt 2 84 Details of mounting hole Mounting bolt Design and Installation 2 2 6 Peripheral Device Connection Examples to X25 Position Drivers to Peripheral Devices Connecting FND X06 S Q 9 9 R Q Single phase 200 240 VAC 50 60 Hz FND X Single phase 100 115 VAC 50 60 Hz FND X NFB H L Chapter 2 Main circuit power supply Main circuit connector OFF ly na MC X Surge killer oo oo X e Servo error display OMNUC U series Power Cable 30 to 750 W R88A CAU 5 R88A CAU B 1to 2 kW R88A CAUB S R88A CAUB B EC Directives R88A CAUO01 R88A CAUO1B OMNUC H series Power Cable R88A CAH R88A CA
4. Wiring Symbol No RRR AASER SAS tes Symbol AWG24 Blue 1 16 A A 2 AWG24 White Blue 17 A B AWG24 Yellow B 3 AWG24 White Yellow 18 z 4 19 B 7 5 AWG24 Green 14 7 Z g AWG24 White Green _ Ra EOV 7 AWG22 Black 1 EOV E5V 8 AWG22 Red 4 E5V ABS 10 AWG24 Purple 8 ABS ABS 11 AWG24 White Purple 9 ABS NC 12 Reset 13 AWG24 White Gray 10 Reset BAT 14 AWG24 White Orange 13 BAT AWG24 Orange 15 r 12 BAT AWG22 Green Yellow FG 9 20 FG Cable AWG22x 3 AWG24 x 6P UL2589 For Cable Connector housing model 172163 1 Nippon Amp Contact plug model 10120 3000VE Sumitomo 3M Connector socket contact model 170365 1 Nippon Amp Contact case model 10320 52A0 008 Sumitomo 3M Crimping tool 724649 1 Pulling tool 724668 2 For Motor Contact plug model 172171 1 Nippon Amp Connector pin contact model 170359 1 Nippon Amp Encoder Cables for U series 30 W to 750 W Servomotors and U UE series Servomotors Conforming to EC Directives with Incremental Encoders Cable Models Length L Outer diameter of sheath R88A CRUD003C R88A CRUDO005C R88A CRUDO10C R88A CRUD015C R88A CRUDO20C Note The maximum distance between the Servomotor and the Position Driver is 20 m 5 55 Specifications Chapter 5 Connection Configuration U series 30 W to 750 W AC Servo motor confo
5. Specifications Chapter 5 R88M R88M R88M R88M R88M R88M U03030HA U05030HA U10030HA U20030HA U40030HA U75030HA U03030VA U05030VA U10030VA U20030VA U40030VA U75030VA Brake Brake kg m 0 09 x 1079 0 58 x 1075 1 40 x 1075 speci inertia 02 4 kgf cm s2 0 09 10 4 0 59 x 10 4 1 43 x 10 4 Excita V 24 VDC 10 No polarity tion voltage Power W at 6 0 6 5 6 0 con 20 C sumption Current A at 0 25 0 27 0 25 con 20 C sump tion Static Nm 0 2 min 0 34 min 1 5 min 2 5 min friction torque kgf cm 2 0 min 3 5 min 15 0 min 25 0 min Absorp ms 40 max 60 max 100 max 200 max tion time See note 3 Release ms 20 max 30 max 40 max 50 max time See note 3 Back Reference 1 lash value Rating Continuous Insula Type F tion grade Note 1 The values for torque and rotation speed characteristics are the values at an armature wind ing temperature of 100 C combined with the Position Driver Other values are at normal conditions 20 C 65 The maximum momentary torque is a reference value Note 2 The brakes are the non excitation type When excitation voltage is added it is cleared Note 3 The operation time measurement is the measured value with a surge killer CR50500 by Okaya Electric Industrial Co installed Note 4 The allowable radial load indicates the value at a location 5 mm fr
6. I O allocation Signal Name OUTO RUN RUN command OUT1 START START OUT2 RESET Alarm reset OUT3 SEARCH Origin search OUT4 JOG JOG operation OUT5 JOG JOG operation OUT6 TEACH Teach OUT7 STOP see note 2 Deceleration stop OUTS P INO Point selection 0 Position 0 OUT9 IN1 Point selection 1 Position 1 OUT10 IN2 Point selection 2 Position 2 OUT 11 P IN3 Point selection 3 Position 3 OUT12 P INA Point selection 4 Position 4 OUT13 IN5 Point selection 5 Position 5 OUT 14 P IN6 Point selection 6 Position 6 OUT15 P IN7 Position 7 OUT 16 Output Points allocation Signal Name INO BO Brake output IN1 READY READY IN2 S COM Origin search completed INS ORGSTP Origin stop IN4 T COM Teaching completed IN5 RUNON Motor running ING INP Positioning completed IN7 ALM Alarm IN8 P OUTO Point output 0 Position selection 1 INQ P OUT1 Point output 1 Position selection 2 IN10 P OUT2 Point output 2 Position selection 3 IN11 P OUT3 Point output 3 Position selection 4 IN12 P OUT4 Point output 4 Speed selection IN13 P OUT5 Point output 5 IN14 P OUT6 Point output 6 IN15 Not used Note 1 The I O allocation indicates the word allocation for the Master Unit Note 2 The Servomotor cannot be driven if the deceleration stop signal is OFF for the external control input CN4 4 or the CompoBus S input OUT7 2 46 Design and Installation Chapter 2
7. 38 L 39 i e mine T Hn 7 D E t 15 t 14 U series 30 W to 750 W AC Ser vomotor conforming to EC Direc FND X series Position Driver tives with absolute encoder Wiring Symbol No Symbol F AWG24 Blue i 2 AWG24 White Blue 17 A B AWG24 Yellow 1 Bc AWG24 White Yellow Z g AWG24 Green 14 Z Z AWG24 White Green _ Na EOV 7 AWG22 Black 1 E5V 8 AWG22 Red 4 E5V ABS 10 AWG24 Purple 8 ABS ABS 11 AWG24 White Purple 9 ABS NC 12 Reset 13 HAWG24 White Gray s 10 Reset BAT 14 AWG24 White Orange 13 BAT AWG24 Orange i BAT 15 r 12 t AWG22 Green Yellow t FG 9 r 20 DP aia I EP Shell FG Cable AWG22 x 3C AWG24 x 6P For Cable Connector model 17JE13150 02D8A Daiichi Electronic Industries Contact plug model 10120 3000VE Sumitomo 3M Stand model 17L 002A1 Daiichi Electronic Industries Contact case model 10320 52 0 008 Sumitomo For Motor Connector model 17JE23150 02D8A Daiichi Electronic Industries 5 57 Specifications Chapter 5 Encoder Cables for U series 1 kW to 2 kW Servomotors with Incremental or Absolute Encoders Note To conform to EC Directives use the recommended connectors refer to 2 1 2 Installation Condi tions Cable Models Length L Outer diameter of sheath R88A CRUBOO3C 10 3 dia R88A CRUBOO5C R88A
8. Settingrange Unit E setting pu eros 0 00 a kW ee eee capacit a When attaching an External Regeneration Resistor this parameter specifies its capacity kW e This parameter is used for calculating the regeneration absorption rate The regeneration absorption rate is displayed in Monitor Mode Note 1 This parameter is only valid for the FND X50H Note 2 After this parameter has been set it will become valid when the power supply is turned OFF check that the display has been cleared and ON again H Parameters PRMNo Parametername Setting range Unt Factory setting HP 33 Loadrate time Toso s 3 e This parameter specifies the time interval for the effective load factor calculation e Set the integer multiple for the machine cycle time e The effective load factor is displayed in Monitor Mode PRM No Parameter name Setting range Unit Factory setting HP 46 In position timer 3 2 to 3200 ms e This parameter specifies the minimum ON time for the positioning completed signal and the minimum OFF time for the ready signal Be sure to set enough time so that the Programmable Controller PC will be able to respond when the positioning completed signal and the ready signal are received by the PC Set value 2 PC cycle time x 2 PC input delay time 1 ms When the Increment and Decrement Keys are pressed the set value is changed in units of 3
9. U series 30 W to 750 W AC Servomotor conforming to UL cUL standards FND X series Position Driver U UE series AC Servomotor not conforming to any standards with incremental encoder Wiring 1 wm 0 Dmm 1 XD i AWG22 black i AWG22 green yellow Cable AWG22 x 3C AWG24 x 3P UL2589 5 53 Specifications Chapter 5 For Cable Connector housing model 172161 1 Nippon Amp Contact plug model 10120 3000VE Sumitomo 3M Connector socket contact model 170365 1 Nippon Amp Contact case model 10320 52A0 008 Sumitomo 3M Crimping tool 724649 1 Pulling tool 724668 2 For Motor Contact plug model 172169 1 Nippon Amp Connector pin contact model 170359 1 Nippon Amp Encoder Cables for U series 30 W to 750 W Servomotors Conforming to UL cUL Standards with Absolute Encoder Cable Models Length L Outer diameter of sheath R88A CSU003C 10 3 dia R88A CSU005C R88A CSU010C R88A CSU015C R88A CSU020C Note The maximum distance between the Servomotor and the Position Driver is 20 m Connection Configuration U series 30 W to 750 W AC Ser vomotor conforming to UL cUL FND X series Position Driver standards with absolute encoder 5 54 Specifications Chapter 5
10. Item Specifications Ambient operating temperature 0 to 40 C Ambient operating humidity 20 to 80 RH with no condensation Ambient storage temperature 10 to 75 C Ambient storage humidity 20 to 85 RH with no condensation Storage and operating atmo No corrosive gasses sphere Vibration resistance 10 to 150 Hz in X Y and Z directions with 0 2 mm double amplitude acceleration 24 5 m s2 2 5 G max time coefficient 8 min 4 sweeps Impact resistance Acceleration 98 m s 10 max in X Y and Z directions three times Insulation resistance Between power line terminals and case 10 MQ min 500 VDC megger Dielectric strength Between power line terminals and case 1 500 VAC for 1 min 10 mA max at 50 60 Hz JEC 2121 Run position All directions Insulation grade Type B JIS C4004 Structure Totally enclosed self cooling Protective structure Models not conforming to any standards IP 42 JEM1030 Models conforming to EC Directives IP 44 IEC 34 5 not including the shaft opening Cannot be used in environment with water soluble cutting fluids Vibration grade V 15 JEC2121 Mounting method Flange mounting 5 22 Specifications Chapter 5 Note 1 Vibration may be amplified due to sympathetic resonance of machinery so do not exceed 19 6 m s 2 over a long period of time Note 2 The above items reflect individual evaluation testing The results may differ under co
11. 3 4 1 Setting User Parameters and Parameters 3 4 2 User Parameter and Parameter Tables 3 4 3 User Parameter and Parameter Details 3 5 Position Control Settings PTP Parameters 3 5 1 Setting PTP Parameters PP 01 to PP 26 3 5 2 Parameters PP 01 to PP 26 3 5 3 Parameter Details PP 01 to PP 26 3 6 Setting Positioning Data Data Direct Input 3 6 1 Setting Data When UP 01 is 11 12 3 6 2 Setting Direct Input When UP 01 is 13 14 3 6 3 Data Pd0ljj to Pd64j 2 eee eee 3 6 4 Data Details Pdjjj p gt ccoo sceon enpa 3 7 Operational Sequence e a E metere 3 7 Ongin Search iile Seg RE RR eb Seance eben 3 7 2 Origin Teaching sss acce bep IRE p ERR RR UR 3 7 3 Teachimg i oso bi ER Cb Pb AE ENEEP RPM MEME 3 7 4 Point Positioning UP 01 11 or 12 lssseseeeeeeee IA 3 7 5 Direct Positioning UP 01 13 14 3 8 Enial Operation ssn obs debeo ee ERREUR UII EACUS SEP MEME RP 3 8 1 Trial Operation Procedure lsleleleee
12. Repeated used area Continuous op eration area 1000 2000 3000 4000 r min R88M U20030HA TA R88M U20030VA XA N m kgf cm 1 Repeated used area 0 5 Continuous op eration area 1000 2000 3000 4000 r min R88M U05030HA TA R88M U05030VA XA N m kgf cm Repeated 03 used area Continuous op eration area 1000 2000 3000 4000 r min R88M U40030HA TA R88M U40030VA XA N m kgf cm Repeated used area Continuous op eration area 1000 2000 3000 4000 r min R88M U10030HA TA R88M U10030VA XA N m kgf cm Repeated used area 0254 2 Continuous op eration area 0 1000 2000 3000 4000 r min R88M U75030HA TA R88M U75030VA XA N m kgf cm Repeated used area Continuous op eration area 1000 2000 3000 4000 r min Servomotor and Mechanical System Temperature Characteristics U series AC Servomotors use rare earth magnets neodymium iron magnets The temperature co efficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s momentary maximum torque increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 C and 10 C are compared the momentary maximum torque increases by approximately 496 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decrease
13. 2 1 2 Installation Conditions cs sie tiisa cece bue pret eie 2 2 WATS 4 ure EERE AE POR tenia UOS MUS TEC NODE UOS CAT DEUS 2 2 1 OVetvIe wo c o obs LV ie are ee Sb ERI VULN P Ub qp hace Pau 2 2 2 Control Circuitry Terminal Wiring 0 0 eee eee 2 2 3 Wiring Terminal Blocks 0 0 0 2 2 4 Wiring for Noise Resistance 2 2 5 Wiring Products Conforming to EMC Directives 2 2 6 Peripheral Device Connection Examples 2 2 7 Battery Wiring and Encoder Setup for Absolute Encoder Chapter 3 Operation 32 Operational Procedure x ee bine oan eR e 3 2 Turning ON Power and Checking Displays 3 2 1 Items to Check Before Turning ON the Power 3 2 2 Turning ON the Power and Checking the 3 3 Usmg the Display Area sete oer etre bee HER Rep e ee 3 3 1 Key Operations secs ses sory Rye EE RE HEY DRE YER EX RE 3 3 2 Modes and Mode Changes sseseeeeeee e 3 323 Mode Details s peo ERR ea ca nth ao AS Ebr Ue PE RR S 3 3 4 CompoBus S Communications Display and Setting Panel 3 4 Setting Functions User Parameters
14. C Key Operations a 1 CN6 Main function cD Mode Key Changes the Position Driver s mode Shift Key Shifts the operation column to the left p Data Key Saves the set data x Increment Key Increments the parameter address or 2 data value Decrement Key Decrements the parameter address or data value 1 10 Introduction Chapter 1 1 3 Supported Standards and Supporting Models 1 3 1 Standards Supported by Position Drivers Standard Supported standard File No Remarks UL cUL UL508C E179149 Electrical power conversion devices Low voltage Directive EN50178 Industrial product specifications EMC Directive EN55011 class A Radio interference limits and measurement group 1 methods for radio frequency devices for in dustrial scientific and medical applications EN61000 4 Electromagnetic compatibility and immunity Note All Position Drivers in the FND X Series conform to UL cUL standards and EC directives 1 3 2 Standards Supported by AC Servomotors Standard Supported standard File No Remarks UL cUL UL1004 E179189 Electric motors cUL C22 2 No 100 E179189 Motors and generators EC Low voltage Directive IEC34 1 5 8 9 Rotating electric devices EMC Directive
15. 94 5 25 149 5 300 30 Encoder adapter 100 W Standard Models Without Brakes R88M UE10030H S1 Shaft end dimensions Key Four R3 7 Two 4 3 dia 46 dia 100 W Models with Brakes R88M UE10030H BS1 Encoder adapter Motor plug Two 4 3 dia 8h6 dia 46 dia Four R3 7 Slot dimensions conform to JIS B1301 1976 8h6 dia Shaft end dimensions Key slot dimensions conform to JIS B1301 1976 2 17 Design and Installation Chapter 2 OMNUC U UE Series AC Servomotors with Incremental Encoders UE Contd 200 W 400 W Standard Models Without Brakes R88M UE20030H S1 R88M UE40030H S1 300 30 Encoder adapter Motor plug Shaft end dimensions Key slot dimensions conform to JIS B1301 1976 Four 5 5 dia Four R5 3 50h7 dia Fil 14h6 dia 200 W 400 W Models with Brakes R88M UE20030H BS1 R88M UE40030H BS1 300 30 Encoder adapter Motor plug Shaft end dimensions Key slot dimensions conform to JIS B1301 1976 Four 5 5 dia Four R5 3 14h6 dia w Models with Brakes Standard Models Without Brakes Model L Model L LL R88M UE20030H BS1 166 R88M UE20030H S
16. Checking the Servomotor Wiring e There should be no load on the Servomotor Do not connect to the mechanical system e The power line connectors at the Servomotor must be securely connected Checking Encoder and Resolver Connectors Wiring e Encoder and resolver cables must be securely connected to the motor sensor connectors CN2 at the Driver e Encoder and resolver cables must be securely connected to the encoder resolver connectors at the Servomotor Checking Control Signal Connector Wiring Be sure that the control signal connectors or the CompoBus S terminals and external control signal connectors are firmly connected e The RUN command must be OFF 3 4 Operation Chapter 3 3 2 2 Turning ON the Power and Checking the Display Turning ON the Power Before turning ON the power supply check carefully to confirm that it is safe Checking Displays When the power is turned ON one of the codes shown below will be displayed Factory settings parameter setting error Normal motor speed display Error alarm display Note The alarm code the number shown in the alarm display changes depending on the contents of the error If the power is turned ON with the factory settings in place a parameter setting error A L 26 will be displayed This is because the applicable motor parameter UP 02 factory setting is 000
17. T pe S o N MON EUA omron FND XO06L Bottom View Radiation fin Key Operations Display 5 digit 7 segment LEDs Operation Keys 5 keys Monitor Output Terminal CN5 RS 232C Communications Connector CN1 CONT Control Signal Connector CN2 M SEN Motor Sensor Connector CN6 BAT Connector Main function cD Mode Key Changes the Position Driver s mode Shift Key Shifts the operation column to the left pm Data Key Saves the set data x Increment Key Increments the parameter address or 2 data value Decrement Key Decrements the parameter address or data value Introduction Chapter 1 CompoBus S Position Drivers Display 5 digit 7 segment LEDs Operation Keys 5 keys Front View o FINE a 2 ADDRESS Terminal A2 Block LIMIT D External control signal connector e Bottom View Monitor Output Terminal CN5 RS 232C Communications Connector Node Address Setting Switch CN1 CONT Control Signal Connector CN2 M SEN Motor Sensor Connector Radiation fin _
18. The Shift Key shifts to the digit on the left The Data Key saves data The Increment Key increments parameter numbers and data The Decrement Key decrements parameter numbers and data The Increment Key and Data Key together increment the parameter number by 10 or 2 for PTP data The Decrement Key and Data Key together decrement the parameter number by 10 or 2 for PTP data The Data Key and Shift Key together enable data to be changed 3 8 Operation Chapter 3 3 3 2 Modes and Mode Changes Modes The OMNUC FND X Series has the following seven modes Mode Function Monitor Mode Monitors motor speed present value reference value position deviation value machine speed motor current effective load factor electronic thermal value electrical angle and regenerative absorption rate Check Mode Displays the I O signal status alarm details alarm history and software version Adjustment Parameter Edit Mode Displays and sets the adjustment parameters User Parameter Edit Mode Displays and sets the user parameters and H parameters PTP Parameter Edit Mode Displays and sets the PTP parameters PTP Data Edit Mode Displays and sets the PTP data System Check Mode Used for motor test operation output signal testing and auto tuning Changing Modes To change modes
19. U series 30 W to 750 W AC Servomotor U UE series AC Servomotor FND X series Position Driver Wiring R88A CAUO01 AC Servomotor Position Driver AWG20 Red AWG20 White Green Yellow AWG20 Green Cable AWG20 x 4C UL2517 5 66 Specifications Chapter 5 R88A CAU01B AC Servomotor Position Driver AWG20 Red AWG20 Blue i AWG20 Green i AWG20 Black AWG20 Black Cable AWG20 x 4C 24 VDC 10 no polarity UL2517 Power Cables for U series 1 kW to 2 kW Servomotors Without Brake Note To conform to EC Directives use the recommended connectors refer to 2 1 2 Installation Condi tions Cable Models Length L Outer diameter of sheath R88A CAUB003S R88A CAUBOO5S R88A CAUBO10S R88A CAUB015S R88A CAUB020S Note The maximum distance between the Servomotor and the Position Driver is 20 m Connection Configuration 65 9 L 34 1 dia U series 1 kW to 2 kW AC Servomotor without brake FND X series Position Driver 5 67 Specifications Chapter 5 Wiring Sina _ No Vphase B D Cable AWG12 x 4C V5 5 4 Crimp terminals For Cable Connector plug model MS3106B18 10S Cable clamp model MS3057 10A For Motor Receptacle MS3102A18 10P Power Cables for U series 1 kW to 2 kW Servomotors With Brake Note To conform to EC Directives use the recommended connectors ref
20. i 57 xx 2 e LEX OO 55 amp bee gt Ss V bs bs Control Panel Structure Any gaps in the cable entrances mounting screws cover or other parts of a control panel can allow electric waves to leak from or enter the control panel The items described in this section must be abided by in panel design and selection to ensure that electric waves cannot leak or enter the control panel Case Structure Use a metal control panel with welded joints on the top bottom and all sides The case must be electri cally conductive 2 77 Design and Installation Chapter 2 When assembling the control panel remove the coating from all joints or mask the joints when coat ing to ensure electrical conductivity e Be sure that no gaps are created when installing the control panel as gaps can be caused by distortion when tightening screws Be sure there are not any electrically conductive parts that are not in electrical contact e Ground all Units mounted in the control panel to the panel case e Never open holes in the control panel that are any larger than necessary Open smaller individual holes e g for individual cables cooling fans etc Large holes will allow allow electric waves to leak from or enter the control panel Be sure that the panels to check the Position Driver and other Units are mounted are electrically con ductive with the c
21. In the same way press the Shift Key again so that the 1 000 digit the leftmost digit flashes and then press the Increment Key to enter 1 for that digit Finally press the Data Key to set the data Note After setting the parameters turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again The values set for UP 02 will go into effect when the power is turned back ON If the display is normal motor speed display after the power is turned ON rotate the motor shaft by hand in both the forward and reverse directions and check to make sure that the positive and negative signs in the display match the direction of rotation If they do not match check the encoder and resolver cables to make sure they are connected correctly 4 H rotation Reverse rotation Display example r p 5 Reverse rotation Forward rotation If an error message A L displayed when the power is turned ON refer to Chapter Application and take the necessary countermeasures 3 7 Operation Chapter 3 3 3 Using the Display Area 3 3 1 Key Operations Display Area Layout MODE omron MON FND X06L cy R CONT H Key Functions Key operation Main function The Mode Key changes the mode
22. 145 185 750 W Models with Brakes R88M U75030VA BS1 RRA RE ASA AAR 40 ah 189 5 229 5 SRE SELES SEER SSSR RSQ LS A SSN SRSA NS S SSS SOA RRS NEN NASAS Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Absolute Encoders U ABS 30 to 750 W Conforming to UL cUL 30 W 50 W 100 W Standard Models Without Brakes R88M U03030TA R88M U05030TA R88M U10030TA Encoder adapter Motor plug 46 dia 53 dia 30 W 50 W 100 W Models with Brakes R88M U03030TA B R88M U05030TA B R88M U10030TA B 35 Encoder adapter Motor plug 300430 Sh6 dia Two 4 3 dia Es E 46 dia 4 53 dia 30h7 dia Standard Models Without Brakes Models with Brakes Model L LL S Model L LL LB S R88M U03030TA 117 5 92 5 6 R88M U03030TA B 149 124 31 5 6 R88M U05030TA 125 100 6 R88M U05030TA B 156 5 131 5 31 5 6 R88M U10030TA 142 5 117 5 8 R88M U10030TA B 183 158 40 5 8 2 10 Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Absolute Encoders U ABS 30 to 750 W Conforming to UL cUL Contd 200 W 400 W Standard Models Without Brakes R88M U20030TA R88M U40030TA Encoder adapter Motor plug 200 W 40
23. 304 204 Repeated use area Continuous opera tion area T T T T 1000 2000 3000 4000 r min Servomotor and Mechanical System Temperature Characteristics U UE series AC Servomotors use rare earth magnets neodymium iron magnets The tempera ture coefficient for these magnets is approximately 0 13 C As the temperature drops the Servo motor s momentary maximum torque increases and as the temperature rises the Servomotor s mo mentary maximum torque decreases When the normal temperature of 20 C and 10 C are compared the momentary maximum torque increases by approximately 496 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 896 e Generally in a mechanical system when the temperature drops the friction torque increases and the load torque becomes larger For that reason overloading may occur at low temperatures In particu lar in systems which use deceleration devices the load torque at low temperatures may be nearly twice the load torque at normal temperatures Check with a current monitor to see whether overload ing is occurring at low temperatures and how much the load torque is Likewise check to see wheth er there abnormal Servomotor overheating or alarms are occurring at high temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Position Driver paramete
24. l ale ven tH CompoBus S Communications Cable General purpose SCA1 4F10 Flat Cable or commer Control Cable iall ilable VCTF cabl FND CCX S cially available VCTF cable FND X series Position Driver CompoBus S Type FND X series Position Driver DIO Type Power Cable R88A CAH S R88A CAH B Conversion Cable R88A CRHORST Encoder Cable l R88A CRH OMNUC E series Servomotor Note Refer to Chapter 5 Specifications for connector and cable specifications 2 42 Design and Installation Chapter 2 Using an OMNUC M series AC Servomotor SYSMAC CV C series C200HX HG HE or CQM1 SRM1 C01 C02 Programmable Controller Programmable Controller Master Control Unit EE a 1 CompoBus S Communications Cable General purpose SCA1 4F10 Flat Cable or commer Control Cable cially available VCTF cable FND CCX S FND X series Position Driver DIO Type FND X series Position Driver CompoBus S Type Power Cable Prepared by user
25. Monitor Output Specifications Speed monitor With 0 V as center voltage output at rate of 3 V motor s rated speed Forward rotation voltage reverse rotation voltage output Output accuracy approx 10 Current monitor With O V as center voltage output at rate of 3 V motor s maximum current Forward acceleration voltage reverse acceleration voltage Output accuracy approx 10 4 8 Application Chapter 4 User Parameter Setting No Name Min Setting Factory Explanation UP unit range setting 25 Monitor output 000 to 010 Specifies the output terminal function selection 011 0 L_ Voltage polarity 0 Not reversed 1 Reversed Speed Current selection 0 Current 1 Speed 4 9 Application Chapter 4 4 4 Protection and Diagnosis 4 4 1 Alarms The Position Driver has the error detection functions shown below When an error is detected the output signal ALM CN1 28 turns OFF and the alarm is displayed The following table shows the alarm codes that are displayed on the Position Driver s front panel and it provides explanations of each of their meanings Display Error detection Meaning of code and probable cause Motor current function A LO1 Overcurrent Overcurrent or overheating detected Servo OFF A L02 Overvoltage Main circuits DC voltage exceeded Servo OFF 410 VDC
26. 5 4 speed control Frequency response 100 Hz at a load inertia equivalent to motor s rotor inertia Position loop gain 1 to 200 rad s Specifications Chapter 5 Item FND X06L FND X12L FND X06H FND X12H FND X25H FND X50H SRT SRT SRT SRT SRT SRT Position U Series 30 to 750 W Optical Incremental encoder 2 048 pulses revolution speed feed INC 1 to 2 kW Optical Incremental encoder 4 096 pulses revolution back U Series 30 to 750 W Optical Absolute encoder 1 024 pulses revolution ABS 1 to 2 kW Optical Absolute encoder 8 192 pulses revolution U UE Optical Incremental encoder 1 024 pulses revolution Series Series Magnetic incremental encoder 2 000 pulses revolution M Series Resolver absolute accuracy 0 18 max ambient temperature 25 Applicable U Series Maximum of 30 times Maximum of 30 times Maximum of Maximum of load inertia INC motor s rotor inertia motor s rotor inertia 20 times 10 times See note 1 motor s rotor motor s rotor inertia inertia 10 times for 1 kW model U Series Maximum of 20 times Maximum of 20 times Maximum of Maximum of ABS motor s rotor inertia motor s rotor inertia 18 times 10 times motor s rotor motor s rotor inertia inertia 10 times for 1 kW model U UE Maximum of 30 times Maximum of 30 times Maximum of Series motor s rotor inertia motor s rotor inertia 20 times motor s rotor
27. Cable Mode Length L Outer diameter of sheath FND CTXOOZN Connection Configuration 161 2 000 39 g O j o wo e e 719 t 6 1 usd XW2B 20G4 or XW2B 20G5 Connector Terminal Block FND X series Position Driver Wiring Terminal block Connector No No No Symbol 1 1 7 24 V 2 2 3 3 1 CCWL 4 4 5 5 2 CWL 6 6 7 7 3 ORG 8 8 9 9 4 STOP 10 0 11 1 BO 12 2 14 OGND 13 3 14 4 15 5 16 6 17 7 18 8 19 9 20 20 Connector model XG4M 2030 T OMRON Contact plug model 10114 3000VE Sumitomo 3M Contact case model 10314 52A0 008 Sumitomo 3M 5 52 Specifications Chapter 5 5 3 4 Encoder Cables Encoder Cables for U series 30 W to 750 W Servomotors Conforming to UL cUL Standards and U UE series Servomotors not Conforming to Any Standards With Incremental Encoder Cable Models Model Length L Outer diameter of sheath R88A CRUOOSC 3m 8 dia R88A CRUOO5C 5m R88A CRUO10C 10 R88A CRUO15C 15m R88A CRUO20C 20 m Note Up to a maximum of 20 meters between the Servomotor and the Position Driver is 20 m Connection Configuration
28. 1 4 mn Hold down the Increment Key Decrement Key and Data Key simultaneously for at least five seconds to enter System Check Mode ua n n o Press the Shift Key to bring up the output signal test display signals will all be turned OFF un um Coj C aj Ca l t Cay Use the Increment Key and the Decrement Key to select the signal In this Press the Data Key and Shift Key to enable the output signal test The output example the origin signal ORGSTP is selected Press the Data Key to turn ON the output signal 1 indicates ON 502 1 6802 0 Press the Data Key again to turn OFF the output signal 1 indicates OFF 9g SE p Press the Mode Key to return to the output signal test display a Double click the Mode Key to return to Monitor Mode Output Signal Numbers Symbols and Names Number READY READY S01 S COM Origin search completed S02 ORGSTP Origin stop S03 T COM Teaching completed S04 RUNON Motor running S05 INP Positioning completed S06 ALM Alarm S07 P OUTO Point output 0 Position selection 1 S08 P OUT1 Point output 1 Position selection 2 S09 P OUT2 Point output 2 Position selection 3 S10 P OUTS Point output 3 Position selection 4 S11 P OUT4 Point output 4 Speed selection S12 P OUT5 Point output 5 S13 P OUT6 Point output 6 14 BO Brake outpu
29. 50 to 1 100 W Series with incremental encoder e OMNUC M 60 to 2 200 W Series with resolver R88M H R88M M Note H series and M series models do not conform to the EC Directives and UL cUL standards The following models are available with different output capacities and are arranged according to in put power supply Position Driver and AC Servomotor Combinations Position Driver Applicable AC Servomotor Input power supply Single phase 264 VAC at 50 60 Hz 200 240 170 to Model Series Model Output Rated r min capacity FND X06H U R88M U03030 A 30 W 3 000 r min R88M U05030 A 50 W R88M U10030 A 100 W U UE R88M UE10030 S1 100 W 3 000 r min H R88M H05030 50 W 3 000 r min R88M H10030 100 W FND X12H U R88M U20030 A 200 W 3 000 r min R88M U40030 A 400 W U UE R88M UE20030 S1 200W 3 000 r min R88M UE40030 S1 400 W H R88M H20030 200 W 3 000 r min R88M H30030 300 W M R88M M06040 60 W 4 000 r min R88M M12040 120 W R88M M20040 200 W R88M M40040 400 W R88M M20020 200 W 2 000 r min R88M M40020 400 W R88M M20012 200 W 1 200 r min R88M M40012 400 W FND X25H U R88M U75030 A 750 W 3 000 r min R88M U1K030 1000 W U UE R88M UE75030 S1 750 W 3 000 r min H R88M H50030 500 W 3 000 r min R88M H75030 750 W R88M H1K130 1100 W M R88M M70040 700 W 4 000 r min R88M M1K140 11
30. CWL CW limit N C condition e Pin No 2 is the minus direction limit input signal When this signal is not being input ON the motor cannot be rotated in the minus direction e f this signal turns OFF during motor rotation in the minus direction the motor will be stopped ac cording to the PP 25 alarm selection setting DIO CN1 3 CompoBus S CN4 3 ORG Origin proximity N O condition e Pin No 3 is the input for determining the mechanical origin e When an origin search is executed operation stops at the motor s Z phase position and the origin is determined after the origin proximity signal turns from ON to OFF during motor rotation in the direction set by PP 19 origin search direction e When PP 06 and PP 07 leftmost and rightmost digits for the origin compensation amount are set positioning will be executed from this position by the amount set for origin compensation and then that compensated position will be taken as the mechanical origin DIO CN1 4 CompoBus S OUTO RUN RUN command N O condition The pin No 4 signal input turns ON the power to drive the motor and begins motor operation If this signal is not input turned ON the motor cannot be driven DIO CN1 5 CompoBus S OUT1 START START N O condition e The pin No 5 signal input executes the specified positioning point No input or direct input e When this signal is input turned ON the motor is operated and positioning is executed
31. External Control Signal Connectors CN4 LIMIT Pin Arrangement 1 CCWL CCW limit 8 BO Brake output 2 CWL CW limit 9 Origin 3 ORG ne 10 Deceleration proximity 4 STOP stop T see note 5 12 6 24 VDC 13 Unit power sup 7 24V Div nour To 14 OGND ground 8 control Connectors Used Sumitomo 3M Receptacle at Position Driver 10214 6202JL Soldered plug at cable side 10114 3000 VE Case at cable side 10314 52A0 008 Note The Servomotor cannot be driven if the deceleration stop signal if OFF for the external control input CN4 4 or the CompoBus S input OUT7 2 47 Design and Installation Chapter 2 Control I O Specifications Function and interface Internal allocation CN1 1 CN4 1 CCWL CCW limit input Inputs the direction limit signal sta IN15 tus enabled ON Drive possible OFF Motor stopped by limit detection when driving in the direc tion CN1 2 CN4 2 CWL CW limit input Inputs the direction limit signal sta IN16 tus enabled ON Drive possible OFF Motor stopped by limit detection when driving in direction CN1 3 CN4 3 ORG Origin proximity Signal for mechanical origin setting IN17 CN1 4 OUTO RUN RUN command Command for beginning power on to INO motor status enabled When OFF error counter is cleared ON Power ON to motor OFF Power OFF to motor CN1 5 OUT1 START START Beg
32. Power supply 200 VAC R88M U EN55011 class A Radio interference limits and measurement group 1 methods for radio frequency devices for in dustrial scientific and medical applications EN61000 4 aa Electromagnetic compatibility and immunity AC Servomotors 30HA 80 to 750 W Servomotors Conforming to UL cUL Standards Encoder Incremental encoder 200 VAC R88M U 30TA 80 to 750 W Absolute encoder Note Servomotors manufactured beginning in May 1998 conform to UL cUL standards Power supply R88M U AC Servomotors 30VA Servomotors Conforming EC Directives 80 to 750 W Encoder Incremental encoder R88M U 30XA 80 to 750 W Absolute encoder R88M UE 30V 100 to 750 W Incremental encoder R88M U 30V 1to2kW Incremental encoder R88M U 30X 1102 kW Absolute encoder Note The Servomotors must be wired as described in 2 2 Wiring to conform to the EMC Directive 1 11 Chapter 2 Design and Installation 2 Installation 2 2 Wiring Design and Installation Chapter 2 2 1 Installation 2 1 1 External Dimensions Unit mm DIO and CompoBus S Position Drivers 200 VAC FND X06H X12H 100 VAC FND XO6L X12L Mounting Dimensions 68 CO tel Three M5 Mounting Dimensions 107 CO LO Three M5 2 2 Chapter 2 Design and Installation 200 V
33. When the display stops flashing it indicates that the auto tuning operation is utai completed Double click the Mode Key to return to Monitor Mode r u 3 69 Operation Chapter 3 Notes on Auto tuning Settings e The reciprocating operation is performed twice during auto tuning so pay careful attention to the mechanical operating range The amount of movement to one side in reciprocating operation during auto tuning is the value set in the Auto1 auto tuning parameter reciprocating operation width e The motor speed during auto tuning is the value set in the Auto3 auto tuning parameter maximum rotation speed e When auto tuning is completed the adjustment parameter settings for position loop gain speed loop proportional gain AJ2 and speed loop integral gain AJ3 will be changed automatically They will not be changed until the operation has been completed e f the response is not sufficient for the gain after the auto tuning adjustments then refer to 3 9 2 Manu ally Adjusting Gain and adjust the gain manually 3 70 Operation Chapter 3 3 9 2 Manually Adjusting Gain Gain Adjustment Flowchart Perform auto tuning to match the rigid ity of the mechanical system Y The motor hunts when servo locked Accompanied by a hunting noise YES N WARNING Do not make extreme adjustment or setting changes as they cause unstable operation and
34. rightmost digits 9 999 Note 1 The acceleration and deceleration times for origin search will be acceleration time 0 PP 20 and deceleration time 0 PP 22 Note 2 The direction of movement for origin search is determined by the origin search direction PP 19 and motor rotation direction UP 26 settings The factory settings are for origin search to be executed with the motor rotating in the forward direction CCW with a positive direction setting i e present position incremented Note 3 When origin compensation PP 06 PP 07 is set positioning moves for just the set amount after the motor s sensor Z phase signal is detected Origin search high speed L A PP 17 E Origin search operation Z phase signal Origin compensation operation Motor operation speed Mechanical origin Operation e The operation sequences for the three origin search patterns are shown below For these examples it is assumed that the factory settings are used for the origin search direction PP 19 and the motor rotation direction UP 26 and that origin compensation PP 06 PP 07 is set to 0 Origin search operation will start when the origin search SEARCH signal is turned ON with the READY signal ON 3 43 Operation Chapter 3 Origin Search Pattern 1 Starting Between CWL Signal and Origin Proximity Signal 1 Positioning begins in the origin search direction at the origin search high sp
35. 60 W 120 W 4 000 r min Models with Brakes R88M M06040 B R88M M12040 B LY 30 Lo 35 34 LM 50h7 dia Four 5 dia Standard Models Without Brakes Models with Brakes Model L LL Model LX LY R88M M06040 150 120 R88M M06040 B 184 154 R88M M12040 175 145 R88M M12040 B 209 179 Shaft End Dimensions 2 28 Design and Installation Chapter 2 OMNUC M Series AC Servomotors with Resolvers M Contd 200 W 2 000 r min Standard Models Without Brakes R88M M20020 200 W 400 W 4 000 r min Standard Models R88M M20040 R88M 40040 120 m Four 7dia 200 W 2 000 r min Models with Brakes R88M M20020 B 200 W 400 W 4 000 r min Models with Brakes R88M M20040 B R88M M40040 B 106 80h7 dia Standard Models Without Brakes Models with Brakes Model L LL LM Model LX LY LM R88M M20040 R88M M20040 B R88M M20020 R88M M20020 B R88M M40040 R88M M40040 B Shaft End Dimensions 2 29 Desi
36. Correct the wiring rect The encoder is damaged Replace the motor The Driver is damaged Replace the Driver Occurred when The UP 02 applicable motor Set the motor model code cor power was turned setting is wrong rectly ON The encoder cable is loose Make sure the connectors are inserted firmly and locked into place A L41 Encoder commu Occurred when The UP 02 applicable motor Set the motor model code cor nications error see note 1 power was turned ON setting is wrong rectly The encoder S phase wiring is incorrect Correct the wiring 4 15 Application Chapter 4 Alarm dis play Error content Condition when error occurred Probable cause Countermeasures A L42 Absolute encoder Occurred when The absolute encoder s Perform the absolute encoder backup error power was turned backup voltage dropped even setup ON if the encoder was being used for the first time A L43 Absolute encoder Occurred when There was an error in the Perform the absolute encoder checksum error power was turned absolute encoder s memory setup ON data check A L44 Absolute encoder Occurred when The absolute encoder s Replace the battery and then battery error power was turned backup battery voltage perform the absolute encoder ON dropped to 2 6 to 2 8 V setup max A L45 Absolute encoder Occurred when There was an error in t
37. Current limit value 0 0 to 100 0 1000 e This parameter specifies the maximum current provided to the motor with the motor s momentary maximum current as 100 Use this parameter to limit the torque added to the mechanical system Setting range Factory setting S curve acceleration de 0 0 to 32 76 celeration time e This parameter specifies the S curve filter characteristic for the acceleration deceleration time PP 20 to PP 23 Use this parameter to suppress the impact to the mechanical system during acceleration and decel eration e f the acceleration deceleration time is 0 this will become the time until 90 of the target speed is obtained e When this parameter is set to 0 00 the S shaped acceleration deceleration will be invalidated and a trapezoidal curve will be employed according to the acceleration deceleration time PP 20 to PP 23 PRM No Parameter name Setting range Unit Factory setting UP 16 Brake mode 0003 This parameter specifies the brake output BO function and the method for stopping the motor when the RUN command is OFF Set value Description Brake output dynamic brake stop method free running stop Brake output on hold brake stop method stop in deceleration time during execution Brake output on hold brake stop method stop after rotation according to error counter s accumulated number of pulses Brake output on hold brake stop method free runn
38. I O Signal Bit Allocation Indicates Check Mode Input Signal Allocation The vertical LEDs show the ON OFF status of inputs 1 to 20 and the horizontal LEDs show the ON lit OFF not lit status of outputs 1 to 15 DIO type CompoBus S type CCWL CCW limit input CN4 1 2 CWL CW limit input CN1 2 CN4 2 ORG Origin proximity CN1 3 CN4 3 4 RUN RUN command CN1 4 OUTO 5 START START CN1 5 OUT1 6 RESET Alarm reset CN1 6 OUT2 7 SEARCH Origin search CN1 7 OUT3 8 JOG JOG operation CN1 8 OUT4 9 JOG JOG operation CN1 9 OUT5 10 TEACH TEACH CN1 10 OUT6 11 P INO Point selection 0 Position 0 CN1 11 OUT8 12 P IN1 Point selection 1 Position 1 CN1 12 OUT9 13 P IN2 Point selection 2 Position 2 CN1 13 OUT10 14 P IN3 Point selection 3 Position 3 CN1 14 OUT11 15 P IN4 Point selection 4 Position 4 CN1 15 OUT12 16 P IN5 Point selection 5 Position 5 CN1 16 OUT13 17 P IN6 Point selection 6 Position 6 CN1 17 OUT 14 18 P IN7 Position 7 CN1 18 OUT15 19 Not used 20 STOP Deceleration stop CN1 20 OUT7 CN4 4 see note Note When the deceleration stop signal for both OUT7 and CN4 4 is ON bit No 20 will be lit 4 6 Application Chapter 4 Output Signal Allocation Bit No Symbol Name DIO type CompoBus S type 1 BO Brake output CN1 21 INO CN4 8 2 READY Ready CN1 22 IN1
39. iL 5 5 x 2 T sn 72 S N a Four elp 2404 eip QUOT Y o x S 5 d tea 5 1 A nz gt Lo 5 S 2 F eo c le e 2 5 eP QUST D 4 m M SSS SST SESS SSS B 2 eo e 1 7 P ANNSNNNNNNN SNNNNNNNANNANNNNNY ee i an tea e Stee ESSE NN kan EX c ANE MERE S p RSE SiiwWwWiiww 2 oo N i lt Ep PINS SSG EEE SSS eT ET SS IN EEE E z o 2 22 Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Incremental Encoders U INC 1 to 2 kW 1 0 kW 1 5 kW 2 0 kW Standard Models Without Brakes Not Conforming to Any Standards R88M U1K030H U1K530H U2K030H Conforming to EC Directives R88M U1K030V S1 U1K530V S1 U2K030V S1 LL 45 87 1 0 kW 1 5 kW 2 0 kW Models With Brakes Not Conforming to Any Standards R88M U1K030H B U1K530H B U2K030H B Conforming to EC Directives R88M U1K030V BS1 U1K530V BS1 U2K030V BS1 Standard Models Without Brakes Models wit
40. may result in injury Perform gain adjustment by changing the value y NO Raise the Destination cutoff frequency to the value just before hunting occurs and perform auto tuning tor is operating normally Decrease the target response fre quency so hunting doesn t occur and perform auto tuning Y Do characteristics such as positioning time meet system specifications in small increments while checking that the mo Increase AJ2 speed loop propor tional gain to a value where hunting doesn t occur in servo lock Decrease speed loop integral gain to a value where hunting doesn t occur in servo lock End adjustment Does hunting vibration occur when the motor is operated YES NO Run the motor and monitor its opera tion Increase AJ4 position loop gain until overshooting does not occur End adjustment gain Decrease AJ2 speed loop proportional Y gain Increase AJ3 speed loop integral When vibration can t be eliminated despite several adjustments or positioning is too slow Decrease AJ9 current reference filter 3 71 Operation Chapter 3 3 9 3 Mo usce des Parameter Details i m Speed loop proportional 0 0to 100 0 Multiple gain e This parameter adjusts the speed lo
41. 01000000 x 0 001 mm 81000000 Speed data 50 Position selection 1 Position selection 2 L Position selection Position selection 4 Input signal Output signal Name Position selection 1 Position selection 2 Position selection 3 Position selection 4 Speed selection Position 7 OFF 0 OFF 0 OFF 0 ON A 8 OFF 5 Position 6 OFF OFF OFF OFF ON Position 5 OFF OFF OFF OFF 0 OFF Position 4 OFF OFF OFF OFF ON Position 3 OFF 0 OFF 0 OFF 0 OFF 1 OFF 0 Position 2 OFF OFF OFF OFF OFF Position 1 OFF OFF OFF OFF OFF Position 0 OFF OFF OFF ON OFF 3 6 3 Data Pd01 to Pd64 No Name Minimum Setting Factory Description Pd setting range setting unit 01H Point No 1 posi PP 01 VA 1 0 Specifies point No 1 position data tion data leftmost 3 999 A value between 39 999 999 and 39 999 999 digits to can be set Leftmost digit is used to specify A 3 999 absolute or I incremental value O1L Point No 1 posi PP 01 0 to 0 tion data right 9 999 most digits 01F Point No 1 speed 1 1 to 1 Specifies override value based on reference data 199 speed 01 Point No 1 accel 00 to 11 00 Selects acceleration deceleration time for posi eration decelera tioning tion selection L Acceleration 0 Acceleration time
42. 1 0 Specifies motor rotation direc No rotation tion direction 0 Forward rotation 1 Reverse direction 28 Brake ON 0 1 0 0 to 1 0 Specifies r min to turn OFF No speed 100 0 break output in on hold brake mode Specifies rate based on rated motor r min as 100 The brake may be damaged if the on hold brake mode is selected for motors rotating at high speed 29 Motor test 1 r min 1 to 50 Specifies r min for motors for No speed 8 000 testing When testing a motor make sure that the set value is less than the rated motor r min 30 External 0 1 Q 0 0 to 0 0 Specifies the regeneration Yes regeneration 100 0 absorption value Q Only valid for FND X50H When using an OMRON made external Regeneration Resistor set to 30 0 Q 31 External 0 01 kW 0 00to 0 00 Specifies the regeneration Yes regeneration 327 67 absorption capacity kW resistance Only valid for FND X50H capacity 7 14 Appendices Chapter 7 H Parameters HP 33 HP 46 Setting Factory Explanation Re power range setting required 33 Load rate 1s 11060 30 Specifies interval for effective No time load factor calculation to value obtained from machine cycle time multiplied by integer 46 In position 3 2ms 3 2 to 3 2 Specifies minimum positioning No timer See 320 0 completion ON time and note minimum READY signal OFF time Note If the positioning completed signal READY
43. 16 IN 2 OUT 2 0 5 ms in 8 pt mode IN 4 OUT 4 Cannot be used in 4 pt mode The 4 point mode cannot be used when an FND X Position Driver is connected Note Only the high speed communications mode is available with the FND X Maximum Cable Length The main line length indicates the sum of the cable lengths between the Master Unit and the terminat ing resistance connected to the farthest terminal from the main line The branch line length indicates the length of any cable that branches off from the main line The total branch line length indicates the sum of all the branch lines connected to the main line Main line length Terminating resistance Total branch line length Ly Lo L4 L5 The main line length branch line length and total branch line length depend on the type of cable used and the number of Slaves connected as shown in the following table Cable type Main line length Branch line length Total branch length VCTF cable 100 m max 3 m max 50 m max Special flat cable 30 m max See note 1 3 m max 30 m max See note 1 Note 1 Ilf no more than 16 Slaves are connected the main line can be extended to a maximum of 100 meters and the total branch line length to a maximum of 50 meters just as with VCTF cable Note 2 Use either VCTF cable or special flat cable and do not mix them 6 5 CompoBus S Specifications Chapter 6 6 3 Connecting a
44. 50 W 1502 R88M U10030TA XA 100 W 1503 R88M U20030TA XA 200 W 1504 R88M U40030TA XA 400 W 1505 R88M U75030TA XA 750 W 1506 R88M U1KO030T X 1kW 1507 R88M U1K530T X 1 5 kW 1508 R88M U2KO030T X 2 kW 1509 Note The motor code for R88M U1K315X is 1513 U UE Series Motor model Capacity R88M UE10030H V S1 100W 1603 R88M UE20030H V S1 200W 1604 R88M UE40030H V S1 400 W 1605 R88M UE75030H V S1 750 W 1606 Series Motor model Capacity R88M H05030 R88M H10030 R88M H20030 R88M H30030 R88M H50030 R88M H75030 R88M H1K130 3 18 Operation Chapter 3 M Series 1 200 r min Motor model Capacity R88M M20012 200 W 0105 R88M M40012 400 W 0106 R88M M70012 700 W 0107 R88M M1K112 1100 W 0108 R88M M1K412 1400 W 0109 R88M M1K812 1800 W 010A M Series 2 000 r min Motor model Capacity Code R88M M20020 200 W 0205 R88M M40020 400 W 0206 R88M M70020 700 W 0207 R88M M1K120 1100 W 0208 R88M M1K820 1800 W 0217 RR88M M2K220 2200 W 0218 M Series 4 000 r min Motor model Capacity Code R88M M06040 60 W 0405 R88M M12040 120 W 0406 R88M M20040 200 W 0407 R88M M40040 400 W 0408 R88M M70040 700 W 0409 R88M M1K140 1100 W 040A R88M M2K040 2000 W 040B Note After setting this parameter turn OFF the power and check to be sure that the displays have turned OFF before
45. A holding brake is not a stopping device for securing safety Not doing so may result in injury Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption Not doing so may result in injury Take appropriate and sufficient countermeasures when installing systems in the fol lowing locations Not doing so may result in equipment damage 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 supplies Operation and Adjustment Precautions Caution N Caution Caution Caution N Caution N Caution Caution Confirm that no adverse effect will occur in the system before performing the test operation Not doing so may result in equipment damage Check the newly set parameters for proper execution before actually running them Not doing so may result in equipment damage Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not come close to the machine imm
46. After replacement perform origin search b Move to the original position of the origin by moving the mechanical system by hand in a servo free state or by moving the mechanical system using JOG operations c Turn OFF the Position Driver run command RUN and after turning the origin search input SEARCH ON turn ON the teaching input TEACH d Check that the teaching completed output T COM turns ON An origin compensation that makes the present position of the system into the position of the origin will be registered in the Position Driver 4 24 Application Chapter 4 4 5 4 Troubleshooting When an error occurs check the error contents by means of the operating status and alarm display investigate the cause and apply the appropriate countermeasures Symptom The LED indi cator does not light even when the power sup Probable cause Power supply lines are improp erly connected Items to check Check the power supply volt age Error Diagnosis by Means of Operating Status DIO CompoBus S Countermeasures Correct the power supply ply is turned Check the power supply lines Correct the wiring ON 4 25 Application Chapter 4 Symptom Probable cause Items to check Countermeasures The motor does not operate even when the START com mand is input The RUN signal is OFF Use the Check Mode to check the RUN signal s ON OFF sta
47. Current A at 0 25 0 27 0 25 con 20 C sump tion Static Nm 0 2 min 0 34 min 1 5 min 2 5 min friction torque kgf cm 2 0 min 3 5 min 15 0 min 25 0 min Absorp ms 40 max 60 max 100 max 200 max tion time See note 3 Release ms 20 max 30 max 40 max 50 max time See note 3 Back Reference 1 lash value Rating Continuous Insula tion grade Note 1 The values for torque and rotation speed characteristics are the values at an armature wind ing temperature of 100 C combined with the Position Driver Other values are at normal conditions 20 C 65 The maximum momentary torque is a reference value Note 2 The brakes are the non excitation type When excitation voltage is added it is cleared Note 3 The operation time measurement is the measured value with a surge killer CR50500 by Okaya Electric Industrial Co installed 5 19 Specifications Note 4 The allowable radial load indicates the value at a location 5 mm from the end of the shaft See Note 5 The allowable radial load and the allowable thrust load are the values determined by taking a the diagram below Radial load Thrust load 5 mm Chapter 5 service life of 20 000 hours at normal usage as the standard Torque and Rotation Speed Characteristics Standard Cable 3 m 200 100 VAC Input R88M U03030HA TA R88M U03030VA XA
48. Current 1 Speed 26 Motor rotation 0 1 0 Specifies motor rotation direction No direction 0 Forward rotation 1 Reverse direction 28 Brake ON 0 1 0 0 to 1 0 Specifies r min to turn OFF break No speed 100 0 output in on hold brake mode Specifies rate based on rated motor r min as 100 The brake may be damaged if the on hold brake mode is selected for motors rotating at high speed 29 Motor test 1 r min 1 to 50 Specifies r min for motors for test No speed 8 000 ing When testing a motor make sure that the set value is less than the rated motor r min 30 External 0 1 2 0 0 to 0 0 Specifies the regeneration Yes regeneration 100 0 absorption resistance value Q Only valid for FND X50H When using an OMRON External Regeneration Resistor set to 30 0 Q 31 External 0 01 kW 0 00to 0 00 Specifies the regeneration Yes regeneration 327 67 absorption resistance capacity resistance kW Capaeny Only valid for FND X50H H Parameters HP 33 HP 46 3 16 No Name Min Setting Factory Explanation Re power HP unit range setting required 33 Load rate time 1s 1to60 30 Specifies interval for effective load No factor calculation to value obtained from machine cycle time multiplied by an integer 46 In position timer 3 2ms_ 3 2 to 3 2 Specifies minimum positioning No 320 0 completion ON time and minimum ready signal OFF time Operatio
49. Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Doing so may result in fire Be sure to install the product in the correct direction Not doing so may result in mal function Provide the specified clearances between the Servo Driver and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply any strong impact Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure to firmly tighten the screws fixing the product the terminal block and cables Not doing so may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to the terminal block Doing so may result in fire Use the power supply voltages specified in this manual Not doing so may result in burning Take appropriate measures to ensure that the specified power with the rated voltage is supplied Be particularly careful in places where the power supply is unstable Not doing so may result in damage to the product Install external breakers and take other safety measures against short circuiting in external wiring Not doing so may result in fire N Caution N Caution Caution Provide an appropriate stopping device on the machine side to secure safety
50. LP 04 1 J S T Mfg Co Ltd Contact socket model LLF 61T 2 0 J S T Mfg Co Ltd Crimping tool YC 9 Pulling tool LEJ 20 Insertion tool LIT 2013 For Motor Receptacle housing model LR 04 1 J S T Mfg Co Ltd Contact pin model SLM 61T 2 0 J S T Mfg Co Ltd Power Cables for H series Servomotors With Brake Cable Models Model Length L Wire size Outer diameter of sheath R88A CAHOO1B 1 AWG18 8 3 dia R88A CAH003B 3 R88A CAHO05B 5m R88A CAHO10B 10m R88A CAHO15B 15m AWG16 11 3 dia R88A CAHO20B 20m R88A CAHOSOB 30 Note The maximum distance between the Servomotor and the Position Driver is 20 m Connection Configuration OMNUC H series AC Servomotor without brake FND X series Position Driver 5 70 Specifications Chapter 5 Wiring Symbol No Red A phase 1 wid cO B phase 2 TIO C phase 3 us GR 4 er oO ack _ Brake 5 Blaci TO Brake 6 CaO 4 Crimp terminals AWG16 x 4 AWG20 x 2 For Cable Plug housing model Contact socket model LP 06 1 J S T Mfg Co Ltd LLF 61T 2 0 J S T Mfg Co Ltd Crimping tool YC 9 Pulling tool LEJ 20 Insertion tool LIT 2013 For Motor Receptacle housing model LR 06 1 J S T Mfg Co Ltd SLM 61T 2 0 J S T Mfg Co Ltd A B C GR SLM 01T 2 0 J S T Mfg Co Ltd Brake Contact pin model 5 7
51. Load ratio 96 x 100 Motor rated current Note 2 The value for T is determined individually for each Servomotor model and indicates the motor s burn time constant 4 18 Application Chapter 4 U series 30 to 750 W Servomotors Motor model Wattage T min R88M U03030 30 W 4 R88M U05030 50 W 4 R88M U10030 100 W 8 R88M U20030 200 W 8 R88M U40030 400 W 10 R88M U75030 750 W 18 e U UE series Servomotors Motor model Wattage R88M UE10030 R88M UE20030 R88M UE40030 R88M UE75030 U series 1 to 2 kW Servomotors Motor model Wattage R88M U1K030 R88M U1K530 R88M U2K030 H series Servomotors Motor model Wattage T min R88M H05030 50 W 6 R88M H10030 100 W 7 R88M H20030 200 W 12 R88M H30030 300 W 15 R88M H50030 500 W 18 R88M H75030 750 W 20 R88M H1K130 1 100 W 22 M series Servomotors 1 200 r min Motor model Wattage R88M M20012 200 W R88M M40012 400 W R88M M70012 700 W R88M M1K112 1 100 W R88M M1K412 1 400 W R88M M1K812 1 800 W 4 19 Application Chapter 4 M series Servomotors 2 000 r min Motor model R88M M20020 Wattage 200 W R88M M40020 400 W R88M M70020 700 W R88M M1K120 1 100 W R88M M1K820 1 800 W R88M M2K220 2 200 W M series Servomotors 4 000 r min Motor model Wattage R88M M06040 60
52. Note 1 The for the Matsushita Electric Industrial products indicates that they are UL and CSA approved products Note 2 Refer to manufacturers documentation for operating details Note 3 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either de crease the current or change to a larger capacity surge absorber Note 4 The energy resistance is the value at 2 ms At 700 V or less high energy pulses may not be avoidable In that case use an insulated transformer or reactor for surge absorption Noise Filters for Power Supply Input Use a noise filter for external noise attenuation and for the reduction of radiation noise from the Posi tion Driver e Select a noise filter with a rated current of at least double that of the Driver s input current e The noise filters shown in the following table can be used for 40 dB attenuation of noise between 200 kHz and 30 MHz Maker Model Rated current Remarks Tokin LF 210N 10A For single phase LF 215N 15A LF 220N 20 A LF 315K 15A For three phase LF 325K 25A Note 1 For attenuating noise in a low frequency band of less than 200 kHz use an insulated trans former and a noise filter Note 2 For attenuating noise in a high frequency band of more than 30 MHz use a ferrite core and a high frequency noise filter employing a through type capacitor 2 70 Design and Installation Chapter 2 Noise Filters fo
53. Note 2 Bit allocation will be made for the deceleration stop STOP signal when using a CompoBus S type Position Driver In this case the deceleration stop STOP signal must be turned ON in the ladder program If the deceleration stop signal for external control input CN 4 4 or lad der program input OUT 7 is OFF the motor will not run 3 7 2 Origin Teaching Function e The origin teaching operation sets any given position as the mechanical origin f the motor sensor s Z phase position the origin search completion position is not at the desired mechanical origin after an origin search operation it will be possible to move to any given position and use the origin teaching operation to make that position the mechanical origin present value 0 3 49 Operation Chapter 3 The amount of movement at this time is taken by the parameters PP 06 PP 07 as the origin compensation and in subsequent origin search operations this value is used to move to the origin teaching position the mechanical origin to complete the origin search Note Origin teaching cannot be executed if the origin is not established PTP Parameters The following PTP parameters are set by the origin teaching operation No Name Min Setting Factory Explanation PP unit range setting 06 Origin compensation 1 pulse 9 999 0 Specifies number of motor sensor pulses for leftmost digits to movement between
54. clock stopped overcurrent soft speed amp saturation motor overload temporary overload resolver error speed over error counter over parameter setting error software limit over coordinate counter over overrun encoder disconnection encoder communications error absolute encoder backup error absolute encoder checksum error absolute encoder absolute error absolute encoder over speed encoder data not transmitted BCD data error present value undetermined PTP data not set Regeneration Resistor overheat regeneration operation error Note 1 The applicable load inertia is expressed as a factor of the motor s rotary inertia Note 2 For the monitor output the monitor items and voltage polarity can be set by parameter UP 25 monitor output selection CompoBus S Position Drivers Item FND X06L FND X12L FND X06H FND X12H FND X25H FND X50H SRT SRT SRT SRT SRT SRT Continuous output 2 0A 3 0A 2 0A 48 8 0A 20A current 0 P Momentary maximum 6 0A 12A 6 0A 12A 25A 50A output current 0 P Input power supply Main circuit Control circuits Single phase 100 115 VAC 85 to 127 V 50 60 Hz Single phase 200 240 VAC 170 to 264 V 50 60 Hz Three phase 200 240 VAC The main circuit and control The main circuit and control circuits use the 170 to circuits use the same same terminals 264 V terminals 50 60 Hz Single phase 200 240 VAC 170 to 264 V 50 60 Hz
55. completed JOG Motor 8 OG mr 26 RUNON running Positioning 9 JOG operation 27 INP Gomplated 10 TEACH Teach 28 ALM Alarm Point Point output 11 PINO selection 0 29 P OUTO 0 Position Point Position 0 Point output selection 1 12 P IN1 selection 1 30 P OUT1 1 Position Position 1 Point selection 2 Point output 13 P IN2 selection 2 31 P OUT2 2 Position Point Position 2 Point output selection 3 14 P IN3 selection 3 32 P OUTS3 3 Position Position 3 Point selection 4 Point output 15 P IN4 selection 4 33 ROUTA 4 Speed Point Position 4 Poi selection 16 PINS selection 5 34 ROUTE AMPU Position 5 Point 17 PING selection 6 35 P OUTE Point output Position 6 24 VDC 6 18 P IN7 Position 7 36 424V Power sup ply input for control Connectors Used Sumitomo 3M Receptacle at Position Driver 10236 6202JL Soldered plug at cable side 10136 3000VE Case at cable side 10336 52A0 008 CompoBus S Position Drivers CompoBus S Communications Terminal Block CN1 CONT Pin Arrangement CompoBus S serial line These are the terminals for connecting CompoBus S communications cables Be careful to connect the polarities correctly CompoBus S serial line 1 0 Allocation The FND X has 16 input points and 16 output points 2 45 Design and Installation Chapter 2 IN 16 Input Points
56. contact with water Note 3 The above items reflect individual evaluation testing The results may differ under com pounded conditions Note 4 The Servomotor cannot be used in a misty atmosphere Performance Specifications with an Incremental Encoder Item Unit R88M R88M R88M U1K030H U1K530H U2K030H U1K030V U1K530V U2K030V Rated output See note 1 000 1 500 2 000 Rated torque See note Nm 3 18 4 77 6 36 kgf cm 32 4 48 7 65 0 Rated rotation speed r min 3 000 Momentary maximum rota r min 4 500 tion speed Momentary maximum torque N m 9 54 14 3 16 1 See note 7 See note kgf cm 97 2 146 164 See note 7 Rated current See note A rms 6 1 9 9 12 0 Momentary maximum cur A rms 17 28 35 4 rent See note Rotor inertia kg m GD2 4 1 74 x 1074 2 47 x 1074 3 19 x 1074 kgf cm s 1 78 x 10 3 2 52 x 1073 3 26 10 3 Torque constant See note N m A 0 59 0 54 0 52 kgf cm A 6 1 5 5 5 3 Induced voltage constant mV r min 22 2 20 0 19 5 See note Power rate See note kW s 57 9 92 2 103 Mechanical time constant ms 0 9 0 7 0 6 Winding resistance Q 0 67 0 31 0 19 Winding impedance mH 4 75 2 40 1 57 Electrical time constant ms 7 1 7 7 8 3 Momentary allowable radial N 1 570 load kgf 160 Momentary allowable thrust N 590 load kgf 60 Allowable radial load N 680 kgf 7
57. high frequency current is not detected preventing the breaker from operating due to leakage current e When selecting leakage breakers also remember to add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on For detailed information about the selection methods of leakage breakers refer to catalogs provided by manufacturers 2 81 Design and Installation Chapter 2 The following table shows the Servomotor leakage currents for each Position Driver Driver Leakage current resistor Leakage current resistor capacitor including high frequency current in commercial power supply fre quency range FND X06 X12 35 mAo p 2 mMAms FND X25 40 mAo p 2 MAms FND X50H 120 mAo p 8 MArms Note 1 Leakage current values shown above are for motor power lines of 10 m or less The values will change depending on the length of power cables and the insulation Note 2 Leakage current values shown above are for room temperature and humidity The values will change depending on the temperature and humidity Improving Encoder Resolver Cable Noise Resistance Signals from the encoder are either A B or S phase The frequency for A or B phase signals is 154 kHz and the transmission speed for S phase signals is 616 kbps The Resolvers use analog voltage signals Follow the wiring methods outlined below to improve encoder re
58. interval set for HP 33 load factor time constant oL Electrothermal value 96 Calculates the motor s heat generation from the output current and displays it as a percentage of the heat generation in rated operation When the power is turned ON 90 is displayed If this value exceeds 110 96 an A L17 motor overload alarm will be detected d Electrical angle deg Displays the motor s electrical angle 0 0 to 360 0 rL Regenerative 96 When a Regeneration Resistor is connected absorption rate this monitor item displays the regenerative absorption current as a percentage of the motor s rated current Note In the motor speed present value position deviation mechanical speed and motor current moni toring displays the respective display will flash if the value is negative The numeric portion will not flash Application Chapter 4 4 2 Check Mode The following four items can be displayed in Check Mode I O signal status alarm details alarm history and software version To enter the Check Mode press the Mode Key while in Monitor Mode Also the Check Mode s alarm display is brought up automatically when an alarm is generated The Check Mode s items can be displayed one at a time by pressing the Increment Key and Decrement Key Operation in Check Mode Check Mode Monitor Mode M
59. press the Mode Key The System Check Mode and H parameter editing however require special operations Power supply ON ka aa Adjustment Parameter Edit Mode PTP Data Edit Mode A v E pata E S for at least 5 seconds System Check Mode System Check Mode F EE a H H Parameter Edit Edit Hi IHP 33 IHP 33 j Displayed only when UP 01 is 11 or 12 Operation Chapter 3 3 3 3 Mode Details The following diagram outlines the contents of each of the modes Monitor Mode Motor speed Refer Al Present value to 4 1 Press for at Regenerative absorption least 5 seconds co co Double click Refer System Check Mode Motor test operation io Output signal test 3 8 2 Auto tuning and 3 9 Input signal display Refer A Alarm display to 4 2 CO Alarm history display Software version display Adjustment Parameter Edit Mode AJ2 Speed loop proportio
60. signal i ed d status Alarm generated eri Alarm details Alarm history data po gi MD NEU Alarm history Most recent error Software version Second most recent error o b display H P L display S P L display 4 4 Application Chapter 4 Check Mode Display Details Display Contents Explanation I O signal status Displays the ON OFF status of control I O signals Alarm details Displays details regarding alarms that are generated The example display at the left indicates that no alarm has been generated When an alarm occurs the alarm code is displayed here This display is brought up automatically whenever an alarm occurs during operation The alarm can be cleared by pressing the Data Key at that time If multiple errors occur simultaneously however it will be necessary to press the Data Key for each error For details regarding alarms refer to 4 4 Protection and Diagnosis Alarm history Displays the errors that have occurred in the past Up to 15 errors are retained in memory Software version Displays the software version o b display Not used H P L display Not used S P L display Not used Application Chapter 4 4 2 1 I O Signal Status With the I O signal status display the ON OFF status of control I O signals is indicated by the turning ON and OFF of 7 segment display LED bits
61. tus e Input the RUN signal Correct the wiring The correspondence between the Driver and the Servomotor is incorrect Check the models Combine models that corre spond correctly The CWL CCWL inputs are OFF Use the Check Mode to check the inputs The software limit is being detected Use the Monitor Mode to check the present value Check the software limits PP 10 11 12 13 Deceleration stop is OFF Use the Check Mode to check the input DIO type Correct the wiring CompoBus S type e Turn both the external control input CN4 4 and the Compo Bus S input OUT7 ON Correct the wiring The point number input is O Use the Check Mode to check the input Correctly set the point number input One of the following signals is being input origin search teaching JOG or alarm reset Use the Check Mode to check the inputs Correct the wiring During direct positioning the position data is set for incre mental 0 Check the position data setting Correctly set the position data The position data Pd to be executed does not match the present value Check the position data Pd Correctly set the position data Pd The motor s power lines are dis connected Check the power lines Correct the wiring The control mode is incorrect Check the control mode UP 01 Correctly set the control mode
62. 0 1 to 20 0 1 0 Speed loop integral gain gain AJ4 Position loop gain 1 rad s 1 to 200 30 Position loop gain AJ7 Interrupt gain suppres 1 0 to 0 Speed loop proportional sion 10 000 gain suppression when stopped AJ8 Feed forward gain 0 1x 0 0to2 0 0 0 Feed forward gain AJ9 Current reference filter 1 rad s 400 to 6 000 Cutoff frequency for cur 20 000 rent reference Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No 1524 E1 2 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Dae Revised contem 1 February 1998 Original production 2 April 1999 Major changes including information on new Position Drivers parameters etc have been made R 1 OMRON OMRON Corporation Systems Components Division 14F Nissei Bldg 1 6 3 Osaki Shinagawa ku Tokyo 141 0032 Japan Tel 81 3 3779 9038 Fax 81 3 3779 9041 N Authorized Distributor N 2 Cat No 1524 1 2 Note Specifications subject to change without notice Printed in Japan
63. 170 to 264 VAC power supply For 100 VAC input specifi cations use an 85 to 127 VAC power supply Occurred during The power supply capacity Increase the power supply motor acceleration insufficient capacity A LO6 Resolver discon Occurred when The UP 02 applicable motor Set the motor model code cor nection power was turned setting is wrong rectly ON The resolver s wiring is dis e Connect any places that are connected or faulty disconnected Correct the wiring Occurred after There is poor contact at the Make sure the connectors are slight movement at connectors inserted firmly and locked into the beginning place A LO7 Power status An error occurred in the main Replace the Driver error circuit A L09 Regeneration Occurred during The regenerative absorption Connect an external Regen Resistor over operation exceeded the internal absorp eration Resistor heat tion The power supply voltage is Use a 170 to 264 VAC power outside the allowable range supply A L10 Regeneration Occurred during The Regeneration Resistor is Replace the external operation error operation damaged Regeneration Resistor e f an external Regeneration Resistor is not being used replace the Driver An external Regeneration Mount a short bar between Resistor is not being used and JP1 and JP2 the short bar has been removed from between JP1 and JP2 on the terminal block The regeneration circuit is Replace the Dr
64. 2 ms The digit to be set cannot be specified by pressing the Shift Key 3 22 Operation Chapter 3 3 5 Position Control Settings PTP Parameters PTP parameters are the parameters required for setting position data such as the mini mum setting unit pulse rate reference speed and so on Some of the user parameters go into effect when the power has been turned OFF and then back ON again Those user parameters are indicated in the tables in 3 5 2 PTP Parameters PP 01 to PP 26 Go to the User Parameter Edit Mode Mode Key Display the pertinent parameter number Increment Key Decrement Key Increment Key Data Key Decre ment Key Data Key Display the parameter contents data Increment Key Enable the data change Data Key Shift Key Change the data Increment Key Decrement Key Shift Key Save the data in memory Data Key 3 5 1 Setting PTP Parameters PP 01 to PP 26 Use the following procedure to set the PTP parameters A O N Press the Mode Key to go to the PTP Parameter Edit Mode PP 01 Use the Increment and Decrement Keys to display the parameter number PP desired Press the Increment Key to display the parameter data Press the Data Key and Shift Key simultaneously to enable a data change The rightmost digit will flash Use the Increment and Decrement Keys to change the data The
65. 3 Back Reference 1 2 0 85 0 36 0 32 0 27 lash value Rating Continuous Insula Type B tion grade 5 44 Specifications Chapter 5 Note Note Note Note Note Note 1 2 The operation time measurement is the measured value with a surge killer installed For Servomotors with brakes increase the dimensions of the radiation shield by 50 mm each The brakes are the non excitation type When excitation voltage is added it is cleared For example t15 x 250 becomes tib x 300 The allowable radial load indicates the value at the center of the shaft i e 1 2 of the output shaft length See the diagram below Radial load Thrust load Output shaft center The allowable radial load and the allowable thrust load are the values determined by taking a service life of 30 000 hours at normal usage as the standard or 20 000 hours for the items in parentheses M series 4 000 r min 1 100 to 2 000 W Servomotors can be used only with Position Driver software version 4 04 April 1999 or later Torque and Rotation Speed Characteristics Standard Cable 3 m 200 100 VAC Input 1 200 r min R88M M20012 Nem kg fem 50 Short term op eration area within 1 s Continuous operation area 0 0 500 R88M M1K112 kgf cm 100 130 r min Short term op eration area within 1 s Continuous operation a
66. 3 data is input Range 1 to 99 BCD in Position 3 put CN1 15 OUT12 Point selection 4 Taken in order two digits at a time IN11 Position 4 from the rightmost digits CN1 16 OUT13 P IN5 Point selection 5 IN12 Position 5 CN1 17 OUT14 P IN6 Point selection 6 IN13 Position 6 CN1 18 OUT15 PIN7 Position 7 IN14 CN1 20 CN4 4 STOP Deceleration stop Stops according to deceleration stop IN18 OUT7 mode falling edge enabled ON Motor driven OFF Motor stopped CN1 36 CN4 7 24V 24 VDC power Power supply input terminal for control supply input for input control CN1 19 CN4 14 OGND Output ground Output ground common for control in common put CN1 21 CN4 8 BO Brake output External brake timing signal output OUT14 INO Output OFF when brake is operating CN1 22 IN1 READY Ready Outputs ready status for receiving OUTO ORIGIN SEARCH START TEACH or point selection signal input Output turns ON when positioning data is re ceived or when motor rotation is com pleted CN1 23 IN2 S COM Origin search Output turns ON when motor s present OUT1 completed position is established CN1 24 IN3 ORGSTP Origin stop Output turns ON when positioning is OUT2 stopped at mechanical origin position CN1 25 IN4 T COM Teaching com Output turns ON when teaching input OUT3 pleted processing is completed CN1 26 IN5 RUNON Motor running Output turns ON when power is turned OUT4 ON to the motor CN1 27 IN6 I
67. 5 8 R88M U10030VA BS1 160 135 40 5 Chapter 2 Design and Installation OMNUC U Series AC Servomotors with Incremental Encoders U INC 30 to 750 W Conforming to EC Directives Contd W Standard Models Without Brakes R88M U20030VA S1 R88M U40030VA S1 W 400 200 99 tc En 2 o Four 5 5 dia o lt Four 5 5 dia s SSN SSS ex ES LL he R88M U20030VA BS1 R88M U40030VA BS1 200 W 400 W Models with Brakes x A a z 2 166 194 R88M U20030VA BS1 R88M U40030VA BS1 154 5 Standard Models Without Brakes R88M U20030VA S1 126 5 R88M U40030VA S1 2 8 R8 2 Chapter 2 Four S1 ep 06 U75030VA 2404 eip 999 8 2 2 9 u0Z 9491 40 RNY Lees ANS ENR NN YI SSS 2 U INC 30 750 W Conforming EC Directives Contd OMNUC U Series AC Servomotors with Incremental Encoders 750 W Standard Models Without Brakes R88M Design and Installation SSSR
68. 500 W NF2010A PI Single phase 10 A 750 to 1 000 W NF2015A PI Single phase 15 A 1 5 to 2 kW Three phase 10 2 79 Design and Installation Chapter 2 NF2010A PI NF2015A PI Dimensions Two 5 mm dia 77 max 1302 Four 5 mm dia 11243 177 2 2 80 Design and Installation Surge Killers Install surge killers for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows types of surge killers and recommended products Features Diodes are relatively small devices such as relays used for loads when reset time is not an issue The reset time is increased because the surge voltage is the lowest when power is cut off Used for 24 48 VDC systems Chapter 2 Recommended products Use a fast recovery diode with a short reverse recovery time Fuji Electric Co ERB44 06 or equiv alent Thyristor and varistor are used for loads when induction Select varistor voltage as follows coils are large as in electromagnetic brakes solenoids etc and when reset time is an issue The surge voltage when po
69. 7 CompoBus S Specifications Chapter 6 Note Connect the cable with enough room so that it will not be pulled or bent Also be sure not to place heavy objects on the cable cord or it may cause short circuiting 5 Use a flat head screwdriver to fasten the two screws that were loosened in step 1 to a torque of 0 2 6 8 Chapter 7 Appendices 7 1 Standard Models 7 2 Parameter Settings Tables Appendices Chapter 7 7 1 Standard Models Position Drivers Specifications DIO Type 200 VAC input FND X06H 12A FND X12H 25A FND X25H 50A FND X50H 100 VAC input 6A FND X06L 12A FND X12L CompoBus S Type 200 VAC input 6A FND X06H SRT 12A FND X12H SRT 25A FND X25H SRT 50A FND X50H SRT 100 VAC input 6A FND X06L SRT 12A FND X12L SRT Teaching Box Specifications Model Teaching Box CVM1 PROO1 ROM Cassette Common to FND X MC NC Units CVM1 MP702 FND X only CVM1 MP703 Connecting Cable 2m CV500 CN22A 4m CV500 CN42A 6m CV500 CN62A Note A ROM Cassette and Connecting Cable are required in order to use the Teaching Box External Regenerative Resistors Specification Regeneration capacity 100 W 300 SRR Os RR20030 Regeneration capacity 200 W 300 lt capacity Regeneration capacity 200 W 300 lt W 3042 R88A RR40030 RR40030 General Control Cable DIO
70. 8 2 System Check Mode Do not connect any load machines when performing test operation Perform test operation only after confirming that no adverse effects will be caused by test operation SYSMAC C CV Programmable Controller 5 3 1 General Control Cable Specifications I O signals ie C SYSMAC C200H HX HG HE SRM1 C01 C02 or CQM1 Programmable Master Controller Controller Section 6 CompoBus S Specifications CompoBus S signals 5k a T Initial Operation Starting 3 1 Operation Procedure 3 2Turning ON Power and Checking Displays Function Settings Parameter Settings 3 4 Setting Functions User Parameters H Parameters 3 5 Position Control Settings PTP Parameters 3 6 Setting Positioning Data PTP Data Direct Input Trial Operation and Adjustments 3 8 1 Trial Operation Procedure 3 8 2 System Check Mode 3 9 1 Auto tuning 3 9 2 Manually Adjusting Gain Troubleshooting 4 4 Protection and Diagnosis 4 5 Troubleshooting OMNUC FND X Series Teaching Box CVM1 PROO1 Teaching Box ROM Cassette CVM1 MP702 Common for MC Units and Position Drivers CVM1 MP703 RS 422 Teaching Box connections cable 5 1 Position Driver Specifications 2 2 3 Wiring Terminal Blocks 3 3 3 Mode Details 2 2 2 Contro
71. A LO3 Voltage drop Main circuits DC voltage fell below Servo OFF 200 VDC A LO6 Resolver The resolver is disconnected Servo OFF disconnection A LO7 Power status error The main circuit connections are different Servo OFF from the settings A LO9 Regeneration The internal Regeneration Resistor has Servo OFF Resistor overheat overheated only for FND X50 A L10 Regeneration The regeneration transistor has been ON for Servo OFF operation error more than 50 ms only for FND X50 A L12 Clock stopped The Position Driver s clock is stopped Servo OFF A L15 Overcurrent soft The current exceeded the motor s rated Servo OFF current 120 A L16 Speed amp The speed amp was saturated for more than Servo OFF saturation 3 seconds A L17 Motor overload The electrothermal value exceeded 110 Servo OFF A L18 Short time The current exceeded the motor s rated Servo OFF overload current 120 for a sustained period of time A L19 Resolver error There was an error in the resolver feedback Servo OFF A L20 Speed over The motor speed exceeded 120 of the Servo OFF maximum speed A L21 Deviation counter The deviation counter s accumulated pulses Servo OFF over exceeded 221 A L26 Parameter setting The user parameter settings UP 01 UP 02 Servo OFF error are not appropriate A L32 Resolver error The resolver feedback was in error Servo OFF A L34 Software limit The reference value exceeded the software Servo lock over lim
72. AC Servomotors Conforming Specifications Model For Servomotors with incremental encoders 3m R88A CRU003C With connectors on both sides 5m R88A CRUO05C 10m R88A CRUO10C 15m R88A CRUO15C 20m R88A CRUO20C Cable only 1 m units R88A CRUOO1 For Servomotors with absolute encoders 3m R88A CSU003C With connectors on both sides 5m R88A CSU005C 10m R88A CSU010C 15m R88A CSU015C 20 R88A CSU020C to EC Directives Encoder Cable for U series 30 to 750 W AC Servomotors Conforming Specifications Specifications Model For Servomotors with incremental encoders 3m R88A CRUDOOSC With connectors on both sides 5m R88A CRUDOOSC 10m R88A CRUDO 10C 15m R88A CRUDO 15C 20m R88A CRUDO20C Cable only 1 m units R88A CRUOO1 For Servomotors with absolute encoders 3m R88A CSUD003C With connectors on both sides 5m R88A CSUD005C 10m R88A CSUD010C 15m R88A CSUD015C 20 R88A CSUD020C Encoder Cable for U UE series AC Servomotors Not Conforming to Any Standards For Servomotors with incremental encoders 3m R88A CRU003C With connectors on both sides 5m R88A CRUO05C 10m R88A CRUO10C 15m R88A CRUO15C 20m R88A CRUO20C Cable only 1 m units R88A CRUO001 7 9 Appendices Chapter 7 Encoder Cable for U UE series AC Servomotors Conforming to
73. Automatic Incremental Mode e Operation is stopped in servo lock upon completion of positioning for the selected point number e After operation is stopped the next point number is output to point outputs 0 to 6 P DUTO to POUTE6 When the start signal is input i e turns ON positioning is executed for the next point number When positioning is executed in order of point numbers there is no need to set the point number every time Motor speed Independent operation mode Point output Point no n X nti 3 40 Operation Chapter 3 Continuous Operation Mode In this mode the Position Driver stays in continuous operation without being stopped in servo lock e Until the continuous operation mode specification is canceled i e until the mode changes into inde pendent operation mode or automatic incremental mode the Position Driver continues operating and refreshing the present point number e POUTO to P OUT6 are refreshed whenever the present point number changes Motor speed Continuous Continuous i Independent operation operation operation mode mode mode Point output Point no n n Precautions when Using Continuous Operation Mode with Feeder Control e With feeder control UP 01 12 positioning is executed with the present value at the time the start signal turns ON taken as the reference origin e f the Position Driver is in continuous operation mode the present valu
74. Bit 1 Bit 1 Bit 1 Position 0 Bit 0 Bit 0 Bit 0 Bit 0 Bit 0 Note 1 For example when position selection 1 P OUTO is ON positions 0 to 7 P INO to 7 are taken as the position data s first and second digits They are taken at the falling edge of P DUTO Note 2 The position sign bit specifies the position as plus when OFF 0 and minus when ON 1 Note 3 The position data takes the value set by PP 01 minimum setting unit Note 4 When the position I A bit is OFF 0 incremental value is set when it is ON 1 A absolute value is set Note 5 Set the speed data with the reference speed PP 14 PP 15 override value 96 If the speed data is set to 0 the override value will be 100 Note 6 With direct input the acceleration deceleration time is fixed at PP 20 acceleration time O and PP 22 deceleration time O Direct Input Setting Example In this example positioning is moved at 250 mm s to an absolute value position of 1 000 mm with the mechanical system set for 10 mm of movement per motor rotation a minimum feed amount of 1 um and a reference speed of 500 mm s Parameter Settings Minimum setting unit 01 0 001 minimum feed amount 0 001 mm Pulse rate PP 02 1 PP 03 10 10 mm of movement per motor rotation Reference speed PP 14 0 PP 15 500 500 mm s 3 36 Operation Chapter 3 Direct Input Data Signal Settings Position data A
75. Chapter 2 When the RUN signal has been turned OFF When an error shutting OFF the power to the motor has occurred When a deceleration stop turns OFF while PP 24 deceleration stop mode is set to 0 free run stop Electromagnetic Brake Wiring and Operational Sequence Wiring AC Servomotor Protectively separated Note With the CompoBus S Position Drivers outputs are made to CN4 LIMIT BO CN4 to 8 and OGND CN4 to 14 are provided For controlling brake drive bits use the CN4 to CN8 pin out puts Operational Sequence RUN Alarm reset RESET Alarm ALM Power to motor 105ms 2 4ms Brake output BO Motor operation speed UP 28 brake ON r min Note 1 When the motor is stopped the brake output turns OFF in approximately 2 4 ms Note 2 When the motor is stopped the brake output turns OFF in approximately 0 8 ms 2 54 Design and Installation Chapter 2 Dynamic Brake Wiring and Operational Sequence e Wiring FND X AC Servomotor Protectively separated Note With the CompoBus S Position Drivers outputs are made to CN4 LIMIT BO CN4 to 8 and OGND CN4 to 14 are provided For controlling dynamic brake drive bits use the CN4 to CN8 pin outputs Operational Sequence RUN Alarm reset RESET Alarm ALM Power to motor Brake output BO OFF EN Motor operation speed DIO CN1 22 CompoBus S IN1 READY READY e
76. CompoBus S System This manual only explains the CompoBus S wiring related to FND X series Position Drivers For more information on connecting communications cables wiring Slaves and so on refer to the CompoBus S Operation Manual W266 Preparing Communications Cables When connecting CompoBus S cable to the Position Driver follow the procedure shown below to pre pare the cable 1 Remove 5 to 7 mm of the insulation from the end of the communications cable two wires and se curely twist the loose strands together for each of them 2o _ He 5to 7 mm When using commercially available VCTF cable determine in advance which signal wire is to be used for BD H high and which for BD L low For special flat cable the signal wires are as shown below Communications power supply positive side BS Brown Communications data high side BD H Black _7 Communications data low side BD L White Communications power supply negative side BS Blue 2 When using special flat cable the two power supply signal wires must be insulated Connecting Communications Cable 1 Use a flat head screwdriver to loosen the Position Driver s two CompoBus S communications ter minal screws and remove the cable terminal block Cable terminal block Screws Note If the communications cable can be connected by simply tightening the screws the cable terminal block need not be r
77. Connectors DIO Position Drivers Only Control Inputs Pin No Symbol Name 1 CCWL CCW limit input 2 CWL CW limit input ORG Origin proximity 4 RUN RUN command 5 START START 6 RESET Alarm reset 7 SEARCH Origin search 8 JOG JOG operation g JOG JOG operation 10 TEACH TEACH 11 P INO Point selection 0 Position 0 12 P IN1 Point selection 1 Position 1 13 P IN2 Point selection 2 Position 2 14 P IN3 Point selection 3 Position 3 15 P IN4 Point selection 4 Position 4 16 P IN5 Point selection 5 Position 5 17 P IN6 Point selection 6 Position 6 18 P IN7 Position 7 20 STOP Deceleration stop 36 24V 24 V power supply input for control Control Outputs Pin No Symbol Name 19 OGND Output ground 21 BO Brake output 22 READY Ready 23 S COM Origin search completed 24 ORGSTP Origin stop 25 T COM Teaching completed 26 RUNON Motor running 27 INP Positioning completed 28 ALM Alarm 29 P OUTO Point output 0 Position selection 1 30 P OUT1 Point output 1 Position selection 2 31 P OUT2 Point output 2 Position selection 3 32 P OUTS Point output 3 Position selection 4 33 P OUT4 Point output 4 Speed selection 34 P OUT5 Point output 5 35 P OUT6 Point output 6 5 11 Specifications Chapter 5 Connectors Used Receptacle at Position Driver
78. E to EC Directives rake pow Metal er supply Metal duct or AC power conduit p Ferrite supply i absorber Noisd core VE TT filter 7 6 o o 4 UF Protectively iG a i separated Ground 100 Q max Ferrite Controller core power supply cheap Jo Driver FG Controller d Ferrite 05m T core max Grounding plate CC Clamp DIO 5mmax CompoBus S 100 m max 0 5m Clamp Note 1 cable winding for the ferrite core must 1 turn Note 2 Remove the sheathes from the cables at the clamps and ground them directly to the metal plate at the clamps Note 3 For DIO Position Drivers remove the sheath from control cables and connect the shield directly to the metal plate For CompoBus S Position Drivers place the control cables in metal ducts or conduits and connect the duct or conduit directly to the metal plate All Position Drivers e Ground the motor s frame to the machine ground when the motor is on a movable shaft e Connect the frame ground for each Unit as shown in the diagram and using ground lines as short as possible e f no fuse breakers MCCB are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring or make sure that there is adequate dis
79. EC Directives Specifications Model For Servomotors with incremental encoders 3m R88A CRUDOOSC With connectors on both sides 5m R88A CRUDOOSC 10m R88A CRUDO 10C 15m R88A CRUDO015C 20m R88A CRUDO20C Cable only 1 m units R88A CRUO01 Encoder Cable for U series 1 to 2 KW AC Servomotors Specifications Model For Servomotors with incremental encoders 3m R88A CRUBO03N With connectors on both sides 5m R88A CRUBOO5N 10m R88A CRUBO 10N 15m R88A CRUBO15N 20m R88A CRUBO20N With connectors on both sides Encoder Cable for H series AC Servomotors Specifications R88A CRH001C 3m R88A CRH003C 5m R88A CRH005C 10m R88A CRHO10C 15m R88A CRH015C 20m R88A CRH020C 30m R88A CRHO030C H series Conversion Cable 50 cm R88A CRHORST Resolver Cable for M series AC Servomotors Specifications Model With connectors on both sides 3m R88A CRMOOSN 5m R88A CRMOO5N 10m R88A CRM010N 15m R88A CRMO15N 20m R88A CRMO20N 30m R88A CRMOS3ON 40m R88A CRMO40N 50m R88A CRMO50N M series Conversion Cable 50 cm R88A CRMORST Note Resolver Cables can be used in combination with M series Conversion Cable 7 10 Appendices Chapter 7 Power Cable for U series 30 to 750 W AC Servomotors Conforming to UL cUL Standards Specifications Model Cable with connector on both sides for Servomotor 3
80. Encoder Cable R88A CRH C R88A CRHORST OMNUC M series Resolver Cable R88A CRM N R88A CRMOR5T 2 85 Design and Installation Chapter 2 Connecting FND X50H Position Drivers to Peripheral Devices R S T Three phase 200 240 VAC 50 60 Hz FND X50H Q Q eee NFB Main circuit power supply Main circuit connector OFF ON J wg Q IMC X E ES RES ES Surge killer Servo error display OMNUC FND X series oe 4 5 6 Position Driver OMNUC U series 1 to 2 kW Power Cables R88A CAUB S R88A CAUB B Connect an external Regenerative EN Resistor if the regeneration capacity in the Position Driver is not sufficient The external Regenerative Resistor can heat to 120 C Install the Resistor so that heating will not cause adverse affects P CN2 Ground to 100 Q Regenerative Resistor M SEN or less 100W R88A RR20030 i 9 u OMNUC U series 1 to 2 kW Encoder Cable Incremental or Absolute R88A CRUB N OMNUC M series Resolver Cable R88A CRM N R88A CRMORST Protectively separated CN1 CONT gt c o o a o n 2 28 ALM 24 VDC 19 OGND DIO Position Drivers FND CCX S General purpose Control Cable CompoBus S Position Drivers Communications Cable SCA1 4F10 Flat Cable or commercially available VCTF cable VCTF JIS C3306 2 core 0 75mm See
81. IN4 selection 4 33 POUT4 4 Speed Point Position 4 Point selection 16 PIN5 selection 5 34 P OUTS output 5 Position 5 Point 17 P IN6 selection 6 35 P OUT6 Point output 6 Position 6 24 V power 18 P IN7 Position 7 36 24V supply input for control Specifications Chapter 5 CN1 CONT CompoBus S Communications Terminals Symbol Name Function BD H CompoBus S serial line These are the terminals for connecting CompoBus S T communications cable When wiring them be careful with the BDL CompoBus S serial line polarity IN 16 Input Points allocation Symbol Name OUTO RUN RUN command OUT1 START Start OUT2 RESET Alarm reset OUT3 SEARCH Origin search OUT4 JOG JOG operation OUT5 JOG JOG operation OUT6 TEACH Teach OUT7 STOP Deceleration stop OUT8 P INO Point selection 0 Position 0 OUT9 P IN1 Point selection 1 Position 1 OUT10 P IN2 Point selection 2 Position 2 OUT 11 P IN3 Point selection 3 Position 3 OUT12 P IN4 Point selection 4 Position 4 OUT13 P IN5 Point selection 5 Position 5 OUT 14 P IN6 Point selection 6 Position 6 OUT15 P IN7 Position 7 OUT 16 Output Points allocation INO BO Brake output IN1 READY Ready IN2 S COM Origin search completed IN3 ORGSTP Origin stop IN4 T COM Teaching completed IN5 RUNON Motor running ING INP
82. L18 Short time over Occurred during The mechanical system is Correct the places that are load operation locked locked The current The power lines are wired Correct the wiring exceeded the incorrectly motor s rated current 120 The load is too large e Lighten the load for a sustained e Lengthen the deceleration period of time time The gain adjustment is incor Re adjust the gain rect A L19 Resolver error Occurred during The resolver cable is discon e Connect any disconnected There was an operation nected places error in the Correct any faulty contacts resolver feed T back Malfunctioning was caused by Wire the resolver cables sep noise arately from the power lines A L20 Speed over The motor oper There was a resolver feed Wire the resolver cables sep The motor ated at high speed back error arately from the power lines speed exceeded upon startup The encoder is wired incor Correct the wiring 120 of the rectly maximum speed Occurred during The gain adjustment is incor Re adjust the gain operation rect A L21 Deviation counter Motor did not oper The motor power lines or the Correct the wiring over ate even though encoder lines are wired incor The error count the START signal rectly ers accumulated was turned ON The mechanical system is Correct the places that are pulses exceeded locked locked 221 l Occurred at high The motor power lines or the
83. M series motor is used Valid only for M series motors 07 In position 1 pulse 1 to 3 Outputs positioning completed No width 32 767 signal INP according to num ber of motor sensor pulses set as positioning deviation OMNUC U Series with incre mental encoder 8 192 pulses rotation OMNUC U Series with abso lute encoder 4 096 pulses rotation OMNUC U U UE Series with 4 096 pulses rotation OMNUC H Series with abso lute encoder 8 000 pulses rotation OMNUC M Series 24 000 pulses rotation 11 Current limit 0 1 0 0 to 100 0 Specifies rate based on maxi No 100 0 mum motor current as 100 14 S curve 0 015 0 00 to 0 00 Sets the time until 90 of the No acceleration 32 76 target speed is obtained deceleration 0 00 sets trapezoidal time acceleration and deceleration 16 Brake mode 0to3 0 0 Dynamic brake Yes 1 On hold brake stops in deceleration time 2 On hold brake stops after rotation according to error counter s accumulated number of pulses 3 On hold brake free run ning stop 7 13 Appendices Chapter 7 No Name Min unit Setting Factory Explanation Re power Set UP range setting required value 25 Monitor 000 to 010 Specifies monitor output func No output 011 tion 0 _ Positive voltage 0 Not reversed 1 Reversed Speed Current selection 0 Current 1 Speed 26 0
84. Positioning completed IN7 ALM Alarm IN8 P OUTO Point output 0 Position selection 1 IN9 P OUT1 Point output 1 Position selection 2 IN10 P OUT2 Point output 2 Position selection 3 IN11 P OUT3 Point output 3 Position selection 4 IN12 P OUT4 Point output 4 Speed selection IN13 P OUT5 Point output 5 IN14 P OUT6 Point output 6 IN15 Not used Note For I O allocation refer to the operation manual for the Master Unit 5 13 Specifications Chapter 5 CN4 LIMIT External Control Signal Connectors CompoBus S Only Pin No Symbol Name 1 CCWL CCW limit input 2 CWL CW limit input 3 ORG Origin proximity 4 STOP Deceleration stop 5 NC 6 NC 7 24V 24 V power supply input for control 8 BO Brake output 9 NC 10 NC 11 NC 12 NC 13 NC 14 OGND Ground Connectors Used Receptacle at Position Driver 10214 6202JL Sumitomo 3M Soldered plug at cable side 10114 3000VE Sumitomo 3M Case at cable side 10314 52A0 008 Sumitomo 3M Note 1 The control input interface is a photocoupler input of 24 VDC at 8 mA Note 2 For the external power supply use 24 VDC 1 V at 40 mA minimum Note 3 The control output interface is a photocoupler output of 24 VDC at 40 mA CN4 Pin Arrangement CCW limit Brake 1 CCWL 8 BO input output put Origi rigin 3 ORG proximity 10 Deceleration 4 STOP
85. S type Position Driver can also be used by changing the word allocation For details regarding word allocations refer to the Master Unit operation manual Note 2 Bit allocation will be made for the deceleration stop STOP signal when using a CompoBus S type Position Driver Note 3 Point numbers 0 to 64 BCD are input to P INO to P IN6 and output from P OUTO to P OUTE6 Input to the Position Driver P IN6 P IN5 P IN4 P IN3 P IN2 P IN1 P INO 4 x 10 2 x 101 1 x 101 8 x 10 4 x 100 2 x 100 1 x 109 Output from the Position Driver P OUT6 P OUT5 P OUT4 P OUT3 P OUT2 P OUT1 P OUTO 4 x 10 2 x 101 1 x 101 8 x 100 4 x 100 2 x 100 1 x 100 3 54 Operation Chapter 3 Ladder Program RUN switch 0807 Alarm output 4 0000 RUN RUN command signal output 3300 DECELERATION STOP switch STOP See note 3 Point No setting switch DIFU 013 3100 3100 3102 3101 3101 0801 READY I 3 MOVD 083 D0000 Outputs point number to leftmost 8 bits of word 00 Point number setting 3102 3104 3103 3103 0801 READY i ANDW 034 00 7F00 D0001 ANDW 034 08 7F00 D0002 CMP 020 D0001 D0002 Moves point number input control input to DM 0001 Moves point number output control output to DM 0002 Point number setting check Compares point number I O 25506 3104 3106 Point number check switch Poin
86. Teaching Box provides for easy operation including the following Position Driver status monitoring Parameter editing and transfer Teaching Jogging Positioning to specified points Autotuning Note Refer to the CVM1 PROO 1 Teaching Box Operation Manual W354 for more information OMNUC FND X Series Monitoring Software The OMNUC FND X Series Monitoring Software runs on an IBM PC AT or compatible computer and pro vides for easy operation including the following Position Driver status monitoring Parameter editing and transfer Speed and current waveform displays Autotuning Monitor Functions Monitor Mode The motor speed present value reference value position deviation value machine speed motor cur rent effective load factor electronic thermal value electrical angle and regenerative absorption rate can be monitored on the front panel of the Position Driver in this mode Check Mode The I O signal status alarm details alarm history and software version are displayed on the front panel of the Position Driver in this mode 1 7 Introduction Chapter 1 Protection and Self diagnostic Functions Hardware Protection The Position Driver is protected from overcurrent overvoltage low voltage abnormal power clock fail ure overcurrent soft soeed amplifier saturation and overload damage Mechanical System Protection The mechanical system is protected from damage resulting from overspeed erro
87. The maximum momentary torque is a reference value The brakes are the non excitation type When excitation voltage is added it is cleared The operation time measurement is the measured value with a surge killer CR50500 by Okaya Electric Industrial Co installed The allowable radial load indicates the value at a location 5 mm from the end of the shaft See the diagram below Radial load Thrust load 5mm The allowable radial load and the allowable thrust load are the values determined by taking a service life of 20 000 hours at normal usage as the standard U series UE Servomotors can be used only with Position Driver software version 4 01 Sep tember 1997 or later Specifications Torque and Rotation Speed Characteristics Standard Cable 3 m 200 100 VAC Input R88M UE10030H S1 R88M UE10030V S1 14 0 754 0 54 0 254 0 24 Repeated use area 0 55 Continuous opera tion area T T T T 1000 2000 3000 4000 r min R88M UE75030H S1 R88M UE75030V S1 N m kgf 804 44 404 Repeated use area Continuous opera tion area T T T T 1000 2000 3000 4000 r min 204 104 R88M UE20030H S1 R88M UE20030V S1 N m kgf cm Repeated use area Continuous opera tion area T T T T 1000 2000 3000 4000 r min Chapter 5 R88M UE40030H S1 R88M UE40030V S1 N m kgf
88. Wiring for Noise Resistance Wiring Method for FND X06 to X25 Noise resistance will vary greatly depending on the wiring method used Resistance to noise can be increased by paying attention to the items described below Lightning surge No ise Yo Y 3 Faulty grounding short Protection protection a ee SS ROSE TERRI EE Noise Noise filter protection No fuse FND X R88M U H M breaker Surge Contactor NI iva de MR Y 8 NFB absorber X1 TB TB Metal duct O O e e e i 1 3 i AC power supply 2 E NF B 04 2 E 4 S Fuse ea 77 O p i D 3 5mm 2 mm min i LEE Thick power ins Electric shock noise RTT 3 5 protection 4 Ground plate Controller power supply Ground Machine Electrical shock ground noise protection Control board to 100 O orless e Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a grounding plate for the frame ground for each Unit as shown in the illustration 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 f no fuse breakers are installed at the top and the power supply line is wired from th
89. abso lute encoder OMNUC U Series AC Servomotor Conforming to UL cUL or U UE Series AC Servomotor Not Conforming to Any Standards Note Refer to Chapter 5 Specifications for connector and cable specifications 2 39 Design and Installation Chapter 2 Using OMNUC U series AC Servomotors 30 to 750 W Conforming to EC Directives or UE Type Conforming to EC Directives SYSMAC CV C series C200HX HG HE or CQM1 SRM1 C01 C02 Programmable Controller Programmable Controller Master Control Unit General purpose CompoBus S Communications Cable Control SCA1 4F 10 Flat Cable or commer FND CCX S cially available VCTF cable o o E FND Xseries Position Driver DIO Type FND X series Position Driver CompoBus S Type Backup Battery 0 Connect when using Servomotor with an abso lute encoder Power Cable be R88A CAU001 Encoder Cable Ree Ne R88A CRUD for incremental encoder R88A CSUD for absolute encoder ab da OMNUC U Series AC Servomotor Conforming to EC Directives or U UE Series AC Servomotor Con forming to EC Directives Note Refer to Chapter 5 Specification
90. check Correctly set the point number slipping rect the point number input input The position data Pd set Check the position data Correctly set the position data ting is incorrect Pd setting Pd The minimum setting unit Check the minimum setting unit Correctly set the minimum set PP 01 or pulse rate PP 02 PP 01 and pulse rate PP 02 ting unit and pulse rate settings 03 setting is incorrect 03 settings The compensation PP 08 09 Check the compensation Correctly set the compensation setting is incorrect PP 08 09 setting PP 08 09 Dedicated lines are not being Check the encoder resolver Replace the encoder resolver used for the encoder resolver lines lines with dedicated lines The operation mode for the Check the operation mode Correctly set the operation point number being executed is Pd r setting mode Pd r incorrect The coupling connecting the Check the mechanical system Check and adjust the machin motor shaft to the mechanical ery system is loose The belt is loose During an origin search the Repeat the origin search and Disconnect the motor from the motor sensor s Z phase position check whether the search com mechanical system and shift the and the origin proximity OFF pletion position is different Z phase position by the amount position are too close shown below Then reinstall the motor U Series 1 2 revolution H Series 1 2 revolution M Series 1 4 revolution The motor The
91. deceleration stop STOP Use the Check Mode to check Correct the wiring stops during input turned OFF the input operation The alarm reset RESET input Use the Check Mode to check Correct the wiring turned ON the input The CWL CCWL input turned Use the Check Mode to check Correctly set the position data OFF when the alarm selection the input Correct the wiring PP 25 is 0 The software limit is being Use the Monitor Mode to check Correctly set the position data detected when the alarm selec the present position tion PP 25 is 0 Check the software limits Correctly set the software limits PP 10 11 12 13 The motor The applicable motor UP 02 Check the applicable motor Correctly set the applicable operates setting is incorrect UP 02 setting motor UP 02 motor s power lines and the Check the wiring of the motor s Correct the wiring ut then It stops encoder resolver lines are wired power lines and the encoder re operating incorrectly solver lines Motor operation The motor s power lines and the Check the wiring of the motor s Correct the wiring is unstable encoder resolver lines are wired power lines and the encoder re incorrectly solver lines The coupling connecting the Check the mechanical system Check and adjust the machin motor shaft to the mechanical Rotate the motor with no load ery System is eccentric and screws disconnected from the mechan may be loose ical
92. eip 2402 T e o E 949 p aan lt gt lt S H RRS RRR SS RS co z 1 p E o c a MESS D SSS ide FESSES Sy ES E I K m 3 E gt SG CS NUES m m zd e z eet 250 5 Design and Installation Chapter 2 U Series AC Servomotor Shaft Dimensions with Keys U INC U ABS 30 to 750 W Standard U series AC Servomotors do not have keys on the shafts The shaft dimensions of motors with keys are shown below Motors with keys are indicated by adding S1 to the end of the model num ber Key slots are based on JIS B1301 1976 30 W 50 W Models Standard R88M U03030 With Brakes R88M U03030 14 Dia 6h6 Y 100 W Models Standard R88M U10030 S1 With Brakes R88M U10030 BS1 14 Dia 8h6 200 W 400 W Models Standard R88M U20030 S1 R88M U40030 With Brakes R88M U20030 20 Dia 14h6 750 W Models Standard R88M U75030 S1 With Brakes R88M U75030 BS1 50 Dia 166 2 16 51 R88M U05030 BS1 R88M U05030 BS1 R88M U40030 S1 BS1 ib S1 BS1 Design and Installation Chapter 2 OMNUC U UE Series AC Servomotors with Incremental Encoders UE Not Conforming to Any Standards 300 30
93. equipment Entering the System Check Mode The System Check Mode can be entered from the Monitor Mode Hold down the Incre ment Key Decrement m Check M Key and Data Key S Stem Check Mode Monitor Mode simultaneously for at least five seconds r N gt gt gt Motor test Output signal test Auto tuning ka E3 Double click the Mode Key AdS display Functions in System Check Mode Motor Test Operation e With the motor test operation the motor is operated in forward and reverse by means of key opera tions with just the motor and Position Driver connected Connection to a host controller is not required e The motor speed can be set by UP 29 motor test r min The factory setting is 50 r min Output Signal Test e With the output signal test Position Driver output signals are turned ON and OFF e This test is used to check the connections with the host controller 3 64 Operation Chapter 3 Auto tuning e With auto tuning the size and characteristics of the load the mechanical system can be checked and the gain can be automatically adjusted and set accordingly e There are three kinds of gain to be set position loop gain AJ 4 speed loop proportional gain AJ 2 and speed loop integral gain AJ 3 e There are three parameters for auto tuning reciprocating rotation range Auto1 target response fre quency Auto2 an
94. etc to make the selection The Position Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take into consideration the entire inrush current for the system 2 69 Design and Installation Chapter 2 Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting surge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance For 200 VAC systems use a varistor voltage of 470 V The surge absorbers shown in the following table are recommended Maker Model Varistor Max limit Surge Energy Fuse Type voltage voltage immunity resistance capacity Matsushita ERZC10DK471 W 470 V 775 V 1 250A 45d 3105A Tester Gd ERZC14DK471 W 470 775 V 2 500A 80 310 10A ERZC20DK471 W 470V 775 V 4 000A 150J 51015A ERZC20EK471 W 470V 775 5 000A 150J Block Ishizuka Z10L471 470 V 773 V 1 000 15Ws 3105A __ Tester Electric 2151471 470 V 738 V 1 250 20Ws 3105A Z21L471 470 V 783 V 3 000A 30W s 510 10A Z25M471S 470 V 810 V 10 000A 235J Block Okaya R A V 781 BWZ 2A 783 V 1 000 A Block Electric R A V 781 BXZ 2A 783 V 1 000 A Industrial R A V 401 621BYR 2 620 V 1 000 A
95. fuse i break Noise filter reaker Surge Conadi R88M U M AC power supply NFB absorber iQ Protectively Thick power line separated 3 5 mm Ground to 100 O or less NG Electrical shock x i Ground Controller power supply E noise protection RR i plate Control board i Machine snoc noise i protection v o ERR HL st hei pee eh ane ground e Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a grounding plate for the frame ground for each Unit as shown in the illustration 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 e f no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease e No fuse breakers surge absorbers and noise filters NF should be positioned near the input terminal block ground plate and I O lines should be isolated and wired using the shortest means possible 2 68 Design and Installation Chapter 2 Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control panel
96. in any operational section can be found by means of the following formula Unit J Eg is the larger of Eg and Ego The average regenerative power per cycle of operation can be found by means of the following formula Unit W P Egi Ego T W T Operation cycle s The maximum regenerative energy Eg and the average regenerative power must not exceed the regeneration absorption capacity of the Driver If the regeneration absorption capacity is insufficient connect a Regeneration Resistor Vertical Axis Falling Motor operation Rising Motor output torque Note In the output torque graph acceleration in the positive direction rising is shown as positive and acceleration in the negative direction falling is shown as negative The regenerative energy for each section can be found by means of the following formulas 1 2 Ny Tp ty 1 027 x 107 J Ego No to 1 027 x 107 J 1 2 No 1 027x 1022 J N4 Rotation speed at beginning of deceleration r min Tp1 Deceleration torque kgf Torque when falling kgf t4 tg Deceleration time s to Travel time equivalent to torque when falling s Note There is some loss due to winding resistance so the actual regenerative energy will be approxi mately 90 of the figure derived by the formula 3 76 Operation Chapter 3 The maximum regenerative energy Eg occurring in any operationa
97. in detail Make sure that these protective covers are on the product before use Consult your OMRON representative when using the product after a long period of storage WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING N Caution Caution Caution Do not touch the inside of the Servo Driver Doing so may result in electric shock Always connect the frame ground terminals of the Servo Driver and the Servomotor to a class 3 ground to 100 Q or less Not connecting to a class 3 ground may result in electric shock Do not remove the front cover terminal covers cables Parameter Units or optional items while the power is being supplied Doing so may result in electric shock Operation maintenance or inspection must be performed by authorized personnel Not doing so may result in operation stoppage burning of the product electric shock or injury Wiring or inspection must be performed at least 1 minute after turning off the power supply Doing so may result in electric shock Do not damage pull on apply stress to place heavy objects on or pinch the cables Doing so may result in electric shock Do not touch the rotating parts of the Servomotor under operation Doing so may result in injury Do not modify the product Doing so may result in injury or damage to the product Use the Servomotors and Servo Drivers in a specified combination Not doing so may result in
98. inside of the motor in sulation defects or short circuiting may occur Take measures to prevent machining oil penetration e The water and drip resistance of the standard cables for U Series Servomotors of 1 to 2 kW is equiv alent to IP 30 Use water resistance cables for the power cables and encoder cables in locations subject to contact with water Use the following recommended products for power cable and encoder cable connectors when the device is to meet EC directives 2 35 Design and Installation Chapter 2 Power Cable Connectors Servomotor Servomotor Connector model Cable clamp model Manufacturer model R88M Standard U1K030 Elbow connectors Sheath exterior diam Daiichi Electronic U1K530 CE05 8A18 10SD B eter of 6 5 to 8 7 mm Industries Co U2K030 BAS CE3057 10A 3 D265 Ltd Straight connectors Sheath exterior diam CE05 6A18 10SD B eter of 8 5 11 mm BSS CE3057 10A 2 D265 Sheath exterior diam eter of 10 5 to 14 1 mm CE3057 10A 1 D265 With Brakes U1K030 B Elbow connectors Sheath exterior diam Japan Aviation U1K530 B JLO4V 8A20 15SE EB eter of 6 5 to 9 5 Electronics Indus U2K030 B Straight connectors JL04 2022CK 09 try Ltd JLO4V 6A20 15SE EB Sheath exterior diam eter of 9 5 to 13 JL04 2022CK 12 Sheath exterior diam eter of 12 9 to 15 9 JL04 2022CK 14 Encoder Cable Connectors Servomotor Connector model Cable clamp model Manufac
99. is input to the Programmable Controller PC make sure that the set value is large enough so that the PC can respond Set value 2 PC cycle time x 2 PC input delay time 1 ms For the CompoBus S type make the PC s input delay time two times that of the communications cycle 7 15 Appendices PTP Parameters PP 01 to PP 26 Chapter 7 Setting Factory Explanation Re power range setting required 01 Minimum set 0 0001 0 0001 Specifies basic unit for move Yes ting unit to 1 ment and speed value setting and display 02 Pulse rate 1 1revo 1to 1 Specifies PP 02 to n and Yes Rotation lution 32 767 PP 03 to x Note n is the number of motor revolutions 03 Pulserate2 1 1 to 10 and x is machine axis move Yes Movement 32 767 ment 04 Minimum res 0 0 Displays the movement of the Yes olution left mechanical axis per 1 motor most digits sensor pulse Setting not pos 05 Minimum res 0042 sible Yes olution right most digits 06 Origin com 1 pulse 9 999 0 Specifies number of motor sen No pensation to sor pulses for movement be leftmost dig 9 999 tween origin search completion its position and machine axis ori 07 Origin com 0 to 0 gin No pensation 9 999 The value can be obtained by rightmost origin teaching digits 08 Compensa PP 01 0 to 0 Specifies ba
100. lit Communications are being executed nor mally or communications are being awaited Note For details on diagnosis using the communication status indicators refer to 4 4 3 CompoBus S type Position Driver Protective and Diagnostic Functions 3 12 Operation Chapter 3 3 4 Setting Functions User Parameters H Parameters 3 User parameters and H parameters are parameters for selecting the control mode applicable motor and so on which are required for system startup Match the settings to the system being used Some of the user parameters go into effect when the power has been turned OFF and then back ON again Check to be sure that the display has turned OFF Those user parameters that need to have the power turned OFF and ON again are indicated in the tables in 3 4 2 User Parameter and H Parameter Tables Use the following procedure to set the user parameters Go to the User Parameter Edit Mode Mode Key Display the pertinent parameter number Increment Key Decrement Key Increment Key Data Key Decre ment Key Data Key Display the parameter contents data Increment Key Enable the data change Data Key Shift Key Change the data Increment Key Decrement Key Shift Key Save the data in memory Data Key 4 1 Setting User Parameters and H Parameters Setting User Parameters Use the follow
101. max tion time See note 3 Release ms 10 max 15 max 15 max 20 max 40 max 35 max time See note 3 Back Reference 0 85 0 36 0 32 0 27 0 24 0 21 lash value Rating Continuous Insula Type B tion grade Note 1 The brakes are the non excitation type When excitation voltage is added it is cleared Note 2 The operation time measurement is the measured value with a surge killer installed Note 3 For Servomotors with brakes increase the dimensions of the radiation shield by 50 mm each 5 42 For example t15 x 250 becomes t15 x 300 Specifications Chapter 5 Note 4 The allowable radial load indicates the value at the center of the shaft i e 1 2 of the output shaft length See the diagram below Radial load Thrust load Output shaft center Note 5 The allowable radial load and the allowable thrust load are the values determined by taking a service life of 30 000 hours at normal usage as the standard or 20 000 hours for the items in parentheses Note 6 M series 2 000 r min 1 100 to 2 200 W Servomotors can be used only with Position Driver software version 4 04 April 1999 or later 4 000 r min Item Unit R88M R88M R88M R88M R88M R88M R88M M06040 M12040 M20040 M40040 M70040 M1K140 M2K040 Rated output W 60 120 200 400 700 1 100 2 000 See not
102. meets the following conditions e Ambient operating temperature 0 C to 40 C e Ambient operating humidity OMNUC U Series 20 to 80 RH with no condensation OMNUC U UE Series 20 to 80 RH with no condensation OMNUC H Series 35 to 85 RH with no condensation OMNUC M Series 35 to 85 RH with no condensation e Atmosphere No corrosive gases Impact and Load e The Servomotor is resistant to impacts of up to 98 m s 10 G Do not subject it to heavy impacts or loads during transport installation or positioning In addition do not hold onto the encoder resolver area cable or connector areas when transporting it e Always use a pulley remover to remove pulleys couplings or other objects from the shaft e Secure cables so that there is no impact or load placed on the cable connector areas Connecting to Mechanical Systems e The axial loads for Servomotors are specified in sec tion 5 2 Servomotor Specifications If an axial load greater than that specified is applied to a Servomo tor it will reduce the service life of the motor bearings and may damage the motor shaft When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity and variation Motor erat center tie Recommended Coupling Ball screw center line Oldham coupling Myghty Co Ltd e For spur gears an extremely large radial load may Adjust backla
103. model XM2A 1501 OMRON Contact socket model BHF 001GI 0 8BS J S T Mfg Co Ltd Contact case model 25 1511 OMRON Crimping tool 12 Pulling tool SMJ 06 For Motor Receptacle housing model SMR 10V N J S T Mfg Co Ltd Contact pin model SYM 001G 0 6A J S T Mfg Co Ltd Conversion Cable for H series Servomotors Mode Length L Outer diameter of sheath R88A CRHORST Specifications Chapter 5 Wiring T Symbol Cable AWG22 x 4P Contact cover model XM2S 1511 OMRON Contact plug model 10120 3000VE Sumitomo 3M Contact socket model XM2D 1501 OMRON Contact case model 10320 52 0 008 Sumitomo Fixture model XM2Z 0001 OMRON 5 3 5 Resolver Cables Resolver and Conversion Cables for M series Servomotors Cable Models Model Length L Outer diameter of sheath R88M CRMOOSN R88M CRMOO5N R88M CRM010N R88M CRM015N R88M CRM020N R88M CRMO030N R88M CRMO040N R88M CRMO50N Note The maximum distance between the Servomotor and the Position Driver is 50 m Connection Configuration 33 3 OMNUC M series AC Servomotor Resolver Cable Conversion Cable FND X series Position Driver 5 61 Specifications Chapter 5 Wiring ENS No J Symbol p ops T 19 sce Cable AWG24 x 3P Connector Model For Cable Socket JRC 16WPQ 7S Hirose Electric Connector plug model MR 20F Honda T
104. not coat mount Do not coat mount AC power ing surface AC power ing surface Primary i power supply y Control circuit Primary Noise filter Main power Main power supply and supply control circuit power supply 6 0 5 m max Connecting Cables e Used shielded cables for control cables and encoder cables All cables leaving the control panel must be wired in metal ducts or conduits with blades All power cables and encoder cables to the Servomotors must be 20 m or less 2 76 Design and Installation Chapter 2 e Remove the sheathes from the control cables and encoder cables at the clamps and ground the shield directly at the clamps e Ground the metal ducts and conduits with blades e Attach ferrite cores on all cables as near as possible to the Position Driver Shield Connections Installation panel Installation panel Host controller Do not coat or plate mounting surface Detail at Clamps ae d d DS RKI see xs ace Tm ieee x e XO ae gt ee a ZS 555 ee lt x LES x mm setate 05005
105. stop n 5 12 6 13 24 V power Output 7 424V supply input 14 OGND ground for control 5 14 Specifications Chapter 5 5 2 Servomotor Specifications 5 2 1 U series 30 W to 750 W Servomotors INC ABS General Specifications Specifications Ambient operating temperature 0 to 40 C Ambient operating humidity 20 to 80 RH with no condensation Ambient storage temperature 10 to 75 C Ambient storage humidity 20 to 85 RH with no condensation Storage and operating atmo sphere No corrosive gasses Vibration resistance acceleration 24 5 m s 2 5 G max time coefficient 8 min 4 sweeps Impact resistance Acceleration 98 m s 10 G max in X Y and Z directions three times Insulation resistance 10 to 150 Hz in X Y and Z directions with 0 2 mm double amplitude Between power line terminals and case 10 MQ min 500 VDC megger Dielectric strength Between power line terminals and case 1 500 VAC for 1 min 10 mA max at 50 60 Hz JEC 2121 Run position All directions Insulation grade Type B JIS C4004 Type A according to UL standards Structure Totally enclosed self cooling Protective structure Models conforming to UL cUL standards IP 42 JEM1030 Models conforming to EC Directives IP 44 IEC 34 5 not including the shaft opening Cannot be used in environment with
106. the amount to move to one side rotation width 300 in reciprocating operation during auto tuning execution Auto 2 Destination cutoff 1 Hz 1 to 40 Specifies the position loop frequency 100 responsiveness Normally set from 20 Hz to 80 Hz Auto 3 Maximum rotation 1 r min 1 to 1 000 Specifies the maximum motor speed speed 4 000 during auto tuning execution 3 67 Operation Chapter 3 Note 1 The reciprocating operation is performed twice during auto tuning Check the mechanical operating range and set the reciprocating rotation range accordingly Note 2 Set the maximum rotation speed to the maximum speed for actual operation Reciprocating rotation width Maximum rotation speed Motor speed Time 3 68 Operation Chapter 3 Operating Procedure Example In this auto tuning example it is assumed that the reciprocating rotation range is set to 5 revolutions the target response frequency is set to 50 Hz and the maximum rotation speed is set to 2 000 r min Display example Key operation n Press the Mode Key to enter Monitor Mode E Hold down the Increment Key Decrement Key and Data Key simultaneously for at least five seconds to enter System Check Mode t Press the Shift Key twice to bring up the auto tuning display reciprocating rotation range Press the Increment Key to display the reciprocating rotation range data Press the Data Key and Shift Key to enable the data
107. the control inputs P INO to 7 position data 7 1 2 digits BCD sign bit incremen tal value or A absolute value designation bit and speed data 2 digits BCD are taken in order e P OUTO to 4 position selection 1 to 4 speed selection are output as timing signals for taking the data Data is taken on the falling edge of the P OUT signal When setting data from the Programmable Con troller output the data between the time that POUT turns ON and turns OFF The time that POUT stays ON for can be set by PP 26 selection signal output time 3 35 Operation Chapter 3 Direct Input Positioning Data Position data range 39 999 999 to 39 999 999 with incremental or absolute setting Speed data range to 99 100 1 to 99 Input Output signal signal Name Position selection 1 Position selection 2 Position selection 3 Position selection 4 Speed selection Position 7 2nd digit Bit 3 4th digit Bit 3 6th digit Bit 3 Position I A bit 2nd digit Bit 3 Position 6 Position Bit 2 Position Bit 2 Position Bit 2 Position sign bit Speed Bit 2 Position 5 Bit 1 Bit 1 Bit 1 8th digit Bit 1 Bit 1 Position 4 Bit 0 Bit 0 Bit 0 Position Bito Bit 0 Position 3 1st digit Bit 3 3rd digit Bit 3 5th digit Bit 3 7th digit Bit 3 1st digit Bit 3 Position 2 Position Bit 2 Position Bit 2 Position Bit 2 Position Bit 2 Speed Bit 2 Position 1 Bit 1 Bit 1
108. the motor has been incorrectly connected or if the applicable motor UP 02 has been incor rectly set the motor may perform some revolutions before an A L41 error is generated Check the settings for the connected motor and the applicable motor before recommencing opera tion Note 2 For details on replaceable batteries refer to 2 2 7 Battery Wiring and Encoder Setup for Absolute Encoder 4 16 Application Chapter 4 4 4 3 CompoBus S type Position Driver Protective and Diagnostic Functions With the CompoBus S Master Unit C200HW SRM 1 is used here as an example and the CompoBus S type Position Driver FND X SRT the communications status can be checked using the LED indicators FND X SRT Diagnosis Using LED Indicator Status Indicator status Probable cause of error Countermeasure PWR COMM ERR Not lit Not lit Not lit The Position Driver s power is not Turn on the power for the Position turned on Driver Lit Not lit Not lit The Slave s node address is setin Set the node address from 0 to 7 the 8 to 15 range when the maxi or set the maximum number of con mum number of Slaves connectible nectible Slaves to 32 to the Master is 16 Lit Not lit Lit A communications error occurred Establish the cause of the error by during communications checking the LED indicator on the Master and take appropriate coun termeasures The Master is a CQM1 and the Change the setting to 8 point
109. to be changed The digit that can be changed will flash Use the Increment Key the Decrement Key and the Shift Key to change the setting to 5 Press the Data Key to save the new setting mu c r un un Press the Increment Key to bring up the target response frequency display za C or Pu Press the Increment Key to display the target response frequency data Em Press the Data Key and Shift Key to enable the data to be changed The digit that can be changed will flash Use the Increment Key the Decrement Key and the Shift Key to change the setting to 50 Press the Data Key to save the new setting 3 Press the Increment Key to bring the maximum rotation speed display N C ce Wo Press the Increment Key to display the maximum rotation speed data Press the Data Key and Shift Key to enable the data to be changed The digit that can be changed will flash Use the Increment Key the Decrement Key and the Shift Key to change the setting to 2000 Press the Data Key to save the new setting C3 Ca Ca ca cay ca ca Press the Increment Key to bring up the auto tuning display reciprocating rotation futo i range g Press the Data Key and the Increment Key to execute auto tuning The display vto will flash while the motor is operating
110. turning the power back ON again The new setting will go into effect when the power is turned back ON PRMNo Parametername Setting range Unt Factory setting UP 03 Resolver cable length 110120 m 5 e This parameter specifies the resolver cable length for when M series AC Servomotors are connected e Be sure to make this setting correctly If the set value differs from the actual cable length the motor s torque will be reduced e This parameter is not valid for motors other than M series AC Servomotors 3 19 Operation Chapter 3 PRM No Parameter name Setting range Unit Factory setting UP 07 In position width 1 to 32 767 Pulse e This parameter specifies by the number of motor sensor pulses the position deviation for outputting the positioning completed signal INP OMNUC U Series 30 to 750 W with incremental encoder 8 192 pulses rotation OMNUC U Series 30 to 750 W with absolute encoder 4 096 pulses rotation OMNUC U Series 1 to 2 kW with incremental encoder 16 384 pulses rotation OMNUC U Series 1 to 2 kW with absolute encoder 32 768 pulses rotation OMNUC U UE Series with incremental encoder 4 096 pulses rotation OMNUC H Series with incremental encoder 8 000 pulses rotation OMNUC M Series with resolver 24 000 pulses rotation absolute precision 0 18 ambient temperature 25 C e Match this setting to the mechanical precision Parameter name Set ngrange Unit UP 11
111. whenever possible Right Separate input and output Wrong Noise not filtered effectively AC inputs AC outputs AC inputs Ground Ground AC outputs Use twisted pair cables for the power supply cables whenever possible or bind the cables Twisted Wires Binding Position Position Driver Driver t Binding e Separate power supply cables and signal cables when wiring Selecting Components This section explains the standards for selecting the required components for improving noise resis tance When selecting components it is necessary to understand characteristics such as the capacity performance applicable range and so on For details regarding any of the recommended products listed in the tables below contact their respective makers No fuse Breakers When selecting no fuse breakers take into consideration the maximum output current and the inrush current The momentary maximum output for a servo system is approximately three times that of the rated output and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 300 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable Refer to the table 2 2 3 Wiring Ter minal Blocks for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers
112. with no condensation Storage and operating atmo sphere No corrosive gasses Run position All directions Insulation grade Type B Structure Totally enclosed self cooling Protective structure IP 52 Cannot be used in environment with water soluble cutting fluids Vibration grade V 15 JEC2121 Mounting method Flange mounting Note 1 The above items reflect individual evaluation testing The results may differ under com pounded conditions Note 2 The Servomotor cannot be used in a misty atmosphere Note 3 The drip proofing specifications are covered by IP 54 Models with drip proof specifications provide drip proofing on Servomotors with oil seals 5 33 Specifications Chapter 5 Performance Characteristics Item Unit R88M R88M R88M R88M R88M R88M R88M H05030 H10030 H20030 H30030 H50030 H75030 H1K130 Rated output 50 100 200 300 500 750 1100 Rated torque Nm 0 16 0 32 0 64 0 95 1 59 2 39 3 50 See note kgf cm 1 62 3 25 6 50 9 74 16 2 24 4 35 7 Rated rotation r min 3 000 speed Momentary r min 4 000 maximum rota tion speed Momentary Nm 0 48 0 95 1 91 2 86 4 76 7 17 8 62 maximum torque See kgf cm 4 86 9 74 19 5 29 2 48 6 73 2 88 note Rotor inertia kg m2 0 14 x 0 22 x 0 44 x 0 65 x 2 5x104 4 1 10
113. without 3 000 r min 1 kW R88M U1KO030T no keys brake 1 5kW R88M U1K530T 2kw R88M U2K030T Standard with 3 000 r min 1 kw R88M U1K030T B brake 1 5kW R88M U1K530T B 2 kW R88M U2K030T B Incremental Encoder Specifications Model Straight shafts with keys Standard without brake 3 000 r min U series 1 to 2 kW AC Servomotors Conforming to EC Directives with R88M U1K030V S1 R88M U1K530V S1 R88M U2K030V S1 Standard with brake Absolute Encoder Specifications Model Straight shafts with keys 7 6 Standard without brake 3 000 r min 3 000 r min R88M U1K030V BS1 R88M U1K530V BS1 R88M U2K030V BS1 U series 1 to 2 kW AC Servomotors Conforming to EC Directives with R88M U1K030X S1 R88M U1K530X S1 R88M U2K030X S1 Standard with brake 3 000 r min R88M U1K030X BS1 R88M U1K530X BS1 R88M U2K030X BS1 Appendices Chapter 7 H series AC Servomotors with Incremental Encoder Specifications Model Straight shafts with Standard without 3 000 r min R88M H05030 keys brake R88M H10030 R88M H20030 R88M H30030 R88M H50030 R88M H75030 R88M H1K130 With brake 3 000 r min R88M H05030 B R88M H10030 B R88M H20030 B R88M H30030 B R88M H50030 B R88M H75030 B R88M H1K1930 B 7 1 Appendices Ch
114. 0 Referring to the following tables and example procedure set in UP 02 the model code for the motor that is to be used U Series With Incremental Encoder Motor model Capacity Code R88M U03030HA VA 30 W 1401 R88M U05030HA VA 50 W 1402 R88M U10030HA VA 100 W 1403 R88M U20030HA VA 200 W 1404 R88M U40030HA VA 400 W 1405 R88M U75030HA VA 750 W 1406 R88M U1K030H V 1 KW 1607 R88M U1K530H V 1 5 kW 1608 R88M U2K030H V 2 kW 1609 Note The motor code for R88M U1K315H V is 160D U Series With Absolute Encoder Motor model Capacity R88M U03030TA XA 30 W 1501 R88M U05030TA XA 50 W 1502 R88M U10030TA XA 100 W 1503 R88M U20030TA XA 200 W 1504 R88M U40030TA XA 400 W 1505 R88M U75030TA XA 750 W 1506 R88M U1KO030T X 1 KW 1507 R88M U1K530T X 1 5 kW 1508 R88M U2K030T X 2 kW 1509 Note The motor code for R88M U1K315X is 1513 Operation Chapter 3 U UE Series Motor model Capacity Code R88M UE10030H V S1 100W 1603 R88M UE20030H V S1 200 W 1604 R88M UE40030H V S1 400 W 1605 R88M UE75030H V S1 750 W 1606 Motor model Capacity R88M H05030 50W 1007 R88M H10030 100 W 1008 R88M H20030 200 W 1009 R88M H30030 300 W 1010 R88M H50030 500 W 1011 R88M H75030 750 W 1012 R88M H1K130 1100 W 1013 M Series 1 200 r min Motor model R88M M20012 Capac
115. 0 1 Acceleration time 1 Deceleration 0 Deceleration time 0 1 Deceleration time 1 Oir Point No 1 0t02 0 0 Independent operation mode operation mode 1 Automatic incremental mode selection 2 Continuous operation mode 3 37 Operation Chapter 3 Pd02 toPd63 01 data except for the point number 64H Point No 64 posi PP 01 VA 1 0 Same as point No 1 tion data leftmost 3 999 digits to 3 999 64L Point No 64 posi PP 01 0 to 0 tion data right 9 999 most digits 64F Point No 64 1 1 to 1 speed data 199 64A Point No 64 00 to 11 00 acceleration de celeration selec tion 64r Point No 64 x 0 0 Available in independent operation mode only operation mode selection Note 1 The position data leftmost digits display is as follows according to whether the sign is plus or minus and whether the values are incremental or absolute 1234 1234 Note 2 When the value set for the position data s leftmost digits is negative pressing the Decrement Key with the fourth digit i e the leftmost numeral flashing will cause that digit to change as follows EEE 2234 E 12 KHE 234 IEE METER 234 GEFEE Note 3 When the value set for the position data s leftmost digits is negative pressing the Increment Key causes the flashing numeral to be decremented Since it is negative this actu
116. 0 Allowable thrust load N 190 kgf 20 Weight Without brake kg Approx 4 6 Approx 5 8 Approx 7 0 With brake kg Approx 6 0 Approx 7 5 Approx 8 5 Radiation shield dimensions Material A1 t20x 400 Applicable 200 V input X25H X50H Position Driver FND 100 V input P 5 27 Specifications Chapter 5 Item Unit R88M R88M R88M U1K030H U1K530H U2K030H U1K030V U1K530V U2K030V Brake spec Brake inertia kg m GD2 4 0 33 x 1074 kgf cm s 0 34 x 10 5 Excitation volt V 24 VDC 10 No polarity age Power con W at 20 C 7 sumption Current con A at 20 C 0 29 sumption Static friction Nm 80 min torque kgf cm 7 8 min Absorption ms 180 max time See note 3 Release time ms 100 max See note 3 Backlash Reference value 0 5 Rating Continuous Insulation Type F grade Note 1 The values for torque and rotation speed characteristics are the values at an armature wind ing temperature of 100 C combined with the Position Driver Other values are at normal conditions 20 C 65 The maximum momentary torque is a reference value Note 2 The brakes are the non excitation type When excitation voltage is added it is cleared Note 3 Note 4 Note 5 Note 6 Note 7 The operation time measurement is the measured value with a surge killer CR50500 by Okaya Electric Industrial Co installed The allowable radial loa
117. 0 W Models with Brakes R88M U20030TA B R88M U40030TA B Encoder adapter Motor plug Standard Models Without Brakes Models with Brakes Model LL Model L R88M U20030TA R88M U20030TA B R88M U40030TA R88M U40030TA B 2 11 Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Absolute Encoders U ABS 30 to 750 W Conforming to UL cUL Contd 750 W Standard Models Without Brakes R88M U75030TA Encoder adapter Motor plug Encoder adapter Motor plug Four 7 dia 90 dia 4 70h7 dia 2105 0 40 250 5 2 12 Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Absolute Encoders U ABS 30 to 750 W Conforming to EC Directives 30 W 50 W 100 W Standard Models Without Brakes R88M U03030XA S1 R88M U05030XA S1 R88M U10030XA S1 300 30 53 dia 2 gt 2 30 W 50 W 100 W Models with Brakes R88M U03030XA BS1 R88M U05030XA BS1 R88M U10030XA BS1 300 30 ame y SSS Standard Models Without Brakes Models with Brakes Model LL Model L LL R88M U03030XA S1 R88M U03030XA BS1 R88M U05030XA S1 R88M U05030XA BS
118. 00 W R88M M70020 700 W 2 000 r min R88M M1K120 1100 W R88M M70012 700 W 1 200 r min 1 3 Introduction Chapter 1 Position Driver Applicable AC Servomotor Input power Model Series Model Output Rated r min supply capacity Three phase FND X50H U R88M U1K530 1500 W 3000 r min AA to R88M U2K030 2000 W 50 60 Hz M R88M M2K040 2000 W 4000 r min R88M M1K820 1800W 2000 r min R88M M2K220 2200 W R88M M1K112 1100 W 1200 r min R88M M1K412 1400W R88M M1K812 1800 W Single phase FND XO6L U R88M U03030 A 30 W 3 000 r min m m i to R88M UO5030 A 50W 50 60 Hz R88M U10030 A 100 W U UE R88M UE10030 S1 100 W 3 000 r min H R88M H05030 50W 3 000 r min R88M H10030 100 W FND X12L U R88M U20030 A 200 W 3 000 r min U UE R88M UE20030 S1 200 W 3 000 r min H R88M H20030 200 W 3 000 r min M R88M M06040 60 W 4 000 r min R88M M12040 120 W R88M M20040 200 W R88M M20020 200 W 2 000 r min R88M M20012 200 W 1 200 r min Note 1 Even when a U series or U UE series Servomotor is used in combination with a100 VAC in put Position Driver a 200 VAC Servomotor must be used A 100 VAC Servomotor cannot be connected Note 2 Straight axis servomotors are available either with or without a key or brake In the above table the Servomotors have the following features U series Straight axis without brake without key U series UE models Straight axis without brake with key
119. 000 3000 4000 r min Torque and Rotation Speed Characteristics Standard Cable 3 m R88M U2K030H T R88M U2K030V X N m kgf cm 2 2004 Short term op eration area within 1 s Continuous op eration area 1000 2000 3000 4000 r min Servomotor and Mechanical System Temperature Characteristics U series AC Servomotors use rare earth magnets neodymium iron magnets The temperature co efficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s momentary maximum torque increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 C and 10 C are compared the momentary maximum torque increases by approximately 496 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 e Generally in a mechanical system when the temperature drops the friction torque increases and the load torque becomes larger For that reason overloading may occur at low temperatures In particu lar in systems which use deceleration devices the load torque at low temperatures may be nearly twice the load torque at normal temperatures Check with a current monitor to see whether overload ing is occurring at low temperatures and how much the load torque is Likewise check to see wheth er there abnormal Servomotor overheating or alarms are occurrin
120. 010B R88A CAU015B R88A CAU020B Note The maximum distance between the Servomotor and the Position Driver is 20 m Connection Configuration U series 30 W to 750 W AC Servomotor conforming to UL cUL standards FND X series Position Driver U UE series AC Servomotor not conform ing to any standards with brake Wiring Symbol No Rad AWG20 e U phase 1 Whit CO V phase 2 ANO ue TIO W phase 3 AWG20 Blue GR 4 AWG20 er 0 5 A Black AWG20 ack Brake 6 CIO Cable AWG20 x 6C UL2517 M4 Crimp terminals For Cable Connector housing model Connector socket contact model Crimping tool Pulling tool For Motor Contact plug model Connector pin contact model 172160 1 Nippon Amp 170366 1 Nippon Amp 724651 1 724668 2 172168 1 Nippon Amp 170359 1 Nippon Amp 30 to 100 W 170360 1 Nippon Amp 200 to 750 W 5 65 Specifications Chapter 5 Power Cables for U series 30 W to 750 W and U UE series Servomotors Cable Models Model Length L Outer diameter of sheath Remarks R88A CAU001 1m 5 8 dia For models without brake R88A CAUO1B 1m 6 8 dia For models with brake Note 1 The power cable comes in units of 1 m Cut the cable as required to make the specified length Note 2 The maximum distance between the Servomotor and the Position Driver is 20 m Connection Configuration
121. 08 P OUTO MOV 021 0010 MOV 021 0210 D0021 0809 P OUT1 Transfer information for right MOV 021 0010 most digits of position data D0020 MOV 021 0212 D0021 MOV 021 0011 D0020 MOV 021 0210 D0021 Transfer information for left 0811 P OUT3 most digits of position data MOV 021 0011 MOV 021 0212 D0021 MOV 021 0012 MOV 021 0210 D0021 0810 P OUT2 0812 P OUT4 Transfer information for speed data 3 60 Operation Chapter 3 0808 ANDW 034 00 00FF D0001 MOVD 083 D0020 D0021 D0002 ANDW 034 D0002 FFOO D0002 ORW 035 D0001 0809 0810 0811 0812 3101 0804 m Teaching completed DIFU 013 3102 3102 3106 Position data intake check switch 3105 START switch DIFU 013 3200 0801 READY 0801 3200 3201 START error check switch 3203 3202 Releases control inputs to DM 01 Transfers positioning data in 8 bit units to the leftmost 8 bits of DM 02 Positioning data settings Clears rightmost 8 bits of DM 02 Adds released control inputs and positioning data and outputs result to word 00 Position data intake completed START signal output START An error is output if the START signal is input while the ready signal is OFF START error Note 1 The data input switch is a contact for taking the set position data
122. 1 Chapter 6 CompoBus S Specifications 6 1 CompoBus S Configuration Requirements 6 2 CompoBus S Communications Specifications 6 3 Connecting a CompoBus S System CompoBus S Specifications Chapter 6 6 1 CompoBus S Configuration Requirements The CompoBus S is configured as shown in the following diagram Communications power supply Special flat cable Terminating I resistance mmm Main line T T branch method Branch line M Multi drop method Power supply cable Masters The Master controls the CompoBus S and manages the external I O for each of the Slaves There is only one Master per CompoBus S System The Master must be connected at the end of the main line as shown in the above diagram Slaves Slaves process external I O by communicating with the CompoBus S and Master Main and Branch Lines The main line is the cable that connects the furthest separated terminals Branch lines are the cables that branch out from the main line Cable With the CompoBus S either special flat cable or VCTF cable can be used for communications When flat cable is used the communications power supply can be provided from the CompoBus S cable The configuration example in the above diagram uses flat cable When VCTF cable is used the power supply must be provided to the Slaves through a separate cable A communications power supply is not required for the FND X Connection Method The CompoBu
123. 1 126 5 96 5 R88M UE40030H BS1 194 R88M UE40030H S1 154 5 124 5 2 18 Design and Installation Chapter 2 OMNUC U UE Series AC Servomotors with Incremental Encoders UE Not Conforming to Any Standards Contd 750 W Standard Models Without Brakes R88M UE75030H S1 Encoder adapter Motor plug 8 2 16h6 dia jo Shaft end dimensions Key slot dimensions conform to JIS B1301 1976 ll 750 W Models with Brakes R88M UE75030H BS1 300230 Encoder adapter Motor plug Shaft end dimensions Key slot dimensions conform to JIS B1301 1976 Design and Installation Chapter 2 OMNUC U UE Series AC Servomotors with Incremental Encoders UE Conforming to EC Directives 100 W Standard Models Without Brakes R88M UE10030V S1 300230 Shaft end dimensions 6 Four R3 7 slot dimensions conform to JIS B1301 1976 Two 4 3dia 46 dia 100 W Models with Brakes R88M UE10030V BS1 300430 Shaft end dimensions Key slot dimensions conform to JIS B1301 1976 Two 4 3 dia Four R3 7 2 20 Design and Installation Chapte
124. 1 R88M U10030XA S1 R88M U10030XA BS1 Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Absolute Encoders U ABS 30 to 750 W Conforming to EC Directives Contd 200 W 400 W Standard Models Without Brakes R88M U20030XA S1 R88M U40030XA S1 300 30 12 6 3 Four 5 5 dia Four R5 3 14h6 dia KSEE RSS SSE 200 W 400 W Models with Brakes R88M U20030XA BS1 R88M U40030XA BS1 300 30 8 5 5 5 Four R5 3 HT SSR SSS REN RE SSSSSS OAS SONS SSE Standard Models Without Brakes Model L LL Models with Brakes Model L R88M U20030XA S1 147 5 117 5 R88M U40030XA S1 175 5 145 5 R88M U20030XA BS1 R88M U40030XA BS1 2 14 Chapter 2 S1 U75030XA OMNUC U Series AC Servomotors with Absolute Encoders U ABS 30 to 750 W Conforming to EC Directives Contd 750 W Standard Models Without Brakes R88M Design and Installation Four R8 2 SX S N iy i 5 a 7u0Z Four 90 dia eip 949 p 2 15
125. 1 100 W 1 400 W 1 800 W 1 200 r min Standard Models R88M M1K112 M1K412 M1K812 1 800 W 2 200 W 2 000 r min Standard Models R88M M1K820 M2K220 180 x 180 Four 14 dia 230 dia 2 31 Design and Installation Chapter 2 1 100 W 1 400 W 1 800 W 1 200 r min Models with Brakes R88M M1K112 B M1K412 B M1K812 B 1 800 W 2 200 W 2 000 r min Models with Brakes R88M M1K820 B M2K220 B LX LY 19 39 65 12 93 143 180 180 Four 14 dia 230 dia Standard Models Models with Brakes Model L LLL LM LX LY LZ R88M M1K112 B 370 291 252 439 360 256 R88M M1K820 B Model L LL LM LX LY R88M M1K112 370 291 252 439 360 R88M M1K820 R88M M1K412 400 321 282 469 390 286 R88M M1K412 B 400 321 282 469 390 286 R88M M2K220 R88M M2K220 B R88M M1K812 460 381 342 529 450 346 R88M M1K812 B 460 381 342 529 450 346 Shaft End Directions o 4 2 32 Design and Installation Chapter 2 2 1 2 Installation Conditions Position Driver Space Around D
126. 10 Regenerative Energy Absorption Regenerative energy produced at times such as Servomotor deceleration is absorbed by the Position Driver s internal capacitors thereby preventing an increase in DC volt age If the regenerative energy from the Servomotor becomes too large however an overvoltage error will occur In such cases it is necessary to connect a Regeneration Resistor to increase the regeneration processing capacity 3 10 1 Calculating Regenerative Energy Regenerative energy is produced when the direction of Servomotor rotation or output torque is reversed The methods for calculating regenerative energy for the horizontal and vertical axes are explained below Horizontal Axis N Motor operation Motor output torque Note In the output torque graph acceleration in the positive direction is shown as positive and accel eration in the negative direction is shown as negative The regenerative energy for each section can be found by means of the following formulas 1 2 Ny Tp ty 1 027 x 107 J Ego 1 2 te 1 027 x 1022 J N4 Rotation speed at beginning of deceleration r min Tp1 Deceleration torque kgf ty to Deceleration time s Note There is some loss due to winding resistance so the actual regenerative energy will be approxi mately 90 of the figure derived by the formula 3 75 Operation Chapter 3 The maximum regenerative energy Eg occurring
127. 2 4 87 9 75 19 5 39 0 72 9 Rated current A rms 0 42 0 60 0 87 2 0 2 6 4 4 See note Momentary maxi A rms 1 3 1 9 2 8 6 0 8 0 13 9 mum current See note Rotor inertia kg m2 0 21 10 5 0 26x1075 0 40 10 5 1 23 1075 1 91x 1079 6 71 10 5 602 4 kgf cm s 0 21 10 4 0 27 10 4 0 41 10 4 1 26 107 1 95 10 4 6 85 104 Torque constant N m A 0 255 0 286 0 408 0 355 0 533 0 590 kgf 2 60 2 92 4 16 3 62 5 44 6 01 Induced voltage mV 8 89 9 98 14 0 12 4 18 6 20 6 constant See r min note Power rate See KW s 4 36 9 63 25 4 32 8 84 6 85 1 note Mechanical time ms 1 5 0 9 0 5 0 4 0 3 0 3 constant Winding resis Q 15 8 9 64 6 99 1 34 1 23 0 45 tance Winding imped mH 23 1 16 9 13 2 7 2 7 9 5 7 ance Electrical time ms 1 5 1 8 1 9 5 4 6 4 13 constant Momentary al N 186 490 735 lowable radial load kgf 19 50 75 Momentary al N 127 176 392 lowable thrust load kof 13 18 40 Allowable radial N 68 78 245 392 load kgf 7 8 25 40 Allowable thrust 54 54 74 147 load kgf 5 5 5 5 7 5 sem Without kg Approx 0 3 Approx 0 4 Approx 0 5 Approx 1 1 Approx 1 7 eorex 3 4 brake With kg Approx 0 6 Approx 0 7 Approx 0 8 Approx 1 6 Approx 2 2 Approx 4 3 brake Radiation shield Material t6x 250 dimensions Al Applicable 200 V in XO6H X12H X25H Position Driver put FND 100 V in XO6L X12L m m put 5 16
128. 25 40 Allowable thrust load N 54 74 147 kgf 5 5 7 5 15 Weight Without kg Approx 0 5 Approx 1 1 Approx 1 7 Approx 3 4 brake With brake kg Approx 0 8 Approx 1 6 Approx 2 2 Approx 4 3 Radiation shield dimen Material A1 tex 250 sions Applicable 200 V input X06H X12H X25H Position Driver FND 100 V input XO6L X12L USE Xo 5 23 Specifications Chapter 5 Item Unit R88M R88M R88M R88M UE10030H S1 UE20030H S1 UE40030H S1 UE75030H S1 UE10030V S1 UE20030V S1 UE40030V S1 UE75030V S1 Brake Brake iner kg m GD2 4 0 09 x 10 5 0 58 x 1075 1 40 x 1079 tia kgf cm s 0 09 x 10 4 0 59 x 10 4 1 43 x 10 4 Excitation V 24 VDC 10 No polarity voltage Power con W at 20 C 6 0 6 5 6 0 sumption Current A at 20 C 0 25 0 27 0 25 consump tion Static fric Nm 0 34 min 1 5 min 2 5 min tion torque kgf cm 3 5 min 15 0 min 25 0 min Absorption ms 60 max 100 max 200 max time See note 3 Release ms 30 max 40 max 50 max time See note 3 Backlash Reference val 1 ue Rating Continuous Insulation Type F grade Note 1 Note 2 Note 3 Note 4 Note 5 Note 6 5 24 The values for torque and rotation speed characteristics are the values at an armature wind ing temperature of 100 C combined with the Position Driver Other values are at normal conditions 20 C 65
129. 4 5 7x 1074 GD2 4 1074 1074 1074 1074 kgf cm s 1 4 10 4 2 2x10 4 4 5x104 6 6x10 4 26x10 42x10 4 58x 10 4 2 Torque N m A 0 22 0 35 0 43 0 49 0 43 0 47 0 59 constant See note kgf cm A 2 2 3 6 4 4 5 0 4 4 4 8 6 0 Induced volt mV 23 37 45 52 45 50 62 age constant r min See note Power rate kW s 1 8 4 7 9 1 14 9 7 14 21 See note Mechanical ms 6 9 2 7 2 3 1 7 2 2 1 4 1 3 time constant Winding resis Q 24 16 10 6 1 1 6 0 74 0 80 tance Winding im mH 51 43 38 28 10 6 6 6 9 pedance Electrical time ms 2 1 2 7 3 8 4 5 6 5 9 0 8 6 constant Momentary al 147 343 637 834 lowable radial Momentary al 196 275 490 490 lowable thrust load kgf 20 28 50 50 Allowable ra N 103 113 186 196 353 373 441 dial load kgf 10 5 11 5 19 0 20 0 36 0 38 0 45 0 Al A N 29 78 118 147 ae kgf 3 0 8 0 12 0 15 0 thrust B N 29 78 118 147 load kgf 3 0 7 5 11 0 13 0 Weig With kg Approx Approx Approx Approx Approx Approx Approx ht out 0 9 1 1 1 8 2 2 4 3 5 6 6 8 brake With kg Approx Approx Approx Approx Approx Approx Approx brake 1 4 1 6 2 6 3 0 6 5 7 8 9 0 5 34 Specifications Chapter 5 Item Unit R88M R88M R88M R88M R88M R88M R88M H05030 H10030 H20030 H30030 H50030 H75030 H1K130 Radiation Material t6x 150 t6x 250 t12x 250 shield dimen A1 sions Applicable 200 V X06H X12H X25H Posit
130. 4 0 10 20 18 25 32 note Mechanical time ms 7 3 3 5 2 3 3 1 2 8 1 9 constant Winding resis Q 9 8 6 4 4 2 1 9 1 5 1 0 tance Winding imped mH 70 65 50 20 40 27 ance Electrical time ms 7 1 10 1 11 8 10 26 26 constant Momentary al N 880 940 1 000 2 040 2 100 2 190 lowable radial load kgf 90 96 102 208 214 223 Momentary al N 2 380 2 380 2 380 5 390 5 390 5 390 lowable thrust load kgf 243 243 243 550 550 550 Allowable radial N 480 560 519 600 548 640 1 029 1 058 1 107 load 1 190 1 230 1 270 kgf 49 57 53 61 56 65 105 121 108 125 113 130 Allowable thrust N 68 88 58 78 58 69 156 190 147 180 127 160 load kgf 7 9 6 8 6 7 16 19 15 18 13 16 Weight Without kg Approx 6 5 Approx 9 0 Approx 14 22 Approx 26 Approx 34 brake With kg Approx 7 1 Approx 10 15 Approx 24 Approx 28 Approx 38 brake 5 39 Specifications Chapter 5 Item Unit R88M R88M R88M R88M R88M M20012 M40012 M70012 M1K112 M1K812 Radiation shield Material tibx 250 t20x 300 t20x 400 dimensions FE See note 4 Applicable Posi 200 Vin X12H X25H X50H tion Driver put FND 100 V in X12L m put Brake Brake kg m 19x10 32x10 68x10 2 9 10 3 0 x 1074 speci inertia GD2 4 kgf s 1 9 10 4 3 3 10 4 6 9 10 4 2 9x 10 3 3 1 x 10 3 Excit
131. 420 880 940 1 000 lowable radial load kgf 14 16 38 43 90 96 102 Momentary al N 440 440 1 180 1 180 2 380 2 380 2 380 lowable thrust load kgf 45 45 120 120 243 243 243 Allowable radial N 58 69 58 78 147 180 166 200 323 370 343 400 362 420 load kgf 6 7 6 8 15 18 17 20 33 38 35 41 37 43 Allowable thrust N 5 6 9 4 5 9 19 29 19 29 58 69 49 59 39 49 load kgf 0 6 0 7 0 5 0 6 2 3 2 3 6 7 5 6 4 5 Weight Without kg Approx Approx Approx Approx Approx Approx Approx brake 1 2 1 6 2 3 3 2 6 5 9 0 14 With kg Approx Approx Approx Approx Approx Approx Approx brake 1 4 1 8 2 7 3 6 7 1 10 15 Radiation shield Material t15x 250 t20x 300 dimensions FE See note 4 Applicable Posi 200 V in X12H X25H X50H tion Driver put FND 100 V in X12L Brake Brake kg m2 1 5 x 10 6 6 7 x 10 6 1 9 10 5 3 2 10 5 6 8x 105 speci inertia 902 4 dl kgf cm s 1 5 x 10 5 6 8 x 10 5 1 9x 10 4 3 3x 10 5 6 9 10 5 Excita V 24 VDC 10 No polarity tion voltage Power W at 5 0 6 0 9 8 15 con 20 C sump tion Current A at 0 21 0 25 0 41 0 63 con 20 C sump tion Static Nm 0 59 min 0 98 min 20min 3 9min 7 8 min friction f f torque kgf cm 6 min 10 min 20 min 40 min 80 min Absorp ms 25 max 30 max 25 max 35 max 40 max tion time See note 3 Re ms 10 max 10 max 15 max 15 max 20 max lease time See note
132. 5 47 Specifications Chapter 5 5 3 Cable Specifications 5 3 1 General Control Cables DIO Position Drivers Only Cable Models Model Length L Outer diameter of sheath FND CCX001S 1m 11 8 dia FND CCS002S 2m Connection Configuration SYSMAC C series Programmable Controller FND X series Position Driver 5 48 Specifications Wiring Insulation Dot mark Dot mark color Signal name color 1 Light brown Black CCWL 2 Light brown Red CWL 3 Yellow Black ORG 4 Yellow Red RUN 5 Light green Black START 6 Light green Red RESET 7 Gray Black SEARCH 8 Gray Red JOG 9 White Black JOG 10 White Red TEACH 11 Light brown Black P INO 12 Light brown Red P IN1 13 Yellow Black P IN2 14 Yellow Red P IN3 15 Light green Black P IN4 16 Light green mE Red P IN5 17 Gray Black P IN6 18 Gray Red P IN7 19 White Black OGND 20 White Red STOP 21 Light brown Black BO 22 Light brown ep Red READY 23 Yellow Black S COM 24 Yellow Red ORGSTP 25 Light green ia Black T COM 26 Light green Red RUNON 27 Gray Black INP 28 Gray Red ALM 29 White Black P OUTO 30 White Red P OUT1 31 Light brown Black P OUT2 32 Light brown Red P OUT3 33 Yellow SSS Black P OUT4 34 Yellow Red P OUT5 35 Light gr
133. 90 5 390 lowable thrust load kgf 120 243 243 243 550 550 Allowable radial N 205 250 401 470 431 500 460 540 862 1 000 891 1 030 load kgf 21 25 41 48 44 51 47 55 88 102 91 105 Allowable thrust N 19 29 68 88 58 78 58 69 156 190 147 180 5 41 Specifications Chapter 5 Item Unit R88M R88M R88M R88M R88M R88M M20020 M40020 M70020 M1K120 M1K820 M2K220 oa kgf 2 3 7 9 6 8 6 7 16 19 15 18 Weight Without kg Approx 3 2 Approx 6 5 Approx 9 0 Approx 14 Approx 22 Approx 26 brake With kg Approx 3 6 Approx 7 1 Approx 10 15 Approx 24 Approx 28 brake Radiation shield Material tibx 250 t20x 300 t20x 400 dimensions FE See note 4 Applicable Posi 200 V in X12H X25H X50H tion Driver put TENES 100 Vin X12L put Brake Brake kg m 6 7 x 1074 1 9 x 1075 3 2 x 1075 6 8 x 1075 2 8 x 1074 speci inertia GD2 4 Me kgf s 6 8 10 5 1 9x104 33x10 69x103 29x10 3 Excita V 24 VDC 10 No polarity tion voltage Power W at 6 0 9 8 15 18 con 20 C sump tion Current A at 0 25 0 41 0 63 0 76 con 20 C sump tion Static Nm 0 98 min 2 0 min 3 9 min 7 8 min 16 min friction torque kgf cm 10 min 20 min 40 min 80 min 160 min Absorp ms 30 max 25 max 35 max 40 max 60 max 90
134. A when 5 V voltage is applied 14 S Z Encoder S Z phase input Line driver input conforming to EIA RS422A Input impedance 220 Q 15 S Z Encoder S Z phase input Line driver input conforming to EIA RS422A Input impedance 220 Q 16 Encoder A phase input Line driver input conforming to EIA RS422A Input impedance 220 Q 17 A Encoder A phase input Line driver input conforming to EIA RS422A Input impedance 220 Q 18 B Encoder B phase input Line driver input conforming to EIA RS422A Input impedance 220 Q 19 B Encoder B phase input Line driver input conforming to EIA RS422A Input impedance 220 Q 20 FG Encoder cable shield ground Encoder cable shield ground Connectors Used Receptacle at Position Driver Soldered plug at cable side Case at cable side 5 8 10220 52A2JL 10120 3000VE 10320 52A0 008 Sumitomo 3M Sumitomo 3M Sumitomo 3M Specifications Chapter 5 CN2 Motor Sensor Connector Pin Arrangement Encoder Resolver 1 EOV power supply 11 SG cable shield aa ground ground 2 51 SIN excitation 12 BAT Battery winding 3 93 SIN excitation 13 BAT Encoder winding Encoder S TUS 4 E5V power 14 S Z Z phase supply 5V input Encoder S 5 NC 15 S Z Z phase COS Encoder input 6 S2 excitation 16 A A phase winding COS input Encoder 7 S4 excit
135. AC As the input voltage is increased the amount of regen erative energy that can be absorbed is decreased 100 VAC Input Type Model Regeneration processing capacity FND XO06L Average regenerative power W Regenerative energy J FND X12L Note The input voltage is the value at 100 VAC As the input voltage is increased the amount of regen erative energy that can be absorbed is decreased 3 77 Operation Chapter 3 3 10 3 Regenerative Energy Absorption by Regeneration Resistor If the Position Driver alone cannot absorb the regenerative energy connect a Regeneration Resistor The Regeneration Resistor connects between the P and J terminals at the Position Driver s terminal block Caution Be careful when connecting the Regeneration Resistor If done incorrectly it will damage the Position Driver Caution The Regeneration Resistor heats up to 120 C so be careful not to place it near equipment or wiring that may be affected by heat Also be sure to install a radiation shield that satisfies the heat radiation conditions Selecting a Regeneration Resistor Types of Regeneration Resistors Type Model Resistance Nominal Regeneration Heat radiation capacity absorption at conditions 120 C A R88A RR20030 30Q 200 W 100 W 3 350 aluminum B R88A RR40030 30Q 400 W 200 W 3 350 aluminum Regeneration Resistor Combinations Regeneration absor
136. AC FND X50H Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Incremental Encoders U INC 30 to 750 W Conforming to UL cUL 30 W 50 W 100 W Standard Models Without Brakes R88M U03030HA R88M U05030HA R88M U10030HA 300 730 Encoder adapter Motor plug Two 4 3 dia Four Hc 46 dia 4 30 W 50 W 100 W Models with Brakes R88M U03030HA B R88M U05030HA B R88M U10030HA B Encoder adapter Motor plug Four R3 7 Standard Models Without Brakes Models with Brakes Model L LL S Model L LL LB S R88M U03030HA 94 5 69 5 6 R88M U03030HA B 126 101 31 5 6 R88M U05030HA 102 0 77 0 6 R88M U05030HA B 133 5 108 5 31 5 6 R88M U10030HA 119 5 94 5 8 R88M U10030HA B 160 135 40 5 8 2 4 Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Incremental Encoders U INC 30 to 750 W Conforming to UL cUL Contd 200 W 400 W Standard Models Without Brakes R88M U20030HA R88M U40030HA 300 730 Encoder adapter Motor plug Four R5 3 200 W 400 W Models with Brakes R88M U20030HA B R88M U40030HA B 300130 Encoder adapter Motor plug Four R5 3 Standard Models Without Br
137. Breakers e Select leakage breakers designed for inverters e Since switching operations take place inside the Position Driver high frequency current leaks from the armature of the Servomotor With inverter leakage breakers high frequency current is not de tected preventing the breaker from operating due to leakage current When selecting leakage breakers also remember to add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on e For detailed information on how to select leakage breakers refer to the catalogs provided by the manufacturers The following table shows the Servomotor leakage currents for each Driver model Driver model Leakage current direct Leakage current resistor capacitor including high frequency current in commercial power supply fre quency range FND X06 X12 35 mAo p 2 mMAms FND X25 40 mAo p 2 MAms FND X50H 120 MAo p 3 MArms Note 1 Leakage current values shown above are for motor power lines of 10 m or less The values will change depending on the length of power cables and the insulation Note 2 Leakage current values shown above are for normal temperatures and humidity The values will change depending on the temperature and humidity Improving Encoder and Resolver Cable Noise Resistance Signals from the encoder are A phase B phase or S phase The A phase and B phase frequen
138. CRUBO10C R88A CRUBO15C R88A CRUBO20C Note The maximum between the Servomotor and the Position Driver is 20 m Connection Configuration 37 3 dia U series 1 kW to 2 kW AC Ser FND X series Position Driver 5 58 Specifications Chapter 5 Wiring Signal 5 2 Not used Not used Not used Not used AWG22 Green Yellow Cable AWG22 x 3C AWG24 x 6P For Cable Connector plug model MS3106B20 29S Connector plug model 10120 3000VE Sumitomo 3M Cable clamp model MS3057 12A Contact case model 10320 52 0 008 Sumitomo For Motor Receptacle model MS3102A20 29P Encoder and Conversion Cables for H series Servomotors Encoder Cable Models Model Length L Outer diameter of sheath R88A CRHO001C R88A CRH003C R88A CRHO05C R88A CRH010C R88A CRH015C R88A CRHO20C R88A CRHOSOC Note Up to a maximum of 30 m between the Servomotor and the Position Driver is 20 m 5 59 Specifications Chapter 5 Connection Configuration 11 7 L E 40 5 500 i 39 mo oT To al e oe a ME TOS p o B tend t 15 t 14 OMNUC H series AC Servomotor Encoder Cable Conversion Cable FND X series Position Driver Wiring Cable AWG22 x 3P 3C UL2589 For Cable Plug housing model SMP 10V NC J S T Mfg Co Ltd Contact plug
139. Conversion Cable R88A CRMOR5T Resolver Cable i OMNUC R88A CRM N AC Servomotor Note Refer to Chapter 5 Specifications for connector and cable specifications 2 43 Design and Installation Chapter 2 Wiring Power Cables FND X R88M M Wire size mm AWG M20012 1 25 AWG16 M1K820 3 5 AWG12 M40012 1 25 AWG16 M2K220 3 5 AWG12 M70012 1 25 AWG16 M06040 0 9 AWG18 M1K112 2 AWG14 12040 0 9 AWG18 M1K412 2 AWG14 M20040 0 9 AWG18 M1K812 2 AWG14 M40040 0 9 AWG18 M20020 0 9 AWG18 m70040 1 25 AWG16 M40020 1 25 AWG16 M1K140 1 25 AWG16 M70020 1 25 AWG16 M2K040 3 5 AWG12 M1K120 1 25 AWG16 2 44 Design and Installation Chapter 2 2 2 2 Control Circuitry Terminal Wiring DIO Position Drivers Control Signal Connector CN1 CONT Pin Arrangement 1 CCWL CCW limit 19 OGND Output input ground 2 CWL CW limitin 20 stop Deceleration put Origi SUP Brake rigin ORG proximity 21 BO output 4 RUN RUN 22 READY Ready command Origin 5 START Start 23 S COM search m completed 6 RESET Alarm reset 24 oRGSTP Origin stop Origin search Teaching 7 SEARCH 9 25 LCOM
140. Correct the wiring speed rotation encoder lines are wired incor rectly Occurred when The gain adjustment is incor Re adjust the gain positioning with a rect large amount of Acceleration was too sudden Lengthen the acceleration movement or dur time ing a JOG opera ue tion The load is too large e Lighten the load e Select another motor Occurred when The reference speed is too Correct the speed settings operating at the high rotation the slip compensation is too Correct the slip compensa spese large tion A L26 Parameter set Occurred when No data is set for UP 01 and Correctly set the data for ting error power was turned ON UP 02 or else the setting is incorrect UP 01 and UP 02 After set ting the data turn the power off and back ON 4 14 Application Chapter 4 Alarm dis Error content Condition when Probable cause Countermeasures play error occurred A L32 Resolver error Occurred when The resolver cable is discon Connect any disconnected power was turned nected places ON The resolver cable wiring is Correct the wiring incorrect The UP 02 applicable motor Set the motor model code cor setting is wrong rectly A L34 Software limit Occurred during The reference value set in Reset the alarm and use over operation PP 10 and PP 11 was JOG or manual operation to exceeded release from the software li
141. E Point output P OUTO to 6 Motor operation 3 7 4 Point Positioning UP 01 11 or 12 Function Positioning is executed according to the PTP data of point numbers input to P INO to P IN6 Positioning is started when the start signal is turned ON while the ready signal is ON e The ready signal is turned OFF at the moment positioning begins and turned ON again upon comple tion of the positioning operation Note With feeder control UP 01 12 the present value is cleared when the start signal is turned ON Operation 1 Input the point numbers to P INO to P IN6 Make sure that the P DUTO to P DUT6 signals match the point numbers input to P INO to P IN6 2 Make sure that the ready signal is ON Then turn ON the start signal 3 Positioning will begin and the ready signal will be turned OFF 3 52 Operation Chapter 3 4 The ready signal will be turned ON again upon completion of the positioning RUN command RUN ON ON Start START OFF Point selection P INO to P IN6 Positioning completion INP Point output P OUTO to P DUT6 Motor operation Independent Automatic operation mode incremental operation operation mode mode mode Continuous Independent Point Positioning Program Example C200H HX HG HE The following point positioning ladder program example for SYSMAC C200H HX HG HE is provided for reference Word Allocation In this pr
142. E ee ET 5 3 5 Resolver Cables i eee ee eh See 9 3 6 Power Cables riesci aceite XC ASR t br Re UR Sce RR weed Chapter 6 CompoBus S Specifications 6 1 CompoBus S Configuration Requirements 6 2 CompoBus S Communications Specifications 6 3 Connecting a CompoBus S System 0 00 ee ne Table of Contents Chapter 7 Appendices Standard Models oz scsi eae Anas ata aa e eR ae 7 2 Parameter Settings Tables 4 2 eR RR o eor mp Revision History bo or i o e or o ii Ili Chapter 1 Introduction 1 1 Functions 1 2 Nomenclature and Key Operations 1 3 Supported Standards and Supporting Models Introduction Chapter 1 1 1 Functions OMRON s FND X Position Drivers are servo drivers with built in positioner functions that control AC servomotors according to positioning data FND X Series Models There are two types of FND X Position Drivers according to the type of control signals used Control signals Model DIO FND X H FND X L CompoBus S FND X H SRT FND X L SRT Up to eight CompoBus S Position Drivers can be connected to one Master Unit for 128 input and 128 output points Two wire communications are used reduc
143. H B hte SS HUE c SS gat i OMNUC U H M series AC Servomotor x LP ay uS OS A et Ry UE Ae ee or less O O 1M N ol OMNUC FND X series Position Driver TB 0 R TB QO s A Regenerative Resistor 100W R88A RR20030 TB 200 W R88A RR40030 Connect external Regen R P erative Resistor ifthe regen eration capacity in the Position Driver is sufficient z Jp4 2 Q The external Regenerative Resistor can heat to 120 C Sh rt bar Install the Resistor so that heating will OJP2 CN2 M SEN not cause adverse affects Remove the short bar from between JP1 and JP2 when connecting an external Re generative Resistor Protectively separated CONT 28 ALM 24 VDC 19 OGND See note CONT User s control device DIO Position Drivers FND CCX S General purpose Control Cable CompoBus S Position Drivers Communications Cable SCA1 4F10 Flat Cable or commercially available VCTF cable VCTF JIS C3306 2 core 0 75mm Note When using the CompoBus S Position Drivers create the same sequence using the ALM bit OMNUC U series Encoder Cable 30 to 750 W R88A CRU C Incremental R88A CSU C Absolute 1 to 2 kW Incremental and Absolute R88A CRUB N EC Directives R88A CRUD C Incremental R88A CSUD C Absolute OMNUC H series
144. Inspection 00 eee I 4 5 2 Precautions ic tend ER Et ag ee es Pe 4 5 3 Replacing the Position Driver and the 4 5 4 Troubleshooting metre Rem OP ERE eee tae 4 6 Periodic Maintenance e m e Chapter 5 Specifications 5 1 Position Driver Specifications ee 5 1 1 General Specifications Common to DIO CompoBus S 5 1 2 Performance Specifications lese 5 1 3 VO Specifications e a SA aw ch s Eg a ees 5 2 Servomotor Specifications 0 0 cee me 5 2 1 U series 30 W to 750 W Servomotors INC ABS 5 2 2 U UE series Servomotors 0 0c teen tenn ees 5 2 3 U series 1 kW to 2 kW Servomotors INC ABS 5 2 4 H series Servomotors ec eect een E D 5 2 5 M series Servomotors 0 ce eee eee e een n nes 5 3 Cable Specifications oit be sg eh enr pha baie HEE PERI RSS 5 3 1 General Control Cables DIO Position Drivers Only 5 3 2 Connector Terminal Board Conversion Unit Cables DIO Position Drivers 5 3 3 External Control Signal Connecting Cables CompoBus S Position Drivers Only 923 4 Encoder Cables elc sre By DRE ARERR OO Bee R
145. NP Positioning com Output turns ON when error counter OUT5 pleted residual pulses are within the UP 07 positioning completed range setting CN1 28 IN7 ALM Alarm Output indicates error occurrence at OUT6 the driver or motor Output OFF when an alarm occurs 2 49 Design and Installation Chapter 2 DIO Compo Signal Name Function and interface Internal Bus S allocation Point output 0 When UP 01 11 or 12 Position selection Outputs BCD point No during wait 1 ing or execution Point output 1 When UP 01 13 or 14 Position selection Outputs request signal for receiving 2 positioning data position and speed Point output 2 The output ON time is set for PP 26 Position selection selection signal output time 3 Point output 3 Position selection 4 Point output 4 Speed selection Point output 5 Point output 6 Note The internal allocations are the numbers allocated in the CPU Unit 2 50 Design and Installation Chapter 2 Control Input Details DIO CN1 1 CompoBus S CN4 1 CCWL CCW limit N C condition e Pin No 1 is the plus direction limit input signal When this signal is not being input ON the motor cannot be rotated in the plus direction e f this signal turns OFF during motor rotation in the plus direction the motor will be stopped accord ing to the PP 25 alarm selection setting DIO CN1 2 CompoBus S CN4 2
146. OMRON Mi USER S MANUAL OMNUC FND MODELS FND XL1 DIO Type FND XL SRT Compo EE s S Type POSITION DRIVERS Thank you for choosing this OMNUC FND X series product This manual provides details on the installation wiring troubleshooting and maintenance of OMNUC FND X series products along with parameter settings for the operation of the products Make sure that actual users of this product will read this manual thoroughly and handle and operate the prod uct with care Retain this manual for future reference This manual describes the specifications and functions of the product and relations with other products As sume that nothing described in this manual is possible Specifications and functions may change without notice to improve product performance Forward and reverse rotation of AC Servomotors described in this manual are defined as looking at the end of the output shaft of the motor as follows counterclockwise rotation is forward and clockwise rotation is reverse General Instructions Refer to Precautions first and carefully read and be sure to understand the information provided Familiarize yourself with this manual and understand the functions and performance of the Servo motor and Servo Driver for proper use The Servomotor and Servo Driver must be wired and operated by experts in electrical engineering We recommend that you add the followi
147. P 09 Compensation rightmost 0 to 9 999 Mechanical 0 digits axis move ment e These parameters specify the amount of mechanical axis movement for compensation during posi tioning operations e The decimal point location is set by PP 01 minimum setting unit e For PTP control UP 01 11 or 13 this compensation becomes backlash compensation for feeder control UP 01 12 or 14 it becomes slip compensation Backlash Compensation e Set the amount of play backlash for a mechanical system such as gears or chains e When movement is in the reverse direction from that of the previous operation stopping precision can be improved by feeding an exact amount of compensation to absorb the backlash in the mechanical system 3 28 Operation Chapter 3 e The following diagram provides an example of backlash compensation during operation Backlash compensation Slip Compensation e Set slip compensation if slippage occurs in the mechanical system during feeding e Set these parameters to compensate for the amount of slippage that occurs when feeding for just the amount set for pulse rate 2 For example if 10 mm is fed with PP 01 minimum setting unit set to 0 001 and PP 03 pulse rate 2 to 10 mm and if the slippage amount is 0 1 mm then set PP 08 to 0 and PP 09 to 0 100 e Compensating for just the amount of slippage that occurs during feeding absorbs the play from the mechanical system and improves the stopp
148. Present value leftmost digits Present value rightmost digits Application Chapter 4 Monitor Details Display Monitored item Unit Explanation r Motor speed r min Displays the actual rotation speed of the motor shaft A Present value Mechanical axis Calculates and displays the present value of the leftmost digits movement mechanical axis based on feedback from the A Present value motor sensor rightmost digits C Reference value Mechanical axis Displays the mechanical axis position leftmost digits movement referenced by the Position Driver C Reference value rightmost digits E Position deviation Pulse Displays the deviation of the present value from leftmost digits the reference value with encoder resolver E Position deviation resolution rightmost digits P Not used pes ess P Not used F Mechanical speed Mechanical axis Calculates and displays the movement speed of leftmost digits movement per second the mechanical axis based on feedback from F Mechanical speed the motor sensor rightmost digits cF Not used cc Not used L Motor current Ao P Displays the output current to the motor bL Effective load factor Displays the effective load factor with respect to the motor s rated current value Effective load factor output current effective value motor s rated current Effective values are calculated at the time
149. See note N m A 0 59 0 54 0 52 kgf cm A 6 1 5 5 5 3 Induced voltage constant mV r min 22 2 20 0 19 5 See note Power rate See note kW s 57 9 92 2 103 Mechanical time constant ms 0 9 0 7 0 6 Winding resistance Q 0 67 0 31 0 19 Winding impedance mH 4 75 2 40 1 57 Electrical time constant ms 7 1 7 7 8 3 Momentary allowable radial N 1 570 load kgf 160 Momentary allowable thrust N 590 load kgf 60 Allowable radial load N 680 kof 70 Allowable thrust load N 190 kgf 20 Weight Without brake kg Approx 5 0 Approx 6 2 Approx 7 4 With brake kg Approx 6 5 Approx 8 0 Approx 9 0 Radiation shield dimensions Material A1 t20x 400 Applicable 200 V input X25H X50H Position Driver FND 100 V input Um 5 29 Specifications Chapter 5 Item Unit R88M R88M R88M U1K030T U1K530T U2K030T U1K030X U1K530X U2K030X Brake spec Brake inertia kg m GD2 4 0 33 x 1074 kgf cm s 0 34 x 10 5 Excitation volt V 24 VDC 10 No polarity age Power con W at 20 C 7 sumption Current con A at 20 C 0 29 sumption Static friction Nm 80 min torque kgf cm 7 8 min Absorption ms 180 max time See note 3 Release time ms 100 max See note 3 Backlash Reference value 0 5 Rating Continuous Insulation Type F grade Note 1 Note 2 Note 3 Note 4 Note 5 Note 6 Note 7 5 30 The values for torque and rotation speed characteristics
150. Soldered plug at cable side Case at cable side Note 1 The control input interface is a photocoupler input of 24 VDC at 8 mA 10236 6202JL 10136 3000VE 10336 52A0 008 Sumitomo 3M Sumitomo 3M Sumitomo 3M Note 2 For the external power supply use 24 VDC 1 V at 150 mA minimum Note 3 The control output interface is a photocoupler output of 24 VDC at 40 mA 5 12 CN1 Control Signal Connector Pin Arrangement CCW limit Output 1 CCWL 19 utpu input uel ground CW limit in eceleration 2 CWL out s 20 STOP stop rigin Brake 3 ORG proximity 21 BO output RUN 4 RUN 22 READY READY Gigi 5 START START 23 S COM search Oriai completed 6 RESET Alarm reset 24 ORGSTP Teaching 7 SEARCH Origin search 25 T COM completed JOG op 26 RUNON Motor eration running Position JOG op ositioning 9 JOG eration 2 MS completed 10 TEACH Teach 28 ALM Alarm Point Point output 11 PINO selection 0 29 POUTO 0 Position Point Position 0 ron 4 selection 1 12 P IN1 selection 1 30 P OUT1 Position Position 1 Point selection 2 Point output 13 P IN2 selection 2 31 P OUT2 2 Position Point Position 2 aa 3 selection 3 14 P IN3 selection 3 32 P OUTS Bo Pi Position 3 Point 4 Point output 15 P
151. Terminal Blocks FND X06 X12 X25 Signal Function Condition R Power supply These are the application power supply input terminals for the main circuit S input and control circuit Pay attention to the power supply voltage because it va ries according to the model FND X H Single phase 200 240 VAC 170 to 264 VAC 50 60 Hz FND X L Single phase 100 115 VAC 85 to 127 VAC 50 60 Hz P Main circuit DC These are the connection terminals for the Regeneration Resistor J output R88A RR20030 RR40030 Connect them when the regeneration energy is Regeneration Re high sistor connection terminal N Main circuit DC This is the main circuit DC output terminal output A Servomotor s A Red These are the terminals for outputs to the Servomotor Be careful to phase and U wire them correctly OMNUC Servomotors can be connected to phase output these terminals with R88A CAU Cable for U U UE series Servo B Servomotor s White Motors or R88A CAH Cable for H series Servomotors OMRON phase and V does not provide a dedicated cable to connect these terminals to phase output OMNUC M series Servomotors so the user must provide an ap propriate cable if an M series Servomotor is used C Servomotor s C Blue phase and W or phase output black l Frame ground Green This is the connection terminal Use at lease a class 3 ground 100 Q or less This ground is used in common for Servomotor out p
152. The START signal is not being input Use the Check Mode to check the input Correct the wiring Correctly set the software limits Correct the wiring During direct positioning the positioning data is not being properly received Check the wiring for the position and speed data selections Correct the wiring Check the setting of the signal output time PP 26 Check the signal reception tim ing and correctly set the pulse width Reference speed PP 14 15 is g Check the reference speed PP 14 15 setting Correctly set the reference speed PP 14 15 The rotation direction is wrong The motor rotation direction UP 26 setting is incorrect Check the motor rotation direc tion UP 26 setting Correctly set the motor rotation direction UP 26 The position data Pd set ting is incorrect Check the position data Pd setting Correctly set the position data Pd During direct positioning the position data s polarity input is incorrect Check the position data setting Correctly set the position data The encoder resolver wiring is incorrect Check the encoder resolver wir ing Correct the wiring 4 26 Application Chapter 4 Symptom Probable cause Items to check Countermeasures The position is The point number input is incor Use the Check Mode to
153. This output turns ON when the input signal processing is completed and the origin search start teach and point selection signal inputs are ready e The output turns OFF when position data is taken and positioning begins and turns ON when the pro cessing is completed The time set for HP 46 positioning completed timer must be OFF e While this signal is OFF any START signal that is input will be invalid 2 55 Design and Installation Chapter 2 DIO CN1 23 CompoBus S IN2 S COM Origin search completed e This output turns ON when the mechanical origin is established e The output conditions are as follows When a motor with an absolute value encoder is connected the signal turns ON when the power supply is input When a motor with an incremental encoder or resolver is connected When UP 01 control mode is 11 or 13 the signal turns ON after origin search is completed When UP 01 control mode is 12 or 14 the signal turns ON when the power supply is input DIO CN1 24 CompoBus S IN3 ORGSTP Origin stop The output turns ON when the motor is stopped at the mechanical origin DIO CN1 25 CompoBus S INA T COM Teaching completed e This output turns ON when the teaching input processing is completed The output turns OFF when the teaching input turns OFF DIO CN1 26 CompoBus S IN5 RUNON Motor running This output turns ON when the RUN command is input to the motor and power begins to flow to the mot
154. Type Specifications Control Cable for FND X FND CCX001S With connector on one end FND CCX002S Specification Model Connector for Control Cable R88A CNU01C Connector Terminal Board XW2B 40F5 P Connecting Cable for 1m R88A CTUOO1N Connector Terminal Board 2m R88A CTUOO2N 7 2 Appendices Chapter 7 Cable Conversion Unit Connector for External Control Signals Specification Model Connector Terminal Block 2m FND CTX002N Unit Cable Connector Terminal Block M3 screws XW2B 20G4 Conversion Unit M3 5 screws XW2B 20G5 External Control Signal CN4 Connector R88A CNX01C Note When wiring the external control signal C4 for the CompoBus S type either use the Unit in com bination with a Connector Terminal Block Conversion Unit and Cable or prepare a cable yourself for the CN4 connector U series 30 to 750 W AC Servomotors Conforming to UL cUL Standards with U series Incremental Encoder Straight shaft with Standard without 3 000 r min 30 W R88M U03030HA no key brake 50 W R88M U05030HA 100 W R88M U10030HA 200 W R88M U20030HA 400 W R88M U40030HA 750 W R88M U75030HA With brake 3 000 r min 30W R88M U03030HA B 50W 88 005030 100 W R88M U10030HA B 200W R88M U20030HA B 400 W _ R88M U40030HA B 750W R88M U75030HA B Straig
155. W 7 R88M M12040 120 W 11 R88M M20040 200 W 7 R88M M40040 400 W 17 R88M M70040 700 W 34 R88M M1K140 1 100 W 21 R88M M1K040 2 000 W 36 Detection Method Short Time Overload A L18 Detection A temporary overload is detected when the motor s current continually exceeds 120 of the motor s rated current for at least a fixed period of time Detection Time The detection time is as shown in the following diagram It is the same for all Servomotor models Ref erence value Detection time s 1000 300 100 30 10 4 20 r 100 150 200 250 300 Load ratio 96 Application Chapter 4 4 4 5 Alarm Output This chapter describes the timing of alarm outputs when power is turned ON and when alarms occur The method used to clear alarms is also described Timing Chart Power input ON R S OFF RUN ON command OFF RUN Error occurrence AT E 2 ms min Alarm reset OFF RESET Approx 25 9 4 2msmax ON D Alarm output OFF i ALM Approx 40 ms ON Approx 110 ms Power to OFF motor Alarm Output Circuitry DIO Type Alarm output OGND Output specifications 24 VDC 40 mA max Normal Output transistor ON Error alarm Output transistor OFF Clearing Alarms e Any of the following methods can be used to clear alarms Turn ON the alarm reset signal RESET T
156. a V 24 VDC 10 No polarity tion voltage Power W at 9 8 15 18 22 con 20 C sump tion Current A at 0 41 0 63 0 76 0 92 con 20 C sump tion Static Nm 2 0 min 3 9 min 7 8 min 16 min 29 min friction torque kgf cm 20 min 40 min 80 min 160 min 300 min Absorp ms 25 max 35 max 40 max 60 max 90 max tion time See note 3 Release ms 15 max 15 max 20 max 40 max 35 max time See note 3 Back Reference 0 36 0 32 0 27 0 24 0 21 lash value Rating Continuous Insula Type B tion grade Note 1 The brakes are the non excitation type When excitation voltage is added it is cleared Note 2 The operation time measurement is the measured value with a surge killer installed Note 3 For Servomotors with brakes increase the dimensions of the radiation shield by 50 mm each For example t15 x 250 becomes tib x 300 Note 4 The allowable radial load indicates the value at the center of the shaft i e 1 2 of the output 5 40 shaft length See the diagram below Radial load Thrust load Output shaft center Specifications Chapter 5 Note 5 The allowable radial load and the allowable thrust load are the values determined by taking a service life of 30 000 hours at normal usage as the standard or 20 000 hours for the items in parentheses Note 6 1 200 r min 1 100 to 1 800 W Servomotors can be used only with Position Drive
157. a High inertia Ball screw direct connection U U UE H M U U UE H M Turntable direct connection U U UE H M U U UE H M Feeder direct connection U U UE H M U U UE H M Harmonic drive U U UE H M H M Chain drive U U UE H M Belt drive U U UE H M H M Rack amp pinion U U UE H M H M Note Low inertia means that the motor axis conversion inertia is approximately 0 to 5 times the rotary inertia for H series and M series Servomotors and approximately 0 to 15 times the rotary inertia for U series and U series UE type Servomotors High inertia means that the motor axis conversion inertia is approximately 5 to 10 times the rotary inertia for H series and M series Servomotors and approximately 15 to 30 times the rotary inertia for U series and U series UE type Servomotors Position Control Functions Pulse Rate Setting Function Pulse rate setting makes it possible to set positioning data i e positions and speeds according to the mechanical axis 1 5 Introduction Chapter 1 Control Mode The following four types of control modes are available to the Position Driver PTP control and feeder control modes with the internal point data preset in the Position Driver and these same modes with di rect I O signal input Internal Point Data A maximum of 64 points of data Pd01 to Pd64 set internally in the Position Driver e Positions can be set within a range
158. ain line to branching branch lines It can only be used with special flat cable Pressure connector for SCN1 THAE This connector is used for extending special flat cable extension Pressure connector with SCN1 THAT This is a connector with terminating resistance It can only be terminating resistance used with special flat cable Terminal block with SRS1 T This is a terminal block with terminating resistance It can be terminating resistance used with either VCTF or special flat cable Note 1 Connect the terminating resistance i e pressure connectors or terminal blocks with termi nating resistance at the end of the main line farthest from the Master Note 2 Use commercially available terminal blocks for branching or extending VCTF cable Note 3 For details regarding connectors and terminal blocks refer to the CompoBus S Operation Manual W266 6 3 CompoBus S Specifications Chapter 6 6 2 CompoBus S Communications Specifications This section provides details for CompoBus S communications Communications Specifications Specifications Communications method Special CompoBus S protocol Communications baud rate 750 000 baud Modulation method Baseband method Coding method Manchester coding method Error control checks Manchester code check frame length check parity check Cable used Vinyl cord VCTF JIS C 3306 Two core nomi
159. akes Model LL R88M U20030HA R88M U40030HA R88M U40030HA 2 5 Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Incremental Encoders U INC 30 to 750 W Conforming to UL cUL Contd 750 W Standard Models Without Brakes R88M U75030HA 300 30 Encoder adapter Motor plug 21 M 300 30 152 Four R8 2 i 16h6 di 90 dia 70h7 dia Encoder adapter Motor plug Four R8 2 Four 7 dia wo 166 dia T 70h7 dia 2 6 Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Incremental Encoders U INC 30 to 750 W Conforming to EC Directives 30 W 50 W 100 W Standard Models Without Brakes R88M U03030VA S1 R88M U05030VA S1 R88M U10030VA S1 300430 18 Four R3 7 Two 4 3 dia 46 dia 30 W 50 W 100 W Models with Brakes R88M U03030VA BS1 R88M U05030VA BS1 R88M U10030VA BS1 300 30 Models with Brakes Standard Models Without Brakes Model L LL Model L R88M U03030VA S1 94 5 69 5 6 R88M U03030VA BS1 126 101 31 5 R88M U05030VA S1 102 0 77 0 6 R88M U05030VA BS1 133 5 108 5 31 5 R88M U10030VA S1 119 5 94
160. ally incre ments the overall number Note 4 To set the designation press the Increment Key or the Decrement Key while the fifth left most digit is flashing to toggle between I and 3 6 4 PTP Data Details Pd Parameter name Setting range Unit Factory setting Positioning data leftmost 3 999 Mechanical I 0 digits to 3 999 axis move ment Parameter name Setting range Unit Factory setting Positioning data right 0 to 9 999 Mechanical 0 most digits axis move ment The above data determines the mechanical movement distance i e the amount of motor rota tion the sign and the data attribute i e or A 3 38 Operation Chapter 3 e The decimal point location is determined by the PP 01 minimum setting unit setting If for example you want to move to a position incremental value of 1 000 mm from the present position with the mechanical system set for 10 mm of movement per motor rotation and a minimum feed amount of 1 um then make the following settings PTP Parameter Settings Minimum setting unit PP 01 0 001 minimum feed amount 0 001 mm Pulse rate PP 02 1 PP 03 10 10 mm of movement per motor rotation PTP Data Settings Leftmost digits Pd I 100 Rightmost digits Pd L 0 000 D Data Attribute I A Designation incremental value designation is the method for designating the amount of movement from the present poi
161. apter 5 CN5 Communications Connector Pin Arrangement 1 TXD Transmission 8 TXD Transmission Transmission data data 2 DTR reception ca 9 RXD ac ion pable output Reception 3 NC 10 CTS capable in Reception put 4 RTS capable 11 45V 5 output output Reception Shield data ground Reception Shield 6 AXD data 13 FG ground Transmission 7 TXD data 14 GND OV Monitor Output Terminal MON Pin No Signal name Name I O interface 1 Output ground Monitor ground 2 Monitor output Speed monitor 3 V motor s rated speed 1 mA Current monitor 3 V motor s maximum current 1 mA Connectors Used Connectors at Position Driver B2B EH A J S T Mfg Co Ltd Cable housing EHR 2 J S T Mfg Co Ltd Cable contacts BEH 001T P0 6 J S T Mfg Co Ltd CN6 BAT Connectors Pin No Signal name Name interface FG Shield ground Shield ground BAT Backup battery input Absolute encoder backup battery BATGND Backup battery input connection terminal 2 8 to 4 5 V D Connectors Used Connectors at Position Driver B3PS VH J S T Mfg Co Ltd Cable housing VHR 3N J S T Mfg Co Ltd Cable contacts BVH 21T P1 1 J S T Mfg Co Ltd 5 10 Specifications Chapter 5 CN1 CONT Control Signal
162. apter 7 M series AC Servomotors with Resolver Specifications Model Straight shafts with Standard without 1 200 r min 200 W R88M M20012 keys brake 400W R88M M40012 700W R88M M70012 1100 W R88M M1K112 1400W R88M M1K412 1800W R88M M1K812 2 000 r min 200W 88 20020 400W R88M M40020 700W 88 70020 1100W R88M M1K120 1800W R88M M1K820 2200W R88M M2K220 4 000 r min 60W R88M M06040 120W R88M M12040 200W R88M M20040 400W R88M M40040 700W R88M M70040 1100 W R88M M1K140 2000W R88M M2K040 With brake 1 200 r min 200W R88M M20012 B 400W R88M M40012 B 700W 88 70012 1100 W R88M M1K112 B 1400W R88M M1K412 B 1800W R88M M1K812 B 2 000 r min 200 W R88M M20020 B 400 W R88M M40020 B 700 W R88M M70020 B 1100W R88M M1K120 B 1800W R88M M1K820 B 2200 W_ R88M M2K220 B 4 000 r min 60 W R88M M06040 B 120 W R88M M12040 B 200 W R88M M20040 B 400 W R88M M40040 B 700 W R88M M70040 B 1100W R88M M1K140 B 2000W R88M M2K040 B Note The 60 W and 120 W motor output shafts for the 4 000 r min type are A cut i e the cross sec tion of the shaft is shaped like an A 7 8 Appendices Chapter 7 to UL cUL Standards Encoder Cable for U series 30 to 750 W
163. are limit signal detection can be selected with PP 25 Overrun Servo free running stop with the alarm AL38 turned ON or servo lock stop Software limit detection Servo lock stop with or without alarms AL34 and AL35 turned ON Teaching Functions Position Teaching The Position Driver has a teaching function that enables the Position Driver stop the mechanical axis with an external force by going into servo free status or JOG operation and to take up the stop position data automatically as part of PTP data 1 6 Introduction Chapter 1 Mechanical Origin Teaching An optional position can be specified as the mechanical origin by moving the position to the mechanical origin and teaching after the completion of origin search Motor Control Functions Motor Type and Capacity Selection by Motor Code A motor type and capacity can be selected by setting UP 02 to the corresponding motor code Auto tuning Function e The Position Driver has an auto tuning function If a machine and motor are connected to the Position Driver this function makes it possible to check the capacity and characteristics of the machine load by turning the motor and enables the automatic gain control of the Position Driver according to the capac ity and characteristics of the machine load e The auto tuning function makes it possible to save system startup time Programming Devices Teaching Box CVM1 PRO01 ROM Cassette The
164. are the values at an armature wind ing temperature of 100 C combined with the Position Driver Other values are at normal conditions 20 C 65 The maximum momentary torque is a reference value The brakes are the non excitation type When excitation voltage is added it is cleared The operation time measurement is the measured value with a surge killer CR50500 by Okaya Electric Industrial Co installed The allowable radial load indicates the value at a location 5 mm from the end of the shaft See the diagram below Radial load Thrust load Q4 5mm The allowable radial load and the allowable thrust load are the values determined by taking a service life of 20 000 hours at normal usage as the standard U series 1 kW to 2 kW Servomotors can be used only with Position Driver software version 4 04 April 1999 or later The momentary maximum torque for 2 kW Servomotors is approx 16 less than when used with a standard U series Servodriver Specifications Chapter 5 200 VAC Input R88M U1K030H T R88M U1K030V X N m kgf cm 104 7 54 Short term op 504 501 eration area within 1 s 25 25 Continuous op eration area 0 0 1000 2000 3000 4000 r min R88M U1K530H T R88M U1K530V X N m kgf cm 20 2904 15 1s 104 Short term op eration area within 1 s Continuous op eration area 1000 2
165. ation Origin search direction direction CWL CCWL Limit input Origin proximity Z phase Speed Origin search pattern 1 Position Speed Origin search un pattern 2 Position Speed Origin search pattern 3 Position 3 47 Operation Chapter 3 Origin Search Example Program SYSMAC C200H HX HG HE The following ladder program example for SYSMAC C200H HX HG HE is provided for reference Word Allocation In this program example the I O signals are allocated to the input and output words as follows Output Unit Word 0 Bit number Position Driver signal name 0 RUN RUN command 1 START Start 2 RESET Alarm reset 3 SEARCH Origin search 4 JOG JOG operation 5 JOG JOG operation 6 TEACH Teach 7 STOP Deceleration stop 8 P INO Point selection 0 Position 0 9 P IN1 Point selection 1 Position 1 10 P IN2 Point selection 2 Position 2 11 P IN3 Point selection 3 Position 3 12 P IN4 Point selection 4 Position 4 13 P IN5 Point selection 5 Position 5 14 P IN6 Point selection 6 Position 6 15 P IN7 Position 7 Input Unit Word 8 Bit number Position Driver signal name 0 BO Brake output 1 READY Ready S COM Origin search completed 3 ORGSTP Origin stop 4 T COM Teaching completed 5 RUNON Motor running 6 INP Positioning complet
166. ation 17 A A phase 4ABS Absolute en winding Encoder input 8 coder signal 18 B B phase R1 Resolver ABS coder signal input E signalinput 9 Resolver 19 B B phase R2 R Encoder input 10 NC signal input 20 FG cable shield ground CN5 RS 232C Communications Connectors DIO CompoBus S Pin No Signal Name Interface 1 TXD Transmission data Transmission data conforming to EIA RS 232C 2 DTR Transmission reception capable Transmission reception capable output output conforming to EIA RS 232C 4 RTS Reception capable output Reception capable output conforming to EIA RS 232C 5 RXD Reception data Reception data conforming to EIA RS 422 6 RXD Reception data Input impedance 330 Q 7 TXD Transmission data Transmission data conforming to EIA 8 TXD Transmission data RS 422 9 RXD Reception data Reception data conforming to EIA RS 232C 10 CTS Reception capable input Reception capable input conforming to EIA RS 232C 11 45V 5 V output External terminal power supply 5 V 300 mA 12 FG Shield ground Shield ground 13 FG 14 GND OV Power supply ground for external terminal Connectors Used Receptacle at Position Driver Soldered plug at cable side Case at cable side 10214 52A2JL 10114 3000VE 10314 52A0 008 Sumitomo 3M Sumitomo 3M Sumitomo 3M Specifications Ch
167. ay cause injury N Caution When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Caution Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart Take appropriate measures to secure safety against an unexpected restart Doing so may result in injury N Caution Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction 3 3 Operation Chapter 3 3 2 Turning ON Power and Checking Displays 3 2 1 Items to Check Before Turning ON the Power Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below FND X06H X12H X25H single phase 200 VAC specifications Single phase 200 240 VAC 170 to 264 V 50 60 Hz FND X50H three phase 200 VAC specifications Three phase 200 240 VAC 170 to 264 V 50 60 Hz FND X L single phase 100 VAC specifications Single phase 100 115 VAC 85 to 127 V 50 60 Hz Checking Terminal Block Wiring Power supply inputs models with single phase inputs R and S models with three phase inputs R S T RO S0 must be properly connected to the terminal block The Servomotor s red A U white B V and blue black C W power lines and the green ground wire must be properly connected to the terminal block
168. based on the positioning data DIO CN1 6 CompoBus S OUT2 RESET Alarm reset N O condition This is the alarm s external reset signal e When this signal is input turned ON the alarm is cleared and the alarm output is turned ON The alarm will not be cleared however if the alarm condition remains in effect f this signal is input under normal conditions i e when no alarm is generated the motor is deceler ated to a stop according to the deceleration time e When positioning is being executed according to PTP data the point number is taken again e When an alarm is generated remove the cause of the alarm before beginning operation again For safety s sake turn OFF the RUN command before inputting the alarm reset signal 2 51 Design and Installation Chapter 2 DIO CN1 7 CompoBus S OUT3 SEARCH Origin search N O condition e The pin No 7 signal input begins an origin search or origin teaching operation e When this signal is input turned ON while RUN is ON an origin search operation is executed The motor rotates in the direction set in PP 19 origin search direction e When this signal is input turned ON while RUN is OFF an origin teaching operation is executed If the teaching TEACH signal is turned ON while the origin search signal is ON the position at that time will be automatically taken into PP 06 PP 07 origin compensation amount as the origin compensation amount DIO CN1 8 Comp
169. between 39 999 999 to 39 999 999 with the absolute or incre mental value specified Positioning Data Instruction by Direct Input Eight point input and input timing signals are used to input position data and speed data within the fol lowing ranges into the Position Driver Position Setting Range 39 999 999 to 39 999 999 with incremental or absolute setting Speed Setting Range 1 to 100 override setting with respect to reference speed Position Compensation Function This function executes backlash compensation when PTP control is used and slip compensation when feeder control is used Acceleration Deceleration Function e Either linear trapezoidal acceleration or deceleration time or S shaped primary low pass filter ac celeration or deceleration time can be selected In addition different times can be set for acceleration and deceleration The S shaped acceleration deceleration function makes it possible for example to start up convey ors smoothly or achieve feeder control with minimal feeder slippage Stop Methods e The stop method for when the STOP signal is turned OFF can be selected with PP 24 Free running stop Motor power supply turned OFF Deceleration stop Servo lock after the operation decelerates to a stop in preset time Error counter reset stop Servo lock after an immediate deceleration to a stop with the error counter reset e The stop method of the Position Driver in the case of overrun or softw
170. ch completion position and 07 Origin com 0 to 0 machine axis origin No pensation right 9 999 The value can be obtained by ori most digits gin teaching 08 Compensation PP 01 0 to 0 Specifies backlash compensation if No leftmost digits See 9 999 UP 01 is set to 11 or 13 in PTP con note 1 trol mode 09 Compensation 0 to 0 Specifies slip compensation if UP 01 No rightmost digits 9 999 is set to 12 or 14 in feeder control mode 10 Forward soft PP 01 9 999 9 999 Specifies software limit position in No ware limit left See to the forward direction most digits note 1 9 999 The software limit overflow in the 11 Forward soft 0 to 9 999 positive direction will not be No ware limit right 9 999 detected if the value is set to most digits 9999 9999 3 24 Operation Chapter 3 No Name Min Setting Factory Explanation Re power PP unit range setting required 12 Reverse soft 01 9 999 9 999 Specifies software limit position in No ware limit left See to the reverse direction most digits note 1 9 999 The software limit overflow in the 13 Reverse soft 0 to 9 999 reverse direction will not be No ware limit right 9 999 detected if the value is set to most digits 9999 9999 14 Reference 1 s 0 to 0 Specifies machine axis reference No speed leftmost 9 999 speed per second digits 15 Reference 0 to 500 No speed righ
171. cklash compensa No tion leftmost See 9 999 tion if UP 01 is set to 11 or 13 digits note 1 in PTP control mode 09 0 to 0 Specifies slip compensation if No tion rightmost 9 999 UP 01 is set to 12 or 14 in digits feeder control mode 10 Forward soft PP 01 9 999 9 999 Specifies software limit position No ware limit See to in forward direction leftmost dig note 1 9 999 The software limit overflow in its the positive direction is not 11 Forward soft 0 to 9 999 detected if the value is set to No ware limit 9 999 9999 9999 rightmost digits 12 Reverse soft PP 01 9 999 9 999 Specifies software limit position No ware limit See to in reverse direction leftmost dig 1 9 999 The software limit overflow in its the reverse direction is not 13 Reverse soft 0 to 9 999 detected if the value is setto No ware limit 9 999 9999 9999 rightmost digits 14 Reference 1 s 0 to 0 Specifies machine axis refer No speed left 9 999 ence speed per second most digits 15 Reference 0 to 500 No speed right 9 999 most digits 7 16 Appendices Chapter 7 No Name Min Setting Factory Explanation Re power Set PP unit range setting required value 16 JOG speed 1 1 to 10 Specifies motor r min in JOG No 199 operation as override value based on reference speed 17 Originsearch 1 1 to 10 Specifies origin p
172. control settings Set the PTP parameters according to the position control methods Refer to 3 5 Position Control Settings PTP Parameters Position data settings Set the data for executing positioning with PTP data or direct input Refer to 3 6 Setting Positioning Data PTP Data Direct Input Trial operation Before performing trial operation turn the power supply off and then back on so that any parameters that have been set will be valid Check to see whether protective functions such as emergency stop and operational limits are working reliably Check operation at both low speed and high speed Refer to 3 8 Trial Operation Adjustments Execute auto tuning Manually adjust the gain as required Refer to 3 9 Making Adjustments Operation Operation can now begin Should any trouble occur refer to Chapter 4 Application 3 2 Operation Chapter 3 Operation and Adjustment Precautions N Caution Confirm that no adverse effect will occur in the system before performing the test operation Not doing so may result in equipment damage N Caution Check the newly set parameters for proper execution before actually running them Not doing so may result in equipment damage N Caution Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury Caution Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so m
173. cording to position and speed data entered for control inputs P INO to 7 position data O to 7 Used for positioning between points such as pick and place 14 Direct positioning feeder e Executes position control according to position and speed data entered for control inputs P INO to 7 position data 0 to 7 Present position is cleared at startup Used for feed control such as sheet feeding Note After setting this parameter turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again The new settings will go into effect when the power is turned back ON PRMNo Parameername Setting range Uni UP D2 Motorcode 0000 to FFFF 0000 e This parameter specifies the motor model code f the power is turned ON with the factory settings in place a parameter setting error A L 26 will be displayed Refer to the following tables and set in UP 02 the model code for the motor that is to be used 3 17 Operation Chapter 3 U Series With Incremental Encoder Motor model Capacity R88M U03030HA VA R88M U05030HA VA R88M U10030HA VA R88M U20030HA VA R88M U40030HA VA R88M U75030HA VA R88M U1K030H V R88M U1K530H V V R88M U2K030H V Note The motor code for R88M U1K315H V is 160D U Series With Absolute Encoder Motor model Capacity Code R88M U03030TA XA 30 W 1501 R88M U05030TA XA
174. cts often means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product OMRON 1998 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Never theless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for dam ages resulting from the use of the information contained in this publication General Precautions Observe the following precautions when using the OMNUC Position Drivers and peripheral devices This manual may include illustrations of the product with protective covers removed in order to describe the components of the product
175. cy is 154 kHz and the S phase baud rate is 616K bits s Signals from the resolver are analog voltage signals Follow the wiring methods outlined below to improve encoder resolver noise resistance e Be sure to use dedicated encoder and resolver cables f lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition be sure to use shielded wire 2 72 Design and Installation Chapter 2 Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Be sure to use cables fully extended e When installing noise filters for encoder cables use clamp filters The following table shows the rec ommended clamp filter models Do not use the clamp filters for resolver cables Maker Name Model Tokin EMI core ESD QR 25 1 TDK Clamp filter ZCAT2032 0930 ZCAT3035 1330 ZCAT2035 0930A Do not wire the encoder or resolver cable the same duct as power cables and control cables for brakes solenoids clutches and valves Improving Control I O Signal Noise Resistance Position can be affected if control I O signals are influenced by noise Follow the methods outlined be low for the power supply and wiring Use completely separate power supplies for the control power supply especially 24 VDC and the external operation p
176. d Conditions e Operate the motor in a regular pattern and check the following items Is the speed correct Use the Monitor Mode s motor speed display and the mechanical speed display Is the load torque roughly equivalent to the measured value Use the Monitor Mode s motor cur rent display and the effective load factor display Are the positioning points correct When an operation is repeated is there any discrepancy in positioning Are there any abnormal sounds or vibration Is either the motor or the Driver abnormally overheating Is anything abnormal occurring 3 63 Operation Chapter 3 8 Readjusting the Gain f the gain could not be adjusted completely using auto tuning perform the procedure in 3 9 Making Adjustments to adjust the gain manually 3 8 2 System Check Mode The System Check Mode is used to conduct the motor test output signal test and auto tuning To enter this mode use the following procedure 1 Press the Mode Key to go into the Monitor Mode 2 Hold down the Increment Key Decrement Key and Data Key simultaneously for at least five seconds to go into the System Check Mode To exit the System Check Mode double click the Mode Key Note The motor test operation is a function for operating the motor with only the Position Driver and the motor The limit inputs and deceleration stop input are disabled so before conducting this test check to make sure that there will be no adverse effect on the
177. d indicates the value at a location 5 mm from the end of the shaft See the diagram below Radial load e Thrust load dign The allowable radial load and the allowable thrust load are the values determined by taking a service life of 20 000 hours at normal usage as the standard U series 1 kW to 2 kW Servomotors can be used only with Position Driver software version 4 04 April 1999 or later The momentary maximum torque for 2 kW Servomotors is approx 16 less than when used with a standard U series Servodriver Performance Specifications with an Absolute Encoder 5 28 Item Unit R88M R88M R88M U1K030T U1K530T U2K030T U1K030X U1K530X U2K030X Rated output See note 1 000 1 500 2 000 Rated torque See note Nm 3 18 4 77 6 36 kgf cm 32 4 48 7 65 0 Specifications Chapter 5 Item Unit R88M R88M R88M U1K030T U1K530T U2K030T U1K030X U1K530X U2K030X Rated rotation speed r min 3 000 Momentary maximum rota r min 4 500 tion speed Momentary maximum torque N m 9 54 14 3 16 1 See note 7 See note kgf cm 97 2 146 164 See note 7 Rated current See note A rms 6 1 9 9 12 0 Momentary maximum cur A rms 17 28 35 4 rent See note Rotor inertia kg m GD2 4 1 74 x 1074 2 47 x 10 4 3 19 x 1074 kgf cm s 1 78 x 1073 2 52 x 10 3 3 26 x 1079 Torque constant
178. d loop directly without going through the error counter so responsive ness is increased without the error counter s integral term being entered when the load system oper ates without reference delays e Before the feed forward gain can be adjusted the position loop must be fully adjusted and the speed loop must be operating with stability Check to make sure that these conditions are met before attempt ing to adjust the feed forward gain When the feed forward amount is set too high the speed reference becomes like a sawtooth wave and the motor makes abnormal noises Raise the value gradually beginning with 0 0 multiple Make the adjustment so that the positioning completion output does not repeatedly turn ON and OFF and so that there is no speed overshooting PRMNo Parametername X Unit No Parameter name PRMNo Parametername X Unit range Unit Factory setting setting AJ9 Current reference filter reference filter 400 to 20 000 400 to 20 000 20 000 rad s 6000 000 e This parameter specifies the current reference cut off frequency e Gradually lower this value if vibration occurs due to a mechanical resonance frequency AJ6 Feed forward gain Position data Deviation Position Speed loop Current loop creation area counter loop Speed detection Encoder resolver Motor 3 74 Operation Chapter 3 3
179. d maximum rotation speed Auto3 Note For details regarding auto tuning refer to 3 9 Making Adjustments AdS Display This is a parameter for manufacturer adjustments Do not change the setting Motor Test Operation Procedure Display example Key operation p nm Press the Mode Key to enter Monitor Mode LI Hold down the Increment Key Decrement Key and Data Key simultaneously for at ctt least five seconds to enter System Check Mode n Press the Data Key to go to servo ON status Press the Increment Key to test forward operation The motor should rotate the U forward direction while the Increment Key is being held down 17 Press the Decrement Key to test reverse operation The motor should rotate in e uv the reverse direction while the Decrement Key is being held down EZEE Press the Data Key to go to servo OFF status T Double click the Mode Key to return to Monitor Mode U User Parameter Settings The motor speed can be set by UP 29 motor test r min No Name Min Setting Factory Explanation UP unit range setting 29 Motor test r min 1 r min 1 to HE Specifies the motor speed during the motor 8 000 operation Note Be sure to set this parameter to no more than the motor s rated speed 3 65 Operation Chapter 3 Output Signal Test Operating Procedure Display example Key operation E Press the Mode Key to enter Monitor Mode
180. dividual components is operating properly Some of the electri cal and mechanical components require maintenance depending on application condi tions In order to ensure proper long term operation of Servomotors and Position Driv ers periodic inspection and part replacement is required according to the service life of the components The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotor or Position Driver Recommended maintenance times are listed below for Servomotors and Position Drivers Use these as references in determining actual maintenance schedules Servomotors e Recommended Periodic Maintenance Oil Seal 2 000 hours Bearings 20 000 hours U Series 30 000 hours H Series M Series Application Conditions Ambient motor operating temperature of 40 C within allowable shaft load rated operation rated torque and r m installed as described in operation manual e The radial loads during operation rotation on timing pulleys and other components contacting belts is twice the still load Consult with the belt and pulley manufacturers and adjust designs and system set tings so that the allowable shaft load is not exceeded even during operation If a motor is used under a shaft load exceeding the allowable limit the motor shaft can break the bearings can burn out and other problems can occur Position Drivers e Recommended Periodic Maintenance A
181. e Rated torque Nm 0 143 0 286 0 477 0 955 1 67 2 62 4 77 See note kgf cm 1 446 2 92 4 87 9 74 17 0 26 8 48 7 Rated rotation r min 4 000 speed Momentary r min 4 400 maximum rota tion speed Momentary Nm 0 490 1 03 1 52 3 72 4 61 6 86 15 7 maximum torque See note kgf cm 5 00 10 5 15 5 38 0 47 0 70 0 160 Rated current A rms 1 5 1 8 2 1 3 4 4 6 5 0 10 5 See note Momentary A rms 4 9 7 1 7 1 14 2 14 2 14 2 35 4 rent See note Rotor inertia kg m2 2 9 10 5 4 1 10 5 8 9 105 1 6x107 6 3x1074 9 8x 1074 1 6 x 103 GD2 4 kgf cm s 3 0 104 4 2x 1074 19 1x1074 1 6 10 3 6 4 10 3 1 0x 10 2 1 6 x 107 Torque constant N m A 0 15 0 19 0 23 0 28 0 35 0 52 0 46 See note kgf cm A 1 5 1 9 23 2 9 3 6 5 3 4 7 Induced voltage mV 8 0 11 3 16 3 20 23 3 31 7 30 constant See r min note Power rate See kW s 0 70 2 0 2 6 5 8 4 4 7 0 15 note Mechanical time ms 6 6 3 8 7 6 4 5 7 4 3 2 2 8 constant Winding resis Q 7 35 4 7 6 52 3 55 2 2 1 33 0 57 tance Winding imped mH 13 12 25 15 12 11 5 5 ance Electrical time ms 1 8 2 6 3 8 4 2 5 5 8 3 9 6 constant 5 43 Specifications Chapter 5 Item Unit R88M R88M R88M R88M R88M R88M R88M M06040 M12040 M20040 M40040 M70040 M1K140 M2K040 Momentary al N 140 160 370
182. e ON speed Brake ON speed 0 010 100 0 0 0 010 100 0 100 0 10 When the on hold brake 1 2 3 is set for the brake mode UP 16 this parameter specifies the r min for turning OFF the brake output BO e Set the motor s rated r min as 100 Caution If the on hold brake is operated during high speed motor rotation it will cause dam age to the brake Parameter name Setting range Uni UP 29 test speed 1 8 000 r min 50 1 e This parameter specifies the r min for motor test operation e Set the motor test r min to a value no higher than than the motor s rated r min PRMNo Parametername Setingrange X Unit No Parameter name PRMNo Parametername Setingrange X Unit range Unit E setting TIR num to 1000 Q Po eee l value e When attaching an External Regeneration Resistor this parameter specifies its resistance value Q e This parameter is used for calculating the regeneration absorption rate The regeneration 2 rate is displayed in Monitor Mode Note 1 This parameter is only valid for the FND X50H Note 2 When using an OMRON External Regeneration Resistor set to 30 0 Note 3 After this parameter has been set it will become valid when the power supply is turned OFF check that the display has been cleared and ON again 3 21 Operation Chapter 3 PRMNo Settingrange Parameter name PRMNo
183. e following steps for 30 W to 750 W models a Turn OFF the power to the Position Driver b Remove the encoder connector c Reset the data by shorting between encoder connector terminals 13 and 14 on the motor side for one or two seconds See the following diagram 1234567 8 OOOOOOOO OOOOQQpO 8101112 3 15 Models conforming to UL cUL Models conforming to EC Directives 1 kW 2 kW models 6 Perform the following steps for 1 kW to 2 kW models a Turn OFF the power to the Position Driver b Remove the encoder connector Reset the data by shorting between encoder connector terminals and S on the motor side for two minutes See the above diagram d Remove the short between R and S e Confirm that the voltage between R and S is 0 4 V or less The S terminal is ground f If the voltage is greater than 0 4 V reconnect the terminals until the voltage drops to 0 4 V or less 7 Restore the wiring to its original state 8 Turn the power back ON to the Position Driver 9 If no error occurs the setup has been completed 10 If an alarm A L41 42 or 43 occurs repeat this procedure from the beginning 2 89 IM Chapter 3 Operation 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 Operational Procedure Turning ON Power and Checking Displays Using the Display Area Setting Functions User Parameters H Parameters Position Control Se
184. e lower duct use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease e No fuse breakers surge absorbers and noise filters NF should be positioned near the input terminal block ground plate and I O lines should be isolated and wired using the shortest means possible Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control panel whenever possible Right Separate input and output Wrong Noise not filtered effectively 1 3 1 3 AC input NF AC output AC input NF E 2 4 2 4 Ground Ground AC output 2 67 Design and Installation Chapter 2 Use twisted pair cables for the power supply cables whenever possible or bind the cables Twisted Wires Binding R s ow V Binding Position Driver e Separate power supply cables and signal cables when wiring Wiring Method for FND X50H Noise resistance will vary greatly depending on the wiring method used Resistance to noise can be increased by paying attention to the items described below Lightning surge Noise Noise Faulty grounding i i short circuit uo TEPORE IE oca A CE REPRE Sie cif protection d No
185. e moved move the motor at least 6 pulses after turning ON the power before starting actual operation 2 37 Design and Installation Chapter 2 2 2 Wiring 2 2 1 Overview Use a general purpose control cable purchased separately to connect the Position Driver to the Pro grammable Controller For connecting the Position Driver to an AC Servomotor use a dedicated Encod er Resolver Cable and a Power Cable For the M Series there is no dedicated power cable It must be prepared by the user Note Refer to Chapter 5 Specifications for details on connectors and cables 2 38 Design and Installation Chapter 2 Using OMNUC U series AC Servomotors 30 to 750 W Conforming to UL cUL or UE Type Not Conforming to Any Standards SYSMAC CV C series C200HX HG HE or CQM1 SRM1 C01 C02 Programmable Controller Programmable Controller Master Control Unit CompoBus S Communications Cable Coen ee peer SCA1 4F10 Flat Cable or commer ENDE g cially available VCTF cable FND X series Position Driver FND X series Position Driver DIO Type CompoBus S Type Backup Battery Power Cable 0 R88A CAU S R88A CAU B Encoder Cable R88A CRU for incremental encoder R88A CSU for absolute encoder Connect when using a Servomotor with an
186. e will be set to 0 at the moment the start signal is turned ON after the point number is input The present value cannot be cleared how ever if the next positioning is performed because the start signal is not input in that case Therefore for example make the following settings for a high speed feed distance of 900 mm followed by a low speed feed distance of 100 mm Setting Example 1 Point number 1 I 900 000 continuous operation mode Point number 2 1 100 000 independent operation mode Setting Example 2 Point number 1 I 900 000 continuous operation mode Point number 2 A 1 000 000 independent operation mode Note In these examples PP 01 is set to 0 001 for the minimum setting unit Continuous operation Independent mode i operation mode Point output Point no 1 Point no 1 Note 1 There is no difference in operation between the data attributes I and A at point number 1 Note 2 The operation at point number 2 varies according to the data attribute I A setting 3 41 Operation Chapter 3 3 7 Operational Sequence 3 7 1 Origin Search Function e When a motor with an incremental encoder resolver is used an operation to establish the mechanical origin after the power has been turned ON is required This operation is called origin search e The origin search operation establishes the mechanical origin by actually operating the motor and uti lizing t
187. ed OFF ON INP j Origin search low speed Motor operation y speed Note After the RUN command RUN signal turns ON there will be an interval of 110 ms max before the READY signal and the positioning completed INP signal turn ON 3 45 Operation Chapter 3 Origin Search Pattern 3 Starting Between Origin Proximity Signal and CCWL Signal 1 Positioning begins in the origin search direction at the origin search high speed 2 The direction of movement is reversed when the CCWL signal turns OFF 3 When the origin proximity signal turns from ON to OFF the direction of movement is reversed again and the speed is changed to the origin search low speed 4 The origin is established by the first Z phase signal that is received after the origin proximity signal turns OFF RUN command RUN EA Origin search OFF on OFF SEARCH ON CCW limit input CCWL OFF ON Origin proximity ORG Z phase First Z phase signal after ORG turns OFF READY Origin search completed S COM Origin ORGSTP Positioning completed INP Origin search high speed Origin search low speed Motor operation speed Origin search high speed Note After the RUN command RUN signal turns ON there will be an interval of 110 ms max before the READY signal and the positioning completed INP signal turn ON 3 46 Operation Chapter 3 Summary of Origin Search Oper
188. ed 7 ALM Alarm 8 P OUTO Point output 0 Position selection 1 9 P OUT1 Point output 1 Position selection 2 10 P OUT2 Point output 2 Position selection 3 11 P OUT3 Point output 3 Position selection 4 12 P OUT4 Point output 4 Speed selection 13 P OUT5 Point output 5 14 P OUT6 Point output 6 15 Not used 3 48 Operation Chapter 3 IR Area Word 30 in the IR area is used Ladder Program e For this example program it is assumed that limit input signals CCWL and CWL and origin proximity signals used for origin search operations are directly input from the sensors e There are three types of origin search depending on the beginning position for the search but for the purposes of this ladder program example they are all the same So there is no need to change the origin search pattern e The program uses bits in IR 30 RUN switch 0807 0000 RUN RUN command signal output 3300 DECELERATION STOP switch STOP See note 2 ORIGIN SEARCH switch DIFU 013 30000 3000 0801 READY Origin search 0801 Origin search signal output An error is output if the origin search signal is input while the ready signal is OFF 3001 3003 Origin search error check switch Origin search error 3002 Note 1 A CompoBus S type Position Driver can also be used by changing the word allocation For details regarding word allocations refer to the Master Unit operation manual
189. ed speed output accuracy approx 10 output See monitor note 2 Current 3 V motor s maximum current output accuracy approx 10 monitor 5 5 Specifications Chapter 5 Item FND X06L FND X12L FND X06H FND X12H FND X25H FND X50H SRT SRT SRT SRT SRT SRT Heating Main 17W 20 W 17W 27W 47 W 110W value circuit Control 23W 23W 23W 23W 23W 26W circuit Regenerative absorption 13 17 17W 17J 13W 17J 24W 17J 37W 22J 160W 38d capacity Protective functions Overcurrent overvoltage resolver disconnection power status error clock stopped overcurrent soft speed amp saturation motor overload temporary overload resolver error speed over error counter over parameter setting error software limit over coordinate counter over overrun encoder disconnection encoder communications error absolute encoder backup error absolute encoder checksum error absolute encoder absolute error absolute encoder over speed encoder data not transmitted BCD data error present value undetermined PTP data not set CompoBus S communications error Regeneration Resistor overheat regeneration operation error Note 1 The applicable load inertia is expressed as a factor of the motor s rotary inertia Note 2 For the monitor output the monitor items and voltage polarity can be set by parameter UP 25 monitor output selection 5 1 3 I O Specifications
190. ediately after resetting momentary power in terruption to avoid an unexpected restart Take appropriate measures to secure safety against an unexpected restart 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 Maintenance and Inspection Precautions NWARNING N Caution Do not attempt to take the Unit apart or repair Doing either of these may result in electrical shock or injury Resume operation only after transferring to the new Unit the contents of the data re quired for operation Not doing so may result in equipment damage Warning Labels Warning labels are pasted on the product as shown in the following illustration Be sure to follow the instructions given there Warning labels Warning Labels NCAUTION Internal capacitors charged to danger ous voltage allow 1 minute discharge time before access to terminals or int ernal parts Warning label 1 Warning label 2 A o May cause electric shock Connect to a ground of 100 O or less VISUAL INDEX For users who wish to begin operations quickly The OMNUC FND X series Position Driver allows motor test operation only by wiring the driver and motor without connecting the controller Read 3 2 Turning ON Power and Checking Dis play properly set the motor model code and then operate the motor according to 3
191. eed 2 Positioning changes to the origin search low speed when the origin proximity signal turns ON rising edge 3 The origin is established by the first Z phase signal that is received after the origin proximity signal turns OFF falling edge RUN command Run _ ON 5 S Origin search SEARCH CCW limit input CCWL Origin proximity ORG Z phase ON First Z phase signal after ORG turns OFF READY Origin search completed S COM Origin ORGSTP Positioning completed INP Origin search high speed Origin search low speed Motor operation speed Note After the RUN command RUN signal turns ON there will be an interval of 110 ms max before the READY signal and the positioning completed INP signal turn ON 3 44 Operation Chapter 3 Origin Search Pattern 2 Starting With Origin Proximity Input Signal ON 1 Positioning begins in the origin search direction at the origin search low speed 2 The origin is established by the first Z phase signal that is received after the origin proximity signal turns OFF falling edge RUN command ON RUN Origin search orrc ov or SEARCH E CCW limit input ON CCWL Origin proximity ORG fax t First Z phase signal after ORG turns OFF READY Fon OFF Origin search completed S COM Origin ORGSTP Positioning Ese complet
192. eeeee eee eee 3 8 2 System Check Modes spe eR OR UR UTR OR RR ee encode Table of Contents 3 9 Making Adjustments 00 ee cette meer 3 9 1 Auto tunihg see isa So ERR Ec WI he E Mp as pace equum 3 9 2 Manually Adjusting Gain 0 III 3 9 3 Adjustment Parameter Details 3 10 Regenerative Energy 0 0 e 3 10 1 Calculating Regenerative Energy 8 3 10 2 Position Driver Absorbable Regenerative Energy 3 10 3 Regenerative Energy Absorption by Regeneration Resistor Chapter 4 Application 4 1 Monitor Mode s crues cR pha Goes We beh teh ne Woah win eg eh ee hae oe eee E ERU 4 2 Check Mode 2 2 dol Ah IM e eei be Pe E eth tete db dt dasha dtd 4 2 1 VO Signal Stats ic t Poe cR Ebr Ue e br etes e e s 4 3 Monitor Output isses ER UI RR p MERGE 4 4 Protection and Diagnosis 0 cece hh m rn 4 4 AT ALIS ov bote e ou bte dut ertet grs 4 4 2 Countermeasures to Alarms 0 e 4 4 3 CompoBus S type Position Driver Protective and Diagnostic Functions 4 4 4 Overload Characteristics 0 0 e 4 4 5 Alarm Output es ge e RSA ee eae pales aes 4 5 Troubleshooting x ness siden ans ad SPE Cede Raed eee RW 4 5 1 Preliminary
193. een Black P OUT6 36 Light green Red 24V Cable UL2464 AWG24X18P Note Connect the shield to the shield plate under the connector cover Chapter 5 Connector Pin Arrangement 19 20 1 3 21 22 5 23 24 7 25 8 26 9 27 10 28 11 29 12 30 13 31 14 32 15 33 16 34 17 35 18 36 Connector plug model 10136 3000VE Sumitomo 3M Connector case model 10336 52A0 008 Sumitomo 3M 5 49 Specifications Chapter 5 5 3 2 Connector Terminal Board Conversion Unit Cables DIO Position Drivers Only Cable Models Length L Outer diameter of sheath R88A CTUO01N 1m 9 9 dia R88A CTU002N 2 Connection Configuration 72 72 XW2B 40F5 P Connector Terminal Board FND X series Position Driver 5 50 Chapter 5 Specifications Wiring _ Sa XX SaR ej z teal foie al le lel ee cel e lt lt lt lo Connector plug model 10114 3000VE Sumitomo 3M Connector case model 10314 52A0 008 Sumitomo 3M AWG24X18P UL2464 Cable E Connector plug model FCN 361J040 AU Fujitsu Connector case model FCN 36C040 B Fujitsu 5 5 Specifications Chapter 5 5 3 3 External Control Signal Connecting Cables CompoBus S Position Drivers Only Connector Terminal Block Conversion Unit Cable
194. eleration time If S curve acceleration time UP 14 is set the acceleration time will be lengthened Acceleration time 0 is used as the acceleration time for origin search JOG operation and positioning by direct input e When positioning with PTP data acceleration time 0 or 1 can be selected using the PTP data s accel eration deceleration selection Pd LTPRMNo Parametername Seting ange Unt Factory setting PP 22 Deceleration time 0 0 to 9 999 ms 0 PRM No Parameter name Setting range Unit Factory setting PP 23 Deceleration time 1 0 to 9 999 ms e These parameters specify the time from the reference speed until the positioning is stopped e The actual deceleration time can be obtained from the following formula Present speed target speed reference speed x deceleration time Deceleration time 0 is used as the deceleration time for origin search JOG operation and positioning by direct input e When positioning with PTP data deceleration time 0 or 1 can be selected using the PTP data s accel eration deceleration selection Pd Acceleration Deceleration Operation Speed Actual motor response example Reference speed PP 14 PP 15 Time Acceleration time Deceleration time 3 31 Operation Chapter 3 PRM No Parameter name Setting range Unit Factory setting 24 Deceleration stop mode 0142 This parameter selects the stop method for wh
195. emoved 2 Loosen the screws that fasten the signal wires to the cable terminal block and carefully insert the two signal wires into their respective holes in the terminal block 6 6 CompoBus S Specifications Chapter 6 Note Before inserting the signal wires make sure that the screws have been loosened sufficiently If a screw is too tight when a wire is inserted the wire may go into the gap in the rear of the fitting instead of going into the proper place If this happens the wire cannot be securely fastened Fitting Signal wire insertion hole Signal wire 3 Tighten the cable terminal block screws to the proper torque of 0 5 N m for each signal wire Use a small flat head screwdriver with of uniform thickness A normal screwdriver which is thin only at the end will not fit all the way in Small flat head screwdriver of uniform thickness yp Note The XW4Z 00C Screwdriver is available from OMRON especially for this task Shape of screwdriver s head Side view Front view y 0 6 3 5 1 Series by Phoenix Contact is recommended as crimp stye terminal for the cable Phoenix Contact also supplies the ZA3 as a special purpose tool Eam m Crimp style terminal Cable Insert the cable and crimp it 4 Be careful to match the directions of the cable terminal block and the Position Driver s terminal block and insert the cable terminal block Be sure to push it all the way in 6
196. en the deceleration stop STOP signal is OFF Set value Description 0 Free running stop Servo OFF 1 Stop in deceleration time specified by positioning data during operation Servo lock after stop 2 Stop with error counter reset Servo lock after stop Note With a free running stop after the STOP signal has turned ON operation can be re started by turning the RUN command from OFF to ON Deceleration Stop Operation Speed Deceleration stop STOP OFF 1 Free running stop 2 Stop in deceleration time 3 Error counter reset stop Position Note After the deceleration stop STOP signal turns OFF there is a maximum delay of 1 6 ms before the stop processing begins PRMNo Parametername Setting range Umi Factory setting PP 25 Alarm selection tet moo This parameter specifies the alarm processing method for when limit detection overrun or software limit detection occurs Set value Description Servo lock stop when software limit is detected Alarm A L34 A L35 and servo lock stop when software limit is detected Servo lock stop when limit is detected Alarm A L38 and servo free stop when limit is detected PRMNo Parametername Setting range Unt No Parameter name PRMNo Parametername Setting range Unt range Unit Factory setting setting PP 26 Selection signal output 0 8 to 800 0 ms me time e This parameter specifies the time during which P DUTO
197. ening torque 1 3 Motor output ter Effective current 1 4 3 4A 5 7A 14 1A VS B C Wire size 0 75 mm 1 25 mm 2 0 mm Tightening torque 1 3 N m Frame ground Wire size 0 75 mm2 1 25 mm 2 0 mm terminal PE Tightening torque 1 3 N m Position Drivers with 100 VAC Input FND X L Driver FND XO06L FND X12L Main power supply in Effective current 2 9 A 3 3 A put terminals R S Wire size 0 75 mm2 Tightening torque 1 3 N m Motor output terminals Effective current 1 4A 2 1A A PE Wire size 0 75 mm2 Tightening torque 1 3 N m Frame ground terminal Wire size 0 75 mm PE Tightening torque 1 3 N m Wire Sizes and Allowable Current The following table shows allowable currents when there are three electrical wires Use values equal to or lower than the specified values Heat resistant Vinyl Wiring UL1007 Rated Temperature 80 C Reference Value 2 66 AWG size Nominal cross Configuration Conductive Allowable current A for sectional area wires mm resistance ambient temperature mm Q km 40 C 50 C 60 C 20 0 5 19 0 18 39 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6 9 53 23 20 16 12 3 5 7 0 8 5 41 33 29 24 10 5 5 7 1 0 3 47 43 38 31 Design and Installation Chapter 2 2 2 4
198. enough time for the Programmable Controller PC to respond when the posi tion and speed data selections are received by the PC Set value 2 PC cycle time x 2 PC input delay time 1 ms For the CompoBus S type make the PC s input delay time two times that of the communica tions cycle Appendices Data Pd01 to Pd64 Explanation of Settings Chapter 7 Note The position data leftmost digits display is as follows according to whether the sign is plus or minus and whether the values are incremental or absolute No Name Minimum Setting Factory Description Pd setting range setting unit H Point No PP 01 VA 1 0 Specifies point No position data position data 3 999 A value between 39 999 999 and 39 999 999 leftmost digits to can be set Leftmost digit is used to specify A 3 999 absolute or I incremental value L Point No PP 01 0 to 0 position data 9 999 rightmost digits F Point No 196 1 to 1 Specifies override value based on reference speed data 199 speed A Point No 00 to 00 Selects acceleration deceleration time for posi acceleration de 11 tioning celeration selec tion Acceleration 0 Acceleration time 0 1 Acceleration time 1 Deceleration O Deceleration time 0 1 Deceleration time 1 r Point No 0to2 0 0 Independent operation mode operation mode 1 Automatic incremental mode selection 2 Continuous operation m
199. er 2 U Series AC Servomotor Shaft Dimensions with Keys U INC U ABS 1 to 2 kW Standard U series AC Servomotors do not have keys on the shafts The shaft dimensions of motors with keys are shown below Motors with keys are indicated by adding S1 to the end of the model num ber Key slots are based on JIS B1301 1976 1 0 kW 1 5 kW 2 0 kW Models Standard R88M U1K030 51 R88M U1K530 S1 R88M U2K030 S1 With Brakes R88M U1K030 BS1 R88M U1K530 BS1 R88M U2K030 BS1 32 M8 with effective depth of 16 2 25 Design and Installation Chapter 2 OMNUC H Series AC Servomotor with Incremental Encoder H 50 W 100 W Standard Models Without Brakes R88M H05030 R88M H10030 50 W 100 W Models with Brakes R88M H05030 B R88M H10030 B Four R4 et 93 dia max a 8_ghoo dia 3005 8050 2 dia p 2 18 gt 24 92 0i Four 5 dia Standard Models Without Brakes Models With Brakes Model L1 L2 L3 Model L1 L2 L3 R88M H05030 50 W 53 5 99 45 5 R88M H05030 B 50 W 84 5 130 45 5 R88M H10030 100 W 63 5 109 45 5 R88M H10030 B 100 W 94 5 140 45 5 200 W 300 W Standard Models Without Brakes R88M H20030 R88M H30030 200 W 300 W Models with Brakes R88M H20030 B R88M H30030 B 005 51 5 14 99 dia 80 x 80 0 4 Standard Models Without Brakes Models With Brakes Model L1 L2 L3 M
200. er Cables Power Cables for U series 30 W to 750 W Servomotors Conforming to UL cUL Standards and U UE series Servomotors not Conforming to Any Standards without Brake Cable Models Length L Outer diameter of sheath R88A CAUOOSS 5 8 R88A CAU005S 5 R88A CAU010S 10 R88A CAU015S 15 R88A CAUO208 20 Note The maximum distance between the Servomotor and the Position Driver is 20 Connection Configuration U series 30 W to 750 W AC Servomotor conforming to UL cUL standards FND X series Position Driver UE series AC Servomotor not conforming to any standards without brake Wiring Symbol No AWG20 Red U phase 1 V phase 2 AWG20 White W phase 3 AWG20 Bug GR 4 AWG20 Green oO Cable 4 4 Crimp terminals For Cable Connector housing model 172159 1 Nippon Amp Connector socket contact model 170366 1 Nippon Amp Crimping tool 724651 1 Pulling tool 724668 2 For Motor Contact plug model 172167 1 Nippon Amp Connector pin contact model 170359 1 Nippon Amp 30 to 100 W 170360 1 Nippon Amp 200 to 750 W 5 64 Specifications Chapter 5 Power Cables for U series 30 W to 750 W Servomotors Conforming to UL cUL Standards and U UE series Servomotors not Conforming to Any Standards With Brake Cable Models R88A CAU003B Length L Outer diameter of sheath R88A CAU005B R88A CAU
201. er to 2 1 2 Installation Condi lions Cable Models Model Length L Outer diameter of sheath R88A CAUBOOSS 3m 16 5 dia R88A CAUBOO5S 5m R88A CAUBO10S 10m R88A CAUB015S 15m R88A CAUB020S 20m Note The maximum distance between the Servomotor and the Position Driver is 20 m Connection Configuration 37 3 dia U series 1 kW to 2 kW AC Servomotor i with brake FND X series Position Driver 5 68 Specifications Chapter 5 Wiring Cable AWG12 x 6 V5 5 4 Crimp terminals For Cable Connector plug model MS3106B20 15S Cable clamp model MS3057 12A For Motor Receptacle model MS3102A20 15P Power Cables for H series Servomotors Without Brake Cable Models Model Length L Wire size Outer diameter of sheath R88A CAHOO1S 1 AWG18 5 8 dia R88A CAHOO3S R88A CAHO05S 5 R88A CAHO10S 10 R88A CAHO15S 15 AWG16 11 3 dia R88A CAHO208 20 R88A CAH030S 30 m Note The maximum distance between the Servomotor and the Position Driver is 30 m Connection Configuration OMNUC H series AC Servomotor without brake FND X series Position Driver 5 69 Specifications Chapter 5 Wiring Symbol No e A phase 1 White B phase 2 Bl C phase 3 GR 4 Green 0 Cable AWG18x4 M4 Crimp terminals AWG16 x 4 UL2517 For Cable Plug housing model
202. ernal elements may be damaged Note 3 Depending on the operating conditions some Position Driver parts will require maintenance Refer to 4 6 Periodic Maintenance for details Note 4 The service life of the Position Driver is 50 000 hours at an average ambient temperature of 35 C at the rated torque and the rated rotation speed 5 2 Specifications Chapter 5 5 1 2 Performance Specifications Continuous output current 0 P DIO Position Drivers FND X06L FND X12L FND X06H FND X12H FND X25H 2 0A 3 0A 2 0A 4 8A 8 0A FND X50H 20A Momentary maximum output current 0 P 6 0A 12A 6 0A 12A 25A 50 A Input power Main circuit supply Control circuits Single phase 100 115 VAC Single phase 200 240 VAC 170 to 264 V 85 to 127 V 50 60 Hz 50 60 Hz The main circuit and The main circuit and control circuits use control circuits use the the same terminals same terminals Three phase 200 240 VAC 170 to 264 V 50 60 Hz Single phase 200 240 VAC 170 to 264 V 50 60 Hz Position U Series 30 to 750 W Optical Incremental encoder 2 048 pulses revolution speed INC 1 to 2 kW Optical Incremental encoder 4 096 pulses revolution feedback U Series 30 to 750 W Optical Absolute encoder 1 024 pulses revolution ABS 1 to 2 kW Optical Absolute encoder 8 192 pulses revolution U UE Series Optical Incremental e
203. f an M series Servomotor is used C Servomotor s C Blue phase and W or phase output black i Frame ground Green This is the connection terminal Use at a ground of 100 or less This ground is used in common for Servomotor output and power supply input Specifications Chapter 5 CN2 M SEN Motor Sensor Connectors DIO CompoBus S Pin No Signal name Name I O interface 1 EOV Encoder power supply ground Power supply output for encoder 5 V 120 mA 2 S1 SIN excitation winding Resolver excitation signal output 3 53 SIN excitation winding Resolver excitation signal output 4 E5V Encoder power supply 5 V Power supply outlet for encoder 5 V 120 mA 5 NC UE 6 S2 COS excitation winding Resolver excitation signal output 7 S4 COS excitation winding Resolver excitation signal output 8 ABS Absolute encoder signal Line driver input conforming to EIA RS422A input Input impedance 220 Q R1 Resolver signal input Resolver detection signal input 9 Absolute encoder signal Line driver input conforming to EIA RS422A input Input impedance 220 Q R2 Resolver signal input Resolver detection signal input 10 NC 11 SG Resolver cable shield ground Resolver cable shield ground 12 BAT Battery Absolute encoder backup power supply output 13 BAT Battery 3 6 V 16 uA for backup rotation stopped 2u
204. fire or damage to the products Do not store or install the product in the following places Doing so may result in elec tric shock fire or damage to the product Locations subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to shock or vibration Locations subject to exposure to water oil or chemicals Do not touch the Servo Driver radiator regenerative resistor or Servomotor while the power is being supplied or soon after the power is turned off Doing so may result in a skin burn due to the hot surface Storage and Transportation Precautions Caution Caution N Caution Do not hold by the cables or motor shaft while transporting the product Doing so may result in injury or malfunction Do not place any load exceeding the figure indicated on the product Doing so may result in injury or malfunction Use the motor eye bolts only for transporting the Servomotor Using them for trans porting the machinery may result in injury or malfunction Installation and Wiring Precautions Caution N Caution N Caution Caution N Caution Caution Caution N Caution Caution N Caution N Caution
205. flashing numeral can be changed To move to the next digit press the Shift Key Press the Data Key to save the changed data in memory 3 23 Operation Chapter 3 PTP Parameter Display Example Parameter number PP 01 display 0 1 1 fel iE K i QE Rightmost Data display PP 01 contents E G B bd t g t g dioit ee c Parameter number PP 02 display Data display PP 02 contents l IE v DATA Parameter number PP 03 display 3i th Eng Data display PP 03 contents ig i G all 18 3 5 2 PTP Parameters PP 01 to PP 26 No Name Min Setting Factory Explanation Re power PP unit range setting required 01 Minimum setting 0 0001 0 0001 Specifies basic unit for movement Yes unit to 1 and speed value setting and display 02 Pulse rate 1 1 revo 1to 1 Specifies PP 02 to n and PP 03 tox Yes Rotation lution 32 767 Note n is the number of motor 03 Pulse rate 2 1 1 to 10 revolutions and x is machine axis Yes Movement 32 767 movement 04 Minimum resolu 0 0 Used to display machine axis move Yes tion leftmost ment per motor sensor pulse This digits factory set value cannot be changed 05 Minimum resolu 0042 Yes tion rightmost digits 06 Origin com 1 pulse 9 999 0 Specifies number of motor sensor No pensation left to pulses for movement between origin most digits 9 999 sear
206. g at high temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Position Driver parameters are adjusted at a normal temperature there may not be optimal operation at low temper atures Check to see whether there is optimal operation at low temperatures too 5 31 Specifications Chapter 5 N Caution Do not use a 2 kW Servomotor in the shaded range in the following graph Heat gen erated by the Motor may cause the Encoder to malfunction R88M U2K030 2 kW Effective torque N m 6 36 Bai pete A 0 30 40 Ambient temperature C Incremental Encoder Specifications Item Standards Encoder method Optical incremental encoder Number of output pulses A B phase 4 096 pulses revolution Z phase 1 pulse revolution Power supply voltage 5 VDC 5 Power supply current DC 350 mA for load resistance of 220 Q Pulse duty characteristics 50 10 Phase characteristics 90 36 Phase relationship to B phase Maximum rotation speed 4 500 r min Maximum response frequency 307 2 kHz Output signals For rotation in the CW direction A phase is advanced by 90 compared A A B B S S Output interface Conforming to EIA RS 422A Output based on MC3487 or equivalent Serial communications data Z phase poll sensor U V W phase Serial commu
207. g to these terminals and do COM not remove the short bar between BI1 and 2 BO BI 2 Phases motor output Red These are the output terminals to the Ser vomotor Be careful to wire them correctly OMNUC Servomotors can be connected to B Phases B and V motor output White these terminals with R88A CAUB Cable for U series Servomotors Phases and W motor output Blue OMRON does not provide a cable to con or nect these terminals to OMNUC M series black Servomotors so the user must provide an appropriate cable if an M series Servomo tor is used Frame ground Green Ground to 100 Q or less This terminal is used for both motor output and power sup ply input Note Refer ig 3 1 0 Regenerative Energy Absorption for the methods to calculate regenerative energy 2 65 Design and Installation Chapter 2 Terminal Block Current and Wire Sizes The following table shows the rated effective currents flowing to the Position Driver s terminal block and also the sizes of the electrical wires Position Drivers with 200 VAC Input FND X H Driver FND X06H FND X12H FND X25H FND X50H dud power sup Effective current ply input termi Wire size 0 75 mm 1 25 mm pasos cn Tightening torque 1 3 N m Control circuit Effective current 0 35 A d cond n Wire size 0 75 mm2 RO SO Tight
208. gn and Installation Chapter 2 OMNUC M Series AC Servomotors with Resolvers M Contd 200 W 400 W 700 W 1 200 r min Standard Models Without Brakes R88M M20012 R88M M40012 R88M M70012 400 W 700 W 1 100 W 2 000 r min Standard Models Without Brakes R88M M40020 R88M M70020 R88M M1K120 700 W 1 100 W 2 000 W 4 000 r min Standard Models Without Brakes R88M 70040 R88M M1K140 R88M M2K040 LL 45 120 110h7 dia Four 9 dia 200 W 400 W 700 W 1 200 r min Models with Brakes R88M M20012 B R88M M40012 B R88M M70012 B 400 W 700 W 1 100 W 2 000 r min Models with Brakes R88M M40020 B R88M M70020 B R88M M1K120B 700 W 1 100 W 2 000 W 4 000 r min Models with Brakes R88M M70040 B R88M M1K140 B R88M M2K040 B 110h7 dia Four 9 dia 2 30 Design and Installation Chapter 2 Standard Models Models with Brakes L LL Model LX LY R88M M20012 240 195 156 R88M M20012 B 282 237 156 R88M M40020 R88M M40020 B R88M M70040 R88M M70040 B R88M M40012 275 230 191 R88M M40012 B 317 272 191 R88M M70020 R88M M70020 B R88M M1K140 R88M M1K140 B R88M M70012 345 300 261 R88M M70012 B 387 342 261 R88M M1K120 R88M M1K120 B R88M M2K040 R88M M2K040 B Shaft End Directions OMNUC M Series AC Servomotors with Resolvers Contd
209. h Brakes Model LL L LL R88M U1K030 194 149 R88M U1K030 B 238 193 R88M U1K530 175 H88M U1K530 B 264 219 R88M U2K030 198 R88M U2K030 B 287 242 Note Servomotors with model numbers ending in 51 have straight shafts with keys Refer to page 4 25 U Series AC Servomotor Shaft Dimensions with Keys for key dimensions 2 23 Design and Installation Chapter 2 OMNUC U Series AC Servomotors with Absolute Encoders U ABS 1 to 2 kW 1 0 kW 1 5 kW 2 0 kW Standard Models Without Brakes Not Conforming to Any Standards R88M U1K030T U1K530T U2K030T Conforming to EC Directives R88M U1K030X S1 U1K530X S1 U2K030X S1 1 0 kW 1 5 kW 2 0 kW Models With Brakes Not Conforming to Any Standards R88M U1K030T B U1K530T B U2K030T B Conforming to EC Directives R88M U1K030X BS1 U1K530X BS1 U2K030X BS1 87 Standard Models Without Brakes Models with Brakes Model L LL Model L LL R88M U1K030 208 163 R88M U1K030 B 252 207 R88M U1K530 234 189 R88M UTK530 B 278 233 R88M U2K030 257 212 R88M U2K030 B 301 256 Note Servomotors with model numbers ending in S1 have straight shafts with keys Refer to page 4 25 U Series AC Servomotor Shaft Dimensions with Keys for key dimensions 2 24 Design and Installation Chapt
210. he e Turn the power OFF and absolute value power was turned absolute encoder s sensor then back ON error ON check Internal encoder If the error persists then error replace the motor A L46 Absolute encoder Occurred when The speed exceeded Turn ON the power while the over speed power was turned 400 r min when the power motor is stopped ON was turned ON A L47 Encoder data not Occurred when The UP 02 applicable motor Set the motor model code cor transmitted power was turned setting is wrong rectly ON The encoder S phase wiring Connect any disconnected is disconnected places A L48 Encoder initial Occurred when The Driver malfunctioned e Turn the power OFF and ization error power was turned then back ON ON If the error persists then replace the motor A L50 BCD data error Occurred when The data input for direct posi Re input the data and make power was turned tioning was not BCD sure it is correct ON The point number input for point positioning was not BCD A L51 Present position Occurred at startup START TEACH or ORIGIN Execute an origin search to unknown or when teaching TEACH was executed when establish the origin the origin was not established A L52 PTP data not set Occurred when A point number was selected e Set the correct PTP data power was turned ON for which the PTP data was not set Select a point number for which PTP data has been set Note 1 If
211. he limit input signals CCWL CWL the origin proximity signal ORG and the motor sensor s Z phase signal e When an absolute encoder is used origin search is not required because the absolute value data is retained by the battery even when the Driver s power supply is turned OFF Origin compensation and origin teaching are enabled e There are three origin search patterns according to the position from which the origin search is begun Pattern 1 When the origin search is executed between the limit input signal input in the reverse of the origin search direction and the origin proximity signal input Pattern 2 When the origin search is executed while the origin proximity signal is ON Pattern 3 When the origin search is executed between the origin proximity signal input and the limit input signal input in the origin search direction Note If the OFF position of the origin proximity signal ORG is close to the motor sensor s Z phase position the origin position may deviate due to inconsistency in the origin proximity OFF position one revolution for U H series motors and 1 2 revolution for M series motors If that occurs remove the motor from the mechanical system and adjust the Z phase position Then reinstall the motor U Series Z phase output is 1 pulse per revolution so rotate motor shaft for 1 2 revolution H Series Z phase output is 1 pulse per revolution so rotate motor shaft for 1 2 revolution M Series Z phase output i
212. he output ON time can be set by PP 26 selection signal output time Adjust this parameter when inputting data from a source such as a Programmable Controller 2 57 Design and Installation Chapter 2 Control I O Connections and External Signal Processing DIO Position Drivers 24 VDC 24 V CCW limit input Maximum voltage 24 VDC CW limit input E Output prer curre nt NV MEME La 40 mA Origin proximity ORG 23 S COM O era Origin search RUN RUN IE K completed O 2410 RGSTP START START Origin stop O Alarm reset RESET 25 T COM Sank AA a T eri Teaching Origin search sEARCHIz i Ged completed Q aaia R U N JOG operation JOG operation O Point selection 0 Position 0 P I Position 7 STOP 24 VDC 8 mA JoG Motor running 27 INP Positioning completed JOG TECH 28 ALM Alarm 29 P OUTO Point output 0 Position selection 1 STOP Q Point output 6 19 OGND Output ground Note 1 The wiring for control inputs P IN 1 to 6 is omitted The input circuitry is the same as for P INO Note 2 The wiring for control inputs POUT 1 to 5 is omitted The output circuitry is the same as for P OUT 0 2 58 Design and Installation Chapter 2 Control I O Connection
213. heck the lengths of the main and branch lines and the total combined length Correct the wiring so that the lengths of the main and branch lines and the total combined length are within the prescribed limits VCTF cable is combined with special flat cable Check the cables that are being used Use either VCTF or flat cable but not both together Communications will not start The Master is for a CQM1 System and the Program mable Controller occupies either two or four words and a node address is set which is not permitted for nodes 0 to 7 An address over error is generated Check the number of words occupied by the Master Unit s Programmable Con troller and the number of points occupied per node address Change the number of words occupied by the Pro grammable Controller and the number of points occu pied per node address Note If a communications error occurs refer to the operation manual for the Master Unit 4 29 Application Chapter 4 4 6 Periodic Maintenance NWARNING Do not attempt to take the Unit apart or repair Doing either of these may result in electrical shock or injury N Caution Resume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in equipment damage Servomotors and Position Drivers contain many components and will operate properly only when each of the in
214. ht shafts with Standard without 3 000 r min 30 W R88M U03030HA S1 keys brake 50W R88M U05030HA S1 100 W R88M U10030HA S1 200 W R88M U20030HA S1 400 W R88M U40030HA S1 750 W R88M U75030HA S1 With brake 3 000 r min 30 W R88M U03030HA BS1 50 W R88M U05030HA BS1 100 W R88M U10030HA BS1 200 W R88M U20030HA BS1 400 W R88M U40030HA BS1 750 W R88M U75030HA BS1 7 3 Appendices Chapter 7 U series 30 to 750 W AC Servomotors Conforming to UL cUL Standards with U series Absolute Encoder Specifications Model Straight shafts with Standard without 3 000 r min 30 W R88M U03030TA no keys brake 50 W R88M U05030TA 100 W R88M U10030TA 200 W R88M U20030TA 400 W R88M U40030TA 750 W R88M U75030TA With brake 3 000 r min 30 W R88M U03030TA B 50 W R88M U05030TA B 100 W R88M U10030TA B 200 W R88M U20030TA B 400 W R88M U40030TA B 750 W R88M U75030TA B Straight shafts with Standard without 3 000 r min 30 W R88M U03030TA S1 keys brake 50W R88M UO5030TA S1 100 W R88M U10030TA S1 200 W R88M U20030TA S1 400 W R88M U40030TA S1 750 W R88M U75030TA S1 With brake 3 000 r min 30 W R88M U03030TA BS1 50 W R88M U05030TA BS1 100 W R88M U10030TA BS1 200 W R88M U20030TA BS1 400 W R88M U40030TA BS1 750 W R88M U75030TA BS1 U series 30 to 750 W AC Servomotors Conforming
215. ifies origin proximity signal search speed in origin search operation as an over ride value based on the reference speed as 100 e The origin search high speed is also used as the speed during origin compensation Note Set an appropriate value so that the origin proximity signal can be detected accurately PRM No Parameter name Setting range Unit Factory setting PP 18 Origin search low speed 1 199 In origin search operation this parameter specifies the motor sensor s Z phase search speed after ori gin proximity signal detection as an override value based on the reference speed as 10096 Note Set an appropriate value so that the speed will be 500 r min maximum PRMNo Parametername Setting range Umi Factory setting PP I9 Origin search direction 0 1 o o 3 30 Operation Chapter 3 This parameter specifies the direction for beginning an origin search operation Set value Description Begins origin search in the positive direction incrementing the present value Begins origin search in the negative direction decrementing the present value PRM No Parameter name Unit PP 20 Acceleration time 0 0t09 999 ms 0 PRM No Parameter name Unit PP 21 Acceleration time 1 0 to 9 999 ms 100 e These parameters specify the time from a stop until the reference speed is reached e The actual acceleration time can be obtained from the following formula Target speed present speed reference speed x acc
216. ils are large as in electromagnetic brakes solenoids etc and when reset time is an issue The surge voltage when power is cut OFF is approximately 1 5 times that of the varistor Select varistor voltage as follows 39 V 200 V 270 V 470 V 24 VDC system varistor 100 VDC system varistor 100 VAC system varistor 200 VAC system varistor resistor Note Thyristors and varistors are made by the following companies Refer to manufacturers documen Use capacitors and resistors for vibration absorption of surge when power is cut OFF The reset time can be shortened by proper selection of the capacitor or resis tor tation for operating details Thyristors Varistors Ishizuka Electronics Co Okaya Electric Industrial Co CR 50500 0 5 uF 50 Q CRE 50500 0 5 uF 50 Q S2 A 0 0 2 uF 500 Q Ishizuka Electronics Co Matsushita Electric Industrial Co 2 71 Design and Installation Chapter 2 Contactors When selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Position Driver inrush current is 50 A and the momentary maximum current is approximately twice the rated current The following table shows the recommended contactors Rated Momentary maxi Coil voltage current mum current G6C 2BND 24 VDC LY2 D 24 VDC G7L 2A BUBJ 24 VDC 200 to 240 VAC J7AN E3 24 VDC LC1D25106 200 VAC LP1D25106 24 VDC Leakage
217. ime be set in PP 26 3 57 Operation Chapter 3 Direct Positioning Program Example C200H HX HG HE The following direct positioning ladder program example for SYSMAC C200H HX HG HE is provided for reference Word Allocation In this program example the I O signals are allocated to the input and output words as follows Output Unit Word 0 Bit number Position Driver signal name 0 RUN RUN command 1 START Start 2 RESET Alarm reset 3 SEARCH Origin search 4 JOG JOG operation 5 JOG JOG operation 6 TEACH Teach 7 STOP Deceleration stop See note 2 8 P INO Point selection 0 Position O 9 P IN1 Point selection 1 Position 1 10 P IN2 Point selection 2 Position 2 11 P IN3 Point selection 3 Position 3 12 P IN4 Point selection 4 Position 4 13 P IN5 Point selection 5 Position 5 14 P IN6 Point selection 6 Position 6 15 P IN7 Position 7 Input Unit Word 8 Bit number Position Driver signal name 0 BO Brake output 1 READY Ready S COM Origin search completed 3 ORGSTP Origin stop 4 T COM Teaching completed 5 RUNON Motor running 6 INP Positioning completed 7 ALM Alarm 8 P OUTO Point output 0 Position selection 1 9 P OUT1 Point output 1 Position selection 2 10 P OUT2 Point output 2 Position selection 3 11 P OUT3 Point ou
218. inal Blocks O oa MODE omron E FND xoc MALUM 1 O R e s Power supply inputs P Regeneration Resistor Q a connection terminals j N Red 6 p Power cable White m BW Blue or Black d Cc Green Q 2 62 Design and Installation Chapter 2 Terminal label Name Power supply input Function The commercial power supply input terminals for the main circuit and the control circuits FND X Single phase 200 240 VAC 170 to 264 V 50 60 Hz FND X L Single phase 100 115 VAC 85 to 127 V 50 60 Hz Main circuit DC output Regenerative Resistor connection terminals Connector terminals for the R88A RR20030 or R88A RR40030 Regenerative Resistor which will be required if there is excessive regenerative ener gy see note Main circuit DC output Main circuit DC output terminal Phases A and U motor output Red These are the output terminals to the Ser vomotor Be careful to wire them correctly OMNUC Servomotors can be connected Phases B and V motor output to these terminals with R88A CAU Cable for U series Servomotors or R88A CAH Cable for H series Servo motors Phases C and W motor output OMRON does not provide a cable to con nect these termina
219. inertia H Series Maximum of 10 times motor s rotor inertia M Series Maximum of 10 times motor s rotor inertia Inverter method PWM method based on IGBT PWM frequency 10 kHz Weight Approx 1 5 kg Approx 1 5 kg Approx Approx 2 5 kg 4 5 kg Feed forward 0 to 200 of speed reference Pulse rate 1 32 767 x pulse rate 1 pulse rate 2 lt 32 767 1 Positioning com width pletion 1 to 32 767 pulses U Series INC 8 192 pulses revolution U Series ABS 4 096 pulses revolution UE Series 4 096 pulses revolution H Series 8 000 pulses revolution M Series 24 000 pulses revolution Acceleration Deceleratio 0 to 9 999 ms acceleration and deceleration times set separately Two times can be set for n time each S curve acceleration deceleration function available filter time constant 0 00 to 32 76 S CompoBus S 16 input points RUN command start alarm reset origin search JOG operation inching point selection position data deceleration stop 16 output points brake output ready origin search completed origin teaching completed motor running positioning completed alarm point output position speed data selection Sequence input 4 pts limit inputs origin proximity deceleration stop Photocoupler input 24 VDC 8 mA External power supply 24 VDC 1 V 40 mA min Sequence output 1 pt brake output Open collector output 24 VDC 40 mA Monitor Speed 3 V motor s rat
220. ing operation 7 17 Appendices Chapter 7 No Name Min Setting Factory Explanation Re power Set PP unit range setting required value 23 Deceleration 1 ms 0 to 100 Specifies time spent in deceler No time 1 9 999 ating reference speed to a stop This value is valid if the Posi tion Driver is in point position ing operation 24 Deceleration 0 to 2 1 Selects stop method with No stop mode STOP signal OFF 0 Free running stop 1 Deceleration stop 2 Error counter reset stop 25 Alarm selec 00 to 11 11 Selects alarm processing meth No tion od with limit or soft limit detec tion L Overrun 0 Servo lock stop 1 Servo free alarm Soft limit 0 Servo lock stop 1 Servo lock alarm 26 Selection sig 0 8ms 0 8to 20 0 Specifies time during which No nal output 800 0 P OUTO to P OUT4 signals are time See turned ON for selecting position note 2 data and speed data for direct positioning Note Note 7 18 1 The PP 01 parameter indicates the changes in the smallest value that can be used for setting The unit is movement of the mechanical axis herein referred to as the mechanical axis movement unit and can be changed as required using the pulse rate setting Examples of mechanical axis movement units Linear units mm cm m inch yard Revolution units degrees radians revolutions Other units pulses 2 Be sure to set
221. ing precision Also in order to match the mechanical axis speed to the command value the motor is speeded up for just the amount of slippage within the motor s maximum speed range The following diagram provides an example of slip compensation during operation Speed Slip compensation Motor rotation speed with slip compensation Motor rotation speed without slip compensation Time PRM No Parameter name Setting range Unit Factory setting PP 10 Positive software limit 9 999 to Mechanical 9 999 leftmost digits 9 999 axis move ment PRM No Parameter name Setting range Unit Factory setting PP 11 Positive software limit 0 to 9 999 Mechanical 9 999 rightmost digits axis move ment PRM No Parameter name Setting range Unit Factory setting PP 12 Negative software limit 9 999 to Mechanical 9 999 leftmost digits 9 999 axis move ment PRM No Parameter name Setting range Unit Factory setting PP 13 Negative software limit 0 to 9 999 Mechanical 9 999 rightmost digits axis move ment 3 29 Operation Chapter 3 e These parameters set limits on mechanical system movement e The decimal point location is set by PP 01 minimum setting unit When a software limit is detected the motor is placed in servo lock and stopped The alarm output status at that time is determined by the PP 25 alarm selection setting e After the motor has been stopped as a result of a software limit ha
222. ing procedure to set the user parameters A O N Press the Mode Key to go to the Users Parameter Edit Mode UP 01 Use the Up and Decrement Keys to display the parameter number UP desired Press the Increment Key to display the parameter data Press the Data Key and Shift Key simultaneously to enable a data change The rightmost digit will flash Use the Up and Decrement Keys to change the data The flashing numeral can be changed To move to the next digit press the Shift Key Press the Data Key to save the changed data in memory 3 13 Operation Chapter 3 User Parameters Display Example Parameter number UP 01 display i P l 4 t Fre Data displ m Rightmost digit play UP 01 contents eRe 4 1 i t DATA Parameter number UP 02 display PYue gn n Data display UP 02 contents 1 tE Parameter number UP 03 display B na i Data display UP 03 contents al te Onan LI UL DATA Setting H Parameters Use the following procedure to set the H parameters 1 Press the Mode Key to go to the Users Parameter Edit Mode UP 01 2 Press the Increment Key Decrement Key and Shift Key simultaneously to display H parameter HP 33 3 Use the Up and Decrement Keys to display the parameter number HP desired 4 Press the Increment Key to display the parameter data 5 Press the Data Key and Shif
223. ing stop Note After setting this parameter turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again The new setting will go into effect when the power is turned back ON 3 20 Operation Chapter 3 PRM No Parameter name Setting range Unit Factory setting UP 25 Monitor output 000 to 011 This parameter specifies the analog monitor output data and the output polarity Set value Description 000 Current monitor output output not reversed positive voltage for forward torque 001 Current monitor output output reversed negative voltage for forward torque 010 Speed monitor output output not reversed positive voltage for forward motor rotation 011 Speed monitor output output reversed negative voltage for forward motor rotation PRM No Parameter name Setting range Unit Factory setting UP 26 Motor rotation direction 0 1 This parameter specifies the direction of motor rotation Set value Description Rotation in forward direction with direction command Rotation in reverse direction with direction command Note direction indicates the present value addition direction and direction indicates the present value subtraction direction PRMNo Parametername Settingrange No Parameter name PRMNo Parametername Settingrange range Unit Factory setting setting UP 28 Brak
224. ing system wiring High speed communica tions are also achieved with a communications cycle time of 0 5 or 0 8 ms Note Only the high speed communications mode is available with the FND X International Standards EC Directives and UL cUL Standards Position Drivers manufactured beginning April 1999 are available that conform to EC directives and UL cUL standards making it easier to conform to these standards in the overall system When con forming to directives standards use U series Servomotors that also conform to the require direc tives standards Applicable Servomotor Models The following AC Servomotors can be connected to FND X series Position Drivers e OMNUC U Series 30 to 750 W Servomotors Conforming to UL cUL Standards With incremental encoders R88M U HA With absolute encoders R88M U TA Servomotors Conforming to EC Directives With incremental encoders R88M U VA With absolute encoder R88M U XA e OMNUC U Series 1 to 2 kW Servomotors Not Conforming to Standards With incremental encoder R88M U H With absolute encoder R88M U T Servomotors Conforming to EC Directives With incremental encoder R88M U V With absolute encoder R88M U X e OMNUC U UE Series 100 to 750 W Servomotors Not Conforming to Standards With incremental encoder R88M UE H Servomotors Conforming to EC Directives With incremental encoder R88M UE V 1 2 Introduction Chapter 1 OMNUC
225. ins positioning operation rising IN1 edge enabled ON START CN1 6 OUT2 RESET Alarm reset Alarm reset signal rising edge en IN2 abled CN1 7 OUT3 SEARCH _ Origin search When RUN is ON rising edge en IN3 abled ON Origin search begins When RUN is OFF status enabled ON Origin teaching awaited CN1 8 OUT4 JOG JOG operation JOG operation status enabled ON IN4 Rotate CN1 9 OUT5 JOG JOG operation JOG operation status enabled ON IN5 Rotate CN1 10 OUT6 TEACH Teach When ORIGIN SEARCH is OFF sta IN6 tus enabled When UP 01 11 or 12 motor s pres ent position is taken for PTP data when this bit turns ON When UP 01 13 or 14 P INO to P IN7 is taken as positioning data when this bit turns ON When RUN is OFF and ORIGIN SEARCH is ON status enabled Motor s present position is taken for origin compensation amount 2 48 Design and Installation Chapter 2 DIO Compo Signal Name Function and interface Internal Bus S allocation CN1 11 OUT8 P INO Point selection 0 Positioning data inputs status en IN7 Position 0 abled CN1 12 OUT9 Point selection 1 When UP 01 11 or 12 PTP data No ing Position 1 is input as positioning data Range 1 CN1 13 OUT10 PIN2 Point selection 2 2 64 BCD input IN9 Position 2 When UP 01 13 or 14 positioning CN1 14 OUTM P IN3 Point selection
226. into the Position Driver Note 2 Turn ON the position data intake switch 3106 and the START switch when position data intake completed 3105 is output Note 3 When using a CompoBus S type Position Driver the deceleration stop STOP signal must be turned ON in the ladder program If the deceleration stop signal for external control input CN 4 4 or ladder program input OUT 7 is OFF the motor will not run 3 61 Operation Chapter 3 3 8 Trial Operation After the wiring is complete and the parameter settings have been made conduct a trial operation First in system check mode check the motor s rotation direction without con necting a load i e without connecting the mechanical system and check to be sure that the I O signals are correctly wired Then connect the mechanical system auto tune the system and confirm that the correct operation pattern is performed If an error occurs during trial operation refer to Chapter 4 Application and apply the appropriate measures 3 8 1 Trial Operation Procedure Preparations Turning OFF the Power Supply The power supply must be turned OFF and back ON in order for some of the parameter settings to go into effect so always turn OFF the power supply before starting Leaving the Motor With No Load Connected Do not connect a load to the motor shaft during trial operation in case the motor runs out of control Pre
227. ion resumes e Select another Servomotor A L02 Overvoltage Occurred when The power supply voltage is The supply voltage must be power was turned ON outside of the allowable range 170 to 264 VAC when 200 VAC is specified e The supply voltage must be 85 to 127 VAC when 100 VAC is specified Occurred during motor deceleration The load inertia is too large Lengthen the deceleration time e Calculate the regeneration and select a Regeneration Resistor The power supply voltage is outside of the allowable range e The supply voltage must be 170 to 264 VAC when 200 VAC is specified The supply voltage must be 85 to 127 VAC when 100 VAC is specified The external Regeneration Resistor is damaged Calculate the amount of regeneration and replace the Regeneration Resistor with one of the appropriate capac ity Occurred while lowering vertical shaft Gravity torque is too large e Add a counterbalance to the machine and reduce the gravity torque Reduce the lowering speed Connect an external Regen eration Resistor 4 12 Application Chapter 4 Alarm dis play Error content Condition when error occurred Probable cause Countermeasures A LO3 Voltage drop Occurred during The power supply voltage fell For 200 VAC input specifi operation below the prescribed value cations use a
228. ion Driver input FND 100 V XO6L X12L m input Brake Brake kg m 0 02 x 1074 0 05 x 1074 0 5 x 1074 spec inertia 02 4 ifica kgf cm s 0 2 x 1074 0 5 x 10 4 5x10 4 tions 2 Excita V 24 VDC 10 No polarity tion voltage Power W at 10 11 22 con 20 C sump tion Static Nm 0 5 min 1 5 min 5 4 min friction torque kgf cm 5 min 15 min 55 min Ab ms 50 max reference value sorp tion time Re ms 30 max reference val 50 max reference value lease ue time Back Refer 1 2 0 9 0 7 lash ence val ue Rating Continuous Insula Type F tion grade Note 1 The brakes are the non excitation type When excitation voltage is added it is cleared Note 2 For motors with brakes increase the size of the radiation shield by 100 mm example t6 x 250 350 Note 3 The allowable radial load indicates the value at the center of the shaft i e 1 2 of the output shaft length See the diagram below Radial load Thrust load B A Note 4 The allowable thrust load varies depending on the shaft direction Note 5 The allowable radial load and the allowable thrust load are the values determined by taking a service life of 30 000 hours at normal usage as the standard 5 35 Specifications Chapter 5 Note 6 H series Servomotors can be used only with Position Driver software version 4 01 Septem ber 1997 or later Torque a
229. it in the positive direction PP 10 PP 11 A L35 Software limit The reference value exceeded the software Servo lock over limit in the negative direction PP 12 PP 13 A L37 Coordinate counter The present value exceeded 231 Servo lock over Teaching or origin teaching was executed with the parameter setting exceeded 4 10 Application Chapter 4 Display Error detection Meaning of code and probable cause Motor current function A L38 Overrun The limit input signal in the direction of Servo OFF movement turned OFF A L40 Encoder An encoder disconnection or short circuit Servo OFF disconnection was detected A L41 Encoder There was an error in the encoder s Servo OFF communications S phase data or A phase when an absolute error encoder is connected A L42 Absolute encoder The absolute encoder s backup voltage Servo OFF backup error dropped A L43 Absolute encoder There was an error in the absolute Servo OFF checksum error encoder s memory data check A L44 Absolute encoder The absolute encoder s backup battery Servo OFF battery error voltage dropped A L45 Absolute encoder There was an error in the absolute Servo OFF absolute value encoder s sensor check error A L46 Absolute encoder The speed exceeded 400 r min when Servo OFF over speed multiple rotation data was transmitted A L47 Encoder data not The encoder s S phase data was not Se
230. itoring Software Using the Personal Computer Monitoring Software transfer all the parameters saved at the per sonal computer to the Position Driver Without Personal Computer Monitoring Software Using the Position Driver operation keys recreate all the parameter settings recorded in step 1 4 Perform origin teaching If there is no origin compensation because for example the backup copy of the parameters was made at the design stage it will be necessary to perform origin teaching Use the following procedure to perform origin teaching 4 23 Application Chapter 4 Procedure for Origin Teaching a After replacement perform origin search with the new Position Driver b Move to the original position of the origin by moving the mechanical system by hand in a servo free state or by moving the mechanical system using JOG operations Turn OFF the Position Driver run command RUN and after turning the origin search input SEARCH ON turn ON the teaching input TEACH d Check that the teaching completed output T COM turns ON An origin compensation that makes the present position of the system into the position of the origin will be registered in the Position Driver Replacing the Motor 1 Replace the Motor 2 Perform origin teaching When the Motor is replaced the Motor s own origin position Z phase will shift making it neces sary to perform origin teaching Procedure for Origin Teaching a
231. ity R88M M40012 R88M M70012 R88M M1K112 R88M M1K412 R88M M1K812 M Series 2 000 r min Motor model R88M M20020 Capacity R88M M40020 R88M M70020 R88M M1K120 R88M M1K820 R88M M2K220 M Series 4 000 r min Motor model R88M M06040 Capacity R88M M12040 R88M M20040 R88M M40040 R88M M70040 R88M M1K140 R88M M2K040 3 6 Operation Chapter 3 Note U UE series U series UE type and H series Servomotors can only be used with Position Driver software version 4 01 September 1997 or later U series 1 to 2 kW and M series 1 1 to 2 2 kW Servomotors can only be used with Position Driver software version 4 04 April 1999 or later Example Procedure for Setting Code 1403 Display Key operation Parameter setting error A L 26 displayed The in the rightmost digit flashes Press the Mode Key twice to display the user parameters Press the Increment Key three times to display the contents of UP 02 applicable motor Press the Data Key and the Shift Key simultaneously to enable data to be changed Press the Increment Key three times to enter 3 for the rightmost digit Press the Shift Key twice The 100 digit the third digit from the right will flash Press the Increment Key four times to enter 4 for the 100 digit
232. iver damaged A L12 Clock stop The Position Driver s internal Replace the Driver clock has stopped A L15 Overcurrent Occurred during The mechanical system is Correct the places that are soft operation locked locked The current The power lines are wired Correct the wiring exceeded the P incorrectly motor s rated current 120 The power lines are shorted Correct the short circuiting or circuited or grounded grounding The UP 02 applicable motor Set the motor model code cor setting is wrong rectly A L16 Speed amp satu Occurred during The mechanical system is Correct the places that are ration The speed amp was saturated for more than 3 seconds operation locked locked The power lines are wired incorrectly Correct the wiring The UP 02 applicable motor setting is wrong Set the motor model code cor rectly 4 13 Application Chapter 4 Alarm dis Error content Condition when Probable cause Countermeasures play error occurred A L17 Motor overload Occurred during The mechanical system is Correct the places that are The electrother operation locked locked mal value Th rect the wiring exceeded 110 s pads ines are wired Cor g The load is too large e Lighten the load e Lengthen the deceleration time The gain adjustment is incor Re adjust the gain rect A
233. l Circuitry 6 3 Connecting a CompoBus S Terminal Wiring DIO Type CompoBus S Type 200 V FND X H 200 V FND X H SRT 100 V FND X L 100 V FND X L SRT 5 3 Cable Specifications ee Power signals Encoder Resolver signals OMNUC U series OMNUC U UE series OMNUC E series OMNUC AC Servomotors AC Servomotors AC Servomotors AC Servomotors 1200 r min 200 to 1 8 kW with Resolver 3000 r min 30 to 2 kW with 3000 r min 100 to 750 W with 3000 r min 50 to 1100 W with 2000 r min 200 to 2 2 kW with Resolver Incremental Encoder Incremental Encoder Incremental Encoder 4000 r min 60 to 2 kW with Resolver 3000 r min 30 to 2 kW with Absolute Encoder Table of Contents Chapter 1 Introduction l l Functions i eet EAN es eee ao eap Ue 1 2 Nomenclature and Key Operations 8 8 5 1 3 Supported Standards and Supporting Models 1 3 1 Standards Supported by Position Drivers 1 3 2 Standards Supported by AC Servomotors Chapter 2 Design and Installation 2 1 Installation sien Mise ek at CES ERR RIA NE TER Aare a 2 1 1 External Dimensions Unit mm
234. l section can be found by means of the following formula Unit J Eg is the largest of Eg1 Ego Egs The average regenerative power per cycle of operation can be found by means of the following formula Unit W T Operation cycle s The maximum regenerative energy Eg and the average regenerative power must not exceed the regeneration absorption capacity of the Driver If the regeneration absorption capacity is insufficient connect a Regeneration Resistor 3 10 2 Position Driver Absorbable Regenerative Energy The Position Driver absorbs regenerative energy by means of an internal capacitor If there is more regenerative energy than can be absorbed by the capacitor an overvoltage error will be generated and operation cannot continue The amounts of regenerative energy that can be absorbed by the various Position Drivers alone are shown in the tables below If regenerative energy exceeding these values is produced take the following measures e Connect a Regeneration Resistor Lower the operating rotation speed The regenerative energy is proportional to the square of the rotation speed e Lengthen the deceleration time Reduce the amount of regenerative energy per unit time 200 VAC Input Type Model Regeneration processing capacity Average regenerative power W Regenerative energy J FND X06H 13 17 FND X12H 24 17 FND X25H 37 22 FND X50H 160 38 Note The input voltage is the value at 200 V
235. lly even with the battery removed for up to two days at 0 C to 40 C Note 2 While replacing the battery be careful not to short circuit the plus and minus terminals Note 3 When disconnecting the lead wires disconnect the plus and minus terminals separately Dis connecting them at the same time can cause them to short circuit and create sparks Note 4 Be sure to use the prescribed method for disposing of used batteries In particular do not un der any circumstances dispose of them in a fire Doing so may cause them to explode Setting up the Absolute Encoder Setup is required to set the amount of machine rotation to zero for trial operation of the Servomotor or when the absolute encoder has been left disconnected from the battery for more than two days This is because the voltage of the capacitor inside the absolute encoder will drop if a battery is left unconnected for more than two days possibly interfering with the proper operation of internal elements 2 88 Design and Installation Chapter 2 Setup Method Perform the following procedure carefully Mistakes may lead to errors in the setup 1 Wire the Position Driver Servomotor and encoder correctly if they are not already wired correctly 2 Connect the battery 3 Turn ON power to the Position Driver 4 Leave the power ON for three minutes Note An alarm may be generated but it can be cleared with the following procedure 5 Perform th
236. ls to OMNUC M series Servomotors so the user must provide an appropriate cable if an M series Servomo tor is used Frame ground Ground to 100 Q or less This terminal is used for both motor output and power sup ply input Note Refer ig 3 1 0 Regenerative Energy Absorption for the methods to calculate regenerative energy 2 63 Design and Installation Chapter 2 Wiring FND X50 Terminal Blocks Control circuit power Protectively Power cable supply inputs separated NUM 50 m EOM ud LM NL CHARGE p 900006 js TA Gower power Regeneratian Ground 100 Q or less supply inputs Resistor 2 64 Design and Installation Chapter 2 Terminal Name label Function RO Control circuit power supply input The commercial power supply input terminals for the control circuits S6 Single phase 200 240 VAC 170 to 264 V 50 60 Hz R Main power supply input The commercial power supply input terminals for S the main circuits T Three phase 200 240 VAC 170 to 264 V 50 60 Hz P Main circuit DC output Connector terminals for the R88A RR20030 or Regenerative Resistor connection terminals R88A RR40030 Regenerative Resistor which will be required if there is excessive regenerative Je gy In this case remove the short bar between JP1 and JP2 see note N Main circuit DC output Main circuit DC output terminal MC Not used Do not connect anythin
237. luminum analytical capacitors 50 000 hours at ambient temperature of 35 C Fans 55 000 hours at ambient temperature of 20 C FND X50H only Application Conditions Rated operation rated torque and installation as described in the User s Manual e The life of aluminum analytical capacitors is greatly affected by the ambient operating temperature Generally speaking an increase of 10 C in the ambient operating temperature will reduce capacitor life by 50 We recommend that ambient operating temperature be lowered and the power supply time be reduced as much as possible to lengthen the maintenance times for Position Drivers e t is recommended that the Position Driver be inspected at five year intervals if they are used under conditions worse than the above or not used over a long time of time Contact your OMRON represen tative for inspection and the necessity of any component replacement 4 30 Application Chapter 4 Lithium Battery e When using a U series Servomotor with absolute encoder periodic maintenance will be required for the lithium battery For details about battery lifetimes and replacement methods refer to 2 2 7 Battery Wiring and Encoder Setup for Absolute Encoder 4 31 Chapter 5 Specifications 5 1 Position Driver Specifications 5 2 Servomotor Specifications 5 3 Cable Specifications Specifications Chapter 5 5 1 Position Driver Specifications 5 1 1 General Specifica
238. m pounded conditions Note 3 The Servomotor cannot be used in a misty atmosphere Performance Specifications R88M R88M R88M R88M UE10030H S1 UE20030H S1 UE40030H S1 UE75030H S1 UE10030V S1 UE20030V S1 UE40030V S1 UE75030V S1 Rated output W 400 750 See note Rated torque Nm 0 318 0 637 1 27 2 39 See note kgf cm 3 25 6 49 13 0 24 3 Rated rotation speed r min 3 000 Momentary maximum r min 4 500 rotation speed Momentary maximum Nm 0 96 1 91 3 82 7 10 torque See note kgf cm 9 75 19 5 39 0 72 9 Rated current A rms 0 87 2 0 2 6 4 4 See note Momentary maximum A rms 2 8 6 0 8 0 13 9 current See note Rotor inertia kg m GD2 4 0 40 x 10 5 1 23 x 10 5 1 91 x 10 5 6 71 x 1075 kgf cm s 0 41 x 1074 1 26 x 1074 1 95 x 1074 6 85 x 10 4 Torque constant N m A 0 408 0 355 0 533 0 590 See note kgf cm A 4 16 3 62 5 44 6 01 Induced voltage mV r min 14 0 12 4 18 6 20 6 constant See note Power rate See note KW s 25 4 32 8 84 6 85 1 Mechanical time ms 0 5 0 4 0 3 0 3 constant Winding resistance Q 6 99 1 34 1 23 0 45 Winding impedance mH 13 2 7 2 7 9 5 7 Electrical time constant ms 1 9 5 4 6 4 13 Momentary allowable N 186 490 735 radial load kgf 19 50 75 Momentary allowable N 127 176 392 thrust load kgf 13 18 40 Allowable radial load N 78 245 392 kgf 8
239. m R88A CAU003S without brake 5m R88A CAU005S 10m R88A CAU010S 15m R88A CAU015S 20m R88A CAU020S Cable only 1 m units R88A CAUO01 Cable with connector on both sides for Servomotor 3m R88A CAUOOSB with brake 5m R88A CAUO05B 10m R88A CAUO10B 15m R88A CAU015B 20 R88A CAU020B Cable only 1 m units R88A CAU01B Power Cable for U series 30 to 750 W AC Servomotors Conforming to EC Directives Specifications For Servomotor without brake 1 m units R88A CAU001 For Servomotor with brake 1 m units R88A CAU01B Note The above models are for the Cable only Power Cable for U UE series AC Servomotors Not Conforming to Any Standards Specifications Cable with connector on both sides for Servomotor 3m R88A CAU003S without brake 5m R88A CAU005S 10m R88A CAU010S 15m R88A CAU015S 20m R88A CAU020S Cable only 1 m units R88A CAUOO01 Cable with connector on both sides for Servomotor 3m R88A CAUOOSB with brake 5m R88A CAU005B 10 R88A CAU010B 15m R88A CAU015B 20m R88A CAU020B Cable only 1 m units R88A CAU01B 7 11 Appendices Chapter 7 Power Cable for U UE series AC Servomotors Conforming to EC Directives Specifications Model For Servomotor without brake 1 m units R88A CAUOO1 For Servomotor with brake 1 m units R88A CAUO1B Note The above models are for the Cable only Power Cable for U series 1 to 2 kW AC Servomot
240. mental encoder with MR elements Number of output pulses A B phase 2 000 pulses revolution Z phase 1 pulse revolution Power supply voltage 5 VDC 5 Pulse duty characteristics 50 10 Phase characteristics 90 40 Phase relationship to B phase Maximum rotation speed 4 000 r min Maximum response frequency 133 3 kHz Output signals For rotation in the CW direction A phase is advanced by 90 compared A A B B S S Output interface Conforming to EIA RS 422A Output based AM26LS31CN or equivalent Serial communications data Z phase poll sensor U V W phase Serial communications method Manchester code 5 2 5 M series Servomotors General Specifications Item Specifications Ambient operating temperature 0 to 40 C Ambient operating humidity 35 to 85 RH with no condensation Ambient storage temperature 10 to 75 C Ambient storage humidity 35 to 85 RH with no condensation Storage and operating atmo sphere No corrosive gasses Run position All directions Insulation grade Type F JIS C4004 Structure Totally enclosed self cooling Protective structure IP 42 JEM1030 Cannot be used in environment with water soluble cutting fluids Vibration grade V 15 JEC2121 Mounting method Flange mounting Note Note N
241. mit Correct the reference value Correct the PP 10 and PP 11 values A L35 Software limit Occurred during The reference value set in Reset the alarm and use over operation PP 12 and PP 13 was JOG or manual operation to exceeded release from the software limit Correct the reference value Correct the PP 12 and PP 13 values A L37 Coordinate Occurred during The reference value is too Correct the reference value counter over shaft movement large d Feedback control is being Correctly set the control mode EXSHEME employed in PTC control UP 01 After setting the i2 mode data turn the power OFF and back ON A L38 Overrun Occurred during The reference value is too Correct the reference value The limit input shaft movement large signal in the The limit sensor s position is Correct the limit sensor s direction of incorrect position movement turned Rm Tae OFF during Occurred when The limit sensor s polarity is Wire the sensor so that it operation other beginning incorrect turns ON during normal than origin operation search The limit sensor is broken Replace the limit sensor A L40 Encoder discon Occurred after The encoder s lines are dis Connect any disconnected nection moving just a little connected places at the beginning There is poor contact at the sure the connectors connectors inserted firmly and locked into place The encoder s wiring is incor
242. mized Pulle Make adjustable et Belt Tension Motor shaft Load shaft Water and Drip Resistance e The Servomotor does not have a water proof structure Except for the connector areas the protec tive structure meets the following JEM The Japan Electrical Manufacturers Association standards U Series 30 to 750 W Conforming to UL CUL and UE Type Not Conforming to Any Standards IP 42 U Series 30 to 750 W Conforming to EC Directives and UE Type Conforming to EC Directives IP 44 except shaft penetration point U Series 1 to 2 kW Not Conforming to Any Standards IP 65 except shaft penetration point U Series 1 to 2 kW Conforming to EC Directives IP 55 including shaft penetration point H Series IP 52 M Series IP 42 Note Protective Structure Indicated as 1 IP Protection rating symbol rating class ac cording to the IEC standard IEC529 1989 11 e f the Servomotor is used in an environment in which condensation occurs water may enter inside of the encoder resolver from the end surfaces of cables due to motor temperature changes Either take measures to ensure that water cannot penetrate in this way or use water proof connectors Even when machinery is not in use water penetration can be avoided by taking measures such as keep ing the motor in servo lock status to minimize temperature changes f machining oil with surfactants e g coolant fluids or their spray penetrate
243. mode number of occupied points per node is set to 4 Lit Not lit The Master s power is not turned Turn on the power for the Master on Diagnosis Using LED Indicator Status Indicator RUN green Status Lit CompoBus S Master Unit Example C200HW SRM 1 Meaning The Position Driver is operating normally Not lit Indicates one of the following conditions The power is OFF there is an I O setting error the CPU Unit is in standby status or there is a unit number setting error SD yellow Lit Data is being transmitted Not lit Data is not being transmitted RD yellow Lit Data is being received Not lit Data is not being received ERC red Lit A Slave has been withdrawn from communications Communications error Not lit The Slaves are communicating normally IN OUT red Lit An error has occurred with an Output Slave Not lit An error has occurred with an Input Slave or all Slaves are operating nor mally 8 4 2 1 red Lit Not lit These indicators represent the four digit binary slave number of the Slave in which the error occurred 4 17 Application Chapter 4 4 4 4 Overload Characteristics An overload protection function electrothermal is built into the Position Driver to protect against Posi tion Driver or Servomotor overload If a motor overload A L17 or temporary ove
244. n eeebra 00101 _ range Unit NE setting Eur one Ree er necem ee one Ree necem This data specifies the acceleration time and deceleration time Ed positioning Set value Description Selects deceleration time 0 set in PP 22 Selects deceleration time 1 set in PP 23 Selects acceleration time 0 set in PP 20 Selects acceleration time 1 set in PP 21 Note If the S curve deceleration acceleration time constant is set in UP 14 the S curve acceleration deceleration filter will be enabled in which case the acceleration and deceleration time will be longer in proportion to the time constant PRMNo Parametername Setting range Unt Factory setting Pd r Operation mode selection 0102 Oe This data specifies the method for moving to the next positioning after a positioning operation has been executed Set value Description 0 Independent operation mode 1 Automatic incremental mode 2 Continuous operation mode Note Only the independent operation mode can be set in Pd64r for point number 64 Independent Operation Mode Operation is stopped in servo lock upon completion of positioning at the selected point number The selected point number is output to point outputs 0 to 6 P DUTO to P OUT6 To execute the next positioning turn ON the start signal after the point number is input Independent Motor speed 4 operation mode Point output Point no n
245. n 2 2 3 Wiring Terminal Blocks for the power supply input currents for each motor Be sure to add the current consumption for the number of shafts other controllers etc to make the selection The Position Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take into consideration the entire inrush current for the system Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting surge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance For 200 VAC systems use a varistor voltage of 470 V The surge absorbers shown in the following table are recommended Maker Model Max limit Surge Type Remarks voltage immunity R A V 781BYZ 2 783 V 1 000 A Block For power supply line i Ind RAV 781BXZ 4 783 V 1 000 A For power supply line ground Note 1 Refer to manufacturer s documentation for operating details Note 2 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber Ferrite Cores Maker Model TDK ZCAT305 1330 Power Supply Input Noise Filters Motor capacity Remarks Soshin Electric Co Ltd 30 to
246. n Chapter 3 Note If the positioning completed signal READY is input to the Programmable Controller PC make sure that the set value is large enough so that the PC will be able to respond Set value 2 PC cycle time x 2 PC input delay time 1 ms With CompoBus S type Position Drivers use the following formula for the Programmable Con troller s input circuit delay time PC input circuit delay time Communications cycle time x 2 3 4 3 User Parameter and H Parameter Details User Parameters PRM No Parameter name Setting range Unit Factory setting UP 01 Control mode 00 to FF This parameter specifies the positioning control mode Set value Description 11 Point positioning PTP Executes position control according to positioning data set for internal point data PTP data Pd e The maximum number of points is 64 For the point number to executed select from control inputs P INO to 6 point selection 0 to 6 Used for positioning between points such as pick and place 12 Point positioning feeder e Executes position control according to positioning data set for internal point data data Pd The maximum number of points is 64 For the point number to be executed select from control inputs P INO to 6 point selection 0 to 6 Present position is cleared at startup Used for feed control such as sheet feeding 13 Direct positioning PTP e Executes position control ac
247. nal cross sectional area 0 75 mm signal line x 2 VCTF cable Special flat cable 0 75 mm x 4 signal line x 2 power line x 2 Communications distance VCTF Cable Main line length Branch line length Total branch length 100 meters max 3 meters max 50 meters max Special Flat Cable Main line length 30 meters max Branch line length 3 meters max Total branch length 30 meters max Even when special flat cable is used if no more than 16 Slaves are connected the main line length can be extended to a maxi mum of 100 meters and the total branch line length extended to a maximum of 50 meters 6 4 CompoBus S Specifications Chapter 6 Specifications Maximum number When a C200HW SRM21 or SRM1 C01 02 Master Unit is Used for C200HX HG HE of I O Points maxi C200HS mum number of Max number of I O Maximum number Communications connected Slaves points of Slaves cycle time communications IN 64 OUT 64 IN 8 OUT 8 0 5 ms cycle time IN 128 OUT 128 IN 16 OUT 16 0 8 ms When a CQM1 Master Unit is Used For CQM1 Max I O points Maximum number Communications of Slaves cycle time IN 64 OUT 64 IN 8 OUT 8 0 5 ms in 8 pt mode IN 16 OUT 16 Cannot be used in 4 pt mode IN 32 OUT 32 IN 4 OUT 4 0 5 ms in 8 pt mode IN 8 OUT 8 Cannot be used in 4 pt mode IN 16 OUT
248. nal gain Refer AJ3 Speed loop integral gain to 3 9 Co AJ4 Position loop gain xX Interrupt gain suppression AJ8 Feed forward gain AJ9 Current reference filter User Parameter Edit Mode UP 01 Control mode Refer m UP 02 Motor code to 3 4 co Pra M rem m oos en x UP 31 External regeneration resistance capacity CO CO Double click H Parameter Edit HP 33 Load rate time 2 A HP 46 In position Qut Y PTP Parameter Edit Mode PP 01 Minimum Setting Unit Refer a PP 02 Pulse rate 1 to 3 5 CO PP 26 Selection signal output time PTP Data Edit Mode Pd01H Point No 1 Position data leftmost diy a Pd01L Point No 1 Position data rightmost CO Pd01F Point No 1 Speed data Pd01A Point No 1 Acceleration deceleration selection PdOir Point No 1 Operation mode selection Pd64H Point No 64 Position data leftmost Pd64L Point No 64 Position data rightmost Pd64F Point No 64 Speed data Pd64A Point No 64 Acceleration deceleration selection Pd64r Point No 64 Operation mode selection 3 10 Operation Chapter 3 3 3 4 CompoBus S Communications Display and Setting Panel Layout of Display and Setting Panel PWR COMM ERR NODE ADDRESS Rotary Switch The rotary switch is used for setting the node address Each FND X Position Driver occupies two con secutive node addresses set for IN and OUT respectively by the switch The OUT Sla
249. ncoder 1 024 pulses revolution Series Magnetic Incremental encoder 2 000 pulses revolution M Series Resolver absolute accuracy 0 18 max ambient temperature 25 Applicable U Series Maximum of 30 times Maximum of 30 times Maximum of Maximum of load inertia INC motor s rotor inertia motor s rotor inertia 20 times 10 times See note 1 motor s rotor motor s rotor inertia inertia 10 times for 1 kW model U Series Maximum of 20 times Maximum of 20 times Maximum of Maximum of ABS motor s rotor inertia motor s rotor inertia 18 times 10 times motor s rotor motor s rotor inertia inertia 10 times for 1 kW model U UE Series Maximum of 30 times Maximum of 30 times Maximum of motor s rotor inertia motor s rotor inertia 20 times motor s rotor inertia H Series Maximum of 10 times motor s rotor inertia M Series Maximum of 10 times motor s rotor inertia Inverter method PWM method based on IGBT PWM frequency 10 kHz Weight Approx 1 5 kg Approx 1 5 kg Approx Approx 2 5 kg 4 5 kg Frequency response speed control 100 Hz at a load inertia equivalent to motor s rotor inertia Position loop gain 1 to 200 rad s Feed forward 0 to 200 of speed reference Pulse rate 1 32 767 x pulse rate 1 pulse rate 2 lt 32 767 1 5 3 Specifications Chapter 5 Item Positioning completion width FND X06L FND X12L 1 to 32 767 pulses U Se
250. nd Rotation Speed Characteristics Standard Cable 3 m 200 100 VAC Input 5 36 Specifications Chapter 5 R88M H05030 50 W kgf cm 101 10 054 5 Short term op eration area within 1 s Continuous op eration area 0 2 000 R88M H30030 300 W Nem kgf em 5 0 7 so 40 40 30 7 30 20 4 20 Short term operation area within 1 s Continuous op eration area 0 2 000 R88M H1K130 1100 W m kgt cm 10 100 Short term operation area within 1 s Continuous op eration area 0 2 000 4 000 4000 r min 0 2 000 R88M H10030 100 W kgf cm 207 20 Short term eration area within 1 s Continuous op 0 eration area r min 0 2 000 R88M H50030 500 W Nem kgf cm 10 100 Short term operation area within 1 s Continuous op eration area 4 000 r min 4000 r min 0 2 000 4 000 r min R88M H20030 200 W Nem 5 07 50 40 4 40 3 0 4 30 20 4 20 Short term opera tion area within 1 s Continuous op eration area 4 000 r min R88M H75030 750 W Nem kgf cm 100 Short term operation area within 1 s Continuous op eration area 0 2 000 4000 r min 5 37 Specifications Chapter 5 Encoder Specifications Item Standards Encoder method A B Z phase Magnetic incre
251. ng precautions to any instruction manuals you prepare for the system into which the product is being installed Precautions on the dangers of high voltage equipment Precautions on touching the terminals of the product even after power has been turned OFF These terminals are live even with the power turned OFF Do not perform withstand voltage or other megameter tests on the product Doing so may damage internal components Servomotors and Servo Drivers have a finite service life Be sure to keep replacement products on hand and to consider the operating environment and other conditions affecting the service life Do not set any parameter not described in this manual otherwise the Servomotor or Servo Driver may malfunction Contact your OMRON representatives if you have any inquiry NOTICE Before using the product under the following conditions consult your OMRON representatives make sure that the ratings and performance characteristics of the product are good enough for the systems machines or equipment and be sure to provide the systems machines or equipment with double safety mechanisms 1 Conditions not described in the manual 2 The application of the product to nuclear control systems railroad systems aviation systems ve hicles combustion systems medical equipment amusement machines or safety equipment 3 The application of the product to systems machines or equipment that may have a serious influence
252. nications method Combination communications method based on A B and S phases 5 32 Specifications Chapter 5 Absolute Encoder Specifications Standards Encoder method Optical absolute encoder Number of output pulses A B phase 8 192 pulses revolution Z phase 1 pulse revolution Maximum rotational amount 99 999 revolution 5 VDC 5 Power supply voltage Power supply current DC 400 mA for load resistance of 220 Applicable battery voltage 3 6 VDC Battery consumption current 10 uA At backup or rotation stop Pulse duty characteristics 50 10 Phase characteristics 90 36 Phase relationship For rotation in the CW direction A phase is advanced by 90 compared to B phase Maximum rotation speed 4 500 r min Maximum response frequency 614 4 kHz Output signals A A B Z Z Output interface Conforming to EIA RS 422A Output based on SN75158 or equivalent Absolute value communications data Rotation amount Absolute position within rotation output only when power is supplied 5 2 4 H series Servomotors General Specifications Specifications Ambient operating temperature 0 to 40 C Ambient operating humidity 35 to 85 RH with no condensation Ambient storage temperature 10 to 75 C Ambient storage humidity 35 to 85 RH
253. not available without key H series Straight axis without brake with key M series Straight axis without brake with key A cut for small capacity Note 3 Motor control is enabled by setting the user parameter UP 02 of the Position Driver Note 4 U series UE type and H series Servomotors can be used only with Position Driver software version 4 01 September 1997 or later U series 1 kW to 2 kW Servomotors and M series 1 1 kW to 2 2 kW Servomotors can be used only with Position Driver software version 4 04 April 1999 or later 1 4 Introduction Chapter 1 Servomotor Features and Selection Standards Any FND X series Position Driver can be freely selected according to the application When making the selection take the following points into consideration Servomotor Features U UE Series Compact size high speed response High resolution except for UE type Absolute encoder system can be configured except for UE type H Series High resolution High application load inertia less than 10 times the rotary inertia Usable in systems with comparatively low mechanical rigidity M Series High application load inertia less than 10 times the rotary inertia Usable in systems with comparatively low mechanical rigidity High output torque in a low rotation motor Up to a maximum of 50 meters between Servomotor and Servo Driver Motor Selection Standards Reference Drive system type Low inerti
254. note Note When using the CompoBus S Position Drivers create the same sequence using the ALM bit 2 86 Design and Installation Chapter 2 2 2 7 Battery Wiring and Encoder Setup for Absolute Encoder When using a U series Servomotor with an absolute encoder connect a lithium battery to the BAT con nector C6 so that the position data will be retained when the power supply is turned OFF This section explains how to wire and replace the battery and how to set up the absolute encoder Use one of the following methods 1 Obtain an OTS BATO1 Battery with Connector and Cable 2 Obtain a lithium battery and connector and prepare the battery so that it can be connected to CN6 The C500 BATOS8 Battery cannot be connected directly The connector must be replaced with a recommend connector and the battery must be prepared for connection The rest of this section describes the battery wiring and replacement methods and the absolute encoder setup BAT Connector CN6 Driver rear panel Pin arrangement 1 FG 2 BAT 3 BATGND BAT connector CN6 nj di Battery Wiring Lithium battery Symbol Name and contents 1 FG Frame ground 2 BAT Backup battery input connects 2 8 to 4 5 VDC battery 3 BATGND Backup battery input ground for backup battery 2 87 Design and I
255. nstallation Chapter 2 Lithium Battery Recommended Products With an absolute encoder a battery must be used in order to retain position data when the power is turned OFF Maker Model Voltage Electrical capacity Estimated service life Toshiba 3 6 V 2 000 mA h Approx 10 years OMRON made by 3G2A9 BAT08 3 6 V 1 650 mA h Approx 7 years Hitachi Maxell Note 1 When power is turned OFF internally at the Position Driver the battery voltage is not moni tored Be careful not to let the voltage drop below 2 8 V If necessary install a battery voltage drop detection circuit or a monitor in the system Note 2 Use one battery for one Position Driver The estimated battery service life is calculated based on this condition Note 3 The Toshiba lithium battery does not have a connector for BAT connections It is necessary to separately purchase and attach a connector for BAT connections Replacing the Battery The following method can be used to replace the battery while retaining the absolute encoder s rotation data 1 Turn ON the Position Driver s power supply and leave it ON for three minutes This will charge the capacitor in the encoder 2 Turn OFF the Position Driver s power supply and leave it OFF while replacing the battery Connect the battery between pins 2 and 3 of the Position Driver s BAT connector CN6 Note 1 After step 1 above has been implemented the encoder will operate norma
256. nt the present value A absolute value designation is the method for designating the amount of movement from the mechanical origin the zero position E3 E3 tj C3 co Incremental and Absolute Movement Example Position Data 100 incremental movement distance A absolute movement distance Position Mechanical origin Present value 100 150 0 50 Note 1 If the data attribute I is set the position moves to the one obtained from the present value added to 100 If the data attribute A is set the position moves to the position specified by the coordinate value 100 Note 2 With feeder control UP 01 12 the present value is cleared when the start signal turns ON and then positioning is executed Therefore set the position data based on the position where the start signal was turned ON as 0 PRMNo Parametername Setting range Unt Factory setting Pd F Speed data 11019979 1 e This data specifies the movement speed for positioning operations e Set an override value as a percentage with respect to the reference speed set in PP 14 and PP 15 For example make the following settings for a speed of 250 mm s on condition that the reference speed is 500 mm s PTP Parameter Setting Reference speed PP 14 0 PP 15 500 500 mm s PTP Data Setting Speed Data Pd F 50 3 39 Operation Chapter 3 PRMNo Parametername Setingrange Unt Parameter name A Hessbrao
257. o Parameter name Setting range Unit Factory setting PP 02 Pulse rate 1 1 to 32 767 Rotation 1 PRM No Parameter name Setting range Unit Factory setting PP 03 Pulse rate 2 1 to 32 767 Mechanical 10 axis move ment n order to set the amount of mechanical axis movement as positioning data set the relationship between the motor shaft rotation and the mechanical axis movement e For example for a relationship of one motor rotation to 10 mm of mechanical axis movement set PP 02 to 1 and PP 03 to 10 Note After setting this parameter turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again The new setting will go into effect when the power is turned back ON PRM No Parameter name Setting range Unit Factory setting PP 04 Minimum resolution left Mechanical 0 0 most digits axis move ment PRM No Parameter name Setting range Unit Factory setting PP 05 Minimum resolution right Mechanical 0042 most digits axis move ment These parameters are used to display the mechanical axis movement per encoder resolver pulse The factory set values cannot be changed Displayed value pulse rate 2 pulse rate 1 x motor sensor resolution 3 27 Operation Chapter 3 Motor sensor resolution OMNUC U Series 30 to 750 W with incremental encoder 8 192 pulses rotation OMNUC U Series 30 to 750 W with absolute encoder 4 096 pulse
258. oBus S OUT4 JOG JOG operation N O condition e The pin No 8 signal input rotates the motor in the JOG direction at the JOG speed e While this signal is being input i e while it is ON the motor rotates in the forward direction at the speed set in PP 16 JOG speed DIO CN1 9 CompoBus S OUT5 JOG JOG operation N O condition e The pin No 9 signal input rotates the motor in the JOG direction at the JOG speed e While this signal is being input i e while it is ON the motor rotates in the reverse direction at the speed set in PP 16 JOG speed DIO CN1 10 CompoBus S OUT6 TEACH Teach N O condition Teaching Origin established UP 01 Control Mode 11 or 12 Origin search signal OFF e This is the signal input for automatically taking the PTP data s position data e When this signal is input turned ON the motor s present value is taken as an absolute value to the position data for the PTP data Pd selected by the point selection signal Taking Direct Positioning Data Origin established UP 01 Control Mode 13 or 14 RUN command OFF origin search signal OFF e This is the signal input for taking the positioning data position speed from the control input e When this signal is input turned ON the position and speed data are taken sequentially from the positioning data inputs P IN O to 7 two digits at a time beginning from the rightmost digits e The positi
259. ode Table for Entering Settings No Pd 01 Position data V A Leftmost H Rightmost L Acceleration deceleration selection A Speed data F Operation mode r 02 03 04 05 06 07 08 7 19 Appendices Chapter 7 No Position data Speed data Acceleration Operation Pd F deceleration mode r I A Leftmost H Rightmost L selection A 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 29 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 z 49 50 7 20 Appendices Chapter 7 No Pd Position data Speed data I A Leftmost H Rightmost L Iaa F selection A Acceleration Operation deceleration mode r 52 53 54 55 56 57 58 59 60 61 62 63 64 Adjustment Parameters AJ2 to AJ9 No Parameter name Min unit Setting Factory Explanation Set val range setting ue AJ2 Speed loop proportion 0 1x 0 0 to 1 0 Gain for adjusting position al gain 100 0 loop response AJ3 Speed loop integral 0 1x
260. odel L1 L2 L3 R88M H20030 200 W 77 123 5 46 5 R88M H20030 B 200 W 107 5 154 46 5 R88M H30030 300 W 89 135 5 46 5 R88M H30030 B 300 W 119 5 166 46 5 2 26 Design and Installation Chapter 2 OMNUC H Series AC Servomotors with Incremental Encoders H Contd 500 W 750 W 1100 W Standard Models Without Brakes R88M H50030 R88M H75030 R88M H1K130 500 W 750 W 1100 W Models with Brakes R88M H50030 B R88M H75030 B R88M H1K130 B 77 dia 0 110 0 035 dia 130 0 2 dia Four 9 dia 120408 Le Shaft Dimensions 5 R88M H50030 H50030 B R88M H75030 H75030 B 16 oi dia 5 boa Shaft Dimensions C0 5 R88M H1K130 H1K130 B 30 2 3 5 35 21 5015 Standard Models Without Brakes Models With Brakes Model 12 1 Model Li L2 R88M H50030 500 W 107 5 154 0 46 5 R88M H50030 B 500 W 148 5 195 0 46 5 R88M H75030 750 W 126 0 1725 465 888 75030 750W 167 0 213 5 46 5 R88M H1K130 1100 W 144 5 191 0 46 5 R88M H1K130 B 1100 W 185 5 232 0 46 5 2 27 Design and Installation Chapter 2 OMNUC M Series AC Servomotors with Resolvers M 60 W 120 W 4 000 r min Standard Models Without Brakes R88M M06040 R88M M12040 50h7 dia Four 5 dia
261. ogram example the I O signals are allocated to the input and output words as follows Output Unit Word 0 Bit number Position Driver signal name 0 RUN RUN command 1 START Start 2 RESET Alarm reset 3 SEARCH Origin search 4 JOG JOG operation 5 JOG JOG operation 6 TEACH Teach 7 STOP Deceleration stop See note 2 8 P INO Point selection 0 Position 0 9 P IN1 Point selection 1 Position 1 10 P IN2 Point selection 2 Position 2 3 53 Operation Chapter 3 Bit number Position Driver signal name 11 P IN3 Point selection 3 Position 3 12 P IN4 Point selection 4 Position 4 13 P IN5 Point selection 5 Position 5 14 P IN6 Point selection 6 Position 6 15 P IN7 Position 7 Input Unit Word 8 0 BO Brake output 1 READY Ready 2 S COM Origin search completed 3 ORGSTP Origin stop 4 T COM Teaching completed 5 RUNON Motor running 6 INP Positioning completed 7 ALM Alarm 8 P OUTO Point output 0 Position selection 1 9 P OUT1 Point output 1 Position selection 2 10 P OUT2 Point output 2 Position selection 3 11 P OUT3 Point output 3 Position selection 4 12 P OUT4 Point output 4 Speed selection 13 P OUT5 Point output 5 14 P OUT6 Point output 6 15 Not used DM Area Point number Input signal IR Area Word 30 in the IR area is used Output signal Note 1 A CompoBus
262. om the end of the shaft See the diagram below Radial load 7 Thrust load 5mm Note 5 The allowable radial load and the allowable thrust load are the values determined by taking a service life of 20 000 hours at normal usage as the standard 5 17 Specifications Chapter 5 Performance Specifications with an Absolute Encoder Item Unit R88M R88M R88M R88M R88M R88M U03030TA U05030TA U10030TA U20030TA U40030TA U75030TA U03030XA 05030XA U10030XA U20030XA U40030XA U75030XA Rated output Ww 30 50 100 200 400 750 See note Rated torque Nm 0 095 0 159 0 318 0 637 1 27 2 39 See note kgfcm 0 974 1 62 3 25 6 49 13 0 24 3 Rated rotation r min 3 000 speed Momentary maxi r min 4 500 mum rotation speed Momentary maxi N m 0 29 0 48 0 96 1 91 3 82 7 10 mum torque See note kgf cm 2 92 4 87 9 75 19 5 39 0 72 9 Rated current A rms 0 42 0 60 0 87 2 0 2 6 4 4 See note Momentary maxi A rms 1 3 1 9 2 8 6 0 8 0 13 9 mum current See note Rotor inertia kg m 0 46 10 5 0 51 1075 0 65 10 5 1 48x10 2 16 10 5 6 96 x 1079 602 4 kgf cm s 0 47 10 4 10 53 10 4 0 67 10 4 1 52 10 4 2 21 10 4 7 11 10 4 Torque constant N 0 255 0 286 0 408 0 355 0 533 0 590 See note kgf cm A 12 60 2 92 4 16 3 62 5 44 6 01 Induced vol
263. on and speed selection signals POUT 0 to 4 are output as data request signals Origin Teaching Origin established RUN command OFF origin search signal ON e This is the input signal for automatically taking the origin compensation amount e When this signal is input turned ON the motor s present value is taken into PP 06 PP 07 origin compensation amount as the origin compensation amount at the encoder resolver resolution con version 2 52 Design and Installation Chapter 2 DIO CN1 11 to 18 CompoBus S OUTS to 15 P INO to 7 Point selection Position data N O condition Point Selection 0 to 6 UP 01 Control Mode 11 or 12 e This is the signal input for selecting positioning data from PTP data e The range of data is 1 to 64 in BCD e Point selections 0 to become the data input for digit 10 and point selections 4 to 6 become the data input for digit 101 Example When point No 12 is set Point selection 6 5 4 3 2 1 0 olol4 olola 0 0 OFF 1 ON Positions 0 to 7 UP 01 Control Mode 13 or 14 e This is the positioning data signal input e The range of data is 0 to 99 in BCD up to a maximum of F9 for the position s leftmost digits only e The 32 bits for the position data and the 8 bits for the speed data are taken eight bits at a time At this time the position and speed selection signals P OUT 0 to 4 are output as data
264. on human life and property if they are used improperly Items to Check After Unpacking Check the following items after removing the product from the package Has the correct product been delivered i e the correct model number and specifications Has the product been damaged in shipping The product is provided with Safety Precautions Sheets No connectors or mounting screws are provided Notice OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual The following conventions are used to indicate and classify precautions in this manual Al ways heed the information provided with them Failure to heed precautions can result in inju ry to people or damage to property NDANGER Indicates an imminently hazardous situation which if not avoided will result in death or serious injury NWARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury N Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage OMRON Product References All OMRON products are capitalized in this manual The word Unit is also capitalized when it refers to an OMRON product regardless of whether or not it appears in the proper name of the product The abbreviation Ch which appears in some displays and on some OMRON produ
265. onitoring Device Type The following types of monitoring device are available Position Driver Display Panel Investigate the error using the 7 segment LED display panel on the front side of the Position Driver along with the operating keys When an alarm has been generated it will automatically be dis played The investigation procedure for this device type is explained in this manual Teaching Box Use the following three items together When an alarm has been generated it will automatically be displayed CVM1 PROO1 Programming Console without ROM CVM1 MP702 Memory Cassette compatible with FND X and MC NC Units or CVM1 MP703 FND X dedicated Memory Cassette CV500 CN 2A Connecting Cable to connect the Position Driver and the Teaching Box The in the model name represents the length of the cable Any of the lengths 2 4 or 6 m can be used 4 22 Application Chapter 4 For details on the operating procedures for this device type refer to the Teaching Box For Position Drivers Operating Manual W354 4 5 2 Precautions When performing checks of the inputs and outputs following error generation there is a possibility that the Position Driver will operate unexpectedly or suddenly stop Be sure to take the following precautions Do not perform any operations or procedures not described in this manual Precautions When checking for breaks in cables be sure to disconnect the wiring first With the wi
266. ontrol panel Control panel case Top Do not coat or plate Side Do not coat or plate Door Structure e Use a metal door e Connect the door and the control panel with short wires at several locations to ensure electrical con ductivity Be sure that no gaps are created when installing the cover as gaps can be caused by distortion when tightening screws Weld screws or other conductive objects to the door and case and connect with ground wires to ensure electrical conductivity Control panel case 2 78 Design and Installation Chapter 2 Selecting Components This section describes standards to be considered when selecting components to be connected to reduce noise Select components after reviewing characteristics such as capacities performance and application ranges Recommended components are listed below for reference For further details con sult the manufacturer No fuse Breakers MCCB When selecting no fuse breakers take into consideration the maximum output current and the inrush current The momentary maximum output for a servo system is approximately three times that of the rated out put and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 300 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable Refer to the table i
267. op response As the gain is increased the servo rigidity is strengthened The greater the inertia rate the higher this is set If the gain is set too high oscillation will occur e Adjustment can be performed more quickly by first setting the load inertia ratio Response When Speed Loop Proportional Gain is Adjusted When speed loop proportional gain is high Oscillates when gain is too high Motor speed ba When speed loop proportional gain is low Time Fametrname Setting range Uni AJ3 Speed loop integral gain 0 1 to 20 0 Multiple 40 e This parameter sets the speed loop integral gain e As the gain is decreased the responsiveness is lowered and the resistance to external force is weak ened If the gain is set too high oscillation will occur 3 72 Operation Chapter 3 Response When Speed Loop Integral Gain is Adjusted When speed loop integral gain is high Motor speed When speed loop integral gain is low Time PRMNo Parametername Settingrange Unit AJ4 Position loop gain 1t0200 rad s 30 e Adjust the position loop response to match the mechanical rigidity e The servo system s responsiveness is determined by the position loop gain When the position loop gain is high the servo system s responsiveness will be high and positioning can be executed quickly In order to increase the position loop gain it is necessary to raise the mechanical
268. or DIO CN1 27 CompoBus S ING INP Positioning completed e This output turns ON when error counter residual pulses are within the UP 07 positioning completed range setting e The output turns OFF when positioning begins After positioning is completed the output remains ON until the time set for HP 46 positioning com pleted timer elapses DIO CN1 28 CompoBus S IN7 ALM Alarm e This output turns OFF when the driver detects an error The output is OFF when the power supply is turned ON and the output turns ON when the initial pro cessing is completed DIO CN1 29 to 35 CompoBus S IN8 to 14 P OUTO to 6 Point output Position selection speed selection Point Outputs 0 to 6 UP 01 Control Mode 11 or 12 The data number that is waiting or being executed is output e The range of output data is 0 to 64 in BCD 0 When point selection not input 2 56 Design and Installation Chapter 2 e Point outputs 0 to become the data output for digit 10 and point outputs 4 to 6 become the data output for digit 101 Example When point No 12 is selected Point output 6 5 4 3 2 1 0 0l0l1l0 0 110 0 OFF 1 ON Position Selection 1 to 4 UP 01 Control Mode 13 or 14 e This is the request signal output for obtaining positioning data e Refresh the data for positions 0 to 7 P IN 0 to 7 according to the data request signals e T
269. origin search completion 9 999 position and mechanical origin The value can 07 Origin compensation 0 to 0 be obtained by origin teaching rightmost digits 9 999 Operation 1 Complete the origin search operation 2 Use the JOG operation or external force with servo OFF to move to the mechanical origin 3 Turn OFF the RUN command if the JOG operation has been used 4 Turn ON the origin search SEARCH command and then turn ON the teaching TEACH com mand When the origin teaching operation has been completed the teaching completed signal T COM turns ON RUN signal ON when JOG operation used for movement RUN command RUN Origin search SEARCH Teaching TEACH READY Origin search completed S COM Origin ORGSTP Positioning completed INP Teaching completed ofr T COM Movement by JOG operation Motor operation or external force 3 50 Operation Chapter 3 3 7 3 Teaching Function e The teaching operation takes the motor s present value as the position data in the specified data e Teaching is only enabled when the control mode is set for point positioning UP 01 11 or 12 e The position data that is taken by the teaching operation is all absolute value A data Also the speed data acceleration deceleration selection and operation mode selection do not change Make the settings after teaching is completed e Teaching can be executed with the RUN command ei
270. ors Specifications Model Cable with connector on both sides for Servomotor 3m R88A CAUBOOSS without brake 5m R88A CAUBOO5S 10m R88A CAUBO10S 15m R88A CAUBO15S 20m R88A CAUBO20S Cable with connector on both sides for Servomotor 3m R88A CAUBOOSB with brake 5m R88A CAUBOO5B 10m R88A CAUBO10B 15m R88A CAUBO15B 20m R88A CAUB020B Power Cable for H series AC Servomotors Specifications Cable with connector on one end R88A CAHO001S for Servomotor without brake 3m R88A CAH003S 5m R88A CAHO05S 10m R88A CAH010S 15m R88A CAH015S 20m R88A CAHO20S 30m R88A CAH030S Cable with connector on one 1 R88A CAHO01B for Servomotor with brake 3m R88A CAH003B 5m R88A CAHO05B 10m R88A CAHO10B 15m R88A CAHO15B 20m R88A CAHO20B 30 m R88A CAH030B 7 12 Appendices Chapter 7 7 2 Parameter Settings Tables User Parameters UP 01 to UP 29 No Name Min unit Setting Factory Explanation Re power Set UP range setting required value 01 Control mode 00 to 11 Specifies position control Yes FF mode 11 Point positioning PTP 12 Point positioning feeder 13 Direct positioning PTP 14 Direct positioning feeder 02 Motor code 0000 to 0000 Motor model code Yes FFFF 03 Resolver 1m 1 to 5 Sets the resolver cable length No cable length 120 for when
271. ositioning and turned ON again upon completion of the posi tioning operation Note With feeder control UP 01 12 the present value is cleared when the start signal is turned ON Operation 1 The two rightmost digits of the position data are input to P INO to P IN7 2 The teach signal is turned ON Position selection 1 P DUTO are turned ON and OFF and the posi tion data is taken at the falling edge 3 Next position selection 2 P DUT1 is turned ON While P OUT1 is ON positions 0 to 7 are taken into the third and fourth digits 4 The remaining position data i e the rest of the digits sign bit and I A bit and speed data are taken in the same way 5 After all the data has been taken both the teaching completed T COM and ready signals are turned ON After it is confirmed that they have turned ON the teach signal is turned OFF 6 When the start signal is turned ON positioning begins and the ready signal is turned OFF 3 56 Operation Chapter 3 7 The ready signal is turned ON again upon completion of the positioning operation RUN command RUN Teaching TEACH Start START Position data P INO to P IN7 Teaching completed T COM READY READY Positioning completed INP Position selection 1 P OUTO Position selection 2 P OUT1 Position selection 3 P OUT2 Position selection 4 P OUT3 Speed selection P OUT4 Motor operation Selection signal output t
272. ote 1 The above items reflect individual evaluation testing The results may differ under com pounded conditions 2 The Servomotor cannot be used in a misty atmosphere 3 The drip proofing specifications are covered by IP 44 Models with drip proof specifications provide drip proofing on Servomotors with oil seals 5 38 Specifications Chapter 5 Performance Characteristics 1 200 r min Item Unit R88M R88M R88M R88M R88M R88M M20012 M40012 M70012 M1K112 M1K412 M1K812 Rated output W 200 400 700 1 100 1 400 1 800 See note Rated torque Nm 1 59 3 18 5 57 8 75 11 1 14 3 See note kgf cm 16 2 32 5 56 8 89 3 114 146 Rated rotation r min 1 200 speed Momentary maxi r min 1 300 mum rotation speed Momentary maxi N m 4 3 7 4 17 6 16 7 30 4 44 1 mum torque See note kgf cm 44 0 75 0 180 170 310 450 Rated current A rms 2 1 2 9 4 0 6 6 8 4 9 3 See note Momentary maxi A rms 7 1 7 1 14 2 14 2 28 3 35 4 mum current See note Rotor inertia kg m 6 3 x 1074 9 8 x 1074 1 6 x 10 3 4 2 x 1073 4 9 x 1073 6 5 x 1073 GD2 4 kgf cm s 6 4 x 10 3 1 0 x 10 2 1 6 x 1072 4 3 x 1072 5 0 x 1072 6 6 x 107 Torque constant N m A 0 74 1 10 1 40 1 32 1 32 1 53 See note kgf cm A 17 6 11 2 14 3 13 5 13 5 15 6 Induced voltage mV 53 72 88 82 83 92 constant See r min note Power rate See KW s
273. ower supply In particular be careful not to connect two power supply ground wires Install a noise filter on the primary side of the control power supply f the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the Position Driver input section and the controller output section e Use shielded cable for the control cables and connect the shield to the connector frame at the Driver 2 2 5 Wiring Products Conforming to EMC Directives Position Drivers will meet the requirements of the EMC Directives if they are connected to a U Series Servomotor that conforms to the EC directives and are wired under the conditions described in this sec tion If the connected devices wiring and other conditions cannot be made to fulfill the installation and wiring conditions when the product is incorporated into a machine the compliance of the overall ma chine must be confirmed The following conditions must be met to conform to EMC Directives e The Position Driver must be installed in a metal case control panel Noise filters and surge absorbers must be installed on all power supply lines e Shielded cables must be used for all I O signal lines and encoder lines Use tin plated soft copper wires for the shield weaving All cables leaving the control panel must be wired in metal ducts or conduits with blades Ferrite cores mu
274. paring to Stop the Motor Make sure that the power switch can be turned OFF or the RUN command can be used to stop the motor immediately in case of trouble Actual Trial Operation 1 Powering Up e With the RUN command OFF apply an AC voltage e After internal initialization the mode will be the Monitor Mode Monitor display example r 3 e Set the speed loop proportional gain AJ2 to approximately 1 0 Match the gain with no load Confirm the initial display Monitor Mode shown above Press the Mode Key twice to enter the Adjustment Parameters Edit Mode Press the Increment Key to display the contents of AJ2 speed loop proportional gain Press the Shift Key and Data Key to enable the data to be changed The digit that can be changed will flash A O N Press the Shift Key Increment Key or Decrement Key as required to change the setting to 1 0 6 Press the Data Key to end the data change operation 3 62 Operation Chapter 3 Note 1 The factory setting for the speed loop proportional gain AJ2 is 1 0 multiple Note 2 In the Adjustment Parameters Edit Mode the set value is re written at the point where the number is changed by pressing the Increment Key and Decrement Key 2 Testing the Motor Refer to 3 8 2 System Check Mode Execute the motor test operation in System Check Mode and perform the following checks Is the motor s rotation direction correct Are there any abnormal
275. peed 4 500 r min Maximum response frequency 153 6 kHz Output signals A A B B S S Output interface Conforming to EIA RS 422A Output based on AM26LS31CN or equivalent Serial communications data Z phase poll sensor U V W phase Serial communications method Combination communications method based on A B and S phases 5 21 Specifications Chapter 5 Absolute Encoder Specifications Item Standards Encoder method Optical absolute encoder Number of output pulses A B phase 1 024 pulses revolution Z phase 1 pulse revolution Maximum rotational amount 99 999 revolution Power supply voltage 5 VDC 5 Power supply current DC 170 mA for load resistance of 220 Q Applicable battery voltage 3 6 VDC Battery consumption current 16 uA during backup or when operation is stopped 2 uA when 5 V is supplied Pulse duty characteristics 50 10 Phase characteristics 90 36 Phase relationship For rotation in the CW direction A phase is advanced by 90 compared to B phase Maximum rotation speed 4 500 r min Maximum response frequency 76 8 kHz Output signals A A B B Z Z ABS ABS Output interface Conforming to EIA RS 422A Output based on MC3487 or equivalent Absolute value communications Rotation amount data Absolute position within rotation 5 2 2 U UE series Servomotors General Specifications
276. pt normal operation 4 28 Application Chapter 4 Symptom There is an error in the com munications data Probable cause The node address is over lapping another node address Items to check Check the node address settings of all the Slaves Error Diagnosis by Means of Operating Status CompoBus S Only Countermeasures Correctly set the node addresses The Programmable Control ler s load shutdown bit has turned ON Check the status of the Pro grammable Controller s load shutdown bit Turn OFF the load shut down bit The communications cable connection or the commu nications cable itself is faulty Check the connections Ifa flat cable is being used check the connector area Connect the cable properly Check the connectors Replace the connectors if necessary Check the conductivity of the communications cable Replace the cable if neces sary There is no terminating resistance connected or it is connected at some posi tion other than the farthest Unit Check the location of the terminating resistance Connect the terminating resistance at the last Unit The Master Unit is not con nected at the end of the main line Check the location of the Master Unit Connect the Master Unit at the end of the main line The length of the main line a branch line or the total length is greater than the prescribed limit C
277. ption capacity 100w 200W 400 W Combination method Note Select a combination with a capacity greater than the average regenerative power Dimensions Unit mm R88A RR20030 R88A RR40030 3 78 Operation Chapter 3 Wiring the Regeneration Resistor As shown in the following diagram connect the Regeneration Resistor between the P and J terminals at the Position Driver s terminal block R Position Driver terminal block S 2 0 mm el Resistor N A B Note With the FND X50H connect a Regeneration Resistor between and JP1 In this case remove the short bar between JP1 and JP2 3 79 ji 4 Chapter 4 Application 4 Monitor Mode 4 2 Check Mode 4 3 Monitor Output 4 4 Protection and Diagnosis 4 5 Troubleshooting 4 6 Periodic Maintenance Application Chapter 4 4 1 Monitor Mode 4 2 The following ten items can be monitored in Monitor Mode motor speed present value reference value position deviation mechanical speed motor current effective load fac tor electrothermal value electrical angle and regenerative absorption rate The Monitor Mode is entered when the Position Driver s power supply is turned ON The various items to be monitored can be displayed one at a time by pressing the Increment Key and Decrement Key Operation in Monitor Mode Monitor Mode Motor speed Check Mode
278. put section Use twisted pair shielded cables for control cables and the shield wire to the connector frame at the Position Driver 2 82 Design and Installation Chapter 2 Harmonic Current Suppression e An AC Reactor that controls steep current changes is used for suppressing harmonic current e Guidelines issued by MITI in September 1994 regarding countermeasures for harmonic suppression of domestic or general purpose electric appliances require measures that control the flow of harmonic current to the power supply line e Select an appropriate AC Reactor depending on the Position Driver to be used e When using a single phase power supply one connection terminal will become open Be sure to insu late this terminal with insulation tape etc Connection Example FND X06 25 FND X50 AC Reactor FND X AC Reactor FND X Application Specifications Drivers AC Reactor Model Rated Inductance Loss Weight current FND XO6L 3G3IV PUZBAB5A2 1MH 5A 2 1 mH 15 W 2 5 kg FND X12L FND X06H 3G3IV PUZBAB2 5A4 2MH 2 5A 4 2 mH 15 W 2 5 kg FND X12H 3GS3IV PUZBAB5A2 1MH 5A 2 1 mH 15 W 2 5 kg FND X25H 3G3IV PUZBAB10A1 1MH 10A 1 1 mH 25 W 3kg FND X50H 3G3IV PUZBAB20A0 53MH 20 0 53 mH 35 3 kg 2 83
279. puts positioning completed sig nal INP according to number of motor sensor pulses set as posi tioning deviation OMNUC U Series 30 to 750 W with incremental encoder 8 192 pulses rotation OMNUC U Series 30 to 650 W with absolute encoder 4 096 pulses rotation OMNUC U Series 1 to 2 kW with incremental encoder 16 384 pulses rotation OMNUC U Series 1 to 2 kW with absolute encoder 32 768 pulses rotation OMNUC U UE Series 4 096 pulses rotation OMNUC H Series 8 000 pulses rotation OMNUC M Series 24 000 pulses rotation No 11 Current limit 0 1 0 0 to 100 0 100 0 Specifies rate based on maximum motor current as 100 No 14 S curve acceleration deceleration time 0 015 0 00 to 32 76 0 00 Sets the time until 90 of the target speed is obtained 0 00 sets trapezoidal acceleration and deceleration No 16 Brake mode 0to3 0 Dynamic brake 1 On hold brake stops in decel eration time 2 On hold brake stops after rota tion according to error counter s accumulated number of pulses 3 On hold brake free running stop Yes 3 15 Operation Chapter 3 No Name Min unit Setting Factory Explanation Re power UP range setting required 25 Monitor output 000 to 010 Specifies monitor output function No 011 0 L Positive voltage 0 Not reversed 1 Reversed Speed Current selection 0
280. r software version 4 04 April 1999 or later 2 000 r min Item Unit R88M R88M R88M R88M R88M R88M M20020 M40020 M70020 M1K120 M1K820 M2K220 Rated output W 200 400 700 1 100 1 800 2 200 See note Rated torque Nm 0 955 1 91 3 34 5 25 8 58 10 5 See note kgfcm 9 74 19 5 34 1 53 6 87 6 107 Rated rotation r min 2 000 speed Momentary maxi r min 2 200 mum rotation speed Momentary maxi N m 3 3 3 9 9 6 12 9 21 6 26 5 mum torque See note kgf cm 34 0 40 0 98 0 132 220 270 Rated current A rms 2 0 3 3 4 1 5 5 8 6 12 3 See note Momentary maxi A rms 7 1 7 1 14 2 14 2 35 4 35 4 mum current See note Rotor inertia kg m 1 6 x 10 4 6 3 x 1074 9 8 x 10 4 1 6 x 1073 4 2 x 1073 4 9 x 1073 GD2 4 kgf cm s 1 6 10 3 6 4 1072 1 0 1072 1 6 107 4 3 x 10 2 5 0 x 10 2 Torque constant N m A 0 56 0 57 0 81 0 95 0 98 0 85 See note kgf cm A 5 7 5 8 8 3 9 7 10 8 7 Induced voltage mV 35 40 50 62 50 53 constant See r min note Power rate kW s 6 0 5 8 11 18 17 22 note Mechanical time ms 3 4 7 9 3 1 2 6 2 1 2 6 constant Winding resis Q 10 6 1 3 1 2 2 0 70 0 58 tance Winding imped mH 46 32 25 21 17 14 ance Electrical time ms 4 5 5 3 8 1 9 6 24 24 constant Momentary al N 420 880 940 1 000 2 040 2 100 lowable radial load kgf 43 90 96 102 208 214 Momentary al N 1 180 2 380 2 380 2 380 5 3
281. r 2 OMNUC U UE Series AC Servomotors with Incremental Encoders UE Conforming to EC Directives Contd 200 W 400 W Standard Models Without Brakes R88M UE20030V S1 R88M UE40030V S1 300430 Four R5 3 Shaft end dimensions Key slot dimensions conform to JIS B1301 1976 NOS ia Eo SSE RSE 200 W 400 W Models with Brakes R88M UE20030V BS1 R88M UE40030V BS1 300230 Four R5 3 Shaft end dimensions Key slot dimensions conform to JIS B1301 1976 xd UL o c a 2 SS SiS dumme J SN RE I NE MAIN KERN Standard Models Without Brakes Models with Brakes Model L LL Model L R88M UE20030V S1 126 5 96 5 R88M UE20030V BS1 166 R88M UE40030V BS1 194 R88M UE40030V S1 154 5 124 5 2 21 Chapter 2 Key slot dimensions conform to JIS B1301 1976 R88M UE75030V S1 Shaft end dimensions OMNUC U UE Series AC Servomotors with Incremental Encoders UE Conforming to EC Directives Contd 750 W Standard Models Without Brakes Design and Installation Key slot dimensions conform to JIS B1301 1976 ep quar Bip QUOT 2 c Q A 5 S 3
282. r Servomotor Output For Servomotor output lines use a filter type without a built in capacitor The following table shows recommended noise filters for Servomotor output lines Maker Model Rated current Remarks Tokin LF 310KA 10A 3 phase block noise filter LF 320KA 20A ESD R 47B EMI core for radiation noise Fuji Electrochemical RN80UD 10 turns for radiation noise Note The same noise filter cannot be used for Servomotor output lines as for the power supply N Caution Ordinary noise filters are created for a power supply frequency of 50 60 Hz so con necting an output of 10 kHz the Position Driver s PWM frequency can generate an extremely high approximately 100 time the normal leakage current flow to the ca pacitor in the noise filter and cause damage to the Position Driver Surge Killers Install surge killers for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows types of surge killers and recommended products Features Diodes are relatively small devices such as relays used for loads when reset time is not an issue The reset time is increased because the surge voltage is the lowest when power is cut OFF Used for 24 48 VDC systems Recommended products Use a fast recovery diode with a short reverse recovery time Fuji Electric Co ERB44 06 or equiv alent Thyristor and varistor are used for loads when induction co
283. r counter overflows soft limit overflows coordinate counter overflows or overrun Parameter Setting related Errors The Position Driver detects parameter setting errors Detector related Errors Resolver wire burnout resolver failure encoder wire disconnection encoder communications failure absolute encoder backup failure absolute encoder checksum failure absolute encoder battery failure absolute encoder absolute failure absolute encoder overspeed failure encoder data failure and en coder initialization failure Position related Errors BCD data indefinite PV and PTP data non setting errors Test Functions Motor Test Function The Position Driver has a motor test function that makes it possible to easily check whether a motor is connected to the Position Driver When this function is enabled the motor rotation direction can be con trolled with the operation keys and the motor speed can be set in UP 29 The motor speed is set to 50 r min before shipping Sequential Output Test Function The Position Driver has a sequential output test function that makes it possible to easily check whether a host controller is connected to the Position Driver This function makes it possible to turn any output terminal ON or OFF with the operation keys 1 8 Introduction Chapter 1 1 2 Nomenclature and Key Operations DIO Position Drivers Front View S Terminal Block
284. rage and operating atmo sphere No corrosive gasses Vibration resistance 10 to 150 Hz in X Y and Z directions with 0 2 mm double amplitude acceleration 24 5 m s 2 5 G max time coefficient 8 min 4 sweeps Impact resistance Acceleration 98 m s 10 max in X Y and Z directions three times Insulation resistance Between power line terminals and case 10 MQ min 500 VDC megger Dielectric strength Between power line terminals and case 1 500 VAC for 1 min 10 mA max at 50 60 Hz JEC 2121 Run position All directions Insulation grade Type F JIS C4004 Structure Totally enclosed self cooling Protective structure Models not conforming to any standards IP 65 IEC 34 5 This standard does not apply to the shaft opening The connector used for the standard cable conforms to IP 30 Models conforming to EC Directives 55 IEC 34 5 This standard does not apply to the shaft opening The connector used for the standard cable conforms to IP 30 Cannot be used in environment with water soluble cutting fluids Vibration grade V 15 JEC2121 Mounting method Flange mounting 5 26 Specifications Chapter 5 Note 1 Vibration may be amplified due to sympathetic resonance of machinery so do not exceed 19 6 m s 2 over a long period of time Note 2 Use water resistance cables for the power cables and encoder cables in locations subject to
285. rea 1000 1 300 r min R88M M40012 Nem kgf cm 100 Short term op eration area within 1 s Continuous operation area 0 0 500 R88M M1K412 Nem kgf cn 190 13 r min Short term operation area within 1 s 104 100 Continuous operation area 1000 1 300 r min R88M M70012 kg f cm Short term op eration area within 1 s 10 100 Continuous operation area 0 0 500 R88M M1K812 kgf cm 190 130 r min 404 409 2730 Short term operation area within 1 s Continuous operation area 1000 1 300 r min 5 45 Specifications Chapter 5 2 000 r min R88M M20020 Nem kg fom Short term operation area with in 1 s Continuous operation area 0 0 1 000 2 000 2 200 r min R88M M1K120 kgf cm 157 150 Short term operation area with in 1 s 104 100 Continuous operation area 0 0 1 000 2000 2 200 r min 5 46 R88M M40020 kg fom 47 40 Short term operation area with 34 30 4 20 Continuous operation area 0 0 100 2000 2200 r min R88M M1K820 N m kg fm 250 Short term operation area with in 1 s 154 150 104 100 Continuous operation area 0 0 1 000 2000 2200 r min R88M M70020 kgf cm 100 Short term operation area
286. request signals Re fresh the input data according to the data request signals e f the speed is set to 0 it will be taken as 100 DIO CN1 20 CompoBus S CN4 4 OUT7 STOP Deceleration stop N C condition e This is the signal input for forcibly stopping motor rotation e While this signal is not being input ON the motor cannot be driven e With the CompoBus S Position Drivers the motor cannot be driven unless the external control signal input CN4 4 and the CompoBus S input OUT7 are both input The method for stopping the motor depends on the set value for PP 24 deceleration stop mode Control Output Details DIO CN1 21 CompoBus S CN4 8 INO BO Brake output e When UP 16 brake mode is set to 1 2 or 3 brake retention the timing signal for applying the elec tromagnetic brake is output If the motor s rotation speed falls below the UP 28 brake ON r min set value under the following circumstances the output will be turned OFF and the electromagnetic brake will be operated When the RUN signal has been turned OFF When an error shutting OFF the power to the motor has occurred When a deceleration stop turns OFF while PP 24 deceleration stop mode is set to 0 free run stop e When UP 16 is set to 0 dynamic brake the timing signal for applying the dynamic brake is output Under the following circumstances the output is turned OFF and the dynamic brake is operated 2 53 Design and Installation
287. ries INC 8 192 pulses revolution U Series ABS 4 096 pulses revolution U UE Series 4 096 pulses revolution H Series 8 000 pulses revolution M Series 24 000 pulses revolution FND X06H FND X12H FND X25H FND X50H Acceleration Deceleration time 0 to 9 999 ms acceleration and deceleration times set separately Two times can be set for each S curve acceleration deceleration function available filter time constant 0 00 to 32 76 s Sequence input 19 pts limit inputs origin proximity RUN command START alarm reset origin search JOG operation teaching point selection position data deceleration stop Photocoupler input 24 VDC 8 mA External power supply 24 VDC 1 V 150 mA min Sequence output 15 pts brake output READY origin search completion origin teaching motor running positioning completion alarm point output position selection speed selection Open collector output 24 VDC 40 mA Monitor Speed 3 V motor s rated speed output accuracy approx 10 output See monitor note 2 Current 3 V motor s maximum current output accuracy approx 10 monitor Heating Main circuit 17 W 20W 17W 27W 47 W 110 W value Control 23 W 23 W 23 W 23 W 23 W 26 W circuit Regenerative absorption 13W 17J 17W 17J 13W 17J 24W4 17d 37W 22J 160W 38 capacity J Protective functions Overcurrent overvoltage resolver disconnection power status error
288. rigidity and increase the characteristic frequency For normal construction machinery set the gain to 50 to 70 rad s for general purpose machinery and assembly machinery 30 to 50 rad s for industrial robots 10 to 30 rad s f the system has low mechanical rigidity or low characteristic frequency increasing the position loop gain will cause mechanical resonance and will generate an overload alarm e f the position loop gain is low the positioning time can be shortened by using feed forward Response When Position Loop Gain is Adjusted When position loop gain is high Motor speed 2 When position loop gain is low NS Time 3 73 Operation Chapter 3 PRM No Parameter name Setting range Unit Factory setting AJ7 Interrupt gain suppression O to 10 000 e f any value other than 0 is set for this parameter the speed loop integral gain will be disabled when stopped and the speed loop proportional gain will be suppressed As the set value is increased the amount of suppression is increased and the speed loop proportion gain is lowered e Adjust this parameter if the motor makes abnormal noises when stopping Perametername _ Settingrange Unit AJ8 Feed forward gain 0 0 to 2 0 Multiple 00 J e This parameter is effective when the position loop gain is low 25 rad s It is not effective when the position loop gain is high e Feed forward adds to the spee
289. ring is connected there is still a possibility of continuity caused by a return circuit even if a continuity check is performed f the encoder signal goes out the Motor will run out of control and an error will be generated When investigating the encoder signal remove the Motor from the mechanical system first e When measuring output from the encoder take the measurement at EOV 0 V encoder power supply as a basis By measuring the differential between CH1 and CH2 with an oscilloscope the effects of noise can be offset e Before performing checks ensure that nobody is inside the mechanical equipment and that if the Motor runs out of control no damage will be caused Also in preparation for the unlikely event of the Motor running out of control before performing checks for errors first check that an emergency stop can be performed for the machinery 4 5 3 Replacing the Position Driver and the Motor Use the following procedure to replace the Position Driver or Motor Replacing the FND X Position Driver 1 Make a copy of the Position Driver parameters Using the Position Driver operation keys display all of the parameters and create a written record of them Refer to 7 2 Parameter Settings Tables 2 Replace the Position Driver With the CompoBus S type set the communications unit number switch to the original FND X set ting 3 Set the Position Driver parameters With Personal Computer Mon
290. rivers Install Position Drivers according to the dimensions shown in the following illustration to ensure prop er heat dispersion and convection inside the panel Also install a fan for circulation if Position Drivers are installed side by side to prevent uneven temperatures from developing inside the panel e Mount the Position Drivers vertically so that the model number and writing can be read LLLLLLLLLLLLLLLLLLLL YL LL LLILLLLL LLG y Fan Fan 50 mm min 2 2 7 Be 2 W Side of Driver 7 2 2 2 2 30 mm min WwW mm im 50 7 UMM II Operating Environment Be sure that the environment in which Position Drivers are operated meets the following conditions e Ambient operating temperature 0 C to 55 C e Ambient operating humidity 35 to 90 RH with no condensation e Atmosphere No corrosive gases Ambient Temperature Position Drivers should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability Temperature rise in any Position Driver installed in a closed space such as a control box will cause the ambient temperature to rise inside the entire closed space Use a fan or a air conditioner to pre vent the ambient temperature of the Position Driver from exceeding 55 C e Position Driver surface temperatures may rise to as much a
291. rload A L18 does occur first clear 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 too soon the Servomotor coil may be damaged Motor Overload A L17 Detection Detection Method A motor overload is detected by first calculating the motor s heat generation the electrothermal value from the current flowing to the motor e f 11096 of the electrothermal value is exceeded a motor overload will be detected e The electrothermal value is displayed by the Monitor Mode s electrothermal value display oL Detection Time When a uniform load is added beginning with an electrothermal value of 0 the time until the Driver detects a motor overload is as shown in the following diagram Reference value Note The initial value for the electrothermal value when the Driver is powered up is set at 9096 This is because of the need to rapidly detect an overload in order to prevent motor burnout Therefore a thermal value of about 90 will be displayed even when there is no overload to the motor when the power is turned ON As long as there is no overload however the electrothermal value will be gradually decreased so there is no problem for operation Detection time min 1 5T 0 5T 100 190 200 290 300 Load ratio 76 Note 1 The load ratio is calculated in relation to the motor s rated current Motor current
292. rming to EC Directives U UE series AC Servomotor con forming to EC Directives with incre mental encoder FND X series Position Driver Wiring Symbol No No Symbol Ac AWG24 Blue 16 A A 2 AWG24 White Blue 17 B AWG24 Yellow B BE AWG24 White Yellow 5 AWG24 Green sS 6 AWG24 White Green l 15 s EOV 7 AWG22 Black 1 EOV E5V 8 AWG22 Red 4 E5V FG 9 AWG22 Green Yellow 20 ec scr Dec ione sna FG Cable AWG22x 3C AWG24 x UL2589 For Cable Connector model 17JE13090 02D8A Daiichi Electronic Industries Contact plug model 10120 3000VE Sumitomo 3M Stand model 17L 002A1 Daiichi Electronic Industries Contact case model 10320 52 0 008 Sumitomo For Motor Connector model 17JE23090 02D8A Daiichi Electronic Industries Encoder Cables for U series 30 W to 750 W Servomotors Conforming to EC Directives with Absolute Encoders Cable Models Length L Outer diameter of sheath R88A CSUD003C 10 3 dia R88A CSUD005C R88A CSUD010C R88A CSUD015C R88A CSUD020C Note The maximum distance between the Servomotor and the Position Driver is 20 m 5 56 Specifications Connection Configuration
293. roximity No high speed 199 search speed in origin search operation as override value based on reference speed This value is used as axis speed for origin compensation as well Set an appropriate value so that the origin proximity signal can be detected accurately 18 Origin search 1 1 to 1 Specifies phase Z search No low speed 199 speed in origin search opera tion as override value based on reference speed Set an appropriate value so that the speed will be 500 r min maximum 19 Origin search 0 1 0 Specifies origin search direc No direction tion 0 Forward direction 1 Reverse direction 20 Acceleration 1 ms 0 to 0 Specifies time spent in reach No time 0 9 999 ing reference speed after sys tem is in operation This value is used as accel eration time for the Position Driver in origin search opera tion JOG operation point positioning operation and di rect positioning operation 21 Acceleration 1 ms 0 to 100 Specifies time spent in reach No time 1 9 999 ing reference speed after sys tem is in operation This value is valid if the Posi tion Driver is in point position ing operation 22 Deceleration 1 ms 0 to 0 Specifies time spent in deceler No time 0 9 999 ating reference speed to a stop This value is used as decel eration time for the Position Driver in origin search opera tion JOG operation point positioning operation and di rect position
294. rs are adjusted at a normal temperature there may not be optimal operation at low temper atures Check to see whether there is optimal operation at low temperatures too 5 25 Specifications Encoder method Chapter 5 Encoder Specifications Item Standards Optical incremental encoder Number of output pulses A B phase 1 024 pulses revolution Z phase 1 pulse revolution Power supply voltage 5 VDC 5 Power supply current DC 350 mA for load resistance of 220 Q Pulse duty characteristics 50 10 Phase characteristics 90 43 2 Phase relationship For rotation in the CW direction A phase is advanced by 90 compared to B phase Maximum rotation speed 4 500 r min Maximum response frequency 76 8 kHz Output signals A A B B S S Output interface Conforming to EIA RS 422A Output based on AM26LS31CN or equivalent Serial communications data Z phase poll sensor U V W phase Serial communications method Combination communications method based on A B and S phases 5 2 3 U series 1 kW to 2 kW Servomotors INC ABS General Specifications Item Specifications Ambient operating temperature 0 to 40 C Ambient operating humidity 20 to 80 RH with no condensation Ambient storage temperature 20 to 60 C Ambient storage humidity 20 to 80 RH with no condensation Sto
295. rvo OFF transmitted transmitted within the prescribed time A L48 Encoder The encoders reception circuitry Servo OFF initialization error malfunctioned A L50 BCD data error The input data for P INO to 7 is not BCD Servo lock A L51 Present position START TEACH or ORIGIN TEACH was Servo lock unknown executed when the origin was not established A L52 PTP data point number was selected for which the Servo lock PTP data was not set 4 11 Application 4 4 2 Countermeasures to Alarms Alarm dis Error content Condition when Probable cause Chapter 4 Countermeasures play error occurred A L01 Overcurrent Occurred when Control board defective Replace Driver power was turned ON Occurred when Current feedback circuit error Replace Driver Servo was turned Main circuit transistor module ON error Servomotor power line is Correct the power line short short circuited or grounded circuiting or grounding Measure the insulation resistance at the Servomo tor itself If there is short cir cuiting replace the Servo motor Overheating Occurred during The ambient temperature for Bring the ambient tempera operation even the Driver is higher than 55 C ture for the Driver down to though power was 55 C or lower i ti ind The load torque is too high e Lighten the load reset is execute after waiting for a ra the acceleration time operat
296. rvomotors Conforming to EC Directives with Incremental Encoder Specifications Model Straight shafts with Standard without 3 000 r min R88M UE10030V S1 keys brake R88M UE20030V S1 R88M UE40030V S1 R88M UE75030V S1 With brake 3 000 r min R88M UE10030V BS1 R88M UE20030V BS1 R88M UE40030V BS1 R88M UE75030V BS1 Note When selecting a U series or U UE series Servomotor the Servomotor must be a 200 VAC type HA TA VA XA or H A even when the U U UE Servomotor is combined with a 100 VAC input Position Driver A 100 VAC type Servomotor cannot be connected 7 5 Appendices Chapter 7 U series 1 to 2 kW AC Servomotors Not Conforming to Any Standards with Incremental Encoder Specifications Model Straight shafts with Standard without 3 000 r min 1 kW R88M U1K030H no keys brake 1 5 R88M U1K530H 2 kW R88M U2K030H Standard with 3 000 r min 1 kW R88M U1K030H B brake 1 5 kW R88M U1K530H B 2 kW R88M U2K030H B Straight shafts with Standard without 3 000 r min 1 kW R88M U1K030H S1 keys brake 1 5kW R88M U1K530H S1 2kW R88M U2K030H S1 Standard with 3 000 r min 1 kW R88M U1K030H BS1 brake 1 5kW R88M U1K530H BS1 2 kW R88M U2K030H BS1 with Absolute Encoder U series 1 to 2 kW AC Servomotors Not Conforming to Any Standards Specifications Model Straight shafts with Standard
297. ry Data Key 3 6 1 Setting PTP Data When UP 01 is 11 or 12 Use the following procedure to set the PTP data Pd01 to Pd64 Press the Mode Key to go to the PTP Data Edit Mode PdO1H Use the Increment and Decrement Keys to display the parameter number Pd desired Press the Increment Key to display the parameter data A N Press the Data Key and Shift Key simultaneously to enable a data change The rightmost digit will flash 5 Use the Increment and Decrement Keys to change the data The flashing numeral can be changed To move to the next digit press the Shift Key 6 Press the Data Key to save the changed data in memory 3 34 Operation Chapter 3 PTP Data Display Example Parameter number Pd01H display Lo Data display Pd01H contents D CE Rightmost digit flashes t Indicates incremental Parameter number Pd01L display value designation is Data display Pd01L contents Ge Uu DATA 1 When PP 01 minimum setting unit Parameter number Pd01F display is set to 0 0001 zeroes following the decimal point are not displayed Data display Pd01F contents al 19 Parameter number Pd01A display ft Data display Pd01A contents a CIE Parameter number 01 display NA _ Data display PdO1r contents 0 DATA 3 6 2 Setting Direct Input When UP 01 is 13 or 14 e With direct input
298. s 2 pulses per revolution so rotate motor shaft for 1 4 revolution 3 42 Operation Chapter 3 PTP Parameters The following PTP parameter settings are related to origin search Make the settings according to the mechanical system No Name Min Setting Factory Explanation PP unit range setting 14 Reference speed 1 5 0 to 0 Specifies machine axis reference speed per leftmost digits 9 999 second 15 Reference speed 0 to 500 rightmost digits 9 999 17 Origin search high 196 1 to 10 Specifies origin proximity search speed in speed 199 origin search operation as override value based on reference speed This value is used as axis speed for origin compensation as well Set an appropriate value so that the origin proximity signal can be detected accurately 18 Origin search low 196 1 to 1 Specifies phase Z search speed in origin speed 199 search operation as override value based on reference speed Set an appropriate value so that the speed will be 500 r min maximum 19 Origin search 0 1 0 Specifies origin search direction direction 0 Begin in positive direction 1 Begin in negative direction 06 Origin compensation 1 pulse 9 999 0 Specifies number of motor sensor pulses for leftmost digits to movement between origin search completion 9 999 position and mechanical origin The value can 07 Origin compensation 0 to 0 be obtained by origin teaching
299. s 40 C above the ambient temperature Use heat resistant materials for wiring and keep separate any devices or wiring that are sensitive to heat e The service life of a Position Driver is largely determined by the temperature around the internal elec trolytic capacitors The service life of an electrolytic capacitor is affected by a drop in electrolytic vol ume and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements If a Position Driver is always operated at the maxi mum ambient temperature of 35 C then a service life of approximately 50 000 hours can be ex pected A drop of 10 C in the ambient temperature will approximately double the expected service life 2 33 Design and Installation Chapter 2 Keeping Foreign Objects Out of Units e Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the Position Driver during installation Be sure to remove the cover after installation is complete If the cover is left on during operation heat buildup may damage the Driver Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of the Position Driver AC Servomotors Operating Environment Be sure that the environment in which the Servomotor is operated
300. s S has two methods for connecting Slaves the T branch method and the multi drop method With the T branch method Slaves are connected to branch lines that branch off from the main line With the multi drop method Slaves are connected directly to the main line Termination Resistance In order to stabilize communications it is necessary to install terminating resistance at the opposite end of the main line from the Master There are two types of terminating resistance the connector type with special flat cable and the terminal block type 6 2 CompoBus S Specifications Chapter 6 Types of Connection related Devices Aside from Masters and Slaves the following devices are used with a CompoBus S System Cable Types The following table shows the two cable types and their specifications Specifications VCTF commercially available Vinyl cord VCTF JIS C 3306 Two core nominal cross sectional area 0 75 mm signal line x 2 Conductor resistance 20 C 25 1 Q km SCA1 4F10 Special Flat Cable length 100 m Nominal cross sectional area 0 75 mm x 4 signal line x 2 power line x 2 Ambient operating temperature 60 C max Note Do not use any VCTF cable other than two core cable Connector and Terminal Block Types The following table shows the types of connectors and terminal blocks that can be used Remarks Pressure connector for SCN1 TH4 This connector is used for branching from the m
301. s and External Signal Processing CompoBus S Position Drivers 24 VDC 24 V Maximum voltage 24 VDC Output current Output ground 40 mA Note The Servomotor cannot be driven if the deceleration stop signal if OFF for the external control input CN4 4 or the CompoBus S input OUT7 2 59 Design and Installation Chapter 2 Example Connecting DIO Position Drivers to a Programmable Controller FND X Position Driver PLC Programmable Controller Output Unit Programmable Controller Input Unit 2 60 Design and Installation Chapter 2 Example Connecting DIO Position Drivers to Thumbwheel Switch Positioning Data Designation by Direct Input 24 VDC 24 V O Note 1 The wiring for position data digits 102 to 105 is omitted but it is the same as for the other digits Note 2 The wiring for control output pins 21 to 28 is omitted Note 3 Do not remove the reverse current prevention diodes even when outputting the position and speed data from PLC Output Units Position data 10 digit Position data 10 digit Position data 108 digit Position data 10 digit Sign INC ABS Speed data 10 digit Speed data 10 digit FND X Position Driver 2 61 Design and Installation Chapter 2 2 2 3 Wiring Terminal Blocks Provide proper wire diameters ground systems and noise resistance when wiring terminal blocks Wiring FND X06 to X25 Term
302. s by approximately 8 5 20 Specifications Chapter 5 e Generally in a mechanical system when the temperature drops the friction torque increases and the load torque becomes larger For that reason overloading may occur at low temperatures In particu lar in systems which use deceleration devices the load torque at low temperatures may be nearly twice the load torque at normal temperatures Check with a current monitor to see whether overload ing is occurring at low temperatures and how much the load torque is Likewise check to see wheth er there abnormal Servomotor overheating or alarms are occurring at high temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Position Driver parameters are adjusted at a normal temperature there may not be optimal operation at low temper atures Check to see whether there is optimal operation at low temperatures too Incremental Encoder Specifications Item Standards Encoder method Optical incremental encoder Number of output pulses A B phase 2 048 pulses revolution Z phase 1 pulse revolution Power supply voltage 5 VDC 5 Power supply current DC 350 mA for load resistance of 220 Q Pulse duty characteristics 50 10 Phase characteristics 90 43 2 Phase relationship For rotation in the CW direction A phase is advanced by 90 compared to B phase Maximum rotation s
303. s for connector and cable specifications 2 40 Design and Installation Chapter 2 Using OMNUC U series AC Servomotors 1 to 2 kW SYSMAC CV C series SRM1 C01 C02 Programmable Controller C200HX HG HE or CQM1 Programmable Controller Master Control Unit General purpose CompoBus S Communications Control Cable Cable SCA1 4F10 Flat Cable FND CCX S or commercially available VCTF cable eS FND X series Position Driver 6 FND X series Position Driver x f DIO Type S CompoBus S Type Power Cable R88A CAUB N R88A CAUB Backup Battery ME Connect when using a Servomotor with an abso lute encoder Encoder Cable R88A CRUB N for incremental encoder absolute encoder OMNUC U series AC Servomotor 1 to 2 kW Note 1 Refer to Chapter 5 Specifications for connector and cable specifications Note 2 To perform mounting in accordance with EC Directives use a Servomotor that conforms to EC Directives In addition replace the connectors for the power cable and the encoder cable at the Servomotor with the recommended Connectors listed under Water and Drip Resist ance in 2 1 2 Installation Conditions 2 41 Design and Installation Chapter 2 Using an OMNUC H series AC Servomotor SYSMAC CV C series SYSMAC HX HG HE or CQM1 SRM1 C01 C02 Programmable Controller Programmable Controller Master Control Unit g T
304. s rotation OMNUC U Series 1 to 2 kW with incremental encoder 16 384 pulses rotation OMNUC U Series 1 to 2 KW with absolute encoder 32 768 pulses rotation OMNUC U Series with absolute encoder 4 096 pulses rotation OMNUC U UE Series with incremental encoder 4 096 pulses rotation OMNUC H Series with incremental encoder 8 000 pulses rotation OMNUC M Series with resolver 24 000 pulses rotation Note The displayed value will be changed after PP 01 to PP 03 have been set and the power has been turned OFF and back ON again PRM No Parameter name Setting range Unit Factory setting PP 06 Origin compensation left 9 999 to Pulse 0 most digits 9 999 Parameter name Setting range Unit Factory setting PP 07 Origin compensation right 0 to 9 999 Pulse 0 most digits e These parameters are used to set the mechanical origin to any position e Set the number of motor sensor pulses for movement between the origin search completion position and the mechanical origin e When origin teaching is executed the data is automatically written to these parameters and the teach ing position becomes the origin e After these parameters have been set the mechanical origin can be moved by executing an origin search PRM No Parameter name Setting range Unit Factory setting PP 08 Compensation leftmost 0 to 9 999 Mechanical 0 digits axis move ment PRM No Parameter name Setting range Unit Factory setting P
305. sh be applied depending on the gear precision Use by adjusting the spur gears with a high degree of accuracy for exam distance between ple JIS class 2 normal line pitch error of 6 um max Backlash for a pitch circle diameter of 50 mm If the gear preci gt sion is adequate allow backlash to ensure that no radial load is placed on the motor shaft 2 34 Design and Installation Chapter 2 Bevel gears will cause a load to be applied in the thrust direction depending on the structural preci sion the gear precision and temperature changes Provide appropriate backlash or take other mea sures to ensure that no thrust load is applied which exceeds specifications Make moveable Do not put rubber packing on the flange surface If the flange is mounted with rubber packing the motor flange may separate due to the tightening strength e When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to be placed on the motor shaft due to belt tension If an excessive radial load is ap plied the motor shaft may be damaged Set up the structure so that the radial load can be adjusted A large radial load may also be applied as a result of belt vibration Attach a brace and adjust Position Driver gain so that belt vibration is mini
306. solver noise resistance e Be sure to use dedicated encoder resolver cables f lines are interrupted in the middle connect them with connectors making sure that the cable insula tion is not peeled off for more than 50 mm In addition be sure to use shielded wire Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Be sure to use cables fully extended When installing noise filters for encoder cables use clamp filters The following table shows the rec ommended clamp filter models Do not use these with resolver cables e Do not wire the encoder resolver cable in the same duct as power cables and control cables for brakes solenoids clutches and valves Improving Control I O Signal Noise Resistance Position can be affected if control I O signals are influenced by noise Follow the methods outlined be low for the power supply and wiring Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular be careful not to connect two power supply ground wires Install a noise filter on the primary side of the control power supply f the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the Position Driver input section and the controller out
307. sounds or vibration Is anything abnormal occurring 3 Checking the I O Signal Wiring e Execute the output signal test in System Check Mode and perform the following check Refer to 3 8 2 System Check Mode Are signals from the Position Driver being correctly read by the host controller e Check the following item with the Check Mode s I O signal display Refer to 4 2 Check Mode Are signals and limit inputs from the host controller origin proximity signals deceleration stop input signals and so on being correctly read by the Position Driver 4 Auto tuning With a Load Connected Refer to 3 9 Making Adjustments e Connect the motor shaft to the load mechanical system securely being sure to tighten screws so that they will not become loose e Execute auto tuning in System Check Mode b Turning ON the RUN Command Input e Turn ON the run command input e Check to be sure that the motor goes into servo lock status 6 Operating at Low Speed Operate the motor at low speed The meaning of low speed can vary with the mechanical system Here low speed means approxi mately 10 to 20 of the actual operating speed e Check the following items Is the emergency stop operating correctly Are the limit switches operating correctly Is the operating direction of the machinery correct Are the operating sequences correct Are there any abnormal sounds or vibration Is anything abnormal occurring 7 Operating Under Normal Loa
308. st be attached to the shielded cable and the shield must be clamped directly to the ground plate to ground it 2 73 Design and Installation Chapter 2 Wiring Methods FND X06 to X25 Position Drivers Control panel Device containing Servomotor pEE M 1 Metal plate R88M U conforming to EC Directives Metal duct or AC power conduit supply duct or conduit Surge absorber i NFB Contactor 1 Protectively Separated 0 5m max Ground 1 000 max Driver FG Controller Grounding plate DIO 5mmax CompoBus S 100 m max Controller Note 1 The cable winding for the ferrite core must be 1 turn Note 2 Remove the sheathes from the cables at the clamps and ground them directly to the metal plate at the clamps Note 3 For DIO Position Drivers remove the sheath from control cables and connect the shield directly to the metal plate For CompoBus S Position Drivers place the control cables in metal ducts or conduits and connect the duct or conduit directly to the metal plate 2 74 Design and Installation Chapter 2 FND X50H Position Drivers Control panel Device containing Servomotor F Metal plate R88M U conforming
309. sure to set enough time so that the Programmable Controller PC will be able to respond when the position and speed data selections are received by the PC Set value 2 PC cycle time x 2 PC input delay time 1 ms With CompoBus S type Position Drivers use the following formula for the Programmable Controller s input circuit delay time PC input circuit delay time 2 Communications cycle time x 2 Operation Chapter 3 3 5 3 PTP Parameter Details to PP 26 i 0 0001 to 1 Machine axis 0 0001 movement e This parameter specifies the basic unit for movement and speed value setting and display e Any of the following five basic units can be be set 0 0001 0 001 0 01 0 1 1 e Set this unit according to the minimum feeding amount For example if the minimum feeding amount is 0 1 mm set a minimum setting unit of no more than 0 1 Note 1 After setting this parameter turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again The new setting will go into effect when the power is turned back ON Note 2 If parameter PP 01 is changed after the position and speed data have been set the position and speed digits will change After setting the parameters PP 01 to PP 03 that serve as ref erences for the other parameter settings turn the power OFF and then ON again to put these reference parameter settings into effect before setting the rest of the parameters PRM N
310. sushin Kogyo Co Ltd Plug JRC 16WPQ CP10 Hirose Electric Connector case model MR 20L Honda Tsushin Kogyo Co Ltd For Motor Receptacle JRC 16WRQ 7P Hirose Electric Conversion Cable for M series Servomotors Length L Outer diameter of sheath R88A CRMORST Wiring Cable AWG24 x 3P Relay case model MR 20LK2G Honda Tsushin Kogyo Co Ltd Connector plug model 10120 3000VE Sumitomo Connector model MR 20RM Honda Tsushin Kogyo Co Ltd Connector case model 10320 52 0 008 Sumitomo 5 62 Specifications Chapter 5 Resolver Cables for M series Servomotors Cable Models Length L Outer diameter of sheath R88M CRMAO08N 8 2 dia R88M CRMAO05N 5m R88M CRMAO10N 10m R88M CRMAO15N 15m R88M CRMAO20N 20m R88M CRMA030N 30m R88M CRMAO4ON 40m R88M CRMAO050N 50m Note The maximum distance between the Servomotor and the Position Driver is 20 m Connection Configuration OMNUC AC Servomotor FND X series Position Driver Wiring Cable AWG24 x 3P For Cable Socket JRC 16WPQ 7S Hirose Electric Connector plug model 10120 3000VE Sumitomo Plug JRC 16WPQ CP10 Hirose Electric Connector case model 10320 52 0 008 Sumitomo For Motor Receptacle JRC 16WRQ 7P Hirose Electric 5 63 Specifications Chapter 5 5 3 6 Pow
311. system Gain is wrong 285 Use auto tuning Adjust the gain manually 4 27 Application Chapter 4 Symptom Probable cause Items to check Countermeasures Motor is over The ambient temperature is too Check to be sure that the ambi Lower the ambient temperature heating high ent temperature around the to 40 C or lower Use a cooler motor is no higher than 40 C or fan The ventilation is obstructed Check to see whether anything Ensure adequate ventilation is blocking ventilation There is an overload Use the Monitor Mode to check e Lighten the load the electrothermal value e Change to a larger capacity motor There are The machinery is vibrating Inspect the machinery to see Fix any problems causing vibra unusual noises whether there are any foreign objects in the movable parts or whether there is any damage deformation or looseness tion The speed loop gain adjustment is insufficient e Use auto tuning Adjust the gain manually The parameters The parameters are write pro Check the computer s Using the computer s monitoring cannot be tected monitoring software software release the write changed protection Output torque is The motor has only made small After making the motor perform insufficient movements approx 6 pulses rotations of over 6 pulses of encoder resolution from the power supply position re attem
312. t 3 66 Operation Chapter 3 3 9 Making Adjustments 3 9 1 Auto tuning Auto tuning is a function for automatically operating the motor to adjust the position loop gain speed loop proportional gain and speed loop integral gain If adjustments cannot be made by auto tuning refer to 3 9 2 Manually Adjusting Gain When using auto tuning the limit inputs and deceleration stop input must be connected Basic Auto tuning Procedure go into auto tuning first enter the System Check Mode from the Monitor Mode and then press the Shift Key to bring up the auto tuning display After setting the auto tuning parameters press the Data Key and Increment Key simultaneously to begin the auto tuning operation e When the auto tuning operation has been completed double click the Mode Key to return to the Moni tor Mode Monitor Mode ENS Lu TN REND NET Nee Foes Hold down the Incre i ment Key Decrement Key and Data Key simultaneously for at least five seconds Motor test Output signal test Auto tuning display Be Double click the Mode Key Auto tuning Executes auto tuning operation Auto tuning in progress Display flashes and motor opertis Auto tuning completed Auto tuning Parameter Settings Display Name Min Setting Factory Explanation unit range setting Auto 1 Reciprocating 1 rev 1 to 1 Specifies
313. t Key simultaneously to enable a data change The rightmost digit will flash 6 Use the Up and Decrement Keys to change the data The flashing numeral can be changed To move to the next digit press the Shift Key 7 Press the Data Key to save the changed data in memory 8 Double click the Mode Key to go from H Parameter Edit to the Monitor Mode H Parameters Display Example User parameter display uP 8 1 Vell s Parameter number HP 33 display H O 223 f1 Rightmost digit DATA IY flashes tH Parameter number HP 46 display H e 5 mE Data display HP 46 contents Data display HP 33 contents 3 14 Operation Chapter 3 3 4 2 User Parameter and H Parameter Tables The following tables list the user parameters UP 01 to UP 29 and H parameters HP 33 and HP 46 No UP Name User Parameters Min unit Setting range Factory setting Explanation Re power required 01 Control mode 00 to FF Specifies position control mode 11 Point positioning PTP 12 Point positioning feeder 13 Direct positioning PTP 14 Direct positioning feeder Yes 02 Motor code 0000 to FFFF Motor model code Yes 03 Resolver cable length 1 to 120 Sets the resolver cable length for when M series motor is used Valid only for M series motors No 07 In position width 1 pulse 1 to 32 767 Out
314. t number setting completed 3105 START switch DIFU 013 3200 START signal output 3200 0801 START 0801 READY An error is output if the START signal is input while the ready 3201 3203 START error check switch signal is OFF START error 3202 3 55 Operation Chapter 3 Note 1 The point number setting switch is a contact for taking the point number DM 00 into the Posi tion Driver Note 2 Turn ON the point number check switch 3106 and the START switch when point number setting completed 3105 is output Note 3 When using a CompoBus S type Position Driver the deceleration stop STOP signal must be turned ON in the ladder program If the deceleration stop signal for external control input CN 4 4 or ladder program input OUT 7 is OFF the motor will not run 3 7 5 Direct Positioning UP 01 13 or 14 Function Positioning is executed by taking in sequence the position and speed data entered for positions 0 to 7 P INO to 7 according to the timing output signals for position data selections 1 to 4 P DUTO to 3 and the speed data selection P DUTA e When the teach signal is turned ON the Position Driver starts reading the data Both the teaching completed T COM and ready signals are turned ON when the Position Driver has finished reading the data Positioning is started when the start signal is turned ON while the ready signal is ON e The ready signal is turned OFF during p
315. tage mV 8 89 9 98 14 0 12 4 18 6 20 6 constant See r min note Power rate See KW s 4 36 9 63 25 4 32 8 84 6 85 1 note Mechanical time ms 1 5 0 9 0 5 0 4 0 3 0 3 constant Winding resis Q 15 8 9 64 6 99 1 34 1 23 0 45 tance Winding imped mH 23 1 16 9 13 2 7 2 7 9 5 7 ance Electrical time ms 1 5 1 8 1 9 5 4 6 4 13 constant Momentary al N 186 490 735 lowable radial load kgf 19 50 75 Momentary al N 127 176 392 lowable thrust load kgf 13 18 40 Allowable radial N 68 78 245 392 load kgf 7 8 25 40 Allowable thrust N 54 49 68 147 load kgf 5 5 5 7 15 Weight Without kg Approx Approx Approx Approx 1 2 Approx 1 8 Approx 3 5 brake 0 45 0 55 0 65 With kg Approx Approx Approx Approx 1 7 Approx 2 3 Approx 4 5 brake 0 75 0 85 0 95 5 18 Specifications R88M R88M U05030TA 05030XA R88M U10030TA U10030XA U03030TA U03030XA Chapter 5 R88M U20030TA U20030XA R88M U40030TA U40030XA R88M U75030TA U75030XA Radiation shield Material t6x 250 dimensions Applicable 200 V 06 X12H X25H Position Driver input ENE 100 V X06L X12L m input Brake Brake kg m 0 09 x 1079 0 58 x 1079 1 40 x 1075 speci inertia 02 4 Md kgf cm s2 0 09 x 10 4 0 59 x 10 4 1 43 x 10 4 Excita V 24 VDC 10 No polarity tion voltage Power W at 6 0 6 5 6 0 con 20 C sump tion
316. tance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease e No fuse breakers MCCB surge absorbers and noise filters NF should be positioned near the input terminal block ground plate and I O lines should be isolated and wired using the shortest means possible Noise Filters e Remove the coating or mask when coating from the panel area to which the Position Driver and noise filters are mounted to improve electrical conductivity Locate noise filters as close to the Position Driver as possible and keep the wiring distance between the noise filters and Position Driver as short as possible 2 75 Design and Installation Chapter 2 Wire the noise filter as shown at the left in the following illustrations Good Separate input and output NO Noise not filtered effectively AC inputs 1 4 AC outputs AC inputs i 2 NF 5 2 NF 5 3 E 6 _ 2 6 Ground Ground AC outputs e Use twisted pair cables for the power supply cables whenever possible or bind the cables Twisted Wires Position Driver Binding RO A pe Binding e Separate power supply cables and signal cables when wiring FND X06 to X25 Position Drivers FND X50H Position Drivers Installation panel Installation panel Do
317. ther ON or OFF so it can be executed while the mechanical system is being moved by either the JOG operation or external force Note Teaching cannot be executed if the origin is not established PTP Parameters The following PTP parameters are set by the teaching operation No Name Min Setting Factory Explanation Pd unit range setting H Point No PP 01 I A 1 0 Specifies point no position data position data 3 999 A value between 39 999 999 and leftmost digits to 39 999 999 can be set Leftmost digit is used 3 999 to specify A absolute or I incremental value L Point No PP 01 0 to 0 Note 1 represents a number from 01 position data 9 999 to 64 rightmost digits Note 2 With teaching the position data is A absolute value Operation Example Teaching With JOG 1 Input to points 0 to 6 P INO to 6 the point numbers to be taught Make sure that they match the numbers for point outputs 0 to 6 P OUTO to 6 2 Use the JOG operation JOG or JOG to rotate the motor 3 Move to the position that is to be taught and then turn ON the teaching TEACH input 3 51 Operation Chapter 3 4 When the teaching completed signal T COM turns ON turn OFF the teaching TEACH input RUN command RUN ON JOG operation JOG oN OFF Teaching TEACH Point selection P INPO to 6 READY Positioning completed INP Teaching completed OFF T COM
318. tions Common to DIO CompoBus S Item Specifications Power supply voltage Single phase 200 VAC FND X06H X12H X25H Single phase 200 240 VAC 1596 to 10 at 50 60 Hz Three phase 200 VAC FND X50H Three phase 200 240 VAC 159 to 10 at 50 60 Hz Single phase 100 VAC FND X06L X12L Single phase 100 115 VAC 1596 to 10 at 50 60 Hz Ambient operating temperature 0 to 55 C Ambient operating humidity 35 to 90 RH with no condensation Ambient storage temperature 10 to 70 C Ambient storage humidity 35 to 90 RH with no condensation Storage and operating atmo No corrosive gasses sphere Dielectric strength 1 500 VACrms for 1 min at 50 60 Hz Insulation resistance Between supply input terminals and case 5 MO min at 500 VDC Vibration resistance 10 to 150 Hz in X Y and Z directions with 0 10 mm double amplitude acceleration 9 8 m s 1 G max time coefficient 8 min 4 sweeps Impact resistance Acceleration 98 m s 10 G max in X Y and Z directions three times each Protective structure Built into panel IPOO Low voltage Directives applica Overvoltage category II ble class Pollution degree Il Note 1 The above items reflect individual evaluation testing The results may differ under com pounded conditions Note 2 Absolutely do not conduct a withstand voltage test or a megger test on the Position Driver If such tests are conducted int
319. tmost 9 999 digits 16 JOG speed 1 1 to 10 Specifies motor r min JOG opera No 199 tion as override value based on ref erence speed 17 Origin search 1 1 to 10 Specifies origin proximity search No high speed 199 speed in origin search operation as override value based on reference speed This value is used as axis speed for origin compensation as well Set an appropriate value so that the origin proximity signal can be detected accurately 18 Origin search 196 1 to 1 Specifies phase Z search speed in No low speed 199 origin search operation as override value based on reference speed Set an appropriate value so that the speed will be 500 r min maxi mum 19 Origin search as 0 1 0 Specifies origin search direction No direction 0 Forward direction 1 Reverse direction 20 Acceleration 1 ms 0 to 0 Specifies time spent in reaching ref No time 0 9 999 erence speed after system is in operation This value is used as acceleration time for the Position Driver in origin search operation JOG operation point positioning operation and direct positioning operation 21 Acceleration 1 ms 0 to 100 Specifies time spent in reaching ref No time 1 9 999 erence speed after system is in operation This value will be valid if the Posi tion Driver is in point positioning operation 3 25 Operation Chapter 3 No Name Min Setting Factory Explanation Re power PP unit range setting req
320. to EC Directives with Incremental Encoder Specifications Model Straight shafts with Standard without 3 000 r min R88M U03030VA S1 keys brake R88M U05030VA S1 R88M U10030VA S1 R88M U20030VA S1 R88M U40030VA S1 R88M U75030VA S1 Standard with 3 000 r min R88M U03030VA BS1 brake R88M U05030VA BS1 R88M U10030VA BS1 R88M U20030VA BS1 R88M U40030VA BS1 R88M U75030VA BS1 7 4 Appendices Chapter 7 U series 30 to 750 W AC Servomotors Conforming to EC Directives with Absolute Encoder Specifications Model Straight shafts with Standard without 3 000 r min R88M U03030XA S1 no keys brake R88M U05030XA S1 R88M U10030XA S1 R88M U20030XA S1 R88M U40030XA S1 R88M U75030XA S1 Standard with 3 000 r min R88M U03030XA BS1 brake R88M U05030XA BS1 R88M U10030XA BS1 R88M U20030XA BS1 R88M U40030XA BS1 R88M U75030XA BS1 U UE series AC Servomotors Not Conforming to Any Standards with Incremental Encoder Specifications Model Straight shafts with Standard without 3 000 r min 100 W R88M UE10030H S1 keys brake 200W R88M UE20030H S1 400W R88M UE40030H S1 750W R88M UE75030H S1 With brake 3 000 r min 100 W R88M UE10030H BS1 200 W R88M UE20030H BS1 400 W R88M UE40030H BS1 750 W R88M UE75030H BS1 U UE series AC Se
321. to P OUTA signals are turned ON for selecting position data and speed data for positioning by direct input 3 32 Operation Chapter 3 Be sure to set enough time for the Programmable Controller PC to respond when the position and speed data selections are received by the PC Set value 2 PC cycle time x 2 PC input delay time 1 ms With CompoBus S type Position Drivers use the following formula for the Programmable Controller s input circuit delay time PC input circuit delay time Communications cycle time x 2 When the Increment and Decrement Keys are pressed the set value is changed in units of 0 8 ms The digit to be set cannot be specified by pressing the Shift Key 3 33 Operation Chapter 3 3 6 Setting Positioning Data PTP Data Direct Input Positioning data includes the following data settings position soeed acceleration de celeration and operation mode The acceleration deceleration and operation mode selection settings are not made for position control by direct input Go to the User Parameter Edit Mode Mode Key Display the pertinent parameter number Increment Key Decrement Key Increment Key Data Key Decre ment Key Data Key Display the parameter contents data Increment Key Enable the data change Data Key Shift Key Change the data Increment Key Decrement Key Shift Key Save the data in memo
322. tput 3 Position selection 4 12 P OUT4 Point output 4 Speed selection 13 P OUT5 Point output 5 14 P OUT6 Point output 6 15 Not used 3 58 Operation Chapter 3 DM Area 01 Input signal 02 Output signal 10 Positioning data rightmost digits 11 Positioning data leftmost digits 12 Speed data 20 Indirect table for positioning data 21 Digit transfer control data table IR Area Word 30 in the IR area is used Note 1 A CompoBus S type Position Driver can also be used by changing the word allocation For details regarding word allocations refer to the Master Unit operation manual Note 2 Bit allocation will be made for the deceleration stop STOP signal when using a CompoBus S type Position Driver Note 3 Input position data BCD and speed data BCD into P IN 0 to 7 with P OUTO to 4 P IN7 P IN6 P IN5 P IN4 P IN3 P IN2 P IN1 P INO 8 10 1 4 1091 2 10 1 x 100 18 x 10 4 x 10 2 x 10nn 1 x 10 Position data P OUTO ON n 0 POUT1 ON nz2 P OUT2 ON n 4 P OUT3 ON n 6 P IN6 tdata 0 1 P IN7 INC ABS data 0 INC 1 ABS Speed data POUT4 ON 0 3 59 Operation Chapter 3 Ladder Program RUN switch 0807 Alarm output 0000 RUN RUN command signal output 3300 DECELERATION STOP switch STOP See note 3 Data input switch DIFU 013 3100 3100 3102 3101 0801 READY 3101 0006 TEACH 0006 08
323. ttings PTP Parameters Setting Positioning Data PTP Data Direct Input Operational Sequence Trial Operation Making Adjustments 3 10 Regenerative Energy Absorption Operation Chapter 3 3 1 Operational Procedure After confirming that the system has been correctly installed and wired make the initial settings for the Position Driver Then set the position control functions according to the position control methods Any incorrect settings in the parameters could cause unexpected motor operation creating an extremely dangerous situation Use the procedures provided in this chapter to carefully set all parameters Startup Procedure Mounting and installation Install the Servomotor and Driver according to the installation conditions Refer to 2 1 nstallation Wiring and connections Connect to power supply and peripheral devices Refer to 2 2 Wiring Turning ON power supply Before turning ON the power supply check the necessary items In order to make the initial settings turn ON the applicable power supply Refer to 3 2 1 Items to Check Before Turning ON Power Checking display status Check by means of the displays to see whether there are any internal errors in the Driver Refer to 3 2 2 Turning ON Power and Confirming the Display Function settings Set the user parameters for operation Refer to 3 4 Setting Functions User Parameters H Parame ters Position
324. turer All models Elbow connectors Sheath exterior diameter Japan Aviation Electron JA08A 20 29S J1 EB of 6 5 to 9 5 mm ics Industry Ltd Straight connectors JL04 2022CKE 09 JA06A 20 298 J1 EB Sheath exterior diameter of 9 5 to 13 mm JL04 2022CKE 12 Sheath exterior diameter of 12 9 to 16 mm JL04 2022CKE 14 Other Precautions e Do not apply commercial power directly to the Servomotor The Servomotors run on synchronous AC and use permanent magnets Applying 3 phase power will burn out the motor coils Do not carry the Servomotor by its cable otherwise the cable may become disconnected or the cable clamp may become damaged e The shafts are coated with anti rust oil when shipped Apply anti rust oil or grease to the shaft if nec essary When anti rust oil or grease is applied connections such as couplings to the load shaft may slip causing dislocations Therefore pay careful attention to the connections after applying anti rust oil or grease e Absolutely do not remove the encoder resolver cover or take the motor apart The magnet and the encoder resolver are aligned in the Servomotor If they become misaligned the motor will not oper ate 2 36 Design and Installation Chapter 2 The Servomotor may not produce sufficient torque when moved only a small distance from the point where power is turned ON a distance equivalent to about 6 pulses If only a very small distance is to b
325. uired 22 Deceleration 1 ms 0 to 0 Specifies time spent in decelerating No time 0 9 999 reference speed to a stop This value is used as deceleration time for the Position Driver in origin search operation JOG operation point positioning operation and direct positioning operation 23 Deceleration 1 ms 0 to 100 Specifies time spent in decelerating No time 1 9 999 reference speed to a stop This value will be valid if the Posi tion Driver is in point positioning operation 24 Deceleration 0 to 2 1 Selects stop method with STOP sig No stop mode nal OFF 0 Free running stop 1 Deceleration stop 2 Error counter reset stop 25 Alarm selection 00 to 11 11 Selects alarm processing method with No limit or soft limit detection C Overrun 0 Servo lock stop 1 Servo free alarm Soft limit 0 Servo lock stop 1 Servo lock alarm 26 Selection signal 0 8ms 0 8to 20 0 Specifies time during which POUTO output time See 800 0 to POUT4 signals are turned ON for note 2 selecting position data and speed Note 1 Note 2 3 26 data for direct positioning The minimum setting value varies with the value set in PP 01 The setting unit is used for machine axis movement and can be changed with the pulse rate setting Setting unit examples Linear movement mm cm m inch yard Rotating movement degree rad revolution Other movement Pulse Be
326. urn the power supply OFF and then back ON Press the Data Key while the alarm is displayed Power status alarms A LO7 however cannot be cleared by turning the power OFF and then back ON e Operation will start as soon as the alarm is cleared if the alarm is cleared while the RUN command RUN is ON possibly creating a dangerous situation Turn OFF the RUN command before clearing alarms 4 21 Application Chapter 4 4 5 Troubleshooting 4 5 1 Preliminary Inspection This section describes the preliminary inspections and monitoring devices that are required to locate and clear the cause of an error Power Supply Voltage Check e Check that the voltage at the AC power supply terminals is within the following range 100 VAC input type 85 to 127 VAC 200 VAC input type 170 to 264 VAC If the voltage is outside this range faulty operation may occur Provide the correct power supply e Check that the power supply voltages for external device interfaces are within the following range 23 to 25 VDC If the voltage is outside this range faulty operation may occur Provide the correct power supply Monitoring Device Selection Alarm Check If an alarm has been generated check the alarm code and take countermeasures in accordance with the meaning of that code If an alarm has not been generated take countermeasures in accordance with the nature of the error Refer to 4 5 4 Troubleshooting M
327. ut and power supply input Specifi cations Chapter 5 Signal RO 50 Control power supply input Terminal Blocks FND X50H Function Condition These are the power supply input terminals for the control circuit Single phase 200 240 VAC 170 to 264 VAC 50 60 Hz R Main circuit power These are the power supply input terminals for the main circuit S supply input Three phase 200 240 VAC 170 to 264 VAC 50 60 Hz T P Main circuit DC These are the connection terminals for the Regeneration Resistor JP1 output R88A RR20030 RR40030 Connect them when the regeneration energy is JP2 Regeneration Re high sistor connection When connecting a Regeneration Resistor remove the short bar from be terminal tween JP1 and JP2 N Main circuit DC This is the main circuit DC output terminal output MC Not used Do not connect anything to these terminals Do not remove the short bar COM from between BI1 and 2 BO 11 2 Servomotor s These the terminals for outputs to the Servomotor Be careful to phase and U wire them correctly OMNUC Servomotors can be connected to phase output these terminals with R88A CAUB Cable for U series Servomo B Servomotors B White tors OMRON does not provide a dedicated cable to connect these phase and V terminals to OMNUC M series Servomotors so the user must pro phase output vide an appropriate cable i
328. ve Area is allo cated to the FND X Position Driver s input area and the IN Slave Area is allocated to the FND X Posi tion Driver s output area The node addresses are allocated by the switch settings as follows Switch setting Output signals Input signals 0 1 IN Slave 0 IN Slave 1 OUT Slave 0 OUT Slave 1 2 3 IN Slave 2 IN Slave 3 OUT Slave 2 OUT Slave 3 4 5 IN Slave 4 IN Slave 5 OUT Slave 4 OUT Slave 5 6 7 IN Slave 6 IN Slave 7 OUT Slave 6 OUT Slave 7 8 9 IN Slave 8 IN Slave 9 OUT Slave 8 OUT Slave 9 A B IN Slave 10 IN Slave 11 OUT Slave 10 OUT Slave 11 C D IN Slave 12 IN Slave 13 OUT Slave 12 OUT Slave 13 E F IN Slave 14 IN Slave 15 OUT Slave 14 OUT Slave 15 The procedure when the C200HW SRM21 is used for the Master Unit is provided here as an example Example Master Unit Unit Number set to 0 Position Driver Node Address set to 0 When the Master Unit number is 0 the starting word for the CPU Bus Unit area of the Programmable Controller that is allocated to the Programmable Controller will be set to word 100 Also when the node address of the Position Driver is set to 0 the Slave areas of IN Slave 0 and 1 and OUT Slave 0 and 1 will be allocated to the Position Driver The control I Os of the Position Driver are allocated to the Special I O Unit area of the Programmable Controller as shown in the following tables 3 11 Operation Chapter 3
329. ving been detected the motor will only be able to be driven in the direction which will release it from the software limit If alarm A L34 or A L35 has been generated the alarm must be reset before the motor can be driven e f the maximum value is set for a given detection direction e g 99 999 999 for the positive software limit then the software limit for that direction will be ignored and the alarm detection will not be acti vated PRM No Parameter name Setting range Unit Factory setting PP 14 Reference speed leftmost 0 to 9 999 Mechanical 0 digits axis move ment PRM No Parameter name Setting range Unit Factory setting PP 15 Reference speed right 0 to 9 999 Mechanical 500 most digits axis move ment e These parameters specify the motor s speed during positioning as the amount of mechanical axis movement per second The actual speed becomes the reference speed x the override The override value is set as PTP speed data or by direct input PRMNo Parametername Setingrange Unt No Parameter name a range Unit Factory setting setting PP 16 Joa speed _ _ X parameter specifies the motor r min in JOG operation LI JOG as an override value based on the reference speed as 100 Note Set the JOG speed at or below the motor s maximum speed PRMNo Parametername Setting range Uni PP 17 Origin search high speed 1t0199 30 e This parameter spec
330. water soluble cutting fluids Vibration grade V 15 JEC2121 Mounting method Flange mounting Note 1 Vibration may be amplified due to sympathetic resonance of machinery so do not exceed 19 6 m s 2 G over a long period of time Note 2 The above items reflect individual evaluation testing The results may differ under com pounded conditions Note 3 The Servomotor cannot be used in a misty atmosphere Note 4 The drip proof specifications for models conforming to UL cUL standards are covered by IP 44 Models with drip proof specifications provide drip proofing on Servomotors with oil seals Rated output See note Performance Specifications with an Incremental Encoder R88M R88M R88M R88M R88M R88M U03030HA U05030HA U10030HA U20030HA U40030HA U75030HA U03030VA U05030VA U10030VA U20030VA U40030VA U75030VA Rated torque See note 5 15 Specifications Chapter 5 R88M R88M R88M R88M R88M R88M U03030HA U05030HA U10030HA U20030HA U40030HA U75030HA U03030VA U05030VA U10030VA U20030VA U40030VA U75030VA Rated rotation r min 3 000 speed Momentary maxi r min 4 500 mum rotation speed Momentary maxi N m 0 29 0 48 0 96 1 91 3 82 7 10 mum torque See note kgf cm 2 9
331. wer is cut off is approximately 1 5 times that of the varistor 39 V 200 V 270 V 470 V 24 VDC system varistor 100 VDC system varistor 100 VAC system varistor 200 VAC system varistor Okaya Electric Ind CR 50500 0 5 uF 50 Q CRE 50500 0 5 pu F 50 Q S2 A 0 0 2 uF 500 Q Note Thyristors and varistors are made by the following companies Refer to manufacturer s documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Parts Use capacitors and resistors for vibration absorption of surge when power is cut off The reset time can be shortened by proper selection of the capacitor or resis tor 4 resistor Contactors When selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Position Driver inrush current is 50 A and the momentary maximum current is approximately twice the rated current The following table shows the recommended contactors Maker Model Rated current Coil voltage OMRON LC1D25106 26A 200 VAC LC1D40116 35A LC1D50116 50A LC1D80116 80A LP1D25106 26 A 24 VDC LP1D40116 35 A LP1D50116 50 A LP1D80116 80 A Leakage Breakers e Select leakage breakers designed for inverters e Switching operations take place inside the Position Driver causing high frequency current to leak from the armature of the Servomotor With inverter leakage breakers
332. with in 1 s Continuous operation area 100 20 229 r min R88M M2K220 Nem kgf cm 304 300 Short term operation area with 1 s 104 100 Continuous operation area 0 0 1 000 2000 2200 r min Specifications Chapter 5 4 000 r min R88M M06040 Nem kg fem 5 04 Short term op eration area 0 3 within 1 s 02 0 1 Continuous operation area 0 0 2 000 4000 4400 r min R88M M40040 kg feem 0 0 2000 4000 440 r min R88M M2K040 Nem kgf cm Short term 191100 operation area with in 1 s Continuous operation area 0 2 000 4 000 4400 r min R88M M12040 N m kgf cm Short term op eration area within 1 s Continuous operation area 0 0 2 000 4 000 4400 R88M M70040 Ne m kgf cm 50 Short term operation area with in 1 s Continuous operation area 0 0 2 000 4000 4400 Resolver Specifications R88M M20040 Nem kg fom 20 Short term op eration area within 1 s Continuous operation area 0 2000 499 449 r min R88M M1K140 kgf cm Short term operation area within 1 s Continuous operation area 0 0 2000 4000 4400 r min Item Standards Absolute accuracy 0 18 max Ambient temperature 25 C Accuracy Origin signal 2 pulses revolution

Omron Omnuc FND-X series position driver user manual

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