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Accurax G5 with EtherCAT communication Users

1. U O D gt O A c O 5 7 Precautions for Correct Use Always turn OFF the power supply to the Position Control Unit and Servo Drives before connecting or disconnecting the EtherCAT Communications Cables The cable between the two nodes L1 L2 Ln must be 100 m or less OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 78 Specifications 3 4 Cable and Connector Specifications Analog Monitor Cable Specifications i Analog Monitor Cable R88A CMK001S Connection Configuration and External Dimensions Connector housing 51004 0600 Molex Japan Connector terminal 50011 8100 Molex Japan 1 000 mm 1 m 3 79 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications g External Encoder Connector R88A CNK41L Use this connector to connect to an external encoder in fully closed control 42 5 10 5 X lt L gt CO Connector plug model MUF PK10K X J S T Mfg Co Ltd Pin Arrangement View from Inserted Portion View from Soldered Housing Surface Haan o 2 E 4 Ea c Rls Bt i Safety I O Signal Connector R88A CNK81S Use this connector to connect to a safety device 11 Pin arrangement Note For information on
2. Wall Mounting External dimensions Mounting dimensions 65 70 172 2 M4 E Q Q H D 1 o Mod gt d m gt lt ea l e N 5 g Front Mounting Using Front Mounting Brackets 3 e External dimensions Mounting dimensions 7 70 172 N 4 2 M4 20 4 T o Rectangular ap hole p 67 40 Rectangular hole dimensions are reference values OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 26 Models and External Dimensions 2 4 External and Mounting Dimensions Single phase 3 phase 200 VAC R88D KN10H ECT KN15H ECT 900 W to 1 5 kW Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 4 M4 ao A Rectangular hole 170 158 88 4 Rectangular hole dimensions are reference values 2 27 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions g 3 phase 200 VAC R88D KN20H ECT 2 kW Wall Mounting External dimensions Mounting dimensions
3. AAA 1 mec XE Y P7715 M5 depth 12 Dimensions mm R88M K1K030L1 141 g 66 119 R88M K1K5300 137 5 R88M K2K030L 156 5 R88M K1K0300 BC 168 124 6 146 R88M K1K5300 BC 164 5 R88M K2K0300 BC 183 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 43 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 kW without Brake R88M K3KO30H R88M K3KO30T S2 3 kW with Brake R88M K3KO30H B R88M K3K030T B S Motor and brake connector Encoder connector 2 4 External and Mounting Dimensions 120x120 Shaft end specifications with key and tap R88M K3K030 R88M K3K030 M5 depth 12 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 44 SUOISUBWIG eU1e xXq pue Sj powN Models and External Dimensions 2 4 External and Mounting Di
4. Brake Cables 50 to 750 W max e Flexible Cable R88A CAKA BR E Feedback Signals Encoder Cables e Flexible Cables 750 W or less R88A CRKA 1 kW or more R88A CRKC e OMNUC G5 series Servomotor R88M K 3000 r min 2000 r min INC 1000 r min ABS Absolute Encoder Battery Cable R88A CRGDOR3C BS A battery is included with model numbers ending in BS aH eT Not required if a battery is connected to the control connector CN1 q jeu13 x4 pue Sj poN SUOISUSUII Models and External Dimensions 2 2 How to Read Model Numbers 2 2 How to Read Model Numbers This section describes how to read and understand the model numbers of Servo Drives and Servomotors Servo Drive The Servo Drive model number tells the Servo Drive type applicable Servomotor capacity power supply voltage etc R88D KNO1H ECT OMNUC G5 series Servo Drive Drive Type N Network Maximum Applicable Servomotor Capacity Ad 50 W 01 100 W 02 200 W 04 400 W 06 600 W 08 750 W 10 1 kW 15 1 5 kW 20 2 kW 30 3 kW 50 5 kW 75 7 5 kW 150 15 kW Power Supply Voltage L 100 VAC H 200 VAC F 400 VAC Communications Type ECT EtherCAT ETC R Model limited to position control connected to CJ1W NCLJ8L 1 1 This manual is for the R88D KNLJLILI ECT Servo Drives For details on the R88D KNI_JL LI ECT R Servo Dr
5. Frequency kHz ESD R 47B 10000 1000 Impedance Q z 1 10 100 1000 Frequency MHz 3G3AX ZCL2 1000 ak OQO O Impedance Q 1 10 100 1000 10000 Frequency kHz ZCAT3035 1330 1000 Impedance Q 5 Frequency MHz 4 43 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives i Surge Suppressors Install surge suppressors for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows the types of surge suppressors and recommended products Diodes Diodes are used for relatively small loads Use a fast recovery diode with a short such as relays when the reset time is nota reverse recovery time critical issue e g RU2 of Sanken Electric Co Ltd At power shutoff the surge voltage is the lowest but the reset time takes longer Used for 24 48 VDC systems Thyristors Thyristors and varistors are used for loads Select the varistor voltage as follows and varistors when induction coils are large as in 24 VDC systems varistor voltage 39 V electromagnetic brakes solenoids etc 100 VDC s
6. ccccseeeseeeeeeeeeeeeeees 9 31 9 6 Extended ODJECE 9 40 9 7 Special Objects wes scegeceeece ere ccsctdencaceatzccevecaus avedseeseacesaae 9 47 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Details on Servo Parameter Objects 9 1 Basic Settings 9 1 Basic Settings This section describes objects specific to OMNUC G5 series Servo Drives with built in EtherCAT communications OMNUC G5 series Servo Drive parameters PnU are allocated to objects 3000 to 3999 hex Index 3LILLI hex correspond to OMNUC G5 series Servo Drive parameters Pn ULI For example object 3504 hex is the same as parameter Pn504 l Precautions for Correct Use Pn uses decimal numbers but object 3IL is a hexadecimal number Some objects are enabled by turning the power supply OFF and then ON again After changing these objects turn OFF the power supply confirm that the power supply indicator has gone OFF and then turn ON the power supply again Do not change the objects marked reserved Also do not change the set values that are indicted as being unused or reserved for the system See below for the data attributes A Always enabled B Prohibited to change during motor rotation or commands If it is changed during motor rotation or commands the update timing will be unknown C Updated after the control power is reset or after a Config command is executed via
7. cccccceeeeeeseeeeseeeeeeseeeesneeees 1 3 1 3 Names and Functions cccccecceeeceeeeeeeseneeeneeneeeeesees 1 4 1 4 System Block Diagram cccccssseseseeseeeseeeeeeeeeneeees 1 6 1 5 Applicable Standards cccccsseseeeeeeeeeeeeeseneeenees 1 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 1 Outline 1 1 Outline Outline of the OMNUC G5 Series Features and System Configuration The OMNUC G5 series Servo Drives with Built in EtherCAT Communications support 100 Mbps EtherCAT When you use the Servo Drive with a Position Control Unit with EtherCAT interface CJ1W NCLJ8_ you can create a sophisticated positioning control system Also you need only one communications cable to connect the Servo Drive and the Controller Therefore you can realize a position control system easily with reduced wiring effort With real time autotuning adaptive filter notch filter and damping control you can set up a system that provides stable operation by suppressing vibration in low rigidity machines Features of OMNUC G5 series Servo Drives OMNUC G65 series Servo Drives have the following features f Data Transmission Using EtherCAT Communications When you use it with a Position Control Unit with EtherCAT interface CJ1W NCLI8L you can exchange all control data between the Servo Drive and the Controller through high speed data communications
8. cceeeeeeeeeeeeeeeeeeeees A 44 Digital inputs 60FD hex ceeeceeee cece eee eaes A 59 Digital outputs GOFE Nex cceeeeeeeeeeeee eee A 61 Disable operation option code 605C hex A 47 Error code GO3F NeX ccceeesseescessensenseeeaes A 43 Fault reaction option code 605E hex A 48 Following error actual value 60F4 hex A 58 Following error window 6065 hex 0eeee A 50 Gear ratio 6091 NeX ccc eeeeeeseeseeeeeeeeeeeeees A 53 Halt option code 605D hexX cceeeeeeeeeee eee A 47 Home offset 607C hex cece eee eee ee near ee eens A 51 Homing method 6098hexX ccceeee eee e ee eee A 53 Homing speeds 6099 hex cccceeeee eee e eens A 54 Max profile velocity 607F Nex cceeeeeeee eee A 52 Max torque 6072 NeX cccceeceeseeeeeesenaeenees A 51 Modes of operation 6060 hex ccceeeeee eee A 49 Modes of operation display 6061 hex A 49 Motion profile type 6086 Nex cceeeee eee ee ee A 53 Motor type 6402 NeX cccceeeeee ence eee eeeeeeeeaes A 62 Negative torque limit value 60E1 hex A 57 Position actual internal value 6063 hex A 49 Position actual value 6064 hex ceeeeeeees A 50 Position demand internal value 60FC hex A 58 Position demand value 6062 hex 000e A 49 Position offset 60B0 Nex
9. 9 37 Input Signal Selection 1 3400 hex 9 31 Input Signal Selection 2 3401 hex 06 9 31 Input Signal Selection 3 3402 hex 00 9 31 Input Signal Selection 4 3403 hex 06 9 31 Input Signal Selection 5 3404 hex 06 9 31 Input Signal Selection 6 3405 hex 06 9 31 Input Signal Selection 7 3406 hex 06 9 32 Input Signal Selection 8 3407 hex 06 9 32 Output Signal Selection 1 3410 hex 9 32 Output Signal Selection 2 3411 hex 9 32 Positioning Completion Condition Selection 3432 NOX innuna en a A 9 35 Positioning Completion Hold Time 3433 hex 9 35 Positioning Completion Range 2 3442 hex 9 39 Rotation Speed for Motor Rotation Detection 34 30 OX wise reek aa E pene uletnceee te 9 36 Speed Conformity Detection Range 3435 hex 9 36 Warning Output Selection 1 3440 hex 9 38 Warning Output Selection 2 3441 hex 9 39 Zero Speed Detection 3434 hex ccceeeeeees 9 35 L leakage breaker cccscceceecseeceeseeseeeceeseesseeaees 4 39 M Main circuit connector specifications OCNA Jatra ts a E 3 8 4 18 4 21 main circuit connector specifications CNA AA a 3 7 3 12 4 17 Main circuit terminal block specifications 3 9 3 13 MAINTE ANC aa E AEN 12 33 PMU UMN Gaz nee aana aa E AAA EEA 11 13 manufacturer specific ob
10. 50 External Encoder Communications Data 4 E Error o External Encoder Status Error 0 Seo External Encoder Status Error 1 Cra External Encoder Status Error 2 a 5 External Encoder Status Error 3 2 External Encoder Status Error 4 oe External Encoder Status Error 5 a ef pO Phase A Connection Error Vv 4 55 Phase B Connection Error es Phase Z Connection Error _ OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 3 Errors Error No hex Attribute rae Sub Error detection function ne i f TE D a es E a ee EEC C E E ee ee D E aE T Seer Ee l i i i i i Ae PE E a fe S ee E a a ee ee a ae TERN A Sh Pa Other numbers Other errors 1 An immediate stop error is displayed if an immediate stop is performed when 4 to 7 is set for the Fault reaction option code 605E hex Refer to the description of object 605E hex on page A 48 2 This error cannot be reset for 10 seconds after it occurs 3 The error cannot be reset unless the absolute value is cleared 4 This error cannot be reset until the cause of the error is removed by performing an operation from the master When resetting the error via a USB connection remove the cause of the error beforehand via the master 5 This error cannot be reset until the cause of the error is removed by performing an operation
11. l l l l l l l l l l l l i i Main power supply Main power supply i turned ON and EtherCAT wy 4 interrupted and EtherCAT i Communications 7 communications not l _ established established i Dot on right lights l l E a Servo ON Wy A Servo OFF i i v l i 00 Dot on right lights l i i eh sf a a a a a a isms si sees Error occurs Wy 4 Error cleared Warning occurs vy ho Warning cleared I a a a a a a I a a a a a a a a a Error Display Warning Display The main error code flashes as a decimal example for an overload The hexadecimal warning code and the normal display are displayed alternately example for an overload gt AG G 0 Warning code Normal code for 2 s for approx 4 s 1 OL will flash when a Safety Input Error Error No 30 0 occurs J does not flash on the display j EtherCAT Status Indicators Check the status of the status indicators If the RUN indicator will not turn ON or the ERR indicator will not turn OFF refer to Status Indicators on page 5 2 and check the status Operation 10 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 2 Preparing for Operation Absolute Encoder Setup You must set up the absolute encoder if using a motor with an absolute encoder The setup is required when you turn ON the power supply for the first time when an Absolute Encoder syste
12. Approx 3 s Approx 15s MPU operation ON OFF Initialization Normal operation 0s or more Main circuit power ON i supply L1 L2 and L3 OFF ii Approx 10 ms after initialization Senara ON and main circuit ON completed output READY OFF m 0 ms or more Accepted Servo ON accepted rejected Rejected H Approx 2 ms ON Dynamic brake OFF ee nae Approx 60 ms ON Motor power supply OFF C SE Approx 4 ms Brake interlock ON 4 output BKIR OFF 3 100 ms or more ON Position speed or torque command OFF Once the internal control power is established the protective function starts working about 1 5 s after the MPU starts initializing itself Be sure that all I O signals that are connected to the Servo Drive especially the Forward Reverse Drive Prohibition Input POT NOT the Origin Proximity Input DEC the external encoder input are stable before the protective function starts working The period can be extended by setting the Power Supply ON Initialization Time 3618 hex The Servo Ready Completed Output READY turns ON only when all of these conditions are met MPU initialization is completed The main power supply is established No error exists EtherCAT communications and servo are synchronized phase alignment The above timing chart applies when the servo ON signal is accepted as soon as doing so is enabled The Brake Interloc
13. Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 4th object Range pF Unit Default 6060 0008 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 5 Sth object Range pF Unit Default 60B8 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 6 6th object Range pf Unit Default 60E0 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 7 7th object Range Oo o _ e Default 60E1 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This is the mapping for an application that switches between Cyclic synchronous position mode csp and Cyclic synchronous velocity mode csv Touch probe and torque control are available 2 C D Q Q lt A 27 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile 1704 hex 261th RxPDO mapping parameter All Sub index 0 Number of objects Size 1 byte U8 PDO map Not possible Sub index 1 1st object Range pF Unit Default 6040 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Range pF Unit o Default 607A 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 3rd object Range pf Unit o Default 60FF 0020 hex Attribute Size 4 bytes U32 Access RO PDO map
14. 4 t1 is the period until the value becomes lower than the set value on the Brake Timing During Operation 3438 hex or the Brake Threshold Speed During Operation 3439 hex whichever is shorter Note Even when the Servo ON Input is turned ON again while the motor is decelerating the system does not enter the servo ON state until the motor stops 7 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications q 2 3 7 5 Brake Interlock p Operation Timing When an Error Occurs Servo ON OFF Error status Normal Error ON mja 0 5 to 5 ms ON Motor power supply Power suppi supply No power supply OFF l Released Dynamic brake DB Released Released DB engaged Engaged Servo ready ON output READY pee Error Output ALM on Normal OFF When object 3438 hex set value comes earlier Motor rotation speed A i ses yc 9 Se nea am E ada ela ec veh a Hl ee ater gl gt at ace Ce Value set in 3439 hex gt _ lt 3438 hex Brake interlock ON eee es est Brake held 5 requ When object 3439 hex set value comes earlier Motor rotation speed B ise a ea a E aN B a a caveat ve mat E eer A ech canes Shah tena an east E Value set on 3439 hex BKIR gt Brake interlock output BKIR Release request Brake held The operation of the dynamic brake when there is an error depends on the setting of the Fault reaction option c
15. This function is effective when the amount of torsion between the motor shaft and the load is large It may be less effective when the amount of torsion is small OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 28 suoljoun u wzsnfpy Adjustment Functions 11 11 Feed forward Function 11 11 Feed forward Function The feed forward function come in 2 types speed feed forward and torque feed forward The speed feed forward can minimize the position error and increase the responsiveness during position or fully closed control Responsiveness is improved by adding the speed feed forward value calculated from the internal position command and related objects 3110 hex and 3111 hex to the speed command calculated by comparing the internal position command and the position feedback If the Velocity offset 60B1 hex is set both the set value and the speed feed forward valued are added to the Control effort 6OFA hex The torque feed forward can increase the responsiveness of the speed control system Responsiveness is improved by adding the torque feed forward value calculated from the Control effort 6OFA hex and related objects 3112 hex and 3113 hex to the torque command calculated by comparing the Control effort GOFA hex and the speed feedback If the Torque offset 60B2 hex is set both the set value and the torque feed forward valued are added to the torque command
16. 7 2 Forward and Reverse Drive Prohibition Functions 7 2 Forward and Reverse Drive Prohibition Functions If the Forward Drive Prohibition Input POT or the Reverse Drive Prohibition Input NOT is turned OFF the motor will stop rotating You can thus prevent the motor from rotation outside of the movement range of the device by using limit inputs from the device connected to the Servo Drive Objects Requiring Settings Index Name Explanation Reference 3400 hex to Input Signal Selection 1 Set the input signal allocations and logic ade 9 31 3407 hex to8 pag 3504 hex Drive Prohibition Input Set the operation to be performed upon forward O page 9 40 Selection and reverse drive prohibition input 3505 hex Stop Selection for Drive Set the deceleration and stop methods upon ee Prohibition Input forward and reverse drive prohibition input pag 3511 hex Immediate Stop Torque Set the torque limit for immediate stops page 9 42 Input Signal Selection Function Default Settings 3401 Hex 3402 Hex In the default settings the allocations are as follows Default setting Index Position Control or Set value fully closed control 3401 hex CPU Signal 0081 8181 hex POT NC Selection 2 goz nox UPut signal 0082 8282 hex NOT NC Selection 3 Refer to 7 1 Sequence I O Signals on page 7 1 for details on input signal selections 1 to 8 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in Et
17. 9 RTAT and the instantaneous speed observer must be disabled to enable the disturbance observer OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 6 gt xipueddy A 1 CiA402 Drive Profile Changing the Mode of Operation The operation mode of the OMNUC Gb5 series Servo Drives with built in EtherCAT communications is changed as described below Changing the Mode of Operation By setting a mode of operation from the controller the Servomotor can be operated while switching the control mode of the Servo Drive The mode of operation is changed by changing the set value of Modes of operation 6060 hex When changing the mode of operation also change the command value of the object mapped to the RxPDO For example in the Cyclic synchronous position mode csp which is a position control mode the Target position 607A hex is enabled as the command value whereas in the Cyclic synchronous velocity mode csv which is a speed control mode the Target velocity GOFF hex is enabled as the command value Therefore when the mode of operation is changed from the position control mode to the speed control mode the enabled command value is set to the Target velocity GOFF hex at the same time The actual mode of operation of the Servo Drive can be checked from the Modes of operation display 6061 hex Note 1 Change the operation mode while the Servomotor is stopped If you cha
18. Model Length L Steere of 7 6 dia Connection configuration and external dimensions L Servo Drive side Servomotor side R88D KL CJ R88M KL Wiring Servo Drive side Servomotor side Symbol Servo Drive side connector 1 mm2 x 2C 0 22 mm2 x 2P Servomotor side connector Connector model or Straight plug model 55100 0670 Molex Japan AWG17 x 2C AWG24 x 2P JN2DS10SL2 R Japan Aviation Electronics Cable clamp model JN1 22 22S 10000 Japan Aviation Electronics OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 64 o suoljeoljineds Specifications 3 4 Cable and Connector Specifications Absolute Encoder Battery Cable Specifications Use the following Cable when using an absolute encoder i Cable Model R88A CRGDOR3C 0 3 m Approx 0 1 kg i Connection Configuration and External Dimensions 43 5 300 43 5 f Servo Drive side 7 7 Servomotor side saree ber R88D KC lt o L ee oe a gt R88M KO t 12 t 12 Battery holder i Wiring Servo Drive side Servomotor side Connector socket 54280 0609 Molex Japan 2 Connector plug 55100 0670 Molex Japan 3 65 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications Motor Power Cable Specifications These cables connect the Servo Drive and the Servomotor Select th
19. Resistor T aa User side control device Control cables 4 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring i R88D KN30F ECT KN50F ECT RST 3 phase 380 to 480 VAC 50 60 Hz ae NFB Main circuit contactor 1 Main circuit power supply OFF ON 1MC 2MC mit RoS wo i Surge suppressor 1 X 1MC 2MC X Servo alarm display V OMNUC G5 series OMNUC G5 series a AC Servo Drive AC Servomotor r _ Power cables D 3 Orv 5 24 VDC wd Q 2MC A 5 Noise filter 1 1 2 3 E NF 4 5 6 Ground to 100 Q ai less i Regeneration i 4 6 Resistor o TEER SS O X O37 ALM 24 VDC O36 ALMCOM 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 Series motors with brakes because its rated induction load is 2 A pag 24 VDC 3 There is no polarity on the brakes BKIR 110 XB AND A 4 The Regeneration Resistor built in type ae KN30F ECT and KN50F ECT connects B2 and B3 When the amount of regeneration is large remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2 User side control device Control cables OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 14 4 2
20. The Torque Command Filter Review the set value of object Set a larger value for Time Constant 1 3104 hex 3104 hex object 3104 hex to does not match the load eliminate the vibration OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 30 soueUDd UIeW pue HuljooussjqnolL Troubleshooting and Maintenance 12 4 Troubleshooting Symptom The Servomotor or the load generates abnormal noise or vibration Overshooting at startup or when stopping 12 31 The Position Loop Gain 1 Review the setting of object 3100 hex 3100 hex is too large Review the set values of objects 3101 hex and 3102 hex The Speed Loop Gain 1 3101 hex and the Speed Loop Integral Time Constant 1 3102 hex are balanced incorrectly Check to see if the cable is a twisted pair cable or shielded twisted pair cable with core wires that are at least 0 08 mm dia Noise is entering into the control I O signal cable because the cable does not meet specifications Noise is entering into the control I O signal cable because the cable is longer than the specified length Check the length of the control I O signal cable Check to see if it is a shielded twisted pair cable with core wires that are at least 0 12 mm dia Check the length of the encoder cable Noise is entering into the cable because the encoder cable does not meet specifications Noise is entering in
21. gt xipueddy 2 C D Q Q lt A 1 CiA402 Drive Profile differences in the judgment conditions for INP and Target reached 6041 hex bit 10 i e when an electronic gear is set Note 2 This bit is forced to O when Target velocity ignored 6041 hex bit 12 0 during deceleration processing for the drive prohibition input Bit 8 Positioning Proximity NEAR Only during position control This bit operates as the Positioning Proximity NEAR NEAR will be 1 when the absolute value of the position error converted to command units is less than the Position Completion Range 2 3442 hex regardless of whether position command distribution is completed Bit 9 Servo Ready CMDRDY This bit indicates if command reception is possible 1 or not possible 0 When Servo Ready is 0 one of the following operations is being processed It changes to 1 when all processing has been completed Writing to object using SDO mailbox communications Executing Config 4100 hex Resetting Warning Error Executing Error History Clear 2100 hex Executing Backup parameter changed 10F0 hex Sub 02 hex Executing Save all parameters 1010 hex Sub 01 hex Executing Restore all default parameters 1011 hex Sub 01 hex Executing Absolute Encoder Setup 4102 hex From when a Servo ON command Enable operation is accepted until the Servo ON state is reached From when a Servo OFF command Disable operation Shutdown or Disable Vol
22. 107x104 220x104 311x107 Applicable load inertia 5 times the rotor inertia max 1 54 1 84 2 10 226 231 302 N Torque constant N m A Power rate Without kW s 1 brake With brake kW s Mechanica Without time brake constant With brake Electrical time constant ms Allowable radial load 2 N 213 223 293 ms 0 58 0 80 0 71 ms 0 61 0 83 0 74 21 1 176 lt oO NO 2 204 2 204 Allowable thrust load 490 686 686 Radiator plate dimensions 550 x 520 x t30 Al 670 x 630 x t35 Al material Applicable Servo Drives R88D KN150F ECT 3 53 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications K11K015C K15K015C 3 3 Servomotor Specifications 400 VAC Model R88M Item Unit K7K515C K11K015C K15K015C Brake inertia 4 71074 7 1x104 7 1x104 Excitation voltage 24 VDC 10 i 1 4410 1 08410 1 08410 m 8 mi 2 Static friction torque 100 min 100 min Attraction time 300 max 300 max 2 N O Power consumption at 20 C Current consumption at 20 C Release time 140 max 140 max 1 reference value 1372 2000 2000 Allowable total work 2 9x10 4 0x10 4 0x10 Allowable angular rad s 5 000 3 000 acceleration Brake limit 10 million times min es Rating se Continuous oS Backlash Allowable work per braking Brake specifications Insulation class Type F maximum torque indicate
23. 22 0 90 10 16 1 min 110 max 50 max 1470 22x108 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 400 VAC Model R88M Item Unit K75030C K1K030C K1K530C Rated rotation speed 3 000 Maximum rotation speed 5 000 Momentary maximum Riza 716 9 55 14 3 torque i i Momentary maximum A rms 10 14 18 current 1 pore ee kg m 1 61x104 2 03x10 4 2 84x10 4 brake With brake kg m 1 93x104 2 35x107 3 17x107 Applicable load inertia 20 times the rotor aus 2 neama 2 15 times the rotor inertia max O ROE oug kW s 35 5 49 8 80 1 brake Mechanical Without me 0 67 0 49 time brake l Weight Without brake Approx 3 1 Approx 3 5 Approx 4 4 With brake Approx 4 1 Approx 4 5 Approx 5 4 Radiator plate dimensions material 320 x 300 x t20 Al Applicable Servo Drives R88D KN10F ECT KN15F ECT KN15F ECT K2K030F K2K030C 2000 6 37 19 1 5 7 24 3 68x10 0 87 110 101 0 45 0 49 6 6 490 196 4 01x10 Approx 5 3 Approx 6 3 KN20F ECT 0 33x1074 0 33x1074 0 33x1074 0 33107 y Excitation voltage i 24 VDC 10 Power consumption at 20 C 19 T at 0 70 10 0 81 10 0 81 10 0 81 10 Backlash f 1 reference value Allowable work per J 392 392 392 braking Allowable total work 4 9x10 4 9x10 4 9x10 Brake limit 10 million times min Brake specifications OMNUC G5 serie
24. If Position Loop Gain 1 3100 hex Speed Loop Gain 1 3101 hex or Speed Loop Integral Time Constant 1 3102 hex is changed the optimal value for the Inertia Ratio 3004 hex may change so make small adjustments to the value of the Inertia Ratio 3004 hex again to set a value that makes the smallest fluctuations i Precautions for Correct Use This function may not function properly or the effect may not be apparent under the following conditions e If there is a large resonance point at a frequency of 300 Hz or lower e If there is a non linear element play such as a large backlash e If the load inertia changes e If there is a large disturbance torque with high frequency elements applied e If the setting range for positioning is small OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 Troubleshooting and Maintenance Ty This chapter describes the items to check when problems occur troubleshooting using the error displays troubleshooting based on the operating conditions and periodic maintenance 12 1 Troubleshooting saiitaicax cists iccticnccendiaetunsseatiincedentneiuids 12 1 12 2 WV ALNINGS ssr aaa ai 12 4 129 EIOS oair ins ohn ca ac v cas awe tad a aa ai 12 7 12 4 Troubleshooting ccccscceesceeeeeeeeseeeeeeeeeseneeeeeeeeeees 12 13 12 5 Periodic Maintenance cccsccesecseeeseeseneeeeeeeeeees 12 33 OMNUC G5 series AC Servomotors
25. Implement measures to ensure safety of people nearby even when the machine is restarted Injury may result After an earthquake be sure to conduct safety checks Electric shock injury or fire may result Never drive the Servomotor using an external drive source Fire may result OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Precautions DANGER Do not place flammable materials near the Servomotor Servo Drive or Regeneration Resistor Fire may result Install the Servomotor Servo Drive and Regeneration Resistor on non flammable materials such as metals Fire may result When you perform a system configuration using the safety function be sure to fully understand the relevant safety standards and the information in the operation manual and apply them to the system design Injury or damage may result Do not use the cable when it is laying in oil or water Electric shock injury or fire may result Never connect a commercial power supply directly to the Servomotor Fire or failure may result Do not perform wiring or any operation with wet hands Electric shock injury or fire may result Do not touch the key grooves with bare hands if a Servomotor with shaft end key grooves is being used Injury may result PS Pe gt be gt Caution Use the Servomotor and Servo Drive in a specified combination AN Fire or equipment damage may re
26. Motor Connector Specifications CNB Sym bol B1 B3 4 17 50 to 400 W Normally do not short B1 and B2 Doing so may result in malfunctioning If there is high regenerative energy connect an External Regeneration External Regeneration Resistor between B1 and B2 Resistor connection 750 W to 1 5 kW Normally B2 and B3 are shorted Do not short B1 terminals and B2 Doing so may result in malfunctioning If there is high regenerative energy remove the short bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 Red These are the output terminals to the Servomotor White Be sure to wire them correctly Motor connection terminals Blue Green Yellow This is the ground terminal Ground to 100 Q or less OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring i R88D KN20H ECT Main Circuit Connector Specifications CNA L1 Main circuit power supply R88D KNLIH ECT 2 kW E input 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L3 L1C Control circuit power R88D KNLIH ECT Single phase 200 to 230 VAC 170 to 253 DC supply input V 50 60 Hz Motor Connector Specifications CNB U Motor connection Red These are the output terminals to the Servomotor terminals White Be sure to wire them correctly V W This is the ground terminal Ground to 100 Q or less a O Oo JE ubisag wajshs External Reg
27. Set the IN1 input function allocation This 3400 hex Input Signal Selection 1 object is based on hexadecimal The display page 9 31 on the front panel is based on decimal i Input Signal Allocation Method Input the setting for each control mode to any of the objects from 3400 to 3407 hex to allocate the signals Set the objects using hexadecimal Set the set value of the function for each control mode in below Refer to the function number table provided later for the set value of each function The logic setting is included in the function numbers OO x hex Position control fully closed control Speed control Torque control Example Position control or fully closed control Monitor Input O with NO normally open contacts 2E hex Speed control Disabled 00 hex Torque control Positive External Torque Limit Input with NO contacts 2C hex 002C002E hex 002C002E hex Position control fully closed control Speed control Torque control suoijoun4 paddy x OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 2 Applied Functions 7 1 Sequence I O Signals Function Number Table The set values to be used for allocations are as follows Set value Signal name Symbol we w Disabled o ohe Setting not available Forward Drive Prohibition Input POT ohea 81 hex POT Reverse Drive Prohibition Input 82 hex Immediate Stop Input STOP 94 h
28. Since the various control commands are transmitted via data communications Servomotor s operational performance is maximized without being limited by interface specifications such as the response frequency of the encoder feedback pulses You can use the Servo Drive s various control parameters and monitor data on a host controller and unify the system data for management i Achievement of Accurate Positioning by Fully closed Control Feedback from the external encoder connected to the motor is used to accurately control positioning Position control is not affected by deviations caused by ball screws or temperature changes Wide Range of Power Supplies to Meet Any Need The OMNUC G5 Series now has models supporting 400 V for use with large equipment at overseas facilities and in wide ranging applications and environment Since the utilization ratio of facility equipment also increases the TCO total cost of ownership will come down i Safe Torque OFF STO Function to Ensure Safety You can cut off the motor current to stop the motor based on a signal from an emergency stop button or other safety equipment This can be used for an emergency stop circuit that is compliant with safety standards without using an external contactor Even during the torque OFF status the present position of the motor is monitored by the control circuits to eliminate the need to perform an origin search when restarting OMNUC G5 series AC Servomotors and
29. i 1 500 r min and 2 000 r min Servomotors 400 V 400 W 600 W without Brake R88M K40020F S2 K60020F S2 Te R88M K40020C S2 K60020C S2 400 W 600 W with Brake R88M K40020F B S2 K60020F B S2 ITs R88M K40020C B S2 K60020C B S2 Motor and brake connector Encoder connector 100x100 Shaft end specifications with key and tap M3 through 101 without brake 103 with brake R88M K40020L1 131 5 109 5 R88M K60020L 141 97 66 119 R88M K400200 BO 158 5 114 5 136 5 R88M K600200 BO 168 146 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 53 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 1 kW 1 5 kW 2 kW 3 kW without Brake R88M K1K020F S2 K1K520F S2 K2KO20F S2 K3K020F S2 fe R88M K1K020C S2 K1K520C S2 K2K020C S2 K3K020C S2 1 kW 1 5 kW 2 kW 3 kW with Brake R88M K1K020F B S2 K1K520F B S2 K2K020F B S2 K3K020F B S2 Te R88M K1K020C B S2 K1K520C B S2 K2K020C B S2 K3K020C B S2 Motor and brake M8 depth 20 3 0 kW connector S
30. nD Axial flow fan x 3 EtherCAT EtherCAT Control Encoder External Analog USB Safety communications communications interface encoder monitor connector connector Features and System Configuration 1 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 4 System Block Diagram R88D KN150F ECT TB2 TB2 supply main circuit control Display and MPU amp ASI setting circuit control power U amp ASIC area Position speed and torque calculation control area PWM control ARISE IK IG TBI nD Axial flow fan x 4 EtherCAT EtherCAT Control Encoder External Analog USB Safety communications communications jnterface encoder monitor connector connector TI D 9 r 5 N 9 Q O lt T r oO 5 Q 9 mr O 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 14 1 5 Applicable Standards 1 5 Applicable Standards This section describes applicable EMC Directives EC Directives EC Directive Produet Applicable standards Low AC Servo Drives EN 61800 5 1 vOllage AC Servomotors EN 60034 1 5 Directive EMC AC Servo Drives EN 55011 class A group 1 Directive AC Servomotors IEC 61800 3 EN 61000 6 2 Machinery AC Servo Drives EN 954 1 Category 3 Directive EN ISO 13849 1 2008 Category 3 PLc d ISO 13849 1 2006 Category 3 PLc d E
31. 2 These objects are set automatically when two adaptive filters are enabled y Precautions for Correct Use Identify the resonance frequency using the FFT analysis function or operation waveform of the waveform graphics function of CX Drive and set the identified frequency as the notch filter frequency OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 22 suoljoun u wzsnfpy 11 7 Notch Filters i Notch Filter Width and Depth Width Setting This is the ratio of the frequency bandwidth at a damping factor of 3 dB relative to the center frequency when the depth is 0 This value should conform to the left column in the table below Depth Setting This is the I O ratio at which the center frequency input is completely cut off at a set value of 0 and completely passed at a set value of 100 If the indication unit is dB this value should conform to the right column in the table below Width Depth i Set vali Bandwidth center Setva I O ratio Damping factor e frequency D 1 0 59 1 40 0 2 0 71 2 34 0 7 3 0 84 3 30 5 S 4 1 00 4 28 0 z 5 1 19 5 26 0 D 6 1 41 10 20 0 7 1 68 15 16 5 x 8 2 00 20 14 0 9 2 38 25 12 0 10 2 83 30 10 5 11 3 36 35 9 1 12 4 00 40 8 0 13 4 76 45 6 9 14 5 66 50 6 0 15 6 73 60 60 4 4 16 8 00 70 3 1 17 9 51 80 83a 1 9 18 11 31 90 W 0 9 19 13 45 100 100 Passed 0 0 20 16 00 Notch filter frequency charac
32. 3328 hex 3329 hex Select the control mode page 9 2 Set the numerator of the electronic gear page A 79 ratio for the Target position 607A hex Set the denominator of the electronic gear ratio for the Target position 607A hex Select the external encoder type page 9 27 Set the numerator of the external page 9 29 feedback pulse divider setting Set the denominator of the external page 9 29 feedback pulse divider setting Set the polarity of the external encoder page 9 29 feedback pulse Set whether to enable or disable the page 9 30 disconnection detection function for phase Z when an external encoder with a 90 phase difference output is used Set the threshold for the Excessive page 9 30 Hybrid Deviation Error Error 25 0 in the command unit Hybrid Following The hybrid error becomes 0 every time page 9 30 Error Counter Reset the motor rotates by the set value Rotation Direction Switching 3000 Hex Set the relation between the command direction and the motor rotation direction 0 Counterclockwise when viewed from the end of the shaft for positive commands 1 Clockwise when viewed from the end of the shaft for positive commands When object 3000 hex is set to 1 opposite directions will be used for the external encoder counting direction and the total external encoder feedback pulses and other monitor counts Control Mode Selection 3001 Hex Select the fully closed control set val
33. Never connect an External Regeneration Resistor between the B1 and NC terminals OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 14 Specifications 3 1 Servo Drive Specifications i R88D KN150F ECT Terminal Block Specifications Top Terminal Block TB1 Te Function bol 24 V Control circuit power 24 VDC 15 OV supply input DB1 Dynamic Brake Resistor These terminals are used to control the MC for externally control terminals connected dynamic brake resistance The output contact DB2 specifications are 1 A max at 300 VAC 100 VDC max Connect them if required Terminal Block Specifications Bottom Terminal Block TB2 L1 Main circuit power supply R88D KNLIF ECT 15 kW Lo 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz L3 B1 External Regeneration Connect an External Regeneration Resistor between B1 and B2 Resistor connection B2 terminals NC Do not connect U Motor connection Red These are the output terminals to the Servomotor V terminals White Be sure to wire them correctly Green E This is the ground terminal Ground to 10 Q or less i Precautions for Correct Use Tighten the terminal block screws to the torque of 1 5 N m M5 or 2 5 N m M6 If the torque for terminal block screws exceeds 2 0 N m M5 or 3 0 N m M6 the terminal block may be damaged Tighten the fixing screw of the terminal block cover to the torq
34. OMRON USER S MANUAL Cat No 1576 E1 01 a OMNUC Ta l S G 5 SERIES R88M KL AC Servomotors R88D KNL ECT AC Servo Drives AC SERVOMOTORS SERVO DRIVES WITH BUILT IN EtherCAT COMMUNICATIONS Trademarks and Copyrights e EtherCAT is a registered trademark of Beckhoff Automation Gmbh Germany EtherCAT technology is protected by patents e Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies OMRON 2010 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 permis sion of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the informa tion contained in this publication Introduction Introduction Thank you for purchasing an OMNUC G5 series Servo Drive This manual explains how to install and wire the Servo Drive set paramete
35. Objects Requiring Settings Index 3110 hex 3111 hex 3112 hex 3113 hex 60B1 hex 60B2 hex 11 29 The speed command from position control processing is added to the product of the Control effort 60FA hex that is calculated from the internal position command times the ratio in this object Speed Feed forward Set the time constant for the first order lag filter that age GA Command Filter is applied to speed feed forward input pag The torque command from speed control Torque Feed forward Gain processing is added to the product of the Control page 9 11 Speed Feed forward Gain page 9 10 effort 6OFA hex times the ratio in this object Torque Feed forward Set the time constant for the first order lag filter that aae 9 11 Command Filter is applied to torque feed forward input pag Set the offset for the speed command ai oes It will be added to the Control effort 60FA hex Eee Set the offset for the torque command ed It will be added to the torque command value pager OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 11 Feed forward Function Operating Procedure i Speed Feed forward Operating Method 1 Set the Speed Feed forward Command Filter 3111 hex Set it to approx 50 0 5 ms 2 Adjust the Speed Feed forward Gain 3110 hex Gradually increase the value of the Speed Feed forward Gain 3110 hex and finely adjust it to avoid oversh
36. RW PDO map PDO map map Not possible Select the condition under which the positioning completion signal INP is output 0 Turn ON when the position error is equal to or lower than 6067 hex Position window 1 Turn ON when there is no position command and the position error is equal to or lower than 6067 hex Position window 2 Turn ON when there is no position command the zero speed detection signal is ON and the position error is equal to or lower than 6067 hex Position window 3 Turn ON when there is no position command and the position error is equal to or lower than 6067 hex Position window Then hold the ON state for the time set in 3433 hex Positioning Completed Hold Time After the Positioning Completed Hold Time expires turn the INP output ON or OFF according to the position command and position error at that time 3433 hex Positioning Completion Hold Time esp csp full Setting 0 to 30000 Unit Default Data range setting attribute Size 2 bytes U16 ee an PDO map Not possible Set the hold time for when 3432 hex Positioning Completion Condition Selection is set to 3 0 The hold time will be an infinite time and the ON status will be held until the next position command is received 1 to 30000 The ON status is held for the set time ms The output is turned OFF if a position command is received while the ON status is being held The setting of this parameter does not affect the detection con
37. Supported homing method Sub index 0 Number of objects we o e a Me 9 cs Ei Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st supported homing method co eta Size 2 bytes U16 Access RO PDO map Not possible Sub index 2 2nd supported homing method jos ol o a me 9 Ea Ee Size 2 bytes U16 Access RO PDO map Not possible Sub index 3 3rd supported homing method e o A oS mom 9 E Loe Size 2 bytes U16 Access RO PDO map Not possible Sub index 4 4th supported homing method 9 a Size 2 bytes U16 Access RO PDO map Not possible Sub index 5 oth supported homing method a oar Size 2 bytes U16 Access RO PDO map Not possible Sub index 6 6th supported homing method Ea Size 2 bytes U16 Access RO PDO map Not possible Sub index 7 7th supported homing method Ls fs Size 2 bytes U16 Access RO PDO map Not possible This object shows the supported Homing methods 60F4 hex Following error actual value 536 870 912 to Command Size 4 bytes INT32 Access RO PDO map Possible This object gives the amount of position error 60FC hex Position demand internal value 1073741823 to Encoder Size 4 bytes INT32 Access RO PDO map Possible This object shows the Position demand internal value OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 58 xipueddy Appendix A 1
38. T General purpose output 1 LOUTM1COM ee 10 Q 25 OUTM2 We Y General purpose output 2 sLOUTM2COM 16LGND Shell FG Frame ground 1 Acable equipped with a battery is not required if a backup battery is connected Note 1 The input function of pins 5 and 7 to 13 are determined by object settings Note 2 The output function of pins 1 2 25 and 26 are determined by object settings Note 3 It is not necessary to wire input pins that are not being used 3 17 Maximum service voltage 30 VDC Maximum output current 50 mADC OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications j Control I O Signal Tables CN1 Control Inputs ar 5 T IN2 8 IN3 1 i Control mode Power supply input 12 to 24 VDC The positive input terminal of the external power supply 12 to 24 VDC for sequence inputs N1 General Immediate These are general purpose inputs The input purpose Input 1 Stop Input functions can be selected with objects External Latch Signals 1 to 3 can be allocated only to IN5 to IN7 or pins 10 to 12 respectively Refer to 7 1 Sequence I O Signals on page 7 1 for the allocations General Forward Drive purpose Input 2 Prohibition Input o General Reverse Drive purpose Input 3 Prohibition Input General Origin purpose Input 4 Proximity Input General External Latch purpose Input 5 Signal
39. Use a metal door Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams Use a conductive gasket between the door and the case Refer to the diagrams Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting so that they are electrically conductive The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws Door A B Door side Oil resistant gasket Conductive gasket Control Panel A B Cross section Diagram Oil resistant gasket Conductive gasket Door Interior Side OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives Selecting Connection Component This section explains the criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable range when selecting the connection components For more details contact the manufacturers directly N No fuse Breaker NFB When selecting a no fuse breaker consider the maximum input current and the inrush current Maximum Input Current The momentary maximum output of Servo Drive is approx 3 times the rated output and can be output for up to 3 seconds Th
40. Warning Output Selection 2 3441 hex Warning Mask Setting 3638 hex Bit 0 Warning Hold Selection for Communications 3759 hex related Warnings Bit 1 Warning Hold Selection for General Warnings Communications Control 3800 hex C ee e Select the warning for Warning Output 1 WARN1 0 Output for all warnings 1 or higher Refer to Warning List on page 12 5 Select the warning for Warning Output 2 WARN2 0 Output for all warnings 1 or higher Refer to Warning List on page 12 5 Set a mask for warning detection If you set the corresponding bit to 1 the detection of the corresponding warning is disabled Refer to Warning List on page 12 5 Select whether to hold servo related and communications related warning state 0 Do not hold 1 Hold Controls errors and warnings related to EtherCAT communications If you set the corresponding bit to 1 the detection of the corresponding warning is disabled OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Reference page 9 38 page 9 39 page 9 52 page 9 56 page 9 56 12 4 soueUd UIeW pue HuljooussjqnoiL 12 2 Warnings Warning List General Warnings Warning Warning name number Warning Output Selection 3440 hex 3441 hex 1 Warning condition Warning Mask Setting 3638 hex a m WahEx Overload The load ratio is 85 or more of the Bit 7 W
41. 11 32 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 1 Analog Monitor 11 1 Analog Monitor Two types of analog signals can be output from the analog monitor connector on the front panel They are used when the monitoring is required for adjustment The monitor items to be output and the scaling output gain can be set as required for each of the objects The refresh period of the analog monitor is 1 ms The analog monitor is not synchronized with another axes in the EtherCAT system Objects Requiring Settings Index p Name Explanation Reference 3416 hex Analog Monitor 1 Selection Select the monitoring item for the analog monitor 1 page 9 33 3417 hex ie mOMtory Seale Set the output gain for the analog monitor 1 page 9 33 3418 hex Analog Monitor 2 Selection Select the monitoring item for the analog monitor 2 page 9 34 3419 hex ae moniton eg Seale Set the output gain for the analog monitor 2 page 9 34 3421 hex ae monitor Output Select the analog monitor output method page 9 34 i Analog Monitor Objects 3416 3417 3418 and 3419 Hex The analog monitor scales 3417 hex and 3419 hex are set in units for 1 V When the objects are set to 0 the values shown in the table below are automatically set V c O _ S c gt LL had z mer e xe lt Description 3416 hex and 3418 hex set value Monitoring item Output gain when
42. 25 26 4 5 Command Generation Error Operation Command Duplicated Position Data Initialized 1 1 1 1 1 1 27 7 1 Error Counter Overflow 1 V 2 Error Counter Overflow 2 y Safety Input Error 29 30 st OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 3 Errors Immediate stop L 2 2 2 12 8 uLeu zuleN pue HBuizooys jqnolL Troubleshooting and Maintenance 12 3 Errors 12 9 Error No hex Attribute Error detection function Can be Immediate Main History 4 reset stop EA Interface Input Duplicate Allocation Error 1 T Interface Input Duplicate Allocation Error 2 EER Interface Input Function Number Error 1 C e 33 Interface Input Function Number Error 2 a Interface Output Function Number Error 1 MER Interface Output Function Number Error 2 oS oe 8 External Latch Input Allocation Error 2 m 0 Drive Prohibition Input Error 1 4 Drive Prohibition Input Error 2 a 40 po Absolute Encoder System Down ABS E Error Absolute Encoder Counter ABS z 42 o Absolute Encoder Overspeed B Error 43 E Encoder Initialization Error EEES E Absolute Encoder 1 rotation ABS Absolute Encoder Multi rotation ABS 47 o Absolute Encoder Status Error EEJ pvp 48 0 Encoder Phase Z Error pV po 49 pO Encoder CS Signal Error xe o External Encoder Connection Error oS
43. 3 000 r min Servomotors ccceeeee eee eeeeeeeeees 3 38 dimensions 1 000 r min Servomotors cccceeee eee eeeeeeeeees 2 58 2 000 r MiIN Servomotors ccceeeeee eee eeeeeeeees 2 49 3 000 r MiIN Servomotors ccccceee eee eeeeeeeeeees 2 39 general Specifications cceeeeeeesceseeeseeeeeees 3 37 installation CONCITIONS cceceeee eee e eee eeeeeee eens 4 2 life expectancy waciciersucelitdsepiwedd devas eGientest ice 12 33 mod l MUMDE rssiaredi ketiniai eiee eii tees 2 4 mModelfables sarisin eae a E 2 6 FODIACING sae a Aaa vie a a 12 2 Servo Drive and Servomotor combination tables 2 11 SOM OlaM aea aa a a a E Ea 7 23 special objects Backlash Compensation Amount 3705 hex 9 55 Backlash Compensation Selection 3704 hex 9 55 Backlash Compensation Time Constant SUG NOX iiors5 222 cn cues memes dean e 9 55 Communications Control 3800 hex 006 9 56 Disturbance Observer Filter Setting 3624 hex 9 50 Disturbance Torque Compensation Gain 9623 INGX hae toenail ra E 9 50 Electric Current Response Setting 8611 hex 9 49 Error Detection Allowable Time Setting 8614 hex 9 49 Excessive Speed Error Setting 3602 hex 9 47 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 Index Forward Direction Torque Offset 3608 hex 9 47 Function Expansion Setting 3610 hex 9 48 Gain 3 Effec
44. 3440 hex Warning Output Selection 1 Setting Default Data Size 2 bytes INT 16 Access RW PDO map Not possible Select the warning type to be output by Warning Output 1 Refer to 12 2 Warnings on page 12 4 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 38 s 99f qo 19 8WeJeg OAIBS UO Sj1e q Details on Servo Parameter Objects 9 5 Interface Monitor Settings Explanation of Set Values 3441 hex Setting range Size 3442 hex Setting range Size 9 39 Set value 0 OO o NI DO OT A wt N gt a a NI gt 13 Description Output by all types of warnings Overload warning Excessive regeneration warning Battery warning Fan warning Encoder communications warning Encoder overheating warning Vibration warning Service life warning External encoder error warning External encoder communications error warning Data setting warning Command warning EtherCAT communications warning Warning Output Selection 2 Default Data 2 2bytes INT16 INT16 Access Access RW PDO map Not possible et the warning type to be output by Warning Output 2 Refer to the Warning Output Selection 1 3440 hex for the object setting method Refer to 12 2 Warnings on page 12 4 Positioning Completion Range 2 0 to 262144 Unit Command unit Default Data setting attribute 4 bytes INT32 Access RW P
45. 4 75 Restoration control mode and absolute value mode to 5 25 V Be careful especially when Error the external encoder connection cable is long Ifthe Servomotor cable and the external encoder connection cable are bundled together separate them Connect the shield to FG Refer to the external encoder connection diagram Object Setting Electronic gear ratio exceeded the Check the object settings The electronic Error 1 allowable range gear ratio must be set between 1 1000 and 1000 Object Setting External encoder ratio exceeded the Check the object settings The external Error 2 allowable range encoder ratio must be set between 1 40 and 160 External The set value of the External Feedback Set object 3323 hex to conform with the Encoder Pulse Type Selection 3323 hex differs external encoder type that is actually Connection from the external encoder type that is connected Error actually connected for serial communications Electronic gear ratio exceeded the allowable range Function The function that was set does not support e Check the communications cycle Setting Error the communications cycle settings or the electronic gear object 93 e The electronic gear object ratio was not Check the communications cycle 1 1 when the communications cycle was settings or control mode settings set to 250 500 us Check the communications cycle Fully closed Control Mode was selected settings or the mode of operation to 250 us
46. 6040 hex are not followed when the servo is ON this bit will be O ignored For details see figures 1 to 3 below 2 When commands in the Controlword 6040 hex are not followed when the servo is ON this bit will be 0 For details see figures 2 and 3 below 3 When commands in the Controlword 6040 hex are not followed when the servo is ON the preceding value is retained For details see figure 4 below A 8 gt xipueddy Appendix A 1 CiA402 Drive Profile 1 Example of Servo OFF during Operation in csp Servo ON Y Servo OFF Actual speed 3O r min f 2222 4 2420AN E PDS state Operation enabled Switched on 6061 hex csp No mode assigned 6041 hex Bt lt r 0 E Remote 6041 hex Bit 10 Target reached 6041 hex Bit 12 Target position ignored 1 0 0 6041 hex Bit 13 0 1 0 Following error 4000 hex Bit 1 0 i 1 DEN l 0 4000 hex Bit 4 VLIM 4000 hex Bit 7 VCMP E 4000 hex Bit 8 NEAR 1 When the servo is turned OFF a deceleration stop starts and 6061 hex continues to show the same mode as the mode of operation csp specified in 6060 hex 2 After the motor stops No mode assigned is shown by 6061 hex 3 Bit 12 will be O during a deceleration due to servo OFF Note The operation during the interval from A to B for drive prohibition and main circuit power OFF is the same as when the servo is turned OFF 2 Example of Servo OFF du
47. A Sx N oe R88D KN75H ECT o1 R88D KN150H ECT o1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 38 ubisag wia jsAs System Design 4 3 Wiring Conforming to EMC Directives 4 39 Inrush current Ao p Servo Drive model Main circuit power Control circuit pow supply er supply R88D KNO6F ECT iN O R88D KN10F ECT iN O R88D KN15F ECT iN CO R88D KN20F ECT R88D KN30F ECT iN Oo R88D KNSOF ECT iN CO R88D KN75F ECT iN O R88D KN150F ECT 32 iN CO CO Wl Ws WI NI NI N MO NI NI N CGO j iN O Leakage Breaker Select a leakage breaker for high frequencies and surge resistance When selecting leakage breakers remember to add the leakage current from devices other than the motor such as devices using a switching power supply noise filters inverters and so on To prevent malfunction due to inrush current we recommend using a leakage breaker of 10 times the total of all current values The leakage breaker is activated at 50 of the rated current Select a leakage breaker with approx twice the capacity For details on leakage breakers selection method refer to the manufacturer s catalog Because switching takes place inside the Servo Drives high frequency current leaks from the SW elements of the Servo Drive the armature of the motor and the cables High frequency surge
48. Bit 10 Target reached 6041 hex Bit 12 3 Target torque ignored i 9 0 6041 hex Bit 13 i Following error 0 0 0 4000 hex Bit 1 0 0 4 DEN gt 4000 hex Bit 4 glee K VLIM a 2 O 4000 hex Bit 7 3 1 VCMP 3 0 5 4000 hex Bit 8 o o r Q NEAR i gt x lt 1 When the servo is turned OFF a deceleration stop starts and 6061 hex continues to show the same mode as the mode of operation cst specified in 6060 hex 2 After the motor stops No mode assigned is shown by 6061 hex 3 Bit 12 will be O during a deceleration due to servo OFF 4 The mode shown in 6061 hex is forced to 0 because the mode shown in 6061 hex is different from the mode of operation Note The operation during the interval from A to B for drive prohibition and main circuit power OFF is the same as when the servo is turned OFF 4 Example of Servo OFF during Operation in hm Servo ON v Servo OFF Actual speed SUTIN esnean hee PDS state Operation enabled Switched on 6060 hex m 6061 hex m No mode assigned 6041 hex Bit 9 Remote 6041 hex Bit 10 Target reached o 6041 hex Bit 12 5 Home attained 0 1 0 1 0 6041 hex Bit 13 3 0 Homing error 0 1 oT 4000 hex Bit 1 DEN 4000 hex Bit 4 VLIM 4000 hex Bit 7 i VCMP i 0 4000 hex Bit 8 NEAR 0 1 1 When the servo is turned OFF a deceleration stop starts and 6061 hex continues to show the same mode as the mode of oper
49. Electronic gear i Ss min Filter 3624 2 er ae reverse conversion Numerator 60911 01 Denominator 6092 02 Speed detection Torque Limit Selection External 113013 Current control 60BA or 60BC hex Touch probe pos 1 2 pos value External 2 3522 Forward eee ease ee See ee Te Ta Pat a a 6074 or 6077 hex gt Exema 9229 ii Torque demand or 3 Reverse ua actual a External 3526 Positive 60E0 oll 60E eee OU Q N O O gt r 5 o TI C gt O ch O gt N Note 1 Numbers within parentheses are sub index numbers Note 2 Numbers within boxes are hexadecimal index numbers Note 3 The electronic gear function is not supported Use a setting of 1 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 6 Basic Control Functions 6 3 Cyclic Synchronous Torque Mode 6 3 Cyclic Synchronous Torque Mode In this mode of operation the controller has a path generation function an operation profile calculation function and it gives the target torque to the Servo Drive using cyclic synchronization Torque control is performed by the Servo Drive Cyclic Synchronous Torque Mode Configuration The following diagram shows the configuration of the Cyclic synchronous torque mode Torque offset 60B2h Target torque 607 1h Torque control Torque actual value 6077h Torque demand Velocity actual value 6
50. Encoder error 44 1 rotation Counter Error Absolute The encoder detected a multi rotation Replace the Servomotor Encoder counter error 45 Multi rotation Counter Error ABS Absolute The rotation of the encoder was higher Do not let the Servomotor move when the Encoder than the specified value when the power power supply is turned ON 47 Status Error supply was turned ON ABS A missing serial incremental encoder Replace the Servomotor 48 Phase Z Error phase Z pulse was detected The encoder is faulty 12 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex Encoder CS Signal Error External Encoder Connection Error External Encoder Communica tions Data Error External Encoder Status Error 0 External Encoder Status Error 1 External Encoder Status Error 2 External Encoder Status Error 3 External Encoder Status Error 4 External Encoder Status Error 5 Phase A Connection Error Phase B Connection Error Phase Z Connection Error Cause A logic error was detected in the CS signal for serial incremental encoder The encoder is faulty A disconnection was detected because communications between the external encoder and the Servo Drive were interrupted more than the specified number of times There was a communications error in data from external encoder There was a data error mainly due to noise The external
51. Global Non flexible Cables Specifications Model 100 V and 200 V 3m R88A CAKA003B For 3 000 r min Servomotors of 50 to 750 W Em R88A CAKA005B 10m R88A CAKA010B 15m R88A CAKA015B 20m R88A CAKA020B 30m R88A CAKA030B 40m R88A CAKA040B 50m R88A CAKA050B For 1 500 r min and 2 000 r min Servomotors of 7 5 to 15 kW 3m R88A CAGE003B For 1 000 r min Servomotors of 6 kW Em R88A CAGE005B 10m R88A CAGE010B 15m R88A CAGE015B 20m R88A CAGE020B 30m R88A CAGE030B 40m R88A CAGE040B 50m R88A CAGE050B For motor with brake 2 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 3 Model Tables i Encoder Cables Global Flexible Cables Specifications Model 100 V and 200 V 3m R88A CRKA003CR For 3 000 r min Servomotors of 50 to 750 W for both absolute encoders and incremental encoders N ROA RRA ER 10m R88A CRKA010CR 15m R88A CRKA015CR 20m R88A CRKA020CR 30m R88A CRKA030CR 40m R88A CRKA040CR 50m R88A CRKA050CR 100 V and 200 V 3m R88A CRKCOO3NR 3 000 r min Servomotors of 1 0 kW or more Em R88A CRKCOO5NR For 2 000 r min Servomotors For 1 500 r min Servomotors 10m R88A CRKCO10NR For 1 000 r min S t RRS eerie 15m R88A CRKCO15NR 400 V 20m R88A CRKCO20NR For 3 000 r min Servomotors For 2 000 r min Servomotors 30m R88A CRKCOSONR For 1 500 r min Servomotors 40m R88A CRKCO40NR For 1 000 r min Servomotors 50m R88A CRK
52. INT32 a R PDO map map Not possible Set the output gain for analog monitor 2 Refer to the Analog Monitor 1 Scale Setting 3417 hex for the method to set this object 3421 hex Analog Monitor Output Selection Setting Default Data Size 2 bytes INT16 Access RW PDO map Not possible Select the analog monitor output voltage direction These are the output voltage range and the output direction when the Analog Monitor 1 Selection or Analog Monitor 2 Selection is set to the Feedback Motor Speed and the Analog Monitor 1 Scale Setting or the Analog Monitor 2 Scale Setting is set to O i e 1V 500 r min Set value Output range Data output Output voltage V Feedback Motor Speed 5 000 r min 10 to 10 V Output voltage V ee 5 eee Feedback Motor 1 O to 10 V Speed 5 000 OV 5 000 r min 10 V o ee On I oO s O olo oO lt lt lt OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 34 s 99f qo J0 9WeIeg OAIBS UO Sj1e q Details on Servo Parameter Objects 9 5 Interface Monitor Settings Set patie Output range Data output Output voltage V 10V Feedback n 0 to 10 V SVF i Motor 5 V as a center Speed OVIS 0 2 500 r min 2 500 10 V 3432 hex Positioning Completion Condition Selection esp csp full Setting Default Data Size 2 bytes U16 Access
53. PDOmap map Not possible A 53 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile This objects sets the Homing method in the Homing mode hm Explanation of Set Values Set value Explanation 0 Not specified Homing by Origin Proximity Input and origin signal forward j operation start 12 Homing by Origin Proximity Input and origin signal reverse operation start 19 Homing without origin signal forward operation start 20 Homing without origin signal reverse operation start 33 Homing with origin signal reverse operation start A 34 Homing with origin signal forward operation start 35 Present home preset If the homing operation is started by setting a value other than 8 12 19 20 33 34 or 35 a gt Command Error Error No 91 1 will occur O For details on homing refer to Homing Mode Specifications on page A 11 z ras 6099 hex Homing speeds Sub index 0 Number of entries Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Speed during search for switch Range 100 to 3276700 Unit Command Default 5000 Attribute units s Size 4 Abytes U32 U32 Access PDOmap PDOmap Not possible Sub index 2 ae during search ae zero Range 100 to 3276700 Ee heel Default 5000 Attribute Size 4 bytes U32 PDOmap PDOmap Not possible This object sets the homing speed Set the operation
54. Replace the Servo Drive Turn OFF the power supply then turn it ON again Replace the Servo Drive Turn OFF the power supply then turn it ON again Replace the Servo Drive Make EtherCAT communications settings such as the synchronous cycle SYNCO cycle correctly Check the specifications of the communications state change command for the host controller OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 4 Troubleshooting Error number Cause Measures Command Occurs e When bit 9 Remote of the Check the command error during operation 91 1 Statusword 6041 hex was set specifications of the host to 1 remote and the Servo controller OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 26 Drive was in operation enabled state Servo ON a command that changes the communications state from Operational to another state Init Pre Operational Safe Operational was received An unsupported number was set in Modes of operation 6060 hex CSV or CST was set in Modes of operation 6060 hex during fully closed control The Modes of operation 6060 hex was switched in less than 2 ms The homing operation was started when the Homing method 6098 hex was set toa value other than 8 12 19 20 33 34 or 35 sdueUd UIeW pue HuljooussjqnolL Troubleshooting and Maintenance 12 4 Troublesh
55. S2 K1K520H B S2 K2K020H B S2 K3K020H B S2 WI R88M K1K020T B S2 K1K520T B S2 K2K020T B S2 K3K020T B S2 20 Motor and brake connector Shaft end specifications with key and tap aac ig a amp a 110h7 18 1 0 to 2 0 kW 20 3 0kW t Paw M5 depth 12 1 0 to 2 0 kW M8 depth 20 3 0 kW LL LR 7 j LR 130x1 Encoder connector Se 45 1 0 to 2 0 kW 55 3 0 kW T 41 1 0 to 2 0 kW 2 _ it 51 3 0 kW ig EE co through C m oe g xw wa T a U E a pe Dimensions mm Models and External Dimensions R88M K1K0200 138 55 9 2260 116 R88M K1K5200 133 5 R88M K2K0200 173 129 151 R88M K3K0200 208 164 127 186 R88M K1K0200 BC 163 119 22 60 141 R88M K1K5200 BC 158 5 R88M K2K0200 BC 198 154 176 R88M K3K0200 BC 233 189 127 211 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 49 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 4 kW 5 kW without Brake R88M K4K020H S2 K5K020H S2 R88M K4K020T S2 K5K020T S2 S 4 kW 5 kW with Brake R88M K4K020H B
56. S2 K3K010F B S2 IITs R88M K2K010C B S2 K3K010C B S2 WYS Motor and brake connector i 80 LM Encoder connector gt nee J 176x176 _____ Shaft end specifications with key and tap A M3 through t f 10h9 a of S y A it fap va M12 depth 25 Dimensions mm Model R88M K2K010L1 141 5 R88M K3K0100 187 5 R88M K2K0100 BC 166 5 R88M K3K0100 BC 212 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 63 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 4 5 kW without Brake R88M K4K510C S2 4 5 kW with Brake R88M K4K510C B S2 Motor and LL LR eee brake 44 LM connector KB2 KB1 43 5 43 5 Encoder connector LASS l Shaft end specifications with key and tap 20 O o 2 min Boss insertion position _y depth 32 min Dimensions mm wR pws eee Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an
57. S2 K5K020H B R88M K4K020T B S2 K5K020T B S2 2 Motor and brake connector Encoder connector gt 176x176 Shaft end specifications with key and tap Model Oo R88M K4K0200 a77 J133 j9 155 R88M K5K0200 174 R88M K4K0200 BO 202 158 96 180 R88M K5K020L1 BL 221 177 115 199 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 50 SUOISUBWIG gu13 x4 pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions 7 5 kW without Brake R88M K7K515T S2 7 5 kW with Brake R88M K7K515T B S2 Motor connector Brake connector for model with brake only LR connector Shaft end specifications with key and tap 12h9 Fike groove P9 184 60 E G ee i A A EER EA 114 3h7 2 min Boss insertion position depth 32 min Dimensions mm apap ws epee opel eo Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the en
58. This is the ground terminal Ground to 10 Q or less i R88D KN75F ECT Terminal Block Specifications Left Terminal Block TB1 L1 L2 L3 B1 Main circuit power supply R88D KNLIF ECT 7 5 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz External Regeneration Connect an External Regeneration Resistor between B1 and B2 Resistor connection terminals Do not connect Motor connection These are the output terminals to the Servomotor terminals te Be sure to wire them correctly 4 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring Terminal Block Specifications Right Terminal Block TB2 e Function bol 24 V Control circuit power 24 VDC 15 OV supply input DB1 Dynamic Brake Resistor These terminals are used to control the MC for externally control terminals connected dynamic brake resistance The output contact DB2 specifications are 1 A max at 300 VAC 100 VDC max Connect them if required DB3 Normally DB3 and DB4 are shorted When using an externally connected Dynamic Brake Resistor DB4 remove the short bar from between DB3 and DB4 This is the ground terminal Ground to 10 Q or less H Precautions for Correct Use Never connect an External Regeneration Resistor between the B1 and NC terminals i R88D KN150F ECT Terminal Block Specifications Top Terminal Block TB1 Ssym Function bol 24 V Control cir
59. braking Allowable total work J 2 2x10 2 9x108 2 9x106 2 9x106 4 0x108 4 0x108 Allowable angular 2 10 000 5 000 3 000 rad s acceleration Brake limit o 10 million times min Insulation class ooo Type F Brake specifications suoljeoljinods OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 50 e Specifications 3 3 Servomotor Specifications K40020C K60020C K1K020C Item Unit Rated output P Rated torque a Nem 1 91 4 77 Rated rotation speed r min 2 000 Maximum rotation speed r min 3 000 Momentary maximum 1 zZ pe torque current RAO meray yig k m2 1 61x10 4 2 03104 4 60x10 4 brake With brake kg m 1 90x10 4 2 35x104 5 90x10 4 N 10 times the rotor inertia max 1 38 1 27 Applicable load inertia Torque constant 1 N m A Power rate Without 1 brake AS 1 22 19 0 4 3 0 With brake kW s Mechanical Without time brake 9 8 constant With brake m 0 83 0 72 n O Electrical time constant 02 Ql N O zr l 5 9 Allowable radial load 90 490 90 Allowable thrust load Weight Without brake With brake Radiator plate dimensions Applicable drives R88D O 59 O w f e Approx 3 1 Approx 5 2 320 x 300 x t20 Al KNO6F ECT KN10F ECT kg m 1 35x10 4 1 35x10 4 24 VDC 10 0 70410 0 70410 0 59410 1 reference value 4 9x10 4 9x10 7 8x10 10
60. current 1 Rotor inertia Without brake A rms 0 025x10 4 0 051x10 4 0 14x10 4 With brake 0 027x10 0 054 x10 4 0 16x10 4 Applicable load inertia 30 times the rotor inertia max Torque constant N m A 0 11 10 214 10 32 10 power rate Without KW s brake wi bake wwe Mechanical ao time brake constam With brake 1 54 Electrical time constant Allowable radial load N Allowable thrust load N a 58 Weight Without brake Approx 0 31 Approx 0 46 Approx 0 79 With brake Approx 0 51 Approx 0 66 Approx 1 2 N K40030H K40030T 400 1 3 3 8 2 4 10 2 0 26x10 4 0 28x10 4 0 40 10 62 3 57 8 0 43 0 46 3 4 245 98 Approx 1 2 Approx 1 6 Radiator plate dimensions material 100 x 80 x t10 Al 130 x 120 x t12 Al Applicable drives R88D KNO1H ECT KNO1H ECT KNO2H ECT Excitation Excitation voltage 24 VDC 10 Coon ll consumption a 20 C Current consumption a 20 C Backlash reference value C o R work per J braking Allowable total work 4 49x 4 9x103 441x103 Brake m KNO4H ECT 1 8x10 0 36 1 27 min 50 max 15 max 137 44 1x10 Allowable angular rada 30 000 max acceleration Speed of 2 800 r min or more must not be changed in less than 10 ms Brake limit P 10 million times min Insulation class Le Type B 3 39 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT C
61. nay Y LO R g T R88A RR22047S RR220473S1 i Thermal switch output j A a YT o N i Y o R88A RR50020S J 360 386 p 402 R OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 66 SUOISUBWIG gu13 x4 pue Sj powN Models and External Dimensions 2 5 EMC Filter Dimensions 2 5 EMC Filter Dimensions 2 67 mounts H M1 Yh Output Jh f AS flexes f KN External dimensions Mount dimensions Filter model n Tw o m R88A FIK306 RE 245 235 60 R88A FIK312 RE 290 280 100 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Specifications Pp This chapter provides the general specifications characteristics connector specifications and I O circuits of the Servo Drives as well as the general specifications characteristics encoder specifications of the Servomotors and other peripheral devices 3 1 Servo Drive Specifications ccceeceeeeeeeeeeeeeeeeeeeees 3 1 3 2 Overload Characteristics Electronic Thermal Function c sccesseeeeeeeeees 3 36 3 3 Servomotor Specifications cccceseeeeeeeeeeeeeeeneees 3 37 3 4 Cable and Connector Specifications 08 3 63 3 5 External Regeneration Resistor Specifications 3 86 3 6 EMC Filter Specifications ccccceeeeseeeeeeeeeeeneees 3 88 OMNUC G5 s
62. o 99 00 A Rectangular 2 Wean hole R2 6 EES A i p p 52 5 2052 R2 6 26 5 _ 50 17 5 50 96 Rectangular hole dimensions are reference values OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 34 imensions Models and External D 2 4 External and Mounting Dimensions i 3 phase 400 VAC R88D KN30F ECT KN50F ECT 3 to 5 kW Wall Mounting External dimensions Mounting dimensions 6 M4 214 3 5 50 P 220 240 fo 220 240 a EN if ge PU R2 6 Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 130 214 50 D D AA a Rectangular ee hole ee e Rectangular hole dimensions are reference values 228 250 2 35 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 3 phase 400 VAC R88D KN75F ECT 7 5 kW Wall Mounting External dimensions 233 Mounting dimensions 10 M4 220 OMNUC G5 serie
63. turned ON Occurs when the power supply is turned ON Occurs when the power supply is turned ON A communications state change command was received for which the current communications state could not be changed An undefined communications state change command was received The number of consecutive errors in receiving data during the communication sync time exceeded the value specified for the Communications Control Setting Control PCB error PDO communications were stopped for more than the specified period of time The node address that was read from the rotary switches was not between 00 and 99 Control PCB error Control PCB error Control PCB error e An out of range value was set from the host controller e A command that changes the communications state to an unsupported state was received Measures Check the specifications of the communications state change command for the host controller Check the specifications of the communications state change command for the host controller e Connect the EtherCAT communications cable correctly e Check to see if the EtherCAT communications cable is exposed to excessive noise Replace the Servo Drive e Check the operation of the host controller Connect the EtherCAT communications cable correctly Turn OFF the power supply then turn it ON again Replace the Servo Drive Turn OFF the power supply then turn it ON again
64. with Built in EtherCAT Communications 9 6 s 2 lqo 10 8WeIeg 0A1 Q UO Sj1e q 9 2 Gain Settings 9 2 Gain Settings Refer to 11 2 Gain Adjustment on page 11 4 for the settings for gain adjustment 3100 hex Position Loop Gain 1 eeu 0 to 30000 Unit 0 1 s ou 480 ae range setting attribute Size 2 bytes INT16 INT 16 Acoess Access RW PDO map Not possible 1 The a _ setting is 320 for a Drive with 200 V and 1 kW or greater or with 400 V Set the position loop response in accordance with the machine rigidity The responsiveness of the servo system is determined by the position loop gain Servo systems with a high position loop gain have a high responsiveness and fast positioning To increase the position loop gain you must improve machine rigidity and increase the specific damping frequency This should be 500 to 700 0 1 s for ordinary machine tools 300 to 500 0 1 s for general use and assembly machines and 100 to 300 0 1 s for industrial robots The default position loop gain is 480 0 1 s so be sure to lower the set value for machines with low machine rigidity Increasing the position loop gain in systems with low machine rigidity or systems with low specific damping frequencies may cause machine resonance resulting in an overload error lf the position loop gain is low you can shorten the positioning time using feed forward This object is automatically changed by executing realti
65. 1 Models with oil seals are also available Note 2 The rated rotation speed of Servomotors of 7 5 to 15 kW is 1 500 r min OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 8 SUOISUBWIG jeu1 3 x4 pue Sjepo Oo O1 oO x Z x Models and External Dimensions 2 3 Model Tables Model ENE With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft without key with key and tap without key R88M K1K020H B R88M K1K020T B R88M K1K520H B R88M K1K520T B R88M K2K020H B R88M K2K020T B 1 kW 1 5 kW 2 kW 3 kW 200 V 4 kW 5 kW R88M K3K020H B R88M K3K020H BS2 R88M K3K020T B R88M K4K020H B R88M K4K020H BS2 R88M K4K020T B R88M K5KO20H B R88M K5KO020H BS2 R88M K5K020T B 400 W R88M K40020F B R88M K40020F BS2 R88M K40020C B 600 W R88M K60020F B R88M K60020F BS2 R88M K60020C B 11 kW With brakes 1 kW R88M K1K020F B R88M K1K020C B 1 5kW R88M K1K520F B R88M K1K520C B 2kW R88M K2K020F B R88M K2K020C B 400 V 3kW R88M K3K020F B R88M K3K020C B R88M K4K020F B R88M K4K020C B R88M K5K020F B R88M K5K020C B R88M K7K515C B 4 kW 5 kW 11 kW 15 kW R88M K15K015C B Note 1 Models with oil seals are also available Note 2 The rated rotation speed of Servomotors of 7 5 to 15 kW is 1 500 r min Straight shaft with key and tap R88M K1K020T BS2 R88M K1K520T BS2 R88M K2K020T BS2 R88M K3K020T BS2 R88M K4K020T BS2 R8
66. 1 ms Change the setting on 3818 hex only after you stop the command pulse and the filter switching dwell time elapses The dwell time is calculated by the following formulas depending on the value set on 3818 hex If 3818 hex set value lt 10 ms the set value x 0 1 ms 0 25 ms If 3818 hex set value gt 10 ms the set value x 0 1 ms x 1 05 s 99f qo 19 9WeJeg OAIBS UO Sj1e q OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 58 Details on Servo Parameter Objects 9 7 Special Objects y Precautions for Correct Use If the set value on 3818 hex is changed during the position command is entered the change is not reflected immediately It is updated only after the subsequent state of no position command persists for the filter switching dwell time There is some time lag from when the 3818 hex is change and to when the change is applied If the filter switching dwell time elapses during the lag the change may be suspended 3822 hex Origin Return Mode Settings Setting 0 to 1 Unit Default Data B range setting attribute Size 2 bytes INT16 PDO map Not possible Set the direction for origin return Explanation of Set Values Set value Description 0 Positive direction 1 Negative direction 9 59 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Operation Pp This chapter explains the operating proce
67. 10 10th object Range Unit Default 60FD 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This is the mapping for an application that uses different modes of operation Touch probe status is available Following error actual value 60F4 hex is provided xipueddy OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 32 A 1 CiA402 Drive Profile 1B04 hex 261th TxPDO mapping parameters All Sub index 0 Number of objects Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st object Range pf w Default 603F 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Range Sf Unit e Default 6041 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 3rd object Range pf Unit fe Default 6064 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 Ath object Range ee ao o Default 6077 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 5 5th object Range Unit Default 6061 0008 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 6 6th object Range iw Default 60F4 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 7 7th object Range pf Unit f Default 60B9 0010 hex A
68. 100 150 200 250 300 Torque Time s 200 V 3 000 r min Servomotors 1 0 kW to 5 kW 2 000 r min Servomotors 1 000 r min Servomotors 400 V 3 000 r min Servomotors 2 000 r min Servomotors 1 000 r min Servomotors 100 150 200 250 300 Torque When the torque command 0 and a constant torque command is continuously applied after 3 or more times the overload time constant has elapsed the overload time t s is t s Overload time constant s x log 1 Overload level Torque command 2 The overload time constant s depends on the motor The standard overload level is 115 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 36 Specifications 3 3 Servomotor Specifications 3 3 Servomotor Specifications E The following OMNUC G5 Series AC Servomotors are available 3 000 r min Servomotors 2 000 r min Servomotors 1 000 r min Servomotors There are various options available such as models with brakes or different shaft types Select a Servomotor based on the mechanical system s load conditions and the installation environment General Specifications 1 000 r min Servomotors 3 000 r min Servomotors Item 2 000 r min Servomotors sormw esw Stowe TSK Ambient operating 0 to 40 C 20 to 85 with no condensation temperature
69. 10000 10000 10000 10000 10000 a Feedback Filter Time Constant 2 Torque Commana Filter Time 1500 1100 800 500 400 Constant 2 Speed Feed forward Gain Feed forward Gain 300 300 300 300 Torque Feed forward Gain Feed forward Gain 0 Torque Feed ee Command 0 Filter Gain Switching Input Operating Mode Selection Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 oO 00 QI Switching Mode in Position Control Gain Switching Delay Time in 30 30 30 30 30 30 30 30 Position Control Gain Switching Level in Position i Gain Switching Hysteresis in 33 33 33 33 33 Position Control Estimated if object 3002 hex 3 Estimated if object 3002 hex 4 Estimated if object 3002 hex 4 Torque Command Value Offset Forward Direction Torque Offset Reverse Direction Torque Offset Function Expansion Setting po Disturbance Torque Compensation Gain eiyreteteix 1 This is limited to a minimum value of 10 if a 17 bit absolute encoder is used OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Index 3004 hex 3100 hex 3101 hex 3102 hex 3103 hex 3104 hex 3105 hex 3106 hex 3107 hex 3108 hex 3109 hex 3110 hex 3111 hex 3112 hex 3113 hex 3114 hex 3115 hex 3116 hex 3117 hex 3118 hex 3119 hex 3607 hex 3608 hex 3609 hex 3610 hex 0 3610 hex 3623 hex 3624 hex 11 3 Realtime Autotuning AT M
70. 11 33 1 Set the Inertia Ratio 3004 hex Set the inertia ratio as correctly as possible If the Inertia Ratio 3004 hex is obtained in realtime auto gain tuning use the set value If the inertia ratio is calculated for the selected motor input the calculated value If the inertia ratio is not known perform autotuning and set the inertia ratio Adjust the position loop gain and speed loop gain Adjust Position Loop Gain 1 3100 hex Speed Loop Gain 1 3101 hex Speed Loop Integral Time Constant 1 3102 hex and Torque Command Filter Time Constant 1 3104 hex If no problem occurs in realtime autotuning you can continue to use the settings Set the Function Expansion Setting 3610 hex Set whether to enable or disable the instantaneous speed observer function in bit 0 If you set this to 1 enabled the speed detection method switches to instantaneous speed observer If the machine operation noise or vibration increases or fluctuations in the torque monitor waveform increase significant enough to cause a problem return the setting to O and make sure that the inertia ratio or the adjustment objects are correct If the machine operation noise or vibration decreases or fluctuations in the torque monitor waveform decrease make small adjustments to the Inertia Ratio 3004 hex to find the setting that makes the smallest fluctuations while monitoring the position error waveform and the actual speed waveform
71. 1701 to 1705 hex for RxPDOs and any one of the indexes from 1B01 to 1B04 hex for TxPDOs The following table is an example of PDO mapping Object Dictionary Sub Object contents 1zzzn on ertthtth 8 E 1ZZZh 02h 6UUUh UUR 1ZZZh_ 03h_ YYYYhYYh PDO Length 32 bits a ee rr er eee eee Mapping objects a Object A Object B Object D PDO 1 O 4 h mn Object A UUU UU O 5 5 O lt lt lt I lt lt Il lt 3 lt lt gt Application objects O N N N NI lt N lt 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 4 Process Data Objects PDOs Sync Manager PDO Assignment Settings A Sync manager channel consists of several PDOs The Sync manager PDO assignment objects describe how these PDOs are related to the Sync Manager The number of PDOs is given in sub index 0 of the Sync manager PDO assignment table In this table index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs The following table is an example of sync manager PDO mapping Object Dictionary index Sub Object contents Sync Manager Entity z Sync Manager PDO Assign objects 1A00h PDO A Mapping objects Fixed PDO Mapping This section describes the contents of fixed PDO mapping for G5 series Servo Drives This contents cannot be changed The PDO mapping to be used is specified in Sync manager 2 PDO assig
72. 2 Warnings on page 12 4 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 52 s 09f qo J90 9WeJeg OAIBS UO S 1e 9q Details on Servo Parameter Objects 9 7 Special Objects Warning Warning condition Mask Setting 3638 hex Warning Warning name number Overload warning The load ratio is 85 or more of the protection level A Excessive regeneration The regeneration load ratio is 85 or more of the Bit 5 warning level A2 Battery warning Battery voltage is 3 2 V or less Bit 0 A3 Fan warning The fan stops for 1 second Bit 6 Encoder Encoder communications errors occurred in A4 communications series more than the specified value Bit 4 AO Bit 7 warning A5 Encoder overheating The encoder temperature exceeded the Bit 3 warning specified value AG Vibration detection Vibration is detected Bit 9 warning Life expectancy warning The life expectancy of the capacitor or the fan is l A7 Bit 2 shorter than the specified value A8 External encoder error The external encoder detects a warning Bit 8 warning External encoder The external encoder has more communications A9 communications errors in series than the specified value Bit 10 warning 1 Each warning detection can be masked with the Warning Mask Setting 3638 hex The table above shows the corresponding bits When a bit is set to 1 the warning detection is masked 3700 hex LED Di
73. 3 General External Latch purpose Input 6 Signal 2 General External Latch purpose Input 7 Signal 1 General Monitor Input 0 purpose Input 8 Backup battery input ABS suoljeoijineds Backup battery connection terminals when the absolute encoder power is interrupted Connection to this terminal is not necessary if you use the absolute encoder battery cable for backup CN1 Control Outputs Pin num m a al ol gt lt Q O lt 25 26 O Symbol ALM OUTM1 OUTM1COM OUTM2 OUTM2COM GND Error Output The output turns OFF when an error occurs in the Servo Drive Brake These are general purpose outputs The output Interlock functions can be selected with objects Refer to 7 1 Output Sequence I O Signals on page 7 1 for the allocations General purpose Output 1 Servo Ready Output General purpose Output 2 Signal Ground This is the signal ground OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 18 e TE ee eee Specifications 3 1 Servo Drive Specifications i CN1 Pin Arrangement General purpose OUTM1 Output 1 Brake BKIR interlock Output General purpose ine OUTM1COM output 1 Common BATGND eae ay Encoder Backup s ALM Error Output Error Output ALMCOM Common Prohibition Input p General aoe Input 5 External EXT3 Latch Input 3 General purpose OUTM2 Output 2 Servo READ
74. 3 1 Servo Drive Specifications Safety Connector Specifications CN8 Connection of Safety I O Signals and Processing of External Signals 12 to 24 VDC EDM Maximum service voltage 30 VDC or less Maximum output current 50 mADC o Leakage current 0 1 mA max Residual voltage 1 7 V max 12 to 24 VDC suoljeoijineds Safety I O Signal Table Safety I O CN8 Pin Sym Function and interface No bol 1 i Reserved Do not connect TE 3 Safety input 1 Inputs 1 and 2 for operating the STO function which are 4 SF 2 independent circuits This input turns OFF the power transistor drive signals in the Servo Drive to cut off the 5 Safety input 2 current output to the motor 7 EDM output A monitor signal is output to detect a safety function 3 failure Shell Connected to the ground terminal inside the Servo Drive Connector for CN8 8 pins Name number Industrial Mini I O Connector 2013595 1 Tyco Electronics AMP KK R88A CNK81S D SHAPE1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 34 3 1 Servo Drive Specifications i Safety Input Circuits Servo Drive SF1 4 4 7 KQ External power supply peceni E a aes 12 VDC 5 to oie y K i 24 VDC 5 O A ee aes SF2 6 4 7 KQ PES ft eee i Photocoupler 1 0 KQ w input P i SF2 5 es eee oe Signal level ON level 10 V min OFF level 3 V max i EDM Output C
75. 3 to 5 kW For 1 000 r min Servomotors of 2 to 4 5 aia ea ciearhacas Beene oe kW 10m R88A CAGDO10S R88A CAGD010B 5m Model eae For motor with brake brake 100 V aa MI im See note 1 For 3 000 r min Servomotors of 50 to an o o E p R88A CAGB003B or 3 000 r min Servomotors of 1 to Bid R88A CACB005B o ni Servomotors of 1 to R88A CAGB010B a 000 r min Servomotors of 900 W R88A CAGB015B R88A CAGB020B R88A CAGB030B R88A CAGB040B R88A CAGB050B 400 V R88A CAKF003B e i Servomotors of 750 W to Ein R88A CAKE005B For 2 000 r min Servomotors of 400 Wto 10m R88A CAKF010B For 1 eee eee oe ee ae ees Co a ee an R88A CAGD015B R88A CAGD020B R88A CAGD030B R88A CAGD040B R88A CAGD050B OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 16 SUOISUBWIG jeu1 x4 pue Sj poN Models and External Dimensions 2 3 Model Tables Model Specifications For motor without brake For asa are 7 5 kW For 1 000 r min Servomotors of 6 kW Em R88A CAGE005S l l Note 1 Different connectors are used for the motor power and the brake on 100 V and 200 V 3 000 r min Servomotors of 50 to 750 W and Servomotors of 6 to 15 kW When using a Servomotor with a brake two cables are required a Power Cable without Brake and a Brake Cable Note 2 For non flexible power cables for Servomotors of 6 to 15 kW refer to 4 2 Wiring page 4 6 and make your own cable f Brake Cables
76. 4 Figure A x 0 05 x 0 05 4 Speed command change amount Enabled Enabled Enabled Refer to Figure B 10r min s 10r min s 5 Speed command Refer to Figure C Enabled Enabled Enabled r min r min 1 The Gain Switching Delay Time in Speed Control 3121 hex becomes effective when the gain is switched from 2 to 1 2 The Gain Switching Hysteresis in Speed Control 3123 hex is defined in the drawing below hex 3122 hex gt 4 3121 hex 3 When the Gain switching command of EtherCAT communications G SEL is 0 the gain switches to Gain 1 When the command is 1 the gain switches to Gain 2 4 The variation means the change amount in a millisecond ms E g The set value is 200 when the condition is a 10 change in torque in 1 millisecond 7 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 9 Gain Switching Function 5 When the set value is 10 meanings of the Gain Switching Delay Time in Speed Control 3121 hex the Gain Switching Level in Speed Control 3122 hex and the Gain Switching Hysteresis in Speed Control 3123 hex differ from the normal case Refer to Figure D Commanded rotation speed S Actual rotation speed N Gain 2 ro Gain 1 Gain 1 Gain 2 only for the Speed loop integral time constant Gain ior other cases O O ooo o o OMNUC G5 series AC Servomotors and Servo Drives User s Man
77. 4 i Momentary operation range 1 3 1 31 ie recess ye Continuous operation range 4 00 0 32 1000 2000 3000 4000 5000 6000 r min Note 1 The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque Note 2 If the motor power cable exceeds 20 m the voltage drop will increase and the momentary operation range will become narrower OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 44 o suoljeoijineds TA O 2 O O D Q Y 3 3 Servomotor Specifications 3 000 r min Servomotors 200 VAC The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input e R88M K05030H T 50 W e R88M K10030H T 100 W e R88M K20030H T 200 W Power supply voltage N m Power supply voltage N m dropped by 10 N m Power supply voltage dropped by 10 dropped by 10 0 5 40 48 0 48 4000 1 0 10 95 0 95 5000 Momentary operation range 10 3 Momentary operation range 0 5 19 32 0 32 0 08 Continuous operation range 0 16 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 r min r min r min e R88M K40030H T 400 W e R88M K75030H T 750 W e R88M K1KO30H T 1 kW Power supply voltage Power supply voltage N
78. 5 mm into the opening for the driver on the terminal block and press down firmly to open the slot Figure B Figure A Figure B With the wire insertion slot held open insert the end of the wire After inserting the wire let the slot close by releasing the pressure from the lever or the screwdriver Mount the terminal block to the Servo Drive After all of the terminals have been wired return the terminal block to its original position on the Servo Drive OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives 4 3 Wiring Conforming to EMC Directives M Conformance to the EMC Directives EN 55011 Class A Group 1 EMI and EN 61000 6 2 EMS can be ensured by wiring under the conditions described in this section These conditions are for conformance of OMNUC G5 series products to the EMC directives EMC related performance of these products however may be influenced by the configuration wiring and other conditions of the equipment in which the products are installed The EMC conformance of the system as a whole must be confirmed by the customer The following are the requirements for EMC Directive conformance The Servo Drive must be installed in a metal case control panel The motor does not however have to be covered with a metal plate Noise filters and lightening surge absorptive elements surge absorbers must be
79. 6 8mm max Z y 4 t Applicable crimp terminals Applicable wires 1 25 to 3 AWG22 to 16 0 30 to 1 25 mm Round terminals 2 to 3 5 AWG16 to 14 1 25 to 2 0 mm 1 25Y to 3 AWG22 to 16 0 30 to 1 25 mm Fork terminals 2 to 3 5 AWG16 to 14 1 25 to 2 0 mm When connecting wires and crimp terminals to a terminal block tighten them to a tightening torque of 0 59 N m 3 83 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications XW2D 20G6 o suoljeoijineds Precautions for Correct Use When using crimp terminals use crimp terminals with the following dimensions Round terminal Fork terminal 03 2MM No F 4y y 5 8 mm max 3 2 mm 5 8 mm max J Y t Applicable crimp terminals Applicable wires Round terminals 1 25 to 3 AWG22 to 16 0 30 to 1 25 mm Fork terminals 1 25Y to 3 AWG22 to 16 0 30 to 1 25mm When connecting wires and crimp terminals to a terminal block tighten them to a tightening torque of 0 7 N m OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 84 Specifications 3 4 Cable and Connector Specifications 3 85 i Terminal Block Wiring Example The example is for the XW2B 20G4 XW2B 20G5 and XW2D 20G6 zd OF A 24 VDC 24 VDC 1 Assign the brake interlock output BKIR to pin CN1 1 2
80. A 37 Sync manager 0 PDO assignment 1010 hex A 34 Sync manager 1 PDO assignment 1C11 hex A 35 Sync manager 2 PDO assignment 1C12 hex A 35 Sync manager 3 PDO assignment 1C13 hex A 35 Sync manager communication type 1C00 hex A 34 Sync Not Received Timeout Setting 2201 hex A 39 system block CiAGrAM cceeee cece eee ee tees eeeeeeeeaeees 1 6 system configuration cece cece eee ee eee teen eens 1 3 2 1 T terminal block WIRIVG proc dure oiuis ovensiens soorubecnen needed ea oe ee 4 29 Terminal block Specifications ccccccceeeeeeeeeeeeeeeeeaes ve 3 10 3 11 3 14 3 15 4 19 4 20 4 21 4 23 4 24 terminal block Wire SIZES cccceeeeeeeeeaeeeeeeeenees 4 25 Torque Limit Output TLIMT cceee eee eee eee e eee 3 26 torque limit switching ccceeeeeeeseesceneeseeesenas 7 21 TOUCH probe FUNCTION cccceeeeeeeeeeeeeaeeeeeenaeens 1 37 TlaAlODESFAllON varecestecectenersecentist vers seesscesseiGiercaceia 10 7 TFOUDIESHOOUNG sxscncchuscwcecaccssessesbereceetcaehes 12 1 12 13 troubleshooting using the operation state 12 27 troubleshooting with error displayS scceeeeeees 12 13 U UL cand CULL Stand ANOS tats vicky ilea tute Parhunes essed teas 1 15 USB connector specifications CN7 ceeeeeeee 3 33 V vibration suppression settings Adaptive Filter Selection 3200 hex 65 9 20 Damping Filter 1 S
81. AWGA e E Tightening Nin 2 0 to 2 2 to torque 2 4 2 5 Frame ground Wiresize AWG14 AWG12 AWG6 AWG4 FG e 1 te Tightening N m 1 4 to 2 4 to torque 1 6 2 8 Dynamic brake Wiresize AWG18 Main circuit power supply input L1 and L3 or L1 L2 and L3 Control circuit resister control eee M5 MG terminals Tightening Nm 1 3 to 0 7 to N m torque 1 5 0 8 1 The first value is for single phase input power and the second value is for 3 phase input power 2 Connect an OMRON power cable to the motor connection terminals 3 Use the same wire size for B1 and B2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring 400 VAC Input Drive Wire Sizes R88D KNL_ L F ECT Model R88D KNOGF KN10F KN15F KN20F KN30F KN50F KN75F KN150F Kem Unit ECT ECT ECT ECT ECT ECT ECT ECT power supply input L1 and L3 Wire size AWG14 AWG12 AWG10 AWG6 re Lt Ld Tightening torque Nm 20 20t024 22t026 Control circuit Wire size AWG20 to 24 AWG18 power supply o D ES I RN E a E SO M4 13t01 5 0 7t00 8 Oen Wi AWG14 AWG12 Awce AWG4 Frame ground O AWG14 AWG12 AWG6 AWG4 FG mee mns EE I Tightening torque 1 3 to 1 5 0 7 to 0 8 1 Use the same wire sizes for B1 and B2 2 Connect an OMRON power cable to the motor connection terminals i Wire Sizes and Allowable Current Reference The following ta
82. CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions 4 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Precautions Safety Precauti
83. Control Mode ccccceccceccaeeeeeeeseeeeeeeeeeeeseeeseeeees 7 27 Diagrams of Gain Switching Setting 2 0 00 cceccceecceeeeeeeeseeeeeeeeseeeseeeeeeeeseeeseeeseeees 7 32 7 10 Gain Switching 3 FUNCTION ccccccccseeceeecaeeceeeeceeeeseesaeeseeesaeeeneeess 7 35 Operating COMGINOMS csccth cece ae essere Date E Aan E ANE ASEE 7 35 Objects Requiring Settings ssvacaiielesclaeicniss cucavsle dena cnc een ddycecewtcabetsu dency dase tua pedessenansaceoenanen 7 35 Operation Exam pleco eee baer ered lees tea et 7 36 7 11 Touch Probe Function Latch Function ccccececeeeeeeeeeeeeeeeeseeees 1 37 Related ODS CUS muine a es ue essen etsy 1 37 Tngger Signal Settings asset cscs lect cdeccce aie a a a wie ena aA 1 37 Operation SCOUCICOS e eeni e ea e a e ened icuall 7 38 Chapter 8 Safety Function 8 1 Safe Torque OFF FUNCION areeni a da 8 1 Signal SOCCIICATION Scie barnett ieee ihe i ee arene ees 8 2 8 2 Operation op 2 19 een ae On eR ee een 8 4 6 9 lt COMMECHON EXAMP ES ware aice aa a 8 6 Chapter 9 Details on Servo Parameter Objects 9 1 BASIS S CUNO See a tech tora dated crate ete eloneat ee atua 9 1 92 Gai SC MINS earren e E nedenocneh aces 9 7 9 3 Vibration SUPPreSSION Settings csiis eccececeeeeeteeesseeeneceeeteeeeeetsees 9 20 9 4 Analogi COnMC OD CCUS ess a E 9 26 9 5 Interface Monitor SettingS cccccceccseccceeeceeeceeeeseeeeaeeseeseeeseeeeseeees 9 31 9 6 Extended
84. Cyclic synchronous velocity mode Cyclic synchronous torque mode Touch probe function Latch function Torque limit function Homing mode OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 6 o suoljeoijineds ka Specifications 3 1 Servo Drive Specifications Main Circuit and Motor Connections When wiring the main circuit use proper wire sizes grounding systems and noise resistance R88D KNA5L ECT KN01L ECT KN02L ECT KN04L ECT KN01H ECT KN02H ECT KN04H ECT KN08H ECT KN10H ECT KN15H ECT Main Circuit Connector Specifications CNA L1 Main circuit power R88D KNLIL ECT E supply input 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz 200 to 400 W 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz R88D KNLIH ECT 50 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 L3 60 Hz 100 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz Note Single phase should connect to L1 and L3 L1C Control circuit power R88D KNLIL ECT Single phase 100 to 120 VAC 85 to 132 V 50 supply input 60 Hz R88D KNLIH ECT Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz L2C Motor Connector Specifications CNB B1 External Regeneration 50 to 400 W Normally do not short B1 and B2 Doing so may result B3 Resistor connection in malfunctioning If there is high regenerative energy connect an terminals Extern
85. Data Size 2 bytes INT16 Access RW PDO map Not possible Set the second speed feedback filter 3109 hex Torque Command Filter Time Constant 2 Seng 0 to 2500 Unit 0 01 ms pol 84 ae range setting attribute Size 2 bytes INT 16 Access RW PDO map PDO map map Not possible 1 The default setting is 126 for a Drive with 200 V and 1 kW or greater or with 400 V Set the second torque filter time constant The objects from 3105 to 3109 hex are the gain and time constants to be selected when the Gain Switching Input Operating Mode Selection 3114 hex is enabled The gain is switched according to the condition set in the Switching Mode 3115 hex 3120 hex and 3124 hex lf the mechanical system inertia changes greatly or if you want to change the responsiveness depending on whether the motor is rotating or being stopped you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions and switching them according to the condition This object is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection 3002 hex to 0 3110 hex Speed Feed forward Gain csp Setting 9 Default Data Size 2 bytes INT16 ee E PDO map Not possible Set the feed forward gain Increasing the set value decreases the position error and increases the responsiveness Overshooting however will
86. Data range setting hex attribute Size 4 bytes INT32 Access RW PDO map Not possible Set the function and logic for general purpose input 1 IN1 Refer to the Details of Control Inputs in Control Input Details on page 3 21 as well as 7 1 Sequence I O Signals on page 7 1 3401 hex Input Signal Selection 2 Setting 0 to OOFF FFFF hex Unit Default 0081 8181 Data c range setting hex attribute Size 4 bytes INT32 PDO map Not possible Set the function and logic for general purpose input 2 IN2 Refer to the Details of Control Inputs in Control Input Details on page 3 21 as well as 7 1 Sequence I O Signals on page 7 1 3402 hex Input Signal Selection 3 All Setting 0 to OOFF FFFF hex Unit Default 0082 8282 Data range setting hex attribute Size 4 bytes INT32 Access RW PDO map Not possible Set the function and logic for general purpose input 3 IN3 Refer to the Details of Control Inputs in Control Input Details on page 3 21 as well as 7 1 Sequence I O Signals on page 7 1 3403 hex Input Signal Selection 4 Setting 0 to OOFE FFFF hex Unit Default 0022 2222 Data c range setting hex attribute Size 4 bytes INT32 PDO map Not possible Set the function and logic for general purpose input 4 IN4 Refer to the Details of Control Inputs in Control Input Details on page 3 21 as well as 7 1 Sequence I O Signals on page 7 1 3404 hex Input Signal Selection 5 Setting 0 to OOFF FFFF hex Unit De
87. Default 0000 hex Attribute A Size 2 bytes U16 PDO map Not possible Sub indexes 6 to 19 Diagnosis messages 1 to 14 Size 16 bytes VS Access RO PDO map Not possible This object gives up to 14 error history items It also enables disables emergency messages Sub index 1 Maximum messages gives the number of error messages Sub index 2 Newest message gives the sub index where the latest error history is saved Sub index 5 Flags sets whether or not to notify the error history as an emergency message It is set to Emergency Message Disabled 0000 hex when power is turned ON Write 0001 hex from the master to enable this function Sub indexes 6 to 19 Diagnosis messages 1 to 14 give the error history The error history is saved in Diagnosis messages 1 to 14 in ascending order When the 15th error is reached it is saved as Diagnosis message 1 and the sequence starts again OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 24 Appendix A 1 CiA402 Drive Profile PDO Mapping Objects Indexes 1600 to 17FF hex are used for Receive PDO mapping and indexes 1A00 to 1BFF hex are used for Transmit PDO mapping Sub indexes after sub index 1 provide information about the application object being mapped 31 16 15 8 7 0 Index Bit length MSB LSB Bits 0 to 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bits 8 to 15 Sub index of th
88. Dividing Ratio Setting 3324 Hex 3325 Hex Set the dividing ratio for the encoder resolution and external encoder resolution External Set the numerator of the external feedback 0 to 1 048 576 Feedback Pulse pulse divider setting Normally set the 3324 hex Dividing number of encoder output pulses per motor Numerator rotation If the set value is 0 the encoder resolution is set automatically External Set the denominator of the external 1 to 1 048 576 Feedback Pulse feedback pulse divider setting Normally set Dividing the number of external encoder output Denominator pulses per motor rotation 3325 hex Check the number of encoder feedback pulses and the number of external encoder output pulses per motor rotation and set the External Feedback Pulse Dividing Numerator 3324 hex and External Feedback Pulse Dividing Denominator 3325 hex the so that the following equation is true Object 3324 hex Encoder resolution per motor rotation pulses Object 3325 hex External encoder resolution per motor rotation pulses Precautions for Correct Use If this divider setting is wrong there will be error between the position calculated from encoder pulses and the position calculated from external encoder pulses If the movement distance is long this error accumulates and causes a Excessive Hybrid Deviation Error error 25 0 The recommended divider setting is 1 40 lt External Feedback Pulse Ratio l
89. Drive Regeneration Absorption Capacity on page 4 51 Precautions for Safe Use Surface temperatures on regeneration resistance can reach 200 C Do not place objects that tend to catch fire nearby To prevent people from touching them install a cover that enables heat dissipation 10 Q 10 Q 4 55 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications EtherCAT Communications This chapter describes EtherCAT communications under the assumption that the servo Drive is connected to a CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Unit 5 1 Display Area and Settings cccsceeeseeeseeeeeeeeeeeeees 5 1 5 2 Structure of the CAN 5 Application Protocol over EtherCAT 000 5 3 5 3 EtherCAT State Machine cccsccesseeeseeeeeeeeeeeeeees 5 4 5 4 Process Data Objects PDOS ccccessesseeeeeeeeeees 5 5 5 5 Service Data Objects SDOS cc ceeceseeeeeeeeeeeeeees 5 9 5 6 Synchronization with Distributed Clocks 5 10 5 7 Emergency Messages ccssceseseeeseeeeeseneseeeeeeeees 5 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications EtherCAT Communications 5 1 Display Area and Settings 5 1 Display Area and Settings Status indicators RUN Rotary switches for ERR node address setting
90. Drives User s Manual with Built in EtherCAT Communications 1 10 uoijeinbiyuoy Ws sAS pue sainjeo Features and System Configuration 1 4 System Block Diagram R88D KNO6F ECT KN10F ECT KN15F ECT KN20F ECT Voltage detection supply main circuit control Display and setting circuit control power MPU amp ASIC se g supply Position speed and torque calculation control area a e PWM control HHHH8HH EtherCAT EtherCAT Control Encoder External Analog USB Safety communications communications interface encoder monitor connector connector 1 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 4 System Block Diagram R88D KN30F ECT KN50F ECT SW power circuit control drive control Display and setting circuit control power MPU amp ASIC eee supply Position speed and torque calculation control area Es e PWM control HHHHHH EtherCAT EtherCAT Control Encoder External Analog USB Safety communications communications interface encoder monitor connector connector OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 12 uoijeinbiyuoy Wsa sAS pue sainjeo 1 4 System Block Diagram R88D KN75F ECT TB1 TB1 TB1 a supply main circuit control GR Display and control power MPU amp ASIC setting circuit Position speed and torque calculation control area e PWM control TB2
91. E MAX ProM veldgiy EI 0 to 2147483647 ee 4 bytes U32 RxPDO 6083 hex Profile acceleration 4000000 1 t0655350000 Command 4 bytes U32 Not Pn745 units s possible 6084 hex Profile deceleration 4000000 10655350000 Command 4 bytes U32 Not Pn746 units s possible A E ODCLSEE Ce a a ead aa eaa Number of entries 02 hex 1 byte U8 Not 7 gt K possible 6091 hex O q j Mororrevolions 1 0 to 1073741824 4 bytes U32 C Not Pn748 possible Q Shaft luti Not Q 2 IE S 1 1 to 1073741824 4 bytes U32 C x Pn749 Q possible lt 6098 hex Homing menog 128 to 127 1 byte INT8 NOL Pn750 possible Number of entries 02h 1 byte U8 Not possible 6099 hex qi Speed duning search i sogo 100 to 3276700 Command 4 bytes U32 Not Pn751 for switch units s possible Speed during search Command Not Position offset 2147483648 to Command Velocity offset 2147483648 to Command 60B2 hex po Torque offset E 5000 to 5000 2 bytes INT16 RxPDO Touch probe pos1 2147483648 to Command Touch probe pos2 2147483648 to Command 60E0 hex Positive torque Jini 5000 0 to 5000 0 1Ai 2 bytes U16 Not value possible 60E1 hex Nedalivedorque limit 5000 0 to 5000 0 1Ai 2 bytes U16 Not value possible A 79 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 2 Object List b A setting attribute fame a a method ee E E i e e ea o 2 re e o o ea o e p a
92. EIRE 2 3 Model Tables Servo Drive R88D KN10H ECT R88D KN15H ECT R88D KN20H ECT R88D KN30H ECT R88D KN50H ECT R88D KN50H ECT R88D KN75H ECT R88D KN150H ECT R88D KN150H ECT R88D KN06F ECT R88D KNO6F ECT R88D KN10F ECT R88D KN15F ECT R88D KN20F ECT R88D KN30F ECT R88D KNSOF ECT R88D KN50OF ECT R88D KN75F ECT R88D KN150F ECT R88D KN150F ECT Use these combination with caution because the Servo Drive and Servomotor have different capacities OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 12 Models and External Dimensions 2 3 Model Tables i 1 000 r min Servomotors and Servo Drives Servomotor Voltage Rated With incremental Servo Drive With absolute encoder output encoder Single phase oo9 w R88M K90010H O R88M K90010T L R88D KN15H ECT 3 phase 200 V 3 phase 200V 2kW R88M K2K010T R88D KN30H ECT 3 kW R88M K3K010T R88D KN50H ECT 4 5 kW rs o y l R88M K4K510T R88D KN50H ECT a ee R88M K6K010T R88D KN75H ECT 3 phase 400 V 900 W R88M K90010C R88D KN15F ECT 2 kW R88M K2K010C R88D KN30F ECT 3 kW R88M K3K010C R88D KN50F ECT 4 5 kW ae R88M K4K510C R88D KN50F ECT 6 kw a ae R88M K6K010C R88D KN75F ECT Use these combination with caution because the Servo Drive and Servomotor have different capacities LI L es aks LJ O Cable and Peripheral Device Model Tables The following tables list the
93. EXTZ and EX T3 jarriren vivest tees 3 22 External Regeneration Resistor ccceeeeeeeeees 4 52 COMMING siete ct Mule Polau ier E a RA 4 55 CONNEC rraren EE ae AEE ee eee 4 53 GIMENSIONS a iwideciec ious steadied sdaves lan a a 2 66 Modelist orenian aa a EEN E A 2 21 SDECINCALONS sreka a a 3 86 External Regeneration Resistor connector specifications CNC cccceeeeeeeeeeeeeeeeeeaes 3 12 4 18 External Regeneration Resistor connector specifications CND icscscc scossreessecsevsetteevicorstecerea 4 22 External Torque Limit Input NCL eeeeee eee 3 23 F feed forward function cceeee eee ence eee e eee eeeaes 11 29 ied PDO IMD DING encase et vcs neina a latte wanes 5 6 forward drive prohibition fUNCTION 0ceceeeeee ees 7 6 Forward Drive Prohibition Input POT 08 3 22 Forward External Torque Limit Input PCL 3 23 friction torque compensation function 066 11 26 TUNLY GIOS SC CONWO as entuiatetentuticiretinassathye naga wdds 6 12 supported external encoders cseceeeeeeeeaees 6 14 fully closed mode adjustment cccceeeeeee eee 11 14 G gain Adjustment o2 c cite eyes ances esc neene oan ears 11 4 gain settings Gain Switching Delay Time in Position Control OTIO NOX ates aie cere cae eee det wgae oeeeene 9 13 Gain Switching Delay Time in Speed Control 9121 INE arin anemic eeeeianiey aatarentaoee we a 9 16 Gain Switching D
94. EtherCAT Communications 3 1 Servo Drive Specifications Control Input Circuits External power supply 12 VDC 5 to menos 24 VDC 5 es 24VIN 6 4 0 kQ O N 1 0 KQ l E SI Photocoupler input 5 4 7 KQ O 1 0 KQ l E S K Photocoupier input T To another input circuit GND common _ To other input circuit 50 mA or more per unit Signal level ON level 10 V or more OFF level 3 V or less ect OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 20 o suoljeoijineds Specifications 3 1 Servo Drive Specifications Control Input Details This is the detailed information about the CN1 connector input pins i General purpose Inputs IN1 to IN8 Pin 5 Pin 7 Pin 8 Pin 9 Pin 10 Pin 11 Pin 12 Pin 13 General purpose Input 1 IN1 General purpose Input 2 IN2 General purpose Input 3 IN3 General purpose Input 4 IN4 General purpose Input 6 IN6 IN1 IN2 IN3 IN4 General purpose Input 5 IN5 ING General purpose Input 7 IN7 IN8 General purpose Input 8 IN8 amp Immediate Stop Input STOP Forward Drive Prohibition Input POT Reverse Drive Prohibition Input NOT Origin Proximity Input DEC External Latch Input 3 EXT3 External Latch Input 2 EXT2 External Latch Input 1 EXT1 Monitor Input 0 MONO Note The functions that are allocated by default are given in brackets
95. EtherCAT communications R Updated when the control power supply is reset It is not updated for a Config command via EtherCAT communications Write prohibited The operation modes are shown as follows All All operation modes Cyclic synchronous position mode p ep 2 i i csp semi Only objects related to semi closed control csp full Only objects related to fully closed control CSV Cyclic synchronous velocity mode cst Cyclic synchronous torque mode Rotation Direction Switching ll Default Data 2 bytes INT16 PDO map Not possible This object switches the motor rotation direction for a position speed or torque command OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 1 Basic Settings Explanation of Set Values Set Description value 0 A forward direction command sets the motor rotation direction to clockwise 1 A forward direction command sets the motor rotation direction to counterclockwise The motor rotation direction when viewing the shaft from the load side is called clockwise CW or counterclockwise CCW 3001 hex Control Mode Selection All Setting Oto Unit Default Data R range setting attribute Size 2 bytes INT16 Access RW PDO map Not possible Set the control mode to be used Explanation of Set Values Set value Description Oto5 Semi closed control position control 1 6 Fully closed con
96. G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 3 Model Tables g Mounting Brackets L brackets for Rack Mounting Applicable Servo Drives Model R88D KNA5L ECT KN01L ECT KN01H ECT KN02H ECT R88A TK01K R88D KN02L ECT KN04H ECT R88A TK02K R88D KNO4L ECT KNO8H ECT R88A TKO3K R88D KN10H ECT KN15H ECT KNO6F ECT KN10F ECT KN15F ECT R88A TKO4K OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 22 SUOISUBWIG jeu1 3 x4 pue Sjepo Models and External Dimensions 2 4 External and Mounting Dimensions 2 4 External and Mounting Dimensions This section describes the external dimensions and the mounting dimensions of Servo Drives Servomotors and peripheral devices Servo Drive Dimensions The dimensional description starts with a Servo Drive of the smallest motor capacity which is followed by the next smallest and so on Single phase 100 VAC R88D KNA5L ECT KN0O1L ECT 50 to 100 W Single phase 3 phase 200 VAC R88D KN01H ECT KNO2H ECT 100 to 200 W Wall Mounting External dimensions Mounting dimensions 2 M4 lt _ lt O O r e 6 28 c E T 40 D S 2 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimens
97. GND CN1 pin 16 When an oscilloscope is used for measurement it will not be affected by noise if measurements are performed using the differential between CH1 and CH2 When performing tests first check that there are no persons in the vicinity of the equipment and that the equipment will not be damaged even if the motor runs away Before performing the tests verify that you can immediately stop the machine using an immediate stop in case the machine runs out of control Replacing the Servomotor or Servo Drive Use the following procedure to replace the Servomotor or Servo Drive i Replacing the Servomotor 1 Replace the motor 2 Perform origin adjustment for position control When the motor is replaced the motor s origin position phase Z may deviate so origin adjustment must be performed Refer to the position controller s manual for details on performing origin adjustment 3 Set up the absolute encoder If a motor with an absolute encoder is used the absolute value data in the absolute encoder is cleared when the motor is replaced so setup is again required The multi rotation data will be different from before it was replaced so initialize the Motion Control Unit settings For details refer to Absolute Encoder Setup on page 10 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 2 sdueUDs UIeW pue HuljooussjqnolL Troubleshooting and Maint
98. In this case only the lowest order byte is shown The value returns to 00 when it exceeds FF but the count continues Displays the rotary switch setting i e node address read at power ON The displayed value is in decimal The value is not altered by any changes to the rotary switch setting after the power ON Displays a value between 0 and FF hex 5 encoder The cumulative count is saturated when it reaches the maximum value communications FFFF hex errors In this case only the lowest order byte is shown The value returns to 00 when it exceeds FF but the count continues Total number of external 6 encoder communications Z phase counter T Displays the Z phase count value read from the external encoder when an 7 incremental external encoder is used during fully closed control The value between 0 an FF hex is displayed 8 or over Do not set anything 4 The cumulative count of communication errors is cleared when the control power is cut OFF 2 The value read from the encoder is indicated directly regardless of the External Feedback Pulse Direction Switching 3326 hex 3701 hex Setting range O to 1000 Default setting 0 Data Attribute R Power ON Address Display Duration Setting All Size 2 bytes INT16 Not possible Set the time to indicate the node address when the control power is turned ON 3703 hex Torque Limit Flag Output Setting Size 2 bytes INT16 Not possible Set the condition for tor
99. KN10F ECT 600 W to 1 0 kW 3 phase 400 VAC R88D KN15F ECT 1 5 kW Wall Mounting External dimensions Mounting dimensions 70 172 gou 00l es 0 Toa Gh ae Um Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions gt Rectangular o a hole 6 r P 18 40 94 Rectangular hole dimensions are reference values OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions g 3 phase 400 VAC R88D KN20F ECT 2 kW Wall Mounting External dimensions Mounting dimensions 94 85 17 5 50 42 5 05 2 70 195 1 8 521 _ 5 2 gt 6 M4 An ee Ai EE S a Ta l Ji D vn ee dp p lt I gt 7 Q R2 6 l m 5 2 5 2 x lt P D 5 Front Mounting Using Front Mounting Brackets v a g External dimensions Mounting dimensions 3 g 85 A 50 O 70 195 30 7 6 M4 N 25 p p
100. Not 2 bytes Not Realtime Autotuning Mode 2 bytes Not Realtime Autotuning 4 2 bytes Not 2 bytes Not o 3013 hex External Torque Limit 1 5000 0105000 0 1 2 bytes Not n753 l INT16 possible Operation Switch when 2 bytes Not Regeneration Resistor 9 2 bytes Not External Regeneration 2 bytes Not OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 70 2 C D Q Q lt A 71 A 2 Object List Corre Default setting Setting Data PDO spond range attribute map ing Pn 3100h number Not T 3 2 bytes Position Loop Gain 1 320 480 0 to 30000 INT16 ES possible 1 The default setting is 11 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 13 for other Drives Pn100 2 The default setting is O for a Drive for 100 V and 400 W for 200 V and 750 W or greater or for a Drive for 400 V It is set to 3 for other Drives 3 The default setting is 320 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 480 for other Drives OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 2 Object List Corresp Default set Setting Data onding index ting range attribute EDOmap Pn number 3101 hex Speo boop calli 180 270 11032767 0 1Hz 2 bytes INT16 Not Pn101 possible Speed Loop Integral Time 9 Not 3102 hex EE Constant 1 210 31
101. Not possible Sub index 4 4th object Range pF Unit Default 6071 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 5 Sth object Range pf Unit Default 6060 0008 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 6 6th object Range pF Unit Default 60B8 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 7 7th object Range pF Unit Default 607F 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 8 8th object Range pF Unit Default 60E0 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 9 9th object Range pf Unit Default 60E1 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This is the mapping for an application that uses one of the following modes Cyclic synchronous position mode csp Cyclic synchronous velocity mode csv and Cyclic synchronous torque mode cst Touch probe and torque control are available xipueddy OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 28 A 1 CiA402 Drive Profile 1705 hex 262th RxPDO mapping parameter All Sub index 0 Number of objects Size 1 byte U8 PDO map Not possible Sub index 1 1st object RO Size 4 bytes U32 Access RO PDOmap Not possible Sub index 2 2nd object Size 4
102. O ueteaaeiees 3 21 COMO OUTDUE CIRCUITS srair r E ss 3 23 CONtOl OULOUT DGlallS sates ict tasiadealeats omen hance hoes nid Sasa acuta eck aceens eer etGs 3 24 Encoder Connector Specifications CN2 cccccccseeecseeeeeeeeeaeeesseeeeeeeeeseeeeneeeseeeees 3 28 External Encoder Connector Specifications CNA4 ccccceccseeeeeeeeeeeeseeeseeeseeeeaeees 3 28 Analog Monitor Connector Specifications CN5 ccccccccseceseeeeeeeeseeeeeeeseeeseeeaeees 3 32 USB Connector Specifications CN7 ccccccccsecceeeceseceseeceeecueeceueceuessaeecaeesaeesaees 3 33 Safety Connector Specifications CN8 cccccccccccseecseeeeeeeceeeeseeeseeeseeeseeeeseeeaeeees 3 34 3 2 Overload Characteristics Electronic Thermal Function 3 36 Overload Characteristics Graphs ccccccceeccceccceeecesecceeceeesneceueecseeseeseneseaeeseeeses 3 36 3 0 SErVvOMOlOr SHCCIICALONS airesin aE E N 3 37 Ge neral Specifications rsrs Serea E aa E a E ERT 3 37 G aracterstiCS isoo E a a E S 3 38 Encoder SpecMicalloNS esene a ea a e a R 3 62 3 4 Cable and Connector Specifications ccccccceeceeeceeeeeeeteeeeeeeseeeaeees 3 63 Encoder Cable Specifications ccccccccccsscccscccececececeueceucecseecueeceueceusesueesaeeseusenass 3 63 Absolute Encoder Battery Cable Specifications cccccceccceeeseeeceeeeaeeeseeeseeeeeeees 3 65 Motor Power Cable Specifications cccccccccseccecece
103. Objects cc ccccceccceeeceeeeseeeseeeeeeeeseeseeeeseeeseeeseeeseeeseeees 9 40 9 7 SPCClal ODI EC anue Ment etait ene tadamadsoaneen 9 47 Chapter 10 Operation 10 1 Operational Procede enari T nad anda aeeeeomeads 10 1 10 2 Preparing for Operation eresse a a a 10 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 19 Table Of Contents Items to Check Before Turning ON the Power Supply cccceccseeeeeeeeeeeeeeeeeeeees 10 2 Turning ON the Power Supply ccccccccssecsscecececeeeceuecececeeeceueeeeeseeseeeseeeesseesages 10 3 Checking the Displays sireni a e a a a aa aai 10 4 POS OIE ENCOG Cl O GU Dois a R ai ETS 10 6 Setting Up an Absolute Encoder from the CX DIive cccccccseccceeeeeeeeaeeeseeeeeeeseees 10 6 103 ThialOperat ON saeco ECA 10 7 Preparations for Trial Operation anwceccaserdeecetcceeice eines iat ia vale ease 10 7 Test Operation via USB Communications from the CX Drive cccscceeeeeeeeeeee es 10 8 Chapter 11 Adjustment Functions 20 tT Anag MONO sessi ee N T ea 11 1 Objects Requiring Settings ccccsecssecoecccecserccuteseecseccussaeecsecoeeeuecnertontsaeensetanenaes 11 1 ti Sa AGUS UCI ia a E N 11 4 Purpose of the Gain Adjustment n nnannannannnnnnnnnnnnnnnnnrnnrnrrnnrrnrrrrrrrnrrrnrrerrnrenrrnne 11 4 Gain Adj stMment Methods ssrseerceeirerineerai a a a ETES 11 4 Gain Adjustment Procedure
104. PDO map Possible This a gives the present oo 6071 hex Target torque Range 5000 to 5000 Default pO Attribute A Size 2 bytes U16 ea ue PDO map Possible This object sets the torque command in the Cyclic synchronous torque mode OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 50 A 1 CiA402 Drive Profile 6072 hex Max torque All Range 0 to 5000 Default 5000 Attribute A Size 2 bytes U16 PDO map Possible This object sets the maximum torque It is in units of 0 1 of the rated torque 6074 hex _ Torque demand All Range 5000 to 5000 Default pO Attribute Size 2 bytes INT 16 Access RO PDO map Possible A This object gives the Servo Drive s internal torque command value Itis in units of 0 1 of the rated torque 6077 hex Torque actual value All Range 5000 to 5000 Default pO Attribute Size 2 bytes INT16 Access RO PDO map Possible This object gives the feedback torque value The values are the same as for the internal torque command value It is in units of 0 1 of the rated torque Appendix 607A hex Target position 2147483648 to Command Size 4 bytes INT32 Access RW PDO map Possible This object sets the target position in the Cyclic synchronous position mode 607C hex Home offset 1073741823 to Command Size 4 bytes INT32 Access Access RW PDO map Not possible Th
105. Profile 1018 hex Identity object All Sub index 0 Number of entries Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Vender ID Range pF Unit o Default 0000 0083 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Product code Range pF Unit Default Refer to the table Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 Revision number Range pF Unit Default Refer to the table Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 Serial number Range pF Unit so o Default 0000 0000 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This object contains device information Sub index 1 Vendor ID gives the manufacturer identifier Sub index 2 Product code gives the value assigned to each device 2 C D Q Q lt Specifications Product code Single phase 100 VAC 50W R88D KNA5L ECT 0000 0001 hex 100W R88D KN01L ECT 0000 0002 hex 200W R88D KNO2L ECT 0000 0003 hex 400 W R88D KNO4L ECT 0000 0004 hex 100W R88D KNO1H ECT 0000 0005 hex 200 W_ R88D KNO2H ECT 0000 0006 hex Single phase apha e 400 W R88D KN04H ECT 0000 0007 hex 200 VAC 750W R88D KNO8H ECT 0000 0008 hex 1 kW R88D KN10H ECT 0000 0009 hex 1 5 kW R88D KN15H ECT 0000 000A hex 600 W R88D KNO6F ECT 0000 000B hex 3 phase 400 VAC 1kW R88D KN10F ECT 0000 000C hex R88D KN15F ECT 0000 000
106. R88D KN75H ECT RS T 3 phase 200 to 230 VAC 50 60 Hz 1 2 3 Noise filter 1 Main circuit contactor 1 Main circuit power supply enc L EE OFF ON 1MC 2MC 4 t Ground to 3MC o o 100 Q or less LL pay a n Oe See Surge suppressor 1 ome e x MC 2MC X 7 Dm 0 6 4 Servo alarm display 5 6 OMNUG G5 series OMNUC G5 series AC Servo Drive l AC Servomotor c dD nn D D ee E E L2C IMG tere eee z ry Q r 2MC A Reactor a Regeneration ii _ B Resistor rm lt 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 A 24 VDC pa 3 There is no polarity on the brakes BKIR 11 XB 24 VDC 4 When using an externally connected 2 Dynamic Brake Resistor remove the short BKIRCOM 100 bar from between DB3 and DB4 5 Provide auxiliary contacts to protect the system with an external sequence so that a Servo ON state will not occur due to deposition in the Dynamic Brake Resistor User side control device Control cables Surge suppressor fF 6 A Dynamic Brake Resistor of 2 Q 180 W is ps an built in If the capacity is insufficient use an external Dynamic Brake Resistor of 1 2 Q er ee enc staan 5 400 W Do not u
107. Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects Explanation of Set Value Set value Description 0 Enable the software limits in both directions Disable the forward software limit but enable the reverse software limit Enable the forward software limit but disable the reverse software limit Disable the software limits in both directions l Precautions for Correct Use EtherCAT communications status will be O for limit signals that are disabled The status will also be 0 if an origin return has not been performed 3803 hex Origin Range All Setting range O to 250 Unit Default setting Data Attribute A Size 2 bytes INT16 PDO map Not possible Set the threshold for detecting the origin as an absolute value 3818 hex Position Command FIR Filter Time Constant Setting range 0 to 10000 Unit 0 1 ms Default Data B setting attribute Size 2 bytes INT16 PDO map Not possible Set the time constant of FIR filter for the position command The Position command FIR filter can be selected to enable or disable by the position command filer switch input via EtherCAT communications It sets the time to arrive at the target soeed Vc as shown below for the square wave command of Vc Speed r min position command position command fh Pre filter Post filter Position Command FIR Filter Filter switching Time Constant ms dwell time 3818 hex x 0
108. Servomotor is overloaded The Servomotor vibrates during rotation The coupling of the Servomotor axis and the machine is abnormal The host controller gave a Check the control ladder deceleration stop command program in the host controller OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Check the set value of object 3000 hex e The size of the absolute command is set incorrect e The polarity of an incremental command is set incorrect Check to see if power is supplied to the holding brake Check the wiring of the Servomotor power cable s phases U V and W and check the encoder cable s wiring Measure the vibration frequency of the load Calculate the load inertia Check the joint with the machine Check the response waveforms for speed and torque Check to see if the ambient temperature around the Servomotor is over 40 C e Check to see if the specified radiation conditions are observed e For a Servomotor with a brake check the load ratio Measure the torque on the analog monitor on the front panel or from the CX Drive Check to see if the coupling of the Servomotor and the machine is misaligned Measures Change the set value of object 3000 hex e Check the actual and target values e Check the rotation direction e Check the brake interlock output BKIR signal and the relay circuit e Check to see if the h
109. Set the judgment level for switching between the gain 1 and page 9 19 Torque Control gain 2 3127 hex Gain Switching Hysteresis Set the hysteresis width to be provided in the judgment level age 9 19 in Torque Control set in Gain Switching Level in Torque Control 3126 hex pag 3118 hex page 9 14 page 9 16 suoi puny paddy x page 9 18 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 26 Applied Functions 7 9 Gain Switching Function Gain Switching Based on the Control Mode The settable switching conditions vary depending on the control mode used Set the objects for each control mode Refer to Chapter 9 Details on Servo Parameter Objects for details on gain related objects i Position Control Mode and Fully closed Control Mode In the Position Control mode and Fully closed Control Mode operation varies as follows according to switching mode in Position Control 3115 hex 5 Description et value of Gain Switching Gain Switching Gain Switching 3115 eer oe Delay Time in Levelin Position Hysteresis in hex Car awite mngre one tions Position Control Control 3117 Position Control 3116 hex hex 3118 hex 2 0 Always Gain 1 3100 to 3104 hex Disabled Disabled Disabled 1 Always Gain 2 3105 to 3109 hex Disabled Disabled Disabled Gain switching command input via l l 2 EtherCAT communications Disabled Disabled Disabled Command torque v
110. The OMNUC G5 series AC Servo Drives fulfill the requirements of the following certifications application pending e CAT 3 EN 954 1 EN ISO 13849 1 e Performance level d EN ISO 13849 1 e SIL 2 IEC EN 62061 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 8 1 Safe Torque OFF Function I O Signal Specifications Safety Input Signals There are 2 safety input circuits to operate the STO function Control mode aoma Symbol au Description name number Posi Fully Speed Torque tion closed re CNB 4 e The upper arm drive signal of V input 1 the power transistor inside the St CN8 3 Servo Drive is cut off Safety CN8 6 The lower arm drive signal of V input 2 the power transistor inside the J CN8 5 Servo Drive is cut off When safety input 1 or 2 turns OFF the STO function will start operating within 5 ms of the input and the motor output torque will be reduced to 0 Connect the equipment so that the safety input circuit is turned OFF to operate the STO function Set the operation when the safety input turns OFF in the Fault reaction option code 605E hex H Precautions for Correct Use L pulses for self diagnosis of safety equipment When you are connecting a safety device such as a safety controller or a safety sensor the safety output signal of the device may include L pulses for self diagnosis To avoid malfunction due to the L pu
111. V For 3 000 r min Servomotors of 50 to 750 W Note For flexible brake cables for Servomotors of 6 to 15 kW refer to 3 4 Cable and Connector Specifications and make your own brake cable i Encoder Cables Global Non flexible Cables Specifications Model 100 V and 200 V 3m R88A CRKA003C For 3 000 r min Servomotors of 50 to 750 W for both absolute encoders and incremental encoders N Reece oe 10m R88A CRKA010C 15m R88A CRKA015C 20m R88A CRKA020C 30m R88A CRKA030C 40m R88A CRKA040C 50m R88A CRKA050C 100 V and 200 V 3m _ R88A CRKCOO3N 3 000 r min Servomotors of 1 0 kW or more Em R88A CRKCOOSN For 2 000 r min Servomotors For 1 500 r min Servomotors 10m R88A CRKCO10N For 1 000 r min Servomotors 15m R88A CRKCO15N 400 V 20m R88A CRKCO20N For 3 000 r min Servomotors For 2 000 r min Servomotors 30 m R88A CRKCO3ON For 1 500 r min Servomotors 40m R88A CRKCO40N For 1 000 r min Servomotors 50m R88A CRKCO50N OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 3 Model Tables i Motor Power Cables Global Non flexible Cables For 1 000 r min Servomotors of 900 W 15m R88A CAGBO15S R88A CAKF015B 20 m R88A CAGB020S R88A CAKF020B 30m R88A CAGB030S R88A CAKF030B 40m R88A CAGB040S R88A CAKF040B R88A CAGB050S R88A CAKF050B 50 m For 3 000 r min Servomotors of 3 to 5 kW 3m _ R88A CAGDO03S R88A CAGDO03B For 2 000 r min Servomotors of
112. W R88M K20030 R88M K40030 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 40 SUOISUSWIG u13 x4 pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions 200 W 400 W with Brake R88M K20030L B S2 K40030L1 B S2 IIe R88M K20030 1 B S2 K40030L1 B S2 Encoder connector Brake connector Motor connector Shaft end specifications with key and tap 30 200 W 52 5 SOW ZS 4h9 200 W 18 20 W 66 5h9 400 W 225 400W QS wz O _ F aM4 depth 8 200 W 2i MS depth 10 400 W R88M K20030 R88M K40030 LI B J B Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 750 W without Brake R88M K75030H S2 Eie R88M K75030T S2 Encoder connector Motor connector Shaft end specifications with key and tap 35 25 2 pah peral _ J J M5 depth 10 619h6 70h7 Note The stan
113. and 2 000 r min Motors 1 500 r min and 2 000 r min Servomotors 200 VAC The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input e R88M K1KO20H T 1 kW e R88M K1K520H T 1 5 kW e R88M K2K020H T 2 kW Power supply voltage Power supply voltage P N m dropped by 10 N m dropped by 10 e 2000 21 5 2300 15 114 3 2000 14 3 2200 30 128 6 2000 Power supply 28 6 2200 SA dropped 15 5 1000 2000 3000 r min o 1000 2000 3000 r min 1000 2000 3000 r min e R88M K3K020H T 3 kW e R88M K4K020H T 4 kW e R88M K5K020H T 5 kW Ne N m Power supply voltage i N e m 1900 57 3 2100 Power supply 70 voltage dropped dropped by 10 Power supply voltage dropped 0 1000 2000 3000 r min 0 1000 2000 3000 r min 0 1000 2000 3000 r min e R88M K7K515T 7 5 kW e R88M K11K015T 11 kW e R88M K15K015T 15 kW Power supply voltage N m Power supply voltage N em dropped by 10 Nem dropped by 10 175 0 1700 175 0 2000 119 0 2500 Power supply voltage dropped by 10 224 0 1700 150 y l 100 4 Momentary operation range Momentary operation range 50 47 8 __47 8 1500 evn 75 470 0 70 0 1500 52 5 Continuous operation range 142 0 Continuous operation range 0 1000 2000 3000 r min 0 1000 2000 r min 0 1000 2000 r min Note 1 The continuous operation range is the range in which continuous operat
114. and Servo Drives User s Manual with Built in EtherCAT Communications Troubleshooting and Maintenance 12 1 Troubleshooting 12 1 Troubleshooting Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical software required to determine the cause of a problem if one occurs f Checking the Power Supply Voltage Check the voltage at the power supply input terminals Main Circuit Power Supply Input Terminals L1 L2 L3 R88D KNLIL ECT 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz R88D KNLIH ECT 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz R88D KNLIH ECT 750 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 kW to 15 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KNLIF ECT 750 W to 15 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz Control Circuit Power Supply Input Terminals L1C L2C R88D KNLJIL ECT 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz R88D KNLIH ECT 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 kW to 15 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KNLIF ECT 750 W to 15 kW 24 VDC 21 6 to 26 4 V If the voltage is out of range there is a risk of operation failure Be sure that the power supply is within the specified range Check the voltage of the sequence input power supply 24 VIN terminal CN1 pin 7 It must be between 11 and 25
115. and Servo Drives User s Manual with Built in EtherCAT Communications 11 10 suoljoun4 u wzsnfpy Adjustment Functions 11 3 Realtime Autotuning 11 11 Index 3004 hex 3100 hex 3101 hex 3102 hex 3103 hex 3104 hex 3105 hex 3106 hex 3107 hex 3108 hex 3109 hex 3110 hex 3111 hex 3112 hex 3113 hex 3114 hex 3115 hex 3116 hex 3117 hex 3118 hex 3119 hex 3607 hex 3608 hex 3609 hex 3610 hex 0 3610 hex 3623 hex 3624 hex AT Machine Rigidity Setting 3003 hex 16 17 18 19 20 21 22 23 Estimated load inertia ratio Pasion coop Gan 600 ORD 380 20 20602570 3050 77 Speedo Gant 800 600 780 0 1760 00 1700 2700 a Coo IIE 45 38 30 25 20 16 13 11 Constant 1 Torque Command Filter Time Constant 1 Position Loop Gain 2 1050 1260 1570 1880 2410 2930 3560 4400 Speed Loop Gain 2 500 750 900 1150 1400 1700 2100 500 600 emana e e efejefefete Constant 2 Torque Command Filter Time 11 Constant 2 1 50 Speed Feed f dC d a COC Le Mee ae Torque Feed forward Gain a 0 0 Torque Feed forward Command 0 Filter Gain Switching Input Operating Mode Selection Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 Q1 Switching mode in Position Control Gain Switching Delay Time in Gain Switching Level in Position i Gain Switching Hysteresis in Torq
116. as the maximum Servomotor torque In the drive prohibition state the Servo Drive does not switch to an error state When the Drive Prohibition Input Selection 3504 hex is set to 1 the operation at a drive prohibit input can be selected in the Stop Selection for Drive Prohibition Input 3505 hex If the Drive Prohibition Input Selection 3504 hex is set to 2 a Drive Prohibition Input Error Error No 38 0 will occur when there is a drive prohibition input With the default settings the Forward Drive Prohibition Input POT is allocated to pin 7 and the Reverse Drive Prohibition Input NOT is allocated to pin 8 H Precautions for Correct Use Both signals are disabled in a state in which drive prohibition will not operation in the default settings If prohibiting the drive input is required set the Drive Prohibit Input Selection 3504 hex to either 0 or 2 The setting on the Input Signal Selection 1 to 10 3400 to 3409 hex can change the logic and allocation for the respective Input terminals CN1 to 7 and 8 Origin Proximity Input DEC This is the deceleration signal for origin returns If the Origin Proximity Input turns ON while the Servomotor is traveling at the origin proximity input search speed it will decelerate to the Speed during search for zero 6099 hex With the default settings the Origin Proximity Input is assigned to pin 9 External Latch Input Signals EXT1 EXT2 and EXT3 These are th
117. between B2 and B3 and connect the Regeneration Resistor between B1 and B2 User side control device Control cables 4 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring i R88D KN30H ECT KN50H ECT RST 3 phase 200 to 230 VAC 50 60 Hz NFB Main circuit contactor 1 Main circuit power supply OFF ON 1MC 2MC E ld 4 l ee ee Surge suppressor 1 X 1MC 2MC X Servo alarm display OMNUC G5 series AC Servo Drive nic OMNUC G5 series T AC Servomotor Power cables aq wa shs ubiso or less Ground to 100 Q a Resistor Regeneration i 4 O 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 A 24 VDC pA VDC 3 There is no polarity on the brakes eth XB 4 The Regeneration Resistor built in type 2 KN30H ECT and KN50H ECT connects BIRCOM 100 B2 and B3 When the amount of regeneration is large remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2 es O37 ALM 24 VDC O36 ALMCOM User side control device Control cables OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 10 4 2 Wiring i
118. bytes U32 Access Access RW PDO map Possible This object sets the maximum velocity in the Cyclic synchronous torque mode 6083 hex Profile acceleration Range 1 to 655350000 it Default 1000000 Attribute Size 4 bytes U32 Access RW PDO map Not possible This object sets the acceleration rate in the Cyclic synchronous torque mode cst The setting resolution is 4000 For example if you set 5000 the resolution will be 4000 6084 hex Profile deceleration Range 1 to 655350000 eta Default 1000000 Attribute Size 4 A bytes U32 U32 Access RW PDOmap PDO map map Not possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 52 2 C D Q Q lt A 1 CiA402 Drive Profile This object sets the deceleration rate in the Cyclic synchronous torque mode cst The setting resolution is 4000 For example if you set 5000 the resolution will be 4000 6086 hex Motion profile type Size 2 bytes INT16 Access RW PDO map Possible This object enables and disables the position command FIR filter When this object is set to 1 the value of Position Command FIR Filter Time Constant 3818 hex is enabled When this object is set to 0 the position command FIR filter is disabled The position command FIR filter can be used in Cyclic synchronous position mode csp and Homing mode hm When the co
119. changes based on the position vibrates Reference page 9 22 page 9 23 page 9 23 page 9 23 page 9 23 page 9 23 page 9 24 page 9 24 page 9 24 11 5 Damping Control l Precautions for Correct Use Stop operation before changing the objects or switching with DFSEL Damping control may not function properly or the effect may not be apparent under the following conditions Item Conditions under which the effect of damping control is inhibited e If forces other than position commands such as external forces cause vibration Load condition If the damping frequency is outside the range of 1 0 to 200 Hz e If the ratio of the resonance frequency to anti resonance frequency is large i Operating Procedure 1 Adjust the position loop gain and speed loop gain Adjust Position Loop Gain 1 3100 hex Speed Loop Gain 1 3101 hex Speed Loop Integral Time Constant 1 3102 hex and Torque Command Filter Time Constant 1 3104 hex If no problem occurs in realtime autotuning you can continue to use the settings 2 Measure the damping frequency at the tip of the mechanical unit Measure the damping frequency by using a measurement device such as a laser displacement sensor servo acceleration meter or acceleration pick up Set the measured damping frequency in one of Damping Frequency 1 to Damping Frequency 4 1 3214 hex 2 3216 hex 3 3218 hex 4 3220 hex according to the operation Also set the Switchi
120. control fully closed control Speed control Torque control Function Number Table The set values to be used for allocations are as follows Set value Signal name Symbol NC or normally open contact close contact Disabled ee ee 00 hex Servo Ready Completed Output 82 hex Brake Interlock Output Setting not available Positioning Completion Output 84 hex Motor Rotation Speed Detection Output 85 hex Torque Limit Output 86 hex Zero Speed Detection Output ZSP 87 hex Speed Conformity Output 88 hex Warning Output 1 89 hex Warning Output 2 8A hex Position Command Status Output 8B hex Positioning Completion Output 2 8C hex Speed Limiting Output 8D hex Error Clear Attribute Output 8E hex Remote Output 1 Setting not available Remote Output 2 Setting not available i Precautions for Correct Use op Do not use any settings other than the settings listed You can allocate the same function to more than one output signal When you disable the control output pin the output transistor always stays OFF If you use the Brake Interlock Output BKIR you must set the function in all control modes Otherwise an Interface Output Function Number Error 1 Error No 33 4 or an Interface Output Function Number Error 2 Error No 33 5 will occur The Brake Interlock Output BKIR can be set only to NO normally open contacts 7 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications
121. during trial operation refer to Chapter 12 Troubleshooting and Maintenance to eliminate the cause Then check for safety and retry trial operation Preparations for Trial Operation 10 7 f Inspections before Trial Operation Check the following items Wiring Make sure that there are no wiring errors especially for the power supply input and motor output Make sure that there are no short circuits Check the ground for short circuits as well Make sure that there are no loose connections Power Supply Voltage Make sure that the voltage corresponds to the rated voltage Is the voltage stable Motor Installation Make sure that the Servomotor is securely installed Disconnection from Mechanical System If necessary make sure that the load has been disconnected from the mechanical system Brake Released Make sure that the brake has been released Connections to the Mechanical System Are the load and Servomotor shaft properly aligned Is the load on the Servomotor shaft within specifications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 3 Trial Operation Test Operation via USB Communications from the CX Drive Use the Connector CN1 Supply 12 to 24 VDC to the control signal connector pins 24 VIN and COM Turn ON the Servo Drive power Connect a USB cable to the USB connector CN7 Start the CX Drive and go online
122. for both safety input circuits the EDM output is ON You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all of the following 4 signal states using an external device These are the two cases of errors Both safety inputs 1 and 2 are OFF but the EDM output circuit signal does not turn ON Either or both safety inputs 1 and 2 are ON but the EDM output circuit signal is ON Signal name Symbol Signal status Safety input 1 SF1 OFF OFF Safety input 2 SF2 OFF OFF EDM output EDM OFF OFF OFF ON The maximum delay time is 6 ms after the safety input signal is input until the EDM output signal is output Safety Function 8 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 8 2 Operation Example 8 2 Operation Example Operation Timings to a Safety Status Servo ON OFF Servo ON Servo OFF Safety input 1 Normal status STO status Safety input 2 1 Ooo o Soses O Response time 5 ms max kK Motor power is Power supply No power supply supplied Response time 6 ms max I 0 5 to 5 ms a Dynamic brake DB released DB engaged relay 2 Servo ready completed output READY READY Error Output ALM Normal Error 3438 hex set value Brake interlock Brake released Brake held output BKIR 13 3439 hex i set value _______ ZZZ When object 3438 i 3438 hex hex set value c
123. i 1 However warnings are held for at least 1 s Remove the cause of the warning and then 1 Hold send a warning reset command 3800 hex Communications Control All Setting range 32768 to 32767 Unit fo Default setting 0 Data Attribute Size 2 bytes INT16 PDO map Not possible Controls errors and warnings over EtherCAT communications i Precautions for Correct Use This function is for debugging For normal operation leave this object at the default setting CA LES ES A Error l Warning masks Error masks masks Bit Function OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 56 s 2 lqo 19 9WeJeg 0A1 Q UO Sj1e q Details on Servo Parameter Objects 9 7 Special Objects Error Settings The following errors are detected if the data to be received in EtherCAT communications cycle is not received correctly and there are more continuous communications errors that the value set in the Communications Control 3800 hex bits 8 to 11 Communications Control 3800 hex 83 1 EtherCAT state change error Bit 1 83 2 EtherCAT illegal state change error Bit 2 Error No hex 83 3 Communications synchronization error Bit 3 83 4 Synchronization error Bit 12 83 5 Sync Manager WDT Error Bit 13 EtherCAT communications warning detection can be masked by using the setting of the Communications Control 8800 hex The corresponding bits are shown
124. in the table Warning detection is masked if the corresponding bit is set to 1 Warning setting To mask a warning set the corresponding bit to 1 The warning detection is disabled Refer to Warnings Related to EtherCAT Communications on page 12 6 Communications feces Warning name Warning condition Control 3800 hex 1 Data setting The set value in the command argument is BO hex Warning out of the specified range Bit 4 Object write processing failed The command set value is incorrect Command The command transmission conditions are warning not met The sub command transmission conditions B1 hex ae oo Bit 5 An operation command is given in the prohibited direction after the motor made an emergency stop due to a drive prohibition input EtherCAT EtherCAT communications errors occurred B2 hex communications one or more times Bit 6 warning 1 EtherCAT communications warning detection can be masked by using the setting of the Communications Control 3800 hex The table above shows the corresponding bits The warning detection is masked when you set the corresponding bit to 1 3801 hex Software Position Limit Function All Size 2 bytes INT16 PDO map Not possible Select whether to enable or disable the software position limit function When it is enabled set the software limit values in the Max position limit 607D 02 hex and the Min position limit 607D 01 hex 9 57 OMNUC G5 series AC Servomotors and
125. into the drive during installation Be sure to remove the cover after installation is complete If the cover is left on during operation drive s heat dissipation is blocked which may result in malfunction Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of the drives Servomotor Installation Conditions i Environment Operating Conditions The environment in which the motor is operated must meet the following conditions Operating the motor outside of the following ranges may result in malfunction of the motor Ambient operating temperature 0 to 40 C Operating humidity 85 max with no condensation Operating atmosphere No corrosive gases 1 The ambient operating temperature is the temperature at a point 5 cm from the motor i Impact and Load The motor is resistant to impacts of up to 98 m s Do not apply heavy impacts or loads during transport installation or removal of the motor When transporting the motor hold the motor body itself And do not hold the encoder cable or connector areas Failure to follow this guideline may result in damaging the motor Always use a pulley remover to remove pulleys couplings or other objects from the shaft After assembly secure cables so that there is no impact or load placed on the cable outlet OMNUC G5 series AC Servomotors and Servo Drives User
126. kW 3 kW O O With brakes 2 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 3 Model Tables i 1 500 r min and 2 000 r min Servomotors Model With incremental encoder With absolute encoder Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 1 kW R88M K1K020H S2 R88M K1K020T R88M K1K020T S2 1 5 kW R88M K1K520H S2 R88M K1K520T R88M K1K520T S2 2 kW R88M K2K020H S2 R88M K2K020T R88M K2K020T S2 3 kW R88M K3K020H S2 R88M K3K020T R88M K3K020T S2 200 V 4 kW R88M K4K020H S2 R88M K4K020T R88M K4K020T S2 W R88M K5K020H S2 R88M K5K020T R88M K5K020T S2 R88M K7K515T R88M K7K515T S2 R88M K11K015T R88M K11K015T S2 R88M K15K015T R88M K15K015T S2 R88M K40020C R88M K40020C BS2 R88M K60020C R88M K60020C BS2 R88M K1K020C R88M K1K020C S2 R88M K1K520C R88M K1K520C S2 R88M K2K020C R88M K2K020C S2 R88M K3K020C R88M K3K020C S2 R88M K4K020C R88M K4K020C S2 R88M K5K020C R88M K5K020C S2 R88M K7K515C R88M K7K515C S2 R88M K11K015C R88M K11K015C S2 R88M K15K015C R88M K15K015C S2 Specifications R88M K40020F R88M K40020F S2 Ea mow 600 W R88M K60020F S2 1 kW R88M K1K020F S2 1 5 kW R88M K1K520F S2 400 V Without brakes S ale S 5 3 2 kW R88M K2KO020F R88M K2K020F S2 3 kW R88M K3KO020F R88M K3K020F S2 4 kW R88M K4K020F R88M K4K020F S2 k 5 kW R88M K5K020F R88M K5K020F S2 15 kW N O1 Ld oo Note
127. kc o e r s o ewa o r e e ec o w O o o ope e O e 0000 hex FFFF hex ope eer pee mej o ome e REE ER mes w Pe mee wane e femme oe OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications PDO map Not possible Not possible Not possible Not possible Not possible Not possible Not possible Not possible TxPDO TxPDO TxPDO Not possible RxPDO possible RxPDO possible possible SA A S Corresp onding Pn number A 80 A xipueddy A 3 EtherCAT Terminology A 3 EtherCAT Terminology Use the following list of EtherCAT terms for reference Abbrevia Term tion Description object Abstract representation of a particular component within a device which consists of data parameters and methods object dictionary Data structure addressed by Index and Subindex that contains description of data type objects communication objects and application objects service data object SDO CoE asynchronous mailbox communications where all objects in the object dictionary can be read and written index Address of an object within an application process subindex Sub address of an object within the object dictionary process data Collection of application objects designated to be transferred cyclically or acyclically for the purpose of measurement and control process data object Struct
128. m Power supply voltage N m N m pply g o dropped by 10 dropped by 10 aroppad DY TO 4 0 13 8 3100 3 8 3600 10 19 55 9 55 4200 Momentary operation range Momentary operation range 2 5 3 18 3 18 2 0713 1 3 1 9 0 64 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 r min r min r min e R88M K1K530H T 1 5 kW e R88M K2KO30H T 2 kW e R88M K3K030H T 3 kW N Power supply voltage g Power supply voltage Power supply voltage e dropped by 10 i dropped by 10 Aam dropped by 10 15 414 3 Momentary operation range 4 77 4 77 7 5 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 r min r min r min e R88M K4K030H T 400 W R88M K5K030H T 5 W N m Power supply N m voltage dropped by 10 40 438 2 2800 38 2 3100 Power supply voltage dropped by 10 Momentary operation range E 12 7 12 7 20 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 r min r min Note 1 The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque Note 2 If the motor power cable exceeds 20 m the voltage drop will increase and the momentary operation range will become narrower 3 45 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in Eth
129. machine rigidity number and check the response If vibration occurs enable the adaptive filter and operate If already enabled lower the machine rigidity number 3 If there are no problems with the operation turn the servo OFF and set the Realtime Autotuning Mode Selection 3002 hex to 0 disabled The adaptive filter can be left enabled even if realtime autotuning is disabled after the completion of adjustments Even if the adaptive filter is disabled the settings of notch filters 3 and 4 are held P Precautions for Correct Use After startup immediately after the first servo ON or when the Realtime Autotuning Machine Rigidity Setting 3003 hex is increased unusual noise or vibration may occur until the load inertia is estimated or the adaptive filter stabilizes This is not an error if it disappears right away If the unusual noise or vibration however continues for 3 or more reciprocating operations take the following measures in any order you can e Write the objects used during normal operation to the EEPROM e Lower the Realtime Autotuning Machine Rigidity Setting 3003 hex e Manually set the notch filter Once unusual noise or vibration occurs Inertia Ratio 3004 hex Torque Command Value Offset 3607 hex Forward Direction Torque Offset 3608 hex and Reverse Direction Torque Offset 3609 hex may have changed to an extreme value In this case also take the measures described above Out of the results of
130. main number and sub number of the error The main number and sub number are hexadecimal numbers but are combinations of 0 to 9 Data Index types 603F hex Error code U16 FF99 hex FFAO hex FFA9 hex FFBO hex FFB1 hex FFB2 hex Others 4001 hex Sub Error U16 Upper 8 bits FO to F9 hex TONG Lower 8 bits 00 to 99 hex 0000 hex FF01 hex FF02 hex Specifications No error Error main number 1 Error main number 2 Error main number 99 Warning AO hex Warning A9 hex Warning BO hex Warning B1 hex Warning B2 hex Reserved Sub numbers 0 to 9 Main numbers 0 to 99 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile 6040 hex Controlword Ai Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 PDO map Possible This object controls the state machine of the Servo Drive Description of Set Values Bit Description 0 Switch on The state is controlled by these bits Enable voltage Quick stop is not supported The Quick stop bit is ignored even if set to O 2 Quick stop For details refer to Command Coding on page A 2 3 Enable operation Operation mode specific These bits are specific to the operation mode They are not 4 to 6 used in Cyclic synchronous position mode Fault reset Errors and warnings are reset when this bit turns ON Halt This bit is specific to the oper
131. models of cables and peripheral devices The cables include motor power cables brake cables encoder cables EtherCAT communications cables and absolute encoder battery cables The peripheral devices include Connectors External Regeneration Resistors and Mounting Brackets i Encoder Cables European Flexible Cables Specifications Model 1 5m R88A CRKA001 5CR E R88A CRKAO03CR E R88A CRKAOO5CR E 10m R88A CRKA010CR E 15m R88A CRKA015CR E 20m R88A CRKAO020CR E 1 5m R88A CRKCO001 5NR E R88A CRKCOO03NR E R88A CRKCOO5NR E 100 V and 200 V For 3 000 r min Servomotors of 50 to 750 W for both absolute encoders and incremental encoders 100 V and 200 V 3 000 r min Servomotors of 1 0 kW or more For 2 000 r min Servomotors For 1 000 r min Servomotors 400 V 10m R88A CRKC010NR E For 3 000 r min Servomotors 15m R88A CRKCO15NR E For 2 000 r min Servomotors For 1 000 r min Servomotors 20m R88A CRKCO20NR E on w on w 3 3 3 3 2 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 3 Model Tables i Motor Power Cables European Flexible Cables Model For motor with brake 100 V and 200 V 1 5m See note 1 ae esi Servomotors of 50 to aan n on 200 V R88A CAGB001 5BR E iy cael Servomotors of 1 to 3m R88A CAGB003BR E For 2 000 r min Servomotors of 1 to R88A CAGBO05BR E i 000 r min Servomotors of 900 W R88A CAGBO10BR E R88A CAGB015BR E R88A CAGB020B
132. mounting load generates abnormal improper mechanical Servomotor s mounting Screws noise or vibration installation screws are loose Check the load for Eliminate the eccentricity eccentricity It results in torque fluctuation and noise Check to see if the coupling Balance the rotation with the load is unbalanced Check to see if the decelerator Check the decelerator is generating any abnormal specifications Check the noise decelerator for malfunctions Vibration occurs due to low_ Check to see if the vibration If the frequency is 100 Hz mechanical rigidity frequency is 100 Hz or lower or lower set the correct damping frequency for the damping filter to eliminate the vibration Vibration occurs due to Check to see if the resonance If the resonance machine resonance frequency is high or low frequency is high set the adaptive filter to eliminate the resonance Alternatively measure the resonance frequency and set Notch Filter 1 and 2 There is a problem with the Check for noise or vibration Check to see if the bearings around the bearings bearings are mounted properly and adjust them if necessary The gain is wrong Check if manual tuning can achieve proper adjustment The Speed Feedback Filter Check the set value of object Return the setting to the Time Constant 1 3103 hex 3103 hex Normally set 0 default value of 0 iS wrong Alternatively set a large value and operate the Servomotor
133. ms Ee ES 0 55 0 54 time brake constant With brake ms 0 63 0 57 Electrical time constant ms Moo pe 2 23 Weig Without brake k Approx 29 4 Approx 36 4 i With brake k Approx 17 5 Approx 33 3 Approx 40 4 Radiator plate dimensions 270x 260x 470 x 440 x t30 Al 470 x 440x 550 x 520 x material t15 Al t30 Al t30 Al Applicable Servo Drives R88D KN15F ECT KN30F ECT KNSOF ECT KNSOF ECT KN75F ECT 7 99x10 4 31 4x107 492x107 84 4x10 107x104 2 N Bas 2 2 307 Allowable radial load Allowable thrust load 33 19 0 0 N N g g 3 59 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 400 VAC Model R88M A Item Unit K90010C K2K010C K3K010C K4K510C K6K010C 1 35x1074 4 71074 4 71074 4 71074 4 71074 Excitation voltage 24 VDC 10 Power eee W 19 31 34 34 34 at 20 C Current em 0 79 10 1 34 10 1 44 10 1 4410 1 4410 at 20 C Static friction Static friction torque Nem 13 7 min 7 min 58 8 min 8 min 58 8 min 8 min 58 8 min Backlash reference value a work per 176 1372 1372 1372 1372 braking Allowable total work So 1 5x108 2 9108 2 9x10 2 9x10 2 9x10 Allowable angular rad s 10 000 5 000 acceleration Brake limit 10 million times min Insulation class Type F 1 These are the values when the motor is combined with a drive
134. object is set automatically Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3210 hex Notch 4 Frequency Setting Setting 50 to 5000 Unit Default 5000 Data range setting attribute Size 2 bytes INT16 re PDO map Not possible Set the notch frequency of resonance suppression notch filter 4 The notch filter function is disabled if this object is set to 5000 While two adaptive filters are enabled the resonance frequency 2 that is assumed by the adaptive filter is automatically set If no resonance point is found the value 5000 is set Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3211 hex Notch 4 Width Setting Setting Default Data Size 2 bytes INT16 Access Access RW PDO map Not possible Select the notch width of resonance suppression notch filter 4 Increasing the setting value widens the notch width Normally use the default set value This object is automatically set when two adaptive filters are enabled Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3212 hex Notch 4 Depth Setting Setting Default Data Size 2 bytes INT16 Access Access RW PDO map Not possible Set the notch depth of resonance suppression notch filter 4 Increasing the setting value shortens the notch depth and the phase lag While the adaptive filter is enabled this object is set automatic
135. object is set to 4 294 967 295 the detection of Following error will be disabled If it is set to 0 a Following error will always occur If the set value is between 134 217 729 and 4 294 967 294 it is set po Velocity offset Controlword Modes of operation Target position Following error window Position offset Torque offset Position actual value Velocity actual value Torque actual value Following error actual value Statusword RO 6 1 Cyclic Synchronous Position Mode RW RW RW U1 INT32 6 2 16 16 Command units Command units Setting range ue OERE 0 to FFFF hex hex 2 147 483 648 to 2 147 483 647 0 to 134 217 728 or 4 294 967 295 1 Command 2 147 483 648 to Command 2 147 483 648 to 1 a ees 0 to FFFF hex hex Command 2 147 483 648 to Command 2 147 483 648 to INT32 Command units INT16 5 000 to 5 000 INT16 0 1 5 000 to 5 000 2 147 483 648 to 2 147 483 647 to 134 217 728 In this case 134 217 728 will be returned when the object is read OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Default setting 0000h 0000h 100000 5000 0000h 0000h 0000h 0000h 0000h 0000h 0000h SUOI JOUN 01 U04 JISeg 6 1 Cyclic Synchronous Position Mode Block Diagram for Position Control Mode The following block diagram is for position control using an R88D KNL
136. occur more easily Refer to 11 11 Feed forward Function on page 11 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 10 s 09f qo 19 9WeJeg OAIBS UO Sjie 9Qq Details on Servo Parameter Objects 9 2 Gain Settings 3111 hex Speed Feed forward Command Filter Setting 0 to 6400 Unit 0 01 ms Default Data range setting attribute Size 2 bytes INT16 Access RW PDO map Not possible Set the time constant for the first order lag filter inserted into the feed forward Setting the filter may improve operation if soeed overshooting occurs or the noise during operation is large when the feed forward is set high Refer to 11 11 Feed forward Function on page 11 29 3112 hex Torque Feed forward Gain Setting Default Data Size 2 bytes INT16 nS PDO map map Not possible Set the feed forward gain in torque control Increasing the set value decreases the position error and increases the responsiveness Overshooting however will occur more easily Refer to 11 11 Feed forward Function on page 11 29 3113 hex Torque Feed forward Command Filter Setting 0 to 6400 Unit 0 01 ms Default Data range setting attribute Size 2 bytes INT16 Access Access RW PDO map Not possible Set the time constant for the first order lag filter inserted into the feed forward Setting the filter may improve operation if soeed overshooting occurs or the no
137. on trigger input A 55 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile Bit Description o Latch on the signal selected in the Touch Probe Trigger 2 Selection 3758 hex Latch on the encoder s phase Z signal 3 to 7 oo Reserved always set to 0 pO Latch 2 is disabled i Latch 2 is enabled n pO Trigger first event Latch on the first trigger Continuous Latch continuously on trigger input EE Latch on the signal selected in the Touch Probe Trigger 10 Selection 3758 hex Latch on the encoder s phase Z signal 11 to 15 pO Reserved always set to 0 60B9 hex Touch probe status Latch status All Size 2 bytes U16 Access RO PDOmap Possible This object gives the status of the Touch probe function Latch Function Bit Descriptions Bit Description pO Latch 1 is disabled Latch 1 is enabled pO No value latched with Latch 1 There is a value latched with Latch 1 2to5 0 Reserved always set to 0 6 and 7 ee of times latching is performed by Latch 1 in continuous pO Latch 2 is disabled Latch 2 is enabled pO No value latched with Latch 2 gt There is a value latched with Latch 2 10 to 13 O0 Reserved always set to 0 14 t0 15 et of times latching is performed by Latch 2 in continuous 1 These bits cyclically indicate the number of times latching is performed between 0O and 3 when continuous latching is set bits 1 or 9 of
138. output for the absolute encoder Encoder signal I O serial signal Shell Frame ground Connectors for CN2 6 Pins Name number Drive connector 53460 0629 Molex Japan R88A CNWO01R Cable connector 55100 0670 External Encoder Connector Specifications CN4 or A O N These are the specifications of the connector that connect with the external encoder Pin No Symbol ooo Name Function and interface E E 1 5 Use at 5 2 V 5 and at or below 250 mA External encoder power supply 0 EXS External encoder signal I O Perform serial signal input and output serial signal External encoder signal input phase A B and Z signals r Connectors for CN4 10 Pins o CO NI O a A Ww V output This is connected to the control circuit ground connected to connector CN1 Perform input and output of phase A B and Z signals MUF Connector MUF PK10K X JST Mfg Co Ltd R88A CNK41L OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 28 o suoljeoijineds Specifications 3 1 Servo Drive Specifications Connection of External Encoder Input Signals and Processing of External Signals 5V 1 E5V External encoder power supply output 5 2V 5 EOV 4 250 mA max GND e E EE E EXS 3 eK TX Serial number o o4 2 KQ 20 KQ a 3 ea J RN PULS 120 Q Phase A XK aalel lt gt T IKO 20KO Wae 3 2kQ 2al wes __ exe t
139. page 11 1 Explanation of Set Values Explanation Set l Output gain when 0 Feedback Motor Speed 500 1 Internal Command Motor Speed 500 2 Filtered Internal Command Motor r min 500 Speed 5 6 Position Error pulses command units 3000 Pulse Position Error pulses encoder units 3000 7 Fully closed error fa external encoder 3000 12 Forward External Torque Limit 33 15 Inertia ratio 500 16 to 18 Reserved 19 Encoder temperature 10 20 Servo Drive temperature 10 21 Encoder 1 rotation data pulses encoder units 110000 3417 hex Analog Monitor 1 Scale Setting All Setting 0 to 214748364 Unit 3416h monitor unit Default Data A range V setting attribute Size 4 bytes INT32 PDO map Not possible Set the output gain for analog monitor 1 Refer to 11 1 Analog Monitor on page 11 1 9 33 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 5 Interface Monitor Settings 3418 hex Analog Monitor 2 Selection Setting 0 to 24 Unit Default Data range setting attribute Size 2 bytes INT16 Access RW PDO map Not possible In the same way as for Analog Monitor 1 analog signals of various monitors can be output from the analog monitor connector on the front panel Refer to the Analog Monitor 1 Selection 3416 hex for the method to set this object 3419 hex Analog Monitor 2 Scale Setting Setting Monitor unit of 3418 Default Data Size 4 bytes
140. position mode 1 Supported 8 csv Cyclic synchronous velocity mode 1 Supported lt 9 cst Cyclic synchronous torque mode 1 Supported Reserved Objects The following objects are reserved Do not use them Index Name 6067 hex pO Position window A 63 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 2 Object List A 2 Object List Some objects are enabled by turning the power supply OFF and then ON again After changing these objects turn OFF the power supply confirm that the power supply indicator has gone OFF and then turn ON the power supply again See below for the data attributes Always enabled B Prohibited to change during motor rotation or commanding If it is changed during motor rotation or commanding the reflection timing is unknown C Updated after the control power is reset or after a Config command is executed via EtherCAT communications R Updated when the control power supply is reset It is not updated for a Config command via EtherCAT communications A RO Read only Corre iS Setting Data PDO spond Index Default Setting range attribute map ing Pn D number m v A O m 1001 hex Error register 1 byte U8 net g y possible R88D KNUILILI Not 4009 hex Manufacturer hardware 20 bytes VS Not version possible Contains a number 400A hex Manufacturer software indicating the 20 bytes VS Not vers
141. problem if it disappears right away If the vibration or unusual noise however continues for three or more reciprocating operations take the following measures in the possible order e Write the objects used during normal operation to the EEPROM e Lower the Realtime Autotuning Machine Rigidity Setting 8003 hex e Disable the adaptive filter by setting the Adaptive Filter Selection 3200 hex to 0 Resetting of inertial estimation and adaptive operation e Manually set the notch filter If unusual noise or vibration occurs the setting of Notch 3 3207 to 3209 hex or Notch 4 3210 to 3212 hex may have changed to an extreme value In this case set Adaptive Filter Selection 3200 hex to 0 to disable the object and then set the Notch 3 Frequency Setting 8207 hex and Notch 4 Frequency Setting 3210 hex to 5 000 disabled Next enable Adaptive Filter Selection again The Notch 3 Frequency Setting 3207 hex and Notch 4 Frequency Setting 3210 hex are written to the EEPROM every 30 minutes When the power supply is turned OFF and then turned ON again this data is used as the default settings to perform adaptive operation OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 20 suoljoun u wzsnfpy Adjustment Functions 11 7 Notch Filters 11 7 Notch Filters E When the machine rigidity is low axis torsion may produce resonance which results in vibration and noise T
142. resistant leakage breakers because they do not detect high frequency current can prevent operation with high frequency leakage current When using a general leakage breaker use 3 times the total of the leakage current given in the following table as a reference value Leakage current Increase per 10 m Cable 3 m of cable R88D KNA5L ECT Single phase 100 V 0 38 mA R88D KNO1L ECT Single phase 100 V 0 39 mA R88D KN02L ECT Single phase 100 V 0 41 mA R88D KN04L ECT Single phase 100 V 0 46 mA Single phase 200 V 0 83 mA R88D KN01H ECT 3 phase 200 V 1 03 mA Single phase 200 V 0 84 mA R88D KN02H ECT 3 phase 200 V 1 02 mA 0 96 mA 1 27 MA 1 01 mA 1 39 mA 0 88 mA 1 14 MA Servo Drive model Input power supply 0 1 mA R88D KN04H ECT R88D KNO8H ECT R88D KN10H ECT msy ea 0 93 mA R88D KN15H ECT OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives Leakage current Increase per 10 m Servo Drive model Input power supply Cable 3 m or cake R88D KN150H ECT 1 13 mA R88D KN150F ECT 2 73 MA Note 1 These values vary greatly depending on the installation conditions of the motor power cable and the measurement conditions Use the values for reference only Surge Absorber Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines When selecting surge absorbers take into account the var
143. result Provide safety measures such as a breaker to protect against short circuiting of external wiring Fire may result If the Servo Drive is used in the following locations provide sufficient shielding measures e Location subject to noise e g due to static electricity e Location subject to a strong electric or magnetic field e Location where exposure to radioactivity may occur e Location near power supply lines Using the Servo Drive in any of these locations may result in equipment damage Connect an immediate stop relay in series with the brake control relay Injury or failure may result When connecting the battery make sure the polarity is correct Battery damage or explosion may result gt gt gt PEPE PEEEEEE OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 Safety Precautions Operation and Adjustment PS Pee Pee e gt Caution Conduct a test operation after confirming that the equipment is not affected Equipment damage may result Before operating the Servo Drive in an actual environment check if it operates correctly based on the parameters you have set Equipment damage may result Never adjust or set parameters to extreme values because it will make the operation unstable Injury may result Separate the Servomotor from the mechanical system and check its operation before installing the Servomotor to the machine Injury may result
144. s Manual with Built in EtherCAT Communications 4 2 ubisag wia sAs System Design 4 1 Installation Conditions Connecting to Mechanical Systems For the allowable axial loads for motors refer to Characteristics on page 3 2 If an axial load greater than that specified is applied to a motor it may reduce the limit of the motor bearings and may break the motor shaft When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity and declination For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree of precision for example JIS class 2 normal line pitch error of 6 um max for a pitch circle diameter of 50 mm If the gear precision is not adequate allow backlash to ensure that no radial load is placed on the motor shaft When using bevel gears a load is applied in the thrust direction depending on the structural precision the gear precision and temperature changes Provide appropriate backlash or take other measures to ensure that a thrust load larger than the specified level is not applied Do not put rubber packing on the flange surface If the flange is mounted with rubber Ball screw center line che Ehpppprrnp Axial off Motor center line Ria e Backlash T Set a structure in which the distance between axes can be adjusted Set a movable struc
145. sS vot i y 60FAhex N Friction G0B2 hex Speed tigommana uns Toate eld aaa Torque offset Feed forward oa Feed forward Offset Valuel 3607 ora 7 a ar core Filter 3113 Reverse 3609 1 ff Gain 3110 Gain Q Forward 3608 Sng puiaiacinia nia matmemimime eI Meenen V Speed FF i Oo Sanver i Speed Control Notch Filter har A Linear Integral Frequency Width Depth O o ta eet 1 3101 3102 Velocity offset i O 2 3106 3107 command units s 1 13100 Inertia Ratio 3004 LL a re a n E 3105 gt Speed Detection Filter i Adaptive Fiter Selection 320 1 Speed Feedback Filter err Prager ate 3 e E s Time Constant 1 3103 Following Error oe Motor Control epee e 3108 l Internal Value Effort r min i Time Constant 2 O encoder pulses NN a Function Expansion 3610 Q Da E Setting Disturbance Torque O ae A we rena S Observer Filter Paaa a r Position actual 5 a Motor Velocity ae j internal value 4 a Actual Value Me Gain 3623 1 3104 s encoder pulses 4 Sy min e Filter 3624 2 3109 Speed detection Torque Limit Selection 3521 External 113013 External 2 3522 6074 or 6077 hex Eoward 4 External if Torque demand or Reverse ada a value 1 External Positive Current control Response 3 Setting Peo 7 gun Negative Note 1 Numbers within parentheses are sub index numbers No
146. sainjeo 1 3 Names and Functions Servo Drive Functions The functions of each part are described below i Display A 2 digit 7 segment display shows the node address error codes and other Servo Drive status i Charge Lamp Lights when the main circuit power supply is turned ON j EtherCAT Status Indicators These indicators show the status of EtherCAT communications For details refer to Status Indicators on page 5 2 i Control I O Connector CN1 Used for command input signals and I O signals f Encoder Connector CN2 Connector for the encoder installed in the Servomotor i External Encoder Connector CN4 Connector for an encoder signal used during fully closed control l EtherCAT Communications Connectors ECAT IN and ECAT OUT These connectors are for EtherCAT communications i Analog Monitor Connector CN5 You can use a special cable to monitor values such as the motor rotation speed torque command value etc l USB Connector CN7 Communications connector for the computer f Safety Connector CN8 Connector for safety devices If no safety devices are used keep the factory set safety bypass connector installed Features and System Configuration 1 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 4 System Block Diagram 1 4 System Block Diagram This is the block diagram of the OMNUC G5 series AC Servo Drive with Built in
147. settings or the number of bytes of 4 Q c a oO a c O O O Ka Vv O H when the communications cycle was set Check the communications cycle Homing mode hm was set in Modes of mapping operation 6060 hex when the Check the number of bytes of mapping communications cycle was set to 250 or or the parameters for the control mode 500 us settings A mapping exceeding 20 bytes was set in an RxPDO when the communications cycle was set to 250 us A mapping exceeding 12 bytes was set in an RxPDO during Fully closed Control Mode 12 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex Cause Main Other Error 1 Error reset is executed when safety e input 1 or safety input 2 is still in OFF status e Power circuit detected a hardware error Other errors The control circuit malfunctioned due to excess noise or some other problem The self diagnosis function of the Servo Drive was activated and an error occurred in Other numbers the Servo Drive OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 4 Troubleshooting Measures Motor The Servomotor does not match the Replace the Servomotor with a mismatch Servo Drive Servomotor that matches the Servo Drive Be sure to clear the error when both safety input 1 and 2 have return
148. side R88M KL 3 72 o suoljeoijineds Specifications 3 4 Cable and Connector Specifications Connector Specifications i Control I O Connector R88A CNW01C This is the connector to be connected to the drive s control I O connector CN1 Use this connector when preparing a control cable by yourself Dimensions Connector plug model 10126 3000PE Sumitomo 3M Connector case model 10326 52A0 008 Sumitomo 3M f Encoder Connectors These connectors are used for encoder cables Use them when preparing an encoder cable by yourself Dimensions R88A CNW01R Drive s CN2 side This connector is soldered Use the following cable Applicable wire AWG16 max Insulating cover outer diameter 2 1 mm dia max Outer diameter of sheath 6 7 0 5 mm dia Connector plug model 55100 0670 Molex Japan 3 73 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications R88A CNKO2R Servomotor side Applicable motors Use the following cable 100 V 3 000 r min Servomotors of 50 to 400 W Applicable wire AWG22 max 200 V 3 000 r min Servomotors of 50 to 750 W Insulating cover outer diameter 1 3 mm dia max Outer diameter of sheath 5 0 5 mm dia Angle plug direction can be reversed 11 Angle plug model JN6FRO7SM1 Japan Aviation Electronics Connector pin model LY10 C
149. speed during the homing operation from the start of the homing operation until the Origin Proximity Input turns ON The maximum value is limited based on the internal processing and the maximum motor speed Set the operation speed during the homing operation from when the Origin Proximity Input turns ON until the latch signal is detected after the Origin Proximity Input again turns OFF The maximum value is limited based on the internal processing and the maximum motor speed 60B0 hex Position offset Size 4 bytes INT32 Se RE PDO map map Possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 54 A 1 CiA402 Drive Profile This object sets the position command offset In Cyclic synchronous position mode csp the offset value is added to the Target position 607A hex for use as the target position in controlling the position Set the relationship between the Target position 607A hex and Position offset 60BO hex so that the following expression is fulfilled If the relational expression is not met the operation may be performed in the direction opposite to the command increment direction Absolute value of Current position command additional value Previous position command additional value lt Maximum motor speed lt 2147483647 60B1 hex Velocity offset 2147483648 to Command Size 4 bytes INT32 Access RW PDO map Possible In C
150. srracn n 14 Chapter 1 Features and System Configuration 1 4 Outline nani 1 1 Outline of the OMNUC G5 SEYieS ccc cece cc ccecceccceceuceccceccacececeaceceaueeneneaeeneneussnenears 1 1 Features of OMNUC G5 series Servo DIivVeS ccccccccccceceeeceseeecececececeaeaeaeataeeeeeees 1 1 What IS ST 2 creas a sees sree cue ate hartge as aes ed Me es olathe 1 2 ODJECEDICTION RY serhed en e N vane acai yy stautinaneenen tocntetaw 1 2 t2 System COMMGQUPATON sscesiscdutvodevotdovaetesvetenevovedecuonebsveutvededertelatiunaderstaues 1 3 1 3 Names and FUNCTIONS iccicsiccancnocunetescsdencdoscesedsausvanietacistdsaidavadecesayeoooaeneteas 1 4 Sarvo Drive Par NaMOS eaea arn a Aaa a a A N 1 4 SENO DIVE FUNCIONS orein aa a E a a a A aA 1 5 l4 System Block Diagram serere aai 1 6 to Applicable Standal d rasore a E e 1 15 EC IFO C IVS Sraa a r access ec ens cep a a Aa 1 15 Urana Cuk Standards aieeaa a a a a a A ne aaO 1 15 Tm gee E A E AAAA E AE E N EA E AEA EN A E OAE S AE A ET 1 15 Chapter 2 Models and External Dimensions 2 1 Servo System Configuration ccccceccscccescceeeeceeeceeeceeeeeeecegeeeeeeseeesees 2 1 2 2 How to Read Model NUMbE SS c cccccceccececceccccececceaceueececeeneaceaes 2 3 SONO DIV aaa a A a a a E oe ee 2 3 CTV OMIOCONS AEEA EAA E AAA EE A AA E E ieaoee eis oleae 2 4 233 Model Table S sneno a a a vitae A TA 2 5 Seno Dive Model Taere aaa aa a ete a ou eet 2 5 SELVOMOlOr WIOGE a DS
151. sure to use connectors And do not remove more than 50 mm of the cable insulation In addition always use shielded cables Do not roll cables If cables are long and are rolled mutual induction and inductance will increase and cause malfunctions Always use cables fully extended When installing noise filters for encoder cables use clamp filters The following table shows the recommended clamp filters NEC TOKIN Clamp filters ESD SR 250 13 mm dia max TDK Clamp filters ZCAT 3035 1330 13 mm dia max Do not place the encoder cable with the following cables in the same duct Control cables for brakes solenoids clutches and valves External Dimensions ESD SR 250 38 0 Impedance Characteristics ESD SR 250 10000 1000 _ 3T o g 2T 100 14 E D iT 10 1 1 10 100 1000 Frequency MHz 4 45 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives i Improving Control I O Signal Noise Resistance Positioning can be affected and I O signal errors can occur if control I O is influenced by noise Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular do not connect the 2 power supply ground wires Install a noise filter on
152. synchronization error 2 C D Q Q lt A 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile Manufacturer Specific Objects This section describes objects specific to OMNUC Gb5 series Servo Drives with built in EtherCAT communications OMNUC G5 series Servo Drive parameters Pnl are allocated to objects 3000 to 3999 hex Index 3LILIL hex corresponds to OMNUC Gb5 series Servo Drive parameter PnlLILIL For example object 3504 hex is the same as parameter Pn504 For details on servo parameters refer to Chapter 9 Details on Servo Parameter Objects H Precautions for Correct Use PnU uses decimal numbers but object 3 ULLI is a hexadecimal number 2100 hex Error History Clear All a 0000 0000 to FFFF FFFF wf Bei 0000 0000 Ae A hex hex Size 4 bytes U32 Access RW PDO map Not possible This object clears the contents of Diagnosis history 10F3 hex This function can be executed by writing 6c63 6861 hex using SDO mailbox communications The error history is saved in the EEPROM If there is a Control Power Supply Undervoltage Error Error 11 0 you cannot make write access to the EEPROM This means that the diagnosis history cannot be cleared In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 6c63 6861 hex Writing when there is a Control Power Supply Undervoltage Er
153. the Switching Mode in Position Control 3115 hex 3118 hex Gain Switching Hysteresis in Position Control Setting 0 to 20000 Unit Default Data range a attribute Size 2 bytes INT16 INT 16 Access PDO map PDO map Not possible Set the e width above and below the eo level set in the Gain Switching Level in Position Control 3117 hex The unit depends on the setting of the Switching Mode in Position Control 3115 hex The following shows the definitions for the Gain Switching Delay Time in Position Control 3116 hex Gain Switching Level in Position Control 3117 hex and Gain Switching Hysteresis in Position Control 3118 hex Sen E aa Gain 2 _oain2 Gaini Gain 1 i 3116h The settings for the Gain Switching Level in Position Control 3117 hex and the Gain Switching Hysteresis in Position Control 3118 hex are enabled as absolute values positive negative 3119 hex Position Gain Switching Time Setting Default Data Size 2 bytes INT16 INT16 Sa a PDO map map Not possible Torque oo or vibration will occur if the position loop gain is changed too quickly during position control or fully closed control To suppress these set a Position Gain Switching Time 3119 hex By setting the Position Gain Switching Time 3119 hex the gain will be switched gradually when there is a large change in the position loop gain If there is a large difference between Position Loop Gain 1 31
154. the grounding wire of the Servomotor If the insulation is faulty replace the Servomotor 14 Motor windings are burned out Check the balance between the PM Error resistance of each wire of the Servomotor If resistance is unbalanced replace the Servomotor e The Servomotor wiring contacts are Check for missing connector pins in faulty Servomotor connections U V and W If any loose or missing connector pins are found secure them firmly e The relay for the dynamic brake has Replace the Servo Drive Do not start or 1 been welded due to frequent servo ON stop the system by turning the servo ON OFF operations or OFF e The Servomotor is not suitable for the Check model capacity of the Servo Drive Servomotor and the Servo Drive on the nameplates Replace the Servomotor with a Servomotor that matches the Servo Drive e The pulse input timing is the same as or Wait at least 100 ms after the servo has earlier than the servo ON timing been turned ON then input pulses Servo Drive The temperature of the Servo Drive radiator or power elements exceeded the specified value e The ambient temperature of the Servo Improve the ambient temperature and Drive exceeded the specified value the cooling conditions of the Servo Drive Increase the capacities of the Servo Drive and the Servomotor Set longer acceleration and deceleration times Reduce the load Troubleshooting and Maintenance Overheat e Overload 12 1
155. the primary side of the control power supply If motors with brakes are being used do not use the same 24 VDC power supply for both the brakes and the control I O Additionally do not connect the ground wires Connecting the ground wires may cause O signal errors If the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the drive input section or the controller output section i Reactor to Reduce Harmonic Current Harmonic Current Measures Use a Reactor to suppress harmonic currents The Reactor functions to suppress sudden and quick changes in electric currents The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose Components requires that manufacturers take appropriate remedies to suppress harmonic current emissions onto power supply lines Select the proper Reactor model according to the Servo Drive to be used 4 46 ubisag wia jsAs System Design 4 3 Wiring Conforming to EMC Directives i Selecting Other Parts for Noise Resistance This section explains the criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable range when selecting the connection components For more details contact the manufacturers directly Noise Filters for Motor Ou
156. the rated torque set the set value would be 10 5 The position error is set according to the encoder resolution i e pulses for position control and according to the external encoder resolution i e pulses for fully closed control OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 12 s 09f qo 19 9WeIeg OAIBS UO Sjie 9Qq 9 2 Gain Settings 6 When the set value is 10 meanings of the Gain Switching Delay Time in Position Control the Gain Switching Level in Position Control and the Gain Switching Hysteresis in Position Control differ from the normal case Refer to Figure E 3116 hex Gain Switching Delay Time in Position Control Setting Default Data Size 2 bytes INT16 INT 16 Access Acess RW PDO map Not possible the delay time when returning from gain 2 to gain 1 if the Switching Mode in Position Control 3115 hex is set to 3 or 5 to 10 Details on Servo Parameter Objects 9 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 Gain Settings 3117 hex Gain Switching Level in Position Control Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO map map Not possible This object is enabled when the Switching Mode in Position Control 3115 hex is 3 5 6 9 or 10 It sets the judgment level for switching between gain 1 and gain 2 The unit depends on
157. the resonance frequency is 300 Hz or lower meson Pii e If the resonance peak or control gain is too low to affect the motor speed points e If there are three or more resonance points ena e If the motor speed with high frequency components changes due to backlash or other non linear elements oa e If the acceleration deceleration is 3 000 r min s or higher If the adaptive filter does not operate properly use Notch 1 3201 to 3203 hex or Notch 2 3204 to 3206 hex to reduce resonance according to the manual adjustment procedure Refer to 11 7 Notch Filters on page 11 21 for information on notch filter 11 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 6 Adaptive Filter Operating Procedure 1 Set the Adaptive Filter Selection 3200 hex Select adaptive filter 1 or 2 in the Adaptive Filter Selection 3200 hex 2 Start actual operation Enter an operation command and start the actual operation 3 The Notch Filters 3 and 4 are automatically set When the influence of a resonance point appears in the motor speed the Notch Filters 3 and 4 objects are set automatically according to the number of adaptive filters y Precautions for Correct Use An unusual noise or vibration may occur until the adaptive filter stabilizes after startup immediately after the first servo ON or when the Realtime Autotuning Machine Rigidity Selection 3003 hex is increased This is not a
158. the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 54 ubisag wia sAs 4 4 Regenerative Energy Absorption Combining External Regeneration Resistors R88A RR220473S1 R88A RR220473S1 Resistance value 2 47 Q 23 5 Q Regeneration absorption 70 W 140 W capacity 1 Model R88A RRO08050S R88A RRO8050S R88A RR22047S R88A RR22047S R88A RRO080100S R88A RR080100S R88A RR220473S1 R88A RR220473S1 Resistance 59 onoo 0 25 0 50 0 04 0 value Connection oR Lo o R Lo o R H R method Regeneration 4 absorption 560 W capacity Model R88A RR22047S R88A RR22047S R88A RR22047S Connection method System Design Regeneration absorption capacity t Model R88A RR50020S R88A RR50020S R88A RR50020S Resistance value 2 20 Q o a 1 Select a combination that has an absorption capacity greater than the average regeneration power Pr 2 Do not use a combination with resistance values lower than the allowable minimum regeneration resistance of each drive For information on the allowable minimum regeneration resistance refer to Servo
159. the voltage drop will increase and the momentary operation range will become narrower i Temperature Characteristics of the Motor and Mechanical System OMNUC G5 Series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approx 0 13 C As the temperature drops the motor s momentary maximum torque increases and as the temperature rises the motor s momentary maximum torque decreases The momentary maximum torque rises by 4 at a normal temperature of 20 C compared to a temperature of 10 C Conversely the momentary maximum torque decreases about 8 when the magnet warms up to 80 C from the normal temperature Generally when the temperature drops in a mechanical system the friction torque and the load torque increase For that reason overloading may occur at low temperatures In particular in systems that use a Decelerator the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures Check whether overloading may occur during starting at low temperature Also check to see whether abnormal motor overheating or errors occur at high temperatures An increase in load friction torque seemingly increases load inertia Therefore even if the drive gains are adjusted at a normal temperature the motor may not operate properly at low temperatures Check to see whether optimal operation can be obtained even at low temperatu
160. turned ON an error occurs or the servo is turned OFF The brake can also be controlled via EtherCAT communications Objects Requiring Settings Brake Timing when Set the time after a servo OFF command is Stopped issued upon servo lock stop until the brake i REN interlock output BKIR turns OFF and page smar power supply stops Brake Timing Set the time after a servo OFF command is During Operation issued while the motor is rotating until the 3438 hex brake interlock output BKIR turns OFF and page 9 37 power supply stops If the speed drops to or below the value set in object 3439 hex before the time set here BKIR will turn OFF Brake Threshold Set the speed at which to turn OFF power to Speed During the Servomotor when the Brake Interlock Operation Output BKIR signal turns OFF after execution of a servo OFF command while Sii the Servomotor is rotating If the time set in page 253g object 3438 hex elapses before the Servomotor drops to the speed set here BKIR will turn OFF This is the Set Brake Bit for EtherCAT 01 hex communications 7 0 Brake released 1 Brake engaged 2 60FE hex This is the Set Brake Mask Bit for enabling Page A 80 disabling the Set Brake Bit for EtherCAT 02 hex communications 0 Set Brake Bit enabled 1 Set Brake Bit disabled 1 The Brake Interlock Output BKIR is turned ON The brake is released for a brake release command from either EtherCAT communications or the Servo Drive 2 The Brake
161. units Hybrid Following The hybrid error becomes 0 every 0 to 100 Rotations Error Counter Reset time the motor rotates by the set 3329 hex value If the set value is 0 the hybrid error is not cleared 3329 Hex Hybrid Following Error Counter Reset The hybrid error is cleared every time the motor rotates by the amount set in object 3329 hex This function can be used when there is error between the position calculated from encoder pulses and the position calculated from external encoder because hybrid error accumulated due to slipping or other factors Amount of hybrid error Command units Error detected 3328 hex Hybrid Following Error Counter Overflow Level Cleared to 0 Cleared to 0 a lt a a a Number of motor 3329 hex 3329 hex 3329 hex rotations Hybrid Following Error Hybrid Following Error Hybrid Following rotations Counter Reset Counter Reset Error Counter Reset i Precautions for Correct Use The machine may run out of control and be damaged if the external encoder breaks down or the motor or load coupling becomes disconnected To prevent this from happening set the Hybrid Following Error Counter Overflow Level 3328 hex and Hybrid Following Error Counter Reset 3329 hex If the Hybrid Following Error Counter Overflow Level 3328 hex is set too high detection is delayed and error detection will be ineffective If an extremely small value is set the amount of mot
162. using A 1 the Undervoltage Error Selection 3508 hex 3508h 0 Moves to a state where the main circuit power supply is turned OFF and stops according to the setting of the Shutdown option code 605B hex 3508h 1 Moves to an error processing state and stops according to the setting of the Fault reaction option code 605E hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile i State Descriptions States Description Not ready to switch on The control circuit power supply is turned ON and initialization is being executed Switch on disabled Initialization has been completed Servo Drive parameters can be set Ready to switch on The main circuit power supply can be turned ON Servo Drive parameters can be set Switched on The main circuit power supply is ON Servo Drive parameters can be set Operation enabled The Servo is ON Servo Drive parameters can be set Fault reaction active There was an error in the Servo Drive and the cause is being determined Servo Drive parameters can be set Fault There is an error in the Servo Drive Servo Drive parameters can be set Command Coding State is controlled by combining the bits in the Controlword 6040 hex as shown in the following table fr fault reset eo enable operation qs quick stop ev enable voltage so switch on Controlword Bit Command Bit 7 Bit 3 Bit 1 Bit 0 Move to fr eo e
163. when the control mode is changed to pp or hm mode while the motor is running When the Halt bit is ON the Servomotor performs the stop operation according to the setting of the Halt option code 605D hex if the rising edge of 6040 hex bit 4 start bit is not detected when the control mode is changed to pp or hm mode while the motor is running Precautions in hm Mode To disable the stop process using drive prohibition when the control mode changes to hm mode during Servomotor operation the Servomotor is momentarily set to an immediate stop regardless of the detection of the rising edge of 6040 hex bit 4 start bit However when the Halt bit is ON the Servomotor stops according to the setting of 605D hex A 7 OMNUC Gs5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile When you change to another operation mode while the motor is running in hm mode during homing operation the operation continues for approx 2 ms and the stop operation for drive prohibition is not executed Therefore change the control mode when the Servomotor has stopped after homing is attained Modes of Operation Display The actual mode of operation can be checked from the Modes of operation display 6061 hex The display is as follows depending on the state of the Servo Drive Ser
164. with the Servo Drive via USB communications Select Test Run from the Tuning Menu of the CX Drive Select Servo ON to servo lock the Servomotor Select Forward or Reverse and start the Servomotor The Servomotor will rotate until Stop is selected ON OO AR WD i Precautions for Correct Use The test operation function via USB communications from the CX Drive cannot be used while EtherCAT communications are established OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 8 uoijeiado Adjustment Functions This chapter explains the functions setting methods and items to note regarding various gain adjustments 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 11 10 11 11 11 12 Analog Monitor vis iecsesisensvees vers vewavecvesreudveasebereancentenees 11 1 Gain Adjustment ssri 11 4 Realtime Autotuning ccccecccseeeeeeseeeeeseeeseneseeees 11 6 Man Wal TUNING sie iaaa naia 11 13 Damping Control c cccsceeeeeeeeeeeeeeeeeeeeneseneeeeees 11 15 Adaptive Filter cccceccecsseseeeceeeeeseneeneeeeseneeees 11 18 NOM FIETS onnaa 11 21 Disturbance Observer Function 2 cceeeee 11 24 Friction Torque Compensation Function 11 26 Hybrid Vibration Suppression Function 11 28 Feed forward Function cccssceeecseeseeeeeeeeeeeees 11 29 Instantaneous Speed Observer Function
165. 0 at rated voltage 10 percentage of rated speed voltage characteristic Temperature 0 01 max percentage of rated speed from 0 to 50 C variation temperature characteristic Torque control 2 repeatability 1 The heat value is given for rated operation OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Power supply 3 3 KVA 4 5 KVA 7 5 KVA 11 0 KVA 22 0 KVA Capacity K11KO015T K15KO015T o suoljeoijineds Specifications 3 1 Servo Drive Specifications i 400 VAC Input Models R88D R88D R88D R88D R88D R88D R88D R88D Item KNOG6F KN10F KN15F KN20F KN3OF KNSOF KN75F KN150F ECT ECT ECT ECT ECT ECT ECT ECT Input Main Power power circuit supply 1 2 KVA 1 8KVA 2 3KVA 3 8 KVA 4 5 KVA 6 0 KVA 11 0 KVA 22 0 KVA supply capacity Power supply 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz voltage Heat Power supply 24 VDC 20 4 to 27 6 V Control circuit voltage Heat value Weight Approx Approx Approx Approx Approx Approx Approx Approx 1 9 kg 1 9 kg 1 9 kg 2 7 kg 4 7 kg 4 7 kg 13 5kg 21 0 kg capacity Applica 3 _ K1K030F K4K030F vomotor K1K030C K4K030C a r K40020F K4K020F K60020F K1KO20F K1K520F K2KO20F K3K020F K5K020F 7 K40020C K4K020C K11K015C Keoo20c K1K020C K1K520C K2K020C K3KO20C pevannn K7KSI5C kaskorsc BS K90010C a K2K010
166. 0 01 max percentage of rated speed from 0 to 50 C variation temperature characteristic Torque control 1 repeatability 1 The heat value is given for rated operation OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 2 Specifications 3 1 Servo Drive Specifications i 200 VAC Input Models DE R88D R88D R88D R88D R88D R88D KNO1H ECT KNO2H ECT KNO4H ECT KNO8H ECT KN10H ECT KN15H ECT Continuous output current rms 1 6 A 5 9 A 9 4 A Input power Main Power supply circuit supply 0 5 KVA 0 5 KVA 0 9 KVA 1 3 KVA 1 8 KVA 2 3KVA capacity Power supply Single phase or 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz voltage bee 1 6 0 9A 2 4 1 3 A 1 4 1 2 4 A 6 6 3 6 A 9 1 5 2 A 14 2 8 1 At current mea 14 33 27 w 239w 33 24 w t 30 35 5 w 57 49 w 104 93 w Power supply voltage value Weight Approx Approx Approx Approx Approx Approx 0 8 kg 0 8 kg 1 0 kg 1 6 kg 1 8 kg 1 8 kg Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1 kW 1 5 kW Control circuit Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Applicable 3 000 K05030H K1K030H Sodoma aa an GE K20030H K40030H K75030H ian K05030T K1K030T R N K20030T K40030T K75030T KiK oT K1K020H K1K520H K1K020T K1K520T K90010H 1 000 r min IN Performance Speed control range 1 5000 Speed variation
167. 0 1 BL 202 158 96 180 R88M K5K0200 BO 221 177 115 199 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 55 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 7 5 kW without Brake R88M K7K515C S2 7 5 kW with Brake R88M K7K515C B S2 Motor connector Brake connector Encoder for model with brake only connector R 176 x 176 Shaft end specifications with key and tap 2 4 13 5 LR l o oo depth 32 min Dimensions mm upa w s erp up eye Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model SUOISUBWIG eU1e xXy pue Sj powN OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 56 Models and External Dimensions 2 4 External and Mounting Dimensions 11 kW 15 kW without Brake R88M K11K015C S2 K15K015C S
168. 0 1 to 10000 2 bytes INT16 e ibe Pn102 Speed Feedback Filter Not 3104 hex Torque command milter 84 1263 0to2500 0 01ms 2bytes INT16 Not Pn104 Time Constant 1 possible 3105 hex Za Pelee Sep GAINA 380 570 0 to 30000 2 bytes INT16 pe ee Pn105 3106 hex Spece Lgopnaing 180 270 1to32767 0 1Hz 2 bytes INT16 Not Pn106 possible Speed Loop Integral Time Not Speed Feedback Filter Not Torque Command Filter 6 Not soonex o Famous puis on mre e ate Prey possible S Speed Feed forward Not gt lt possible 3113 hex TOraue TESA TOrwan Oto6400 0 01ms 2 bytes INT16 mol Pn113 Command Filter possible Gain Switching Input Not Switching Mode in Position Not 3116 hex Pall WENINGA cine 50 0to10000 0 1ms_ 2 bytes INT16 nol Pn116 in Position Control possible Gain Switching Level in Not Gain Switching Hysteresis Not 3119 hex FOSON Calm Swiening 33 0to10000 0 1ms_ 2 bytes INT16 mol Pn119 Time possible 1 The default setting is 180 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 270 for other Drives 2 The default setting is 310 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 210 for other Drives 3 The default setting is 126 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 84 for other Drives 4 The default setting is 380 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to
169. 0 2000 3000 4000 5000 r min U D O gt O A c O 5 7 The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque If the motor power cable exceeds 20 m the voltage drop will increase and the momentary Note 2 operation range will become narrower OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 46 TA O 2 O O D Q Y 3 3 Servomotor Specifications Precautions for Correct Use Use the following Servomotors in the ranges shown in the graphs below Usage outside of these ranges may cause the motor to generate heat which could result in encoder malfunction e R88M K05030L S H T e R88M K10030L S H T e R88M K20030L SH T 50 W With oil seal 100 W With oil seal 200 W With oil seal Rated torque ratio Without brake Rated torque ratio pat e Rated torque ratio Without brake With brake With brake With brake te EE EE ee et 70 Ambient Ambient temperature temperature O 10 20 30 40 C O 10 20 30 40 C O 10 20 30 40 C e R88M K40030L S H T e R88M K40030L S H T e R88M K1K530H T F C 400 W Without oil seal 400 W With oil seal 1 5 kW io 1 With bral Rated t tio Without brake Rated torque ratio i rake ated torque ratio TE
170. 0 Always Gain 1 3100 to 3104 hex Disabled Disabled Disabled 1 Always Gain 2 3105 to 3109 hex Disabled Disabled Disabled Gain switching command input via l 2 EtherCAT communications 3 Disabled Disabled Disabled 3 Torque command variation Refer to Enabled Enabled 4 Enabled 4 Figure A 0 05 0 05 1 The Gain Switching Delay Time in Toque Control 3125 hex becomes effective when the gain is switched from 2 to 1 2 The Gain Switching Hysteresis in Torque Control 3127 hex is defined in the drawing below 3126 hex 4S iA Nea 0 Torque Control 3126 hex Gain 1 Gain 2 Gain 1 gt lt l 3125 hex 3 When the Gain switching command of EtherCAT communications is 0 the gain switches to Gain 1 When the command is 1 the gain switches to Gain 2 4 The variation means the change amount in a millisecond ms E g The set value is 200 when the condition is a 10 change in torque in 1 millisecond 3125 hex Gain Switching Delay Time in Torque Control perid 0 to 10000 Unit eae Jala B range setting attribute Size 2 bytes INT16 PDO map Not possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 18 s 99f qo 10 8WeJeg OAIBS UO Sj1e q Details on Servo Parameter Objects 9 2 Gain Settings 3126 hex Setting range Size 3127 hex Setting range Size 9 19 3126 hex Set the
171. 0 Unit n 5000 eae range setting attribute Size 2 bytes INT16 Access PDO map Not possible Set the notch frequency of resonance suppression et __ filter 3 The notch filter function is disabled if this object is set to 5000 While the adaptive filter is enabled the resonance frequency 1 that is assumed by the adaptive filter is automatically set If no resonance point is found the value 5000 is set Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3208 hex Notch 3 Width Setting Setting 0 to 20 Unit Default Data range setting attribute Size 2 bytes INT16 Access RW PDO map Not possible Select the notch width of resonance suppression notch filter 3 Increasing the setting value widens the notch width Normally use the default set value While the adaptive filter is enabled this object is set automatically Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3209 hex Notch 3 Depth Setting Setting 0 to 99 Unit Default Data range setting attribute Size 2 bytes INT16 Access RW PDO map Not possible 9 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 3 Vibration Suppression Settings Set the notch depth of resonance suppression notch filter 3 Increasing the setting value shortens the notch depth and the phase lag While the adaptive filter is enabled this
172. 0 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 4th object Range pF Unit Default 6071 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 5 Sth object Range pf Unit Default 6060 0008 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 6 6th object Range pF Unit Default 60B8 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 7 7th object Range pF Unit Default 607F 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This is the mapping for an application that uses one of the following modes Cyclic synchronous position mode csp Cyclic synchronous velocity mode csv and Cyclic synchronous torque mode cst Touch probe function is available OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 26 xipueddy A 1 CiA402 Drive Profile 1703 hex 260th RxPDO mapping parameter All Sub index 0 Number of objects Size 1 byte U8 PDO map Not possible Sub index 1 1st object Range pF Unit o S Default 6040 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Range pF Unit Default 607A 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 3rd object Range pF Unit Default 60FF 0020 hex Attribute
173. 0 r min after bit 8 Halt in Controlword 6040 hex is set to 1 during operation in the Homing mode 605B hex Shutdown option code All Size 2 bytes INT16 PDO map Not possible This object sets the operation enable ready to switch on operation during shutdown Description of Set Values Set Decelerating After stopping xipueddy value Deceleration method Operation after stopping Error Immediate Stop 3 Free m Immediate Stop 3 Dynamic brake operation 3 1 Ql I Bas 3 Dynamic brake operation Clear i 1 Dynamic brake operation Clear ee 1 Decelerating is the time between when the motor is running and when the motor speed reaches 30 r min or less Once the motor reaches 30 r min or less and moves to the after stop status subsequent operation is based on the after stop status regardless of the motor speed 2 Immediate Stop means that the Servomotor stops immediately by using controls while the servo is kept ON The torque command value at this time is restricted by the Immediate Stop Torque 3511 hex 3 When the error is cleared a process which makes the Position demand value follow the Position actual value comes into effect To operate in cyclic sync mode csp after the servo turns ON reset the command coordinates in the host controller and then execute the operation The motor may move suddenly 4 Precautions for Correct Use Position control is forced into operation du
174. 00 3000 r min 0 1000 2000 3000 r min e R88M K4KO020F C 4 kW e R88M K5KO20F C 5 kW e R88M K7K515C 7 5 kW N m Nem my 57 3 1900 57 3 2100 Power supply 70 voltage dropped by 10 2200 119 0 2500 Power supply voltage dropped by 10 1900 71 6 2100 50 Power supply 100 A voltage dropped Momentary operation range 7 Momentary operation range 254 19 1 eo 35 193 9 50 47 8 Continuous operation range i 1 2 i 0 1000 2000 3000 r min 0 000 000 3000 r min 0 1000 3000 3000 r min e R88M K11K015C 11 kW e R88M K15K015C 15 kW N m 175 0 1700 175 0 2000 N m Power supply 224 0 1500 224 0 1700 150 voltage dropped Power supply by 10 voltage dropped 130 0 200 By 10s 75 70 0 Continuous operation range 2 5 0 1000 2000 r min 0 1000 2000 r min Note 1 The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque Note 2 If the motor power cable exceeds 20 m the voltage drop will increase and the momentary operation range will become narrower Use the following Servomotors in the ranges shown in the graphs below Using outside of these ranges may cause the motor to generate heat which could result in encoder malfunction e R88M K5KO20H T F C 5 kW e R88M K7K515T C 7 5 kW e R88M K15K015T C 15 kW io T Without
175. 00 hex and Position Loop Gain 2 3105 hex set the Position Gain Switching Time 3119 hex When the position loop gain 1 increases the gain changes in the set time s 99f qo 10 9WeIeg OAIBS UO Sj1e q OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 14 Details on Servo Parameter Objects 9 2 Gain Settings Position Loop Gain 1 lt Position Loop Gain 2 Position Loop Gain 2 Position Loop Gain 1 Position Gain Switching Time 3119 hex Position Position Position Loop Gain 1 Loop Gain 2 Loop Gain 1 l Precautions for Correct Use When the position loop gain is switched to a smaller value e g when switching from gain 2 to gain 1 in the above figure Position Gain Switching Time 3119 hex is ignored and the gain is switched immediately 3120 hex Switching Mode in Speed Control Setting Default Data Size 2 bytes INT16 Access RW PDO map Not possible Select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input Operating Mode Selection 3114 hex is set to 1 The gain is always gain 1 regardless of the gain input if the Switching Mode in Speed Control 3120 hex is 2 and the Torque Limit Selection 3521 hex is 3 or 6 Explanation of Settings Description 3120 Gain Gain ET hex Switching Switching Page ae set Gain switching conditions Delay Time in Level in Speed S er Control value Speed Cont
176. 00 hours at an ambient drive operating temperature of 55 C constant output at rated torque constant output at rated rotation speed and installation as described in this manual Axial flow fan 10 000 to 30 000 hours The limit depends on the operating conditions Inrush current prevention relay Approx 20 000 operations The limit depends on the operation conditions When using the Servo Drive in continuous operation use fans or air conditioners to maintain the ambient temperature below 40 C We recommend that the ambient temperature and the power supply ON time be reduced as much as possible to lengthen the service life of the Servo Drive The limit of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally an increase of 10 C in the operating ambient temperature will reduce capacitor service life by 50 For example when the ambient operating temperature is 25 C the life expectancy will be as follows 55 25 Life expectancy at 25 C Life expectancy at 55 C x2 10 224 000 hours The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no power supplied If the Servo Drive is not used for a long time we recommend periodic inspection and a part replacement period of 5 years If the Servomotor or Servo Drive is not to be used for a long time or if they are to be used under conditions worse than those described above a periodic inspection p
177. 000 Approx 4 1 Approx 6 7 x material Brake inertia Excitation voltage aA Power consumption at 20 C Current consumption at 20 C Static friction torque 2 5 min x5 3 Attraction time Release time Backlash 3 D Z c c Ba E Brake specifications Allowable work per braking Allowable total work Allowable angular rad s2 acceleration Brake limit 10 million times min Insulation class Type F 3 51 K1K520F K1K520C 1 500 7 16 21 5 4 7 20 6 70x10 4 7 99x10 4 1 16 76 5 64 2 0 66 0 79 10 490 196 Approx 6 7 Approx 8 2 275 x 260 x t15 Al KN15F ECT 1 35x10 4 19 0 79 10 13 7 min 100 max 50 max 1176 1 5x10 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Model R88M 3 3 Servomotor Specifications 400 VAC Item Unit K2K020C K3K020C K4K020C K5K020C Rated output 1 2 000 3 000 4 000 5 000 Rated rotation speed 2 000 Maximum rotation speed 3 000 Momentary maximum Nem 28 7 43 0 57 3 71 6 torque l Momentary maximum A rms 25 37 45 55 current 1 Rotor inertia Without kg m 8 72x10 12 9x10 37 6x107 48 0x107 brake With brake 10 0x10 4 14 2104 38 6x104 48 8x107 Applicable load inertia 10 times the rotor inertia max Power rate Without kW s 105 159 97 1 119 1 brake Mechanical Without ms 0 68 0 56 0 60 time brake Allowable thrust loa
178. 000 when represented as bits Refer to 11 8 Disturbance Observer Function on page 11 24 and 11 12 Instantaneous Speed Observer Function on page 11 32 Set value Bit i bit O Instantaneous speed observer function Disabled Enabled bit 1 Disturbance observer function Disabled Enabled bit 2 Disturbance observer operation setting Enabled at all time Only aaa 1 is bit 3 Reserved for manufacturer use Fixed to 0 bit 4 Electric current response improvement Disabled Enabled function bit 5 Reserved for manufacturer use Fixed to 0 pie onan compengauon tor Disabled Enabled communications errors for CSP lf the command compensation for communications errors for CSP is enabled and a communications error occurs the Servo Drive will compensate and control the internal command based on the value of the Target position 607A hex that was most recently received normally OOO0xXxO00 x x O0O000 Communications cycle Command position Command 0 speed Solid line Command compensation enabled Dashed line Command compensation disabled O Normal communications x Communications error OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 48 s 99f qo 10 9WeJeg OAIBS UO Sj1e q Details on Servo Parameter Objects 9 7 Special Objects EN Reference 3611 hex Setting range Size 3614 hex Setting range Size 3615 hex Setting range Size 361
179. 06Ch Position actual value 6064h 6 7 The following diagram shows the configuration of the Cyclic synchronous torque mode Torque offset 60B2h Position actual value 6064h Target torque 607 1h Velocity actual value 606Ch Control Max torque 6072h function Torque actual value 6077h Torque demand Max profile velocity 607Fh OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 3 Cyclic Synchronous Torque Mode Related Objects Default operation 6071 hex 0 Target torque INT16 5 000 to 5 000 0000 hex 607F hex MaX plone RW U32 Command Oto 2 147 483 647 0000 hex velocity units s 60B2 hex 0 Torque offset INT16 5 000 to 5 000 0 hex Objects Requiring Settings 3317 hex Speed Limit Selection Select the input location for the speed limit page 9 27 Speed Limit Selection 3317 hex Restricts the speed as the protection during torque control Controls that the speed does not exceed the Speed Limit during torque control range Selects the input type of the Speed Limit during torque control 0 Control the speed by the Speed Limit Value Setting 3321 hex 1 Control the speed by either one of the smaller value the Speed Limit Value VLIMT by EtherCAT communications or the Speed Limit Value Setting 3321 hex Speed Limit sony Selection OMNUC G5 series AC Servomotors and Servo Drives User
180. 0F ECT 4 500 x2 em 0 33x107 0 33x10 V 24 VDC 10 110 max Backlash Allowable work per braking Allowable total work Allowable angular eae acceleration Brake limit Insulation class Brake specifications 3 43 1 reference value 10 000 10 million times min Continuous Type F 4 9x10 2 2x108 K5K030F K5K030C 5000 15 9 47 7 12 0 51 17 4x104 18 6x10 0 98 146 136 0 50 0 54 13 784 343 Approx 14 0 Approx 16 0 KN50F ECT 1 35x1074 22 0 90410 16 1 min 110 max 50 max 1470 22x108 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 1 These are the values when the motor is combined with a drive at normal temperature 20 C 65 The momentary maximum torque indicates the standard value 2 Applicable load inertia The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible If the dynamic brake is activated frequently with high load inertia the Dynamic Brake Resistor may burn Do not repeatedly turn the servo ON OFF while the dynamic brake is enabled 3 The allowable radial and thrust loads are the values determined for a limit of 20 000 hours
181. 1 In this mode of operation the Servo Drive has a path generation function an operation profile calculation function and it executes the homing operation using the Homing method specified from the controller When a controller is connected the following two homing procedures are available depending on the controller specifications Procedure 1 Create a homing operation pattern in the controller and provide the command to the Servo Drive using Cyclic synchronous position mode csp Procedure 2 Use the Homing mode of the Servo Drive The controller specifies a homing method supported by the Servo Drive and commands the start of the homing operation When performing the homing operation using the controller in procedure 1 refer to the operating manual for the controller When performing the homing operation using the controller in procedure 2 refer to the operating manual for the controller and to Homing Mode Specifications on page A 11 of this manual EN Reference Procedure 1 is used for the OMRON CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Units Create a homing operation pattern in the Position Control Unit provide the command to the Servo Drive using the Cyclic synchronous position mode csp and perform the homing operation OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 5 Fully closed Control 6 5 Fully closed Control eee An externally provided en
182. 1 A max 30 VDC 0 1 A max minimum current 1 mA R88A Aluminum Operating temperature RR22047S 350 x 350 170 C 7 C Thickness 3 0 NC contact Rated output 250 VAC 3A max R88A Aluminum Operating temperature RR22047S1 350 x 350 150 C 5 Thickness 3 0 NC contact Rated output resistive load 250 VAC 0 2 A max 42 VDC 0 2 A max minimum current 1 mA R88A Aluminum Operating temperature RR50020S 600 x 600 200 C 7 C Thickness 3 0 NC contact Rated output 250 VAC 0 2 A max 42 VDC 0 2 A max minimum current 1 mA OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 52 System Design 4 4 Regenerative Energy Absorption Connecting an External Regeneration Resistor R88D KNA5L ECT KN01L ECT KNO2L ECT KN01H ECT R88D KNO2H ECT KNO4H ECT Normally B2 and B3 are open If an External Regeneration Resistor is necessary connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below Servo Drive eres Thermal switch output External Regeneration Resistor i Precautions for Correct Use Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shu
183. 1 A1 10000 Japan Aviation Electronics R88A CNKO4R Servomotor side Applicable motors Use the following cable 200 V 3 000 r min Servomotors of all capacities 200 V 2 000 r min Servomotors of all capacities 200 V 1 000 r min Servomotors of all capacities 400 V 3 000 r min Servomotors of all capacities 400 V 2 000 r min Servomotors of all capacities 400 V 1 000 r min Servomotors of all capacities Applicable wire AWG20 max Outer diameter of sheath 6 5 to 8 0 mm dia U O D gt O A c O 5 7 019 5 a Straight plug model JN2DS10SL2 R Japan Aviation Electronics Contact model JN1 22 22S R PKG100 Japan Aviation Electronics OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 74 Specifications 3 4 Cable and Connector Specifications i Power Cable Connector R88A CNK11A This connector is used for power cables Applicable motors Use it when preparing a power cable by yourself 100 V 3 000 r min Servomotors of 50 to 400 W 200 V 3 000 r min Servomotors of 50 to 750 W Angle plug direction can be reversed Angle plug model JN8FT04SJ1 Japan Aviation Electronics Socket contact model ST TMH S C1B 3500 A534G Japan Aviation Electronics Brake Cable Connector R88A CNK11B This connector is used for brake cables Applicable motors Use it when preparing a brake cable by yours
184. 1 hex bit 9 remote is O local An operation command was applied in the drive prohibited direction after an immediate stop for a drive prohibition input EtherCAT EtherCAT communications errors Communi occurred one or more times cations Warning B2 hex Warning Output 12 2 Warnings Communications Control 3800 hex 2 Selection 3440 hex 3411 hex Bit 4 Bit 6 1 Set the Warning Output Selection 3440 hex to the warning type to output to Warning Output 1 WARN1 and set Warning Output Selection 2 3441 hex to the warning type to output to Warning Output 2 WARN2 If you set these objects to 0 all warning types are output 2 Detection of general warnings can be masked with the Warning Mask Setting 3638 hex and detection of EtherCAT communications related warnings can be masked with the Communications Control 3800 hex The warning detection is masked when you set the corresponding bit to 1 H Precautions for Correct Use Do not use any settings for Error Output Selection 1 3440 hex and Error Output Selection 2 3441 hex other than those given in the above table OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 6 s ueUDZ UIe Y pue Kul OOUSa qnol Troubleshooting and Maintenance 12 3 Errors 12 3 Errors If the Servo Drive detects an abnormality it outputs an error ALM turns OFF the power drive circuit and disp
185. 2 11 kW 15 kW with Brake R88M K11K015C B S2 R88M K15K015C B S2 Brake connector Motor for model with brake onl connector for model wi o e only 220 x 220 Encoder connector 205 16h9 Key groove P9 depth 40 min Dimensions mm Model rel uy eye R88M K11K015CL 55 232 162 R88M K11K015C BL 364 320 196 R88M K15K015C BL 432 388 264 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 57 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 1 000 r min Servomotors 200 V 900 W without Brake R88M K90010H S R88M K90010T S2 LINC 2 Es 900 W with Brake R88M K90010H B S2 R88M K90010T B S2 Motor and brake connector LL 70 Encoder connector jE __ 130x130 b KB2 Shaft end specifications with key and tap r ER 0 M3 through D S 8h9 wa N N S m O y A or A A M5 depth 12 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indica
186. 2 Drive Profile 605E hex Fault reaction option code All Range 7 to 0 Unit Default Attribute B Size 2 bytes INT16 Access PDO map Not possible This object sets the behavior when an error occurs Description of Set Values Set Decelerating After stopping value Deceleration method Operation after stopping Error Immediate Stop 2 Operation A 2 Immediate Stop Torque i 3511 hex Clear Free Clear Immediate Stop 2 Operation A 2 Immediate Stop Torque i 6 3511 hex Clear Free Clear Operation B2 Dynamic brake operation Immediate Stop 2 Immediate Stop Torque 3511 hex Immediate Stop 2 Immediate Stop Torque N Operation A Clear Dynamic brake operation Clear l On Operation A 4 Clear Dynamic brake operation Clear 3511 hex E sll all _ saul soll 0 Free run Clear Clear 1 Decelerating is the time between when the motor is running and when the motor speed reaches 30 r min or less Once the motor reaches 30 r min or less and moves to the after stop status subsequent operation is based on the after stop status regardless of the motor speed 2 Operation A and B indicate whether or not to stop immediately when an error occurs If this value is set to between 4 and 7 the motor is stopped immediately when a specified error occurs as indicated by operation A If an error occurs that is not subject to this function an immediate stop is no
187. 3417 hex and 3419 hex are set to 0 0 Feedback Motor Speed r min 500 Niema pommane Motor r min 500 Speed 5 pulses command units 3 000 6 pulses encoder units 3 000 7 a external encoder 3 000 9 P N Voltage 80 10 Regeneration Load Ratio 33 11 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 1 Analog Monitor Description 3416 hex and 3418 hex set Output gain when 3417 value Monitoring item hex and 3419 hex are set to 0 21 pulses encoder units 110 000 The Internal Command Motor Speed is the speed before the command input passes through the command filter the position command filter time constant and the smoothing filter time constant The Filtered Internal Command Motor Speed is the speed after the command input passes through the command filter Internal Command Filtered Internal Command Motor Speed r min Motor Speed r min Command Electronic Position d T O Position input gear a Control filter suoljoun u wzsnfpy Position actual internal value encoder units external encoder units Encoder feedback external encoder feedback 2 The position error is calculated for the command input after processing for the position command filter The pulse position error or fully closed position error is reversely converted to command units for application The pulse position error or fully closed error is the error for the position con
188. 3513 hex If a value lower than the Overspeed Detection Level Setting 8513 hex is set an Overspeed 2 Error Error No 26 1 will occur before an Overspeed Error Error No 26 0 Thus an immediate stop will not occur If an Overspeed Error Error No 26 0 and an Overspeed 2 error Error No 26 1 occur at the same time the immediate stop will not occur either If the actual rotation speed is not lower than 30 r min after the time set on the Error Detection Allowable Time Setting 3614 hex elapses from when an error that supports immediate stopping occurs an error state will occur immediately If an error that does not support immediate stopping occurs during an immediate stop an error state will occur immediately OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 12 ueu zuiewN pue Kul OoOUSs qnol Troubleshooting and Maintenance 12 4 Troubleshooting 12 4 Troubleshooting lf an error occurs in the machine determine the error conditions from the error displays and operation state identify the cause of the error and take appropriate measures Troubleshooting with Error Displays f Error List Error No hex Cause Measures Control The voltage between the positive and Measure the voltage between the L1C Power Supply negative terminals in the control power and L2C lines on the connectors and the Undervoltage supply converter dropped below the termina
189. 4 Troubleshooting Measures Measure the voltage between the connector L1 L2 and L3 lines Increase the power supply voltage Change the power supply Eliminate the cause of the failure of the electromagnetic contactor on the main circuit power supply and then turn ON the power again Check the setting of the Momentary Hold Time 3509 hex Set each phase of the power supply correctly Increase the power supply capacity Refer to Servo Drive Model Table on page 2 5 for information on the power supply capacity Connect each phase L1 L2 and L3 of the power supply correctly Use L1 and L3 for single phase 100 V and single phase 200 V Replace the Servo Drive 12 14 sdueUd UIeW pue HuljooussjqnolL 12 4 Troubleshooting Error No hex Cause Measures Overcurrent The current flowing through the converter exceeded the specified value e The Servo Drive is faulty faulty circuit Disconnect the Servomotor cable and faulty IGBT part etc turn ON the servo If the problem immediately recurs replace the Servo Drive with a new one e The Servomotor cable is short circuited Check to see if the Servomotor cable is between phases U V and W short circuited between phases U V and W by checking for loose wire strands on the connector lead Connect the Servomotor cable correctly e The Servomotor cable is ground faulted Check the insulation resistance between phases U V and W of the Servomotor cable and
190. 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex r ause The regenerative energy exceeds the processing capacity of the Regeneration Resistor e The regenerative energy during deceleration caused by a large load inertia increased the converter voltage and then insufficient energy absorption by the Regeneration Resistor further increased the voltage e The Servomotor rotation speed is too high to absorb the regenerative energy within the specified deceleration time e The operating limit of the external resistor is limited to a 10 duty Precautions for Correct Use Overload When the feedback value for torque command exceeds the overload level specified in the Overload Detection Level Setting 3512 hex overload protection is performed according to the overload characteristics e The load was heavy the effective torque exceeded the rated torque and operation continued too long Vibration or hunting occurred due to faulty gain adjustment The Servomotor vibrates or makes unusual noise The Inertia Ratio 3004 hex setting is faulty 16 The Servomotor wiring is incorrect or broken The machine was hit by an object or the machine load suddenly became heavy The machine was distorted The electromagnetic brake remains ON When multiple machines were wired the wiring was incorrect and the Servomotor cable to was connected to a Servomotor for anothe
191. 570 for other Drives 5 The default setting is 180 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 270 for other Drives 6 The default setting is 126 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 84 for other Drives OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 72 A 2 Object List Corresp Default Data PDO onding Index setting Sertingirange attribute map Pn number Switching Mode in Not Gain Switching Delay Not Gain Switching Level in Not Gain Switching Not 3123 hex Hysteresis in Speed 0 to 20000 2 bytes INT16 Pn123 possible Control Switching Mode in Not 3125 hex ee Switching Palay 0 to 10000 0 1 ms 2 bytes INT16 Do Pn125 ime in Torque Control possible Gain Switching Level in Not Gain Switching Not 3127 hex Hysteresis in Torque 0 to 20000 2 bytes INT 16 Pn127 possible Control a Adaptive Filter Selection Not 5 3200 hex EA EARE 0 to 4 2 bytes INT 16 2 Pn200 E possible Notch 1 Frequency Not O 3201 hex Setting 5000 50 to 5000 Hz 2 bytes INT16 possible Pn201 Q possible possible Notch 2 Frequency Not a A e ee e E td om possible possible Notch 3 Frequency Not e G AERE 9 att pe possible 3209 hex Wolna DEPI SENNY 0 to 99 2 bytes INT16 Not Pn209 possible Notch 4 Frequency Not 3211 hex ee ee etn 2 0 to 20 2 bytes INT16 Not Pn211 possible 3212 hex Noreh
192. 6 3SUP HL50 ER 6B 115 105 5 9 Ground terminal M4 70 43 Attachment screw for cover M3 Cover Noise filter unit Circuit Diagram SUP EK5 ER 6 3SUP HQ10 ER 6 4 35 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives 3SUP HU30 ER 6 3SUP HL50 ER 6B O lt P g D Lf T OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 36 System Design 4 3 Wiring Conforming to EMC Directives i Control Panel Structure 4 37 Openings in the control panel such as holes for cables panel mounting holes and gaps around the door may allow electromagnetic waves into the panel To prevent this observe the recommendations described below when designing or selecting a control panel Case Structure Use a metal control panel with welded joints at the top bottom and sides so that the surfaces are electrically conductive If assembly is required strip the paint off the joint areas or mask them during painting to make them electrically conductive The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws Do not leave any conductive part unconnected Ground all units within the case to the case itself Door Structure
193. 6 M4 A 2 lt m O Q D N Q _ __ m gt K P 4 v l l g Front Mounting Using Front Mounting Brackets D External dimensions Mounting dimensions T 5 N Rectangular o hole 17 5 50 88 Rectangular hole dimensions are reference values OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 20 imensions Models and External D 2 4 External and Mounting Dimensions i 3 phase 200 VAC R88D KN30H ECT KN50H ECT 3 to 5 kW Wall Mounting External dimensions Mounting dimensions 130 70 214 15 100 65 05 2 R2 6 ool 5 R26 3 5 50 6 M6 220 240 250 220 R2 6 Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 130 70 214 50 B A Rectangular LO N g t x hole a Y D 6 2 5 15 100 a 132 Rectangular hole dimensions are reference values 2 29 OMNUC G5 series AC Servomotors and Servo Drive
194. 60B8 hex is set to 1 They are cleared when bit 0 or 8 becomes 0 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 56 xipueddy A 1 CiA402 Drive Profile 60BA hex Touch probe pos pos value Size 4 bytes INT32 aa ee PDO map map Possible This object gives the latch position for Latch 1 60BC hex Touch probe pos2 pos value 2147483648 to Command Size 4 bytes INT32 Access RO PDOmap PDO map map Possible This object gives the latch position for Latch 2 60E0 hex Positive torque limit value All Range 0 to 5000 Default 5000 Attribute B Size 2 bytes U16 PDO map Not possible This object sets the forward torque limit It is limited by the maximum torque of the connected motor For details refer to Torque Limit Switching on page 7 21 This object is set in units of 0 1 of the rated torque 2 C D Q Q lt 60E1 hex Negative torque limit value All Range 0 to 5000 Default 5000 Attribute B Size 2 bytes U16 PDO map Not possible This object sets the reverse torque limit It is limited by the maximum torque of the connected motor For details refer to Torque Limit Switching on page 7 21 This object is set in units of 0 1 of the rated torque A 57 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile 60E3 hex
195. 60F4 hex Touch probe status 60B9 hex Touch probe pos1 pos value 60BA hex Touch probe pos2 pos value 60BC hex and Digital inputs 60FD hex xipueddy OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 30 A 1 CiA402 Drive Profile 14B02 hex 259th TxPDO mapping parameters All Sub index 0 Number of objects Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st object Range pf w Default 603F 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Range Sf Unit e Default 6041 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 3rd object Size 4 bytes U32 Access RO PDOmap Not possible Sub index 4 4th object Size 4 bytes U32 Access RO PDOmap Not possible Sub index 5 Sth object Size 4 bytes U32 Access RO PDOmap Not possible Sub index 6 6th object Size 4 bytes U32 Access RO PDOmap Not possible Sub index 7 7th object Size 4 bytes U32 Access RO PDOmap Not possible Sub index 8 8th object Size 4 bytes U32 Access RO PDOmap Not possible Sub index 9 9th object Size 4 bytes U32 Access RO PDOmap Not possible This is the mapping for an application that uses different modes of operation Touch probe status is available 2 C D Q Q lt A 31 OMNUC G5 series AC
196. 7 2h J lt lt PULS 120 Q rn LS XX cee ede e oR 20kQ e 4 2 KQ i 49 9 maez DS XX wala OS 6 i EXZ Ho o O e 2 kQ FG Shell O FG f External Encoder Input Signal Table External Encoder I O CN4 Pin No Symbol Name Function and interface 1 External encoder power External encoder power supply 5 2 VDC 5 250 supply output mA max 2 EQV If the above capacity is exceeded provide a separate power supply 3 External encoder signal This is an external encoder serial bi directional serial interface signal Conforms to EIA485 4 Maximum response frequency 400 Mpps 5 External encoder signal This is an external encoder 90 phase input signal 90 phase difference input Maximum response frequency 4 Mpps quadruple 6 Phases A B and Z multiplier i 1 Connect external encoder signals to the serial interface EXS EXS or 90 phase difference inputs according to the encoder type 00 itl f t1 gt 0 25 us 2 t2 gt 1 0us 3 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications g Example of Connection with External Encoder E 90 Phase Difference Input 3323 Hex 0 External encoder side Servo Drive side CN4 5V ESV 1_Y5 2 V 5 250 mA max 2 Tov 2 kQ eee 2k zakol Big 120 Q p ME m an 20kQ Mane 2kQ 20kQ EE cn PULS 120 Q Kee 2 gt c_ gt 2 kQ 20 kQ I suna
197. 7 8 Soft Start 7 8 Soft Start Ss This function is used to control the rotation speed It sets the acceleration and deceleration against the rotation speed command in the Servo Drive The function can be used for step rotation speed commands and allows soft starts The S curve Acceleration and Deceleration function is used to reduce any impacts by acceleration changes Objects Requiring Settings Soft Start Acceleration Sets the acceleration time for the rotation speed 3312 hex l i page 9 26 Time command input 3313 hex Soft Start Deceleration Sets the deceleration time for the rotation speed page 9 26 Time command input S curve Acceleration 3314 hex Deceleration Time Setting Sets the acceleration or deceleration processing page 9 26 S curve time for the rotation speed command input Soft Start Acceleration or Deceleration Time Set the time required for a step speed command to reach the maximum motor rotation speed into the Soft Start Acceleration Time 3312 hex In the same manner set the time required for the command to decrease the speed from the maximum motor rotation speed to O r min into the Soft Start Deceleration Time 3313 hex The time taken for acceleration or deceleration is calculated by the following formula where Vc r min is the target rotation speed of the speed command Acceleration Time ms Vc Maximum motor rotation speed x 3312 hex x 1 ms Deceleration Time ms Vc Maximum motor rota
198. 8 Objects Requiring Settings ssri okie ee ica ebebeee noe ae 6 8 REAA FUNCIONS ssar ira i aaranacalicmce tenia a EAA 6 9 Block Diagram for Torque Control Mode cccceccceecceeeceeeeeeeeeeeeseeeseeeeeeeeseeeseeees 6 10 OA AOMAOMO GO seses a en E E 6 11 69 F lly closed CONTOlaessaen se a 6 12 Outline OF Operaatio M xavcii ice o ace adeeb ieee a 6 12 Objects Requiring Settings ssi ecto c petee load eatth ea ockcaaurnan en ebeebaeiaseannalereicanntehadeas 6 13 Block Diagram for Fully closed Control Mode ccccccceecceceeeeeseeeeeeeeaeeeseeesaeeeaes 6 18 6 6 Connecting with OMRON Controllers ccccccccccececeeeeeeeeeeeeaeeeeeees 6 19 Related ODI EC iSd e e e yeeedeeices bacneeee 6 19 Chapter 7 Applied Functions 1 Seguente I O SIGNAIS neresnice a e rair ietu oi 7 1 MMOUL SIQMANS anan cles heehee a ieee oles oe aan aoe dees adhe ose cee ee 7 1 CDE SI VAS pilin sen ses ea Sis oe pacers oss Pa ec bastard vas anna vb es vn gan eas ere 1 4 7 2 Forward and Reverse Drive Prohibition Functions cccseceeee 7 6 Objects Reguiring Settings re reenson sie Secs Soderiund nde verte beres ta a EEA 7 6 l gt OVEN Protecto aa E a E aatonnttek 7 9 Operating Condito Saanaa a A 7 9 Objects Requiring Settings 422s sissies ee kh ee ee ele ecw 7 9 OD CN ALONE KANN OIC sieht ieee pentane ies cts De assnanatenaeacneml etal etal chew a eedaeetene 7 10 1 4 Backash COMPENSATION ssisscasaciavsccadesindoandvaagnea EA
199. 8 hex Setting range Size 9 49 Example Instantaneous speed observer function enabled Disturbance observer function enabled Disturbance observer operation setting enabled at all time Electric current response improvement function enabled Command compensation for communications errors for CSP Disabled If the settings are as described above the bit will be 0010011 and the decimal value 19 Therefore the set value will be 19 Electric Current Response Setting Default Data 2 bytes INT16 Access Access RW PDO map Not possible Make fine adjustment to electric current response The default setting is 100 Error Detection Allowable Time Setting Default Data 2 bytes INT16 eg a PDO map Not possible Set the allowable time until stopping if an immediate stop is executed when an error is detected When the time exceeds the set value the operation forcibly turns to an error state When the object is set to 0 the protection for the allowable time does not function Refer to the Immediate Stop Operation on page 12 12 in 12 3 Errors on page 12 7 Overspeed Detection Level Setting at Immediate Stop 0 to 20000 Unit r min peau ae setting attribute 2 bytes INT16 Access RW PDO map PDO map map Not possible If the motor speed exceeds the set value during an immediate stop resulting from an error an Overspeed 2 Error Error No 26 1 will occur The overspeed detection l
200. 8D KNLJH ECT supply input Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Dynamic Brake Resistor These terminals are used to control the MC for externally control terminals connected dynamic brake resistance The output contact specifications are 1 A max at 300 VAC 100 VDC max Connect them if required Terminal Block Specifications Bottom Terminal Block TB2 Main circuit power supply R88D KNLIJH ECT 7 5 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz External Regeneration Connect an External Regeneration Resistor between B1 and B2 Resistor connection terminals Do not connect Motor connection These are the output terminals to the Servomotor terminals te Be sure to wire them correctly This is the ground terminal Ground to 100 Q or less P Precautions for Correct Use Never connect an External Regeneration Resistor between the B1 and NC terminals i R88D KNO6F ECT KN10F ECT KN15F ECT KN20F ECT Main Circuit Connector Specifications CNA L1 L2 L3 Main circuit power supply R88D KNLIF ECT input 600 W to 2 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz 4 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring Motor Connector Specifications CNB Function Motor connection Red These are the output terminals to the Servomotor terminals Be sure to wire them correctly Green Yellow This is the g
201. 8M K40030H R88M K40030T R88M K40030T S2 750 W 200 V 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW 750 W 1 kW 1 5 kW 400 V 2 kW 3 kW 4 kW 5 kW R88M K1K030H R88M K1K030T R88M K1K030T S2 R88M K1K530H R88M K1K530T R88M K1K530T S2 R88M K2K030H R88M K2K030T R88M K2K030T S2 R88M K3K030H R88M K3K030T R88M K3K030T S2 R88M K4K030H R88M K4K030T R88M K4K030T S2 R88M K5K030H R88M K5K030T R88M K5K030T S2 R88M K75030F R88M K75030C R88M K75030C S2 R88M K1K030F R88M K1K030C R88M K1K030C S2 R88M K1K530F R88M K1K530C R88M K1K530C S2 R88M K2K030F R88M K2K030C R88M K2K030C S2 Without brakes R88M K75030H R88M K75030H S2 R88M K7 5030T R88M K75030T S2 R88M K3K030F R88M K3K030F S2 R88M K3K030C R88M K3K030C S2 R88M K4K030F R88M K4K030F S2 R88M K4K030C R88M K4K030C S2 R88M K5KO030F R88M K5K030F S2 R88M K5K030C R88M K5K030C S2 Note Models with oil seals are also available OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 6 SUOISUBWIG jeu1 3 x4 pue Sjepo lt Models and External Dimensions 2 3 Model Tables Model With incremental encoder With absolute encoder Straight shaft Straight shaft without key with key and tap R88M K05030T B R88M K05030T BS2 R88M K10030S B R88M K10030S BS2 R88M K20030S B R88M K20030S BS2 R88M K40030S B R88M K40030S BS2 R88M K05030T B R88M K05030T BS2 R88M K10030T B R88M K10030T BS2 R88M K20030T B R88M K20030T BS2 R88M K40030T B R88M K40030T BS2 R88M K 5030T B R8
202. 8M K5K020T BS2 R88M K7K515T BS2 R88M K11K015T BS2 R88M K15K015T BS2 R88M K40020C BS2 R88M K60020C BS2 R88M K1K020C BS2 R88M K1K520C BS2 R88M K2K020C BS2 R88M K3K020C BS2 R88M K4K020C BS2 R88M K5K020C BS2 R88M K7K515C BS2 R88M K11K015C BS2 R88M K15K015C BS2 2 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications j 1 000 r min Servomotors Model 2 3 Model Tables ERE With incremental encoder With absolute encoder Specifications without key with key and tap without key A a d e o y o i e soa o O o pee sev a KoT06 sa o o pee ew o o pea ew o oo Note Models with oil seals are also available OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Straight shaft with key and tap R88M K90010T S2 R88M K2K010T S2 R88M K3K010T S2 R88M K4K510T S2 R88M K6K010T S2 R88M K90010C S2 R88M K2K010C S2 R88M K3K010C S2 R88M K4K510C S2 R88M K6K010C S2 R88M K90010T BS2 R88M K2K010T BS2 R88M K3K010T BS2 R88M K4K510T BS2 R88M K6K010T BS2 R88M K90010C BS2 R88M K2K010C BS2 R88M K3K010C BS2 R88M K4K510C BS2 R88M K6K010C BS2 2 10 SUOISUBWIG jeu1 x4 pue Sjepo D lt O 3 O Models and External Dimensions 2 3 Model Tables Servo Drive and Servomotor Combination Tables The tables in this section show the possible combinations of OMNUC G5 series Servo Drives and Servomotors The Serv
203. 8M K75030T BS2 R88M K1K030T B R88M K1K030T BS2 R88M K1K530T B R88M K1K530T BS2 R88M K2K030T B R88M K2K030T BS2 R88M K3K030T B R88M K3K030T BS2 R88M K4K030T B R88M K4K030T BS2 R88M K5K030T B R88M K5KO030T BS2 R88M K 75030C B R88M K 75030C BS2 R88M K1K030C B R88M K1K030C BS2 R88M K1K530C B R88M K1K530C BS2 R88M K2K030C B R88M K2K030C BS2 R88M K3K030C B R88M K3K030C BS2 R88M K4K030C B R88M K4K030C BS2 R88M K5K030C B R88M K5K030C BS2 Specifications Straight shaft without key R88M K05030H B R88M K10030L B R88M K20030L B R88M K40030L B R88M K05030H B R88M K10030H B R88M K20030H B R88M K40030H B R88M K 5030H B R88M K1K030H B R88M K1K530H B R88M K2K030H B R88M K3K030H B 4kW R88M K4K030H B 5kW R88M K5KO030H B 750 W R88M K75030F B 1kW R88M K1KO30F B 1 5 kW R88M K1K530F B 400 V 2kW R88M K2KO030F B 3 kW R88M K3KO030F B 4kW R88M K4KO030F B 5 kW R88M KS5KO30F B Note Models with oil seals are also available Straight shaft with key and tap R88M K05030H BS2 R88M K10030L BS2 R88M K20030L BS2 R88M K40030L BS2 R88M K05030H BS2 R88M K10030H BS2 R88M K20030H BS2 R88M K40030H BS2 R88M K75030H BS2 R88M K1K030H BS2 R88M K1K530H BS2 R88M K2K030H BS2 R88M K3K030H BS2 R88M K4K030H BS2 R88M K5K030H BS2 R88M K75030F BS2 R88M K1K030F BS2 R88M K1K530F BS2 R88M K2K030F BS2 R88M K3K030F BS2 R88M K4K030F BS2 R88M K5KO030F BS2 50 W 100 W 200 W 400 W 50 W 100 W 200 W 400 W 750 W 200 V 1 kW 1 5 kW 2
204. ADEPT Sewing 0 to 99 2 bytes INT16 Not Pn212 possible Damping Filter Not 3214 hex Damping Frequency 0 to 2000 0 1 Hz 2 bytes INT16 Not Pn214 possible 3215 hex Damping Filteri Seung 0 to 1000 0 1 Hz 2 bytes INT16 Not Pn215 possible 3216 hex Damping Frequency ce 0 to 2000 0 1 Hz 2 bytes INT 16 nO Pn216 possible 3217 hex Damping Piter 2 Sering 0 to 1000 0 1 Hz 2 bytes INT16 Not Pn217 possible 3218 hex Damping Fregueney a 0 to 2000 0 1 Hz 2 bytes INT16 nO Pn218 possible A 73 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 2 Object List Corresp Default Data PDO onding oes setting Sening range attribute map Pn number possible possible Position Command Not Soft Start Acceleration ms max Not 3312 hex Time 0 to 10000 motor 2 bytes INT16 Pn312 possible speed Soft Start Deceleration ms max Not 3313 hex Time 0 to 10000 motor 2 bytes INT16 Pn313 possible speed S curve Acceleration Not 3314 hex Deceleration Time 0 to 1000 ms 2 bytes INT16 ibl Pn314 Settin possible A ee sommes 2 a e possible 3321 hex Spoce Emit value 20000 0 to 20000 r min 2 bytes INT16 Not Pn321 Setting possible External Feedback Not gt External Feedback Not D 3324 hex Pulse Dividing 0 to 1048576 4 bytes INT32 i Pn324 possible Numerator Q External Feedback Not gt lt 3325 hex Pulse Dividing 10000 1 to 1048576 4 bytes INT32 asbie Pn325 Denominator P Exte
205. Access RO PDO map Not possible 1 The following table shows the default settings xipueddy Specifications Model Single phase 100 VAC 50W R88D KNA5L ECT 100 W_ R88D KNO1L ECT 200 W R88D KNO2L ECT 400 W R88D KNO4L ECT 100 W_ R88D KNO1H ECT 200 W R88D KNO2H ECT Single phase 3 phase 400 W R88D KNO4H ECT 200 VAC 750W R88D KNO8H ECT 1 kW R88D KN10H ECT 1 5 kW R88D KN15H ECT 600 W R88D KNO6F ECT 3 phase 400 VAC 1kW_ R88D KN10F ECT 1 5 kW R88D KN15F ECT Gives the Servo Drive model number 4009 hex Manufacturer hardware version All Size 20 bytes VS Access RO PDO map Not possible Gives the version of the Servo Drive hardware OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 20 2 C D Q Q lt A 1 CiA402 Drive Profile This is not used by OMNUC G5 series Servo Drives 400A hex Manufacturer software version All Size 20 bytes VS Access RO PDO map Not possible 1 The version number is saved in V Gives the version of the Servo Drive software 1010 hex Store parameters All Sub index 0 Number of entries Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Save all parameters Range pF Unit Default 0000 0001 hex Attribute A Size 4 bytes U32 PDO map Not possible All savable parameters are saved in the Servo Drive EEPROM Saving is executed only
206. Allowable thrust load Weight Without brake Radiator plate dimensions 275 x 260 x t15 Al material Applicable Servo Drives aae KN10H ECT KN15H ECT KN20H ECT Excitation Excitation voltage a Vo 24 VDC 10 consumption at 20 C Current consumption at i 0 59 10 0 79 10 0 79 10 20 C Backlash 1 reference value Allowable work per J 588 1176 1176 braking Allowable total work 7 8x10 1 5x108 1 5x108 Allowable angular rad s 10 000 acceleration Brake limit 10 million times min Insulation class el Type F OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Brake specifications Brake specifications K2K020H Item Unit K1K020T K1K520T K2K020T With brake Approx 6 7 Approx 8 2 Approx 9 5 3 48 suoljeoijineds o Specifications 3 3 Servomotor Specifications 200 VAC Model R88N Item Unit K3K020T K4KO020T KSKO20T K7K515T K11KO015T K15K015T Rated rotation speed 2 000 1 500 Maximum rotation speed r min 3 000 2000 Momentary maximum em 43 0 119 0 175 0 224 0 torque i Rated current 1 sA rms 174 4 2410 259 9 44 440 A2 2 66 1 Momentary maximum A PON Km CEON E c E 236 current Rotor Without kgem 12 9x104 37 6x104 48 0x10 101x104 212x104 302x107 inertia brake With brake koam 14 2x104 38 6x104 48 ai 4 107x104 220x104 311x104 Applicable load inert
207. BO hex occurs while the mode of operation is being changed and instead of changing the mode of operation the current mode of operation is retained When a drive prohibition direction command is received while in a drive prohibition state When there is a change in position command that exceeds the motor s maximum speed This bit changes to 1 when the homing operation reaches its target while in the Homing mode hm Following error These bits are specific to the operation mode The Following error Error counter overflow is indicated in Cyclic synchronous position mode Position Error Counter Overflow is set to 1 when the Position actual value 6064 hex exceeds the Following error window 6065 hex that is set based on Position demand value 6062 hex This bit changes to 1 when the homing operation is not completed successfully while in the Homing mode hm 13 A 45 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile 14 and 15 Manufacturer specific These are manufacturer specific bits This bit is not used by OMNUC G5 series Servo Drives 1 The Voltage enabled bit indicates that the main circuit power supply is ON when it is 1 2 Not applicable in Quick stop active state This bit is O in a Not ready to switch ON state only It is always 1 in all other cases 3 This bit will also change to 1 when the actual speed becomes less than 3
208. Built in EtherCAT Communications A 1 CiA402 Drive Profile In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 6a64 6165 hex Writing during semi closed control when using an absolute encoder as an absolute encoder and the Servo is not OFF 4103 hex Coordinate System Setting Mode Range 0000 to FFFF hex Unit Default pO Attribute Size 2 bytes U16 Access RO PDO map Possible Set the mode during coordinate system setting All 4104 hex Coordinate System Setting Position 2 147 483 648 to Command Size 4 A bytes U32 U32 Access RO PDOmap PDOmap map Possible Set the position information coordinate system setting xipueddy OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 42 2 C D Q Q lt A 43 A 1 CiA402 Drive Profile Servo Drive Profile Object This section describes the CiA402 drive profile supported by OMNUC G5 series Servo Drives 603F hex Error code All Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes U16 Possible This object gives the latest error code or warning code in the Servo Drive The given error is from the manufacturer specific area FFOO to FFFF hex The lower word of FFOO to FFFF hex gives the main number of the error 4001 hex Sub Error Code 4001 hex gives the
209. C K4K510C K6KO10C Speed control 1 5000 range 1 000 r min Perform ance Speed variation 0 01 max from 0 to 100 percentage of rated speed load characteristic Speed variation 0 at rated voltage 10 percentage of rated speed voltage characteristic Temperature 0 01 max percentage of rated speed from 0 to 50 C variation temperature characteristic Torque control 1 2 repeatability 1 The heat value is given for rated operation 3 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications EtherCAT Communications Specifications Item Communications standard Physical layer Connectors Communications media Communications distance Process data Mailbox CoE Distributed clock LED indicators CiA402 Drive Profile Specification IEC 61158 Type 12 IEC 61800 7 CiA 402 Drive Profile 100BASE TX IEEE802 3 RJ45 x 2 shielded ECAT IN EtherCAT input ECAT OUT EtherCAT output Category 5 or higher cable with double aluminum tape and braided shielding is recommended Distance between nodes 100 m max Fixed PDO mapping Emergency messages SDO requests SDO responses and SDO information Synchronization in DC mode DC cycle 250 us 500 us 1 ms 2 ms 4 ms L A IN Link Activity IN x 1 L A OUT Link Activity OUT x 1 RUN x1 ERR x 1 Cyclic synchronous position mode
210. CAT Communications 4 1 Installation Conditions g Ambient Temperature Control Operation in an environment in which there is minimal temperature rise is recommended to maintain a high level of reliability When the drive is installed in a closed space such as a box the ambient temperature may rise due to temperature rise in each unit Use a fan or air conditioner to prevent the drive s ambient temperature from exceeding 55 C Drive surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and provide a distance from any devices or wiring that are sensitive to heat The service life of a Servo Drive is largely determined by the ambient temperature around the internal electrolytic capacitors When an electrolytic capacitor reaches its limit electrostatic Capacity drops and internal resistance increases This leads to overvoltage errors malfunctioning due to noise and damage to individual elements If a drive is always operated at the ambient temperature of 55 C and with a 100 output of the rated torque and rated rotation speed its life is expected to be approx 28 000 hours excluding the axial flow fan A drop of 10 C in the ambient temperature will double the expected life of the drive i Keeping Foreign Objects Out of Units Place a cover over the drive or take other preventative measures to prevent foreign objects such as drill filings from getting
211. CO50NR OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 18 SUOISUBWIG jeu1 x4 pue Sj poN Models and External Dimensions 2 3 Model Tables 2 19 i Motor Power Cables Global Flexible Cables Model Specifications FOA ehed ane For motor with brake brake 100 V and 200 V 3m R88A CAKA003SR See note 1 For 3 000 r min Servomotors of 50 to R88A CAKA005SR R88A CAKA010SR R88A CAKA015SR R88A CAKA020SR R88A CAKA030SR 40m R88A CAKA040SR 50m R88A CAKA050SR 200 V 3m R88A CAGBO03SR R88A CAGBO03BR For 3 000 r min Servomotors of 1 to 2 kW For 2 000 r min Servomotors of 1 to 2 kW R88A CAGBO0SSR R88A CAGBOOS5SBR For 1 000 r min Servomotors of 900 W R88A CAGB010SR R88A CAGB010BR R88A CAGB015SR R88A CAGB015BR 20m R88A CAGBO020SR R88A CAGBO020BR 30m R88A CAGBO30SR R88A CAGBO30BR 5m 10 m 15m 20 m 30 m 750 W 40 m R88A CAGB040BR 50 m R88A CAGB050BR 400 V 3m R88A CAKF003BR oo Servomotors of 750 W to 5m R88A CAKFO05BR For 2 000 r min Servomotors of 400 W to R88A CAKF010BR ey 000 r min Servomotors of 900 W R88A CAKFO15BR R88A CAKF020BR R88A CAKF030BR R88A CAKF040BR R88A CAKFO50BR For 3 000 r min Servomotors of 3 to 5 kW R88A CAGD003BR Aa atl alee RGBACAGDDDSER 4 5 kW R88A CAGD010BR R88A CAGD015BR R88A CAGD020BR R88A CAGD030BR R88A CAGD040BR R88A CAGDO50SR R88A CAGDO50BR Note 1 Different connectors are used for the motor power a
212. CiA402 Drive Profile 60FD hex Digital inputs fange DOP ODDORE EEF FERF wf Default 00000000h Attribute Size 4 A bytes U3 U32 Access RO PDOmap PDO map map Possible oe bits in this object give the signal status of functions allocated by servo parameters 3400 to 3407 3410 and 3411 hex The brake interlock output gives the output status when brake interlock is selected as the general purpose output EDM output status gives the status of the EDM output Bit Descriptions Description Negative limit switch 0 Reverse Drive Prohibition Input Positive limit switch 1 Forward Drive Prohibition Input Home switch 2 Origin Proximity Input Encoder Phase Z Phase Z signal not Detection detected during m 6 communication cycle Phase Z signal detected 1 during communication cycle External Latch Input 1 oe 4 OFF External Latch Input 2 OFF i External Latch Input 3 2 OFF on Monitor Input 0 0 OFF Monitor Input 1 OFF Monitor Input 2 F OFF Forward External Torque pO OFF 23 Limit Input PCL N Reverse External Torque OFF 24 Limit Input NCL aT A 59 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile Immediate Stop Input OFF Brake Interlock Output Te Brake released 26 BKIR 1 Brake locked Safety Input 1 ae Safety Input 2 EDM Output oe This object will be O if the brake int
213. Connector terminal BIOCK ccccceeeeeeeeeeeeeeees 2 21 Connector terminal Block Cables ccceeeeeees 2 21 Connector Terminal Block Conversion Unit 3 82 connectors MOGSINIST cities Wabed a A REEE 2 21 COMAC S e880 enr aeii nE tesa EY 4 44 control cables Modeks Tirsa an aa a aT 2 21 control circuit connector specifications CNC 4 22 control circuit connector specifications CND 3 12 control I O connector specifications 0cceeeeee 3 73 control I O signal connections and external signal processing 3 17 COMNECIOMS win trte acco obits a NN 3 19 CONO APUTA DIE aaisen aa a a aaa 3 18 control output table sararea iana a 3 18 DIM AFrANGEMENE ssena a anna aN 3 19 CONIOLINDUL CIFCUITS cenn aR 3 20 CONtrOL OUIDUL CIRCUS macna aa ER 3 23 control output sequence ssssssssssnsssssnsnnnnrerrnene 3 24 control panel Structure oea 4 37 Cyclic synchronous position MOdE ceceeeeeeeee es 6 1 Cyclic synchronous torque mode 0cceeeeeeeeeee es 6 7 Cyclic synchronous velocity mode cceeeeeeeeeees 6 4 D damping Confolens neiaa eS caves EREA 11 15 decelerator installation CONCItIONS ccceceeeeeeeeeeeeeeeaeeees 4 5 distributed Clock DC ticetseesi acted canes Ea 5 10 disturbance observer fUNCTION ceeeeee eee ee ees 11 24 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications E
214. D hex 1 5 kW Sub index 3 Revision number gives the device revision number Bits Description 0 to 15 Device s minor revision number 16 to 31 Device s major revision number Sub index 4 Serial number is not used A value of 0000 0000 hex is always given A 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile 40F0O hex Backup parameter mode All Sub index 0 Number of entries Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Backup parameter checksum Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Backup parameter changed Size 1 bit BOOL PDO map Not possible This object gives the state of EEPROM changes Sub index 1 Backup parameter checksum gives the EEPROM s checksum value The checksum value is calculated based on objects saved for Store parameters 1010 hex Sub index 2 Backup parameter changed gives 1 when the EEPROM is changed After you have checked that it is 1 write O to it from the Master gt O D 10F3 hex Diagnosis history All s3 gt K Sub index 0 Number of entries Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Maximum messages Size 1 byte U8 Access RO PDO map Not possible Sub index 2 Newest message Size 1 byte U8 Access RO PDO map Not possible Sub index 5 Flags Range 0000 to 0001 hex Unit fo
215. DO map Not possible Set the positioning completion range to output Positioning Completion Output 2 INP2 The Positioning Completion Output 2 INP2 is not affected by the position commands It is ON as long as the position error is below the set value The setting unit is command units It can be changed to encoder units by the Position Setting Unit Selection 3520 hex However note that the unit for the Following error window 6065 hex will change as well OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 6 Extended Objects 9 6 Extended Objects 3504 hex Drive Prohibition Input Selection Setting Default Data Size 2 bytes INT16 Access RW PDO map PDO map map Not possible Set the operation of the Forward Drive Prohibition Input POT and the Reverse Drive Prohibition Input NOT Refer to 7 2 Forward and Reverse Drive Prohibition Functions on page 7 6 Explanation of Set Values Set Explanation value 0 An error will occur if both the forward and reverse drive prohibition inputs are open at the same time 1 Forward drive prohibition input and reverse drive prohibition input disabled 2 An error will occur if either the forward or the reverse drive prohibition input is open Install limit switches at both ends of the axis to prohibit the motor from traveling in the direction where one of the switches operates This can be used to prevent th
216. Data Size 2 bytes INT 16 Access RW PDO map Not possible Set the speed to estimate the load characteristic while the realtime autotuning is enabled The higher the set value is the earlier the load characteristic change is followed but the estimated variation against the disturbance becomes greater The estimated results is updated in every 30 minutes and saved in EEPEOM Refer to 11 3 Realtime Autotuning on page 11 6 Explanation of Set Values Description ie 0 Stops load estimation 1 Estimates every minute from the load characteristic changes 2 Estimates every second from the load characteristic changes 3 Estimates the optimum from the load characteristic changes 3632 hex Realtime Autotuning Customization Mode Setting eed _32768 to 32767 Unit pout eae range setting attribute Size 2 bytes INT 16 PDO map Not possible Set the details of the autotuning function when the Realtime Autotuning Mode Selection 3002 hex is set to 6 Refer to 11 3 Realtime Autotuning on page 11 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 50 s 2 lqO 10 8WeIeg 0A1 Q UO Sj1e q Details on Servo Parameter Objects 9 7 Special Objects Explanation of Set Values Load characteristic 0 to 1 estimation 2to3 Inertia ratio updating 4to6 Torque compensation T Rigidity setting 8 Fixed object settings 9to10 Gain switch setting Descr
217. Default Data range setting attribute Size 2 bytes INT16 ee ae PDO map Not possible Set the offset torque to add to torque commands Refer to 11 9 Friction Torque Compensation Function on page 11 26 This object is set as a percentage of the rated torque 3608 hex Forward Direction Torque Offset Setting 400 to 100 Unit Default Data range setting attribute Size 2 bytes INT16 PDO map Not possible Set the value to add to a torque command for forward operation Refer to 11 9 Friction Torque Compensation Function on page 11 26 This object is set as a percentage of the rated torque 3609 hex Reverse Direction Torque Offset Setting 100 to 100 Unit Default Data range setting attribute Size 2 bytes INT16 l PDO map Not possible 9 47 Set the value to add to a torque command for reverse operation Refer to 11 9 Friction Torque Compensation Function on page 11 26 This object is set as a percentage of the rated torque OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects 3610 hex Function Expansion Setting Setting 0 to 127 Unit a 64 gala B range setting attribute Size 2 bytes INT16 PDO map Not possible Set the functions by bit Set the decimal value that has been converted from the bits In the default settings only the command compensation for communications errors for CSP is enabled The number 64 decimal is 1000 0
218. Do not connect OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 12 Specifications 3 1 Servo Drive Specifications 3 13 i R88D KN30F ECT R88D KN50F ECT Main Circuit Terminal Block Specifications TB1 24V Control circuit power 24 VDC 15 OV supply input Main Circuit Terminal Block Specifications TB2 L1 Main circuit power supply R88D KNLIF ECT 3 to 5 kW E 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz L3 B1 External Regeneration A Regeneration Resistor is not built in B3 Resistor connection Connect an External Regeneration Resistor between B1 and B2 terminals as required Normally do not short B1 and B2 Doing so may B2 result in malfunctioning NC Do not connect U Motor connection Phase U These are the output terminals to the Servomotor terminals Be sure to wire them correctly V Phase V Phase W l Precautions for Correct Use Tighten the terminal block screws to the torque of 0 75 Nem M4 or 1 5 Nem M5 If the torque for terminal block screws exceeds 1 2 Nem M4 or 2 0 Nem M5 the terminal block may be damaged Tighten the fixing screw of the terminal block cover to the torque of 0 2 Nem M3 Tighten the ground screws to the torque of 0 7 to 0 8 Nem M4 or 1 4 to 1 6 Nem M5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specific
219. Drives User s Manual with Built in EtherCAT Communications 7 9 Gain Switching Function Diagrams of Gain Switching Setting Switching between Gain 1 3100 to 3104 hex and Gain 2 3105 to 3109 hex occurs at the following timing For the position loop gain switching occurs based on the setting of 3119 hex The details of the gain switching settings vary depending on the control mode used For the details of settings available in each mode refer to Gain Switching Based on the Control Mode on page 7 27 Gain Switching Mode 2 Gain Switching GSEL Instant switching occurs when a gain switching command is issued from the network Position command EL GS Gain switching instruction Gain 1 Gain 2 Gain 1 Gain Switching Mode 3 Switching by Command Torque Value If the absolute value of the command torque exceeds the sum of the Gain Switching Level in Position Control 3117 hex plus the Gain Switching Hysteresis in Position Control 3118 hex the gain switches to gain 2 If the absolute value of the command torque exceeds the difference of the Gain Switching Level in Position Control 3117 hex minus the Gain Switching Hysteresis in Position Control 3118 hex for the time specified in the Gain Switching Delay Time in Position Control 3116 hex the gain switches back to gain 1 Speed command 3118 hex 3117 hex Torque command 3118 hex 3116 hex Gain 1 Gain 2 Gain 1 Gain 2 Gain 1 OMNUC G5 ser
220. During deceleration means the distance until the motor decreases its speed to 30 r min or less from the normal operation Once it decelerates to 30 r min or lower speed the operation conforms to the description for after stopping regardless of the actual speed 3 Immediate Stop means that the Servomotor stops immediately by using controls while the servo is kept ON The torque limit at this time is controlled by the Immediate Stop Torque 3511 hex set value i Precautions for Correct Use At an immediate stop an Error Counter Overflow Error Error No 24 0 or an Overrun Limit Error Error No 34 0 may occur This is because the immediate stop forces the motor to decelerate quickly and the position control creates a large position error momentarily If an error occurs set the Following error window 6065 hex and the Overrun Limit Setting 3514 hex to appropriate values A Command Warning Warning No B1 hex will occur if a command is given in the drive prohibition direction while the Servomotor is stopped or decreased the speed to 30 r min or lower and the Drive Prohibition Input is ON 9 41 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 6 Extended Objects 3508 hex Undervoltage Error Selection Setting Default Data Size 2 bytes INT16 Access RW PDO map PDO map map Not possible Select either to let the servo off or to stop the error when a ma
221. Dynamic Brake Resistor of 1 2 Q 400 W 6 Install an external protective device such as a temperature fuse Monitor the temperature of the external Dynamic Brake Resistor Regeneration i Resistor OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 12 System Design 4 2 Wiring i R88D KNO6F ECT KN10F ECT KN15F ECT KN20F ECT RST 3 phase 380 to 480 VAC 50 60Hz eee NFB Main circuit contactor 1 Main circuit power supply OFF ON 1MC 2MC pa nd 4 maf Le _ a ee oe Surge suppressor 1 X 1MC 2MC X Servo error display OMNUC G5 Series AC Servo Drive uc OMNUC G5 Series f AC Servomotor L2C Power cables Ground to 100 Q aa or less T Ground to 10 Q or less CN2 aT Encoder cables oe 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brakes because Xx O3 ALM 24 VDC O4 ALMCOM pag its rated inductive load is 2 A 24 VDC BKIR 10 XB 24VDC 3 There is no polarity on the brakes 4 Models with a built in Regeneration 2 BKIRCOM 20 2 Resistor KNO6F ECT to KN20F ECT have B2 and B3 connected When the amount of regeneration is large remove the connector between B2 and B3 and connect a Regeneration Resistor between B1 and B2 4
222. E1 hex and Torque offset 60B2 hex Error code 603F hex Statusword 6041 hex Position actual value 6064 hex TxPDO Torque actual value 6077 hex Modes of operation display 6061 hex Following error 1B04h actual value 60F4 hex Touch probe status 60B9 hex Touch probe pos1 pos value 60BA hex Digital inputs 6OFD hex and Velocity actual value 606C hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 8 SUOI EDIUNWIWOD LW919U 4 EtherCAT Communications 5 5 Service Data Objects SDOs 5 5 Service Data Objects SDOs OMNUC Gb5 series Servo Drives support SDO communications SDO communications are used for setting objects and monitoring the status of G5 series Servo Drives Objects can be set and the status monitored by reading and writing data to the entries in the object dictionary of the host controller Abort Codes The following table lists the abort codes for when an SDO communications error occurs Code 0503 0000 hex 0504 0000 hex 0504 0001 hex 0504 0005 hex 0601 0000 hex 0601 0001 hex 0601 0002 hex 0602 0000 hex 0604 0041 hex 0604 0042 hex 0604 0043 hex 0604 0047 hex 0606 0000 hex 0607 0010 hex 0607 0012 hex 0607 0013 hex 0609 0011 hex 0609 0030 hex 0609 0031 hex 0609 0032 hex 0609 0036 hex 0800 0000 hex 0800 0020 hex 0800 0021 hex 0800 0022 hex 0800 0023 hex Meaning Toggle bit not changed SDO protocol timeout Client
223. ECT R88D KNO1H ECT R88D KNO2H ECT R88D KNO4H ECT R88D KNO8H ECT R88D KN15H ECT R88D KN15H ECT R88D KN20H ECT R88D KN30H ECT R88D KN50H ECT R88D KN50OH ECT R88D KN10F ECT R88D KN15F ECT R88D KN15F ECT R88D KN20F ECT R88D KN30F ECT R88D KN50F ECT R88D KN50F ECT Use these combination with caution because the Servo Drive and Servomotor have OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications f 1 500 r min and 2 000 r min Servomotors and Servo Drives Single phase 3 phase 200 V 3 phase 200 V 3 phase 400 V Servomotor Voltage Rated output 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW 7 5 kW 11 kW 15 kW 400 W 600 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW 7 5 kW 11 kW 15 kW suoisu wq jeu13 x4 pue Sj poN With incremental encoder R88M K1K020H R88M K1K520H R88M K2K020H R88M K3K020H R88M K4K020H R88M K5K020H ka E A E E R88M K40020F R88M K60020F R88M K1K020F R88M K1K520F R88M K2K020F R88M K3K020F R88M K4K020F R88M K5K020F EH EN E EN E ed LI With absolute encoder R88M K1K020T R88M K1K520T R88M K2K020T R88M K3K020T R88M K4K020T R88M K5K020T L R88M K7K515T L R88M K11K015T LI R88M K15K015T LI R88M K40020C R88M K60020C R88M K1K020C R88M K1K520C R88M K2K020C R88M K3K020C R88M K4K020C R88M K5K020C R88M K7K515C R88M K11K015C R88M K15K015C i EN ENEE es LI c e E E A S
224. EG DIRCCIVGS sieves sien vencatierkeouadsiehe chee ea 1 15 ED MOULD Us aieus ces cette een onc aeel nes sdtuee usta tuned one 8 3 EDM OUIULCIFCUIL scco csedaddvcuines al A lane 3 35 electronic gear function ccceeeeeeeeeeeeeeeeeeeeeens 7 18 EMC filter Specifications ccccceceeeeeeeeeeeeeaeens 3 88 emergency Messages cccceeeceeeseenceeneceneeeecees 5 11 encoder specificato Serrak ren L vdes 3 62 encoder cable NOISE resistance vicaie Avice len es eee 4 45 encoder cable SpecificationS cccceeeeeeeeeeeeeas 3 63 encoder cables European flexible cables 2 13 3 63 encoder cables global flexible cables 55 2 18 encoder cables global non flexible cables 2 15 encoder connector specifications CN2 6 3 28 encoder CONNECHOSS ccceeeeeeseeeeeeeeeeessenseenaaes 3 73 Error Clear Attribute Output ALM ATB 0 3 27 SLOP WSU isn tases batt a a a beret nel NE 12 8 Error Output VALM aie i aian neen an aa i 3 25 Per GAT oriee naa e a consume 1 2 command COMING sestir iia aoa a aan NE a A 2 communications Cable cccceeeeeee eee eeeeeee ees 2 20 communications cycle cee eee eee e ence eee eee ees 5 10 communications SpecificationS ccceeeeeeeeees 3 6 Cyclic synchronous position MOdE 0eeeeeeee 6 1 Stale COAN arra a aE AA A A A 3 state descriptions cc cece eeeeeeeeeeeeseeeeeeeeaeenes A 2 TEUIMIMOIOOY 24
225. ERR error Application WDT timeout Boot error PDI WDT timeout OFF Link not established in physical layer L A IN Green Link established in physical layer In operation after establishing link OFF Link not established in physical layer L A OUT Green Link established in physical layer In operation after establishing link Indicator status is described below 50 ms ON Flickering OFF ON 200 200 Blinking ms ms OFF ON Single flash aa _ __ aa OFF ON ai a a OFF OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 2 SUOI EDIUNWIWOD LW919U 4 EtherCAT Communications 5 2 Structure of the CAN Application Protocol over EtherCAT 5 2 Structure of the CAN Application Protocol over EtherCAT The structure of the CAN application protocol over EtherCAT CoE for an OMNUC G5 series Servo Drive with built in EtherCAT communications is described in this section Servo Drive Application layer Servo drive application Object dictionary Communica SDO mailbox PDO mapping tions status transitions PDO cyclic SyncManager FMMU EtherCAT data link layer EtherCAT physical layer Normally multiple protocols can be transmitted using EtherCAT The IEC 61800 7 CiA 402 drive profile is used for OMNUC G5 series Servo Drives with Built in EtherCAT Communications The object dictionary in the application layer contains parameters and application data as well as info
226. EtherCAT Communications R88D KNASL ECT KN0O1L ECT KNO2L ECT KNO4L ECT KN01H ECT KNO2H ECT KNO4H ECT KNO8H ECT supply main Relay Regeneration Overcurrent Current detection circuit control drive control detection Display and control power MPU amp ASIC ala circuit supply Position speed and torque calculation control area e PWM control HHHHEHE G 1 No mA wW lt lt lt lt lt EtherCAT EtherCAT Control Encoder External Analog USB Safety communications communications interface encoder monitor connector connector OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 6 uoijeinbiyuoy w zs S pue sainjeo 1 4 System Block Diagram R88D KN10H ECT KN15H ECT KN20H ECT Internal Regeneration Resistor Q Display and setting circuit area control power MPU amp ASIC supply Position speed and torque calculation control area e PWM control AIBIGIG EIE mMm NO t mne N poFTanwv lt Q Features and System Configuration EtherCAT EtherCAT Control Encoder External Analog USB Safety communications communications interface encoder monitor connector connector 1 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 4 System Block Diagram R88D KN30H ECT KN50H ECT SW power supply main Display and setting circuit area control power MPU amp ASIC supply Position sp
227. EtherCAT Communications 3 62 o suoljeoijineds Specifications 3 4 Cable and Connector Specifications 3 4 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the encoder between the Servo Drive and the Servomotor Select the cable matching the Servomotor The cables listed are flexible shielded and have IP67 protection i Encoder Cables European Flexible Cables R88A CRKAL ICR E Cable types For both absolute encoders and incremental encoders 100 V and 200 V For 3 000 r min Servomotors of 50 to 750 W Outer diameter of sheath Model Length L 6 9 dia Servo Drive side R88D KL a Wiring Servomotor side D R88M KL Servo Drive side Servomotor side Orange White XS o BlueWhite XD J C Servo Drive side connector 0 34 mm2 x 2C 0 22 mm2x2p Servomotor side connector Connector model or Angle clamp model 55100 0670 Molex Japan AWG22 x 2C AWG24 x 2P JN6FRO7SM1 Japan Aviation Electronics Connector pin model LY10 C1 A1 1000 Japan Aviation Electronics 3 63 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications R88A CRKCLINR Cable types For both absolute encoders and incremental encoders 100 V and 200 V For 3 000 r min Servomotors of 1 kW or more 400 V 3 000 r min Servomotors 2 000 r min Servomotors and 1 000 r min Servomotors
228. Format When There Is Sub indexing The object description format with subindices is shown below lt Index gt lt Object name gt Modes of Operation Sub index 0 Number of entries Range Default lt Default gt Attribute lt Attribute gt Sub index 1 lt Sub index name gt Range Default lt Default gt Attribute lt Attribute gt Sub index 2 lt Sub index name gt Range Default lt Default gt Attribute lt Attribute gt Sub index N lt Sub index name gt Range Default lt Default gt Attribute lt Attribute gt The data remains the same even with sub indexing 2 C D Q Q lt Communication Objects 1000 hex Device type All Range P Unit Default 0002 0192 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Gives the CoE device profile number Description of Set Values Bit Contents Oto15 Device profile number 402 192 hex Drive Profile 16 to 23 Type 02 Servo Drive 25 to 31 Mode 0 Manufacturer specific A 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile 1001 hex Error register Al Size 1 byte U8 Access RO PDO map Not possible Gives the error type that has occurred in the Servo Drive Description of Set Values Bit Description Bit Description 2 Voltage error 6 Reserved 4008 hex Manufacturer device name All Size 20 bytes VS
229. G terminals on the Servo Driver M6 crimp terminals Note 2 The power connector and brake connector are separate for Servomotors with brakes OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 6 u s q wajshs System Design 4 2 Wiring Peripheral Equipment Connection Examples R88D KNA5L ECT KN01L ECT KNO2L ECT KNO4L ECT R88D KN01H ECT KNO2H ECT KNO4H ECT KNO8H ECT R88D KN10H ECT KN15H ECT Single phase Input Single phase 100 to 120 VAC 50 60Hz R88D KNLILIL ECT Single phase 200 to 240 VAC 50 60Hz R88D KNLILIH ECT ae NFB Main circuit contactor 1 Q Main circuit power supply T OFF ON 1MC 2MC 4 Hn pg ao ag l Surge suppressor 1 x 1MC 2MC X ile Servo error display OMNUC G5 Series AC Servo Drive OMNUC G5 Series AC Servomotor Power cables p i ahaa eel ee a Seal miei Ground to 100 Q or less E Regeneration Resistor 4 B3 5 24 VDC 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For pag example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated inductive XB 24 VDC gadis 2 A 24 VDC O4 ALMCOM BKIR 10 3 3 There is no polarity on the brakes 2 4 Models with a built in Regeneration Resistor KNO4L ECT BKIRCOM 20 KNO8H ECT KN10H ECT and KN15H ECT have B2 a
230. I O lines should be separated and wired at the shortest distance OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 30 System Design 4 3 Wiring Conforming to EMC Directives Unit Details RAV781BWZ 4 Single phase SG Surge absorber Okaya Electric 100 200 VAC optional Industries Co Ltd RAV781BXZ 4 3 phase 200 VAC SUP EK5 ER 6 Single phase 100 200 VAC 5 A 3SUP HU10 ER 6 3 phase 200 VAC 10 A Okaya Electric NF Noise filter Industries Co Ltd 3SUP HU30 ER 6 3 phase 200 VAC 30 A 3SUP HLSO ER 6B 3 phase 200 VAC 50 A FC1 ZCAT3035 1330 e Clamp core NEC TOKIN ESD SR 250 FC3 Corporation 1 A specified combination of Servo Drive and Servomotor must be used R88D KNO6F ECT KN10F ECT KN15F ECT KN20F ECT KN30F ECT KN50F ECT KN75F ECT KN150F ECT 4 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives Unit Details SG NF SD SM FC1 FC2 FC3 TB Comment 3SUP HQ10 ER 6 Noise filter Okaya Electric ER Industries Co Ltd smon OMRON Smm fom ooo l Clamp core NEC TOKIN ESD SR 250 Corporation E S a Surge absorber Okaya Electric RAV781BWZ 4 Industries Co Ltd 1 A specified combination of Servo Drive and Servomotor must be used Cable Details Symbol Supplies from Length Shielded Ferrite
231. If an error occurs remove the cause of the error and ensure safety and then reset the alarm and restart the operation Injury may result Do not use the built in brake of the Servomotor for normal braking operation Failure may result Do not operate the Servomotor connected to an excessive load inertia Failure may result Install safety devices to prevent idling or locking of the electromagnetic brake or the gear head or leakage of grease from the gear head Injury damage or taint damage result If the Servo Drive fails cut off the power supply to the Servo Drive at the power supply Fire may result Do not turn ON and OFF the main Servo Drive power supply frequently Failure may result Maintenance and Inspection Caution A S A 10 After replacing the Servo Drive transfer to the new Servo Drive all data needed to resume operation before restarting operation Equipment damage may result Never repair the Servo Drive by disassembling it Electric shock or injury may result Be sure to turn OFF the power supply when the Servo Drive is not going to be used for a prolonged period of time Injury may result OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Precautions Location of Warning Label The Servo Drive bears a warning label at the following location to provide handling warnings When handling the Servo Drive be sure to observe the in
232. If using a motor with an absolute encoder first set up the absolute we encoder Function Set the objects related to the functions required for application oe Chapter 9 settings conditions First check motor operation with no load Then turn the power supply OFF and connect the motor to the mechanical system When using a Servomotor with an absolute encoder set up the absolute encoder Trial operation Turn ON the power supply again and check to see whether protective functions such as the immediate stop and operational limits are functioning properly Check operation at both low speed and high speed using the system without a workpiece or with dummy workpieces Chapter 10 10 3 Manually adjust the gain if necessary Adjustment Further adjust the various functions to improve the control Chapter 11 performance Operation Operation can now be started Operation If any problems should occur refer to Chapter 12 Troubleshooting Chapter 12 and Maintenance 10 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 2 Preparing for Operation 10 2 Preparing for Operation Os This section explains the procedure to prepare the mechanical system for operation following installation and wiring of the motor and drive It explains items to check both before and after turning ON the power supply It also explains the setup procedure required if using a motor with an absol
233. Injury or failure may result When lifting a 15 kW or higher Servo Drive during moving or installation always have two people lift the product by grasping a metal part Do not grasp a plastic part Risk of injury or product damage gt gt b gt 8 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Precautions Installation and Wiring Caution Do not step on the Servo Drive or place heavy articles on it Injury may result Do not block the intake or exhaust openings Do not allow foreign objects to enter the Servo Drive Fire may result Be sure to observe the mounting direction Failure may result Provide the specified clearance between the Servo Drive and the inner surface of the control panel or other equipment Fire or failure may result Do not apply strong impact on the Servomotor shaft or Servo Drive Failure may result Wire the cables correctly and securely Runaway Servomotor injury or failure may result Securely tighten the mounting screws terminal block screws and cable screws Failure may result Use crimp terminals for wiring If simple twisted wires are connected directly to the protective ground terminal fire may result Only use the power supply voltage specified in this manual Burn damage may result In locations where the power supply infrastructure is poor make sure the rated voltage can be supplied Equipment damage may
234. Interlock Output BKIR The Brake Interlock Output outputs the external brake timing signal according to the settings of the Brake Timing When Stopped 3437 hex the Brake Timing During Operation 3438 hex and the Brake Threshold Speed During Operation 3439 hex With the default settings the output is allocated to pins 1 and 2 Positioning Completion Output 2 INP2 INP2 will turn ON when the position error is equal to or less than Positioning Completion Range 2 3442 hex With the default settings the output is not allocated Motor Rotation Speed Detection Output TGON It turns on when the motor rotation speed exceeds the value set by the Rotation Speed for Motor Rotation Detection 3436 hex The output is effective both in forward and reverse directions regardless the actual direction that the motor rotates The detection contains a hysteresis of 10 r min In factory setting the output is not allocated 3 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Motor rotation speed r min Motor rotation speed 3436 hex 10 3436 hex 10 3436 hex 10 e Time 3436 hex 10 L eae ee ne E Torque Limit Output TLIMT The output turns ON when the output torque reaches the limit set in the Positive torque limit value 60E0 hex or the Negative torque lim
235. Interlock Output BKIR is turned OFF The brake is engaged only when a set brake command is received from both EtherCAT communications and the Servo Drive Applying the brake from EtherCAT communications is enabled only while the servo is OFF If a Set Brake command is received while the servo is ON a Command Warning B1 hex will occur i Precautions for Correct Use The brake on a Servomotor with a brake is a normally closed brake designed only to hold when the operation is stopped Accordingly set an appropriate time so that the brake actuates after the motor stops If the brake is engaged while the Servomotor is rotating the brake disc will wear abnormally or sustain damage resulting in a bearing or encoder failure in the Servomotor The workpiece may fall when the brake is released for a vertical axis Carefully consider the timing of releasing the brake 7 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 5 Brake Interlock Operation Timing This section shows the timing of the Brake Interlock Output BKIR i Basic Timing Control power supply ON L1C and L2C opr aN OFF ON Servo ON OFF m Servo OFF Servo OFF FF Brake Interlock ON Output BKIR OFF Request to release brake Forced braking is possible Forced braking is possible gt i Servo ON OFF Operation Timing When Motor Is Stopped ON OFF gt _ lt Approx 2ms Release
236. KN150F ECT 4 51 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 106 106 273 492 oe f o y 4 4 Regenerative Energy Absorption Regenerative Energy Absorption with an External Regeneration Resistor If the regenerative energy exceeds the regeneration absorption capacity of the Servo Drive connect an External Regeneration Resistor Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive Double check the terminal names when connecting the resistor because the drive may be damaged if connected to the wrong terminals The surface of the External Regeneration Resistor will heat up to approx 200 C Do not place it near equipment and wiring that is easily affected by heat Attach radiator plates suitable for the heat radiation conditions External Regeneration Resistor Characteristics The amount of regen Heat Resistance Nominal eration se Thermal switch Model radiation nak oe value capacity absorption for 120 C au output specifications condition temperature rise L R88A Aluminum Operating temperature o RR08050S 350 x 350 150 C 5 ra Thickness 3 0 NC contact Rated output resistive load 125 VAC 0 1 A max O 30 VDC 0 1 A max Fe minimum current 1 mA oO R88A Aluminum Operating temperature m RR080100S 350 x 350 150 C 5 Thickness 3 0 NC contact Rated output resistive load 125 VAC 0
237. L L A IN L A OUT Node Address Setting The rotary switches in the display area are used to set the EtherCAT node address Description Rotary switch setting Connection to CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 00 The Position Control Unit sets the node address 01 to 99 The rotary switch setting is used as the node address Precautions for Correct Use Do not change the rotary switch setting after the turning ON the power supply The node address rotary switches can be set to between 00 and 99 The node address used over the network is determined by the value set on the rotary switches If the node address is not between 00 and 99 a Node Address Setting Error Error 88 0 will occur EN Reference EtherCAT Slave Information File Information on EtherCAT slave settings is stored in the ESI EtherCAT Slave Information file Information in this file is used by the master to configure the network and set communications parameters This information is in an XML file 5 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 1 Display Area and Settings Status Indicators The following table shows the EtherCAT status indicators and their meaning Name Color Status Description OFF Init state at ere Pre Operational state Safe Operational state Operational state OFF No error Communications setting error Synchronization error or communications data
238. LIL ECT series Servo Drive 607A hex ae 6062 hex oS 7 i a i k a Soe eee eee os Target Becton i ia Position demand Velocity Demand 5 Motor T n Motor Velocity S a command units 44 value command iwi Value command 4 Demand Value Demand Value After KONTE SS units oe R r min Damping Control Filtering imin as e tosis e ea n i r of A soe ee eae w ee A A Switch 3213 i i Selection Gain Switchi Se y Gear ratio forward P Smoothing ain owiltcning i conversion filter 1 l Generate aonn Numerator 6091 01 FIR 3818 Frequency Filter Setting 2 3114 Setting 3 3605 Mode 3115 Ratio 3606 l j j Denominator 6091 02 Y ra 3222 Delay Time 3116 we BOFC hex Level 3117 SS core eed Position demand 3118 ae 60BO hex DA PE A internal value a Hysteresis 3118 i Position offset G0BA or 608 hex eneoder pulses Switching Tine 3419 command units Touch probe pos X ogueasetetsseasiaests wis 1 2 pos values ae a og rege ar ee l yo ns command units P a i a 606C hex S 1 SAES RSS ree Scene ff pee S s1 ET wos Aetocity Demand Value i Velocit actual 7 I eee Seer err err cries is se M u vaiu T After Filtering j value command it E 1 7 6064hex i ee Position Demand x command units s N ee Se o vi Position actual value SITESI A IE a Value After a i ae Soara EAS x 17 wa command uiie i a Command UniS a eae t
239. Motor and brake connector 43 5 43 5 Encoder connector Shaft end specifications with key and tap 4 13 5 LR M4 through 45 j 12h9 140 Key groove P9 depth 32 min Dimensions mm upam s Ker rey or yt remas e ua azz e pes au oo oe emaor ne ear fe 165 ase oe 8 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 60 SUOISUBWIG u13 x4 pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions 6 kW without Brake R88M K6K010T S2 6 kW with Brake R88M K6K010T B S2 Motor connector Brake connector Encoder connector h for model with brake only LR 176 x 176 44 Shaft end specifications with key and tap 013 5 2 61 B _Boss insertion position _y depth 32 min H Dimensions mm Model aw s em ule Note The standard models have a st
240. N 61508 SIL 2 EN 62061 SIL 2 EN 61800 5 2 STO IEC 61326 3 1 SIL 2 Note To conform to EMC Directives the Servomotor and Servo Drive must be installed under the conditions described in 4 3 Wiring Conforming to EMC Directives on page 4 30 Features and System Configuration UL and cUL Standards Standard Product Applicable standards File number sianoangs AC Servomotors E331224 angar AC Servomotors E331224 1 Applies to 2 000 r min Servomotors of 7 5 to 15 kW and 1 000 r min Servomotors of 4 5 to 6 kW SEMI F47 Some Servo Drives conform to the SEMI F47 standard for momentary power interruptions voltage sag immunity for no load or light load operation This standard applies to semiconductor manufacturing equipment Note 1 It does not apply to Servo Drivers with single phase 100 V specifications or with 24 VDC specifications for the control power input Note 2 Always perform evaluation testing for SEMI F47 compliance in the actual system 1 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Models and External Dimensions This chapter explains the models of Servo Drive Servomotor and peripheral devices and provides the external dimensions and mounting dimensions 2 1 Servo System Configuration ccccccsseseseeeeneeeeeees 2 1 2 2 How to Read Model Numbers c scccseeeeeeeeeeeeees 2 3 2 3 Mode l TADICS wiciasesces
241. Negative torque limit value 1388 hex Default setting 500 0 1 The CJ1W NCLJ8_ uses the latch signals as follows External Latch Signal 1 Origin Input External Latch Signal 2 Interrupt Input External Latch Signal 3 Not used 6 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Applied Functions This chapter outlines the applied functions such as the electronic gear gain switching and soft start and explains the settings 7 1 Sequence I O Signals cccscceseeeseeesseeeeeeseneseneeeeees 7 1 7 2 Forward and Reverse Drive Prohibition Functions 7 6 7 3 Overrun Protection icccicctinsiicegdadnctenetnntehessicenneecteneeenteaces 7 9 7 4 Backlash Compensation cccscccseeeeeeeeeeeeeeeneees 7 11 T9 Brake INMETIOCK ocsrnnnirai 7 13 7 6 Electronic Gear Function ccccceseeeeseeeeeeeeeneees 7 18 7 7 Torque Limit Switching ccscceseeesseeeeeeeeeeeeeeeees 7 21 TB SOM DUAN aa a a eae 7 23 7 9 Gain Switching FUNCTION ce ceceeeeeeeeeeeeeeeeeneeees 7 25 7 10 Gain Switching 3 FUNCTION ccccceseeeeeeeeeeeeeeeeees 7 35 7 11 Touch Probe Function Latch Function 1 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Applied Functions 7 1 Sequence I O Signals 7 1 Sequence I O Signals You can set sequences in various oper
242. OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 2 Object List Corresp Default Data onding Index setting Setting range erate PDO map Pn number Modes of operation Position demand value 2147483648 Command Position actual internal Encoder units value 2147483648 external 6063 hex to 2147483647 encoder 4 bytes INT32 TxPDO units Position actual value 2147483648 Command Following error window 0 to Command Not 6065 hex 100000 134217728 or anite 4 bytes U32 A ossibi Pn739 4294967295 p 606C Velocity actual value 2147483648 Command A 6071 hex po Target torque E 5000 to 5000 2 bytes INT16 RxPDO 2 6074 hex E Torque demand a 5000 to 5000 2 bytes INT16 i ee TxPDO 2 2 6077 hex Le Torque actual value Car 5000 to 5000 2 bytes INT16 RO TxPDO E 607A Target position 2147483648 Command 607C Home offset 1073741823 Command Not 1 Encoder units are used for semi closed control and external encoder units are used for fully closed control OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 78 A 2 Object List Corresp Default Data onding Index setting Setting range attribute PDO map Ph number Number of entries 2 02 hex 1 byte U8 Not _ possible 607D hex PEREINTA Min position limit 1073741823 to Command Not Max position limit 1073741823 to Command Not 607F hex
243. OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 6 suoljoun4 u wzsnfpy Adjustment Functions 11 3 Realtime Autotuning Objects Requiring Settings Index 3002 hex 3003 hex 3631 hex 3632 hex Name Explanation Reference Realtime Autotuning Set the operation mode for the realtime autotuning page 9 2 Mode Selection Realtime Autotuning Set the responsiveness when the realtime autotuning is aae 9 3 Machine Rigidity Setting enabled pag Realtime Autotuning Set the speed to estimate the load characteristic when the Estimated Speed realtime autotuning is enabled page 9 50 Selection Realtime Autotuning Make detailed settings for the autotuning function when the Customization Mode customized mode 3002 hex 6 is selected in the Realtime page 9 50 Setting Autotuning Mode Selection 3002 hex Setting Realtime Autotuning 1 When setting realtime autotuning turn the servo OFF 2 Set Realtime Autotuning mode Selection 3002 hex depending on the load 11 7 Normally set the object to 1 or 2 Use a setting of 3 or 4 when a vertical axis is used A setting of 5 is used in combination with a software tool Do not use it for normal operation Gain switching function is enabled for set values 2 to 6 Sat Realtime autotuning Description value 0 Disabled Realtime autotuning is disabled Focus on stability default No unbalanced load or friction comp
244. Output 0 to2 2 bytes INT16 A Nor Pn421 Setting possible Positioning Completion Not 3434 hex EE ROEE DEEE 10 to 20000 2 bytes INT16 eae Pn434 3435 hex po Sita ey 10 to 20000 2 bytes INT16 e e Pn435 A Rotation Speed for Not 3436 hex Motor Rotation 1000 10 to 20000 r min 2 bytes INT16 A asdi Pn436 Detection p o 3437 hex Ey A a when Ea 0 to 10000 2 bytes INT16 a me Pn437 O 3438 hex Brake Timing Buning 0 to 10000 ms 2 bytes INT16 Not Pn438 C Operation possible Q 3439 hex po iene 30 to 3000 2 bytes INT16 EE ss Pn439 3440 hex el RG 0 to 13 2 bytes INT16 A Not Pn440 Selection 1 possible 3441 hex an ue 0 to 13 2 bytes INT16 A Not Pn441 Selection 2 possible 3442 hex po Se he 0 to 262144 4 bytes INT32 ee Pn442 3504 hex Dve F rohiba Input 1 0 to2 2 bytes INT16 C Nor Pn504 Selection possible Stop Selection for Drive Not 3508 hex neon Otads Error 1 Oto 1 2 bytes INT16 Nor Pn508 Selection possible me rear e oee oe vom e a 1 For units refer to information on object 3416 hex on page 9 33 2 Monitor unit in object 3416 hex V 3 Monitor unit in object 3418 hex V A 75 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A N O D O mr N a Corresp Default Data onding Index setting Setting range attribute PDO map Pn number possible Overload Detection Not Overspeed Detection f Not 3514 hex po veri Init Seng 0 to 1000 0 1 rotati
245. R E 400 V R88A CAKF001 5BR E aes rrr Servomotors of 750 W 3m ROGACAGBDOSSRE R88A CAKE003BR E For 2 000 r min Servomotors of 400 W R88A CAKFO05BR E as i a Servomotors of 900 W R88A CAKF010BR E R88A CAKF015BR E R88A CAKF020BR E For 3 000 r min Servomotors of 3 to R88A CAGD001 5BR E o tak Servomotors of 3 to ee ernie 5 kW R88A CAGDO05BR E For 1 000 r min Servomotors of 2 to AB KW R88A CAGD010BR E R88A CAGD015BR E R88A CAGD020BR E Note 1 Different connectors are used for the motor power and the brake on 100 V and 200 V 3 000 r min Servomotors of 50 to 750 W and Servomotors of 6 to 15 kW When using a Servomotor with a brake two cables are required a Power Cable without Brake and a Brake Cable Note 2 For flexible power cables for Servomotors of 11 to 15 kW refer to 4 2 Wiring page 4 6 and make your own cable For flexible power cables for Servomotors of 6 to 7 5 kW refer to 3 4 Cable and Connector Specifications and make your own power cable Specifications oO Q 2 7 9 5 Q m gt lt r 5 D J 3 D v O 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 14 Models and External Dimensions 2 3 Model Tables 2 15 l Brake Cables European Flexible Cables Specifications Model 1 5m R88A CAKA001 5BR E 3m R88A CAKAO03BR E 5m R88A CAKAOO5BR E 10m R88A CAKA010BR E 15m R88A CAKA015BR E 20m R88A CAKA020BR E 100 V and 200
246. Refer to 7 1 Sequence I O Signals on page 7 1 for the allocation procedures Immediate Stop Input STOP STOP is used when an external sequence such as the host forcibly turns OFF the servo If the input is turned OFF during the Servomotor rotation the dynamic brake makes a deceleration stop After the motor stops it remains in servo free state If the Immediate Stop Input STOP turns ON when the motor is energized an Immediate Stop Input Error Error No 87 0 will occur This input is allocated to the pin 5 with the default setting Precautions for Safe Use Turn OFF the Immediate Stop Input STOP at the same time when you turn OFF the main power When the main power turns OFF due to an external immediate stop the motor will continues to rotate due to residual voltage This may cause human injuries or damages to the machine and devices 3 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Forward Drive Prohibition Input POT and Reverse Drive Prohibition Input NOT These two signals are the inputs to prohibit forward and reverse rotation over travel inputs When these terminals are shorted factory setting the Servo Drive can rotate in the specified direction In the drive prohibition state Servomotor switches to servo lock state after a deceleration stop The maximum torque for a deceleration stop is the same
247. Rigidity To improve machine rigidity Install the machine on a secure base so that it does not have any play Use couplings that have a high rigidity and that are designed for servo systems Use a wide timing belt and use a tension within the range of allowable axial load for the motor Use gears with small backlash The specific vibration resonance frequencies of the mechanical system has a large impact on the gain adjustment of the servo The servo system responsiveness cannot be set high for machines with a low resonance frequency low machine rigidity 11 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 3 Realtime Autotuning 11 3 Realtime Autotuning Realtime autotuning estimates the load inertia of the machine in realtime and operates the machine by automatically setting the gain according to the estimated load inertia At the same time it can lower the resonance and vibration if the adaptive filter is enabled Refer to 11 6 Adaptive Filter on page 11 18 for details about adaptive filters Realtime autotuning is enabled for any control to adjust the speed loop PI control Position Speed Torque command q Position Speed Friction torque __ Command control compensation Estimate load inertia i Precautions for Correct Use Current control Speed feedback Position feedback Realtime autotuning may not func
248. S 7 11 ODJECISREGUIFING SENGS sssi a des asks A nc aes dense 7 11 18 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Table Of Contents 9 Blake INernoCK maneire Seveianneuhaatasmsdie aebens paar ta awaueaneanbeaenans 7 13 Objects Requiring Settings voices ccseleveceiicdacde se didenceec tenes ieedeucedie divi aeaeteiendelonelemediedest 7 13 Operation MING fees sass sare Ra citees ties casa a a a 7 14 7 0 Electone Gea FUNCION sysneieiea E 7 18 Objects Requiring Settings si cccsadsacicnwea winner decd waogngedatede ahi diGedieianncosnenletaetiianetwadiidees 7 18 Operation Example eorne a T ala a aE eE 7 20 l l TORQUE LMI SWINGING eee cae neice rere uit cheung E TE 1 21 ODEratinG GONGIIONS 24 asics aaah sieeve fetes ane eese anaes 7 21 Objects Requiring SOMIIG Siac i ccapisoticiaceihddccceuiies SeandedsstacakaGc sueehoaeceeatcded ices halscoe 7 21 EO DOME UAL aaa E E 7 23 Objects Requiring Settings ss acs wee aeed teens cainbestes a ecadad aiana aani a anaiaren eaaa tia 7 23 soft Start Acceleration or Deceleration Time cccccecccseccseeeseeeseeeceeeeeeeeseeeeeeeees 7 23 S curve Acceleration or Deceleration TiMe ccccccccsececeeeseeeeeeceseeeseeeseeeseneeaeeeeas 1 24 7 9 Galt SWITCHING FUNCUON we sisets cciect eens e r a a 7 25 Objects Requiring Settings sisi cccn hiss Ae dect oh adacicea hed REG Go Le ehdiesc ectanes acetone 7 26 Gain Switching Based on the
249. S Rated torque ratio aioe 100 90 100 75 85 Ambient Ambient Ambient t t t t 0 10 20 30 40rc S 0 10 20 30 aopo 79S r rae e R88M K2K030H T F C e R88M K3K030H T F C e R88M K4K030H T F C 2 kW 3 kW 4 kW Without brake Without brake Rated torque ratio oe Rated torque ratio Rated torque ratio With brake With brake With brake 100 Ambient 0 10 20 30 40 sgpperalure Ambient temperature temperature C 0 10 20 30 40 C e R88M K5KO30H T F C 5 kW Rated torque ratio 100 With brake 70 Ambient t t 0 10 20 30 40rcq S 3 47 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications i 2 000 r min Servomotors 200 VAC Model R88N Rated output 1 000 1 500 2 000 Rated rotation speed r min 2 000 Rated torque l Maximum rotation speed r min 3 000 Rated current A rms Momentary maximum A rms current Rotor inertia Without 4 60x107 6 70104 8 72x10 brake 5 90x107 7 99x1074 10 0x10 With brake Applicable load inertia 10 times the rotor inertia max Torque constant 1 N m A 0 58 0 64 Power rate Without kW s 76 5 105 1 brake With brake k Mechanical Without time brake constant With brake 0 80 0 76 Electrical time constant ao I Momentary maximum 28 6 torque x 11 5 P K ice N h O O Allowable radial load
250. S a a a D 2 6 Servo Drive and Servomotor Combination Tables c ccccccecccececeeeeseseeeeeceeeeeees 2 11 Cable and Peripheral Device Model Tables 0nnnnnnnnnnnnennennnnnnnnnnnnennnnnnrnnrennnsnnnnnn 2 13 2 4 External and Mounting DIMENSIONS nnnnannnnannennnnnnnnnnennnnnnrnnnrreeneene 2 23 SeN Dive DIMENSIONS a a ie aan oe 2 23 SeNvomMmo Or DIMEMSIONS ea tt ath tan a a eaten loin eeu 2 39 External Regeneration Resistor DIMENSIONS cccccccseeeeeeeeeeneeeeeeeeeeneeeeeeeeeenees 2 66 2 5 EMC Filter DIMENSIONS 0 cc ccccceccccececcececcececccccsceaeeceeaeeneaeass 2 67 Chapter 3 Specifications 3 1 Servo Drive SPeCiiiCallONS aeien e E a 3 1 General SPSCIICATIONS senise a aaa E apa TOR aa aa a E 3 1 CharactoriSliC Sesa ana a E a a A 3 2 EtherCAT Communications Specifications ccccceccsecccseeeeeeeseeeeeeeeaeesseeeseeesaeeeaaes 3 6 Main Circuit and Motor Connections cccccesccescceseecneecneceueecucecaueceeeseueeeueesaeeeaaes 3 7 16 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Table Of Contents EtherCAT Communications Connector Specifications RJ45 0 0 0 cceseeeseeeeeeeees 3 16 Control I O Connector Specifications CN1 ccccseeeesseeceeeeeeeeeeeeeeeseeeeseeeeseeeeaeees 3 17 CONTONA CICUS 5 5c pce i a e a a niet dacueum associ ammtaneceue 3 20 COMEON AMD UL DETAI S acces ae ete se ahead gate
251. Server command specifier not valid or unknown Out of memory Unsupported access to an object Attempt to read a write only object Attempt to write to a read only object The object does not exist in the object directory The object can not be mapped into the PDO The number and length of the objects to be mapped would exceed the PDO length General parameter incompatibility reason General internal incompatibility in the device Access failed due to a hardware error Data type does not match length of service parameter does not match Data type does not match length of service parameter too high Data type does not match length of service parameter too low Subindex does not exist Value range of parameter exceeded only for write access Value of parameter written too high Value of parameter written too low Maximum value is less than minimum value General error Data cannot be transferred or stored to the application Data cannot be transferred or stored to the application because of local control Data cannot be transferred or stored to the application because of the present device state Object dictionary dynamic generation fails or no object dictionary is present OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 6 Synchronization with Distributed Clocks 5 6 Synchronization with Distributed Clocks EOU A mechanism called a distributed clock DC is used to synchronize E
252. Servo Drives User s Manual with Built in EtherCAT Communications 1 1 Outline Suppressing Vibration of Low rigidity Mechanisms during Acceleration Deceleration What Is The damping control function suppresses vibration of low rigidity mechanisms or devices whose tips tend to vibrate Two damping filters are provided to enable switching the damping frequency automatically according to the rotation direction and also via an external signal In addition the settings can be made easily by setting the damping frequency and filter values You are assured of stable operation even if the set values are inappropriate EtherCAT EtherCAT is an open high speed industrial network system that conforms to Ethernet IEEE 802 3 Each node achieves a short cycle time by transmitting Ethernet frames at high speed A mechanism that allows sharing clock information enables high precision synchronization control with low communications jitter EtherCAT is a registered trademark of Beckhoff Automation Gmbh Germany EtherCAT technology is protected by patents Object Dictionary OMNUC G5 series Servo Drives with Built in EtherCAT Communications use the object dictionary for CAN application protocol over EtherCAT CoE as a base for communications An object is a special data structure inside a device that consists of data parameters and methods An object dictionary is a data structure that describes the data type objects communications objects
253. Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Servomotor side connector Right angle plug model N MS3108B22 22S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics 3 68 o suoljeoljineds Specifications 3 4 Cable and Connector Specifications 3 69 i Power Cables with Brakes European Flexible Cables R88A CAGBL BR E Cable types 200 V For 3 000 r min Servomotors of 1 to 2 KW 2 000 r min Servomotors of 1 to 2 KW 1 000 r min Servomotors of 900 W Outer diameter of sheath Model Length L 12 5 dia R88A CAGBO20BR E 20m Connection configuration and external dimensions 150 L Servo Drive side R88D KLI a Servomotor side R88M KL Wiring Servo Drive side Servomotor side ep Packs sian 0 5 ee a Bale _ Black 6 0 5 lt Brake Black 1 PEE SE Black 2 3 Black 3 25 O 0 B Phase W_ OD Green Yellow 2 5 a G 2 ce M4 crimp terminal 4_______s_ o FG 2 5 mm x 4C 0 5 mm x 2C or AWG14 x 4C AWG20x2C Right angle plug model N MS3108B20 18S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics Servomotor side connector OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications R88A CAKF BR E Cable types 400 V For 3 000 r min
254. Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile 14B03 hex 260th TxPDO mapping parameters All Sub index 0 Number of objects Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st object Range Pf Unit o Default 603F 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Range ST Unit Default 6041 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 3rd object Range pf Unit f Default 6064 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 4th object Range P Unit Default 6077 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 5 5th object Range O o a w e OS Default 60F4 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 6 6th object Range Sf Unit Default 6061 0008 hex Attribute Size 4 bytes U32 PDO map Not possible Sub index 7 7th object Range pf Unit fe Default 60B9 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 8 8th object Range Sf Unit Default 60BA 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 9 9th object Range pf Unit Default 60BC 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index
255. Servomotors of 750W to 2 kW 2 000 r min Servomotors of 400 W to 2 kW 1 000 r min Servomotors of 900 W Outer diameter of sheath Model Length L 12 5 dia R88A CAKFO20BR E 20m Connection configuration and external dimensions 150 L Servo Drive side R88D KLI lt Wiring Servo Drive side Servomotor side Black 5 0 5 Symbol eb rp Paks __0 8 B Brake OO aO O Lf NG J D Phase eg G OCO Green Yellow 25 M4 crimp terminal E E 2 5 mm x 4C 0 5 mm x 2C or AWG14 x 4C AWG20 x 2C Right angle plug model Servomotor side connector Servomotor side R88M KL N MS3108B24 11S Japan Aviation Electronics Cable clamp model N MS3057 16A Japan Aviation Electronics OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 70 o suoljeoijineds Specifications 3 4 Cable and Connector Specifications R88A CAGDL BR E Cable types For 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW 1 000 r min Servomotors of 2 to 4 5 kW Outer diameter of Model Length L heath R88A CAGD001 5BR E 1 5m R88A CAGDO03BR E 3m R88A CAGDOO5BR E 5m 13 5 dia R88A CAGD010BR E 10m R88A CAGD015BR E 15m R88A CAGDO20BR E 20m Connection configuration and external dimensions 150 L iQ i 3 v Servo Drive side 5 Servomotor side R88D KLI lt R88M KL Wiring Servo Drive s
256. Speed Characteristics for 1 000 r min Servomotors 1 000 r min Servomotors 200 400 VAC The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input e R88M K90010H T F C e R88M K2K010H T F C e R88M K3K010H T F C 900 W 2 kW 3 kW Power supply voltage p a COPPER y ee oad D i 7 1400 71 7 1600 20 419 3 19 3 1800 50 47 1 1400 47 7 1600 70 l Powersupply Power supply voltage dropped by 10 voltage dropped by 10 s 40 0 4 Momentary operation range 1078 59 8 59 Momentary operation range 357128 7 28 7 i N Momentary operation range N 257119 1 19 1 20 0 14 0 Continuous operation range Continuous operation range 0 1000 2000 r min 0 1000 2000 r min 0 1000 2000 r min e R88M K4K510T C 900 W e R88M K6K010T C 900 W N m N m 107 0 1500 107 0 1700 Power supply 1500 143 0 1700 100 voltage dropped 150 Power supply by 10 voltage dropped x by 10 70 0 Momentary operation range 100 0 50 43 0 50 0 75 57 3 57 3 57 3 28 0 Continuous operation range Continuous operation range 0 1000 2000 r min 0 1000 2000 r min Specifications Note 1 The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque Note 2 Ifthe motor power cable exceeds 20 m
257. T THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Read and Understand this Manual Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of t
258. This is the absolute encoder backup battery of 2 8 to 4 5 V Secure the battery in place using cable clips with double sided adhesive tape Connect the battery to either the connector terminal block or the absolute encoder backup battery cable with a battery The absolute encoder backup battery is not required when the Servomotor is equipped with an incremental encoder 3 The XB contact is used to turn ON OFF the electromagnetic brake OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 5 External Regeneration Resistor Specifications 3 5 External Regeneration Resistor Specifications External Regeneration Resistor Specifications R88A RR08050S Resis Regeneration Nominal absorption for Heat radiation Thermal switch Model tance val i ei A ue capacity 120 C tempera condition output specifications ture rise Operating temperature 150 C 5 Amun NC contact R88A Rated output resistive 350 x 350 RR08050S Thickness 3 0 load k 125 VAC 0 1 A max 30 VDC 0 1 A max minimum current 1 mA R88A RR080100S Resis Regeneration Nominal absorption for Heat radiation Thermal switch Model tance val 5 i E nA a capacity 120 C tempera condition output specifications ture rise Operating temperature 150 C 5 Ainun NC contact R88A Rated output resistive 350 x 350 RR080100S Thickness 3 0 load nis 125 VAC 0 1 A max 30 VDC 0 1 A max minimum
259. Time Constant is the first order lag filter that is inserted after the electronic gear ratio for the command input This constant is used to reduce the stepping movement of the motor and achieve a smooth operation when the electronic gear ratio is set in 10 times or greater It sets the first order lag filter time constant as shown below for the square wave command of target speed Vc Position command after Input position command the smoothing filter process Speed Target speed Vc Ve x 0 632 Vc x 0 368 3222 hex 3 x 0 1 ms Filter switching dwell time 2 1 The error in the position command filter time constant is 0 4 max absolute error for less than 100 ms and 0 2 max relative error for 20 ms or greater for the set value times 0 1 ms 2 The Position Command Filter Time Constant 3222 hex is switched when the position command value per 0 250 ms changes from 0 to a value other than O while the positioning completed output is ON 3 There is a delay from when the Position Command Filter Time Constant 3222 hex is changed until the new value is applied in internal calculations If the filter switch wait time expires during this delay the change may be placed on hold 9 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 4 Analog Control Objects 9 4 Analog Control Objects 3312 hex Soft Start Acceleration Time Setting ms maximum Defau
260. Tme 13119 As command units lt 47 __ 60F4 hex S rs S ET a Simmu ff Following error M a if Velocity Demand BOBC hex ss k air os o actual value Le PASA R SS Value After pae i Velocity actual ai 7 lt i E 6064 hex wn eommand units Position Demand h _ command units s value commana ar H Wi Position actual on A Value After Filtering im Masna 7 units s 7 M value ei li Fa command units A EE N Aig pa units ae Se al he i vo Electronic W apres rer re res l ao Rn Electronic gear reverse p A Han eee sins gt jd gear reverse reverse conversion conversion l a ee eeeeeeizese2 B E rr A Aaa IR y i 60FA hex Friction ee eee Speed i ee a i Torque Compensatio 60B2 jea Feed forward J ommeand uni is Feed forward Offset Valuel3 607 orque offset l M aeiae O 0 1 Gain 3110 Gain 3112 Forward E a et pos Filter 3111 Filter 3113 Reverse 3609 Speed FF unit conversion l 7 E S i Speed Control Notch Filter o 0B1 hex sey Position ea Integra Frequency Width Depth Velocity offset elocity offse Control 310 I l l I I Speed Detection Filter Fully closed Following n E Control Speed Feedback Filter 3103 Error external i Effort r min i Time Constant 1 A E E ss encoder pulses 4 ys a7 6063 Hex See eee ecw 108 Fee ety he oe gee w a T Function Expansion 3 amp 7 5 external encoder i if Hybrid Following w Mot
261. User s Manual with Built in EtherCAT Communications A 36 A 1 CiA402 Drive Profile 1033 hex SM3 synchronization All Sub index 0 Number of synchronization parameters Size 1 byte U8 Access RO PDOmap Not possible Sub index 1 Synchronization type Size 2 bytes U16 Access RO PDOmap Not possible Sub index 2 Cycle time Range p Unit Ps Default 0000 0000 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 Synchronization types supported Size 2 bytes U16 Access RO PDO map Not possible Sub index 5 Minimum cycle time Range p Unit Ps Default 0000 32C8 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 6 Calc and copy time Range p Unit fis Default 0006 06F8 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 9 Delay time Range p Unit fs Default 0000 0000 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 32 Sync error Size 1 bit BOOL Access RO PDO map Not possible The Synchronization type indicates the synchronization mode of Sync Manager 3 0002 hex DC mode 0 The Cycle time indicates the sync 0 event cycle in nanoseconds The Synchronization types supported indicates the types of synchronization supported 0004 hex DC mode 0 The Delay time is not supported It reads as 0000 0000 hex The Sync error is 1 when there is a
262. VDC If the voltage is out of range there is a risk of operation failure Be sure that the power supply is within the specified range j Checking Whether an Error Has Occurred Make an analysis using the 7 segment display on the front of the Servo Drive or using CX Drive tools When an Error Has Occurred Check the error display ULI and make an analysis based on the error that is indicated When an Error Has Not Occurred Make an analysis according to the error conditions In either case refer to 12 4 Troubleshooting on page 12 13 for details 12 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 1 Troubleshooting Precautions When a Problem Occurs When checking and verifying I O after a problem has occurred the Servo Drive may suddenly start to operate or suddenly stop so always take the following precautions You should assume that anything not described in this manual is not possible with this product i Precautions Disconnect the wiring before checking for cable breakage If you test conduction with the cable connected test results may not be accurate due to conduction via bypassing circuit If the encoder signal is lost the motor may run away or an error may occur Be sure to disconnect the motor from the mechanical system before checking the encoder signal When measuring the encoder output perform the measurement based on the
263. Wiring i R88D KN75F ECT RST 3 phase 380 to 480 VAC 50 60 Hz 1 2 3 Noise filter 1 Main circuit contactor 1 Main circuit power supply anc L EE OFF ON 1MC 2MC pa Ground to 100 Q or less imo IT Op le aa aI ee ee Surge suppressor 1 MC 2MC X 00 aea i Servo alarm display OMNUC G5 series OMNUC G5 series AC Servo Drive AC Servomotor c D m TY N ov Q 24 VDC a ae a Q D 3 2 2MC a Reactor ar Ti 4 i D ae Power supply neutral point Regeneration E Resistor 2 222 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 Series motors with brakes because its rated induction load is 2 A 24 VDC 3 There is no polarity on the brakes 4 When using an externally connected Dynamic Lae 24 VDC Brake Resistor remove the short bar from xB between DB3 and DB4 2 5 Provide auxiliary contacts to protect the system with an external sequence so that a Servo ON state will not occur due to deposition in the Dynamic Brake Resistor 6 A Dynamic Brake Resistor of 8 Q 180 W is built in If the capacity is insufficient use an external Surge suppressor Dynamic Brake Resistor of 4 8 Q 400 W 4 Do not use a built in resistor and an external a a resistor at the sa
264. Y Ready Output Note Do not connect anything to unused pins those marked with are given in parentheses Refer to 7 1 Sequence I O Signals on page 7 1 for the allocation Modet Manufacturer l number Name number Battery Input General purpose IN1 Input 1 Immediate STOP Stop Input General purpose IN4 Input 4 Origin DEC Proximity Input General wul IN7 Input 7 External EATI Latch Input 2 rr 5 26 OUTM2COM Output 2 Common The input functions for general purpose inputs 1 to 8 or IN1 to a and the output functions for general purpose To use an absolute encoder connect a battery to pin 14 and 15 which is the backup battery input or connect Plug 10126 3000PE Sumitomo 3M R88A CNW01C 24 VIN Power re General purpose Supply Input POT OER General purpose ING Input 6 External EXT2 Latch ea 2 2 outputs OUTM1 and OUTM2 are determined by the objects 3400 to 3407 hex Input Signal Selection 1 to 8 the battery to the holder of the absolute encoder cable Never connect to both Cable Case 10326 52A0 008 Absolute J Input 2 Forward Drive 1 General purpose ae Input 3 Reverse Drive a tion Input t e General purpose ae Input 8 Monitor MON Input 0 and objects 3410 and 3411 hex Output Signal Selection 1 and 2 The functions that are allocated by default i Connectors for CN1 Pin 26 3 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in
265. a Power supply 3 phase or N O es Senone senora Powerco an j e Optional S a Ni Switch box I O cable pam fo Optional Optional OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 32 ubisag wia jsAs System Design 4 3 Wiring Conforming to EMC Directives Noise Filter for Power Supply Input We recommend using a noise filter for the Servo Drive Noise filter for power supply input Drive model Rated Leakage current Manufac current 60 Hz max turer R88D KNA5L ECT Single 1 0 mA SUP EK5 ER 6 5A phase at 250 VAC R88D KN01L ECT R88D KN02L ECT R88D KN04L ECT 3 5 mA Single 1 0 mA PAREEN RERE Na phase at 250 VAC Okaya Electric Industries 3 5 MA Co Ltd P at 500 VAC 3SUP HU50 ER 6 R88D KNO1H ECT R88D KNO2H ECT R88D KNO4H ECT R88D KNO8H ECT R88D KN10H ECT R88D KN15H ECT R88D KN20H ECT R88D KN30H ECT R88D KN50OH ECT R88D KN75H ECT FS5559 60 34 8 0 mA at 500 VAC 1 35 mA 50 Hz 3 phase at 480 VAC Schaffner R88D KN150H ECT FS5559 80 34 50 Hz R88D KNO6F ECT 3 5 MA R88D KN10F ECT 3SUP HQ10 ER 6 10 A 3 phase at 500 VAC Okaya R88D KN15F ECT Electric Industries R88D KN20F ECT Co Ltd 8 0 mA R88D KN30F ECT 3SUP HL50 ER 6B 50 A 3 phase at 500 VAC R88D KN50F ECT R88D KN75F ECT 25 8 mA R88D KN150F ECT FN258 42 07 42 A 3 phase at 440 VAC Schaffner If no fuse breakers are insta
266. achine Rigidity Setting 3003 hex Pao eee eee Estimated load inertia ratio ee cesta ere Speed Feedback Filter Time 0 Constant 1 Torque Comag Filter Time 300 200 200 126 103 84 65 7 Constant 1 Speed Loop Ganz 0 110 120 180 220 270 350 400 Speed Loop Integral Time Constant 2 Loop Integral Time Constant 2 10000 e Feedback Filter Time Constant 2 Torque Pommang Filter Time 300 200 200 57 Constant 2 1 Speed Feed forward Command Filter 50 50 50 50 50 50 50 50 Torque Feed forward Gain Feed forward Gain 0 O O O O 0 Torque Feed a N Command 0 Filter Gain Switching Input Operating Mode l 1 1 1 1 1 1 1 Selection Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 o1 Switching Mode in Position Control Gain Switching Delay Time in 30 30 30 20 30 30 30 30 Position Control Gain Switching Level in Position 50 50 50 50 50 50 50 50 Control Gain Switching Hysteresis in Position 33 33 33 33 Control Position Gain Switching Time i Torque Command Value Offset Estimated if object 3002 hex 3 Forward Direction Torque Offset Estimated if object 3002 hex 4 Reverse Direction Torque Offset Estimated if object 3002 hex 4 Disturbance Torque Compensation Gain Disursance ObsenerFiterseting 0 0 o o fofo ofo 1 This is limited to a minimum value of 10 if a 17 bit absolute encoder is used OMNUC G5 series AC Servomotors
267. ain switching 1 When load characteristic estimation is disabled inertial ratio updating is also disabled even if the latter is set to be updated with the estimation result When torque compensation is updated with the estimation result load characteristic estimation is disabled Precautions for Safe Use This object must be set in units of bits Users must be fully aware that proper operation of your system is not guaranteed if you have incorrect object settings Pay a particular attention when you set them 9 51 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects EN Reference Procedure to Set the Object Bit by Bit Follow these steps and calculate the set values when you make any setting other than 0 1 Confirm the least significant bit LSB in each set value E g LSB of Torque compensation function 4 2 Multiply the set value by 2 to the power of the bit number of the LSB E g To set the torque compensation to Friction compensation small The set value is 3 The exponent is 4 24 x 3 48 3 Repeat Step 1 and 2 for all bit settings Add all results and set the outcome to 3632 hex E g When all of the Load characteristic estimation the Inertia ratio updating the Rigidity setting and the Gain switch setting are enabled the Torque compensation is set to Friction compensation small and the Fixed object setting is set to a Fixed va
268. ake 95h7 Model R88M K75030L R88M K1K030 R88M K1K530 R88M K2K030 LI LI L R88M K75030L1 BL R88M K1K030 R88M K1K530 R88M K2K030 LI B 5 L B 5 J B 5 y 131 5 159 5 178 5 158 5 186 5 205 5 end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 100x100 gt Dimensions mm Te DEAR Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the INC Shaft end specifications with key and tap B2 109 5 119 137 5 156 5 136 5 146 164 5 183 5 M M3 through 6h9 a 95h7 i M5 depth 12 2 46 SUOISUSWIG u13 x4 pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions 3 kW without Brake R88M K3KO30F S2 R88M K3K030C S2 3 kW with Brake R88M K3K030F B S2 R88M K3K030C B S2 Motor and brake connector R88M K3K030 R88M K3K030 120x120 Shaft end specifications with key and tap M5 depth 12 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models wi
269. al Regeneration Resistor between B1 and B2 750 W to 1 5 kW Normally B2 and B3 are shorted Do not short B1 and B2 Doing so may result in malfunctioning If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 B2 U Motor connection Phase U These are the output terminals to the Servomotor terminals phas y Be sure to wire them correctly Phase W lt 3 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications i R88D KN20H ECT Main Circuit Connector Specifications CNA L1 Main circuit power R88D KNLIJH ECT 2 kW E supply input 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L3 L1C Control circuit power R88D KNLIH ECT Single phase 200 to 230 VAC 170 to 253 V DC supply input 50 60 Hz Motor Connector Specifications CNB U Motor connection These are the output terminals to the Servomotor V terminals Be sure to wire them correctly External Regeneration Resistor Connector Specifications CNC B1 External Regeneration Normally B2 and B3 are shorted Do not short B1 and B2 Doing Resistor connection so may result in malfunctioning B3 terminals If there is high regenerative energy remove the short bar between B2 and B3 and connect an External Regeneration Resistor Be between B1 and B2 NC Do not connect y Precautions for Corr
270. al block may be damaged Tighten the fixing screw of the terminal block cover to the torque of 0 2 N m M3 Tighten the ground screw to a torque of 1 4 to 1 6 N m M5 Never connect an External Regeneration Resistor between the B1 and NC terminals OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 10 o suoljeoijineds Specifications 3 1 Servo Drive Specifications i R88D KN150H ECT Terminal Block Specifications Top Terminal Block TB1 LiC L2C DB1 DB2 Control circuit power R88D KNLJH ECT supply input Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Dynamic Brake Resistor These terminals are used to control the MC for externally control terminals connected dynamic brake resistance The output contact specifications are 1 A max at 300 VAC 100 VDC max Connect them if required Terminal Block Specifications Bottom Terminal Block TB2 Main circuit power supply R88D KNLJH ECT 7 5 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz External Regeneration Connect an External Regeneration Resistor between B1 and B2 Resistor connection terminals Do not connect Motor connection These are the output terminals to the Servomotor terminals te Be sure to wire them correctly This is the ground terminal Ground to 100 Q or less l Precautions for Correct Use Tighten the fixing screw of the terminal block cover
271. ally Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3213 hex Damping Filter Selection csp Setting Default Data Size 2 bytes INT16 Access RW PDO map Not possible Set the method to switch among four damping control filters Explanation of Set Values Set valde Explanation 0 Up two damping filters damping filters 1 and 2 can be used at the same time 1 Reserved for manufacturer use 2 Reserved for manufacturer use The damping filters are switched with position command direction 3 e Forward direction Damping filters 1 3 enabled e Reverse direction Damping filters 2 4 enabled The set value 1 and 2 are for manufacturer s use only Users are not allowed to set 1 and 2 for this object OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 22 s 09f qo 19 8WeIeg OAIBS UO Sj1e q Details on Servo Parameter Objects 9 3 Vibration Suppression Settings 3214 hex Setting range Size 3215 hex Setting range Size 3216 hex Setting range Size 3217 hex Setting range Size 3218 hex Setting range Size 9 23 Damping Frequency 1 0 to 2000 Unit 0 1 Hz pave oe setting attribute 2 bytes INT16 Access RW PDO map Not possible Set damping frequency 1 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of th
272. alog Monitor Cable R88A CMK001S OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 20 SUOISUBWIG jeu1 x4 pue Sj poN Models and External Dimensions 2 3 Model Tables Connectors Name and applications Model Motor Connector for Encoder Cable 100 V and 200 V R88A CNKO2R For 3 000 r min of 50 to 750 W 100 V and 200 V R88A CNKO4R For 3 000 r min of 1 to 5 kW For 2 000 r min 1 000 r min 400 V For 3 000 r min 2 000 r min and 1 000 r min Control I O Connector CN1 R88A CNW01C Encoder Connector CN2 R88A CNWO01R External Encoder Connector CN4 R88A CNK41L Safety Connector CN8 R88A CNK81S Power Cable Connector for 750 W max R88A CNK11A Brake Cable Connector for 750 W max R88A CNK11B i Control Cables Name Model Connector terminal Block Cables 1m XW2Z 100J B34 2m XW2Z 200J B34 Connector terminal Block M3 screws XW2B 20G4 M3 5 screws XW2B 20G5 M3 screws XW2D 20G6 i External Regeneration Resistors Specifications Model Regeneration process capacity 20 W 50 Q with 150 C thermal sensor R88A RR08050S Regeneration process capacity 20 W 100 Q with 150 C thermal sensor R88A RR080100S Regeneration process capacity 70 W 47 Q with 150 C thermal sensor R88A RR22047S1 Regeneration process capacity 70 W 47 Q with 170 C thermal sensor R88A RR22047S Regeneration process capacity 180 W 20 Q with 200 C thermal sensor R88A RR50020S 2 21 OMNUC
273. alue If the inertia ratio is not Known perform autotuning and set the inertia ratio 2 Set the Torque Feed forward Command Filter 3113 hex Set it to approx 50 0 5 ms 3 Adjust the Torque Feed forward Gain 3112 hex Gradually increase the value of the Torque Feed forward Gain 3112 hex Since the position error during acceleration deceleration at a constant speed can be brought close to 0 it can be controlled almost to O throughout the entire operation range during a trapezoidal speed pattern under ideal conditions where no disturbance torque is working In reality disturbance torque is always applied and therefore the position error cannot be completely 0 Motor speed Speed Feed forward Gain 100 fixed Position eror Command je0 os 2222 eee eee eee eee speed P A Torque Feed forward Gain NN 0 i Torque feed forward can reduce the position error in a range of constant acceleration deceleration H Precautions for Correct Use If you increase the torque feed forward filter time constant the operation noise will be reduced However the position error where the acceleration changes will become larger The torque feed forward function cannot be used when realtime autotuning is being used Set both the Torque Feed forward Gain 3112 hex and Torque Feed forward Command Filter 3113 hex to 0 11 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communication
274. alue Refer to Enabled Enabled 4 3 Enabled o 5 Figure A 4 Always Gain 1 3100 to 3104 hex Disabled Disabled Disabled 5 Command speed Refer to Figure B Enabled Enabled r min Enabled r min Pulse position error Enabled Enabled 6 Enabled Refer to Figure C pulses pulses Whether there is a position T command Refer to Figure D Enabled Disabled Disabled Actual motor speed l Enabled r 9 Refer to Figure B Enabled Enabled r min min Combination of whether there is a Enabled Enabled 10 position command and actual motor Enabled r min rimin speed Refer to Figure E 1 The Gain Switching Delay Time in Position Control 3116 hex becomes effective when the gain is switched from 2 to 1 2 The Gain Switching Hysteresis in Position Control 3118 hex is defined in the drawing below A y 3117 hex gt A 0 Gain 1 gt lt Gain1 Gana 3116 hex If object 3117 hex is less than object 3118 hex object 3117 hex will automatically be set to the same value as object 3118 hex 3 When the Gain Switching command of EtherCAT communications G SEL is 0 the gain switches to gain 1 When the command is 1 the gain switches to gain 2 4 Set the percentage of the rated torque Example To set 10 of the rated torque set the set value would be 10 7 27 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communic
275. and application objects All objects are assigned four digit hexadecimal numbers in the areas shown in the following table Indexes Contents 0000 to OFFF hex Data Type Area Definitions of data types 1000 to 1FFF hex CoE Communications Area Definitions of variables that can be used by all servers for designated communications 2000 to 2FFF hex Manufacturer Specific Area 1 Variables with common definitions for all OMRON products 3000 to 5FFF hex Manufacturer Specific Area 2 Variables with common definitions for all OMNUC G5 series Servo Drives servo parameters 6000 to 9FFF hex Device Profile Area Variables defined in the Servo Drive s CiA402 drive profile AOOO to FFFF hex Reserved Area Area reserved for future use 1 OMNUC G5 series Servo Drive parameters PnULIL are allocated to objects 3000 to 3999 hex Indexes 3UULI hex correspond to OMNUC G5 series Servo Drive parameters Pn_I_IL For example object 3504 hex is the same as parameter Pn504 PnU uses decimal numbers but object 3L LIL is a hexadecimal number For details on servo parameters refer to Chapter 9 Details on Servo Parameter Objects OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 2 uoijeinbiyuoy Weaj sAs pue sainjee 1 2 System Configuration 1 2 System Configuration The system configuration for a OMNUC G5d Series AC Servo Drive with Built in EtherCAT Communications is shown
276. and operating humidity Storage ambient 20 to 65 C 20 to 85 with no condensation temperature and humidity Maximum temperature 80 C for 72 hours Operating and storage No corrosive gases atmosphere 1 Acceleration of 49 m s 24 5 m s max in X Y and Z directions when the motor is stopped Vibration resistance Impact resistance Acceleration of 98 m s max 3 times each in X Y and Z directions Insulation resistance Between power terminal and FG terminal 20 MQ min at 500 VDC Dielectric strength 1 500 VAC between power terminal and FG terminal for 1 min voltage 100 V 200 V 1 800 VAC between power terminal and FG terminal for 1 min voltage 400 V 1 000 VAC between brake terminal and FG terminal for 1 min Protective structure IP67 except for through shaft parts and motor and encoder connector pins EC EMC EN 55011 class A group 1 Directives Directive TEN 61000 6 2 IEC 61800 3 and IEC 61326 3 1 Low EN 60034 1 5 Voltage Directive UL standards UL1004 1 UL1004 1 UL1004 6 2 CSA standards CSA22 2 No 100 1 The amplitude may be increased by machine resonance As a guideline do not exceed 80 of the specified value 2 UL1004 6 applies only to 2 000 r min Servomotors of 7 5 to 15 kW and 1 000 r min Servomotors of 4 5 to 6 kW Note 1 Do not use the cable when it is laying in oil or water Note 2 Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself Int
277. ansistor is OFF Objects That Can Be Assigned Use the following objects when changing the output signal allocations For the setting method refer to Output Signal Allocation Method on page 7 4 Index Object name Explanation Reference Set the OUTM1 output function allocation This object is set in hexadecimal Refer to the 3410 hex Output Signal Selection 1 page 9 32 output signal function number table for details 3411 hex Output Signal Selection 2 Set the OUTM2 output function allocation page 9 32 i Output Signal Allocation Method Input the setting for each control mode to objects 3410 and 3411 hex to allocate the signals Set the objects based on hexadecimal in the same manner as for the input signal allocations Set the set value of the function for each control mode in below Refer to the function number table provided below for the set value of each function The logic setting is included in the function numbers OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 4 suoijoun4 paddy x Applied Functions 7 1 Sequence I O Signals OOx hex Position control fully closed control Speed control Torque control Example Position control or fully closed control Position command output OB hex Speed control Motor rotation speed detection output 05 hex Torque control Zero speed detection signal 07 hex 00070508 hex Position
278. anufacturer Specific Error Field Contents reserved Emergency Error Error register 1001 hex 1 Error codes FFOO hex to FFFF hex in the manufacturer specific area are used Note For details on errors and warnings of the Servo Drive refer to Chapter 12 Troubleshooting and Maintenance 5 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Basic Control Functions This chapter explains an outline of basic control functions and explains the contents of setting 6 1 Cyclic Synchronous Position Mode PE EE 6 1 6 2 Cyclic Synchronous Velocity Mode c000 6 4 6 3 Cyclic Synchronous Torque Mode ccsceeeeees 6 7 6 4 FIOMING WOGC irria 6 11 6 5 Fully closed Control ccccscceeeeeseeeeeeeeseneeeneeeneees 6 12 6 6 Connecting with OMRON Controllers 0 6 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Basic Control Functions 6 1 Cyclic Synchronous Position Mode 6 1 Cyclic Synchronous Position Mode In this mode of operation the controller has a path generation function an operation profile calculation function and it gives the target position to the Servo Drive using cyclic synchronization Position control soeed control and torque control are performed by the Servo Drive The Velocity offset 60B1 hex and Torque offset 60B2 hex can be used as s
279. ar ratio 6091 01 and 6091 02 hex of 1 2 The external encoder executes positioning for 10 um when 200 command units are applied as the Target position 607A hex 200 command units x 1 2 Gear ratio x 0 1 um 10 um Here 200 command units are returned to the host controller as the Position actual value 6064 hex Set the External Feedback Pulse Dividing Ratio 3324 and 3325 hex according to External Feedback Pulse Dividing Ratio Setting 3324 Hex 3325 Hex on page 6 16 Set the Hybrid Following Error Counter Overflow Level 3328 hex and Hybrid Following Error Counter Reset 3329 hex according to Hybrid Error Setting 3328 Hex 3329 Hex on page 6 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 12 SUOI OUN 01 U04D dISeg Basic Control Functions 6 5 Fully closed Control Objects Requiring Settings Rotation Direction 3000 hex Switching Set the relation between the command page 9 1 direction and the motor rotation direction Control Mode Selection Motor revolutions Shaft revolutions 3001 hex 6091 hex 6091 hex External Feedback Pulse Type Selection 3323 hex External Feedback Pulse Dividing Numerator External Feedback 3325 hex Pulse Dividing Denominator External Feedback 3326 hex Pulse Direction Switching External Feedback Pulse Phase Z 3327 hex Setting Hybrid Following Error Counter Overflow Level
280. arning protection level Excessive The regeneration load ratio is 85 or A1 hex Regeneration more of the level 2 Bit 5 Warning A2 hex Battery Warning The battery voltage is 3 2 V or less Bit 0 Q 3 O A3 hex Fan Warning The fan stop state continues for 1 4 Bit 6 e second Encoder Com The encoder communications errors A4 hex munications occurred in series more frequently 5 Bit 4 e Warning than the specified value Encoder The encoder detects the overheat A5 hex Overheating warning Bit 3 O Warning Cc Vibration Vibrating is detected A6 hex Detection 7 Bit 9 S Warning m O Life Expectancy The life expectancy of the capacitor O l Pa A7 hex Warning or the fan is shorter than the Bit 2 rf specified value io External The external encoder detects a A8 hex Encoder Error warning Bit 8 O Warning ke External The external encoder has A9 hex Encoder Com communications errors in series 10 Bit 10 munications more than the specified value Warning 1 Set the Warning Output Selection 1 3440 hex to the warning type to output to Warning Output 1 WARN1 and set the Warning Output Selection 2 3441 hex to the warning type to output to the Warning Output 2 WARNZ2 If you set these objects to 0 all warning types are output 2 Detection of general warnings can be masked with the Warning Mask Setting 3638 hex and detection of EtherCAT communications related warnings can be masked with the Communication
281. as e Origin Proximity Input j 9 lt Reverse Forward direction direction A homing error occurs in the following cases When the drive prohibition inputs on both sides are ON at the same time When an ON or OFF Origin Proximity Input is not detected before the drive prohibition input in the drive direction turns ON Note 1 Note 2 Note 3 Note 4 During the homing operation the stop function for the Stop Selection for Drive Prohibition Input is disabled When the Drive Prohibition Input Selection 3504 hex is set to 0 a Drive Prohibition Input Error 1 Error No 38 0 will occur if the drive prohibition input is detected on both sides When the Drive Prohibition Input Selection 3504 hex is set to 1 a homing error Home error 1 will occur when the drive prohibition input is detected on both sides If this Homing method is used without using the drive prohibition input do not assign the drive prohibition input to a general purpose input For details on assigning the general purpose input signals refer to 7 1 Sequence I O Signals on page 7 1 When the Drive Prohibition Input Selection 3504 hex is set to 2 a Drive Prohibition Input Error 1 Error No 38 0 will occur if the drive prohibition input is detected on one side When using this Homing method set the Drive Prohibition Input Selection 3504 hex to a value other than 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Bu
282. at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Radia load gt Thrust load th Shaft center LR 2 4 This is a non excitation brake It is released when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd 6 Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co 7 Direct current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation Torque Rotation Speed Characteristics for 3 000 r min Servomotors 3 000 r min Servomotors 100 VAC The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input e R88M K05030H T 50 W e R88M K10030L S 100 W e R88M K20030L S 200 W N m Power supply voltage N m Power supply voltage Nem dropped by 10 Power supply voltage dropped by 10 0 5 10 48 0 48 4000 1 0 10 95 0 95 3700 2011 91 1 91 2600 dropped by 10 nA a I Momentary operation range Momentary operation a 0 56 Momentary operation ie are k 0 16 0 5 9 39 032 04 151964 0 64 0 8 0 64 Continuous operation range 0 16 0 32 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 r min r min r min e R88M K40030L S 400 W N m Power supply voltage 4 0 13 8 3 8 2600 dropped by 10 2 0 0 s
283. at normal temperature 20 C 65 The momentary maximum torque indicates the standard value 2 Applicable load inertia The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible If the dynamic brake is activated frequently with high load inertia the Dynamic Brake Resistor may burn Do not repeatedly turn the servo ON OFF while the dynamic brake is enabled 3 The allowable radial and thrust loads are the values determined for a limit of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Brake specifications U O D gt O A c O 5 7 Trad load Thrust load ne Shaft center LR 2 4 This is a non excitation brake It is released when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd 6 Direct current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation 7 Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 60 3 3 Servomotor Specifications Torque Rotation
284. at the system safety requirements are met There are the following risks even when the STO function is operating Be sure to take safety into account as part of the risk assessment e The motor runs if an external force is present e g force of gravity on a vertical axis If holding is required implement appropriate measures such as providing external brakes The brakes for a Servo Drive with brakes are used for holding only and cannot be used for control Even if there is no external force when the Fault reaction option code 605E hex is set to free run with the dynamic brake disabled the motor uses free run stopping and the stop distance is long In case of internal failure of components the motor may operate in the range of up to 180 degrees of electrical angle The power supply to the motor is cut off by the STO function but the power supply to the Servo Drive will not be cut off nor electrically isolated For Servo Drive maintenance cut off the power supply to the Servo Drive through another means Do not use the EDM output for any purpose other than the failure monitoring function The EDM output signal is not a safety output The dynamic brake and external brake release signal outputs are not safety related parts Make sure to design the equipment not to be dangerous even if the external brake release fails during the STO status When using the STO function connect equipment that meets the safety standards
285. ating conditions For the connection of I O signals and processing of external signals refer to Control I O Connector Specifications CN1 on page 3 17 Input Signals 7 1 You can allocate input signal functions to the input pins of the control I O connector CN1 In addition you can change logic Refer to Input Signal Allocation Method on page 7 2 for more information because some signals have allocation limitations lf a G series Servo Drive is being replaced with a G5d series Servo Drive use the G5 series Servo Drive to with the default settings i Input Signal Default Settings The allocations of the default input signals are as follows Refer to Input Signal Allocation Method on page 7 2 to change the allocations Default setting state cae Default soting nines hex 1 NO normally open and NC normally close in the table above refer to the following states NO Disabled OFF when signal input is open with COM Enabled ON when signal input is shorted with COM NC Disabled OFF when signal input is shorted with COM Enabled ON when signal input is open with COM OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 1 Sequence I O Signals p Objects That Can Be Assigned Use the following objects when changing the input signal allocations For the setting method refer to Input Signal Allocation Method on page 7 2 Index Name Explanation Reference
286. ating mode 00 N 9 Operation mode specific They are not used in Cyclic synchronous position mode 10 Reserved xipueddy 11 P CL These bits switch the torque limit function They are normally set to 0 12 NEGE For details refer to Torque Limit Switching 13 to 15 Manufacturer specific These are manufacturer specific bits Always keep them at 0 1 If this bit is set to 1 during the Homing mode hm the Servomotor stops according to the settings of the Halt option code 605D hex This bit is ignored in other modes of operation 6041 hex Statusword All Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes U16 Access RO PDO map Possible This object gives the present state of the Servo Drive OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 44 A 1 CiA402 Drive Profile Bit Descriptions Bit p Name Description 0 These bits give the state 1 For details refer to State Coding on page A 3 7 Warning This bit indicates that warning status exists Operation continues without changing the status 8 Manufacturer specific These are manufacturer specific bits This bit is not used by OMNUC G5 series Servo Drives Remote This bit indicates that the Servo Drive is being controlled by the Controlword 9 Changes to 1 remote after initialization has been completed When 0 local is given it indicates that the support soft
287. ation hm specified in 6060 hex 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 10 2 C D Q Q lt A 1 CiA402 Drive Profile 2 After the motor stops No mode assigned is shown by 6061 hex 3 Bits 12 and 13 will retain the preceding values during deceleration when the servo is turned OFF Note The operation during the interval from A to B for main circuit power OFF is the same as when the servo is turned OFF The stop function due to drive prohibition is disabled during the homing operation in hm mode Homing Mode Specifications This section describes the Homing mode of the OMNUC G5 series Servo Drives with built in EtherCAT communications Homing Mode Configuration The configuration of the Homing mode is as follows Controlword 6040 hex Statusword 6041 hex Homing method 6098 hex Homing speeds 6099 hex Positiondemand value 6062 hex or POS_SET_MODE 4103 hex Positiondemand internal value 60FCh POS_DATA 4104 hex Supported Homing Methods The following homing methods are supported by OMNUC G5 series Servo Drives with built in EtherCAT communications Homing method Explanation Reference page 0 Not specified 8 Homing by Origin Proximity Input and origin signal forward page A 13 operation start 12 Homing by Origin Proximity Input and origin signal reverse page A 13 operation start 19 Hom
288. ations 7 9 Gain Switching Function 5 The position error is set according to the encoder resolution i e pulses for position control and according to the external encoder resolution i e pulses for fully closed control 6 When the set value is 10 the meanings of the Gain Switching Delay Time in Position Control the Gain Switching Level in Position Control and the Gain Switching Hysteresis in Position Control differ from the normal case Refer to Figure E Rotation Figure A Rotation i speed V a Ar r l le l l l Pulse position error l l l l l Level FA Rotation oe B Position Figure D speed V N command speed S suoijoun4 paddy x OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 28 Applied Functions 7 9 Gain Switching Function i Speed Control Mode In the Speed Control Mode it varies as follows according to Switching Mode in Speed Control 3120 hex Description 3120 Gain Gain ee hex Switching Switching P set Gain switching conditions Delay Time in Level in Speed S hee Control value Speed Control Control 3122 gt 22 3121 hex 1 202a nE 0 ova Pee ek ne eee Disabled Disabled Disabled 1 w mesa ene Wee Disabled Disabled Disabled 2 Gain switching command input via Disabled Disabled Disabled EtherCAT communications Torque command variation Refer to Enabled Enabled 4 Enabled
289. ations i R88D KN75F ECT Terminal Block Specifications Left Terminal Block TB1 L1 L2 L3 B1 Terminal Block Specifications Right Terminal Block TB2 Sym bol 24 V OV DB1 DB2 DB3 DB4 Main circuit power supply R88D KNLIF ECT 7 5 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz External Regeneration Connect an External Regeneration Resistor between B1 and B2 Resistor connection terminals Do not connect o Motor connection Red These are the output terminals to the Servomotor terminals White Be sure to wire them correctly suoljeoijineds Control circuit power 24 VDC 15 supply input Dynamic Brake Resistor These terminals are used to control the MC for externally control terminals connected dynamic brake resistance The output contact specifications are 1 A max at 300 VAC 100 VDC max Connect them if required Normally DB3 and DB4 are shorted When using an externally connected Dynamic Brake Resistor remove the short bar from between DB3 and DB4 This is the ground terminal Ground to 10 Q or less y Precautions for Correct Use Tighten the fixing screw of the terminal block cover to the torque of 1 5 N m M5 If the torque for terminal block screws exceeds 2 0 N m M5 the terminal block may be damaged Tighten the fixing screw of the terminal block cover to the torque of 0 2 N m M3 Tighten the ground screw to a torque of 1 4 to 1 6 N m M5
290. attribute map ing Pn number 260th RxPDO mapping a parameter Not Not Not Not l Not l Not aca peal Li Doi RO pat l A Not i Not 261th RxPDO mapping F gt parameter O Not TE Q O m 8 Not Not Not Not Not Not Not i Not OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 66 A 2 Object List Corre Index Default setting Br x shee ees number 262th RxPDO mapping 7 parameter Not Not Not Not 1705 hex Not A Not Not x 8th object 60B20010 hex 4 bytes U32 Nol z possible 258th TxPDO mapping 7 parameter Q Not Not Not Not Not Not Not Not A 67 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 2 Object List Corre Setting Data PDO spond index Default Setting range attribute map ing Pn number 259th TxPDO mapping z parameter Not Not Not Not l Not Not ee eta Lei Doi RO pate l A Not Not Not gt Not Q 260th TxPDO mapping 7 m a parameter gt K Not Not Not Not Not 1B03 hex Not Not Not Not Not Not OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 68 A 2 Object List Corre Index Default setting Br a shee ees number 261th TxPDO mapping B parameter Not Not Not Not Not 1B04 he
291. below Controller EtherCAT EtherCAT Programmable Controller Position Control Unit SYSMAC CJ2 CJ1W NCLJ8L OMNUC G5 Series AC Servo Drive R88D KNLJ ECT OMNUC G5 Series AC Servomotor R88M KL Features and System Configuration 1 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 3 Names and Functions 1 3 Names and Functions This section describes the names and functions of Servo Drive parts Servo Drive Part Names The Servo Drive part names are given below EtherCAT status indicators Seven segment display Analog monitor connector CN5 Rotary switches for node address setting USB connector CN7 EtherCAT communications connector ECAT IN Main circuit power supply terminals L1 L2 and L3 EtherCAT communications connector ECAT OUT power supply terminals Control circuit L1C and L2C i Safety connector CN8 Charge lamp Control I O connector CN1 External Regeneration Resistor connection terminals B1 B2 and B3 Motor connection gt terminals U V and W External encoder connector CN4 Protective ground terminals gt Encoder connector CN2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 4 uoijeinbiyuoy wWa sAs pue
292. ble shows the allowable current when there are 3 power supply wires Use a current below these specified values Dynamic brake resister control terminals 600 V Heat resistant Vinyl Wire HIV Nominal cross Configura Conductive Allowable current A for ambient AWG size sectional area tion wires resistance temperature mm mm Q km 30 C 40 C 50 C 20 0 5 4 5 0 75 5 5 30 0 18 26 0 14 a 7 0 6 9 53 16 6 14 0 7 1 6 1 35 57 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 28 ubiseg wa sAs System Design 4 2 Wiring i Terminal Block Wiring Procedure 4 29 On a Servo Drive with 2 0 kW or less connector type terminal blocks are used The procedure for wiring these terminal blocks is explained below Connector type terminal blocks Example of R88D KNO2H ECT Remove the terminal block from the Servo Drive before wiring The Servo Drive may be damaged if the wiring is done with the terminal block in place Strip off 8 to 9 mm of the covering from the end of each wire Refer to Terminal Block Wire Sizes on page 4 25 for applicable wire sizes 8109mm Open the wire insertion slots in the terminal block using a tool There are 2 ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Servo Drive Figure A Insert a flat blade screwdriver end width 3 0 to 3
293. brake Rated torque ratio Rated torque ratio Rated torque ratio With brake q q 100 100 100 90 90 Ambient Ambient Ambient i temperature temperature temperature 0 10 20 30 40 C i a 40 oC OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 56 suoljeoijineds o Specifications 3 3 Servomotor Specifications l 1 000 r min Servomotors 200 VAC Model R88M PEPPEN Item Unit K90010T K2K010T K3K010T K4K510T K6K010T Rated output 1 ie 2 000 3 000 4 500 6 000 Rated rotation speed r min 1 000 Rated torque Maximum rotation speed r min 2 000 Momentary maximum torque xl Rated current 1 Momentary maximum current 1 Rotor Without 6 70x107 30 3x107 48 4x104 79 1x1074 101x104 inertia brake With brake Applicable load inertia 7 99x104 31 4x107 492x104 84 4107 107x104 10 times the rotor inertia max Powerrate Without kW s 110 325 1 brake Mechanica Without 0 75 0 63 0 55 0 54 time brake TES NO oO 078 0 Electrical time constant ms moo e a o Allowable radial load 3 686 1176 1470 1470 1764 Allowable thrust load 3 a a a 588 Radiator plate dimensions 270 x 260 x t15 Al 470 x 440 x 550 x 520 x material t30 Al t30 Al Applicable Servo Drives R88D KN15H ECT KN30H ECT KNS50H ECT KN5O0H ECT KN75H ECT 1 35x1074 4 71074 4 71074 4 71074 4 71074 Excitation voltage 4 24 VDC 10 Power consu
294. bute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Range ST Unit Default 6041 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 3rd object Range pf Unit f Default 6064 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 4th object Range P Unit Default 6077 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 5 5th object Range O o a w e OS Default 60F4 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 6 6th object Range Unit Default 60B9 0010 hex Attribute Size 4 bytes U32 PDO map Not possible Sub index 7 7th object Range pf Unit fe Default 60BA 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 8 8th object Range Sf Unit Default 60BC 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 9 9th object Range SY Unit Default 60FD 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This object gives the mapping for an application that uses only cyclic synchronous position control csp Touch probe status is available The following objects are mapped Error code 603F hex Statusword 6041 hex Position actual value 6064 hex Torque actual value 6077 hex Following error actual value
295. bytes U32 Access RO PDOmap Not possible Sub index 3 3rd object Size 4 bytes U32 Access RO PDOmap Not possible Sub index 4 4th object Range pF Unit Default 6060 0008 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 5 Sth object Range pF Unit Default 60B8 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 6 6th object Range pf Unit Default 60E0 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 7 7th object Range Co o _ ae Default 60E1 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 8 8th object Range pF Unit Default 60B2 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This is the mapping for an application that switches between Cyclic synchronous position mode csp and Cyclic synchronous velocity mode csv Touch probe and torque control are available The torque feed forward amount can be specified using the Torque offset 60B2 hex 2 C D Q Q lt A 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile 1B01 hex 258th TxPDO mapping parameters All Sub index 0 Number of objects Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st object Range Pf Unit o Default 603F 0010 hex Attri
296. can set four frequencies and use two of them at the same time lt gt The end lt gt Movement Objects Requiring Settings Index 3213 hex 3214 hex 3215 hex 3216 hex 3217 hex 3218 hex 3219 hex 3220 hex 3221 hex 11 15 a a Select the Damping Filter Switching Mode according to the Damping Filter condition of the unit Selection 0 Up to two filters can be used simultaneously 3 Switching with command direction Set damping frequency 1 to suppress vibration at the end of Damping the load in damping control Frequency 1 If the damping control function is not used set the damping frequency to a value between 0 and 0 9 HZ When Damping Frequency 1 3214 hex is set reduce this Damping Filter 1 setting if torque saturation occurs or increase this setting to Setting increase operation speed Normally 0 is set lf damping filter 1 is disabled this object is also disabled Damping The function is the same with 3214 hex Frequency 2 Damping Filter 2 The function is the same with 3215 hex Setting Damping The function is the same with 3214 hex Frequency 3 Damping Filter 3 The function is the same with 3215 hex Setting Damping The function is the same with 3214 hex Frequency 4 Damping Filter 4 The function is the same with 3215 hex Setting OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications The damping frequency
297. cations Appendix A 1 CiA402 Drive Profile A 1 CiA402 Drive Profile This section describes the profile that is used to control the Servo Drive Controlling the State Machine of the Servo Drive Disable voltage 10 page A 2 Not ready to switch on 1 After initialization is completed Switch ep 15 Error reset disabled Fault Shutdown 2 7 Disable voltage Ready to switch on Switch on 3 6 Shutdown Switched on Enable operation 4 5 Disable operation Operation enabled 8 Shutdown 9 Disable voltage The state of OMNUC G5 series Servo Drives with built in EtherCAT communications is controlled by using the Controlword 6040 hex Control state is given in the Statusword 6041 State Machine The state of an OMNUC G5 series Servo Drive changes as shown below Each box indicates a state while numbers 2 to 10 and 15 indicate the state control commands For details on the states refer to State Descriptions on page A 2 and Command Coding on circuit circuit Servo Power turned OFF or Reset power power ON OFF gt supply supply 0 After the control power is turned ON 4 Error response Operation completed Fault reaction active 13 Error occurs Note 1 Quick stop active state is not supported Even if a Quick stop command is received it will be ignored Note 2 The operation to perform when the main circuit power is turned OFF while the Servo is ON can be set
298. ccccceeeeeeeeeeeeeaes A 54 Position window 6067 hex ccceeeeeeeeeeeeeaes A 50 Positive torque limit value 60E0 hex A 57 Profile acceleration 6083 hex ccceeeeee eee A 52 Profile deceleration 6084 Nex ccceeeeeeeeees A 52 Shutdown option code 605B hex 0e A 46 Software position limit 607D hex 008 A 52 Statusword 6041 NeX cceeeeee eee eee eeeeeaeees A 44 Supported drive modes 6502 hex 0 eee A 63 Supported homing method 60E3 hex A 58 Target position 607A NeX ccceeeeeeeeeeeeeee ees A 51 Target torque 6071 NeX ccsceeceeseeeeeeaeees A 50 Target velocity GOFF Nex cccseesseeeeeeeees A 62 Torque actual value 6077 hex cceeee eee A 51 Torque demand 6074 hex ccccceeeeeeeeeeeeees A 51 Torque offset 60B2 NeX cccceceeee eset eeeeeeees A 55 Touch probe function 60B8 hex 000e A 55 Touch probe pos1 pos value 60BA hex A 57 Touch probe pos2 pos value 60BC hex A 57 Touch probe status 60B9 hex cceeeeeeees A 56 Velocity actual value 606C hex cceeee eee A 50 Velocity offset 60B1 Nex cceeeeeee eee e eens A 55 Servo Ready Completed Output READY 3 25 Servomotor characteristics 1 000 r min SeErvOMotors cccceeee cues eeeeeeeees 3 57 2 000 r min Servomotors cccceeeeeeeeeeeaees 3 48
299. ccurs or increase the setting to increase operation speed Normally use a setting of 0 The upper limit of the set value is restricted to the smaller value of the corresponding damping frequency or 2000 damping frequency Refer to 11 5 Damping Control on page 11 15 for more information on settings Damping Frequency 3 0 to 2000 Unit 0 1 Hz pital ae setting attribute 2 bytes INT16 Access RW PDOmap PDO map map Not possible Set damping frequency 3 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is O to 0 9 Hz Refer to 11 5 Damping Control on page 11 15 for more information on settings OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 3 Vibration Suppression Settings 3219 hex Damping Filter 3 Setting Setting Default Data Size 2 bytes INT16 aa a PDO map Not possible First set Damping Frequency 3 3218 hex Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed Normally use a setting of 0 The upper limit of the set value is restricted to the smaller value of the corresponding damping frequency or 2000 damping frequency Refer to 11 5 Damping Control on page 11 15 for more informatio
300. coder is used to directly detect the position of the control target and feedback the detected machine position to perform position control This way controls can be performed without being affected by ball screw error temperature changes etc You can achieve highly accurate positioning by configuring a fully closed control system Outline of Operation Host Controller with Servo Drive EtherCAT Communications R88D KNI_J ECT Position Control Unit CJ1W NCLJ8 Target position 607A hex command units Electronic gear forward eae Motor current 6091h 01h External feedback nterna pulse dividing ratio circuits Position actual internal Electronic gear value 6063 hex EY ETOT COM EEEN external encoder units Position actual value 6064 hex command units Note The electronic gear function is not supported Use a setting of 1 1 EN Reference If the Gear ratio 6091 01 and 6091 02 hex is 1 1 1 command unit from the Target position 607A hex is equivalent to a movement of 1 external encoder pulse Example for an External Encoder with a Resolution of 0 1 um Gear ratio 6091 01 and 6091 02 hex of 1 1 The external encoder executes positioning for 10 um when 100 command units are applied as the Target position 607A hex 100 command units x 1 1 Gear ratio x 0 1 um 10 um Here 100 command units are returned to the host controller as the Position actual value 6064 hex Ge
301. command in the set direction after the servo is turned ON Any prior operations in the opposite direction are not compensated But the first reverse operation after the initial backlash compensation is compensated Backlash compensation is not performed again as long as the operation continues in the same direction When the Servo OFF status occurs while backlash compensation is performed the backlash compensation amount is cleared This is done by presetting the position command data of the Servo Drive to the Servomotor position data that includes the backlash compensation amount When the servo is turned ON again backlash compensation is performed as described above EN Reference Conditions for Clearing Backlash Compensation Backlash compensation is cleared to zero under any of the following conditions When the position error is reset This includes when the servo is turned OFF and when the error counter is reset for the drive prohibition input When the position data is initialized except for the homing operation in Homing mode hm This includes Config 4100 hex and Absolute Encoder Setup 4102 hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 12 suoijoun4 paddy x Applied Functions 7 5 Brake Interlock 7 5 Brake Interlock This function lets you set the output timing for the brake interlock output BKIR that activates the holding brake when the servo is
302. constant 6 0 Speed feed forward 30 Speed feed forward 30 Speed feed forward 100 Inertia ratio 300 Inertia ratio 300 Inertia ratio 300 Gain Adjustment Methods oe Reference Description page Realtime autotuning estimates the load inertia of the machine in Function Realtime autotuning Automate realtime and automatically sets the optimal gain according to the page 11 6 adjustment i ce estimated load inertia Manual tuning Manual adjustment is performed if autotuning cannot be executed due to restrictions on the control mode or load age 11 13 Manual conditions or if ensuring that the maximum responsiveness pag adjustment matches each load is required Basic procedure Position Control Fully closed Control Mode adjustment page 11 14 Precautions for Safe Use Take sufficient measures to ensure safety lf vibration occurs unusual noise or vibration immediately turn OFF the power supply or turn OFF the servo OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 4 suoljoun u wzsnfpy 11 2 Gain Adjustment Gain Adjustment Procedure Start adjustment Automatic adjustment Yes Realtime autotuning settings Realtime autotuning Operation OK Yes Default setting Manual tuning Operation OK lt Gperaon gt Yes Adjustment Functions Write to EEPROM Consult OMRON Adjustment completed i Gain Adjustment and Machine
303. csp full Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO map _ map Not possible The direction of external encoder feedback count can be reversed Refer to 6 5 Fully closed Control on page 6 12 Explanation of Set Values ao Description value 0 External encoder feedback pulse count direction not reversed 1 External encoder feedback pulse count direction reversed 9 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 4 Analog Control Objects 3327 hex External Feedback Pulse Phase Z Setting esp full esp full Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO map map Not possible Set to enable or disable phase Z disconnection detection when an external encoder with a 90 phase difference output is used Explanation of Set Values Set value Explanation 0 Phase Z disconnection detection enabled 1 Phase Z disconnection detection disabled 3328 hex Hybrid Following Error Counter Overflow Level csp full csp full eee 1 to 134217728 Unit Command unit Pefault 46000 ae range setting attribute Size 4 4bytes INT32 INT32 Access Access RW PDO map Not possible Set the allowable difference _ pulse error between the motor encoder position and load external encoder position in command units Refer to 6 5 Fully closed Control on page 6 12 3329 hex Hybrid Following Error Counter Re
304. ctual value IN5 6 7 EXT 1 2 3 EXT 1 Latch trigger Phase Z 2 Phase Z 3 60BA hex sgnal signal LT1 Latch 1 Touch probe pos1 3404 to 3406 hex PETA pos value ex TP1_ SEL 60B8h Bit 2 Position actual value EXT 2 Latch trigger Phase Z 2 Phase Z 3 60BC hex signal signal LT2 Latch 2 Touch probe pos2 pos value 3758 hex TP2_SEL 60B8 hex Bit 10 7 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 11 Touch Probe Function Latch Function General purpose Input Assignment in 1 Signal Index Assignment IN5 Select either EXT1 EXT2 or EXT3 ING Select either EXT1 EXT2 or EXT3 IN7 Select either EXT1 EXT2 or EXT3 1 The same function cannot be assigned more than once Touch Probe Trigger Selection 3758 hex in 2 Latch 1 Latch 2 A R A L E R E e e id signal Touch probe function 60B8 hex in 1 Phase Z signal a Phase Z signal Operation Sequences Trigger first event 60B8 Hex Bit 1 9 0 Trigger first event 60B8 hex Bit 0 8 suoljoun4 paddy x os oo uo Trigger input 60B9 hex Bit 0 8 ii 60B9 hex Bit 1 9 60BA 60BC hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 38 Applied Functions 7 11 Touch Probe Function Latch Function i Continuous 60B8 Hex Bit 1 9 1 Continuous 60B8 hex Bi
305. cuit power 24 VDC 15 OV supply input DB1 Dynamic Brake Resistor These terminals are used to control the MC for externally control terminals connected dynamic brake resistance The output contact DB2 specifications are 1 A max at 300 VAC 100 VDC max Connect them if required OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 24 ubisag wia sAs System Design 4 2 Wiring Terminal Block Specifications Bottom Terminal Block TB2 L1 Main circuit power supply R88D KNLIF ECT 15 kW E i 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz L3 B1 External Regeneration Connect an External Regeneration Resistor between B1 and B2 Resistor connection B2 terminals NC Do not connect Motor connection These are the output terminals to the Servomotor terminals Be sure to wire them correctly Green Yellow This is the ground terminal Ground to 10 Q or less i Precautions for Correct Use Never connect an External Regeneration Resistor between the B1 and NC terminals i Terminal Block Wire Sizes 100 VAC Input Drive Wire Sizes R88D KNL L L ECT Model R88D KNAS5L KNO1L KNO2L KNO4L ers Unit ECT ECT ECT ECT Power supply capacity Main circuit power Rated current eon 7 6 supply input L1 el EER and L3 or L1 L2 AWG 14 to 18 and L3 Control circuit a size power supply input AWG 18 L1C and L2C Motor connection Rate
306. current 1 mA R88A RR220473S Resis Nomi Regeneration absorption for Heatradiation Thermal switch Model tance val nal ca ay Sed ae i 120 C tempera condition output specifications ue pacity ture rise Operating temperature Aluminum ONTE R88A 350 x 350 NC contact RR22047S i Rated output resistive Thickness 3 0 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications load 250 VAC 3 A max 3 86 o suoljeoijineds 3 5 External Regeneration Resistor Specifications R88A RR22047S1 Resis Regeneration absorption for Heat radiation erm ENCA Model tance val 120 C tempera condition output specifications ture rise Operating temperature 150 C 5 Ainan NC contact R88A 350 x 350 Rated output resistive load 250 VAC 0 2 A max 42 VDC 0 2 A max minimum current 1 mA RR22047S1 Thickness 3 0 R88A RR50020S N c pe Race Regeneration T Model ancen absorption for Heat radiation Thermal switch O 120 C tempera condition output specifications ture rise S Operating temperature D 200 C 7 C Aai NC contact R88A 600 x 600 Rated output resistive RR50020S Thickness 3 0 so 250 VAC 0 2 A 42 VDC 0 2 A max minimum current 1 mA 3 87 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 6 EMC Filter Specifications 3 6 EMC Filter Specifications S
307. d 184 184 Weight Without brake Approx 8 0 Approx 11 0 Approx 15 5 Approx 18 6 With brake Approx 9 5 Approx 12 6 Approx 18 7 Approx 21 8 Radiator plate dimensions Applicable Servo Drives R88D material KN20F ECT KN30F ECT Brake inertia Excitation voltage 24 VDC 10 275 x 260 x t15 Al 380 x 350 x t30 Al 470 x 440 x t30 Al KNSOF ECT KNSOF ECT 1 35x104 1 35x1074 4 7x104 4 71074 V Power consumption at W 19 22 31 31 20 C Current consumption at 0 79 10 0 90 10 1 3410 1 3410 20 C Backlash Lod 1 reference value Allowable work per J 1176 1470 1372 1372 braking Allowable angular rad s 10 000 acceleration Brake limit ie l 10 million times min Insulation class ea Type F Brake specifications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Allowable total work 1 5x108 2 2x108 2 9x108 2 9x108 3 52 suoljeoijineds o ka Specifications 3 3 Servomotor Specifications 400 VAC Model R88M Item Unit K7K515C Rated output W 7 500 Rated torque xi Nem 47 8 Rated rotation speed r min 1 500 3 000 2 000 119 0 175 0 224 0 11 000 15 000 70 0 95 5 Maximum rotation speed r min Momentary maximum Nem torque a Rated current 1 A rms 22 0 27 1 33 1 Momentary maximum A rms 118 current 1 212x104 302x104 09 O Rotor Without kgem 101x107 inertia brake With brake kg m
308. d Dynamic brak i a a DB engaged DB released 3 DB engaged Engaged gt _ lt Approx 60 ms 3437 hex ON Motor power supply No power supply Power supply No power supply OFF 3 gt Approx 4ms a 1 to 6 ms t BKIR 3 elease reques output OFF gt Attraction time gt Release time Released Holding brake operation Brakereleased released Held 1 The servo does not turn ON until the motor rotation speed drops to approx 30 r min or below 2 The operation of the dynamic brake when the servo is OFF depends on the setting of the Disable operation option code 605C hex 3 The Brake Interlock Output BKIR signal is output either when a release request command is received via Servo controls or when a release request command is received via EtherCAT communications The above example shows when there is no brake release request from EtherCAT communications The BKIR is assigned to the general purpose output CN1 Note The brake application time and release time vary depending on the Servomotor brake For details refer to 3 3 Servomotor Specifications on page 3 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 14 suoljoun4 paddy x Applied Functions 7 5 Brake Interlock i Servo ON OFF Operation Timing When Motor Is Operating Based on these operation timings regenerative energy is produced if the motor
309. d current pA 12 17 25 4 terminals S V W fws va Tightening torque 1 2 1 Connect OMRON Power Cables to the motor connection terminals 2 Use the same wire size for B1 and B2 4 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 200 VAC Input Drive Wire Sizes R88D KNI_ L H ECT 4 2 Wiring Model R88D KNO1H KNO2H KNO4H KNO8H KN10H TRS Unit ECT ECT ECT ECT ECT Power supply capacity Main circuit power Rated current 2 z 3 4 4 6 6 9 P 9 supply input L1 and L3 or L1 L2 and L3 Wiresize size AWG14 to 18 n C ENEN AWG14 een a Pee a Control circuit Wire size za AWG18 Ligand 2c S ils SS A a A PE terminals U V W so oe E OI a G E AWG14 were Fe OS te a E i rws va Tightening torque 1 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 26 ubisag wia jsAs System Design 4 2 Wiring 4 27 Model R88D KN15H KN20H KN30H KN50H KN75H KN150H t n Unit ECT ECT ECT ECT ECT ECT Power supply capacity Rated EREA current 8 1 Wire size size ex AWG14 AWG12 AWG10 AWG6 hl Kies ae Se 0 to 2 2 to torque 2 4 2 5 Wire size size AWG18 power supply input L1C and ass Oo M4 L2C Tightening 13 to 07 to N m torque 15 0 8 Motor Rated A Ra connection current terminals U ae W and FG H AWG14 AWG12 AWG6
310. d of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model 2 51 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 11 kW 15 kW without Brake R88M K11K015T S2 K15KO15T S2 11 kW 15 kW with Brake R88M K11K015T B S2 R88M K15K015T B S2 Motor Brake connector connector for model with brake only x P 7 220 x 220 Encoder 44 connector 57 57 a 110 T 48 ca a 4 613 5 dih Shaft end specifications with key and tap i amp 16h9 O 7 Key groove P9 20 depth 40 min Dimensions mm Model Rp ws epee ol eye R88M K11K015TL1 272 162 R88M K15K015TL1 384 55 230 R88M K11K015T BL 364 196 R88M K15K015T BL 432 264 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 52 SUOISUBWIG gu13 x4 pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions
311. dard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 41 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 750 W with Brake R88M K75030H B S2 R88M K75030T B S2 Encoder connector Brake connector Motor connector Shaft end specifications with key and tap peren 35 61 6 25 22 6h9 mara o o s M5 depth 10 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 42 SUOISUBWIG eU1e xXq pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions 1 kW 1 5 kW 2 kW without Brake R88M K1K030H S2 K1K530H S2 K2K030H S2 IIT R88M K1K030T S2 K1K530T S2 K2K030T S2 1 kW 1 5 kW 2 kW with Brake R88M K1K030H B S2 K1K530H B S2 K2K030H B S2 ITs R88M K1K030T B S2 K1K530T B S2 K2K030T B S2 Motor and brake connector eer Shaft end specifications with key and tap
312. delay time when returning from gain 2 to gain 1 if the Switching Mode in Torque Control 3124 hex is set to 3 Gain Switching Level in Torque Control Default Data 2 bytes INT16 Access Access RW PDO map Not possible This is enabled when the Switching Mode in Torque Control 3124 hex is set to 3 It sets the judgment level for switching between gain 1 and gain 2 The unit depends on the setting of Switching Mode in Torque Control 3124 hex Gain Switching Hysteresis in Torque Control Default Data 2 bytes INT16 Access Access RW PDO map Not possible Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Torque Control 3126 hex The unit depends on the setting of Switching Mode in Torque Control 3124 hex The following shows the definitions for the Gain Switching Delay Time in Torque Control 3125 hex Gain Switching Level in Torque Control 3126 hex and Gain Switching Hysteresis in Torque Control 3127 hex 3127 hex 0 I Gain 1 Gain 2 Gain 1 gt ayy 3125 hex The settings for the Gain Switching Level in Torque Control 3126 hex and the Gain Switching Hysteresis in Torque Control 3127 hex are enabled as absolute values positive negative OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 3 Vibration Suppression Settings 9 3 Vibration Suppression Settings 3200 h
313. den cestocs Gaus Sateen cade ER A 81 EtherCAT Slave Information file cceeeeeeeeenes 5 1 EtherCAT State Machine ccccceeeeeeeeeeeeeeeeeaes 5 4 extended objects Control Input Signal Read Setting 3515 hex 9 43 Drive Prohibition Input Selection 3504 hex 9 40 External Torque Limit 2 3522 hex ceeeee 9 45 Forward External Torque Limit 3525 hex 9 45 Immediate Stop Torque 3511 hex 0 9 42 Momentary Hold Time 3509 hex eeeeee 9 42 Overload Detection Level Setting 3512 hex 9 42 Overrun Limit Setting 3514 hex c cesses 9 43 Overspeed Detection Level Setting 3513 hex 9 43 Position Setting Unit Selection 3520 hex 9 44 Reverse External Torque Limit 3526 hex 9 45 Stop Selection for Drive Prohibition Input GOO OOK weds Niesec in tibia tie ett enchants 9 41 Torque Limit Selection 3521 hex 00 eee 9 44 Undervoltage Error Selection 3508 hex 9 42 external device monitor EDM output signal 8 3 external encoder connection of external encoder input signals 3 29 example Of CONNECTION cceceeeeeeeeee esse enees 3 30 INDUL SION Al table rerne n tive aetiets 3 29 External Encoder Connectol ccceeeeeeeeeseeeeees 3 80 external encoder connector specifications CN4 3 28 External Feedback Pulse Dividing Ratio Setting 6 16 External Latch Input Signals EXT 1
314. dition for the Target reached flag in the EtherCAT communications status 3434 hex Zero Speed Detection SeMING 10 to 20000 Unit r min pout aara range setting attribute Size 2 bytes INT16 Access RW PDO map Not possible Set the output timing of the Zero Speed Detection Output ZSP as rotation speed r min The Zero Speed Detection Output ZSP turns ON when the motor speed is lower than the set value of this object The set value of this object is valid in both forward and reverse directions regardless of the actual motor rotation direction The setting has a hysteresis of 10 r min Refer to Control Output Details on page 3 24 for the Zero speed detection output ZSP 9 35 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 5 Interface Monitor Settings Forward operation Speed 3434 hex 10 r min gt 3434 hex 10 r min a ee ee lt OUTM1 ON 3435 hex Speed Conformity Detection Range aud 10 to 20000 Unit r min po 50 oa A range setting attribute Size 2 bytes INT16 PDO map Not possible It outputs the Speed conformity output VCMP when the speed command conforms to the motor speed t is regarded as conformed when the difference between the speed command before the acceleration or deceleration process inside the Drive and the motor speed is smaller than the set value on the Speed Conformity Detectio
315. down occurs when the motor shaft is rotating clockwise If the connection direction cannot be selected due to installation conditions or any other reason the count direction can be reversed using External Feedback Pulse Direction Switching 3326 hex H Precautions for Correct Use If 3000 hex 1 the encoder count direction becomes opposite to the count direction used for monitoring e g for the total external encoder feedback pulses If 3000 hex 0 the count direction matches the count direction for monitoring Even when the speed command is within the Servo Drive s speed command range an acceleration alarm will occur if the soeed command exceeds the maximum speed of the motor To confirm that the installation direction is correct use the front panel monitor or the CX Drive monitor function to check the counting direction of the total external encoder feedback pulses and the total encoder feedback pulses If the counting directions are the same the connections are correct EN Reference Maximum Input Frequency The maximum speed when an external encoder with a resolution of 0 01 um is used for the serial communications is 0 01 um x 400 x 10 pps 4 00 m s An overspeed error will occur however if the motor shaft rotation speed exceeds the maximum speed 6 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 5 Fully closed Control External Feedback Pulse
316. dures and how to operate in each mode 10 1 Operational Procedure cccceseeeeeeeeeeeeseeeseneeenees 10 1 10 2 Preparing for Operation cccccsceeeeeeeeeeeeeeeeeneeenees 10 2 10 3 Trial Operation siiscesecivsccwsiuntecssstcvweteseaccaipeathineweietesecion 10 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 1 Operational Procedure 10 1 Operational Procedure Turn ON the power supply after the correct installation and wiring to check the operation of the individual motor and drive Then make the function settings as required according to the use of the motor and drive If the user objects are set incorrectly there is a risk of unexpected motor operation which can be dangerous Set the objects accurately according to the setting methods in this manual i Install the motor and drive according to the installation conditions Do not connect the motor to the mechanical system before Chapter 4 4 1 checking no load operation Mounting and installation Connect the motor and drive to the power supply and peripheral Wiring and equipment connections Specified installation and wiring conditions must be satisfied particularly for models conforming to the EC Directives Chapter 4 4 2 Check the necessary items and then turn ON the power supply Preparing for rae the display to see whether there are any internal errors in Chapter 10 Operation
317. e cable matching the Servomotor The cables listed are flexible shielded and have IP67 protection i Power Cables without Brakes European Flexible Cables R88A CAKAL SR E Cable types 100 V and 200 V For 3 000 r min Servomotors of 50 to 750 W o Outer diameter of sheath Model Length L R88A CAKA001 5SR E 1 5m R88A CAKA003SR E R88A CAKA005SR E R88A CAKA010SR E 10m R88A CAKA015SR E 15m R88A CAKA020SR E 20m 6 7 dia o w 3 3 suoljeoljineds Connection configuration and external dimensions 50 L a Servo Drive side Servomotor side R88D KL1 J __ CE R88M KC ane Wiring Servo Drive side Servomotor side Servomotor side connector M4 crimp terminal Angle plug model Cable JN8FT04SJ1 Japan Aviation Electronics 0 5 mm x 4C or AWG20 x 4C Connector pin model ST TMH S C1B 3500 A534G Japan Aviation Electronics Note For servomotors with brake a separate cable R88A CAKAL ILIBR E is needed OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 66 Specifications 3 4 Cable and Connector Specifications R88A CAGBL SR E Cable types 200 V For 3 000 r min Servomotors of 1 to 2 kW 2 000 r min Servomotors of 1 to 2 kW 1 000 r min Servomotors of 900 W 400 V For 3 000 r min Servomotors of 750W to 2 kW 2 000 r min Servomotors of 400 W to 2 kW 1 000 r min Servomotors of 900 W Outer diameter of Mode
318. e external input signals to latch the actual value in the feedback pulse counter The encoder position data is obtained when the External Latch Input is turned ON With the default settings External Latch Input 1 is allocated to pin 12 External Latch Input 2 to pin 11 and External Latch Input 3 to pin 10 l Precautions for Correct Use The external latch inputs are detected by on the rising edge of the signal but the minimal signal ON and OFF widths must be 2 ms The external latch inputs can only be set to NO normally open contacts The external latch inputs can be allocated to pins 10 to 12 only OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 22 o suoljeoijineds Specifications 3 1 Servo Drive Specifications Monitor Inputs MONO MON1 and MON2 These are the general purpose monitor inputs The general purpose monitor inputs do not affect operation and can be monitored from the host controller With the default settings MONO is allocated to pin 13 Forward External Torque Limit Input PCL and Reverse External Torque Limit Input NCL Turn ON these inputs to limit the torque to the value set in the Forward External Torque Limit 3525 hex and the Reverse External Torque Limit 3526 hex While the input is ON operation continues within the torque limit With the default settings the inputs are not allocated i Bac
319. e if the Servomotor is rotating Check to see it the speed command given by the host controller is too small Check the brake interlock output BKIR signal and the 24 VDC power supply The holding brake is operating The torque limits set in the Positive torque limit value 60E0 hex and the Negative torque limit value 60E1 hex are too small Check to see if the torque limits in objects GOEO hex and 60E1 hex are set to a value close to 0 Set the maximum torque to be used for each of these objects The Servo Drive has broken ee Replace the Servo Drive down e Turn ON the POT and NOT signals e Disable them in the settings when the POT and NOT signals are not used Check the ON OFF state of the POT and NOT signals from the CX Drive The Forward or Reverse Drive Prohibition Input POT or NOT is OFF Set the control mode according to the command Check the set value of the Control Mode Selection 3001 hex The control mode does not conform to the command The Servomotor power cable is wired incorrectly Check the wiring Check the power supply and Turn ON the power the 7 segment display Check the voltage between Wire the power ON the power terminals circuit correctly Wire correctly incorrectly Power is not supplied The Servo Drive has broken ro Replace the Servo Drive down Check the position data and Set the correct data the electronic gear ratio at the h
320. e load and make the setting in units of 0 1 Hz The range of setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is 0 to 0 9 Hz Refer to 11 5 Damping Control on page 11 15 Damping Filter 1 Setting 0 to 1000 Unit 0 1 Hz Beraut Data setting attribute en Access RW PDO map Not possible First set Damping Frequency 1 3214 hex Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed Normally use a setting of 0 The upper limit of the set value is restricted to the smaller value of the corresponding damping frequency or 2000 damping frequency Refer to 11 5 Damping Control on page 11 15 for more information on settings Damping Frequency 2 0 to 2000 Unit 0 1 Hz Default Data setting attribute ett Access RW PDOmap Not possible Set damping frequency 2 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is 0 to 0 9 Hz Refer to 11 5 Damping Control on page 11 15 for more information on settings Damping Filter 2 Setting 0 to 1000 Unit 0 1 Hz ee eae setting attribute 2 bytes INT16 Access RW PDO map PDO map map Not possible First set Damping Frequency 2 3216 hex Then reduce the setting if torque saturation o
321. e mapped object Bits 16 to 31 Index of the mapped object 1701 hex 258th RxPDO mapping parameter All Sub index 0 Number of objects Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st object Size 4 bytes U32 Access RO PDOmap Not possible Sub index 2 2nd object Size 4 bytes U32 Access RO PDOmap Not possible Sub index 3 3rd object Size 4 bytes U32 Access RO PDOmap Not possible Sub index 4 4th object Range Unit Default 60FE 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This object gives the mapping for an application that uses only cyclic synchronous position control csp Touch probe function is available The following objects are mapped Controlword 6040 hex Target position 607A hex Touch probe function 60B8 hex and Digital outputs 60FE hex A 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile 1702 hex 209th RxPDO mapping parameter All Sub index 0 Number of objects Size 1 byte U8 PDO map Not possible Sub index 1 1st object Range pF Unit Default 6040 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Range pF Unit o Default 607A 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 3rd object Range pf Unit o Default 60FF 002
322. e setting for speed loop gain will 9 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 1 Basic Settings increase If the Inertia Ratio 3004 hex is set smaller than the actual value the setting for speed loop gain will decrease 3013 hex External Torque Limit 1 Setting Default Data Size 2 bytes INT16 ee PDO map Not possible 1 It is limited by the maximum torque of the connected motor Set the limit values for the motor output torques 3013 hex External Torque Limit 1 3522 hex External Torque Limit 2 Refer to the Torque Limit Selection 3521 hex for the torque limit selection During torque control it limits the maximum torque in forward and reverse directions The settings on the Torque Limit Selection 3521 hex and the External Torque Limit 2 3522 hex are ignored Set a value in percentage against the rated torque E g When the maximum torque is limited to 150 Torque F 300 max If 3013 and 3522 hex 150 200 100 rating Speed st 100 rating max 200 Ves see 300 direction Refer to 7 7 Torque Limit Switching on page 7 21 for the torque control and the torque limit selection 3015 hex Operation Switch when Using Absolute Encoder csp Setting Default Data Size 2 bytes INT16 Acess RW PDO map Not possible Set the operating method for the 17 bit absolute encode
323. e shield to FG Check to see if the Servomotor rotates according to the position command pulse Check on the torque monitor to see if the output torque is saturated Adjust the gain Maximize the set values on the Positive torque limit value 60E0 hex and the Negative torque limit value 60E1 hex Wire the encoder as shown in the wiring diagram Lengthen the acceleration and deceleration times Reduce the load and the speed Increase the set value of object 6065 hex Increase the set value of object 3602 hex Lengthen the acceleration time of the Motor Velocity Demand Value After Filtering Alternatively improve the tracking following performance by adjusting the gain e Disable the Excessive Speed Deviation Setting 3602 hex 0 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Cause Excessive During fully closed control the difference between the load position from the external encoder and the Servomotor position from the encoder was larger than the number of pulses set as the Hybrid Following Error Counter Overflow Level 3328 hex Overspeed The Servomotor rotation speed exceeded the value set on the Overspeed Detection Level Setting 3513 hex Overspeed 2 The Servomotor rotation speed exceeded the value set for the Overspeed Detecti
324. e workpiece from traveling too far and thus prevent damage to the machine When the object is set to 0 the operation is as follows Forward Drive Prohibition Input POT closed Forward limit switch not operating and status normal Forward Drive Prohibition Input POT open Forward direction prohibited and reverse direction permitted Reverse Drive Prohibition Input NOT closed Reverse limit switch not operating and status normal Reverse Drive Prohibition Input NOT open Reverse direction prohibited and forward direction permitted If this object is set to 0 the Servomotor decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibition Input 8505 hex For details refer to explanation for Stop Selection for Drive Prohibition Input 3505 hex EN Reference lf this object is set to O and the forward and reverse prohibition inputs are both open a Drive Prohibition Input Error Error No 38 will occur because it is taken that Servo Drive is in error condition lf this object is set to 2 a Drive Prohibition Input Error Error No 38 will occur when the connection between either the forward or reverse prohibition input and COM is open lf a limit switch above the workpiece is turned OFF when using a vertical axis the upward torque decreases and there may be repeated vertical movement of the workpiece If this occurs set the Stop Selection for Drive Prohibition Input 3505 hex to 2 or perform l
325. ear is not supported 250 or 500 us a Function Setting Error Error No 93 4 will occur if the electronic gear is enabled When connected to an OMRON CJ1W NCL181 LJ82 Position Control Unit the electronic gear ratio is set in the Position Control Unit Set the electronic gear ratio in the Servo Drive to 1 1 i Precautions for Correct Use The electronic gear function is not supported for unit version 2 0 Do not change the default setting The electronic gear function is scheduled for support from unit version 2 1 Objects Requiring Settings Index Sub index Name Explanation Reference Set the numerator of the electronic gear ratio If the set value is 0 the encoder resolution is automatically set as the numerator 2 e 131072 for a 17 bit absolute encoder e 1048576 for a 20 bit incremental encoder Shaft revolutions Set the denominator of the electronic gear ratio ex 4 1 The electronic gear ratio must be set between 1 1000 and 1000 If it is set outside the range an Object Setting Error 1 Error No 93 0 will occur Whether the electronic gear is enabled is determined from the setting of the objects If the gear ratio setting is 1 1 the electronic gear is disabled 2 If object 6091 01 hex is set to 0 the encoder resolution is set to the numerator during fully closed control also Motor revolutions ol 6091 hex page A 79 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT C
326. ect Use Tighten the ground screws to the torque of 0 7 to 0 8 Nem M4 or 1 4 to 1 6 Nem M5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 8 o suoljeoijinods Specifications 3 1 Servo Drive Specifications i R88D KN30H ECT R88D KN50H ECT Main Circuit Terminal Block Specifications L1 L2 L3 L1C L2C B1 B3 B2 NC lt Main circuit power R88D KNLIH ECT 3 to 5 kW supply input 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit power R88D KNLIH ECT Single phase 200 to 230 VAC 170 to 253 V supply input 50 60 Hz External Regeneration Normally B2 and B3 are shorted Do not short B1 and B2 Doing Resistor connection so may result in malfunctioning terminals If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 Do not connect Motor connection Phase U These are the output terminals to the Servomotor terminals Phase V Be sure to wire them correctly Phase W P Precautions for Correct Use Tighten the terminal block screws to the torque of 0 75 Nem M4 or 1 5 Nem M5 If the torque for terminal block screws exceeds 1 2 Nem M4 or 2 0 Nem M5 the terminal block may be damaged Tighten the fixing screw of the terminal block cover to the torque of 0 2 Nem M3 Tighten the ground screws to the t
327. ect the mechanical system etc The Torque Limit Selection 3521 hex is used to select a method to switch the torque limit Operating Conditions The torque limit switching function works under the following conditions Conditions Position Control Mode Speed Control Mode Torque Control Mode or Fully closed Operation mode Controli Mode Servo ON state Others The factors other than control objects must be set correctly This includes the torque limit The motor must operate normally without any failures Objects Requiring Settings Index p Name Explanation Reference 3521 hex Torque Limit Selection Select the torque limit based on the various objects page 9 44 and input signals 60E0 hex Positive torque limit value Set the forward torque limit value page A 57 60E1 hex Negative torque limit value Set the reverse torque limit value page A 57 3525 hex oo PAEA Shane Set the forward torque limit for a network signal page 9 45 3526 hex thie PA EMArKOrqUG Set the reverse torque limit for a network signal page 9 45 Applied Functions 7 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 7 Torque Limit Switching Torque Limit in Position Speed Torque and Fully Closed Controls The term Torque FF refers to the torque feed forward function Position control speed control torque control fully closed control Set value Forward torque limit value Rev
328. ected to a CJU1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Unit This chapter describes the profile that is used to control the Servo Drive This chapter outlines the applied functions such as the electronic gear gain switching and soft start and explains the settings This chapter gives an outline of application functions such as electronic gears gain switching and soft start and explains the settings This chapter explains the set values and contents of each object This chapter gives the operating procedures and explains how to operate in each mode This chapter explains the functions setting methods and items to note regarding various gain adjustments This chapter explains the items to check when problems occur error diagnosis using the error display and measures error diagnosis based on the operating condition and measures and periodic maintenance The appendix provides a list of objects and EtherCAT terminology 14 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Table Of Contents IMEROGU CON oen atte aaeuen ces A ENE 1 Read and Understand this Manual ccccccceceseeeeeeeeeseeeeeeeeeeaeeees 2 Salley PFCCAULONS nse cctaee sr genders eens nenes ra corer naeoee lao teesedan es 5 Items to Check after UNDackiNgG ccccsccceeceseceeeceeeceeecueseueseeeseees 12 ROVISIOM FHS TOY osser a SEEE SE 13 Structure OF LAIS DOCUMENT
329. ed limit value for torque control It controls that the speed during torque control does not exceed the set value Refer to 6 3 Cyclic Synchronous Torque Mode on page 6 7 3323 hex External Feedback Pulse Type Selection csp full Setting 0 to 2 Unit r min DEUN Dala R range setting attribute Size 2 bytes INT16 PDO map Not possible Select the external encoder type Be sure that the setting conforms to the external encoder which is actually used Refer to 6 5 Fully closed Control on page 6 12 9 27 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 4 Analog Control Objects Explanation of Set Values i Dio pes Male ie stone Serial communications type 0 to 400 Mpps Incremental encoder specifications 2 Serial communications type 0 to 400 Mpps Absolute encoder specifications 1 The maximum input frequency is the feedback speed pps of the external encoder that can be processed by the Drive Check the instruction manual of the external encoder for the maximum output frequency of the external encoder 2 These are the directions that the Drive counts a 90 phase difference output Count down direction Count up direction HM ef 1 evens EXA EXB 2 we 2 lt 2 lt 4 gt EXB is 90 ahead of EXA EXB is 90 behind EXA t1 gt 0 25 us t1 gt 0 25 us t2 gt 1 0 us t2 gt 1 0 us 3 For the external encoder connection d
330. ed to ON status Turn OFF the power once and turn it ON again If the error is displayed even after the power is turned ON again the system may be faulty Stop using the system and replace the Servomotor and or the Servo Drive Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair Turn OFF the power once and turn it ON again If the error is displayed even after the power is turned ON again the system may be faulty Stop using the system and replace the Servomotor and or the Servo Drive Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair 12 24 sdueUDd UIeW pue HuljooussjqnolL Q c c o a c O O O Ka Vv O H 12 4 Troubleshooting Troubleshooting Errors Related to EtherCAT Communications EtherCAT state change error EtherCAT illegal state change error Communica tions sync er ror Sync error Sync Manager WDT Error Node address setting error ESC initialization error Interruptions Error SII verification error Communica tions setting error 12 25 Occurs during operation Occurs during operation Occurs during operation Occurs during operation Occurs during operation Occurs when the power supply is turned ON Occurs when the power supply is turned ON Occurs when the power supply is
331. eed and torque calculation control area e PWM control HHHHHEH Qt mMm gt Nwa O ht Aoow lt N EtherCAT EtherCAT Control Encoder External Analog USB Safety communications communications interface encoder monitor connector connector OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications uoijeinbiyuoy Ws sAS pue sainjeo 1 4 System Block Diagram R88D KN75H ECT TB1 TB1 Voltage detection supply main circuit control GR Display and control power MPU amp ASIC setting circuit Position speed and torque calculation control area e PWM control TB2 OA Axial flow fan x 3 EtherCAT EtherCAT Control Encoder External Analog USB Safety communications communications interface encoder monitor connector connector 1 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 4 System Block Diagram R88D KN150H ECT TB2 Current detection SW power supply main Regeneration Overcurrent circuit control control detection control power MPU amp ASIC supply Position speed and torque calculation control area e PWM control Display and setting circuit area SE DB1 TB1 DB2 Axial flow fan x 4 w eta IH EtherCAT EtherCAT Control Encoder External Analog USB Safety communications communications interface encoder monitor connector connector OMNUC G5 series AC Servomotors and Servo
332. eeeceeeceeeceeecseesaseceeeeseeesaeenaeens 3 66 Connector SP SCIICATIONS ericson cy sepuyentalned dau ineladuer oat inlswnedundesaneasbuanseaeedcensmenscereens 3 73 EtherCAT Communications Cable Specifications ccccccccceeccseeeeeeeeeeeseeeeseeeaees 3 76 Analog Monitor Cable Specifications ccccccccsecccseeceeeceeesceeeseeesaeeceeeseeesaeesenees 3 79 Control Cable Specificatlons vccdcuiwsectuehesctiessdste sina beveds iencsus ewes sedseheontuadekieuecebetdoctsied dy 3 81 3 5 External Regeneration Resistor Specifications cccccceeeeeeeee eens 3 86 External Regeneration Resistor Specifications ccccccceccceeeceeeceeeeeeeeaeeeseeeeaeeeaees 3 86 350 EMC Fiter Specials erani N 3 88 Chapter 4 System Design 4 1 I stalation Conditions sossarna 4 1 Servo Drive Installation CONCItIONS cc ccccceccceeeceeecee eee eeseeeeseeeseeeseeesseeseeeseeesanes 4 1 Servomotor Installation ConditionS n0nnannnannannennennnnnnnnnennenrnnrnnnnnrnrnnerrnnrnnrrenrennne 4 2 Decelerator Installation CONItIONS cece ceecceececeeee ee eeee cece eeseeeeaeeeseeesaeesaeeeseeeaeeees 4 5 42 ANA Sh adideae Pa a ttcne ene aiden et embed need a hae ence cbeaaent a 4 6 Peripheral Equipment Connection Examples cccccccceeceeeeseeeseeeeeeeseeeseeeeseeeaeeees 4 7 Main Circuit and Motor Connections cccccccceccceecceeeeeeeeeeeeeeeeeeeeeseeeeseeeeeeseeesaeees 4 17 4 3 Wiring Conf
333. efault values Index Perault Description setting 3015 hex 00 hex Operation Switch When Using 0002 hex Use absolute values and ignore multi rotation Absolute Encoder counter overflow 3324 hex 00 hex External Feedback Pulse 00000000 hex Encoder resolution is set automatically Dividing Numerator 3401 hex Forward Drive Prohibition Input NC 3402 hex Reverse Drive Prohibition Input NC 3403 hex Origin Proximity Input NO 3404 hex External Latch Signal 3 NO 3405 hex External Latch Signal 2 NOY 3406 hex 00 hex 00202020 hex External Latch Signal 1 NO ssotnex 00 he ws Teen 3508 hex 00 hex 0001 hex Stopping for undervoltage errors Torque Limit Selection Both forward and reverse directions have two 0006 hex limits which are switched using PCL and NCL 3801 hex 00 hex Sen as Position Limit 0003 hex Disable the software limits in both directions 3521 hex 00 hex Touch Probe Trigger Selection Touch probe1 External Latch Signal 1 Sipe NEX 99ER a O1O9nex Touch probe2 External Latch Signal 2 3759 hex o0 hex Warning Hold Selection SOOO KER Automatically cleared when the cause is removed 607C hex 00 hex 00000000 hex ae value of 0 is used by the Servo 01 hex Motor revolutions 00000001 hex Gear ratio used by the Servo Drive is 1 1 and 6091 hex user units are handled by the controller 02 hex Shaft revolutions 00000001 hex 60E0 hex 00 hex Positive torque limit value 1388 hex Default setting 500 0 60E1 hex 00 hex
334. elay Time in Torque Control 3 T25 NE X eaaa a S 9 18 Gain Switching Hysteresis in Position Control OTIS PE a A teenies 9 14 Gain Switching Hysteresis in Speed Control S1239 NOX eese eene eena d eean 9 17 Gain Switching Hysteresis in Torque Control OZ 7 NG caine ana a a SE 9 19 Gain Switching Input Operating Mode Selection OFANE anaa E E 9 11 Gain Switching Level in Position Control OTIT NEX anea eE 9 14 Gain Switching Level in Speed Control 3122 hex 9 17 Gain Switching Level in Torque Control 5126 MEX inna vanes deetuan ee 9 19 Position Gain Switching Time 3119 hex 9 14 Position Loop Gain 1 3100 hex cceeeeeeees 9 7 Position Loop Gain 2 3105 hex cceeeeeee eee 9 9 Speed Feed forward Command Filter 3111 hex 9 11 Speed Feed forward Gain 3110 hex 9 10 Speed Feedback Filter Time Constant 1 3103 NOX eenaa iw aiieraunuberets 9 9 Speed Feedback Filter Time Constant 2 3 108 NOX Jaina a aa aa a 9 10 Speed Loop Gain 1 3101 hex cece cence 9 8 Speed Loop Gain 2 3106 hex ccceeee eee ee es 9 10 Speed Loop Integral Time Constant 1 3102 hex 9 9 Speed Loop Integral Time Constant 2 3107 hex 9 10 Switching Mode in Position Control 3115 hex 9 12 Switching Mode in Speed Control 3120 hex 9 15 Switching Mode in Torque Control 3124 hex 9 17 Torque Command Filter Time Constant 1 3 1O4 GO texts eauestiee ater det aac EAA 9 9 Tor
335. elf 100 V 3 000 r min Servomotors of 50 to 400 W 200 V 3 000 r min Servomotors of 50 to 750 W 29 6 Angle plug direction can be reversed 11 6 Angle plug model JN4FTO2SM R Japan Aviation Electronics Socket contact model ST TMH S C1B 3500 A534G Japan Aviation Electronics 3 75 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications EtherCAT Communications Cable Specifications For the EtherCAT communications cable use a cable with double aluminum tape and braided shielding of category 5 or higher Precautions for Correct Use The maximum length between nodes is 100 m However some cables are specified for less than 100 m Generally speaking if the conductors are twisted wire rather than solid wire transmission performance will be lower and reliable communications may not be possible at 100 m Confirm details with the cable manufacturer EN Reference lf an Ethernet cable of category 5 or higher is used communications will be possible even if the cable is not shielded However we recommend a cable with double aluminum tape and braided shielding to ensure sufficient noise immunity j Recommended Connector Modular Plug Use a shielded connector of category 5 or higher YI Precautions for Correct Use When selecting a connector confirm that it is applicable to the cable that will be used Conf
336. els of 400 W or less the values Eg and Eg unit J must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative energy i e Servo Drive models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section The average regeneration power Pr is the regeneration power produced in 1 cycle of operation W Pr Egi Eg2 T W T Operation cycle s 4 49 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 4 Regenerative Energy Absorption i Vertical Axis N1 Downward movement Motor operation Upward movement N2 Motor output torque a In the output torque graph acceleration in the forward direction rising is shown as positive and acceleration in the reverse direction falling is shown as negative The regenerative energy values in each region can be derived from the following equations En 5E N Tor ti Bi Eg2 an N2 T2 te J Ea 54E Ne Toz ts J N1 N2 Rotation speed at start of deceleration r min Tp1 T02 Deceleration torque N m TL2 Torque during downward move
337. els with a built in Regeneration BKIRCOM 2 Resistor KNO8H ECT to KN15H ECT have B2 and B3 connected When the amount of regeneration is large remove the connection between B2 and B3 and connect a Regeneration Resistor between B1 and B2 User side control device Control cables OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 8 ubisag wajshs System Design 4 2 Wiring i R88D KN20H ECT RST 3 phase 200 to 230 VAC 50 60 Hz R88D KNUILIH ECT itl gan NFB Main circuit contactor 1 Main circuit power supply OFF ON 1MC 2MC p ala 4 co UU _ Lee Surge suppressor 1 X 1MC 2MC X Servo alarm display OMNUC G5 series AC Servo Drive LIC OMNUC G5 series T AC Servomotor L2C Power cables Noise filter 1 1 2 3 E NF 4 5 6 Ground to 100 Q WE or less TH a 4 Resistor T eae E alis X 937 ALM 24 VDC 036 ALMCOM 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 A 24 VDC BKIR 110 PE VDC 3 There is no polarity on the brakes gt 4 The Regeneration Resistor built in type BKIRCOM 100 2 KN20H ECT shorts B2 and B3 When the amount of regeneration is large remove the connection
338. en an error is detected paganta Overspeed Detection If the motor speed exceeds the set value during an 3615 hex Level Setting at immediate stop resulting from an error an page 9 43 Immediate Stop Overspeed 2 Error Error No 26 1 will occur 12 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 3 Errors g Immediate Stop Operation Speed r min Motor speed Speed deemed Overspeed Detection Level Setting at Immediate Stop 3615 hex to protect again runaway for immediate stops as stop 30 r min Time Error No error Error occurs for immediate stop Torque limit Normal torque limit Normal torque limit Immediate Stop Torque 3511 hex measure to reduce shock for immediate stops sla Normal operation Normal operation threshold Normal operation Immediate Error state Operation after stopping Command from the Host stop operation Dynamic brake free Immediate stop time l P H Precautions for Correct Use To prevent operation from running out of control for an immediate stop set the allowable Overspeed Detection Level Setting at Immediate Stop 3615 hex An Overspeed 2 Error Error No 26 1 does not support immediate stopping If it occurs an error trip will occur immediately Set a higher value for the Overspeed Detection Level Setting at Immediate Stop 3615 hex than for the Overspeed Detection Level Setting
339. enance 12 1 Troubleshooting 12 3 Replacing the Servo Drive 1 Take a record of all object settings Use the CX Drive or other software and take a record of the settings of all objects Replace the Servo Drive Set the objects Use the CX Drive or other software and set all of the objects Set up the absolute encoder If a motor with an absolute encoder is used the absolute value data in the absolute encoder is cleared when the Servo Drive is replaced so setup is again required The multi rotation data will be different from before it was replaced so initialize the Motion Control Unit settings For details refer to Absolute Encoder Setup on page 10 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 2 Warnings 12 2 Warnings This function outputs a warning signal and notifies state such as an overload before an error occurs Set whether to hold warning state by setting the Warning Hold Selection 3759 hex If not holding warnings is selected a warning will be cleared automatically when the cause of the warning has been eliminated If holding warnings is selected the normal procedure to clear errors must be performed after removing the cause of the error Battery warnings however are held in the encoder The error will be cleared once the hold state has been cleared in the encoder Related Objects Index Warning Output Selection 1 3440 hex
340. encoder connection cable is connected but a communications data error occurred Bit O of the external encoder error code ALMC was set to 1 Refer to the external encoder specifications Bit 1 of the external encoder error code ALMC was set to 1 Refer to the external encoder specifications Bit 2 of the external encoder error code ALMC was set to 1 Refer to the external encoder specifications Bit 3 of the external encoder error code ALMC was set to 1 Refer to the external encoder specifications Bit 4 of the external encoder error code ALMC was set to 1 Refer to the external encoder specifications Bit 5 of the external encoder error code ALMC was set to 1 Refer to the external encoder specifications An error such as broken wiring was detected in the external encoder phase A connection An error such as broken wiring was detected in the external encoder phase B connection An error such as broken wiring was detected in the external encoder phase Z connection 12 4 Troubleshooting Measures Replace the Servomotor Wire the external encoder correctly as shown in the connection diagram Correct the connector pin connections e Provide the required external encoder power supply voltage 5 VDC 5 4 75 to 5 25 V Be careful especially when the external encoder connection cable is long If the Servomotor cable and the external encoder connection cable are bundled together s
341. encoders for each output type are given in the following table Set value of External encoder Corresponding external encoder Maximum input 3323 hex type examples frequency Encoder with 90 External encoder with phase AB outputs 0 to 4 Mpps After x4 0 phase difference output a Incrementalencoder Sony Manufacturing Systems O to 400 Mpps 1 with serial Corporation communications 2 SR75 SR85 Absolute encoder Mitutoyo Corporation 0 to 400 Mpps with serial AT573 ST771A ST773A 2 communications 2 Sony Manufacturing Systems Corporation SR77 SR87 1 These are the feedback speeds from the external encoder at which Servo Drive can respond Check the external encoder operation manual for its maximum output frequency OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 14 SUOI OUN J 01 U04D dISeg Basic Control Functions 6 5 Fully closed Control 2 These are the directions in which the Servo Drive counts the pulses from an external encoder with a 90 phase difference outputs Count down direction Count up direction it dt oe e d PEER EXA EXA EXB ooe o o i a ae lt lt lt _ _ _ EXB is 90 ahead of EXA EXB is 90 behind EXA t1 gt 0 25 us t1 gt 0 25 us 12 gt 1 0 us 12 gt 1 0 us 3 For the external encoder connection direction set the direction so that count up occurs when the motor shaft is rotating counterclockwise and count
342. eneration Resistor Connector Specifications CNC B1 External Regeneration Normally B2 and B3 are shorted Do not short B1 and B2 Doing Resistor connection so may result in malfunctioning B3 terminals If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration B2 Resistor between B1 and B2 NC Do not connect OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 18 System Design 4 2 Wiring i R88D KN30H ECT KN50H ECT Terminal Block Specifications L1 L2 L3 L1C L2C Main circuit power supply R88D KNLIH ECT 3 to 5 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit power R88D KNLIH ECT Single phase 200 to 230 VAC 170 to 253 V supply input 50 60 Hz External Regeneration Normally B2 and B3 are shorted Do not short B1 and B2 Doing Resistor connection so may result in malfunctioning If there is high regenerative terminals energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 Do not connect Motor connection These are the output terminals to the Servomotor terminals Be sure to wire them correctly This is the ground terminal Ground to 100 Q or less 4 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications OMNUC G5 series AC Servomotors and Servo Drives Us
343. ensation nor gain setting switching Used for a horizontal axis or others that have no FOCUS om posoning unbalanced load or for a ball screw drive with little friction Used when unbalanced load is present i e with a vertical 3 Vertical axis axis etc NO Used when a vertical axis or other unbalanced load is Friction compensation and present and when friction is large vertical axis Used for a belt driving shaft with large friction Variations in finalizing the positioning are suppressed 5 Load characteristic estimation Used only for estimating load characteristics Detailed customization can be set in the Realtime Customization Autotuning Customization Mode Setting 3632 hex O OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 3 Realtime Autotuning Setting Machine Rigidity 1 Set the Realtime Autotuning Machine Rigidity Setting 3003 hex according to the table below Start from the lower machine rigidity number and check the operation Realtime Autotuning Machine configuration and drive method Machine Rigidity Setting 3003 hex Ball screw direct coupling 12 to 24 Ball screw and timing belt 8 to 20 Timing belt 4 to 16 Gears rack and pinion drive 4 to 16 Other machines with low rigidity 1 to 8 Stacker cranes Perform manual tuning 2 Turn the servo ON and operate the machine with a normal pattern To increase responsiveness increase the
344. eparate them e Connect the shield to FG Refer to the external encoder connection diagram Eliminate the cause of the error and then clear the external encoder error Then temporarily turn OFF the control power supply to reset Check the external encoder phase A connection Check the external encoder phase B connection Check the external encoder phase Z connection 83 Refer to Troubleshooting Errors Related to EtherCcAT Communications on page 12 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 22 sdueUDd UIeW pue HuljooussjqnolL 12 4 Troubleshooting Error No hex Cause Measures Immediate An Immediate Stop STOP signal was Check the Immediate Stop STOP signal Stop Input entered wiring Refer to Troubleshooting Errors Related to EtherCAT Communications on page 12 25 Encoder Data Initialization of internal position data was Provide the required encoder power Restoration not processed correctly in semi closed supply voltage 5 VDC 5 4 75 to 5 25 Error control mode and absolute value mode V Be careful especially when the encode cable is long If the Servomotor cable and the encoder cable are bundled together separate them Connect the shield to FG External Initialization of internal position data was Provide the required external encoder Encoder Data not processed correctly in fully closed power supply voltage 5 VDC 5
345. er s Manual with Built in EtherCAT Communications 4 2 Wiring i R88D KN75H ECT Terminal Block Specifications Left Terminal Block TB1 L1 Main circuit power supply R88D KNLJH ECT 7 5 kW E 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L3 B1 External Regeneration Connect an External Regeneration Resistor between B1 and B2 Resistor connection B2 terminals NC Do not connect Motor connection These are the output terminals to the Servomotor terminals ie Be sure to wire them correctly Terminal Block Specifications Right Terminal Block TB2 L1C Control circuit power R88D KNLIH ECT DC supply input Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz DB1 Dynamic Brake Resistor These terminals are used to control the MC for externally control terminals connected dynamic brake resistance The output contact DB2 specifications are 1 A max at 300 VAC 100 VDC max Connect them if required DB3 Normally DB3 and DB4 are shorted When using an externally connected Dynamic Brake Resistor DB4 remove the short bar from between DB3 and DB4 Frame ground This is the ground terminal Ground it to 100 Q or less y Precautions for Correct Use Never connect an External Regeneration Resistor between the B1 and NC terminals 4 20 ubisag wia jsAs System Design 4 2 Wiring i R88D KN150H ECT Terminal Block Specifications Top Terminal Block TB1 LiC L2C DB1 DB2 Control circuit power R8
346. erCAT Communications 3 3 Servomotor Specifications 3 000 r min Servomotors 400 VAC The following graphs show the characteristics with a 3 m standard cable and a 400 VAC input e R88M K75030F C 750 W Power supply voltage N m dropped by 10 Momentary operation range 2 39 2 39 0 1000 2000 3000 4000 5000 r min e R88M K2K030F C 2 kW Power supply voltage N m dropped by 10 20 419 1 s Momentary operation range m 6 37 6 37 0 1000 2000 3000 4000 5000 r min e R88M K5KO30F C 5 kW N m 50 147 7 2800 _47 7 3200 R Power supply voltage dropped Momentary operation range 15 9 159 Continuous operation range 0 1000 2000 3000 4000 5000 r min 25 Note 1 e R88M K1KO30F C 1 kW Power supply voltage dropped by 10 3800 49 55 4200 N m 10 19 55 Momentary operation range s 3 18 3 18 Continuous operation range 0 1000 2000 3000 4000 5000 r min e R88M K3KO030F C 3 kW Power supply voltage dropped by 10 N m 0 1000 2000 3000 4000 5000 r min e R88M K1K530F C 1 5 kW Power supply voltage Ne ony dropped by 10 Momentary operation range 4 77 4 77 Continuous operation range 3 0 1000 2000 3000 4000 5000 r min e R88M K4KO30F C 4 kW Power supply voltage dropped by 10 Momentary operation range s 12 7 12 7 0 100
347. erCAT Communications A 1 CiA402 Drive Profile Modes of Operation OMNUC Gb5 series Servo Drives with built in EtherCAT communications support the following Modes of operation csp Cyclic synchronous position mode csv Cyclic synchronous velocity mode cst Cyclic synchronous torque mode hm Homing mode The operation mode is set in Modes of operation 6060 hex It is also given in Modes of operation display 6061 hex The operation modes supported by the Servo Drive can be checked in Supported drive modes 6502 hex If an unsupported operation mode is specified a Function Setting Error Error 93 4 will occur Communications Cycles and Corresponding Modes of Operation This section describes the Modes of operation that can be used for each combination of communications cycle and PDO mapping set in the RxPDO Semi closed Control Any of 1701 to 1705 hex can be set in the RxPDO when 0 to 5 semi closed control is set for the Control Mode Selection 3001 hex The following table shows the Modes of operation that can be used for each combination of communications cycle and RxPDO Communications RxPDO 1000 csp csv cst hm 2000 csp csv cst hm 4000 csp csv cst hm 1 The communications cycle is set in the controller Refer to the manual of the controller that is connected for the setting procedure 2 The Function Setting Error Error No 93 4 will occur if a setting labeled Not supported is se
348. eration is based on the after stop status regardless of the motor speed 2 Immediate Stop means that the Servomotor stops immediately by using controls while the servo is kept ON The torque command value at this time is restricted by the Immediate Stop Torque 3511 hex 3 When the error is cleared a process which makes the Position demand value follow the Position actual value comes into effect To execute interpolation feeding commands after the servo turns ON reset the command coordinates in the host controller before executing them The motor may move suddenly 2 C D Q Q lt i Precautions for Correct Use Position control is forced into operation during deceleration and after the motor has stopped during servo OFF The internal position command generation process is also forced to stop If an error occurs while the servo is OFF operation will follow the Fault reaction option code 605E hex If the main power supply turns OFF while the servo is OFF the Shutdown option code 605B hex will be followed 605D hex Halt option code Size 2 bytes INT16 PDO map Not possible This object sets the stop method when bit 8 Halt in Controlword 6040 hex is set to 1 during the Homing mode hm Set value Description 1 Profile deceleration 6084 hex 2 Not supported 3 Immediate stop A 47 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA40
349. erefore select no fuse breakers with an operation time of at least 5 seconds at 300 of the rated current ratio General and low speed no fuse breakers are generally suitable Select a no fuse breaker with a rated current greater than the total effective load current of all the motors when multiple Servo Drives are used The rated current of the power supply input for each motor is provided in Main Circuit and Motor Connections P 4 17 Add the current consumption of other controllers and any other components when selecting Inrush Current The following table lists the Servo Drive inrush currents With low speed no fuse breakers an inrush current 10 times the rated current can flow for 0 02 second When the power of multiple Servo Drives are turned ON simultaneously select a no fuse breaker with a 20 ms allowable current that is greater than the total inrush current shown in the following table Inrush current Ao p Servo Drive model Main circuit power Control circuit pow supply er supply IN R88D KNASL ECT IN R88D KNO1L ECT rs R88D KNO2L ECT IN R88D KNO4L ECT R88D KNO1H ECT IN NO CO R88D KNO2H ECT IN NO O R88D KNO4H ECT R88D KNO8H ECT N N 00 R88D KN10H ECT N N 00 R88D KN15H ECT N N CO R88D KN20H ECT NO rs R88D KN30H ECT NO NO IN R88D KNSOH ECT NO N IN a of a a NINNIN o O
350. eries AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications ka Specifications 3 1 Servo Drive Specifications 3 1 Servo Drive Specifications E ANR Select a Servo Drive that matches the Servomotor to be used Refer to Servo Drive and Servomotor Combination Tables on page 2 11 General Specifications Item Specifications Ambient operating 0 to 55 C 90 max with no condensation temperature and operating humidity Storage ambient temperature 20 to 65 C 90 max with no condensation and humidity Operating and storage No corrosive gases atmosphere Vibration resistance 10 to 60 Hz and at an acceleration of 5 88 m s or less Not to be run continuously at a resonance point Insulation resistance Between power supply terminals power terminals and FG terminal 0 5 MQ min at 500 VDC Dielectric strength Between power supply power line terminals and FG terminal 1 500 VAC for 1 min at 50 60 Hz Protective structure Built into panel Machinery EN954 1 Category 3 EN ISO 13849 1 2008 Category 3 PLc d ISO 13849 1 Directive 2006 Category 3 PLc d EN61508 SIL2 EN62061 SIL2 EN61800 5 2 STO IEC61326 3 1 SIL2 UL standards UL 508C CSA standards CSA22 2 No 14 Note 1 The above items reflect individual evaluation testing The results may differ under compound conditions Note 2 Never perform dielectric strength or other megameter tests on the Servo Drive Failure t
351. eriod of 5 years is recommended Upon request OMRON will inspect the Servo Drive and Servomotor and determine if part replacement is required OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 34 s ueUDZjUIeI Y pue KuljooUSss qnol Troubleshooting and Maintenance 12 5 Periodic Maintenance Replacing the Absolute Encoder Battery Replace the Absolute Encoder Backup Battery Unit if it has been used for more than 3 years or if an Absolute Encoder System Down Error Error No 40 has occurred i Replacement Battery Model and Specifications Item Specifications Name Absolute Encoder Backup Battery Unit Model R88A BAT01G Battery model ER6V Toshiba Battery voltage 3 6 V ah 2 000 mA h i Mounting the Backup Battery Unit Mounting the Battery Unit for the First Time Connect the Absolute Encoder Backup Battery Unit to the motor then set up the absolute encoder Refer to Absolute Encoder Setup on page 10 6 After the Absolute Encoder Backup Battery Unit is attached it is recommended that the control power supply be turned ON and OFF once a day to refresh the battery If you do not refresh the battery battery errors may occur due to voltage delay in the battery Replacing the Battery Unit If a battery warning occurs the absolute encoder power supply must be replaced Replace the Battery Unit with the control power supply of the Servo Drive turned ON If the Battery Un
352. erlock output I is not assigned to a general purpose output OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 60 gt xipueddy 2 C D Q Q lt A 1 CiA402 Drive Profile 60FE hex Digital outputs Sub index 0 Number of entries Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Physical outputs 0000 0000 to FFFF Range FFFF hex mf fee Default 0000 0000 hex Attribute Size 4 bytes U32 PDO map Possible Bit mask Sub index 2 0000 0000 to FFFF Range FFFF hex e Default 0000 0000 hex Attribute Size PDOmap PDOmap Not possible The bits in the physical outputs of this object set the outputs of function signals allocated by servo parameters 3400 to 3407 3410 and 3411 hex The bit mask sets masks for the physical outputs Bit Descriptions for Sub index 1 Description Set brake Brake Interlock don t set brake l ae E Output set brake Remote Output 1 soom T 16 on Remote Output 2 17 Gain Switching 24 Speed Loop P PI Control PI control mL P control The gain can be switched when realtime autotuning is disabled and gain 2 is enabled Speed loop P PI control can be switched when realtime autotuning and gain 2 are disabled Set all reserved bits to 0 1 This bit cannot be used for the CJU1W NCLJ8L OMNUC G5 series AC Servomotors and Servo Drives User s Manual wit
353. ernational standard 3 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Characteristics j 3 000 r min Servomotors Model R88M 3 3 Servomotor Specifications 100 VAC Rated rotation speed 3 000 Maximum rotation speed 6 000 Momentary maximum current 1 brake Applicable load inertia ae 30 times the rotor inertia max brake Mechanical Without Radiator plate dimensions oS 100 x 80 x t10 Al 130 x 120 x t12 Al Applicable drives R88D KNO4L ECT Excitation voltage Power consumption a 20 C Current consumption a ee ee Brake specifications Allowable angular g rad s2 acceleration Insulation class Le OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications ieee is a ae ia 24 VDC 10 0 36 1 27 min 50 max 20 max reference value Allowable work per 137 braking Allowable total work 4 9x10 4 9x103 44 1x102 44 1102 30 000 max Speed of 2 800 r min or more must not be changed in less than 10 ms 10 million times min Type B 3 38 suoljeoijineds o e Specifications 3 3 Servomotor Specifications 200 VAC Item Unit K05030T K10030T K20030T Model R88M re Rated torque x Nem 0 64 Rated rotation speed r min 3 000 Maximum rotation speed r min 6 000 Momentary maximum torque Rated current 1 gt Z 3 rms Momentary maximum
354. erse torque limit value PCL ON PCL OFF 7 NCL ON NCL OFF 2 0 1 3013 hex 2 3013 hex 3522 hex 3522 hex 3013 hex 3522 hex 3013 hex 60E0 or 3013 hex 60E1 or 3522 hex 4 5 60E0 Sl 3013 hex 60E1 Cee 3522 hex hex hex 6 3625 hex 60E0 or 3013 3526hex 60E1 or 3522 hex hex T 3013 hex 3525 hex 3522 hex 3526 hex 1 When either the external input signal PCL or NCL or the EtherCAT communications torque control command P CL or N CL is ON 2 When both the external input signal PCL or NCL and the EtherCAT communications torque control command P CL or N CL are OFF 3 The smaller of 60E0 hex or 3013 hex is used 4 The smaller of 60E1 hex or 3522 hex is used KR i Precautions for Correct Use For the torque limit parameters the objects that are specified are different for an R88D KNLILILJ ECT R Servo Drive Refer to the OMNUC G5 AC Servomotors Servo Drives User s Manual Cat No 1573 for details on R88D KNU_ILILI ECT R objects g Torque Limit Settings by Servomotors The torque limit setting range is between 0 and 300 The default setting is 300 This is not the case when a Servo Drive and a Servomotor are used in the following combinations Applicable Maximum torque limit Servomotor R88D KN15 ECT R88M K90010L 1 225 Servo Drive OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 22 suoljoun4 paddy x Applied Functions
355. ervomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 4 SUOI OUN 01 U04 dISeg Basic Control Functions 6 2 Cyclic Synchronous Velocity Mode Related Objects Index j Default hex operation Target velocity Command 2 147 483 647 to a r INT32 Command 2 147 483 648 to 0000 hex Velocity offset 14 409 60B2 hex O0 Torque offset ORW INT16 5 000 to 5 000 0 hex Position actual Command 2 147 483 648 to RW RW RW RW W RW 6041 hex Statusword Velocity actual Command 2 147 483 648 to Ue actual INT16 0 1 5 000 to 5 000 0000 hex Objects Requiring Settings 3312 hex Soft Start Acceleration Set the acceleration time for internally set speed control Set age 9 26 Time the time until 1 000 r min is reached pad 3313 hex Soft Start Deceleration Set the deceleration time for internally set speed control Set age 9 26 Time the time until 1 000 r min is reached kon 3314 hex S curve Acceleration Set the S curve time in the time width centered on the age 9 26 Deceleration Time Setting inflection points for acceleration and deceleration pag Related Functions 6077 hex Set the detection threshold for speed conformity output If the Speed Conformity Detection difference between the speed command and motor speed is ARG Range within the set threshold a speed conformity output is output page aao This setting has a hysteresis of 10 r min for detection Set the detection thres
356. esis width above and below the judgment level set in the Gain Switching Level in Speed Control 3122 hex The unit depends on the setting of the Switching Mode in Speed Control 3120 hex The following shows the definitions for the Gain Switching Delay Time in Speed Control 3121 hex Gain Switching Level in Speed Control 3122 hex and Gain Switching Hysteresis in Speed Control 3123 hex 3122 hex Gain 1 Gain 2 Gain 1 st lt 2121 hex The settings for the Gain Switching Level in Speed Control 3122 hex and the Gain Switching Hysteresis in Speed Control 3123 hex are enabled absolute values positive negative 3124 hex Switching Mode in Torque Control Setting Default Data Size 2 bytes INT16 INT 16 Access Access RW PDO map Not possible Select the switching condition between gain 1 and gain 2 when the Gain Switching Input Operating Mode Selection 3114 hex is set to 1 The gain is always gain 1 regardless of the gain input if the Switching Mode in Torque Control 3124 hex is 2 and the Torque Limit Selection 3521 hex is 3 or 6 9 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 Gain Settings Explanation of Settings Description lee Gain Gain ere hex Switching Switching m e ta set Gain switching conditions Delay Time in Level in y Torque Control value Torque Control 3127 hex 2 3125 hex
357. etection Output ZSP c eee 3 26 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Authorized Distributor
358. etting 3215 hex 0 9 23 Damping Filter 2 Setting 3217 hex 00 9 23 Damping Filter 3 Setting 3219 hex 0 9 24 Damping Filter 4 Setting 3221 hex 0 9 24 Damping Filter Selection 3213 hex 06 9 22 Damping Frequency 1 3214 hex ccceeeeeaes 9 23 Damping Frequency 2 3216 hex cccceeeeees 9 23 Damping Frequency 3 3218 hex cccceeeeaes 9 23 Damping Frequency 4 3220 hex cececeeeeees 9 24 Notch 1 Depth Setting 3203 hex cece 9 20 Notch 1 Frequency Setting 8201 hex 9 20 Notch 1 Width Setting 3202 hex cceeeeee 9 20 Notch 2 Depth Setting 3206 hex ceeeeee 9 21 Notch 2 Frequency Setting 8204 hex 9 21 Notch 2 Width Setting 3205 hex ccceeeeee 9 21 Notch 3 Depth Setting 3209 hex eee 9 21 Notch 3 Frequency Setting 8207 hex 9 21 Notch 3 Width Setting 3208 hex ceeeeee 9 21 Notch 4 Depth Setting 3212 hex cece 9 22 Notch 4 Frequency Setting 8210 hex 9 22 Notch 4 Width Setting 3211 hex ceeeeee 9 22 Position Command Filter Time Constant 9222 MEX aeia seven ied abuts a e 9 25 W Warning WS teeiiervedeteesvis rec sun neues te rE aE 12 5 Warning Outputs WARN1 and WARNZ2 0 3 27 wiring conforming to EMC Directives 0ce 4 30 Z Zero Speed D
359. etting 0 to 10000 Unit Default Data range setting attribute Size 2 bytes INT16 ee f PDO map Not possible Set the time required for the Servomotor to be de energized servo free after the brake interlock output BKIR turns OFF i e brake held when servo OFF status is entered while the Servomotor is stopped When the servo is turned OFF while the Servomotor is stopped the brake interlock output BKIR turns ON and the servo is de energized after waiting for the set time set value x ms Servo ON OFF D to 6 ms Brake interlock Released Held BKIR Actual brake Released ey Held Power No power Motor power supply supply is supplied 3437 hex IJt _Pr Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay time in the brake operation tb Brake timing when stopped set value x 1 ms tb For the operation time refer to 7 5 Brake Interlock on page 7 13 3438 hex Brake Timing During Operation Setting 0 to 10000 Unit Default Data range setting attribute Size 2 bytes INT16 eg OS PDO map Not possible Set the required time for the Brake Interlock Output BKIR to turn OFF after the operation command RUN is detected to be OFF when servo OFF status is entered while the Servomotor is operating When the servo is turned OFF while the Servomotor is operating the motor decelerates to reduce rotation speed and the brake inte
360. evel setting is 1 2 times the maximum motor rotation speed if this object is set to 0 This object should normally be set to 0 The setting should be changed only when it is necessary to lower the overspeed detection level Refer to Immediate Stop Operation on page 12 12 in 12 3 Errors on page 12 7 Power Supply ON Initialization Time Default Data 2 bytes INT16 Access Access RW PDO map Not possible Set the initialization time after turning ON the power supply to the standard 1 5 seconds plus the specified value Refer to the Control Output Sequence in 3 1 Servo Drive Specifications on page 3 1 for the details at power ON OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects 3623 hex Disturbance Torque Compensation Gain csp semi semi Setting Default Data Size 2 bytes INT16 ie a PDO map Not possible Set the compensation gain for the disturbance torque Refer to 11 8 Disturbance Observer Function on page 11 24 3624 hex Disturbance Observer Filter Setting csp semi semi Setting 10 to 2500 Unit 0 01 ms Default Data range setting attribute Size 2 bytes INT 16 Access RW PDO map PDO map map Not possible Set the filter time constant for disturbance torque compensation Refer to 11 8 Disturbance Observer Function on page 11 24 3631 hex Realtime Autotuning Estimated Speed Selection Setting Default
361. ex External Latch Input 1 EXT1 Setting not available External Latch Input 2 EXT2 Setting not available External Latch Input 3 EXT3 Setting not available CL Forward External Torque Limit p 2C hex AC hex Input Monitor Input 0 MONO AE hex Monitor Input 1 MON AF hex Monitor Input 2 MON2 BO hex i Precautions for Correct Use Do not use any settings other than the settings listed Do not allocate the same function to more than one input signal If you allocate the same function to more than one input signal and Interface Input Duplicate Allocation Error 1 Error No 33 0 or Interface Input Duplicate Allocation Error 2 Error No 33 1 will occur The External Latch Inputs 1 2 and 3 EXT1 EXT2 and EXT3 can be allocated only to IN5 to IN7 If you allocate them to any other inputs an External Latch Input Allocation Error Error No 33 8 will occur If you use the External Latch Input 1 2 or 3 EXT1 EXT2 or EXT3 you must set it for all control modes Otherwise an External Latch Input Allocation Error Error No 33 8 will occur The External Latch Inputs 1 2 and 3 EXT1 EXT2 and EXT3 can be set only to NO normally open contacts The control input pins that are disabled do not affect the operation The functions that are used by more than one control mode such as Immediate Stop Input and Origin Proximity Input must be allocated to the same pin in the same logic If they are allocated to different p
362. ex Adaptive Filter Selection Setting Default Data Size 2 bytes INT16 Access RW PDO map Not possible Set the operation of the adaptive filter Refer to 11 6 Adaptive Filter on page 11 18 Explanation of Set Values ae Description 0 Adaptive filter disabled 1 One adaptive filter is enabled The objects related to notch filter 3 are automatically updated 2 Two adaptive filters are enabled The objects related to notch filters 3 and 4 are updated 3 For use by manufacturer Do not use this setting Adaptive result is cleared Objects related to notch filters 3 and 4 are disabled and the j adaptive result is cleared 3201 hex Notch 1 Frequency Setting Setting 50 to 5000 Unit Default 5000 Data range setting attribute Size 2 bytes INT16 Access Access RW PDO map Not possible Set the frequency of resonance suppression notch filter 1 The notch filter function is disabled if this object is set to 5000 Refer to 11 7 Notch Filters on page 11 21 3202 hex Notch 1 Width Setting Setting Default Data Size 2 bytes INT16 Access RW PDO map Not possible Set the width of resonance suppression notch filter 1 to one of 20 levels Increasing the setting value widens the notch width Normally use the default set value Refer to 11 7 Notch Filters on page 11 21 3203 hex Notch 1 Depth Setting Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO map map Not poss
363. ex External Torque Limit 2 Seung 0 to 5000 Unit 0 1 Petal 5000 ae B range setting attribute Size 2 bytes INT16 PDO map Not possible 1 It is limited by the maximum torque of the connected motor Set the limit value for the output torque 3013 hex External Torque Limit 1 3522 hex External Torque Limit 2 of the motor Refer to information on the Torque Limit Selection 3521 hex to select the torque limits During torque control maximum torques for both forward and reverse directions are limited Settings in Torque Limit Selection 3521 hex and External Torque Limit 2 3522 hex is ignored Make the settings as a percentage of the rated torque Example Maximum torque is limited to 150 Torque 300 maximum When 3013 or 3522 hex 150 200 100 rated Speed 100 rated maximum 200 300 Refer to 7 7 Torque Limit Switching on page 7 21 for more information on torque limits and the torque limit selection 3525 hex Forward External Torque Limit een 0 to 5000 Unit 0 1 Deraut Sooo ae B range setting attribute Size 2 bytes INT16 PDO map Not possible 1 It is limited by the maximum torque of the connected motor Set the forward external torque limit for the torque limit switching input This object is set in units of 0 1 of the rated torque 3526 hex Reverse External Torque Limit Setting 0 to 5000 Unit 0 1 Default 5000 Data B range setting attribute Size 2 b
364. ex Reverse Direction Torque Offset OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Set the unbalanced load compensation value that is always added to the internal torque command in page 9 47 the control mode other than torque control Set the dynamic friction compensation value that is added to the internal torque command when a forward position command is input for position page azm control or fully closed control Set the dynamic friction compensation value that is added to the internal torque command when a page 9 47 reverse position command is input for position control or fully closed control 11 26 suoljoun u wzsnfpy Adjustment Functions 11 9 Friction Torque Compensation Function Operation Example 11 27 The friction torque compensation is applied in the input direction of the position command as shown in the drawing below Command speed Forward 3608 hex Forward Direction 3607 hex _ Torque Offset 3609 hex Torque command Reverse Direction value offset AN fo Torque Offset oo i Reverse Motor Motor de energized Motor power supply de energized The Torque Command Value Offset 3607 hex reduces the variations of positioning operations due to the movement directions when a certain amount of unbalanced load torque is always applied to the motor at the vertical axis by setting the torque command B
365. fault 002B 2B2B Data range setting hex attribute Size 4 bytes INT32 PDO map Not possible Set the function and logic for general purpose input 5 IN5 Refer to the Details of Control Inputs in Control Input Details on page 3 21 as well as 7 1 Sequence I O Signals on page 7 1 3405 hex Input Signal Selection 6 Setting 0 to OOFF EFFE hex Unit Default 0021 2121 Data c range setting hex attribute Size 4 bytes INT32 PDO map Not possible Set the function and logic for general purpose input 6 IN6 Refer to the Details of Control Inputs in Control Input Details on page 3 21 as well as 7 1 9 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 5 Interface Monitor Setti Sequence I O Signals on page 7 1 3406 hex Input Signal Selection 7 ngs Setting 0 to OOFE FFFF hex Unit Default 0020 2020 Data c range setting hex attribute Size 4 bytes INT32 PDO map Not possible Set the function and logic for general purpose input 7 IN7 Refer to the Details of Control Inputs in Control Input Details on page 3 21 as well as 7 1 Sequence I O Signals on page 7 1 3407 hex Input Signal Selection 8 Setting 0 to OOFE FFFF hex Unit Default 002E 2E2E Data range setting hex attribute Size 4 bytes INT32 Access RW PDO map Not possib Set the function and logic for general purpose input 8 IN8 le Refer to the Details of Control Inputs in Contro
366. frequency dividing ratio and multiplication ratio of the command pulse If overshooting occurred due to faulty gain adjustment adjust the gain Wire the encoder as shown in the wiring diagram Check to see if the multi rotation counter for the absolute encoder was cleared during USB communications by the CX Drive Note This operation is performed for safety and is not an error e Check to see if the position command variation is large e Check the electronic gear ratio e Check to see if the backlash compensation amount is too large Check to see if the electronic gear ratio and the acceleration and deceleration rates meet the restrictions Check to see if EtherCAT communications is established or the servo is turned ON enable operation while an FFT or a trial run was being conducted Check to see if Config operation was performed or the multi rotation counter was cleared for the absolute encoder during EtherCAT communications Note This operation is performed for safety and is not an error 12 18 ueu zuiewN pue Bul OoOUSa qnol Troubleshooting and Maintenance 12 4 Troubleshooting Error No hex Error Counter Overflow 1 ABS 29 Error Counter Overflow 2 Cause Measures The value that is obtained by dividing the Review the operation range of the absolute encoder position in pulses by absolute external encoder position and the electronic gear ratio exceeded 231 the electron
367. from the master Reset the error from the CX Drive connected to the PLC and from the ladder diagram The error cannot be reset from the CX Drive via USB communications Note 1 If an error that cannot be reset occurs remove the error factor and turn OFF the control power to reset the error 2 If aresettable error occurs reset the error via EtherCAT communications or on the CX Drive 3 If hh FF or HH is displayed as the error number the internal MPU has malfunctioned Turn OFF the power immediately if one of these error numbers is displayed OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 10 sdueUDd UIeW pue HuljooussjqnolL Troubleshooting and Maintenance 12 3 Errors Immediate Stop Operation at Errors The immediate stop function controls the motor and stop it immediately if an error that supports for immediate stopping occurs i Related Objects Index Name Explanation Reference 605E hex Fault reaction option Set the state during deceleration and after stopping page A 48 code for when an error occurs 3511 hex Immediate Stop Torque Set the torque limit for immediate stops page 9 42 3513 hex Overspeed Detection If the motor rotation speed exceeds the set value an ade 9 43 Level Setting Overspeed Error Error No 26 0 will occur pag Error Detection Set the allowable time until stopping if an immediate oor lex Allowable Time Setting stop is executed wh
368. g a multi rotation data via USB H Precautions for Correct Use This function is not intended to protect against incorrect position commands When this function works the Servomotor decelerates and stops according to the Fault reaction option code 605E hex Take this deceleration operation into account when you set the Overrun Limit Setting 8514 hex Otherwise the load during deceleration may hit and cause damage to the machine edges The overrun limit function is disabled for FFT analysis from the CX Drive Objects Requiring Settings 3514 hex Overrun Limit Setting Sets the Servomotor s allowable operating range for page 9 43 the position command input range 7 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 3 Overrun Protection Operation Example i No Position Command Input Servo ON No position command is entered The Servomotor s allowable operating range is the range set in object 3514 hex on both the right and left An overrun limit error will occur Error No 34 0 if the load enters the error range or the shaded area in the drawing below due to vibration Yj Vp Servomotor Le Load VASLLLLIILILILILILTITITILLITILLLLL TTA 3014 hex Error range Servomotor s allowable Error No 34 0 operating range Error range Error No 34 0 gt lt i Right Side Operation Servo ON When a rightward position command is entered the Servomoto
369. g is 115 lf 115 or higher is set a value of 115 will be used This object is set as a percentage of the rated torque s 09f qo 10 9WeJeg OAIBS UO Sj1e q OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 42 Details on Servo Parameter Objects 9 6 Extended Objects 3513 hex Setting range Size 3514 hex Setting range Size 3515 hex Setting range Size Overspeed Detection Level Setting 0 to 20000 Unit r min Prau ae setting attribute 2 bytes INT16 Access RW PDO map Not possible Set the overspeed detection level The overspeed detection level setting is 1 2 times the maximum motor rotation speed if this object is set to 0 This object should normally be set to 0 The setting should be changed only when it is necessary to lower the overspeed detection level The set value of this object is limited to 1 2 times the maximum motor rotation speed The detection margin of error for the set value is 3 r min for a 5 core absolute encoder and 36 r min for a 5 core incremental encoder Overrun Limit Setting 0 to 1000 Unit 0 1 rotation ea ee setting attribute 2 bytes INT16 Access RW PDO map Not possible Set the allowable operating range for the position command input range lf the set value is exceeded and Overrun Limit Error Error No 34 0 will occur Refer to 7 3 Overrun Protection on page 7 9 Control I
370. h Built in EtherCAT Communications A 1 CiA402 Drive Profile 1C32 hex SM2 synchronization All Sub index 0 Number of synchronization parameters Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Synchronization type Size 2 bytes U16 Access RO PDO map Not possible Sub index 2 Cycle time Range pf Unit Pins Default 0000 0000 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 Synchronization types supported Size 2 bytes U16 Access RO PDO map Not possible Sub index 5 Minimum cycle time Range Pf Unit Pins Default 0003 2C8 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 6 Calc and copy time Range Pf Unit Pins Default 0007 A120 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 9 Delay time Range PY Unit ns Default 0000 0000 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 32 Sync error Size 1 bit BOOL Access RO PDO map Not possible The Synchronization type indicates the synchronization mode of Sync Manager 2 0002 hex DC mode 0 The Cycle time indicates the sync 0 event cycle in nanoseconds The Synchronization types supported indicates the types of synchronization supported 0004 hex DC mode 0 The Sync error is 1 when there is a synchronization error xipueddy OMNUC G5 series AC Servomotors and Servo Drives
371. h Built in EtherCAT Communications A 1 CiA402 Drive Profile Bit Descriptions for Sub index 2 Set brake Mask Brake Interlock pO Set brake disable output 0 Output Mask BKIR Set brake enable output Remote Output 1 Mask R OUT1 disable output 16 R OUT1 EEA R OUT1 enable output Remote Output 2 Mask R OUT2 disable output 17 R OUT2 T a R OUT2 enable output Gain Switching Mask Switch setting disable 7 ean e Switch setting enable s fena o ee Speed Loop P PI Control Mask Switch setting disable m ke Switch setting enable gt oO D m Q 60FF hex Target velocity x lt 2147483647 to Command Size 4 bytes INT32 Access RO PDOmap PDOmap map Possible Set the command speed for the Cyclic synchronous velocity 6402 hex Motor type All Size 2 bytes U16 Access RO PDO map Not possible This object indicates the type of motor that is connected It is always 3 PM synchronous motor for OMNUC G5 series Servo Drives OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 62 A 1 CiA402 Drive Profile 6502 hex Supported drive modes All Size 4 bytes U32 Access RO PDO map Not possible This object indicates the supported operation modes Bit Descriptions 1 vl Velocity mode 0 Not supported 5 hm Homing mode 1 Supported 6 ip Interpolated position mode 0 Not supported T 7 csp Cyclic synchronous
372. haft end specifications with key and tap Encoder 130x130 connector 45 1 to 2 kW 55 3 kW g 41 1 to 2 kW g ee A 51 3 kW 5S i M3 th o5 through SEE S lt 8h9 28 a T KN J 4 SEX a Ol Nn ase eos 1S i a 2 ii J ones A ci A eS M5 depth 12 1 0 to 2 0 kW rrr QS A eo TO WZ 00 o Dimensions mm R88M K1K0200 138 55 9 22 je 116 R88M K1K5200 133 5 R88M K2K0200 173 151 R88M K3K0200 208 186 R88M K1K0200 BC 163 141 R88M K1K5200 BC 158 5 R88M K2K0200 BC 176 R88M K3K0200 BC 233 211 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 54 SUOISUBWIG eU1e xXq pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions 4 kW 5 kW without Brake R88M K4K020F S2 K5K020F S2 Te R88M K4K020C S2 K5K020C S2 WES 4 kW 5 kW with Brake R88M K4K020F B S2 K5KO20F B S2 ITs R88M K4K020C B S2 K5K020C B S2 NES Motor and brake connector Encoder connector x 1762176 Shaft end specifications with key and tap R88M K4K0200 177 133 96 155 R88M K5K02001 196 152 115 174 R88M K4K02
373. he analog voltage waveform with the monitor function Analog Monitor Output The feedback motor speed internal command motor speed command torque and position error can be measured as an analog voltage level using an oscilloscope or other device The type of signal to output and the output voltage level are set with Analog Monitor 1 Selection 3416 hex and Analog Monitor 2 Selection 3418 hex settings For details refer to 11 1 Analog Monitor on page 11 1 Adjustment Functions CX Drive Data Tracing Function Commands to the motor and motor operation speed command torque and position error can be displayed on a computer as waveforms Refer to the CX Drive Operation Manual Cat No W453 USB communications cable 4 Connect to CN7 11 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 4 Manual Tuning i Position Control Fully closed Control Mode Adjustment Use the following procedure to perform the adjustment in position control for the Servo Drive Start adjustment Never adjust or set parameters to extreme values l as it will make the operation unstable PISANE EAMG AMOINA ae EOT Failure to follow this guideline may result in injury Set each parameter according to the parameter settings for different applications Operate based on the normal operation pattern and load Gradually change the value to adjust the gain while checking the motor operati
374. he condition for switching between Gain 1 and Gain 2 Position Control Gain Switching Delay Set the delay time for switching from the Gain 2 to Gain 1 orewen Time in Position Control Unit 0 1 ms pager Gain Switching Level in Set the judgment level for switching between the Gain 1 and 3117 hex Se l Position Control Gain 2 3115 hex page 9 12 page 9 14 Gain Switching Hysteresis Set the hysteresis width to be used for the judgment level in Position Control set in Gain Switching Level 3117 hex 3119 hex Position Gain Switching Set the ime to change from one position gain to the other page 9 14 Time one Unit 0 1 ms Speed Control Mode 3120 hex Sask Mode in Speed Set the condition for switching between gain 1 and gain 2 page 9 15 3121 hex Gain Switching Delay Set the time to return from the gain 2 to gain 1 Time in Speed Control Unit 0 1 ms 3122 hex Gain Switching Level in Set the judgment level for switching between the gain 1 and page 9 17 Speed Control gain 2 3123 hex Gain Switching Hysteresis Set the hysteresis width to be provided in the judgment level ade 9 17 in Speed Control set in Gain Switching Level in Speed Control 3122 hex pag Torque Control Mode 3124 hex aes Mode in Torque Set the condition for switching between gain 1 and gain 2 page 9 17 Gain Switching Delay Set the time to return from the gain 2 to gain 1 3125 hex Time in Torque Control Unit 0 1 ms 3126 hex Gain Switching Level in
375. he products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products e Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 Read and Understand this Manual Disclaimers
376. he regeneration processing circuit operates but Regeneration Overload Error Error No 18 do not occur Regeneration Resistor used None 3 The regeneration processing circuit and Regeneration Overload Error Error No 18 do not operate and all regenerative energy is processed by the built in capacitor H Precautions for Correct Use Do not touch the External Regeneration Resistor A burn injury may result Always provide a temperature fuse or other protective measure when using an External Regeneration Resistor Regardless of whether the regeneration overload error is enabled or disabled the Regeneration Resistor can generate heat and may cause burning To use the Built in Regeneration Resistor always set this object to 0 3017 hex External Regeneration Resistor Setting Setting Default Data Size 2 bytes INT16 Access RW PDO map Not possible Select the method to calculate the regeneration resistance load ratio when the External Resistor is selected in the Regeneration Resistor Selection 3016 hex 1 or 2 9 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 1 Basic Settings Explanation of Set Values Set value 0 Bi Oj N Description Regeneration load ratio is 100 when operating rate of the External Regeneration Resistor is 10 Reserved Reserved Reserved Reserved OMNUC G5 series AC Servomotors and Servo Drives User s Manual
377. herCAT Communications 7 6 suoijoun4 paddy x Applied Functions 7 2 Forward and Reverse Drive Prohibition Functions i Drive Prohibition Input Selection 3504 Hex Set the operation of the Forward Drive Prohibition Input POT and the Reverse Drive Prohibition Input NOT Install limit switches at both ends of the axis to prohibit the Servomotor from driving in the direction specified by the switch This can be used to prevent the workpiece from driving too far and thus prevent damage to the machine Set the operation to be performed upon forward and reverse drive prohibition input Drive Prohibitio n Input Explanation Selection 3504 hex Forward drive prohibition input and reverse drive prohibition input enabled The operation when a signal is input is as follows Forward drive prohibition input closed Forward limit switch not operating and status normal Forward drive prohibition input open Forward direction prohibited and reverse direction permitted 0 Reverse drive prohibition input closed Reverse limit switch not operating and status normal Reverse drive prohibition input open Reverse direction prohibited and forward direction permitted The Servomotor decelerates and stops according to the sequence set in Stop Selection for Drive Prohibition Input 3505 hex If the forward and the reverse prohibition inputs are both open a Drive Prohibition Input Error 1 Error No 38 0 will occur because it is taken that Servo Drive i
378. hex Refer to 11 7 Notch Filters on page 11 21 for information on notch filter NA ALAM pii After vibration Motor speed suppression Mi i Jig iiai Adaptive filter effect Adaptive filter disabled l l Filter frequency setting completed Position and speed command Position Adaptive Torque command Current loop speed control filter control Resonance frequency estimation Speed feedback Load inertia estimation Realtime autotuning OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 18 suoioun4 juswjsnipy Adjustment Functions 11 6 Adaptive Filter Objects Requiring Settings Set the number of resonance frequencies to be estimated by the adaptive filter and the operation to be performed after estimation 0 Adaptive filter disabled 1 One adaptive filter enabled The objects related to notch Adaptive Filter filter 3 are automatically updated Selection 2 Two adaptive filters enabled The objects related to notch filters 3 and 4 are automatically updated 3 For use by manufacturer Do not use this setting 4 Adaptive result is cleared Objects related to notch filters 3 and 4 are disabled and the adaptive result is cleared 3200 hex page 9 20 i Precautions for Correct Use Adaptive filter may not operate correctly under the following conditions Item Conditions that interfere with the adaptive filter e If
379. hex differ from the normal case Refer to Figure D PO tre A ire i FiaureB Figure A Speed V Figure B ly H ee Gain1 Gain 2 Gain Torque T B Actual speed N Gain 1 Gain 2 Gain 1 Gain 2 only for the speed loop integral time constant Gain 1 for all others 3121 hex Gain Switching Delay Time in Speed Control g D mrb D n O 5 O D lt O U o o 3 D r O Zz O r on meld 0 to 10000 Unit 0 1 ms oa aa B range setting attribute Size 2 bytes INT16 PDO map Not possible Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Speed Control 3120 hex is set to 3 to 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 16 Details on Servo Parameter Objects 9 2 Gain Settings 3122 hex Gain Switching Level in Speed Control Setting 0 to 20000 Unit Default Data range setting attribute Size 2 bytes INT16 Access Access RW PDO map Not possible In Speed Control Mode this is enabled when the Switching Mode in Speed Control 3120 hex is set to 3 to 5 Set the judgment level for switching between gain 1 and gain 2 The unit depends on the Switching Mode in Speed Control 3120 hex 3123 hex Gain Switching Hysteresis in Speed Control Setting Default Data Size 2 bytes INT16 INT 16 Access Access RW PDO map Not possible Set the hyster
380. hex is ignored and the gain is switched immediately OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 34 suoljoun4 paddy x Bi Applied Functions 7 10 Gain Switching 3 Function 7 10 Gain Switching 3 Function This function adds a new setting gain 3 to the gain switching function of the Gain Switching Input Operating Mode Selection 3114 hex It switches the gain right before a stop The positioning time can be reduced by keeping the gain immediately before the stop at a higher level for a certain period of time Operating Conditions You can use the gain 3 switching function in the following situations for position control or fully closed control Conditions Operating mode Position Control Mode or Fully closed Control Mode Servo ON state Others The factors other than control parameters must be set correctly This includes the torque limit The motor must operate normally without any failures Objects Requiring Settings Index Name Explanation Reference 3605 hex Gain 3 Effective Time Set effective time of gain 3 page 9 47 3606 hex Gain 3 Ratio Setting Set gain 3 as a multiple of gain 1 page 9 47 7 35 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 10 Gain Switching 3 Function Operation Example When the conventional gain switching function works correctly set the time to use Gain 3 in Ga
381. hine Rigidity Setting 3009 NBX aaan a e a E 9 3 Realtime Autotuning Mode Selection 3002 hex 9 2 Regeneration Resistor Selection 3016 hex 9 5 Rotation Direction Switching 3000 hex 9 1 Brake Cable Connector cccecceeeeeeeeeseeeeeeneaes 3 75 brake cables European flexible cables 2 15 brake cables global flexible cables 00e00 2 20 brake cables global non flexible cables 2 17 Drake MGnlOCK zenera apelin ectalata ee a Aa 7 13 Brake Interlock Output BKIR ceeeeee eee eee ees 3 25 brake power supply cccceceeeeeeeeeeeeeeeeeeeeeeneaes 4 41 C CAN application protocol over EtherCAT 5 3 ClaIMP CONG ttt tel ied E a a aa dates 4 42 COMMUNICATION ODjECtS cccceeee eee eee eeeeeeeeeeeaes A 19 Backup parameter mode 10FO hex 08 A 24 Device type 1000 hex cece ceeeeeeseeseeeeeees A 19 Diagnosis history 10F3 Nex cceeeeeee nena A 24 Error register 1001 hex cccceeceeeeeeeeesenaes A 20 Identity object 1018 Nex eee eeeeee eee nena A 23 Manufacturer device name 1008 hex A 20 Manufacturer hardware version 1009 hex A 20 Manufacturer software version 100A hex A 21 Restore default parameters 1011 hex A 22 Store parameters 1010 NexX ceeeeee eee eee A 21 COMICON i erea Yalsat ven aa a a a enews 9 35
382. hold for speed reached output A 3436 hex Rotation Speed for Motor speed reached output is output when the motor speed page 9 36 Rotation Detection exceeds the set value This setting has a hysteresis of 10 r min for detection 6 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 2 Cyclic Synchronous Velocity Mode Block Diagram for Speed Control Mode The following block diagram is for speed control using an R88D KNLIL_ILI ECT series Servo Drive Gain Switching eee teens Setting 2 3114 60B2hex lee Torque offset 0 1 n Delay Time 3121 Beebe al Level 12 Hysteresis 13123 60B1 hex Velocity offset TEIN Sig Torque feed compensation E aluaiaiey unis amp Merete forward Offset Value 3607 nN Effort r min Forward 3608 l Negative 3609 Friction ermmm ee DS ie target elect ii Speed Control Notch Filter aa Bes aa Acceleration Limits Linear Imegra Frequency Width Depth a B Acceleration Time 13312 e gt Deceleration ime 13313 eee ao teat S curve 3314 Velocity actual a value eee Speed Detection Filter command units Observer Filter I OSs Shas Tine Conant 8103 i Position actual nA Speed Feedback Filter P E i internal value i Time Constant 2 os 6064 hex OS can OO it Position actual value Le Disturbance Torque l ee Ss I i i fF Moor very Gan Beza 1 S104
383. hose in the table below are not supplied They must be prepared by the customer e If any item is missing or a problem is found such as Servo Drive damage contact the OMRON dealer or sales office where you purchased your product Connector for main Connector for External circuit power supply Regeneration Resistor Specifications terminals and control connection terminals and pale Bass Mounting connector Brackets circuit power supply Motor connection terminals terminals gt S 2 Z oO z z O1 lt Single 100 W phase 100 VAC 200 W 100 W Included Single phase 3 400 phase 750 200 VAC Included Included Included p 3 phase 400 VAC Included 7 5k 15 kW 12 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 phase 200 VAC Or Wy N 3 8 Sl al a Ol x 2 s w v oa Onl 2 O1 EB Revision History Revision History The manual revision code is a number appended to the end of the catalog number found in the bottom left hand corner of the front or back cover Example Cat No 1576 E1 01 ft Revision code Revision code 01 January 2011 Original production Revision Date Revised content OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 13 Structure of This Document Structure of This Document This manual co
384. hus you may not be able to set a high gain The notch filter can restrict the resonance peak and allows a high gain setting and vibration reduction The OMNUC G5 series Servo Drives provide four notch filters that can be used for adjusting frequency width and depth If a ball screw or other controlled device causes resonance at a specific location you can set the resonance frequency using a notch filter to eliminate resonance A notch filter is used to eliminate a specified frequency component Odb 3db Depth Fc fw Frequency Hz gt Cut off frequency Fc If machine resonance occurs use this notch filter to eliminate resonance l Machine resonance A y Characteristics Notch filter after filtering Notch filter 1 Notch filter 2 11 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 7 Notch Filters Objects Requiring Settings Notch 1 Freauenc Set the center frequency of notch filter 1 3201 hex q Y The notch filter is enabled at 50 to 4 999 Hz and disabled page 9 20 Setting l l if 5 000 Hz is set l Select the width of the notch filter 1 frequency 3202 hex A Aii Increasing the value widens the notch width page 9 20 g Setting range 0 to 20 Select the depth of the notch filter 1 center frequency Notch 1 Depth Increasing the value decreases the notch depth and 3203 hex l P thereby reduces the phase delay The notch filter is page 9 20 Setti
385. ia Pe 10 times the rotor inertia max 5 times the rotor inertia max Torque constant i Ne NemA 0 59 59 0 70 70 0 70 70 0 77 77 0 92 92 1 05 F OWE rate Without 4 o COEN 1 a brake With brake brake kws 144 5 5 aie o aie time brake ees Cd a a a 0 74 Electrical time constant m pe e p h p f Allowable thrust load ee Without brake E oo a a Approx 11 0 15 5 18 6 36 4 52 70 2 With brake Approx Approx Approx Approx Approx Approx 12 6 18 7 21 8 40 4 58 9 76 3 Radiator plate dimensions 380 x 350 470 x 440 x t30 Al 550 x 520 670 x 630 x t35 Al material x t30 Al x t30 Al Applicable Servo Drives R88D KN30H KN50H KN50H KN75H KN150H KN150H ECT ECT ECT ECT ECT ECT 3 49 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 200 VAC E EEEE EE ERAT Item Unit K3K020T K4K020T K5K020T K7K515T K11K015T K15K015T Brake inertia kg m 1 35x104 4 7104 4 7x104 4 7x104 7 1x104 7 1x10 Excitation voltage 24 VDC 10 Power tds W 22 31 31 34 26 26 at 20 C Current aan 0 90410 1 3410 1 3 10 1 4410 1 08 10 1 08 10 at 20 C Static friction torque friction Static friction torque Nem 16 2 min 2 min 24 5 min 5 min 24 5 min 5 min 58 8 min 8 min 100 min min 100 min Backlash reference value e work per S 1372 1372 1372 2000 2000
386. ible Set the notch depth of resonance suppression notch filter 1 Increasing the setting value shortens the notch depth and the phase lag Refer to 11 7 Notch Filters on page 11 21 s 09f qo 19 9WeJeg OAIBS UO Sjie 9Qq OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 20 Details on Servo Parameter Objects 9 3 Vibration Suppression Settings 3204 hex Notch 2 Frequency Setting Setting 50 to 5000 Unit Default 5000 Data range setting attribute Size 2 bytes INT16 e PDO map Not possible Set the notch frequency of resonance suppression notch filter 2 The notch filter function is disabled if this object is set to 5000 Refer to 11 7 Notch Filters on page 11 21 3205 hex Notch 2 Width Setting Setting Default Data Size 2 bytes INT16 Access RW PDO map PDO map map Not possible Select the notch width of resonance suppression notch filter 2 Increasing the setting value widens the notch width Normally use the default set value Refer to 11 7 Notch Filters on page 11 21 3206 hex Notch 2 Depth Setting Setting Default Data Size 2 bytes INT16 Access Acess RW PDO map Not possible Set the notch depth of resonance suppression notch filter 2 Increasing the setting value shortens the notch depth and the phase lag Refer to 11 7 Notch Filters on page 11 21 3207 hex Notch 3 Frequency Setting mny 50 to 500
387. ible Check the number of encoder pulses per motor rotation and number of external encoder pulses per motor rotation and set External Feedback Pulse Dividing Numerator 3324 hex and External Feedback Pulse Dividing Denominator 3325 hex 3324 hex Encoder resolution per motor rotation pulses 3325 hex External encoder resolution per motor rotation pulses Set object 3324 hex to 0 to have the encoder resolution automatically set as the numerator Refer to 6 5 Fully closed Control on page 6 12 P Precautions for Correct Use lf this divider setting is wrong there will be error between the position calculated from encoder pulses and the position calculated from external encoder pulses If the movement distance is long this error accumulates and causes a Excessive Hybrid Deviation Error Error No 25 0 The recommended divider setting is 1 40 lt External Feedback Pulse Ratio lt 160 If the ratio is set too small control to the unit of 1 external feedback pulse may be disabled On the other hand if the external feedback pulse ratio is increased operating noise may increase EN Reference In the example below ball screw pitch is 10 mm encoder is 0 1 um pulse and encoder resolution is 20 bits or 1 048 576 pulses 3324 hex Encoder resolution per motor rotation pulses 1 048 576 3325 hex External encoder resolution per motor rotation pulses E 100 000 3326 hex External Feedback Pulse Direction Switching csp full
388. ic gear ratio 2 147 483 648 during the initialization of position data after the control power was turned ON in absolute value mode after a Config operation after FFT was executed or after a trial run was executed The position error in pulses exceeded e Check to see if the Servomotor rotates 229 536 870 912 Alternatively the according to the position command position error in command units exceeded Check on the torque monitor to see if the 290 1 073 741 824 output torque is saturated e Adjust the gain e Maximize the set values on the Positive torque limit value 60E0 hex and the Negative torque limit value 60E1 hex e Wire the encoder as shown in the wiring diagram 30 Safety Input Atleast one of the input photocouplers for Check the input wiring of safety inputs 1 st Error safety inputs 1 and 2 turned OFF and 2 12 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex Interface Input Duplicate Allocation Error 1 Interface Input Duplicate Allocation Error 2 Interface Input Function Number Error 1 Interface Input Function Number Error 2 Interface Output Function Number Error 1 Interface Output Function Number Error 2 External Latch Input Allocation Error Overrun Limit Error Object Error Corrupted There is a duplicate setting in the input signal IN1 IN2 IN3 and IN4 function alloca
389. ide Servomotor side Symbol So aces Saco So 22 B Brake o t me Son saec D Phase U_ D TEF A ack 3 a 5 F Phase W Seiad P F Phase W_ I SPSE E M4 crimp terminal CE E O om e Z i 4 mm x 4C 0 5 mm x 2C or AWG11 x 4C AWG20 x2C Right angle plug model N MS3108B24 11S Japan Aviation Electronics Cable clamp model N MS3057 16A Japan Aviation Electronics Servomotor side connector 3 71 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications i Brake Cables European Flexible Cables R88A CAKAl IBR E Cable types 100 and 200 V For 3 000 r min Servomotors of 50 to 750 W Outer diameter of sheath Model Length L R88A CAKAO001 5BR E 1 5m R88A CAKAO03BR E 3m R88A CAKAOO5BR E 5m R88A CAKA010BR E 10m R88A CAKA015BR E 15m R88A CAKA020BR E 20m 6 0 dia Connection configuration and external dimensions Servo Drive side R88D KO a aaa NO E a a ate ate TY EA wr x r Wiring Servo Drive side Servomotor side oe x 2C Servomotor side connector or Connector model AWG20 x 2C JN4FTO2SJ1 R Japan Aviation Electronics Contact model ST TMH S C1B Japan Aviation Electronics OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Servomotor
390. ies AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 32 suoljoun4 paddy x 7 9 Gain Switching Function Gain Switching Mode 5 or 9 Switching by Speed Command or Actual Motor Speed Speed command or actual motor speed 3118 hex 3116 hex e Gain 1 Gain 2 Gain 1 Note The speed command is the Motor Control Effort 401A hex r min Gain Switching Mode 6 Switching by Pulse Position Error The gain is switched according to the pulse position error encoder pulses external encoder pulses Pulse position error 3118 hex 3116 hex e Gain 1 Gain 2 Gain 1 Gain Switching Mode 7 Switching by Whether There Is a Position Command V O par Q am gt LL O a Q lt The gain is switched according to whether there is a position command Position command 3116h Gain 1 Gain 2 Gain 1 Note Whether there is a position command is determined by changes in the Target position 607A hex 7 33 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 9 Gain Switching Function Gain Switching Mode 10 Switching by Combination of Whether There Is a Position Command and Actual Motor Speed Switching to the gain 2 occurs when a position command is received If there is no position command but the absolute value of the actual motor speed remains less than the difference of the Ga
391. ilt in EtherCAT Communications A 14 xipueddy A 1 CiA402 Drive Profile Homing Methods 33 and 34 Homing with an Origin Signal In these Homing methods only the origin signal is used The operation start direction of the homing operation is the reverse direction in Homing method 33 and the forward direction in Homing method 34 E Tg Tha Origin signal a Ja __ Ja lt Reverse direction Forward direction A homing error occurs in the following cases When the drive prohibition inputs on both sides are ON at the same time If no origin signal is detected before the drive prohibition input of the drive direction turns ON When the homing operation is started with a sensor without an origin signal Z phase such as an absolute scale during fully closed control Note 1 During the homing operation the stop function for the Stop Selection for Drive Prohibition Input is disabled Note 2 When the Drive Prohibition Input Selection 3504 hex is set to 0 a Drive Prohibition Input Error 1 Error No 38 0 will occur if the drive prohibition input is detected on both sides Note 3 When the Drive Prohibition Input Selection 3504 hex is set to 1 a homing error Home error 1 will occur when the drive prohibition input is detected on both sides If this Homing method is used without using the drive prohibition input do not assign the drive prohibition input to a general purpose input For details on assign
392. imit processing using the host controller OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 40 s 09f qo 19 9WeJeg OAIBS UO Sjie 9Qq Details on Servo Parameter Objects 9 6 Extended Objects 3505 hex Stop Selection for Drive Prohibition Input All Setting 0to2 Unit Default Data c range setting attribute Size 2 bytes INT16 Access PDO map Not possible Set the drive conditions during deceleration and after stopping when the Forward or Reverse Drive Prohibition Input is enabled Refer to 7 2 Forward and Reverse Drive Prohibition Functions on page 7 6 Explanation of Set Values Decelerating 2 After stopping Set value of Set value of 3504 hex 3505 hex Deceleration method Operation after stopping Cleared Torque command in drive prohibited direction 0 Dynamic brake Cleared Torque command in drive prohibited direction 0 Cleared The torque command and torque limits will be as specified Immediate stop 1 If the Drive Prohibition Input Selection 3504 hex is set to 2 a Drive Prohibition Input Error Error No 38 0 will occur as soon as either the Forward or Reverse Drive Prohibition Input turns ON The subsequent operation conforms not to the set value but to the setting of the Fault reaction option code 605E hex In the same way the Fault reaction option code 605E hex takes priority when any other error occurs 2 The term
393. in 3 Effective Time 3605 hex and the magnification of Gain 3 against Gain 1 in the Gain 3 Ratio Setting 3606 hex p Operation Timings of Gain 1 2 and 3 When the Switching Mode in Position Control 3115 hex is set to 7 i e when the command pulses are received as the switching condition the operation will be as shown below Position command speed r min 3605 hex x 0 1 ms E Gain 1 3100 to 3104 hex Gain 2 Gain 3 3105 to 3109 hex Gain 3 region Position loop gain 3100 x 3606 hex 100 Speed loop gain 3101 x 3606 hex 100 The gain 1 values are used for the speed loop integral time constant speed feedback filter time constant and torque command filter time constant H Precautions for Correct Use If gain 3 is not used set the Gain 3 Effective Time 3605 hex to 0 and the Gain 3 Ratio Setting 3606 hex to 100 In the gain 3 region only the position loop gain and the speed loop gain are treated as gain 3 and the gain 1 setting is applied for all other gains If the gain 2 switching condition is established in the gain 3 region operation switches to gain 2 If gain 2 is switching to gain 3 the Position Gain Switching Time 3119 hex is enabled There is a gain 3 region even when gain 2 is switched to gain 1 due to an object change and so forth OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 36 suoljoun4 paddy x A
394. in Switching Level in Position Control 3117 hex minus the Gain Switching Hysteresis in Position Control 3118 hex r min for the time specified in the Gain Switching Delay Time in Position Control 3116 hex the gain switches to gain 1 mee by a a Position command 3118 hex Actual motor speed 3116 hex Gain 1 Gain 2 Gain 1 Note Whether there is a position command is determined by changes in the Target position 607A hex j Position Gain Switching Time 3119 Hex Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during position control or fully closed control To suppress these set a Position Gain Switching Time 3119 hex By setting the Position Gain Switching Time 3119 hex the gain will be switched gradually when there is a large change in the position loop gain If there is a large difference between Position Loop Gain 1 3100 hex and Position Loop Gain 2 3105 hex set the Position Gain Switching Time 3119 hex When the position loop gain increases the gain changes in the set time Position Loop Gain 1 lt Position Loop Gain 2 Gain 2 A 7a dia eae Position Gain Switching Time ms Gain 1 3119 hex Gain 1 Gain 1 Gain 2 Gain 1 y Precautions for Correct Use When the position loop gain is switched to a smaller value e g when switching from gain 2 to gain 1 in the above figure Position Gain Switching Time 3119
395. in power error occurs Explanation of Set Values Set Explanation value The servo is turned OFF based on the setting of the Shutdown option code 605B hex The servo is then turned back ON when the main power supply is turned ON 1 A Main Power Supply Undervoltage Error Error No 13 1 occurs and operation stops 3509 hex Momentary Hold Time Setting 70 to 2000 Unit Default Data range setting attribute Size 2 bytes INT16 seg Oe oma PDO map map Not possible Set main power supply error detection time The main power supply OFF detection is disabled if this object is set to 2000 3511 hex Immediate Stop Torque Setting 0 to 5000 Unit 0 1 Default Data range setting attribute Size 2 bytes INT16 Access Access RW PDO map Not possible Set the torque limit for immediate stops Set the torque limit for the following cases e Drive prohibition deceleration with the Stop Selection for Drive Prohibition Input 3505 hex set to 2 e When decelerating and the Disable operation option code 605C hex is 8 or 9 e When decelerating and the Shutdown option code 605B hex is 8 or 9 The normal torque limit is applied if this object is set to 0 This object is set in units of 0 1 of the rated torque 3512 hex Overload Detection Level Setting Setting Default Data Size 2 2 bytes INT16 INT 16 PDO map Not possible ee the overload detection level When the object is set to 0 the settin
396. ing and Maintenance 1221 WOUDICSIOOMIAG essercene EN 12 1 Preliminary Checks When a Problem Occurs cccccccseecceeeceeeeseeeeeeeseeeeseeeseeesaeess 12 1 Precautions When a Problem Occurs cccccscccsseceseeceeeceeeceeeeeeecueseaeesseeseeeesanees 12 2 Replacing the Servomotor or Servo Drive cccccceeccseeeseeeceeeeeeeeseeseeeseeeeseeeseeeseeees 12 2 122 WV ANNI S errie EE Tarn 12 4 Related ODJECE sinse a A a E 12 4 Ae 1d ol ats EIS Eisra a a meen Tonner mare eee eer 12 5 12o TRONS anrea T A 12 7 Immediate Stop Operation at ErrOrs cccccccsccsscecseeceeeeceeececesseesseesseeeaseesueeseenes 12 11 12 4 TV FOUDIECSMOOUMG eanan a a cease ees 12 13 Troubleshooting with Error DisplayS cccccccseececceeeceeeceecceeseeceuseoeeseeseueeeeeaeees 12 13 Troubleshooting Using the Operation State cc ccceccseccseeeseeeseeeeeeeeseeeseeeseeees 12 27 12 9 Penodi Maintenant E neers a A N 12 33 Servomotor Life ExXPe Ctancy ccccccccsecceeeccseecececeneceuecececueecaeeceuecsueseueecseessensaaes 12 33 Servo Drive Life EXpGClancy sranna a eee ee hee ele 12 34 Replacing the Absolute Encoder Battery cc cccccccceceeeeceeeeeeeeeeeeeeeeeeeeeseeeseeees 12 35 Chapter A Appendix At CIA402 Dive PONG asico E E E ATE A 1 Controlling the State Machine of the Servo Drive ccccccceeccsececeeeeaeeeeeeeseeeseeeseues A 1 Modes Op ration a i a E aD iE a a ERS A 4 Commu
397. ing table Index Description 0000 to OFFF hex Data Type Area Definitions of data types 4000 to 1FFF hex CoE Communication Area Definitions of variables that can be used by all servers for designated communications 2000 to 2FFF hex Manufacturer Specific Area 1 pita with common definitions for all OMRON 3000 to SEFF hex Manufacturer Specific Area 2 Variables with common definitions for all OMNUC x lt G5 series Servo Drives servo parameters c 6000 to 9FFF hex Device Profile Area Variables defined in the Servo Drive s CiA402 aT drive profile Q O A000 to FFFF hex Reserved Area Area reserved for future use lt i Data Types Data types shown in the following table are used in this profile Unsigned 8 0 to 255 Unsigned 16 0 to 65 535 Unsigned 32 U32 0 to 4 294 967 295 Integer 8 128 to 127 Integer 16 32 768 to 32 767 Integer 32 2 147 483 648 to 2 147 483 647 A 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile p Object Description Format In this manual objects are described in the following format Object Description Format The object format is shown below lt Index gt lt Object name gt Modes of Operation Range Default lt Default gt Attribute lt Attribute gt Data is indicated in pointed brackets lt gt Possible data are listed below Index Object name Modes of Operation Range Unit Defaul
398. ing the general purpose input signals refer to 7 1 Sequence I O Signals on page 7 1 Note 4 When the Drive Prohibition Input Selection 3504 hex is set to 2 a Drive Prohibition Input Error 1 Error No 38 0 will occur if the drive prohibition input is detected on one side When using this Homing method set the Drive Prohibition Input Selection 3504 hex to a value other than 2 2 C D Q Q lt Homing Method 35 Present Home Presetting In this Homing method the present position is considered as the origin Set the mode in Coordinate System Setting Mode 4103 hex By using the Coordinate System Setting Position 4104 you can specify the value of the present position You can use this method even when you are using an absolute encoder but the position is not saved in the Home offset 607C hex When the control power is turned OFF or when Config 4100 hex is executed the origin set by this Homing method is disabled This Homing method can be executed only when the mode of operation is set to Homing mode hm and the servo is ON If this Homing method is executed during the latch operation the latch operation is disabled A homing error occurs in the following cases During the Cyclic synchronous velocity mode csv or Cyclic synchronous torque mode cst When backlash compensation is not completed Coordinate System Setting Mode 4103 hex Default POS SET MODE Coordinate System Setting See follo
399. ing without origin signal forward operation start page A 14 20 Homing without origin signal reverse operation start page A 14 33 Homing with origin signal reverse operation start page A 15 34 Homing with origin signal forward operation start page A 15 35 Present home preset page A 15 The homing methods supported by the Servo Drive can be checked in Supported homing method 60E3 hex A 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile i Related Objects Default 6040 hex Controlword RW U16 0 to FFFF 0000 hex hex 6060 hex Modes of RW INT8 0 to 10 0000 hex operation 6098 hex O Homing method INT8 7128t0127 0 6099 hex 1 Speed during RW U32 Command 100 to 5 000 search for switch units s 3 276 700 6099 hex 2 Speed during RW U32 Command 100 to 5 000 search for zero units s 3 276 700 4103 hex Coordinate RW U16 0000 to FFFF hex 0 System Setting Mode 4104 hex Coordinate RW INT32 Command 2 147 483 648 to System Setting units 2 147 483 647 Position 6041 hex ae Statusword ne U16 0 to FFFF ee 0000 hex hex 6083 hex Profile RW U32 Command 1 to 655 350 000 1 000 000 acceleration units s 6084 hex Profile RW U32 Command 1 to 655 350 000 1 000 000 deceleration units s type i Controlword 6040 hex in Homing Mode 4 Homing operation Oo Do not start homing procedure start Start or continue homing procedure 8 Halt
400. ins an Interface Input Duplicate Allocation Error 1 Error No 33 0 or an Interface Input Duplicate Allocation Error 2 Error No 33 1 will occur If the logic is inconsistent an Interface Input Function Number Error 1 Error No 33 2 or an Interface Input Function Number Error 2 Error No 33 3 will occur OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 1 Sequence I O Signals Output Signals You can allocate output signal functions to the output pins for the control I O connector CN If a G series Servo Drive is being replaced with a G5 series Servo Drive use the G5 series servo Drive to with the default settings Output Signal Default Setting The allocations of the default output signals are as follows Refer to Output Signal Allocation Method on page 7 4 to change the allocations Default setting state Index Output Default setting E Speed control Torque control signal hex y Signal Logic Signal Logic Signal Logic name name name 3410 hex OUTM1 0003 0303 hex BKIR BKIR BKIR NO 3411 hex OUTM2 0002 0202 hex READY READY READY NO 1 NO normally open and NC normally close refer to the following states NO When the function is disabled OFF state output transistor is OFF When the function is enabled ON state output transistor is ON NC When the function is disabled output transistor is ON When the function is enabled output tr
401. installed on power supply lines Braided shielded cables must be used for all I O signal cables and encoder cables Use tin plated mild steel wires for the shielding All cables I O wiring and power lines connected to the Servo Drive must have clamp filters installed to improve the noise immunity The shields of all cables must be directly connected to a ground plate Wiring Method R88D KNASL ECT KN01L ECT KNO2L ECT KNO4L ECT KN01H ECT KNO2H ECT KNO4H ECT KNO8H ECT KN10H ECT KN15H ECT KN20H ECT KN30H ECT KN50H ECT KN75H ECT KN150H ECT Single phase 100 VAC 2 3 phase 200 VAC FC2 FC1 L1 ae Deere ubisag wajshs E i Single TR 100 VAC p Controller 4 Not required for single phase models with a 100 VAC input Note For models with a single phase power supply input R88D KNA5L ECT KNO1L ECT KNO2L ECT KNO4L ECT KN0O1H ECT KNO2H ECT KNO4H ECT KNO8H ECT the main circuit power supply input terminals are L1 and L3 Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a ground plate for the frame ground for each unit as shown in the above diagrams and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible A no fuse breaker surge absorber and noise filter should be positioned near the input terminal block ground plate and
402. ion Servo Drive possible software version Number of entries 01 hex 1 byte U8 Api 1010 hex y possible 1 Save all parameters 0000 0001 hex 4 bytes U32 A Not possible Number of entries 01 hex 1 byte U8 Nol 1011 hex y possible meslere all aerau 0000 0001 hex 4 bytes U32 Not parameters possible Not Number of entries 04 hex 4 bytes U32 possible Not 1 Vender ID 0000 0083 hex 4 bytes U32 possible 1018 hex 2 Product code Refer to the ae _ table for object POSsinle 7 1018 hex on Not 3 Revision number page A 23 1 byte U8 aose bie Not possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 604 A 2 Object List Corre Index Default setting a x o ie ees number AOE NEX 1 Backup parameter 1 byte U8 Not checksum y possible Not 00 to OE Not 06 to 13 Not A ee a a ee PO pate 0000 to Not Not fa dai O Not 7 Diagnosis message 2 16 bytes VS possible Q 2 ed ed a Not of 19 Diagnosis message 14 Al 16 bytes VS possible 258th RxPDO mapping Al B parameter Not Not 1701 hex Not Not 259th RxPDO mapping B parameter Not Not 1702 hex 3rd object 60FF0020 hex aes 4 bytes U32 PRO eis Not Not Not Not A 605 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 2 Object List Corre Setting Data PDO spond Index Default Setting range
403. ion control Constant l Backlash Compensation Selection 3704 Hex This object is used to select whether to enable or disable backlash compensation during position control and to set the compensation direction Set value Description 0 Disable backlash compensation 1 Compensate for backlash at the first forward operation after the servo is turned ON 2 Compensate for backlash at the first reverse operation after the servo is turned ON i Setting Method The backlash compensation works in different directions depending on the setting in the Backlash Compensation Selection 3704 hex and on whether the set value for the Backlash Compensation Amount 3705 hex is positive or negative 3704 hex 3705 hex contains a positive value 3705 hex contains a negative value Compensate in positive direction when Compensate in negative direction when operation is in forward operation is in forward Compensate positive direction when itisin Compensate in negative directions when reverse operation operation is in reverse Applied Functions 1 2 7 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 4 Backlash Compensation H Precautions for Correct Use To determine the actual position of the Servomotor offset the Servomotor position data acquired via EtherCAT communications by the backlash compensation amount Backlash compensation is performed on the first position
404. ion is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque Note 2 Ifthe motor power cable exceeds 20 m the voltage drop will increase and the momentary operation range will become narrower 3 55 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 1 500 r min and 2 000 r min Servomotors 400 VAC The following graphs show the characteristics with a 3 m standard cable and a 400 VAC input e R88M K40020F C 400 W e R88M K60020F C 600 W e R88M K1KO20F C 1 kW Power supply voltage Nem dropped by 10 N m Power supply voltage Nem dropped by 10 15 414 3 14 3 2200 N Power supply voltage dropped by 10 Momentary operation range Momentary operation range N 4 77 Momentary operation range 2 86 Continuous operation range 1 91 Continuous operation range 0 1000 2000 3000 r min 0 1000 2000 3000 r min 0 1000 2000 3000 r min e R88M K1K520F C 1 5 kW e R88M K2K020F C 2 kW e R88M K3K020F C 3 kW Power supply voltage N m dropped by 10 Nem N m Power supply voltage dropped by 10 30 Power supply 50 743 0 43 0 2400 voltage dropped 10 15 0 25 Momentary operation range 9 55 Continuous operation range Momentary operation range i 14 3 Continuous operation range 0 1000 2000 3000 r min 0 1000 20
405. ions When you mount a Servomotor onto a small device be sure to provide enough radiation space on the mounting area Otherwise the Servomotor temperature rises too high One of the preventive measures is to install a radiator plate between the motor attachment area and the motor flange See below Refer to 3 3 Servomotor Specifications on page 3 37 for the radiator plate specifications The temperature rise depends on the mounting part materials and the installation environment Check the actual temperature rise by using a real Servomotor Depending on the environment such as when the Servomotor is installed near a heating element the Servomotor temperature may rise significantly In this case take any of the following measures Lower the load ratio Review the heat radiation conditions of the Servomotor Install a cooling fan and apply forced air cooling to the Servomotor Other Precautions Take measures to protect the motor shaft from corrosion The motor shaft is coated with anti corrosion oil when shipped but anti corrosion oil or grease should also be applied when connecting the components that apply load to the shaft VAN Caution Do not apply a commercial power supply directly to the motor Failure to follow this guideline may result in fires Never repair the product by disassembling it Failure to follow this guideline may result in electric shock or injury OMNUC G5 series AC Servomotors and Serv
406. ions 11 10 Hybrid Vibration Suppression Function 11 10 Hybrid Vibration Suppression Function SSE This function suppresses the vibration that is caused by the amount of the torsion between the motor and the load in the Fully closed Control Mode You can use this function to increase the gain setting Operating Conditions The hybrid vibration suppression function can be used in the following situations Conditions Operating mode Fully closed Control mode When Servo is ON When there is no trouble with the motor s normal rotation When realtime autotuning function is disabled Others f When instantaneous speed observer function is disabled Objects Requiring Settings Hybrid Vibration Set the hybrid vibration suppression gain Suppression Gain In general set it to the same value as the position loop gain and finely adjust it based on the 3634 hex page 9 52 situation 3635 hex Hybrid Vibration Set the hybrid vibration suppression filter page 9 52 Suppression Filter Operating Procedure 1 Set the Hybrid Vibration Suppression Gain 3634 hex to the same value as the position loop gain 2 Gradually increase the set value of the Hybrid Vibration Suppression Filter 3635 hex while driving with fully closed control and check the changes in the response If the response improves find the combination of 3634 hex and 3635 hex that result in the optimal response by adjusting them H Precautions for Correct Use
407. ions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 132 2 M4 aa o oD Rectangular hole o 42 Rectangular hole dimensions are reference values OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 24 SUOISUBWIG eU1e xXq pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions Single phase 3 phase 100 VAC R88D KNO2L ECT 200 W Single phase 3 phase 200 VAC R88D KN0O4H ECT 400 W Wall Mounting External dimensions Mounting dimensions 140 Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions Rectangular hole 170 158 id 57 l Rectangular hole dimensions are reference values 2 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions Single phase 3 phase 100 VAC R88D KNO4L ECT 400 W Single phase 3 phase 200 VAC R88D KNO8H ECT 750 W
408. iption Select to enable or disable load characteristic estimation 0 Disable 1 Enable Select whether to update the present set value of the Inertial Ratio 3004 hex with the load characteristic estimation result 0 Use the present set value 1 Update with the estimation result Select whether to update three objects Torque Command Value Offset 3607 hex Forward Direction Torque Offset 3608 hex and Reverse Direction Torque Offset 3609 hex with the load characteristic estimation result 0 Use the present set value 1 Disable the torque compensation Clear the above three objects to zero 2 Vertical mode Update 3607 hex Clear 3608 hex and 3609 hex to zero 3 Friction compensation small Update 3607 hex Set a small compensation to 3608 hex and 3609 hex 4 Friction compensation intermediate Update 3607 hex Set an intermediate compensation in 3608 hex and 3609 hex 5 Friction compensation large Update 3607 hex Set a large compensation in 3608 hex and 3609 hex Select to enable or disable the basic gain setting by the Realtime Autotuning Machine Rigidity Setting 3003 hex 0 Disable 1 Enable Select whether to allow changes to the objects that normally are fixed 0 Use the present settings 1 Set to fixed values Select the method to set the objects that relate to gain switching while the realtime autotuning is enabled 0 Use the present settings 1 Disable gain switching 2 Enable g
409. ircuit a a O _ S u Servo Drive Q Q V External power supply 12 to 24 VDC Maximum service voltage 30 VDC or less Maximum output current 50 mA max Leakage current 0 1 mA max Residual voltage 1 7 V max Di Surge voltage prevention diode Use a high speed diode Note When driving a relay directly with an output signal always insert a diode as shown in the above figure 3 35 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 2 Overload Characteristics Electronic Thermal Function 3 2 Overload Characteristics Electronic Thermal Function An overload protection function electronic thermal is built into the Servo Drive to protect the drive and motor from overloading If an overload does occur first eliminate the cause of the error and then wait at least 1 minute for the motor temperature to drop before turning ON the power again If the error reset is repeated at short intervals the motor windings may burn out Overload Characteristics Graphs The following graphs show the characteristics of the load ratio and electronic thermal function s operation time o Time s we 100 V 200 V Is 3 000 r min Servomotors O IN f 50 W S J 100 W 100 V h 1 S 100 W 200 V 5 kA k z i 200 W D Sa Oe 400 W A ugang 750 W z 1 N 0 1 115
410. irection set the direction so that count up occurs when the motor shaft is rotating in the CCW direction and count down occurs when the motor shaft is rotating in the CW direction If the connection direction cannot be selected due to installation conditions the count direction can be reversed using External Feedback Pulse Direction Switching 3326 hex y Precautions for Correct Use lf 3000 hex 1 the encoder count direction will be opposite to the count direction used for monitoring the total external encoder feedback pulses If 3000 hex 0 the count direction matches the count direction for monitoring Even when the speed command is within the Drive s speed command range an acceleration error will occur if the soeed command exceeds the maximum speed of motor shaft rotation OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 28 s 2 lqO 10 9WeJeg 0A1 Q UO Sj1e q Details on Servo Parameter Objects 9 4 Analog Control Objects 3324 hex External Feedback Pulse Dividing Numerator esp full esp full Setting 0 to 1048576 Unit Default Data range setting attribute Size 4 bytes INT32 Access RW _ PDOmap PDO map map Not possible 3325 hex External Feedback Pulse Dividing Denominator esp full esp full Seung 1 to 1048576 Unit Pen 10000 lg range setting attribute Size 4 bytes INT32 Access RW _ PDO map PDO map map Not poss
411. irm the following items Conductor size conductor type solid wire or twisted wire number of twisted pairs 2 or 4 outer diameter etc OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 76 o suoljeoijineds Specifications 3 4 Cable and Connector Specifications i Attaching the Connectors to the Cable Use straight wiring for the communications cable as shown below White Green White Green 7 7 Brown Brown Connector hood Shield Note 1 Connect the cable shield to the connector hood at both ends of the cable Note 2 There are two connection methods for Ethernet T568A and T568B The T568A connection method is shown above but the T568B connection method can also be used 3 77 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications i Wiring This example shows how to connect a CJU1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Unit to Servo Drives using EtherCAT Communications Cables Connect the EtherCAT master to the ECAT IN connector on the first Servo Drive Connect the ECAT OUT connector on the first Servo Drive to the ECAT IN connector on the next Servo Drive Do not connect the ECAT OUT connector on the last Servo Drive Power CJ series Position Supply Unit CPU Unit Control Unit
412. is disabled When the Drive Prohibition Input Selection 3504 hex is set to 0 a Drive Prohibition Input Error 1 Error No 38 0 will occur if the drive prohibition input is detected on both sides When the Drive Prohibition Input Selection 8504 hex is set to 1 a homing error Home error 1 will occur when the drive prohibition input is detected on both sides If this Homing method is used without using the drive prohibition input do not assign the drive prohibition input to a general purpose input For details on assigning the general purpose input signals refer to 7 1 Sequence I O Signals on page 7 1 When the Drive Prohibition Input Selection 3504 hex is set to 2 a Drive Prohibition Input Error 1 Error No 38 0 will occur if the drive prohibition input is detected on one side When using this Homing method set the Drive Prohibition Input Selection 3504 hex to a value other than 2 Homing Methods 19 and 20 Homing without an Origin Signal In these homing methods only the Origin Proximity Input is used Homing method 19 stops when the Origin Proximity Input turns OFF and Homing method 20 stops when the Origin Proximity Input turns ON The operation start direction of the homing operation is the forward direction for an OFF Origin Proximity Input and the reverse direction for an ON Origin Proximity Input I 1 1 3 k 20 x 1 z oa s is gt a3 ti N
413. is object sets the amount of offset from the origin of the absolute encoder or absolute external encoder to the zero position of the Position actual value 6064 hex A 51 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile 607D hex Software position limit All Sub index 0 Number of entries Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Min position limit 1073741823 to Command Range 1073741823 Default 500000 Attribute Size 4 bytes INT32 Access RW PDOmap PDOmap map Not possible Sub index 2 Max position limit 1073741823 to Command Range 1073741823 Fad hel Bl Default 500000 Attribute Size 4 bytes INT32 PDOmap PDOmap Not possible This object sets the software limit Ranges for the Position demand value and Position actual value are restricted New target positions are checked against these ranges The software limit is always relative to the mechanical origin The Min position limit is the limiting value for reverse rotation and the Max position limit is the limiting value for forward rotation xipueddy i Precautions for Correct Use Make sure that the Max position limit is larger than the Min position limit The software position limit is disabled when an origin return has not been completed 607F hex Max profile velocity Range 0 to 2147483647 sett Default po Attribute Size 4
414. ise during operation is large when the feed forward is set high Refer to 11 11 Feed forward Function on page 11 29 3114 hex Gain Switching Input Operating Mode Selection Setting Default Data Size 2 bytes INT16 INT 16 Access Access RW PDO map Not possible either PI P operation switching or gain 1 gain 2 switching The PI P operation switching is performed with the Speed Loop PI P Control command in EtherCAT communications Refer to 7 10 Gain Switching 3 Function on page 7 35 for the Gain 1 Gain 2 switching Explanation of Set Values Set value 0 Gain 1 PI P switching enabled Description 1 Gain 1 gain 2 switching available 9 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 Gain Settings 3115 hex Switching Mode in Position Control Setting 0 to 10 Unit Default Data B range setting attribute i PDO l Size 2 bytes INT16 Access RW map Not possible Select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input Operating Mode Selection 3114 hex is set to 1 Explanation of Settings Description 3115 Gain Gain Gain hex Switching Switching Switching set Gain switching conditions Belay aime i Keve a nysistes ie value Position Position Position Control Control F 3117 hex 3118 hex 0 Always Gain 1 3100 to 3104 hex Disabled Disabled Disabled Always Gain 2 3105 to 3109 hex Di
415. istor voltage the surge immunity and the energy tolerated dose For 200 VAC systems use surge absorbers with a varistor voltage of 620 V The surge absorbers shown in the following table are recommended Manufacturer Modil Surge immunity Comment Okaya Electric ReAeV 781BWZ 4 Single phase 100 Industries Co 700 V 20 2500A 200 VAC Ltd Block Okaya Electric ReAeV 781BXZ 4 3 phase 200 VAC Industries Co 700 V 20 2500A Ltd Note 1 Refer to the manufacturers catalog for operating details ubisag wia jsAs 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 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 40 System Design 4 41 4 3 Wiring Conforming to EMC Directives External Dimensions For single phase BWZ series 4 2 LO p a 28 5 200 28 1 45 Equalizing Circuits For single phase BWZ series Noise Filter for the Brake Power Supply 1 For 3 phase BXZ series TIIS e S 200 28 4 5 For 3 phase BXZ series 2 3 Use the following noise filter for the brake power supply Model Raton nateg Leakage current Manufacturer current voltage SUP EK5 ER 6 250 V 1 0 mA at 250 Vrms 60 Hz mdusties Co Ltd Note Noise can also be reduced by 1 5 t
416. it 6091 hex Motor revolutions 6091 hex Shaft revolutions 60E0 hex Positive torque limit value 60E1 hex Negative torque limit value 1011 hex Restore default parameters All Sub index 0 Number of entries Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Restore all default parameters Range pF Unit Default 000 0001 hex Attribute A Size 4 bytes U32 PDO map Not possible Parameters are returned to their default values A restoration operation is executed only when a specific value is written to sub index 1 This prevents parameter values from being accidentally overwritten The specific value means load xipueddy MSB LSB A value of 0000 0001 hex command valid is given when reading EEPROM contents cannot be reset to default values if there is a Control Power Supply Undervoltage Error error 11 0 Reset the control power supply to enable the objects In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 6461 6F6C hex Writing when there is a Control Power Supply Undervoltage Error error 11 0 Writing in operation enabled state Writing to the EEPROM may take up to 10 seconds This is when all objects are changed There is a limit to the number of times you can write to the EEPROM OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 22 A 1 CiA402 Drive
417. it is replaced with the control power supply of the Servo Drive OFF data held in the encoder will be lost H Precautions for Correct Use If the absolute encoder is cleared using the front panel or the absolute value is cleared using communications all error and multi rotation data will be lost and the absolute encoder must be set up again Refer to Absolute Encoder Setup on page 10 6 12 35 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 5 Periodic Maintenance Battery Unit Mounting Method 1 Prepare the replacement Battery Unit R88A BAT01G Raise the tabs and remove the cover 3 Put the Battery Unit into the battery box Insert the Battery Unit Plug in the connector 4 Close the cover to the battery box Close the battery box cover by making sure the connector wires are not pinched OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 36 sd ueUDZjUIe Y pue Kul OoOUSs qnol Appendix The appendix provides a list of objects and EtherCAT terminology A 1 CiA402 Drive Profile cccccesseeseeeeeneeeeeeeeeseeeeeneees A 1 A 2 ODICCU EIS E scotecce ssc nesoreenseumnerenstecaueteenennveeds seseemevsestweuees A 64 A 3 EtherCAT Terminology ccccccseessseeeeessseseeeseees A 81 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communi
418. it value 60E1 hex With the default settings the output is not allocated Zero Speed Detection Output ZSP It turns ON when the motor rotation speed goes below the value set by the Zero Speed Detection 3434 hex The output is effective both in forward and reverse directions regardless of the actual direction that the motor rotates The detection contains a hysteresis of 10 r min With the default settings the output is not allocated Forward direction Speed 3434 hex 10 r min lt gt Caii hex 10 r min Reverse direction Zero Speed Detection ZSP Speed Conformity Output VCMP The output turns ON when the motor rotation speed fills into the range set by the Speed Conformity Detection Range 3435 hex It is determined to be conforming when the difference between the commanded speed before acceleration or deceleration process inside the Drive and the motor rotation speed is within the set range of Speed Conformity Detection Range 3435 hex A hysteresis of 10 r min is set for the detection The output is always OFF except in the Position Control Mode including the Fully closed Control Mode In factory setting the output is not allocated OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 26 o suoljeoijineds Specifications 3 1 Servo Drive Specifications Speed command after acceleratio
419. ith built in EtherCAT communications and the application functions are shown below O Supported Not supported Mode of operation Function Fully Supported specifications closed Notch filter een 4 to notch 4 Speed feed O forward Torque feed O forward function Position command E FIR filter Position command O smoothing filter Realtime Autotuning RTAT Instantaneous E speed observer Disturbance O Observer 2 9 1 The fully closed modes of operation are csp and hm 2 O in the Supported specifications column depends on the applicable range of the related control mode 3 The PDO mapping conditions depend on Rx and Tx number of bytes of the PDOs values given above in the control mode correspondence table 4 When one adaptive filter is enabled notch 3 is set automatically When two adaptive filters are enabled notch 3 and notch 4 are set automatically 5 When RTAT is enabled you cannot use the torque feed forward function They are in an exclusive relationship 6 The FIR filter is enabled only in hm and csp mode when the communications cycle is set to 1 ms or above 7 When Realtime Autotuning RTAT is enabled the instantaneous speed observer and disturbance observer are automatically disabled RTAT must be disabled to enable the instantaneous speed observer 8 When the instantaneous speed observer is enabled the disturbance observer is automatically disabled
420. ities of the Servo Drive and the Servomotor and lengthen the deceleration time Reduce the Servomotor rotation speed Use an External Regeneration Resistor e Set the Regeneration Resistor Selection 3016 hex to 2 Always provide a temperature fuse or other protective measure when setting the External Regeneration Resistor Setting 3017 hex to 2 Otherwise the Regeneration Resistor will not be protected generate excessive heat and be burnt Regeneration The Servo Drive regeneration drive Tris Replace the Servo Drive Tr Error faulty OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 16 soueUd UIeW pue HuljooussjqnolL 12 4 Troubleshooting Error No hex i easures Wire the encoder correctly as shown in the wiring diagram Correct the connector pin connections Encoder A disconnection was detected because Communica communications between the encoder tions Discon and the Servo Drive were stopped more oO c c o a O e O Ka N O H 12 17 nection Error Encoder Communica tions Error Encoder Communica tions Data Error Error Counter Overflow Excessive Speed Deviation Error frequently than the specified value There was a communications error in data from the encoder There was a data error mainly due to noise The encode cable is connected but a communications data erro
421. itions Servo Drive Installation Conditions Space Conditions around Servo Drives Install the Servo Drives according to the dimensions shown in the following illustration to ensure proper dispersion of heat from inside the drives and convection inside the panel If the drives are installed side by side install a fan for air circulation to prevent uneven temperatures inside the panel Drive Drive Drive A B C 40 mm min W 10 mm min However W is 50 mm min when a Servo Drive of 7 5 kW or 15 kW is installed System Design Mounting Direction Mount the drive perpendicular on the panel so that the model number reads normally Environment Operating Conditions The environment in which drives are operated must meet the following conditions Drives may malfunction if operated under any other conditions Ambient operating temperature 0 to 55 C Take into account the following temperature rises in the individual drives themselves Operating humidity 90 max with no condensation Operating atmosphere No corrosive gases Altitude 1 000 m max Drives of 100 V or 200 V with a capacity of 750 W max can be installed side by side with a 1 mm clearance W in above illustration However the specifications for operating ambient temperature depends on the drive Drive A 0 to 50 C Drive B Oto 40 C Drive C Oto 45 C 4 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in Ether
422. ives refer to OMNUC G5 Series AC Servomotors Servo Drives with Built in EtherCAT Communications Cat No 1573 2 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 2 How to Read Model Numbers Servomotors The model number provides information such as the Servomotor type motor capacity rated rotation speed and power supply voltage R88M KP10030H BOS2 OMNUC G5 series Servomotor o ee Motor Type Blank Cylinder type Servomotor Capacity 050 50 W 100 100 W 200 200 W 400 400 W 600 600 W 750 750 W 900 900 W 1KO 1 kW 1K5 1 5 kW 2KO 2 kW 3KO0 3 kW 4KO 4 kW 4K5 4 5 kW 5K0 5 kW 6KO 6 kW 7K5 7 5 kW 11KO 11 kW 15K0 15 kW Rated Rotation Speed 10 1 000 r min 15 1 500 r min 20 2 000 r min 30 3 000 r min Applied Voltage 400 VAC incremental encoder 200 VAC incremental encoder 100 VAC incremental encoder 400 VAC absolute encoder 200 VAC absolute encoder 100 VAC absolute encoder oOAQrITM Options No Straight shaft B With brake O With oil seal S2 With key and tap OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 SUOISUBWIG eU1e xXq pue Sj powN Models and External Dimensions 2 3 Model Tables 2 3 Model Tables This section lists the standard models of Servo Drives Servomotors Cables Connectors and peripheral equipment Servo Dri
423. jects cecceceeee eee eeees A 38 Absolute Encoder Setup 4102 hex 04 A 41 Communications Error Setting 2200 hex A 38 Contig 4100 NexX susesi an A 41 Coordinate System Setting Mode 4103 hex A 42 Coordinate System Setting Position 4104 hex A 42 Error History Clear 2100 Nex cceeeeee nena A 38 Statusword 1 4000 hex ccceeeeee eee eee ees A 39 Sub Error Code 4001 hex ccceeeeeee eee eee ees A 41 Sync Not Received Timeout Setting 2201 hex A 39 monitor inputs MONO MON1 and MON2 3 23 MONOC OUTDUUCINGUIT Sariana aaa aE 3 32 monitor output signal table c cece cece eee ee eens 3 32 Motor connector specifications CNB 3 8 4 18 4 22 motor connector specifications CNB 3 7 3 12 4 17 Motor connector specifications CNC cceeeeee 3 8 motor power cable specifications cceceeeeeeeees 3 66 motor power cables European flexible cables 2 14 motor power cables global flexible cables 2 19 motor power cables global non flexible cables 2 16 Motor Rotation Speed Detection Output TGON 3 25 mounting brackets L brackets for rack mounting 2 22 N no fuse breaker NFB cccseeeeeeseeseeecenseeeeenas 4 38 node address setting 2 23 kdGciaeevenateeeeiene lees 5 1 noise filter for power supply input cc cece eee eens 4 33 noise filter for the b
424. k Output BKIR turns ON either when a release request is received via servo controls or when a release request is received via EtherCAT communications Although the servo ON operation is accepted in this section it is not yet enabled OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 24 o suoljeodijineds e Specifications 3 1 Servo Drive Specifications Error Output ALM Pin 3 Error Output ALM Pin 4 Error Output Common ALMCOM Function This output is turned OFF when the drive detects an error This output is OFF when the power supply is turned ON but turns ON when the drive s initial processing has been completed f General purpose Outputs OUTM1 and OUTM2 Pin 1 General purpose Output 1 OUTMT1 Brake Interlock Output BKIR Pin 2 General purpose Output 1 Common OUTM1COM Pin 25 General purpose Output 2 OUTM2 Servo Ready Output READY Pin 26 General purpose Output 2 Common OUTM2COM Note The functions that are allocated by default are given in brackets Refer to the description in Output Signals in 7 1 Sequence I O Signals on page 7 1 for the allocations Servo Ready Completed Output READY This output signal indicates the Drive is ready to be energized It turns ON when no error is detected after the main circuit power supply turns ON With the default settings the output is allocated to pins 25 and 26 Brake
425. kup Battery Inputs BAT Pin 14 Backup Battery Input BAT Pin 15 Backup Battery Input BATGND Function These are the backup battery connection terminals used when the absolute encoder power is interrupted If a battery is connected to the battery holder for the absolute encoder battery cable do not connect anything to these terminals i Precautions for Correct Use Be sure not to connect to both of the absolute encoder battery cable and the backup battery inputs at the same time Such connection may result in malfunction Control Output Circuits i Sequence Outputs Servo Drive External power supply 12 to 24 VDC Maximum service voltage 30 VDC or less Maximum output current 50 mA max Di Surge voltage prevention diode 1 When driving a relay directly with an output signal always insert a diode as shown in the above figure Use high speed diodes 3 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Control Output Details ce 2 B oe D i Control Output Sequence The chart below illustrates the timing of the command inputs after the control power supply is turned ON Input the Servo ON OFF operation position soeed and torque commands in the correct timing as shown in the chart Control power supply ON L1C and L2C OFF ee Approx 100 to 300 ms Internal control ON power supply OFF
426. l Feedback Pulse Dividing Denominator 3325 NEX ieee nans scout EE a A A Ea 9 29 External Feedback Pulse Dividing Numerator 3324A NEN aae aa E E ees 9 29 External Feedback Pulse Phase Z Setting 332r NEX on Aa a aa a 9 30 External Feedback Pulse Type Selection 3323 DE erais a a uwtend 9 27 Hybrid Following Error Counter Overflow Level 3920 NO eae aa u a a a aa a ii 9 30 Hybrid Following Error Counter Reset 3329 hex 9 30 S curve Acceleration Deceleration Time Setting SOA OX aa aa a T 9 26 Soft Start Acceleration Time 3312 hex 9 26 Soft Start Deceleration Time 3313 hex 9 26 Speed Limit Selection 3317 hex cceee eee 9 27 Speed Limit Value Setting 3321 hex 9 27 analog MONIO crror a iat ewdseee eee 11 1 Analog Monitor Cable ccseeeeeeeeseeeeees 2 20 3 79 analog monitor connector specifications CN5 3 32 applicable standards ccccsceeeseeeeseeeesaeeesaees 1 15 B backlash compensation 0cceceeeeeeeeeeeeeeeneeeas 7 11 Backup Battery Inputs BAT ceceeee eee e eee ee ees 3 23 basic settings Control Mode Selection 3001 hex eeeeee 9 2 External Regeneration Resistor Setting 3017 hex 9 5 External Torque Limit 1 3013 hex ee 9 4 Inertia Ratio 3004 hex cc eeeceee eee eee eee e eee eeees 9 3 Operation Switch when Using Absolute Encoder 3015 DEX adirdan e E a 9 4 Realtime Autotuning Mac
427. l Input Details on page 3 21 as well as 7 1 Sequence I O Signals on page 7 1 3410 hex Output Signal Selection 1 CA Setting 0 to OOFE FFFF hex Unit Default 0003 0303 Data range setting hex attribute Size 4 bytes INT32 Access RW PDO map Not possib Set the function assignment for general purpose output 1 OUTM7 Refer to the Details of Control Inputs in Control Output Details on page 3 24 as well a Sequence I O Signals on page 7 1 3411 hex Output Signal Selection 2 le s 7 1 Setting 0 to OOFF FFFF hex Unit Default 0002 0202 Data range setting hex attribute Size 4 bytes INT32 Access RW PDO map Not possib Set the function assignment for general purpose output 2 OUTM2 Refer to the Details of Control Inputs in Control Output Details on page 3 24 as well a Sequence I O Signals on page 7 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications le s 7 1 9 32 s 2 lqo 19 8WeJeg 0A1 Q UO Sj1e q Details on Servo Parameter Objects 9 5 Interface Monitor Settings 3416 hex Analog Monitor 1 Selection A Setting Default Data Size 2 bytes INT16 PDO map Not possible Analog signals of various monitor values can be output from the analog monitor connector on the front panel The monitor type to output and the scaling or output gain can be selected These can be set for each object Refer to 11 1 Analog Monitor on
428. l Length L Seen R88A CAGBO01 5SR E 1 5m R88A CAGBO03SR E 3m R88A CAGBOO5SR E 5m 12 7 dia R88A CAGB010SR E 10m R88A CAGBO015SR E 15m R88A CAGBO020SR E 20m Connection configuration and external dimensions 70 L Servo Drive side Servomotor side R88D KL C1 R88M KL OL Wiring Servo Drive side Servomotor side E ae a n B Prasev SKS Or seen Yelow D FG M4 crimp terminal Servomotor side connector Cable Right le pl del 2 5 mm x 4C or AWG14 x 4C Ignt angie plug moade N MS3108B20 4S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics 3 67 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications R88A CAGDL SR E Cable types For 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW 1 000 r min Servomotors of 2 to 4 5 kW Model Length L R88A CAGDO001 5SR E R88A CAGDO03SR E R88A CAGDOO5SR E R88A CAGD010SR E R88A CAGD015SR E R88A CAGDO020SR E 1 5m 3m 5m 10m 15m 20 m Connection configuration and external dimensions L Servo Drive side R88D KLI a Outer diameter of sheath 13 2 dia Servomotor side S R88M KL Wiring Servo Drive side Sewometorside Bece ee ome m Black e cH anaes Lc Phase W W STE see M5 crimp terminal Cable 4 mm x 4C or AWG11 x 4C OMNUC G5 series AC
429. l block specified value e The power supply voltage is low A e Increase the power supply voltage 11 momentary power interruption occurred Change the power supply e Insufficient power supply capacity the Increase the power supply capacity power supply voltage dropped because there was inrush current when the main power supply was turned ON e The Servo Drive is faulty circuit fault Replace the Servo Drive Overvoltage The power supply voltage exceeded the Measure the voltage between the allowable input voltage range causing the connector L1 L2 and L3 lines Input the voltage between the positive and negative correct voltage Remove the phase terminals in the converter to exceed the advance capacitor specified value The power supply voltage is high The voltage was suddenly increased by the phase advance capacitor or the uninterruptible power supply UPS e The Regeneration Resistor wiring is Use a tester to measure the resistance broken of the external resistor between the B1 and B2 terminals on the Servo Drive If the resistance is infinite the wiring is broken Replace the external resistor e The External Regeneration Resistor is Change the regeneration resistance and inappropriate and cannot absorb all of wattage to the specified values the regenerative energy The load Calculate the regenerative energy and inertia is too large gravitational torque connect an External Regeneration on the vertical axis is t
430. lays the main error number on the front panel H Precautions for Correct Use Refer to Troubleshooting with Error Displays on page 12 13 for troubleshooting errors Reset the error using one of the following methods Remove the cause of the error first e Turn OFF the power supply then turn it ON again e Reset the error via EtherCAT communications or from the CX Drive via USB communications However some errors can only be reset by turning the power supply OFF then ON again Refer to the Error List on page 12 8 An Overload Error Error No 16 cannot be reset for 10 seconds after it occurs If hh FF or HH is displayed as the error number the internal MPU has malfunctioned Turn OFF the power immediately if one of these error numbers is displayed 12 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications g Error List Attribute Error detection function Can be History reset Control Power Supply Undervoltage J Overvoltage y Main Power Supply Undervoltage insufficient voltage between P and N Main Power Supply Undervoltage AC cutoff detected Overcurrent IPM Error Servo Drive Overheat Regeneration Overload Regeneration Tr Error Encoder Communications Disconnection Error Excessive Hybrid Deviation Error Overspeed 2 Absolute Value Cleared S Error No hex Main 11 12 13 14 15 16 2 N 18 21 23 24
431. lled at the top and the power supply line is wired from the lower duct use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease The noise filter must be installed as close as possible to the entrance of the control panel Wire as shown at the left in the following illustration OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives O Separate the input and output Ore effect of the noise filter is small AC input AC output AC input Ground Ground 3 AC output Use twisted pair cables for the power supply cables or bind the cables O Twisted pair cables O Bound cables Servo Drive Servo Drive Suc E eo PROLOG Sve Fee OL3 d Binding Separate power supply lines and signal lines when wiring 4 34 u s q wajshs System Design 4 3 Wiring Conforming to EMC Directives External Dimensions SUP EK5 ER 6 3SUP HQ10 ER 6 100 2 0 53 142 0 115 Ground terminal M4 Sane oses FON TFSI 1 l l hi gt A vi eer te 1 a as om 1 1 L Attachment screw for cover M3 52 Cover Noise filter unit 3SUP HU30 ER
432. load 0 01 max from 0 to 100 percentage of rated speed characteristic Speed variation 0 at rated voltage 10 percentage of rated speed voltage characteristic K90010T 2 000 r min Temperature 0 01 max percentage of rated speed from 0 to 50 C variation temperature characteristic Torque control 1 repeatability 1 The first value is for single phase input power and the second value is for 3 phase input power 2 The heat value is given for rated operation 3 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications R88D R88D R88D R88D R88D Item KN20H KN30H KN50H KN75H KN150H ECT ECT ECT ECT ECT Continuous output current rms 13 4A 18 7A 33 0 A 44 0 A 66 1 A Input power Main supply circuit Power supply 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz voltage 11 8 A 15 1A 216A 32 0 A 58 0 A current 139 W 108 W 328 W 381 W 720 W Power supply Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit voltage Weight Approx Approx Approx Approx Approx 2 kg 4 8 kg 4 8 kg 13 5 kg 21 0 kg Maximum applicable motor capacity 15 kW S mm em fees N 1 000 r oc K2K010T K6K010T Performance Speed control range 1 5000 K7K515T K5K020T Speed variation load 0 01 max from 0 to 100 percentage of rated speed characteristic Speed variation
433. lses for self diagnosis a filter that removes the L pulses is built into the safety input circuit If the OFF time of the safety input signal is 1 ms or less the safety input circuit does not recognize it as OFF To make sure that OFF is recognized maintain the OFF status of safety input signal for at least 5 ms For self diagnosis L pulse N N N 7 I I I L 4 l 4 l Safety input signal i i l i 5 ms or more 7 I l I 7 te gf Es gJ Ya Nu Na Within 1 ms o E Within 5 ms Servo Drive operation Normal operation STO status OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 8 2 uoijoun Ajajes 8 1 Safe Torque OFF Function External Device Monitor EDM Output Signal This is a monitor output signal that is used to monitor the status of safety input signals using an external device Connect a safety device such as a safety controller or a safety sensor Connect the EDM output signal to the monitoring terminal on a safety device Control mode aona Symbol a Description name number Posi Fully Speed Torque tion closed EDM output Gao one 8 Monitor signal is output to V detect malfunctioning of the safety function This is not a safety output y Relationship between Safety Input Signals and EDM Output Signal Normally when both safety inputs 1 and 2 are OFF i e when the STO function is activated
434. lt Approx 60 ms ON 3 Motor power supply No power supply Power supply OFF ei ms Brake interlock ON Brake held Rel t BKIR 2 rake he elease reques output OFF gt 100 ms or more ON i Operation command input Input prohibited Input allowed OFF 1 The servo does not turn ON until the motor rotation speed drops to approx 30 r min or below 2 The Brake Interlock Output BKIR signal is output either when a release request command is received via Servo controls or when a release request command is received via EtherCAT communications The above example shows when there is no brake release request from EtherCAT communications The BKIR signal is assigned to the general purpose output CN1 Note After the error has been reset the system enters the servo OFF state motor not energized To turn ON the servo send a servo ON command again after resetting the error according to the above timing 7 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 6 Electronic Gear Function 7 6 Electronic Gear Function This function controls the position by using the value multiplied the position command entered on the Host Controller by the preset electronic gear ratio The functions is used in the Position Control and Fully closed Control modes This applies only when the communications cycle is 1 2 or 4 ms For communications cycles for which the electronic g
435. lt Data Size 2 bytes INT16 Access RW PDO map Not possible 3313 hex Soft Start Deceleration Time Setting 0 to 10000 Unit ms maximum Default Data range motor speed setting attribute Size 2 bytes INT16 Access RW PDO map Not possible Control the speed by setting acceleration deceleration to the speed command inside the Servo Drive A soft start can be set when inputting speed commands of stepping movement or when using internal speed setting Do not set acceleration deceleration time settings when using the Servo Drive in combination with an external position loop Set both 3312 and 3313 hex to 0 Refer to 7 8 Soft Start on page 7 23 Rotation speed r min Maximum motor rotation speed i ea get ee Le a ge Oe ae ee ee ee ee ee ep eee er ee a Step input of a rotation oS speed command eee _ Rotation soeed command Ps after acceleration or deceleration processing I A o 3312 hex x 1 ms 3313 hex x 1 ms i Precautions for Correct Use Do not set the Soft Start Acceleration Time and the Soft Start Deceleration Time when the position loop structure with a Host Controller is used 3314 hex S curve Acceleration Deceleration Time Setting Setting 0 to 1000 Unit Default Data range setting attribute Size 2 bytes INT16 PDO map Not possible Set the pseudo S curve acceleration deceleration value to add to the speed command to enable smooth operati
436. lue 29x 142 x1424x3427 1428x14 29x2 1461 3634 hex Hybrid Vibration Suppression Gain esp full esp full Setting Default Data Size 2 bytes INT16 u a PDO map Not possible Set the hybrid vibration suppression gain during fully closed control In general set it to the same value as the position loop gain and finely adjust it based on the situation Refer to 11 10 Hybrid Vibration Suppression Function on page 11 28 3635 hex Hybrid Vibration Suppression Filter esp full esp full Setting 0 to 6400 Unit 0 01 ms Default Data range setting attribute Size 2 bytes INT 16 Access RW PDO map PDO map map Not possible Set the hybrid vibration suppression filter Refer to 11 10 Hybrid Vibration Suppression Function on page 11 28 3637 hex Vibration Detection Threshold Setting A Default Data Size 2 bytes INT16 a PDO map Not possible Set the vibration detection threshold lf torque vibration that exceeds this setting is detected a vibration detection warning occurs Refer to 12 2 Warnings on page 12 4 This object is set in units of 0 1 of the rated torque 3638 hex Warning Mask Setting Setting 39768 to 32767 Unit Default Data range setting attribute Size 2 bytes INT 16 Access RW PDO map Not possible Set the warning detection mask setting If you set the corresponding bit to 1 the corresponding warning detection is disabled Refer to the General Errors in 12
437. m Down Error Error No 40 occurs or when the encoder cable is disconnected and then connected again To use an absolute encoder set the Operation Switch when Using Absolute Encoder 3015 hex to 0 or 2 factory setting Refer to the SYSMAC CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Unit Operation Manual Cat No W487 and to information on Absolute Encoder Setup 4102 hex to set up the absolute encoder Setting Up an Absolute Encoder from the CX Drive 1 Start the CX Drive and go online with the Servo Drive via EtherCAT or USB communications 2 Select Absolute Encoder from the Tuning Menu of the CX Drive 3 Select Multi Turn Data and Encoder Error Clear from the Absolute Encoder Dialog Box The following error will occur after execution has been completed EtherCAT communications Absolute Value Cleared Error No 27 1 USB communications Position Data Initialized Error No 27 7 4 Turn the power supply to the Servo Drive OFF and then ON again OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 6 uoijeiado Operation 10 3 Trial Operation 10 3 Trial Operation When you have finished installation wiring and switch settings and have confirmed that status is normal after turning ON the power supply perform trial operation The main purpose of trial operation is to confirm that the servo system is electrically correct lf an error occurs
438. me autotuning To set it manually set the Realtime Autotuning Mode Selection 3002 hex to 0 Position loop gain is generally expressed as follows Command pulse frequency pulses s Position loop gain Kp W 1 _ 0 1 s Pulse position error pulses Response for Position Loop Gain Changes Position loop gain is high Motor speed ra Position loop gain is low Time Details on Servo Parameter Objects 9 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 Gain Settings If the speed loop gain and position loop gain are optimally set the motor operation for the command delays 2 Kp at acceleration and delays 3 Kp at deceleration Motor speed 4 position command Motor ANS PENER 3 Kp 3101 hex Speed Loop Gain 1 All Seung 1 to 32767 Unit 0 1 Hz OE 270 oala range setting attribute Size 2 bytes INT16 PDO map Not possible 1 The default setting is 180 for a Drive with 200 V and 1 kW or greater or with 400 V Time This object determines speed loop responsiveness The setting for the speed loop gain must be increased to increase the position loop gain and improve the responsiveness of the entire servo system Setting too high however may result in vibration The setting unit for 3101 hex is Hz if the Inertia Ratio 3004 hex is set correctly When the speed loop gain is changed the resp
439. me time bo 7 Wire the circuit so that the voltage between DB1 Brae ae ena otras oor adla and DB2 is 400 VAC or less Install an external protective device such as a 7 temperature fuse Monitor the temperature of 7 the external Dynamic Brake Resistor BKIR 11 User side control device Control cables 4 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring i R88D KN150F ECT RST 3 phase 380 to 480 VAC 50 60 Hz 1 2 3 Noise filter 1 Main circuit contactor 1 Main circuit power supply anc a Am OFF ON 1MC 2MC ES Ground to 100 Q or less ET Op wo EE E a a n eee Surge suppressor 1 X 1MC 2MC X Go Servo alarm display pana TE E OMNUC G5 series OMNUC G5 series AC Servo Drive i AC Servomotor Power cables _ 2 I et 24V L TB1 24 er d 24 VDC R D pee a AA w we EZ LA INE e e Oo Reactor a Power supply Toe neutral point Regeneration a TI Resistor 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 Series motors with brakes because its rated induction load is 2 A 24 VDC P Rr 24 VDC Q36 ALMCOM 3 There is no polarity on the brakes User side pag 24 VDC 4 Provide auxiliary contacts to protect the cont
440. mensions 4 kW 5 kW without Brake R88M K4KO30H S2 K5KO30H S2 R88M K4KO30T S2 K5KO30T S2 4 kW 5 kW with Brake R88M K4K030H B S2 K5KO30H B S2 R88M K4K030T B S2 K5KO30T B S2 Motor and brake connector CS Shaft end specifications with key and tap Encoder connector 130x130 3 through g 8h9 O el N t A z 24h6 2 d M8 depth 20 Dimensions mm R88M K4K030L 208 164 127 186 Model R88M K5K030L 243 199 201 R88M K4K030L BL 233 211 R88M K5K0300 BC 268 224 246 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 45 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications g 3 000 r min Servomotors 400 V 2 4 External and Mounting Dimensions 750 W 1 kW 1 5 kW 2 kW without Brake R88M K75030F S2 K1K030F S2 K1K530F S2 K2K030F S2 R88M K75030C S2 K1K030C S2 K1K530C S2 K2K030C S2 750 W 1 kW 1 5 kW 2 kW with Brake R88M K75030F B S2 K1K030F B S2 K1K530F B S2 K2K030F B S2 Xe R88M K75030C B S2 K1K030C B S2 K1K530C B S2 K2K030C B S2 Motor and brake LL connector LM Encoder connector 101 without brake 103 with br
441. ment N m t1 t3 Deceleration time s t2 Constant speed driving time during downward movement s Note Due to the loss of winding resistance the actual regenerative energy will be approx 90 of the values derived from these equations For Servo Drive models with internal capacitors used for absorbing regenerative energy i e Servo Drive models of 400 W or less the values Eg and Ego Eg unit J must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative energy i e Servo Drive models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section The average regeneration power Pr is the regeneration power produced in 1 cycle of operation W Pr Eg1 t Eg2 Eg3 T W T Operation cycle s OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 50 ubisag wajshs System Design 4 4 Regenerative Energy Absorption Servo Drive Regeneration Absorption Capacity i Amount of Internal Regeneration Absorption in Servo Drives This Servo Drive absorbs regenerative energy internally with built in capacitors If the
442. mmunications cycle is set to 250 us or 500 us the position command FIR filter is disabled regardless of this setting 6091 hex Gear ratio Sub index 0 Number of entries Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Motor revolutions Range 0 to 1073741824 Unit fo Default Attribute C Size 4 bytes U32 PDO map Not possible Sub index 2 Shaft revolutions Range 1 to 1073741824 Unit fo Default Attribute C Size 4 bytes U32 PDO map Not possible These objects set the gear ratio Set the numerator of the electronic gear in the object for sub index 1 Motor revolutions If the set value is 0 the encoder resolution will be set as the numerator Set the denominator of the electronic gear in the object for sub index 2 Shaft revolutions Set the gear ratio to between 1 1 000 and 1 000 If the gear ratio is out of range an Object Setting Error Error No 93 0 will occur If the set value of Motor revolutions is 0 the encoder resolution will be set as the numerator even for fully closed control Refer to Electronic Gear Function on page 7 18 for details i Precautions for Correct Use The electronic gear function is not supported for unit version 2 0 Do not change the default setting The electronic gear function is schedule for support from unit version 2 1 6098 hex Homing method Pano 4128 to 127 Default E Attribute units s Size 1 byte INT8 Access RW PDOmap
443. mpensation 32768 to Command Not rN 3706 hex PackashCompensalion 0 to 6400 0 01ms 2 bytes INT16 Not Pn706 Time Constant possible Touch Probe Trigger 0000 to FFFF Not gt lt l m 3759 hex Warning Hold Selection 0000 to FFFF 2 bytes U16 Not Pn759 O hex possible c ab Communications Control 32768 to Not O 3800 hex 32767 2 bytes INT16 C possible Pn800 a 3801 hex Sola a Pesomr inn 3 0 to 3 2 bytes INT16 A ne Pn801 Function y possible 3803 hex origin Range 10 0 to 250 Command gt bytes INT16 A Not Pn803 units possible Position Command FIR Not Origin Return Mode Not 4000 hex Statusword 1 0000 0000 to FFFF 2 bytes U16 TxPDO 7 hex hex 4001 hex Sub Error Code 0000 0000 to FFFF 2 bytes U16 TxPDO hex hex Config 0000 0000 0000 to Not 4100 hex 0000 FFFF FFFF 4 bytes U32 possible hex hex Absolute Encoder Setup 0000 0000 0000 to Not 4102 hex 0000 FFFF FFFF 4 bytes U32 possible hex hex Coordinate System 0000 to FFFF Coordinate System 2147483648 Command ex hex cee Ez Controlword 0000 0000 to FFFF E ror ene eX hex aaa bes Ez Statusword 0000 0000 to FFFF f gt bytes U8 PRO E ex hex 605B Shutdown option code 4 5t00 2 bytes INT16 Not Pn735 hex possible 605C Disable operation option Not ales par OpuCniEcde 1 1to3 2 bytes INT16 Not Pn737 hex possible 605E Fault reaction option 4 7 to0 2 bytes INT16 Not Pn738 hex code possible 6060 hex Modes of operation Le 0 to 10 a 1 byte INT8 RxPDO 2 A 77
444. mption W 19 31 34 34 34 at 20 C Current consumption A 0 79 10 1 3 10 1 4 10 1 4 10 1 4 10 at 20 C Static friction Static friction torque 24 5 min 5 min 58 8 min 8 min 58 8 min 8 min 58 8 min Backlash 1 reference value Brake IF 3 57 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 200 VAC Model R88M Item Unit K90010T OT K2K010T K3K010T K4K510T K6K010T Allowable work per Peck 176 1372 1372 1372 1372 braking Allowable total work J 1 5x108 2 9x10 2 9x10 2 9x10 2 9x108 Allowable angular rad s 10 000 5 000 acceleration Brake limit 10 million times min Insulation class o Type F Brake specifications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 58 o suoljeoljinods e Specifications 3 3 Servomotor Specifications 400 VAC Item Unit K90010C K2K010C K3K010C K4K510C K6K010C Model R88M Rated output 1 wo 9000 2 000 3 000 4 500 6 000 Rated rotation speed 1 000 Maximum rotation speed 2 000 Momentary maximum Nem 19 3 47 7 71 7 107 0 143 0 torque i Momentary maximum A rms 12 30 40 55 current 1 Rotor Without kgem 6 70x107 30 3x107 48 4x10 79 1x107 101x107 inertia brake Sie eee With brake Applicable load inertia 10 times the rotor inertia max brake al 0 With brake 4 Mechanica Without
445. n p When the Motor Revolutions 6091 01 Hex Is Set to 0 If you set 6091 02 hex to 2 000 the operation is the same as the 2 000 pulses rotation Servomotor Servo Drive Servomotor encoder resolution 20 bits 2 000 pulses Encoder resolution 1 048 576 pulses Shaft revolutions 6091 02 hex 1 048 576 2000 1 rotation 1 048 576 pulses i When the Motor Revolutions 6091 01 Hex Is Set to a Value Other Than 0 If you set 6091 01 hex and 6091 02 hex to 1 048 576 and 2 048 respectively the operation is the same as a 2 048 pulses rotation Servomotor j Servo Drive Servomotor encoder resolution 20 bits 2 048 pulses Motor revolutions 6091 01 hex 1 048 576 pulses Shaft revolutions 6091 02 hex 512 _ 1 048 576 2000 1 suoljoun4 paddy 1 rotation 1 048 576 pulses OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 20 7 7 Torque Limit Switching 7 7 Torque Limit Switching This function switches the torque limit according to the operation direction and depending on the Forward External Torque Limit PCL the Reverse External Torque Limit NCL and the Forward Reverse Torque Limit Input Commands from EtherCAT communications This function is used in the following conditions e When push motion operation such as pressing is performed e When the torque at startup and during deceleration should be suppressed to prot
446. n Range 3435 hex The setting has a hysteresis of 10 r min Refer to the Control Output Details in Control Output Details on page 3 24 for the Speed conformity output VCMP 3435 hex Aspeed command after the acceleration Speed command deceleration processing WHA Speed Conformity Detection Range Speed r min TEEPE RUELOCECTECCTLICOCCLLLT TTC AES Ce O 3435 hex Motor speed Speed Conformity Detection Range x 3435 hex n Weeweceeeeees aaa me Speed Conformity Detection Range Speed conformity 3436 hex Rotation Speed for Motor Rotation Detection Sering 10 to 20000 Unit r min Deau 1 000 oaa A range setting attribute Size 2 bytes INT16 PDO map Not possible It outputs the Motor rotation speed detection output TGON when the motor speed reaches the set arrival speed The setting has a hysteresis of 10 r min Refer to the Control Output Details in Control Output Details on page 3 24 for the Motor rotation speed detection output TGON OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 36 s 2 lqo 19 9WeJeg 0A1 Q UO Sj1e q Details on Servo Parameter Objects 9 5 Interface Monitor Settings Speed r min Motor speed 3436 hex 10 3436 hex 10 3436 hex 10 Time 3436 hex 10 Speed reached output OFF ON OFF ON 3437 hex Brake Timing when Stopped S
447. n on settings 3220 hex Damping Frequency 4 Setting Default Data Size 2 bytes INT16 ao PDO map Not possible Set damping frequency 4 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is O to 0 9 Hz Refer to 11 5 Damping Control on page 11 15 for more information on settings 3221 hex Damping Filter 4 Setting Setting 0 to 1000 Unit 0 1 Hz Default Data range setting attribute Not possible First set Damping Frequency 4 3220 hex Then reduce the setting oa torque saturation occurs or increase the setting to increase operation speed Normally use a setting of 0 The upper limit of the set value is restricted to the smaller value of the corresponding damping frequency or 2000 damping frequency Refer to 11 5 Damping Control on page 11 15 for more information on settings OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 24 s 99f qo 10 9WeJeg OAIBS UO Sj1e q Details on Servo Parameter Objects 9 3 Vibration Suppression Settings 3222 hex Setting range Size Position Command Filter Time Constant 0 to 10000 Unit 0 1 ms pede ek setting attribute 2 bytes INT16 Access RW PDO map Not possible The Position Command Filter
448. n or deceleration process Speed Conformity Speed command Detection Range 3435 hex Rotation TERE CTROTEO CLEC LLL oe speed r min Speed Conformity Motor rotation speed Detection Range 3435 hex i Detection Range 3435 hex Speed Conformity Tra ee ne i __ Time Speed Conformity Warning Outputs WARN1 and WARN2 The Warning Output 1 WARN1 turns ON when the warning set by the Warning Output Selection 1 3440 hex is detected The Warning Output 2 WARNZ2 turns ON when the warning set by the Warning Output Selection 2 3441 hex is detected With the default settings the outputs are not allocated Error Clear Attribute Output ALM ATB This output turns ON when an error that can be reset occurs With the default settings the output is not allocated Remote Outputs R OUT1 and R OUT2 Remote Output 1 R OUT1 turns ON and OFF according to the ON OFF status of bit 16 in the Digital outputs 60FE hex Remote Output 2 R OUT2 turns ON and OFF according to the ON OFF status of bit 17 in the Digital outputs 6OFE hex These outputs are not assigned in the default settings 3 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Encoder Connector Specifications CN2 Pin No Symbol Function and interface 1 Encoder power supply 5 V Power supply output for the encoder 0 Backup power supply
449. n to Not specified The previous mode of operation is retained Similarly when an unsupported mode of operation is set the previous mode is retained When an unsupported mode of operation is set using SDO mailbox communications an ABORT code is returned Description of Set Values Code Description 0 Not specified 6 Homing mode hm 8 Cyclic synchronous position mode csp 9 Cyclic synchronous velocity mode csv 10 Cyclic synchronous torque mode cst For details about changing the modes of operation refer to Changing the Mode of Operation on page A 7 6061 hex Modes of operation display Range 0 to 10 Unit Default pO Attribute Size 1 byte INT8 Access RO PDO map Possible This object gives the present operation mode The value definitions are the same as for the Modes of operation 6060 hex All 6062 hex Position demand value 2147483648 to Command Size 4 4bytes INT32 INT32 Access PDO map PDO map Possible This object gives the Drive s E position 6063 hex Position actual internal value Size 4 Abytes INT32 INT32 Access PDO map PDO map Possible This object gives the a Drive s present o position A 49 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile The value is in encoder units or external encoder units Other than fully closed contr
450. nd B3 connected When the amount of regeneration is large remove the connection between B2 and B3 and connect a Regeneration Resistor between B1 and B2 5 There is no Internal Regeneration Resistor for KNA5L ECT to KNO2L ECT and KNO1H ECT to KNO4H ECT When the amount of regeneration is large connect the necessary Regeneration Resistor between B1 and B2 User side control device Control cables 4 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring R88D KN01H ECT KNO2H ECT KNO4H ECT KNO8H ECT KN10H ECT KN15H ECT 3 phase Input 3 phase 200 to 240 VAC 50 60 Hz R88D KNLILJH ECT an ae NFB Main circuit contactor 1 Main circuit power supply OFF ON 1MC 2MC oe m ee Surge suppressor 1 X 1MC 2MC X Servo error display OMNUC G5 Series AC Servo Drive LIC OMNUC G5 Series a AC Servomotor L2C Power cables Ground to 100 Q or less T Ground to 100 Q or less CN2 es Encoder cables INDO Regeneration 4 6 Resistor E TE E 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay X O3 ALM 24 VDC by OMRON can be used with all O4 ALMCOM G5 series motors with brakes because its Lae 4 VD rated inductive load is 2 A 24 VDC BKIR 10 XB G 3 There is no polarity on the brakes 2 4 Mod
451. nd the brake on 100 V and 200 V 3 000 r min Servomotors of 50 to 750 W and Servomotors of 6 to 15 kW When using a Servomotor with a brake two cables are required a Power Cable without Brake and a Brake Cable Note 2 For flexible power cables for Servomotors of 11 to 15 kW refer to 4 2 Wiring page 4 6 and make your own cable For flexible power cables for Servomotors of 6 to 7 5 kW refer to 3 4 Cable and Connector Specifications and make your own power cable OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 3 Model Tables i Brake Cables Global Flexible Cables Specifications Model 100 V and 200 V R88A CAKA003BR For 3 000 r min Servomotors of 50 to 750 W R88A CAKAO05BR R88A CAKA010BR R88A CAKA015BR R88A CAKA020BR R88A CAKA030BR R88A CAKA040BR R88A CAKA050BR Note For flexible brake cables for Servomotors of 6 to 15 kW refer to 3 4 Cable and Connector Specifications and make your own brake cable i EtherCAT Communications Cable Recommended Category 5 or higher cable with double aluminum tape and braided shielding is recommended i Absolute Encoder Battery Cables Name Model Absolute Encoder Battery Cable battery not supplied R88A CRGDOR3C Absolute Encoder Battery Cable R88A BAT01G battery x 1 supplied R88A CRGDOR3C BS i Absolute Encoder Backup Battery Name Model Absolute Encoder Backup Battery R88A BAT01G i Analog Monitor Cable Name Model An
452. nforming to EMC Directives 4 48 ubisag wajshs System Design 4 4 Regenerative Energy Absorption 4 4 Regenerative Energy Absorption _ Se The Servo Drives have internal regeneration process circuitry which absorbs the regenerative energy produced during motor deceleration and prevents the DC voltage from increasing An overvoltage error occurs however if the amount of regenerative energy from the motor is too large If this occurs remedies must be taken to reduce the regenerative energy by changing operating patterns or to increase the regeneration process capacity by connecting an External Regeneration Unit Calculating the Regenerative Energy i Horizontal Axis N1 Motor operation N2 Motor output torque TD1 t1 In the output torque graph acceleration in the forward direction is shown as positive and acceleration in the reverse direction is shown as negative The regenerative energy values in each region can be derived from the following equations T Eg 1 27 Ni Tor ti J 2 60 E H N2 To2 te J N1 N2 Rotation speed at start of deceleration r min Tp1 T02 Deceleration torque N m t4 t2 Deceleration time s Note Due to the loss of motor winding resistance and PWM the actual regenerative energy will be approx 90 of the values derived from these equations For Servo Drive models with internal capacitors used for absorbing regenerative energy i e Servo Drive mod
453. ng Setting 2 Mode 3124 Delay Time Level 3126 Hysteresis 3127 Absolute ae Notch Filter Frequency Width Dept esse Sessa See Se Speed Control Linear Integra Absolute x 3101 3102 2 3106 3107 Multiply l Inertia Ratio 3004 Speed Detection Filter Speed Feedback Filter Time Constant 1 3103 on Speed Feedback Filter 6063 hex Position actual internal value ieee aster 3108 we encoder pulses y Setting 3610 se A NETET pr a a a o toe oe ae ae ra ri ert eee eee Oo eicinee ine eine emis LACS D ay 1i 1 Motor Velocity Actual Value Speed detection Current control Torque Limit Selection 3521 External 1 3013 External 2 3522 Forward Response 3611 extemal 9029 sedy Reverse 3526 Oe eee External erat Positive 60E0 074 or 6077 hex Torque demand or Negative 60E1 s Torque actual value lt Naaa MAH Mi e a wee wee eee eee e te oe ae ae Max SUOI OUN 01 U04D dISeg Note 1 Numbers within parentheses are sub index numbers Note 2 Numbers within boxes are hexadecimal index numbers Note 3 The electronic gear function is not supported Use a setting of 1 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 10 Basic Control Functions 6 4 Homing Mode 6 4 Homing Mode 6 1
454. ng Mode using Damping Filter Selection 3213 hex If the measurement device cannot be used use CX Drive tracing function and read the residual damping frequency Hz from the position error waveform as shown in the following figure The damping frequency in the figure is lt Position error calculated with the following formula Calculate the 1 damping frequency f Hz T s Since the object unit is 0 1 Hz 3214 hex 3216 hex 3218 hex 3220 hex 10 xf Damping cycle T Application example If the damping cycle is 100 ms or 20 ms set 100 or 500 in the object so that the damping frequency becomes 10 Hz or 50 Hz If vibration persists after setting the frequency increase or decrease the resonance frequency to find a proper one with minimum vibration OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 16 suoljoun u wzsnfpy Adjustment Functions 11 5 Damping Control 11 17 3 Make the damping filter settings Make damping filter settings 1 3215 hex 2 3217 hex 3 3219 hex 4 3221 hex First set the filter to O and check the torque waveform during operation The stabilization time can be reduced by setting a large value however torque ripple will increase at the command change point as shown in the following figure Set a range that will not cause torque saturation under actual operation conditions The effects of vibration suppre
455. ng l i i disabled if 100 is set Setting range 0 to 99 Notch 2 Frequency Set the center frequency of the notch filter 2 SEUR GR Setting The details are the same with the notch filter 1 frequency page sal Notch 2 Width Select the width of the notch filter 2 frequency JA09 men Setting The details are the same with the notch filter 1 width page sa Notch 2 Depth Select the depth of the notch filter 2 center frequency PAOK Setting The details are the same with the notch filter 1 depth page sai Notch 3 Frequency Set the center frequency of the notch filter 3 SAUT MGR Setting f The details are the same with the notch filter 1 frequency Pages Notch 3 Width Select the width of the notch filter 3 frequency TEE Setting i The details are the same with the notch filter 1 width page Sal Notch 3 Depth Select the depth of the notch filter 3 center frequency 702X Setting _ The details are the same with the notch filter 1 depth pagesia Notch 4 Frequency Set the center frequency of the notch filter 4 SAER Setting 1 The details are the same with the notch filter 1 frequency page sae Notch 4 Width Select the width of the notch filter 4 frequency PEUN Setting 2 The details are the same with the notch filter 1 width page iraa Notch 4 Depth Select the depth of the notch filter 4 center frequency PENE NOX Setting 7 The details are the same with the notch filter 1 depth page amag 1 If an adaptive filter is used these objects are set automatically
456. nge the operation mode while the Servomotor is running shock may occur in the operation of the Servomotor Note 2 Wait at least 2 ms before changing the mode of operation again If you change the mode of operation again within 2 ms a Command Error Error No 91 1 will occur 2 C D Q Q lt Changing to an Unsupported Control Mode If 6060 hex is set to a value other than O0 nma 6 hm 8 csp 9 csv or 10 cst a Command Error Error No 91 1 will occur If 6060 hex is set to 9 csv or 10 cst during fully closed control mode a Command Error Error No 91 1 will occur If 6060 hex is set to 6 hm when the communications cycle is set to 250 or 500 us a Function Setting Error Error No 93 4 will occur Changing the Control Mode under Warning Conditions The operation when there is a warning for the related data Data setting warning or Command warning is different depending on the control mode Changing to csp csv or cst If there is a warning for the related data you cannot change to csp csv or cst The current operation mode is maintained Changing to hm The operation mode changes even when there is a warning for the related data For the hm mode a homing error occurs instead of a warning Changing the Control Mode to pp or hm Mode When the Motor Is Running When the Halt bit is OFF the Servomotor comes to an immediate stop if the rising edge of 6040 hex bit 4 start bit is not detected
457. nications 3 4 Cable and Connector Specifications g Connector Terminal Block Conversion Unit XW2B 20GL The Unit is used with a Connector Terminal Block Cable XW2Z l J B34 They convert the control input signal CN1 of the G5 series Servo Drive into a terminal block Terminal Block Models Model Description XW2B 20G4 M3 screw terminal block XW2B 20G5 M3 5 screw terminal block XW2D 20G6 M3 screw terminal block XW2B 20G4 Dimensions o Flat cable connector MIL type plug suoljeoijineds Precautions for Correct Use Use 0 3 to 1 25 mm wire AWG22 to 16 The wire inlet is 1 8 mm height x 2 5 mm width Strip the insulation from the end of the wire for 6 mm as shown below pee 6 mm OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 82 3 4 Cable and Connector Specifications XW2B 20G5 Dimensions Flat cable connector MIL type plug 3 5 112 5 3 5 8 5 7 3 Terminal block oa a ass 2eeee5 ae a ee E DASA Ie 43 5 45 3 er ee ee pl N Note The pitch of terminals is 8 5 mm Lat a v O 2 O O D Q Y Precautions for Correct Use When using crimp terminals use crimp terminals with the following dimensions Round terminal Fork terminal 3 7 Mmm 5 ean SGE 6 8mm max 3 7 mm
458. nications Cycles and Corresponding Modes of Operation ccccseeeeeees A 4 Modes of Operation and Applied Functions ccccccccccecceeeeeeeeseeeeeceseeeseeeeeeesaeeeaes A 6 Changing the Mode OF O peranlon srania nis adc d Seeks ein ne ed Se ee A 7 Homing Mode Specifications ccccccccceeceseceseeeceeeceeeceeeceeceseeeseeeeeeesaueeseeesaeeeaeeeaees A 11 Object DICTION ANY nrsnisenma ee eis nae aa a Giese ae bles aes nde dees A 17 COMMUNICATION ODI OCUS iraniana tech a aae aE a A a a a A 19 PDO Wapping ODI CCUS ticecteutcntt tocar a baste ince a AEA E A 25 sync Manager Communication Objects cccccccececeeeceeeceeeeee ees eeseeeeaeeeseeeseeeseeees A 34 Vanutacturer Specie ODICCIS sac0cisisiche esd a alee eee nea e cess A 38 Servo Drive Profile Object cccccccsceceeeseeeeceeeceeseeeeceeeceecsueceueesseecseesueceueeaueeses A 43 Reserved ODICCIS acces tise ies eee Bs gered es he ccetcee eee E eee elie eases A 63 jag mes 8 6 El lt ee ec ee a en eee A 64 Aco EtherCAT Terminology erii toe tank a eases arte A 81 Index OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 21 Features and System Configuration EE po This chapter explains the features of the Servo Drive name of each part and applicable EC Directives and UL standards dat 9 eee een ene eee eer se ose nee Ea ee etree 1 1 1 2 System Configuration
459. nment 1C12 hex and Sync manager 3 PDO assignment 1C13 hex some typical examples of RxPDO and TxPDO combinations are provided below i PDO Mapping 1 Position Control and Touch Probe Function This object gives the mapping for an application that uses only cyclic synchronous position mode csp Touch probe function is available RxPDO Controlword 6040 hex Target position 607A hex Touch probe function 60B8 hex 1701h and Digital outputs 60FE hex Error code 603F hex Statusword 6041 hex Position actual value 6064 hex TxPDO Torque actual value 6077 hex Following error actual value 60F4 hex Touch probe 1B01h status 60B9 hex Touch probe pos1 pos value 60BA hex Touch probe pos2 pos value 60BC hex and Digital inputs 60FD hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 6 suonesiunwwo 1Yy31994 3 EtherCAT Communications 5 4 Process Data Objects PDOs PDO Mapping 2 Position Control Speed Control Torque Control and Touch Probe Function This is the mapping for an application that uses one of the following modes Cyclic synchronous position mode csp Cyclic synchronous velocity mode and Cyclic synchronous torque mode Touch probe function is available RxPDO 1702h TxPDO 1B02h Controlword 6040 hex Target position 607A hex Target velocity GOFF hex Target torque 6071 hex Modes of operation 6060 hex Touch
460. nput Signal Read Setting Default Data 2 bytes INT16 Access RW PDO map PDO map map Not possible Select the signal read cycle for control input digital input The External Latch Inputs 1 2 and 3 EXT1 2 and 3 are excluded Explanation of Set Values 9 43 Set value Description 0 0 250 ms 1 0 500 ms 2 1 5 ms 3 2 5 ms OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 6 Extended Objects 3520 hex Position Setting Unit Selection Setting Default Data Size 2 bytes INT 16 Access RW PDOmap PDO map map Not possible Select the setting unit of Position Completion Range 2 3442 hex and Following error window 6065 hex Explanation of Set Values Set value Description 0 Command units 1 Encoder units External encoder units 4 Precautions for Correct Use Detection of the Positioning Completed status in EtherCAT communications is always performed using command units regardless of the setting on this object Normally use the default setting of 0 command units 3521 hex Torque Limit Selection Setting 0to7 Unit Default Data range attribute Size 2 bytes INT 16 PDO map PDO map Not possible Select the method to set the forward and reverse torque Refer to 7 7 Torque Limit Switching on page 7 21 Explanation of Set Values Torque FF Torque feed forward function Position control speed con
461. nputs 1 and 2 to ON If an error exists in this state be sure to clear the error when both safety inputs 1 and 2 have returned to ON state An error will occur immediately if the error reset is executed when even one of them is still in OFF status 2 An error exists in this state The dynamic brake operates according to the Fault reaction option code 605E hex 3 An error exists in this state The dynamic brake operates according to the Disable operation option code 605C hex C O prar O am LL gt _ 2 a 8 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 8 3 Connection Examples 8 3 Connection Examples Connection with a Safety Controller Two Safety Inputs and One EDM Output Safety Controller Safety output G9SP series source Servo Drive Poean Eas Safety Controller Safety output 1 SF1 Safety input SF1 Safety input EDM EDM input EDM output L OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 8 6 uoijoun4 Ajajes Details on Servo Parameter Objects rs This chapter explains the settings of each object 9 1 BaSic Settings inince aiai 9 1 92 Gall SONGS ssis 9 7 9 3 Vibration Suppression Settings scceseeeeeeeees 9 20 9 4 Analog Control Objects ccccceseessseseeeeeeeeeeeeeeees 9 26 9 5 Interface Monitor Settings
462. ns are possible in addition to mailbox communications DC mode cyclic communications can be used to send information such as status from the Servo Drive This is a normal operating state DC mode cyclic communications can be used to control the motor SUOI EDIUNWIWOY LW949U 4 5 4 Process Data Objects PDOs 5 4 Process Data Objects PDOs The process data objects PDOs are used to transfer data during cyclic communications in realtime PDOs can be reception PDOs RxPDOs which receive data from the controller or transmission PDOs TxPDOs which send status from the Servo Drive to the host controller RxPDO Liga Operation command target position etc Controller TxPDO Operation status actual position etc The EtherCAT application layer can hold multiple objects to enable transferring Servo Drive process data The contents of the process data are described in the PDO Mapping object and the Sync manager PDO assignment object OMNUC G5 series Servo Drives support PDO mapping for position control Servo Drive 5 PDO Mapping Settings EtherCAT Communications The PDO mapping indicates the mapping for application objects realtime process data between the object dictionary and PDO The number of mapped objects is described in sub index 0 of the mapping table In this mapping table 1600 hex to 17FF hex are for RxPDOs and 1A00 hex to 1BFF hex are for TxPDOs G5 series Servo Drives can use any one of the indexes from
463. nsists of the following chapters Read the necessary chapter or chapters referring the following table Chapter1 Features and System Configuration Chapter 2 Standard Models and External Dimensions Chapter 3 Specifications Chapter4 System Design Chapter5 EtherCAT Communications Chapter6 Basic Control Functions Chapter 7 Applied Functions Chapter8 Safety Function Chapter9 Details on Servo Parameters and Objects Chapter 10 Operation Chapter 11 Adjustment Functions Chapter 12 Troubleshooting and Maintenance Appendix Outline This chapter explains the features of the Servo Drive name of each part and applicable EC Directives and UL standards This chapter explains the models of Servo Drives Servomotors and peripheral equipment and provides the external dimensions and mounting dimensions This chapter provides the general specifications characteristics connector specifications and I O circuits of the Servo Drives as well as the general specifications characteristics encoder specifications of the Servomotors and other peripheral devices This chapter explains the installation conditions for the Servo Drive Servomotor and Decelerator wiring methods including wiring conforming to EMC Directives and regenerative energy calculation methods as well as the performance of External Regeneration Resistors This chapter describes EtherCAT communications under the assumption that the Servo Drive is conn
464. o 10 V OV Motor Speed 5000 5000 r min 40V Output voltage V AON Feedback 1 Oto 10 V Motor Speed 10V Adjustment Functions Output voltage V 10 V OV p 0to10V Feedback E Motor Speed 5 V as the center 10 V 11 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 2 Gain Adjustment 11 2 Gain Adjustment ee OMNUC G5 Series Servo Drives provide a realtime autotuning function With this function gain adjustments can be made easily even by those using a servo system for the first time If you cannot obtain the desired responsiveness with autotuning use manual tuning Purpose of the Gain Adjustment The Servo Drive must operate the motor in response to commands from the host system with minimal time delay and maximum reliability The gain is adjusted to bring the actual operation of the motor as close as possible to the operation specified by the commands and to maximize the performance of the machine Example Ball screw Gain setting High Gain setting High feed forward setting Gain setting Low r min 2000 2000 0 0 125 250 375 0 0 125 250 375 0 0 125 250 375 Position loop gain 3 0 Position loop gain 251 0 Position loop gain 251 0 Speed loop gain 2 5 Speed loop gain 140 0 Speed loop gain 180 0 Speed loop integral time constant 190 0 Speed loop integral time constant 6 0 Speed loop integral time
465. o Drives User s Manual with Built in EtherCAT Communications 4 4 u s q wajshs System Design 4 1 Installation Conditions Decelerator Installation Conditions j Using Another Company s Decelerator Reference If the system configuration requires another company s decelerator to be used in combination with an OMNUC G5 series Servomotor select the decelerator so that the loads on the motor shaft i e both the radial and thrust loads are within the allowable ranges Refer to Characteristics on page 3 2 for details on the allowable loads for the motors Also select the decelerator so that the allowable input rotation speed and allowable input torque of the decelerator are not exceeded OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring 4 2 Wiring Power Cables for 1 500 r min Servomotors For a 1 500 r min Servomotor with 11 kW or 15 kW make the following cable yourself and use it to connect the Servomotor and Servo Drive Wiring Servo Drive side Servomotor side 7 OOwnie_ A Phase U QC LB Phase V Cable AWG4 x 4C UL62 M6 crimp terminal Servomotor side connector Straight plug model N MS3106B32 17S Japan Aviation Electronics Cable clamp model N MS3057 20A Japan Aviation Electronics Note 1 The cable length between the Servomotor and Servo Drive must be 50 m or less Use wire lengths that match the positions of the U V W and F
466. o follow this guideline may result in damaging the internal elements Note 3 Depending on the operating conditions some Servo Drive parts will require maintenance For details refer to 12 5 Periodic Maintenance on page 12 33 EC EMC EN 55011 EN 61000 6 2 IEC 61800 3 Directives Directive Low Voltage EN 61800 5 1 Directive International standard 3 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Characteristics i 100 VAC Input Models E R88D R88D R88D R88D z KNA5L ECT KNO1L ECT KNO2L ECT KNO4L ECT Input power Main Power supply circuit supply 0 4 KVA 0 4 KVA 0 5 KVA 0 9 KVA capacity Power supply Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz voltage 9 current value Power supply Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz Control circuit voltage U D O gt O O c O 5 7 i value Weight Approx 0 8 kg Approx 0 8 kg Approx 1 0 kg Approx 1 6 kg Maximum applicable motor capacity 100 W 200 W 400 W APPARE aO K05030H K10030L K20030L K40030L Servomotor r min KO50G0H K05030T K10030S K20030S K40030S 2 000 ABS 1 000 ABS Performance Speed control range 1 5000 Speed variation 0 01 max from 0 to 100 percentage of rated speed load characteristic Speed variation 0 at rated voltage 10 percentage of rated speed voltage characteristic Temperature
467. ode When the position command distribution amount before or after position command filtering is zero during the communications cycle when the NC built into the servo amplifier has completed command distribution up to the target position Bit 2 Zero Speed Detected ZSP This bit shows Zero Speed ZSPD ZSPD is 1 when the absolute velocity actual value is less than Zero Speed Detection 3434 hex Bit 3 Torque Limit TLIM T_LIM is 1 during torque limit T_LIM is O when the servo is OFF The judgment conditions during torque limit can be changed in the Torque Limit Flag Output Setting 3703 hex 3703 hex 0 1 at torque limit including torque command value 3703 hex 1 1 at torque limit excluding torque command value Bit 4 Speed Limit VLIMT This bit shows Speed Limiting VLIMT When the Speed Limit Selection 3317 hex is 0 the speed is limited by the Speed Limit Value Setting 3321 hex When the Speed Limit Selection 3317 hex is 1 the speed is limited by the smaller of the Speed Limit Value Setting 3321 hex and Max profile velocity 607F hex VLIMT is 1 when the speed is being limited Note 1 The position error in encoder pulses can be set as the threshold value for the external output signal INP2 output from the Position Setting Unit Selection 3520 hex However this signal is always in command units Therefore there may be differences in the judgment conditions for INP2 and NEAR i e when an electronic gear is
468. ode 605E hex The Brake Interlock Output BKIR signal is output either when a release request command is received via Servo controls or when a release request command is received via EtherCAT communications The above example shows when there is no brake release request from EtherCAT communications The BKIR signal is assigned to the general purpose output CN1 t1 is the period until the value becomes lower than the set value on the Brake Timing During Operation 3438 hex or the Brake Threshold Speed During Operation 3439 hex whichever is shorter Note 1 Even when the servo ON input is turned ON again while the motor is decelerating the system does not enter the servo ON state until the motor stops Note 2 If the main circuit power supply turns OFF while the motor is operating a phase loss error or main circuit voltage low error will occur in which case this operation timing is applied OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 16 suoljoun4 paddy x Applied Functions 7 5 Brake Interlock i Operation Timing When Resetting Errors Reset ON Error reset command OFF gt _ lt 16 ms or more Servo ready ON output READY OFF REAN ON Error Output ALM Normal OFF gt 0 ms or more ON Servo ON OFF OFF Servo OFF Servo ON 1 gt lt 2 ms or more Released l Dynamic brake Brake Engaged Brake Released Engaged
469. ode address rotary switches can be set to between 00 and 99 The node address used over the network is determined by the value set on the rotary switches If the node address is not between 00 and 99 a Node Address Setting Error Error 88 0 will occur Turning ON the Power Supply Turn ON the control circuit power after you conduct the pre power ON checking You may turn ON the main circuit power but it is not a required 10 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 2 Preparing for Operation Checking the Displays i 7 Segment Display The 7 segment display is on the front panel When the power is turned ON it shows the node address that is set by the rotary switches Then the display changes according to the setting of the LED Display Selection 3700 hex An error code is displayed if an error occurs A warning code is displayed if a warning occurs Control power ON Fully OFF Node Address Display nA node address approx 0 6 s Rotary switch setting upper digit x10 0 lower digit x1 3 It lasts for the period set in the Power ON Address Display Duration Setting 3701 hex To A on the next page O D 9 O 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 4 10 2 Preparing for Operation Normal Display LED Display Selection 3700 hex set to 0
470. oijineds o e Specifications 3 3 Servomotor Specifications 200 VAC Model R88M K2K030T K3K030T K4K030T 2000 3000 4000 3 000 Item Unit Rated output oO ES N Rated torque a Nem Rated rotation speed r min 4 500 Maximum rotation speed r min 5 000 5 z 3 Momentary maximum torque Rated current A rms Momentary maximum current 1 Rotor inertia Without brake With brake Applicable load inertia A rms 6 50x10 4 7 85x10 4 15 times the rotor inertia max 3 68x10 4 12 9x10 4 4 01x104 14 2x104 N Torque constant n N m A Poi rate Without KW s brake in rake WW time brake Electrical time constant ms Allowable radial load a Fo ae Ta anoss aoas a FO Were w aosa Aspox 94 Anpox 126 Radiator plate dimensions material 380 x 350 x t30 Al Applicable drives R88D KN20H ECT KN30H ECT KN50H ECT Excitation Excitation voltage 24 VDC 10 a consumption a 20 C vO ES 0 81 10 0 81 10 0 90 10 Attraction time ee 50 max 80 max 110 max Se a Sl Backlash reference value E work per 1470 braking Allowable total work 4 9x108 4 9x108 2 2x108 a ew Pns Brake Mt 10 million times min Continuous Type F 3 41 K5K030H K5K030T 5000 15 9 4 500 47 7 24 0 102 17 4x10 4 18 6x104 0 49 146 136 0 50 0 54 13 784 343 Approx 14 0 Approx 16 0 KN50H ECT 1 35x104
471. oil seal are indicated with O at the end of the model number The motor dimensions do not change Model SUOISUBWIG eU1e xXq pue Sj powN OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 64 Models and External Dimensions 2 4 External and Mounting Dimensions 6 kW without Brake R88M K6K010C S2 6 kW with Brake R88M K6K010C B S2 Motor connector Brake connector for model with brake only LR 176 x 176 Encoder i connector 44 gt Shaft end specifications with key and tap Boss insertion position _y depth 32 min Dimensions mm apoju se ejeje Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model 2 65 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions External Regeneration Resistor Dimensions i External Regeneration Resistor R88A RR08050S RR080100S _ Thermal switch output N
472. ois Jaceresins snag sduneaxayed ddcewanGe ianeeaeusiare sane Sedeoe tedestandiecsSaqnsec 11 5 1 tS REANIME ANULO TUNING esanean ven seienedieacaeGaaeoasbactae eexbndaw edie 11 6 Objects Requiring Settings cc cccceccseceeeeceeeeeeeeeeceeceueceeseseeeceeseeteuesaeeseeseeaaes 11 7 SEMING REAalTIME AUTOLI MING savy sinters duierhi ly stenturaieede wits a eine eawwke se 11 7 Setting Machine FRIGIGILY aserne Ger eccsgak wonaw aesaedi eb a aes 11 8 11 4 Manual TUNNO ereraa Gee tevctdyedd dandeenneoaxhtyea 11 13 BASIC SO WNS rarena a catendeacesmeacdesnetaacueeats ages asses saaesseet aes ee 11 13 TS ANPING CONTO lena 11 15 OUTING OF Operat oastea a a a aes nae en a A 11 15 Objects Requiring Settings ccccccccecccseecseecceeeceeeceeecaeecsueeaueeseeecaeecsuesegesueeneeeses 11 15 TO AGADIUIVE FINE cscacseconaa awaearceamanwennerusqasevmuantedeeanasanauaaiantinmeanaenseoanesaeeas 11 18 Objects REGUINING Settings ariiraa asta a a nancies 11 19 Operating Procedure sarae ra a a a A RRE 11 20 MEE NOC Ol ol aenea N On ee 11 21 Objects Requiring SetlinNgS crrr ones sacsanenaetesnwt cents nadeseganedandleneceudcuaseneuiens ieeaa 11 22 11 8 Disturbance Observer FUNCTION ccccccseeceeeeeeeeeeeeeeseeeeeeeseeeeees 11 24 Operating CONCINOMS sesine oria tt ahead inate a ANAE 11 24 Objects REQUIRING SCUINGS lt sclera ceieiee exile eet a a pile etonee desea 11 25 Operating Procedure isaisa a a a A a aT 11 25 11 9 Fric
473. ol Encoder units Fully closed control External encoder units 6064 hex Position actual value 2147483648 to Command Size 4 bytes INT32 Access RO PDO map Possible This object gives the present position 6065 hex Following error window csp pm hm O to 134217728 Command Range 4294967295 Default 100000 Attribute Size 4 bytes U32 Access RW PDOmap PDOmap map Not possible This object sets the threshold for following errors If it is set to 4 294 967 295 FFFF FFFF hex detection of following errors is disabled If itis set to O there will always be a following error When it is set to between 134 217 729 and 4 294 967 294 the set value becomes 134 217 728 xipueddy 6067 hex Position window Range 0 to 262144 Default ae Attribute Size 4 bytes U32 a PDO map Not possible Select the position error threshold at which the positioning completion signal INP is output The default unit is command units but 3520 hex Position Setting Unit Selection can be used to convert to encoder units If the unit is converted the unit of 6065 hex Following error window will also be converted This setting is also used for the Target reached flag in the EtherCAT communications status The unit however is always command units regardless of the setting of 3520 hex 606C hex Velocity actual value 2147483648 to Command Size 4 A bytes U32 U32 Access PDO map
474. olding brake is worn down Wire correctly Enable the damping control Set the damping filter frequency e Check if manual tuning can achieve proper adjustment e Increase the Servomotor capacity Remove the joint looseness with the machine Adjust the speed loop gain to stabilize the rotation e Lower the ambient temperature around the Servomotor to 40 C or less Use a fan or air conditioner Lower the load ratio Improve the radiation conditions Reduce the load Improve ventilation Decrease the acceleration and deceleration rates Lower the speed and check the load Tighten the coupling again Replace the coupling with a coupling that has no looseness Review the control in the host controller 12 4 Troubleshooting Symptom Probable cause Items tocheck Measures The Servomotor does not The load inertia is too large Check the load inertia e Review the load inertia stop or is hard to stop e Check the Servomotor e Replace the even if the servo is turned rotation speed Servomotor and Servo OFF while the e The dynamic brake Drive with proper ones Servomotor is rotating resistance is disconnected The dynamic brake is Check if the dynamic brake is e Enable the dynamic disabled disabled or broken brake if it is disabled e Replace the brake if itis broken or if the resistor is disconnected The Servomotor or the Vibration occurs due to Check to see if the Retighten the
475. omes wet wale earlier D Brake released Brake held 3439 hex set value ______ EE ETEA value comes earlier When object 3439 hex set 1 STO status is entered when either safety input 1 or 2 turns OFF 2 The dynamic brake operates according to the setting of the Fault reaction option code 605E hex 3 t1 is the set value of the Brake Timing During Operation 3438 hex or the time needed for the motor rotation speed to drop to or below the Brake Threshold Speed During Operation 3439 hex whichever occurs first OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 8 4 uoijoun4 Ajajes 8 2 Operation Example Timing of Return from Safety Status Servo ON OFF Servo OFF command Servo ON Safety j After the servo ssid input STO status Normal status turns ON operation afety input will follow the normal servo Motor power i No power supply ON OFF operation is supplied E a timing diagram gt lt Response time 6 ms max For details refer to 7 5 Brake Interlock EDM output ON OFF Dynamic DB released engaged 7 DB released engaged brake relay ee ee ee es Iaa Error i Servo OFF Servo ready READY completed output READY i Error reset Reset input RESET Error Output Error Normal ALM 8 Brake interlock Brake held output BKIR 1 Make sure that servo ON input is turned OFF when you return the input signals of safety i
476. ommunications Model R88M vem ae Item Rated output ri Rated torque j Rated rotation speed r min Maximum rotation speed r min 6 000 Momentary maximum em torque N Rated current A rms Momentary maximum A current 1 rms kg m 0 87x1074 kg m 0 97x10 4 20 times the rotor inertia max 2 Without brake With brake Rotor inertia Applicable load inertia 3 3 Servomotor Specifications 200 VAC K1K030T K1K530T 1000 1500 3 000 5 000 ce 2 03x104 284x1074 2 35x10 4 3 17x10 4 15 times the rotor inertia max 2 Torque constant N m A 0 45 10 0 45 Power rate Without Mechanical Without eae 0 37 0 61 0 49 time brake i l Weight Without brake Approx 2 3 Approx 3 5 Approx 4 4 With brake Approx 3 1 Approx 4 5 Approx 5 4 Radiator plate dimensions material 170 x 160 x t12 Al 320 x 300 x t20 Al Applicable drives R88D KNO8H ECT KN15H ECT KN15H ECT kg m2 0 33x10 4 0 33x10 4 0 33x10 4 Excitation voltage a4 24 VDC 10 Power consumption at CECH HRUONER kx 0 70 10 0 81410 0 81410 20 C o Q Backlash LC 1 reference value Allowable work per J 392 392 392 braking Allowable total work 4 9x10 4 9x10 4 9x10 Allowable angular 2 Brake limit 10 million times min Insulation class s Type B Type F OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 40 suolje
477. ommunications 7 18 suoijoun4 paddy x Applied Functions 7 6 Electronic Gear Function i Gear ratio Setting 6091 01 and 6091 02 Hex Motor Shaft revolutions revolutions Description 6091 01 6091 02 hex hex When the Motor revolutions 6091 01 hex is 0 the processing changes with the set value of Shaft revolutions 6091 02 hex 0 Position command oder resolution 1 Position command N Shaft revolutions 6091 02 hex Position command Encoder resolution Shaft revolutions 6091 02 hex 1 to When the Motor revolutions 6091 01 hex is not 0 the processing 1073741824 changes with the set values of Motor revolutions 6091 01 hex and Shaft revolutions 6091 02 hex 1t 10737 N 824 Position command paris Position command wm Shaft revolutions 6091 02 hex gt Position command Motor revolutions 6091 01 hex Shaft revolutions 6091 02 hex The encoder resolution is set as the numerator for fully closed control i Precautions for Correct Use To make the position command smoother after the electronic gear setting adjust it by using the Position Command Filter Time Constant 3222 hex or by the Position Command FIR Filter Time Constant 3818 hex 7 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 6 Electronic Gear Function Operation Example The example uses a motor with a 20 bit encoder 1 048 576 pulses per rotatio
478. omotors and Servo Drives can only be used in the listed combinations at the end of the motor model number is for options such as the shaft type brake oil seal and key j 3 000 r min Servomotors and Servo Drives Voltage Rated output Single phase 50 W 100 V 100 W 200 W 400 W 50 W 100 W 200 W 400 W 750 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW 750 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW Single phase 3 phase 100 V Single phase 3 phase 200 V 3 phase 200 V 3 phase 400 V different capacities 2 11 With incremental encoder R88M K05030H 1 R88M K10030L R88M K20030L R88M K40030L R88M K05030H R88M K10030H R88M K20030H R88M K40030H R88M K 5030H R88M K1K030H R88M K1K530H R88M K2K030H R88M K3K030H R88M K4K030H R88M K5K030H R88M K75030F L1 R88M K1KO30F R88M K1K530F R88M K2K030F R88M K3K030F R88M K4K030F R88M K5K030F L1 2 es ee E E E E E E E LI EPE With absolute encoder R88M K05030T R88M K10030S R88M K20030S R88M K40030S R88M KO05030T R88M K10030T R88M K20030T R88M K40030T R88M K 5030T R88M K1KO30T R88M K1K530T R88M K2K030T R88M K3K030T R88M K4K030T R88M K5SKO030T R88M K75030C R88M K1K030C R88M K1K530C R88M K2K030C R88M K3K030C R88M K4K030C R88M K5K030C EH EN esl ea ea ie a E A E ey ee Servo Drive R88D KNASL ECT R88D KNO1L ECT R88D KNO2L ECT R88D KNO4L ECT R88D KNO1H
479. on Are the positioning time and other performances satisfied Yes No Adjustment completed Increase Speed Loop Gain 1 3101 hex to the extent that hunting does not occur upon servo lock Decrease Speed Loop Integral Time Constant 1 3102 hex to the extent that hunting does not occur upon servo lock Does hunting or vibration occur when the motor rotates Ve No Decrease Speed Loop Gain 1 3101 hex Increase position loop gain to the extent that overshooting does not occur Increase Speed Loop Integral Time Constant 1 3102 hex Write to the EEPROM in the Parameter Write mode Adjustment completed If vibration persists after repeated adjustments or the positioning is slow Increase Torque Command Filter Time Constant 1 3104 hex Set the damping frequencies in the Notch 1 Frequency Setting 3201 hex Notch 2 Frequency Setting 3204 hex Notch 3 Frequency Setting 8207 hex and Notch 4 Frequency Setting 3210 hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 14 suoljoun u wzsnfpy Adjustment Functions 11 5 Damping Control 11 5 Damping Control Outline of Operation Position Controller Servo Drive If the tip of the mechanical unit vibrates you can use the damping control function to reduce vibration This is effective on vibration generated by a machine of low rigidity The applicable frequencies are from 1 to 200 Hz You
480. on 2 bytes INT16 Pn514 possible Control Input Signal Not Position Setting Unit Not 3521 hex POO een 0 to7 2 bytes INT16 Nor Pn521 possible A 3522 hex po extemerhordves mites S600 0 to 5000 2 bytes INT16 8 peste Pn754 possible Forward External Torque 6 Not al Eo a i in ana 8 exe indi gt Reverse External o Not O Excessive Speed Not possible possible Torque Command Value Not Forward Direction Not Reverse Direction Not Function Expansion Not Electric Current Not Error Detection Not Overspeed Detection Not 3615 hex Level Setting at 0 to 20000 r min 2 bytes INT16 A Beas Pn615 Immediate Stop p i 3618 hex POWER SUPPIY ON 0 to 100 0 15s 2 bytes INT16 Nol Pn618 Initialization Time possible Disturbance Torque Not Disturbance Observer Not Realtime Autotuning Not 3631 hex Estimated Speed 1 0 to 3 2 bytes INT16 d De Pn631 Selection p Realtime Autotuning 3632 hex Customization Mode oe 2 bytes INT16 Not Pn632 32767 possible Setting Hybrid Vibration Not Hybrid Vibration Not OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 76 A 2 Object List Corresp Default l Data onding Index setting Setting range attribute PDO map Pn number Vibration Detection Not Warning Mask Setting 32768 to Not possible Power ON Address Not 3703 hex Tore Pag Upu 1 0 to 1 2 bytes INT16 A ol Pn703 Setting possible Backlash Compensation Not Backlash Co
481. on Level Setting at Immediate Stop 3615 hex Absolute The multi rotation counter for the absolute Value encoder was cleared during USB Cleared communications by the CX Drive Deviation Command Error The position command variation after the electronic gear is higher than the specified value Command Generation Error During position command processing an error such as an over the calculation range error occurred Operation Command Duplicated An attempt was made to establish EtherCAT communications change from Init to Pre Operational state or to turn ON the servo from the controller enable operation while executing an FFT that operates with the Servo Drive alone or a trial run Position Data Initialized A Config operation was performed or the multi rotation counter was cleared for the absolute encoder during EtherCAT communications 12 4 Troubleshooting Measures e Check the Servomotor and load connection Check the external encoder and Servo Drive connection When moving the load check to see if the change in the Servomotor position encoder feedback value has the same sign as the change in the load position external encoder feedback value Check to see if the External Feedback Pulse Dividing Numerator and Denominator 3324 hex and 3325 hex and External Feedback Pulse Direction Switching 3326 hex are set correctly Do not give excessive speed commands Check the input
482. on This is useful for applications where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 26 s 2 lqO 10 8WeJeg 0A1 Q UO Sj1e q Details on Servo Parameter Objects 9 4 Analog Control Objects Refer to 7 8 Soft Start on page 7 23 Rotation speed r min Target speed Vc ta Vc Maximum motor rotation speed x 3312 hex x 1 ms td Vc Maximum motor rotation speed x 3313 hex x 1 ms ts 3314 hex x 1 ms Be sure that ts is smaller than the values obtained by the divisions of ta td Sad a Aea 3317 hex Speed Limit Selection Setting 0 to 1 Unit Default Data B range setting attribute Size 2 bytes INT16 PDO map Not possible Select the speed limit The speed limit is used as a protection during torque control Refer to 6 3 Cyclic Synchronous Torque Mode on page 6 7 Explanation of Set Values Set value Description 0 Select the value set on the Speed Limit Value Setting 8321 hex Select either the speed limit value VLIM via EtherCAT communications or the value set by the Speed Limit Value Setting 3321 hex whichever is smaller 3321 hex Speed Limit Value Setting Ang 0 to 20000 Unit r min reat oala range setting attribute Size 2 bytes INT16 PDO map Not possible Set the spe
483. on speed 1 V 1 000 r min 2 AM2 You can use objects 3418 hex and 3419 hex to change the item and unit You can use object 3421 hex to change the output method Ground for analog monitors 1 2 Do not connect Do not connect Do not connect Connectors for CN5 6 pins Name Model Manufacturer Connector housing 51004 0600 Molex Japan O a A Ww Connector terminal 50011 8000 Molex Japan g Monitor Output Circuit Servo Drive 1 2 AM1 AM2 Monitor equipment OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 32 o suoljeoijinods e Specifications 3 1 Servo Drive Specifications USB Connector Specifications CN7 Through the USB connection with computer operations such as parameter setting and changing monitoring of control status checking error status and error history and parameter saving and loading can be performed Pin No Symbol o Name Function and interface 1 VBUS Use this function for computer communication USB signal terminal Reserved for manufacturer use Do not connect SENGND Signal ground Signal ground y Precautions for Correct Use Use a commercially available USB cable that is shielded equipped with a ferrite core for noise immunity and supports USB2 0 The Mini B type USB cable can be used 3 33 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications
484. onous velocity mode and Cyclic synchronous torque mode Touch probe function and torque limit can be used RxPDO 1704h TxPDO 1B02h Controlword 6040 hex Target position 607A hex Target velocity 6OFF hex Target torque 6071 hex Modes of operation 6060 hex Touch probe function 60B8 hex Max profile velocity 607F hex Positive torque limit value 60E0 hex and Negative torque limit value 60E1 hex Error code 603F hex Statusword 6041 hex Position actual value 6064 hex Torque actual value 6077 hex Modes of operation display 6061 hex Touch probe status 60B9 hex Touch probe pos1 pos value 60BA hex Touch probe pos2 pos value 60BC hex and Digital inputs 6OFD hex 5 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 4 Process Data Objects PDOs PDO Mapping 5 Position Control Speed Control Touch Probe Function Torque Limit and Torque FF This is the mapping for an application that switches between Cyclic synchronous position mode csp and Cyclic synchronous velocity mode Touch probe function and torque limit can be used The torque feed forward amount can be specified by using the Torque offset 60B2 hex RxPDO Controlword 6040 hex Target position 607A hex Target velocity GOFF hex Modes 1705h of operation 6060 hex Touch probe function 60B8 hex Positive torque limit value 60E0 hex Negative torque limit value 60
485. ons E To ensure that the OMNUC G5d series Servomotor and Servo Drive as well as peripheral equipment are used safely and correctly be sure to read this Safety Precautions section and the main text before using the product in order to learn items you should know regarding the equipment as well as required safety information and precautions E Make an arrangement so that this manual also gets to the end user of this product E After reading this manual keep it in a convenient place so that it can be referenced at any time Definition of Precautionary Information E The precautions explained in this section describe important information regarding safety and must be followed without fail E The display of precautions in this manual and their meanings are explained below Indicates an imminently hazardous situation which NDANG FR if not avoided will result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation Accordingly be sure to observe all safety precautions Precautions for Safe Use Indicates precautions on what to do and what not to do to ensure using the product safely l Precautions for Correct Use Indicates precautions on what to do and what not to do to ensu
486. ons Shorten the control I O signal cable to 3 m or less Use an encoder cable that meets specifications Shorten the encoder cable to less than 50 m Correct the encoder cable s pathway Install the encoder cable where it won t be subjected to surges Ground the equipment properly and prevent current from flowing to the encoder FG Reduce the mechanical vibration or correct the Servomotor s installation Adjust the gain to prevent overshooting Use the CX Drive or the analog monitor to measure the response and adjust the gain Match the machine rigidity setting to the load rigidity Adjust the set value of object 3004 hex with the load OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Symptom Vibration is occurring at the same frequency as the power supply The position is misaligned Position misalignment occurs without an error being output OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications There is an error in the coupling of the mechanical system and the Servomotor The gain is wrong The load inertia is too large Inductive noise is occurring Check to see if the drive control signal lines are too long Check to see if the control signal lines and power supply lines are bound together Check to see if the coupling of the mechanical system and the Servom
487. ons were Input Error 2 interrupted and either POT or NOT was ON an operation command such as a trial run or FFT was received from the CX Drive Conversely POT or NOT turned ON while operation was being a performed for a CX Drive operation S command z Absolute The voltage of the built in capacitor Connect the battery power supply and encoder dropped below the specified value then clear the absolute encoder 40 system down because the power supply to the encoder Unless the absolute encoder is cleared error or the battery power supply was down the error cannot be reset ABS _ z Absolute The multi rotation counter of the encoder Set the Operation Switch When Using Encoder exceeded the specified value Absolute Encoder 3015 hex to an O 41 Counter appropriate value Overflow e Make sure that the traveling distance Error from the origin of the machine is no more Oo than 32 767 revolutions a Absolute The Servomotor rotation speed exceeded Check the power supply voltage 5V Oo Encoder the specified value when only the battery 5 on the encoder side 42 Overspeed power supply was used during a power Check the connections to connector 5 Error interruption CN2 Unless the absolute encoder is ABS cleared the error cannot be reset Encoder An encoder initialization error was Replace the Servomotor 43 Initialization detected Error Absolute The encoder detected a 1 rotation counter Replace the Servomotor
488. onse is as shown in the following diagram Overshooting occurs if the speed loop gain is high Motor speed S Vibration occurs if the gain is too high e 4 4 Speed loop gain is low Time OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 8 s 2 lqo 19 8WeJeg 0A1 Q UO Sj1e q Details on Servo Parameter Objects 9 2 Gain Settings 3102 hex Speed Loop Integral Time Constant 1 1 The default setting is 310 for a Drive with 200 V and 1 kW or greater or with 400 pene Set the speed loop integral time constant The smaller the set value the faster the error approaches 0 when stopping When the speed loop integral time constant is changed the response is as shown in the following diagram Overshooting occurs if the speed loop integral Motor speed time constant is small Speed loop integral time constant is large Time 3103 hex Speed Feedback Filter Time Constant 1 Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO map map Not possible Set the time constant for the low pass filter LPF after speed detection to one of 6 levels 0 to 5 Increasing the set value increases the time constant and decreases the noise generated by the motor Responsiveness however also decreases Normally use the default set value 3104 hex Torque Command Filter Time Con
489. ontrol Refer to 7 4 Backlash Compensation on page 7 11 3758 hex Touch Probe Trigger Selection All Setting range 0000 to FFFF hex Unit fo Default setting 0100 hex Data Attribute Size 2 bytes U16 PDO map Not possible Select EXT1 EXT2 EXT3 or phase Z at the external latch trigger for the latch function For details on the latch function refer to 7 11 Touch Probe Function Latch Function on page 7 37 9 55 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects Bit Descriptions Latch 1 Latch 2 Trigger signal 2 Bit 0 Tars ane ee a a a EXT2 EXT3 1 Phase Z signal a a ae Phase Z signal 3759 hex Warning Hold Selection All Setting range 0000 to FFFF hex Unit Default setting 0000 hex Data Attribute Size 2 bytes U16 PDO map Not possible Select whether to hold communications related and general warning status EXT2 Bit Descriptions oh weaning Resetting warning status value status Holding The warnings are automatically cleared when Sa Do not ee ee Communications the cause of the warning is eliminated l hold i 0 related Warning However warnings are held for at least 1 s Status Remove the cause of the warning and then 1 Hold send a warning reset command Holding General The warnings are automatically cleared when Do not pe tk Warning Status the cause of the warning is eliminated hold
490. oo i Enable bit 4 Stop axis according to halt option code 605D hex Bit 6 is not used For details on other bits refer to Controlword 6040 hex j Statusword 6041 hex in Homing Mode Bit Explanation 10 Target reached The status of the homing operation is indicated by the combination of these bits The status based on the combination of the bits are 13 Homing error shown in the following table Homing attained NO OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 12 gt xipueddy Appendix A 1 CiA402 Drive Profile Bit 13 Biti2 Bit1o Explanation OO Homing procedure is in progress Ot Homing procedure is interrupted or not started a ae Homing is attained but target is not reached Homing procedure is completed successfully 1 oo o JO Homing error occurred velocity is not 0 1 Ot Homing error occurred velocity is 0 i Homing Operation This section describes the operation of the supported homing methods oO CO O O Homing Methods 8 and 12 Homing by Origin Proximity Input and Origin Signal These Homing methods use the Origin Proximity Input that is enabled only in some parts of the drive range and stops when an origin signal is detected An origin signal is detected in the forward direction for Homing method 8 and in the reverse direction for Homing method 12 The operation start direction of the homing operation is the same as the di
491. oo large or there Resistor with the required regeneration is some other problem to absorb the absorption capacity Reduce the regenerative energy descent speed Replace the Servo Drive e The Servo Drive is faulty circuit fault 12 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Main Circuit Power Sup ply Undervolt age Undervolt age between positive and negative ter minals Main Power Supply Und ervoltage AC interruption detected Cause If the Undervoltage Error Selection 3508 hex is set to 1 a momentary power interruption occurred between L1 and L3 for longer than the value specified for the Momentary Hold Time 3509 hex Alternatively the voltage between the positive and negative terminals in the main power supply converter dropped below the specified value while the servo was ON e The power supply voltage is low A momentary power interruption occurred e A momentary power interruption occurred e Insufficient power supply capacity the power supply voltage dropped because there was inrush current when the main power supply was turned ON e Phase failure a Servo Drive with 3 phase input specifications was operated with single phase power supply e The Servo Drive is faulty circuit fault 12
492. ooting Troubleshooting Using the Operation State Check to see if the power supply input is within the Symptom The 7 segment display does not light The ERR indicator flashes or lights The L A IN and the L A OUT indicators are OFF An error occurred The servo does not lock 12 27 The control power is not supplied A communications related error occurred A link in the EtherCAT physical communications layer has not been established yet Read the error number and the error log The power cable is not connected correctly The Servomotor power supply is not ON The Forward or Reverse Drive Prohibition Input POT or NOT is OFF The torque limit is set to O allowed power supply voltage range Measures Supply the correct power supply voltage Check to see if the power Wire correctly supply input is wired correctly Refer to Troubleshooting Errors Related to EtherCAT Communications on page 12 25 Check to see if the communications cable is connected correctly Check to see if the host controller has started Check the cause listed in Troubleshooting with Error Displays on page 12 13 Check to see if the Servomotor power cable is connected properly Check the main circuit wiring and power voltage e Check to see if the input for Forward or Reverse Drive Prohibition Input POT or NOT is OFF e Check the input of 24 VIN to CN1 Check to see if the to
493. ooting during acceleration deceleration If the speed feed forward gain is set to 100 the position error is calculated at 0 However large overshooting will occur during acceleration deceleration The position error during an operation at a certain speed will decrease based on the following formula according to the speed feed forward gain value Position error command units Command speed command units s Position loop gain 1 s x 100 Speed feed forward gain 100 Position error Speed FF gain 50 ss N N i Motor speed The position error in the range of constant speed becomes smaller as the speed feed forward gain increases i Precautions for Correct Use If the updating cycle of the position command input is longer than the Servo Drive control cycle or if the input command frequency is not uniform the operating noise may increase while the speed feed forward is enabled Apply the position command filter first order lag or FIR smoothing or increase the speed feed forward filter setting OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 30 suoljoun u wzsnfpy Adjustment Functions 11 11 Feed forward Function i Torque Feed forward Operating Method 1 Set the Inertia Ratio 3004 hex Set the inertia ratio as correctly as possible If the inertia ratio is calculated for the selected motor input the calculated v
494. or Velocity Actual Setting Disturbance Torque SS pulses _ ae eae a a a Value r min we Observer Filter hie ie ig a a Gain 3623 4 3104 Electronic External Encoder Filter 3624 2 3109 gear reverse conversion reverse dividing Denominator 3325 Q Numerator OU D 1A O O O 5 r 5 SA TI c 5 O c O 5 T Torque Limit Selection 3521 External 1 3013 Response Setting a i External 2 3522 A To Forward 014 or 6077 hex Extema 9929 if Torque demand or vi Reverse Torque actual value External tos 0 1 2 Positive 60E0 _ Negative 60E1 Max Input setting Type Current control Reverse 3326 Phase Z disabled 3327 External encoder Note 1 Numbers within parentheses are sub index numbers Note 2 Numbers within boxes are hexadecimal index numbers Note 3 Homing mode hm is also included in this block diagram Note 4 The electronic gear function is not supported Use a setting of 1 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 18 Basic Control Functions 6 6 Connecting with OMRON Controllers 6 6 Connecting with OMRON Controllers This section describes the settings required to connect with an OMRON EtherCAT compatible CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Unit Related Objects Objects listed in the following table must be used without changing them from their d
495. or or machine torsion during normal operation may be detected as an error Be sure to set an appropriate value Take sufficient safety measures such as installing limit sensors 6 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 5 Fully closed Control Block Diagram for Fully closed Control Mode The following is a block diagram for fully closed control using an R88D KNL IL JL ECT Series servo Drive Aes es a a E ae hg RE RR oe a oe ee a ee Se Se a eee 7 6062 hex Exe EEE 7A hex r h ret aston i 7 Position demand elocity Demand Motor Velocity v Motor Veba i Jommand units lt value command Value command A Demand Value Demand Value After e s Ss units a 4 _units s a a Damping Control Ee Filtering ini e a rN Switch 13943 Selection Gain Switching Setting 2 Setting 3 Mode 3115 Ratio B606 Gear ratio forward Smoothing l Pa 1 conversion filter Generate Picea Numerator 6091 01 FIR 3818 feommand units s 1 3100 i 2 3105 Inertia Ratio 300 Denominator 6091 02 Bae wo iad 3222 Delay Time 3116 Saena ES 7 Position demand E 60BO hex S internal value Level 3117 Position offset OBA or 60BC hex encoder pulses hysteresis 3118 command units Touch wt SININEN ee SStitececeteececett a 412 ee a a TAL se lt S Switching
496. orming to EMC Directives ccccccceccceeeeeeeeaeeeeeeeeeeeeaes 4 30 WNO MEO ccc sncast uate linn Duasstuie aa e d a a eal iT 4 30 Selecting Connection Component ccccecccseeceeeceucecseeceeeceeescueeseeeseeeeseeeseeesaeess 4 38 4 4 Regenerative Energy ADSOrptiOn ccccccecseeceeceeeteeceeseeseeeeeeaeetees 4 49 Calculating the Regenerative Energy ccccccccceccceeeceeeeeeeeseeeeeeeeeeeeseeeseeeeaeeeaeeaes 4 49 servo Drive Regeneration Absorption Capacity ccccccccecccseceseeeseeeseeeseeeseeeseeeees 4 51 Regenerative Energy Absorption with an External Regeneration Resistor 4 52 Connecting an External Regeneration Resistor cccceseeeeceeeeceeeeeeeeeeeeeeseeeenees 4 53 Chapter 5 EtherCAT Communications 5 1 Display Area and SettingS ornini aaa a a a N 5 1 N de Address SetiNg asees eaa inaa T AE EA TENEN 5 1 SUS ICG ALONG saie a EE E A aaa 5 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 17 Table Of Contents 5 2 Structure of the CAN Application Protocol over EtherCAT 5 3 5 3 EtherCAT State Machine cmerar aaa ea 5 4 9 4 Process Data Objects PDOS wscsisecccevicavsuntovovecetanavendtedosotaeeeesewetawciourts 5 5 PDO Mapping Settings xo netics cet ah ce ta hace el ert ene auch E 5 5 sync Manager PDO Assignment Settings cccccccccseceseeeseeeeeeeeeeeeseeeseeeeeeeeseeeseeee
497. orque of 0 7 to 0 8 Nem M4 or 1 4 to 1 6 Nem M5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications i R88D KN75H ECT Terminal Block Specifications Left Terminal Block TB1 L1 Main circuit power supply R88D KNLJH ECT 7 5 kW E 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L3 B1 External Regeneration Connect an External Regeneration Resistor between B1 and B2 Resistor connection B2 terminals NC Do not connect Motor connection These are the output terminals to the Servomotor terminals ie Be sure to wire them correctly Terminal Block Specifications Right Terminal Block TB2 L1C Control circuit power R88D KNLIH ECT DC supply input Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz DB1 Dynamic Brake Resistor These terminals are used to control the MC for externally control terminals connected dynamic brake resistance The output contact DB2 specifications are 1 A max at 300 VAC 100 VDC max Connect them if required DB3 Normally DB3 and DB4 are shorted When using an externally connected Dynamic Brake Resistor DB4 remove the short bar from between DB3 and DB4 This is the ground terminal Ground it to 100 Q or less y Precautions for Correct Use Tighten the fixing screw of the terminal block cover to the torque of 1 5 N m M5 If the torque for terminal block screws exceeds 2 0 N m M5 the termin
498. orward and Reverse Drive Prohibition Functions 1 If the Drive Prohibition Input Selection 3504 hex is set to 2 a Drive Prohibition Input Error Error No 38 0 will occur as soon as either the Forward or Reverse Drive Prohibition Input becomes open The subsequent operation conforms not to the set value but to the setting of the Fault reaction option code 605E hex In the same way the Fault reaction option code 605E hex takes priority when any other error occurs 2 The term During deceleration means the distance until the motor decreases its speed to 30 r min or less from the normal operation Once it decelerates to 30 r min or lower the operation conforms to the description for post stopping regardless of the actual motor speed 3 Immediate Stop means that the Servomotor stops immediately by using controls while the servo is kept ON The torque limit at this time is controlled by the Immediate Stop Torque 3511 hex set value Stop Selection for Drive Deceleration method Stop status Prohibition Input 3505 hex Decelerate with dynamic brake POT or NOT opens Decelerate in the free run status Stop with Immediate Stop Servo locked _ Torque 3511 hex Senet i Precautions for Correct Use At an immediate stop an Error Counter Overflow Error No 24 0 or an Overrun Limit Error Error No 34 0 may occur This is because the immediate stop forces the motor to decelerate quickly and the position control crea
499. ost controller The position commands given are too little The Servomotor power cable is wired incorrectly Check the wiring of the Servomotor power cable s phases U V and W Wire correctly The encoder cable is wired Check the encoder cable s Wire correctly incorrectly wiring Set the speed command to 0 Alternatively change the mode to position control mode There are inputs of small values in speed control Check if there is an input in speed control mode mode The Servo Drive has broken oS Replace the Servo Drive down 12 28 soueUDd UIeW pue HuljooussjqnolL Troubleshooting and Maintenance 12 29 Symptom The Servomotor rotates in the reverse direction from the command The holding brake does not work Motor rotation is unstable The Servomotor is overheating The machine position is misaligned 12 4 Troubleshooting The value set in the Rotation Direction Switching 3000 hex is incorrect The command given by the host controller is incorrect Power is supplied to the holding brake The Servomotor power cable or encoder cable is wired incorrectly Low rigidity is causing vibration The load s moment of inertia exceeds the Servo Drive s allowable value Loose joint and or large clearance with the machine The load and gain do not match The ambient temperature is too high The heat radiation condition for the Servomotor is inappropriate The
500. otor is misaligned e Check the load inertia e Check the Servomotor rotation speed e The dynamic brake resistance is disconnected 12 4 Troubleshooting Measures Shorten the control signal lines e Separate control signal lines from power supply lines e Use a low impedance power supply for control signals Correct the coupling between the mechanical system and the Servomotor Check if manual tuning can achieve proper adjustment e Review the load inertia e Replace the Servomotor and Servo Drive with proper ones 12 32 sdueUDd UIeW pue HuljooussjqnolL Q O c Q ar O O O Vv O H 12 5 Periodic Maintenance 12 5 Periodic Maintenance VAN Caution After replacing the unit transfer to the new unit all data needed to resume operation before restarting the operation Equipment damage may result Never repair the product by disassembling it Electric shock or injury may result Servomotors and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly Some of the electrical and mechanical components require maintenance depending on application conditions Periodic inspection and replacement are necessary to ensure proper long term operation of Servomotors and Servo Drives Quoted from The Recommendation for Periodic Maintenance of a General purpose Inve
501. ound terminals of a 100 V or 200 V type drive and motor to a type D or higher ground Always connect the ground terminals of a 400 V type to a type C or higher ground Improper grounding may result in electrical shock Never touch the parts inside the Servo Drive Electric shock may result While the power is supplied do not remove the front cover terminal covers cables and options Electric shock may result Installation operation and maintenance or inspection by unauthorized personnel is prohibited Electric shock or injury may result Before carrying out wiring or inspection turn OFF the power supply and wait for at least 15 minutes Electric shock may result Do not damage pull stress strongly or pinch the cables or place heavy articles on them Electric shock stopping of Servo Drive operation or burn damage may result Never touch the rotating part of the Servomotor during operation Injury may result Never modify the Servo Drive Injury or equipment damage may result Install a stopping device on the machine to ensure safety The holding brake is not a stopping device to ensure safety Injury may result Install an immediate stop device externally to the machine so that the operation can be stopped and the power supply cut off immediately Injury may result When the power is restored after a momentary power interruption the machine may restart suddenly Never come close to the machine when restoring power
502. pecifications Applicable S Filter model Rated current gana 0e cul Rated voltage drive rent R88D KN01H ECT R88A FIK102 RE R88D KNO2H ECT R88D KNO4H ECT R88A FIK104 RE 250 VAC single R88D KNO8H ECT R88A FIK107 RE phase R88D KN10H ECT R88A FIK114 RE 2 4 A o 14 2 A R88D KN15H ECT 3 5 mA R88D KNO6F ECT R88A FIK304 RE R88D KN10F ECT 4A R88D KN15F ECT 400 VAC single R88D KN20F ECT R88A FIK306 RE phase R88D KN30F ECT R88A FIK312 RE R88D KN50F ECT 12A suoljeoijineds OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 88 ka Specifications 3 6 EMC Filter Specifications 3 89 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications System Design This chapter explains the installation conditions wiring methods including wiring conforming to EMC Directives and regenerative energy calculation methods for the Servo Drive and Servomotor It also explains the performance of External Regeneration Resistors 4 1 Installation Conditions 0 cee ceeeceeeeeeeeeeeeeeeneeeneees 4 1 AA NV IPWAG aaoi a aaa 4 6 4 3 Wiring Conforming to EMC Directives 4 30 4 4 Regenerative Energy Absorption ccsseeeeeeee 4 49 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 1 Installation Conditions 4 1 Installation Cond
503. peed feed forward and torque feed forward amounts Cyclic Synchronous Position Mode Configuration The following diagram shows the configuration of the Cyclic synchronous position mode Torque offset 60B2 hex Velocity offset 60B1 hex Position offset 60B0 hex C Position t Speed i Torque Target position 607A hex Control Control Control Following error actual value 60F4 hex ma Velocity actual value 606C hex Torque actual value 6077 hex en Torque demand Position actual value 6064 hex a ae The following diagram shows the configuration of the control function of the Cyclic synchronous position mode Position offset 60BO hex Target position 607A hex Limit function Software position limit 607D hex Position actual value 6064 hex Following error actual value 60F4 hex Control Velocity actual value 606C hex Following error window 6065 hex function Velocity offset 60B1 hex Torque actual value 6077 hex Torque demand Torque offset 60B2 hex Max torque 6072 hex 6 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Related Objects Index 6040 hex 6060 hex 607A hex 6065 hex 6072 hex 60B0 hex 60B1 hex 60B2 hex 6041 hex 6064 hex 606C hex 6077 hex 60F4 hex 1 The Following error window object can be set to between 0 and 134 217 728 or 4 294 967 295 If the
504. pplied Functions 7 11 Touch Probe Function Latch Function 7 11 Touch Probe Function Latch Function The latch function latches the position actual value when an external latch input signal or the encoder s phase Z signal turns ON OMNUC G5 series Servo Drives can latch two positions Related Objects Index Description 60B8 hex Touch probe function Controls the latch function 60B9 hex Touch probe status Gives the state of latches 1 and 2 60BA hex Touch probe pos1 pos Latch position of latch 1 value 60BC hex Touch probe pos2 pos Latch position of latch 2 value 3404 hex Input Signal Selection 5 Set the function for general purpose input 5 IN5 3405 hex Input Signal Selection 6 Set the function for general purpose input 6 IN6 3406 hex Input Signal Selection 7 Set the function for general purpose input 7 IN7 Touch Probe Trigger Select the trigger signals for latch 1 and 2 oro me Selection Trigger Signal Settings The latch trigger can be selected from general purpose inputs 5 to 7 or the encoder s phase Z signal The functions of general purpose signals 5 to 7 from the control I O connector are set with the Input Signal Selection 5 to 7 3404 to 3406 hex External latch input signals used by Latches 1 and 2 are set with the Touch Probe Trigger Selection 3758 hex Bits 2 and 10 of the Touch probe function 60B8 hex are used to specify weather to latch with an external signal or the phase Z signal Position a
505. probe function 60B8 hex and Max profile velocity 607F hex Error code 603F hex Statusword 6041 hex Position actual value 6064 hex Torque actual value 6077 hex Modes of operation display 6061 hex Touch probe status 60B9 hex Touch probe pos1 pos value 60BA hex Touch probe pos2 pos value 60BC hex and Digital inputs 6OFD hex PDO Mapping 3 Position Control Speed Control Touch Probe Function and Torque Limit This is the mapping for an application that switches between Cyclic synchronous position mode csp and Cyclic synchronous velocity mode Touch probe function and torque limit can be used RxPDO 1703h TxPDO 1B03h Controlword 6040 hex Target position 607A hex Target velocity GOFF hex Modes of operation 6060 hex Touch probe function 60B8 hex Positive torque limit value 60E0 hex and Negative torque limit value 60E1 hex Error code 603F hex Statusword 6041 hex Position actual value 6064 hex Torque actual value 6077 hex Following error actual value 60F4 hex Modes of operation display 6061 hex Touch probe status 60B9 hex Touch probe pos1 pos value 60BA hex Touch probe pos2 pos value 60BC hex and Digital inputs 60FD hex PDO Mapping 4 Position Control Speed Control Torque Control Touch Probe Function and Torque Limit This is the mapping for an application that uses one of the following modes Cyclic synchronous position mode csp Cyclic synchr
506. que Command Filter Time Constant 2 STOO INO Kec er ces e E 9 10 Torque Feed forward Amount 3112 hex 9 11 Torque Feed forward Command Filter 3113 hex 9 11 gain switching 3 function cece eee eee eee eee eee 7 35 gain switching function cc cece cece eee eee eee eee 7 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 Index general purpose INPUtS cceceeeeeeeeeeeeeeeeeeeees 3 21 General purpose Outputs OUTM1 and OUTM2 3 25 H harmonic current measures ccece cece ee eee eee eens 4 46 Homing Mode ae Monnaie E AER 6 11 hybrid vibration suppression function 00e0e 11 28 immediate stop operation at CrrOrs cceeeeeees 12 11 improving control I O signal noise resistance 4 46 incremental encoder SDECIICAM ONS wisser ai anckansanvsehesdeists 3 62 instantaneous speed observer function 11 32 interface monitor settings Analog Monitor 1 Scale Setting 8417 hex 9 33 Analog Monitor 1 Selection 3416 hex 9 33 Analog Monitor 2 Scale Setting 8419 hex 9 34 Analog Monitor 2 Selection 3418 hex 9 34 Analog Monitor Output Selection 3421 hex 9 34 Brake Threshold Speed During Operation SA SO NEX rnd eacs AEA ARSE 9 38 Brake Timing During Operation 3438 hex 9 37 Brake Timing when Stopped 3437 hex
507. que limit output during torque control s 09f qo 10 8WeIeg OAIBS UO Sj1e q OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 54 Details on Servo Parameter Objects 9 7 Special Objects Explanation of Set Value Set value Description 0 On by the torque limit value including the torque command value 1 On by the torque limit value excluding the torque command value 3704 hex Backlash Compensation Selection csp Size 2 bytes INT16 PDO map Not possible Select to enable or disable the backlash compensation during position control Set the compensation direction when compensation is enabled Refer to 7 4 Backlash Compensation on page 7 11 Explanation of Set Value Set value Description 0 Disable backlash compensation 1 Compensate for backlash at first forward operation after the servo turns ON 2 Compensate for backlash at first reverse operation after the servo turns ON 3705 hex Backlash Compensation Amount Setting range 32768 to 32767 Default setting EEE Data Attribute Size 2 bytes INT16 ee ad PDO map map Not possible Set the backlash compensation amount during position control Refer to 7 4 Backlash Compensation on page 7 11 3706 hex Backlash Compensation Time Constant Setting range O to 6400 Default setting pO Data Attribute Size 2 bytes INT16 lt a PDO map Not possible Set the backlash compensation time constant for position c
508. r Explanation of Set Values Set value Description 0 Use as absolute encoder 1 Use as incremental encoder 2 Use as absolute encoder but ignore multi rotation counter overflow OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 4 s 09f qo 10 8WeJeg OAIBS UO Sj1e q Details on Servo Parameter Objects 9 1 Basic Settings 3016 hex Regeneration Resistor Selection Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO map map Not possible 1 The default setting is O for a Drive with 100 V and 400 W with 200 V and 750 W or greater or with 400 V The setting is different whether the Regeneration Resistor built in the Drive is directly used or it is removed and replaced by an External Regeneration Resistor In the latter case the resistor is connected to the External Regeneration Resistor connection terminal O Explanation of Set Values Set Description value Regeneration Resistor used Built in Resistor 0 The regeneration processing circuit operates and the Regeneration Overload Error Error No 18 are enabled according to the Built in Resistor with approx 1 duty Regeneration Resistor used External Resistor 1 The regeneration processing circuit operates and Regeneration Overload Error Error No 18 cause a trip when the operating rate of the Regeneration Resistor exceeds 10 Regeneration Resistor used External Resistor 2 T
509. r axis Refer to 3 2 Overload Characteristics Electronic Thermal Function on page 3 36 for information on overload characteristics Regeneration Overload 12 4 Troubleshooting Measures Check if torque current waveforms oscillate or excessively oscillates vertically during analog output or communications Check the overload warning display and the load rate through communications e Increase the capacities of the Servo Drive and the Servomotor Set longer acceleration and deceleration times Reduce the load e Readjust the gain e Connect the Servomotor cable as shown in the wiring diagram Replace the cable e Remove the distortion from the machine Reduce the load e Measure the voltage at the brake terminals Turn OFF the brake e Wire the Servomotor and the encoder correctly so that the wiring matches the axes Check the load rate of the Regeneration Resistor through communications This Regeneration Resistor cannot be used for continuous regenerative braking e Check the operation pattern speed monitor Check the load rate of the Regeneration Resistor and check for the excessive regeneration warning display Increase the capacities of the Servo Drive and the Servomotor and length the deceleration time Use an External Regeneration Resistor Check the operation pattern speed monitor Check the load rate of the Regeneration Resistor and the excessive regeneration warning display Increase the capac
510. r occurred No communications error occurred with the data from the encoder but there is an error in the contents of the data There was a data error mainly due to noise The encode cable is connected but a communications data error occurred Position error pulses exceeded the setting of the Following error window 6065 hex e Motor operation does not follow the command e The value of the Following error window 6065 hex is small The difference speed deviation between Motor Velocity Demand Value After Filtering and actual speed has exceeded the set value of the Excessive Speed Deviation Setting 3602 hex Note When Motor Velocity Demand Value After Filtering is forced to 0 during an immediate stop due to halt or forward reverse drive prohibition input the speed deviation immediately increases The speed deviation also increases when the Motor Velocity Demand Value After Filtering starts Therefore provide enough margin when making the settings e Provide the required encoder power supply voltage 5 VDC 5 4 75 to 5 25 V Be careful especially when the encode cable is long If the Servomotor cable and the encoder cable are bundled together separate them Connect the shield to FG Provide the required encoder power supply voltage 5 VDC 5 4 75 to 5 25 V Be careful especially when the encode cable is long If the Servomotor cable and the encoder cable are bundled together separate them Connect th
511. r s allowable operating range increases for the commanded amount The range will be the result where the rotation set for 3514 hex is added on both sides for the position command Servomotor E WIDTH oad ZZZ Entered position 3514hex command range 13514 hex a Error range Servomotor s allowable Error range Error No 34 0 operating range Error No 34 0 i Left Side Operation Servo ON When a leftward position command is entered the Servomotor s allowable operating range further increases Gam Servomotor Z Load WALLLL2ETTLMITTTTTTTTILITITILALTLLLVTLTLALLG LT LLLL LLL Z Entered position 3514 hex command range 3514 hex Error range Error range Error No 34 0 Servomotor s allowable operating range Error No 34 0 sm JW OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 10 suoljoun4 paddy x 7 4 Backlash Compensation 7 4 Backlash Compensation SEE The function compensates for backlash for position control and fully closed control Objects Requiring Settings Backlash Select whether to enable or disable backlash 3704 hex Compensation compensation during position control page 9 55 Selection Set the compensation direction Backlash es 3705 hex Compensation Amount Set the compensation amount during position control page 9 55 Backlash ee 3706 hex Compensation Time Set the backlash compensation time constant during page 9 55 posit
512. raight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions p 1 000 r min Servomotors 400 V 900 W without Brake R88M K90010F S2 R88M K90010C S2 900 W with Brake R88M K90010F B S2 R88M K90010C B S2 Motor and brake connector Encoder connector 130x130 Shaft end specifications with key and tap 70 g 45 Se ig g M3 through O EE n 8h9 59 AS res 4 a oa dos r i S 9165 A 4 M5 depth 12 Dimensions mm R88M K900100 133 5 R88M K900100 BC 158 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 62 SUOISUBWIG gu13 x4 pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions 2 kW 3 kW without Brake R88M K2K010F S2 K3K010F S2 IIe R88M K2K010C S2 K3K010C S2 WES 2 kW 3 kW with Brake R88M K2K010F B
513. rake power supply 20eceee 4 41 NOISE TEKS ios arian a Aaa a uae 4 41 4 42 4 47 noise filters for Motor OUtPULt cccceee cece esse eeees 4 47 OUCH TING Rens cette teeter cca ne encweves E ume 11 21 width and OG DUN iani a dua vines 11 23 O object description format ccceceeseeeseesenseeeaes A 18 object dictionary cc ceceecee eee eceeseeeeeesseneeeseresenaens 1 2 51 S12 ee ee EE AE eee ae Te A 17 data VOCS pc oith ates aa a N EA A 17 ODISCUNIS heise nel anicule uetdecss notre a A A A 64 Operational procedure ccccceseeeeeesseeeeeeeeseeas 10 1 Origin Proximity Input DEC cceeeeeeee eee eens 3 22 overload characteristics electronic thermal function 3 36 OVEITUN PIOteCtiON cccceeeeeeeeeseeeeeeeeseeseenseeeanes 7 9 p PDO MAap DING arra E 5 5 PDO mapping for position Control 00ce00 5 7 5 8 PDO mapping objects 22 ccisececicastenScistatoesicotserionss A 25 258th RxPDO mapping parameter 1701 hex 258th TxPDO mapping parameter 1B01 hex 259th RxPDO mapping parameter 1702 hex 259th TxPDO mapping parameter 1B02 hex 259th TxPDO mapping parameter 1B03 hex 260th RxPDO mapping parameter 1703 hex 261th RxPDO mapping parameter 1704 hex TZ eS OS Oe eee eee eel ee Se gt Oo N 261th TxPDO mapping parameter 1B04 hex A 33 262th RxPDO mapping parameter 1705 hex A 29 periodic MAINTENANCE ccccccecee
514. re proper operation and performance EN Reference Indicates an item that helps deepen your understanding of the product or other useful tip Explanation of Symbols Example of symbols VAN This symbol indicates danger and caution The specific instruction is indicated using an illustration or text inside or near AN The symbol shown to the left indicates beware of electric shock S This symbol indicates a prohibited item an item you must not do The specific instruction is indicated using an illustration or text inside or near S The symbol shown to the left indicates disassembly prohibited This symbol indicates a compulsory item an item that must be done The specific instruction is indicated using an illustration or text inside or near The symbol shown to the left indicates grounding required OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 Safety Precautions Precautions for Safe Use of This Product M llustrations contained in this manual sometimes depict conditions without covers and safety shields for the purpose of showing the details When using this product be sure to install the covers and shields as specified and use the product according to this manual mif the product has been stored for an extended period of time contact your OMRON sales representative gt gt PPPEEEPPEPEE DANGER Always connect the frame gr
515. realtime autotuning the Inertia Ratio 3004 hex Torque Command Value Offset 3607 hex Forward Direction Torque Offset 3608 hex and Reverse Direction Torque Offset 3609 hex are automatically saved to the EEPROM every 30 minutes Realtime autotuning uses this saved data as the default settings when the power supply is turned ON again The object is automatically set based on the Realtime Autotuning Machine Rigidity Setting 3003 hex if realtime autotuning is enabled OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 8 suoljoun u wzsnfpy Adjustment Functions Index 3004 hex 3100 hex 3101 hex 3102 hex 3103 hex 3104 hex 3105 hex 3106 hex 3107 hex 3108 hex 3109 hex 3110 hex 3111 hex 3112 hex 3113 hex 3114 hex 3115 hex 3116 hex 3117 hex 3118 hex 3119 hex 3607 hex 3608 hex 3609 hex 3610 hex 0 3610 hex 1 3623 hex 3624 hex 11 3 Realtime Autotuning Realtime Autotuning RTAT Object Table AT Machine Rigidity Setting 3003 hex POU EES Estimated load inertia ratio r Speed Loop Gain 1 Loop Gain 1 15 aeoe e 75 Spat ao Te OET Loop Integral Time oe e s 3700 2800 2200 1900 1600 1200 Gall 700 xan Feedback Filter Time Constant 1 Torque onmang Filter Time 1500 1100 500 400 300 Constant 1 1 SpeedLoopGain2 Loop Gain 2 20 25 30 Spat ao ale Cosa poe year MME 40000 10000 10000
516. rection of detection of the origin signal when the Origin Proximity Input is OFF and the reverse direction when the Origin Proximity Input is ON The operation direction reverses for the forward drive prohibition input Origin signal Forward drive prohibition input lt Reverse direction Forward direction Reverse drive prohibition input lt Reverse direction Forward direction A homing error occurs in the following cases When the drive prohibition inputs on both sides are ON at the same time When the drive prohibition input of one side is ON and the drive prohibition input of the other side is turned ON without detecting the rising edge of the Origin Proximity Input A 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile When the homing operation is started with a sensor without an origin signal Z phase such as an absolute scale during fully closed control Note 1 Note 2 Note 3 Note 4 Note 5 If an origin signal exists near the point where the Origin Proximity Input turns ON or OFF the first origin signal after the Origin Proximity Input is turned ON or OFF may not be detected Set the Origin Proximity Input so that the origin signal occurs away from the point where the Origin Proximity Input turns ON or OFF During the homing operation the stop function for the Stop Selection for Drive Prohibition Input
517. regenerative energy is too large to be processed internally an overvoltage error occurs and operation cannot continue The following table shows the regenerative energy and amount of regeneration that each drive can absorb If these values are exceeded take the following processes Connect an External Regeneration Resistor Regeneration process capacity improves Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time Regenerative energy per unit time decreases Lengthen the operation cycle i e the cycle time Average regenerative power decreases Internal regeneration re sistor Allowable mini mum regeneration resistance Q Regenerative Servo Drive model energy absorbable by Average amount of regenerative energy ab built in capacitor J sorbable W R88D KNASL ECT R88D KNO1L ECT R88D KNO2L ECT R88D KNO4L ECT R88D KNO1H ECT R88D KNO2H ECT R88D KNO4H ECT R88D KNO8H ECT R88D KN10H ECT R88D KN15H ECT R88D KN20H ECT R88D KN30H ECT R88D KN50H ECT R88D KN75H ECT 282 R88D KN150H ECT 254 R88D KNO6F ECT R88D KN10F ECT R88D KN15F ECT R88D KN20F ECT 17 17 17 13 34 34 34 25 25 25 _ NO N O NO NINI N NI a N Oo 100 100 100 OO O OD O A BR A A N Ol gt gt Bas R88D KN30F ECT R88D KN50OF ECT R88D KN75F ECT R88D
518. res 3 61 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications Encoder Specifications i Incremental Encoder Specifications Item Specifications Encoder system Optical encoder 20 bits Number of output Phases A and B 262 144 pulses rotation pulses Phase Z 1 pulse rotation Power supply voltage 5 VDC 5 Power supply current 180 mA max Output signal S S Output interface RS485 compliant i Absolute Encoder Specifications Item Specifications Encoder system Optical encoder 17 bits Number of output Phases A and B 32 768 pulses rotation pulses Phase Z 1 pulse rotation Maximum rotations 32 768 to 32 767 rotations Power supply 5 VDC 5 voltage Power supply current 110 mA max Applicable battery 3 6 VDC voltage Current consumption 265 uA for a maximum of 5 s right after power interruption of battery 100 uA for operation during power interruption 3 6 uA when power is supplied to the drive Output signal S S Output interface RS485 compliant Note Multi rotation Data Backup e The multi rotation data will be lost if the battery cable connector is disconnected at the motor when connecting the battery cable for the absolute encoder and battery e The multi rotation data will be lost if CN2 is disconnected when connecting the battery to CN1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in
519. ring Operation in csv 0 1 1 A Servo ON V Servo OFF Actual speed 30 r min PDS state Operation enabled Switched on 6061 hex CsV No mode assigned 6041 hex Bit 9 Remote e 1 6041 hex Bit 10 i Target reached n m 6041 hex Bit 12 5 Target velocity ignored 1 0 0 6041 hex Bit 13 a 0 0 0 Following error 4000 hex Bit 1 DEN 4000 hex Bit 4 i VLIM c9 4000 hex Bit 7 a VCMP 0 1 0 0 4000 hex Bit 8 NEAR 1 When the servo is turned OFF a deceleration stop starts and 6061 hex continues to show the same mode as the mode of operation csv specified in 6060 hex 2 After the motor stops No mode assigned is shown by 6061 hex 3 Bit 12 will be O during a deceleration due to servo OFF 4 The mode shown in 6061 hex is forced to 0 because the mode shown in 6061 hex is different from the mode of operation 0 E 1 A 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile Note The operation during the interval from A to B for drive prohibition and main circuit power OFF is the same as when the servo is turned OFF 3 Example of Servo OFF during Operation in cst Servo ON V Servo OFF Actual speed 30 r min 1 N PDS state Operation enabled Switched on 6060 hex cst 6061 hex cst No mode assigned 6041 hex BHS ASA CCC 0 Remote 6041 hex
520. ring deceleration and after the motor has stopped main power supply OFF The internal position command generation process is also forced to stop If an error occurs while the main power supply is OFF operation will follow the Fault reaction option code 605E hex If the main power supply turns OFF while the Servo is ON and the Undervoltage Error Selection 3508 hex is set to 1 a Main Power Supply Undervoltage Error 13 1 will occur Operation will then follow the Fault reaction option code 605E hex The default value is 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 46 A 1 CiA402 Drive Profile 605C hex Disable operation option code All Size 2 bytes INT16 PDO map Not possible This object sets the operation during Disable operation operation enable switched on Description of Set Values Set Decelerating After stopping value Deceleration method Error Operation after stopping Error 1 Ql I gt Immediate Stop 7 Immediate Stop 7 Immediate Stop Torque 3511 hex Dynamic brake operation Clear 3 3 l pa baa _ 3 3 2 Free run Dynamic brake operation Clear 1 Dynamic brake operation Dynamic brake operation Clear 1 Decelerating is the time between when the motor is running and when the motor speed reaches 30 r min or less Once the motor reaches 30 r min or less and moves to the after stop status subsequent op
521. rlock output BKIR turns ON after the set time set value x 1 ms has elapsed 9 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 5 Interface Monitor Settings Servo ON OFF Brake interlock Released Held BKIR TB lt gt No power Motor power Power supply is supplied supply Moron eee Max 3438 hex or Y 3439 hex set value The time TB in above drawing is either the brake timing during operation i e the set value x 1 ms or the time taken until it goes below the value set in the Brake Threshold Speed During Operation 3439 hex whichever is shorter For the operation time refer to 7 5 Brake Interlock on page 7 13 3439 hex Brake Threshold Speed During Operation Seiad 30 to 3000 Unit r min R pan range setting attribute Size 2 bytes INT16 Access RW PDO map Not possible Set the required rotation speed for the Brake Interlock Output BKIR to turn OFF after the servo OFF command is detected while the Servomotor is operating For the operation time refer to 7 5 Brake Interlock on page 7 13 When the 3438 hex set value comes earlier Motor rotation speed 3438 hex 3439 hex set value ae Meee e Brake Release setvalue ON Brake Engage OFF the 3439 hex set value comes earlier 3438 hex set value Motor rotation speed 3439 hex set value 3439 hex Brake Release set value ON Brake Engage OFF
522. rmation on the PDO mapping between the process data servo interface and Servo Drive application The process data object PDO consists of objects in the object dictionary that can be mapped to the PDO The contents of the process data are defined by the PDO mapping Process data communications cyclically reads and writes the PDO Mailbox communications SDO uses asynchronous message communications where all objects in the object dictionary can be read and written 5 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 3 EtherCAT State Machine 5 3 EtherCAT State Machine The EtherCAT State Machine ESM of the EtherCAT slave is controlled by the EtherCAT Master Safe Operational Operational munica l ception tions Not Not Not possible possible possible Not Not Possible possible possible PDO State transmis sion Init Pre Operational Pre Op Safe Operational Safe Op Not possible Operational Op Possible Possible Possible Possible Possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Description Communications are being initialized Communications are not possible Only mailbox communications are possible in this state This state is entered after initialization has been completed It is used to initialize network settings In this state PDO transmissio
523. rnal Feedback Not 3326 hex Pulse Direction 0 to 1 2 bytes INT16 peeible Pn326 Switching p External Feedback Not 3328 hex Hybrid Following Error 4eq90 4 to 134217728 COMMANA 4 bytes INT32 C met Pn328 Counter Overflow Level units possible Hybrid Following Error Not Input Signal Selection 1 0094 0 to OOFF FFFF Not 3401 hex Input Signal Selection 2 0081 0 to OOFF FFFF 4 bytes INT32 C Not Pn401 8181 hex hex possible Input Signal Selection 3 0082 0 to OOFF FFFF Not Input Signal Selection 4 0022 0 to OOFF FFFF Not Input Signal Selection 5 002B 0 to OOFF FFFF Not 3405 hex Input Signal Selection 6 0021 0 to OOFF FFFF 4 bytes INT32 c Not Pn405 2121 hex hex possible Input Signal Selection 7 0020 0 to OOFF FFFF Not 3407 hex Input Signal Selection 8 OO2E2E2 0 to OOFF FFFF 4 bytes INT32 C Not Pn407 Eh hex possible Output Signal Selection 00030303 0 to Not Output Signal Selection 00020202 0 to Not Analog Monitor 1 4 Not 3417 hex Analog Monitor A scale 0 to 214748364 2 4 bytes INT32 A Not Pn417 Setting possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 74 A 2 Object List Corresp index Default Settnarande Data PDO onding setting g g attribute map Pn number 3418 hex ANAlOg Monitor 2 4 0 to 21 2 bytes INT16 A mol Pn418 Selection possible 3419 hex pra Og Monor ASAE 0 to 214748364 3 4 bytes INT32 A nO Pn419 Setting possible 3421 hex Analog Mormon
524. rol Control 3122 p 22 3121 hex 1 ieee eee eee Disabled Disabled Disabled hex eae Mie ale A Disabled Disabled Disabled hex Gain switching command input via l l 2 EtherCAT communications 3 Disabled Disabled Disabled Torque command variation Refer to Enabled Enabled Enabled Figure A 0 05 0 05 Speed command variation Refer to Enabled Enabled 4 Enabled 4 Figure B 10 r min s 10 r min s 5 Speed command Refer to Figure C Enabled Enabled r min Enabled r min 1 The Gain Switching Delay Time in Speed Control 3121 hex becomes effective when the gain is switched from 2 to 1 hex 9 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 Gain Settings 2 The Gain Switching Hysteresis in Speed Control 3123 hex is defined in the drawing below 3122 hex gt SO Gain1 Gain2 i gt P 3121 hex gt 3 When the Gain switching command of EtherCAT communications G SEL is 0 the gain switches to Gain 1 When the command is 1 the gain switches to Gain 2 4 The variation means the change amount in a millisecond ms E g The set value is 200 when the condition is a 10 change in torque in 1 millisecond 5 When the set value is 10 meanings of the Gain Switching Delay Time in Speed Control 3121 hex the Gain Switching Level in Speed Control 3122 hex and the Gain Switching Hysteresis in Speed Control 3123
525. rol ae XB system with an external sequence so that device 2 a Servo ON state will not occur due to deposition in the Dynamic Brake Resistor 5 Use an external Dynamic Brake Resistor of 4 8 Q 400 W 6 Wire the circuit so that the voltage between DB1 and DB2 is 400 VAC or less Surge suppressor Install an external protective device such as P es a temperature fuse Monitor the temperature 3 of the external Dynamic Brake Resistor Control cables OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 16 System Design 4 2 Wiring Main Circuit and Motor Connections When wiring the main circuit use proper wire sizes grounding systems and noise resistance R88D KNA5L ECT KN01L ECT KNO2L ECT KNO4L ECT R88D KN01H ECT KNO2H ECT KNO4H ECT KNO8H ECT R88 KN10H ECT KN15H ECT Main Circuit Connector Specifications CNA Sym bol L1 L2 L3 L1C L2C R88D KNUIL ECT 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz ee 200 to 400 W 3 phase 100 to 120 VAC 85 to 132 V 50 60 Hz Main circuit power supply R88D KNOH ECT pu 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 100 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz R88D KNLIL ECT Control circuit power Single phase 100 to 120 VAC 85 to 132 V 50 60Hz supply input R88D KNLIH ECT Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz
526. ror Error 11 0 2200 hex Communications Error Setting Range 0 to 15 Default pT Attribute Size 1 byte U8 ese PDO map Not possible This object sets the number of times communications errors can occur consecutively before being detected as an error It can be set to between 0 and 15 The detection value will be set to one value higher than the set value EN Reference The default setting is 1 i e an error is detected when two communications errors occur consecutively OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 38 xipueddy 2 C D Q Q lt A 1 CiA402 Drive Profile 2201 hex Sync Not Received Timeout Setting Range 0 to 600 Unit o soo Default pO Attribute C Size 2 bytes U16 Access RO PDO map Not possible Set a value for which Interruptions Error Error No 88 2 are detected If the set value is 0 the detection time will be 120 seconds All 4000 hex Statusword 1 All Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes U16 Access RO PDO map Possible This object gives the present state of the Servo Drive Symbol Description Speed limit not detected during torque control Speed limit detected during torque control Outside limit range Within limit range Bit Descriptions Support in each mode Bit Speed Torque i 0 Origin Position ZPOINT Distrib
527. rotation stops abnormally Accordingly repeated operation cannot be performed Provide a wait time of at least 10 minutes for the motor to cool down ON nee Servo OFF hi OFF a lt 1to5ms Released Dynamic brake DB engaged DB released DB engaged Engaged gt Approx 60 ms ON i Motor power supply No power supply Power supply No power supply 4 gt Approx 4 ms es 3438 hex Release request Brake interlock output ON i Brake held BKIR OFF Brake held _ When the 3438 hex _ Approx 30 r min setting is early Value set on 3439 hex Motor rotation speed Servo ON enabled Approx 30 r min BKIR When the 3439 hex Rel ase request Brake held setting is early Value set on 3439 hex 1 The servo does not turn ON until the motor rotation speed drops to 3439 hex set value or below If a Servo ON is commanded during motor rotation the Command Warning Warning No B1 hex will occur The Servo ON command is ignored 2 The operation of the dynamic brake when the servo is OFF depends on the setting of the Disable operation option code 605C hex 3 The Brake Interlock output BKIR signal is output when a release request command is received from Servo controls or from EtherCAT communications In the above example there is no release request command from EtherCAT communications The BKIR signal is assigned to the general purpose output CN1
528. round terminal Ground to 10 Q or less Control Circuit Connector Specifications CNC Siu Function bol 24 V Control circuit power 24 VDC 21 6 to 26 4 V OV supply input External Regeneration Resistor Connector Specifications CND Sym Function bol External Regeneration Normally B2 and B3 are shorted Do not short B1 and B2 Doing Resistor connection so may result in malfunctioning B3 terminals If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration B2 Resistor between B1 and B2 NC Do not connect i R88D KN30F ECT KN50F ECT Terminal Block Specifications TB1 Sait Function bol 24 V Control circuit power 24 VDC 21 6 to 26 4 V OV supply input OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 22 ubisag wia sAs System Design 4 2 Wiring Terminal Block Specifications TB2 Main circuit power supply R88D KNLIF ECT 3 to 5 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz External Regeneration A Regeneration Resistor is not built in Resistor connection Connect an External Regeneration Resistor between B1 and B2 terminals if necessary Normally do not short B1 and B2 Doing so may result in malfunctioning Do not connect Motor connection Red These are the output terminals to the Servomotor terminals White Be sure to wire them correctly
529. rque limits in the Positive torque limit value 60E0 hex and the Negative torque limit value 60E1 hex are set to 0 The Servo Drive has broken down Connect the communications cable correctly Start the host controller Take appropriate measures against the cause of the error that are listed in Troubleshooting with Error Displays on page 12 13 Wire the Servomotor power cable correctly Input the correct power and voltage for the main circuit e Turn ON POT and NOT Input 24 VIN to CN1 Set the maximum torque to be used for each of these objects Replace the Servo Drive OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Symptom The servo locks but the Servomotor does not rotate The Servomotor operates momentarily but then it does not operate after that The Servomotor rotates without a command OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications The host controller does not give a command The encoder cable is wired 12 4 Troubleshooting Measures Enter position and speed data Start the Servomotor Check the speed command from the host controller Check to see if the holding brake on a Servomotor with brake is released when the servo is locked For a position command check to see if the speed and position are set to O It is hard to determin
530. rs needed to operate the Servo Drive and remedies to be taken and inspection methods to be used should problems occur Intended Readers This manual is intended for the following individuals Those having electrical knowledge certified electricians or individuals having equivalent knowledge and also being qualified for one of the following e Introducing FA equipment e Designing FA systems e Managing FA sites Notice This manual contains information you need to know to correctly use the Servo Drive and peripheral equipment Before using the Servo Drive read this manual and gain a full understanding of the information provided herein After you finished reading this manual keep it in a convenient place so that it can be referenced at any time Make sure this manual is delivered to the end user OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 Read and Understand this Manual Read and Understand this Manual Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NONINFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THA
531. rter published by JEMA The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotors and Servo Drives Recommended maintenance times are given below for Servomotors and Servo Drives Use these for reference in periodic maintenance Servomotor Life Expectancy The lifetimes for the different motor parts are listed below 12 33 Bearings 20 000 hours Decelerator 20 000 hours Oil seal 5 000 hours Encoder 30 000 hours These values assume an ambient motor operating temperature of 40 C a shaft load within the specified value operation within the rated values rated torque and rated rotation speed and proper installation as described in this manual The oil seal can be replaced The radial load during Servomotor operation on timing pulleys and other components contacting belts is two or more times the static load or more Consult with the belt and pulley manufacturers and adjust designs and system settings so that the motor allowable axial load is not exceeded even during operation If a motor is used under a shaft load exceeding the allowable limit the motor shaft can break and the bearings can be damaged OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 5 Periodic Maintenance Servo Drive Life Expectancy The lifetimes for the different drive parts are given below Aluminum electrolytic capacitors 28 0
532. s cccccce cece ee eeeeeeeeeees 3 44 S safe torque OFF function ssssssssssssnnnrrnnnnrrnrnene 8 1 safety connector specifications CN8 006 3 34 Safety I O Signal Connector ccece cece eee eee 3 80 safety I O signal table ccccececeeseeseeeeeeneeeeens 3 34 Safety V O signals metiera i esiaio nies 3 34 Safety MPUt CIRCUITS rieron an i E A 3 35 Safety input signals ienn na eee easel 8 2 SEMUGALK arn aE A A AA 1 15 sequence I O signal WADE SI GIA Ss aise ase vai ie teins a pea E antawican ce eeaeeetes 7 1 UPUT SION AlS wiccre aac ie Severe elec N 7 4 sequence outputs wi csi anes diewris ieee em Aik 3 23 service data objects SDOS ccceeeeeeeeeeeeeeeeeaes 5 9 Servo Drive characteristics 100 VAC input models cccceceeeeeeeeeeeees 3 2 200 VAC input models cccc eee eeeeeeeeee eee 3 3 400 VAC input models cccecceeeeeeeeeeeees 3 5 GIMENSIONS scteuittsceisa ited TENA 2 23 MINCHON Saesaare a a a a aA 1 5 general SpecificationS ccccceeeesceseeeceeseessenaes 3 1 installation conditions ccceeee eect eee eee e eee eeees 4 1 life expectancy Ames acncceeacasne cates eecseessuetsecete 12 34 MOdel NUMDEF inoen R REAN 2 3 model table auaa e 2 5 Dalit NAMGS rerea eee o enaa 1 4 PEDIAGING anna aa a a A A 12 3 Servo Drive and Servomotor combination tables 2 11 Servo Drive profile objects ccccseeseeeseeseeeeees A 43 Controlword 6040 hex
533. s 11 12 Instantaneous Speed Observer Function 11 12 Instantaneous Speed Observer Function This function uses a load model to estimate the motor speed It improves the speed detection accuracy and can provide both high responsiveness and minimum vibration when stopping Motor Controller Internal torque Effort command Current Speed control control Speed estimation Instantaneous value speed observer Total inertia Load model Feedback motor To position control position Servo Drive Operating Conditions The instantaneous speed observer function can be used in the following situations Conditions Operating mode Position control semi closed control When Servo is ON 4 Others When there is no trouble with the motor s normal rotation When realtime autotuning function is disabled When instantaneous speed observer function is disabled Objects Requiring Settings Function Set whether to enable or disable the instantaneous 3610 hex l l page 9 48 Expansion Settings observer function 3004 hex Inertia Ratio Set the inertia ratio page 9 3 3100 hex Position n Gain Set the position loop gain page a7 3101 hex Speed Loop Gain 1 Set the speed loop gain page 9 8 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 32 suoljoun u wzsnfpy Adjustment Functions 11 12 Instantaneous Speed Observer Function Operating Procedure
534. s 2KQ ee 2k 20kQ S PULS 120 Q gt 2 KQ 20 kQ i Ti a FG 4 FG Shell FG E Serial Communications Incremental Encoder Specifications 3323 Hex 1 Magnescale Incremental by Sony Manufacturing Systems Corporation SR75 SR85 Servo Drive side CN4 5V VY E5V 1 O 2 V GND ET XK ole TX tel pen ee gt FG FG Shell FG 4 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 30 suoljeoijineds o Specifications 3 1 Servo Drive Specifications E Serial Communications Absolute Encoder Specifications 3323 Hex 2 Absolute encoder by Mitutoyo Corporation l l ABS ST771A ST773A Servo Drive side CN4 5V NI E e OX ade X te poe gt Shell FG FG Shell Q Serial signal FG 3 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Analog Monitor Connector Specifications CN5 i Monitor Output Signal Table Monitor Output CN5 Pin No Symbol Name Function and interface Analog monitor output 1 Outputs the analog signal for the monitor Default setting Motor rotation speed 1 V 1 000 r min You can use objects 3416 hex and 3417 hex to change the item and unit You can use object 3421 hex to change the output method Analog monitor output 2 Outputs the analog signal for the monitor Default setting Motor rotati
535. s Control 3800 hex When the bit is set to 1 the warning detection is masked 3 The encoder overheating warning is enabled only when using a 20 bit incremental encoder It is disabled for all other types of encoders P Precautions for Correct Use Do not use any settings for Error Output Selection 1 3440 hex and Error Output Selection 2 3441 hex other than those given in the above table OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Warnings Related to EtherCAT Communications Warning Warning condition number name BO hex Data Setting An object setting is out of range Warning Command Object operating conditions are not Warning satisfied A forced brake operation request was sent while the servo was ON A Switch ON command was sent when the main circuit power supply was OFF and object 3508 hex 0 An Enable Operation command was sent to request turning ON the servo when the Servomotor was operating at 30 r min or higher An Enable Operation command was sent to request turning ON the servo when Modes of operation 6060 hex was not set B1 hex A latch operation was started under the following conditions An absolute external encoder was used and phase Z was selected as the trigger for fully closed control During Homing mode The absolute multi rotation data is being cleared or the Config operation is being performed The Statusword 604
536. s R88M K05030T S2 K100300 S2 Encoder connector Motor connector Shaft end specifications with key and tap 25 yore 12 5 a oD M3 depth 6 3h9 R88M K05030 R88M K10030 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 39 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 50 W 100 W with Brake R88M K05030H B S2 K10030 1 B S2 Te R88M K05030T B S2 K10030L B S2 Encoder connector Brake connector Motor connector 40x40 Shaft end specifications with key and tap 2 4d 12 5 ci 5 M3 depth 6 Z R88M K05030Ll B R88M K10030L B Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 200 W 400 W without Brake R88M K200300 S2 K400300 S2 EIS R88M K200300 S2 K400300 S2 Encoder connector Shaft end specifications with key and tap 4h9 200 W 5h9 400 W M4 depth 8 200 W oa M5 depth 10 400
537. s 5 6 Fixed PDO Wap DING vctiiaceed client ie eee eas eee ce ee ts 5 6 5 5 Service Data Objects SD OS te saseseusanes tocar teeters seanen anaes 5 9 ADO GOCE Sacueni incainlulitimasileh ince ta ccnaateares valatecGusuia bas tits lnindgsareunlaaciaaydeateteainiaeaat 5 9 5 6 Synchronization with Distributed CIOCKS cccecceeceeeeeeeeeeeeeeeeeeenes 5 10 Communications Cycle DG Cycle cssecseissalacwuecest ei ceaun sen tactssabanda Mena etanctain edad ae eeains 5 10 9 Emergency Me SSaG6S 2 24 ine Ge eee 5 11 Chapter 6 Basic Control Functions 6 1 Cyclic Synchronous Position Mode ccccc cece eceeeeeeeeeeseeeeeeeseeeeaeeeas 6 1 FRE ASG ODS CLS i dr crsuphidelaaiais Aeteadd sae enuridhv a skibum aaehuneime sapdideen derietal 6 2 Block Diagram for Position Control MOdEe cccceccceecceeceeeeeeeeeeeeeeaeeeseeeseeesseeeaeeeaees 6 3 6 2 Cyclic Synchronous Velocity MOde cccccccceeceeeeceeeaeeeeeeeeaeeeeeeeaes 6 4 REET ODJECIS nie a in tuiidie tis usuavbrid a iteamianss ho Moidien Metllelbinrh hanlcaie tenis 6 5 Objects IREGUIFING Settings mireanna a eevaeteladnd a a 6 5 REAA FUNCUONS oe fetid tira a a lilac uae Sedndtvascedindmstaatemoathcims 6 5 Block Diagram for Speed Control Mode cccccceccceecceeecaeeeeeeeseeeeaeeeseeseeeseeesaeeeaees 6 6 6 3 Cyclic Synchronous Torque MOde ccccccseccceeeeeeeeeeeeeeeeeeeeseeesaeeeas 6 7 FRE ALCON ODS CIS rnn a a a ia stiat est alterna Riedie 6
538. s AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 36 SUOISUBWIG gu13 x4 pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions Front Mounting Using Front Mounting Brackets External dimensions 233 a 2 jo __ A x TTT yt J I aa a 1 7 ES I L E prr 45 10 M4 Rectangular hole 227 Rectangular hole dimensions are reference values 2 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions g 3 phase 400 VAC R88D KN150F ECT 15 kW Wall Mounting External dimensions 261 231 7 o7 Aee _t L 31 7 5 435 450 a OO 4 o DAU TORAH R3 5 R3 5 31 231 S O Q D N Q Q m gt K P 4 D z 3 D o O Mounting dimensions N OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 38 Models and External Dimensions 2 4 External and Mounting Dimensions Servomotor Dimensions In this description the Servomotors are grouped by rated rotation speed The description starts with a Servomotor of the smallest capacity which is followed by the next smallest and so on f 3 000 r min Servomotors 100 V and 200 V 50 W 100 W without Brake R88M K05030H S2 K100300 S2 IT
539. s AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 8 min 50 max 15 max 392 4 9x10 x6 3 42 suoljeoijineds o e Specifications Model R88M Item Rated output Rated torque a Rated rotation speed Maximum rotation speed Momentary maximum torque Rated current 1 Momentary maximum current 1 Rotor inertia Without brake With brake Applicable load inertia Torque constant vi Power rate x1 Mechanical time constant Without brake With brake Without brake With brake Electrical time constant Allowable radial load Allowable thrust load Weight Without brake With brake Unit r min r min Z Z lt 3 3 A rms A rms k gem kg m N m A kW s kW s ms ms ms kg Radiator plate dimensions material Applicable Servo Drives R88D Excitation voltage z La Power consumption at 20 C a 5 0 81410 0 90 10 3 3 Servomotor Specifications K3K030C 3000 9 55 5 000 28 6 N 9 6 50x10 7 85107 0 81 6 gt O oO NX O P A E iN oO O 196 kg Approx 8 3 Approx 9 4 KN30F ECT 400 VAC K4K030C 4000 12 7 3 000 38 2 12 9x10 14 2x10 N 15 times the rotor inertia max 0 98 126 14 o Sg 0 56 784 343 Approx 11 0 Approx 12 6 380 x 350 x t30 Al KN5
540. s Manual with Built in EtherCAT Communications 6 8 SUOI OUN 01 U04 dISeg Basic Control Functions 6 3 Cyclic Synchronous Torque Mode Related Functions Set the speed limit value applicable during torque control Speed Limit Value Setting During torque control the speed is controlled so as not to page 9 27 exceed the level set by the speed limit value 3321 hex 6 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 3 Cyclic Synchronous Torque Mode Block Diagram for Torque Control Mode The following block diagram is for torque control using an R88D KNLJILIL ECT series Servo Drive ae 60B2 hex Torque offset Sy 0 1 if 6071 hex Target 4 torque 0 1 j a Speed limit Value Setting Speed Limit Selection iol ae 607F hex Max i profile velocity 3 Command 3377 Command units s selection a banwnneknnn eee 3 l l Speed limit unit conversion srmn eee eee ne a a ie ipl iii S Velocity actual i value command Ss _units s ow aseweeee eee ete x Electronic gear S reverse conversion a 7 r Y I gt oI neers l A G0BA or 60BC hex if Touch probe pos a 1 2 pos value f 4 N command units 2 tlp aiae eile aie ele ee a 6064hex S a 1i Position actual value ss command units SStnrreccestntenneses2o Load Gain Switchi
541. s User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 3 phase 200 VAC R88D KN75H ECT 7 5 kW Wall Mounting External dimensions 233 207 Mounting dimensions 10 M4 220 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications n 0 W z L Be 1 a a A 1 j E j J 7 Pa 1 ws a ease 4 ES 5 2 30 SUOISUBWIG u13 x4 pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions Front Mounting Using Front Mounting Brackets External dimensions 233 a A E t J p 7 ae es aa Mounting dimensions 45 10 M4 Rectangular 227 hole Rectangular hole dimensions are reference values 2 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions g 3 phase 200 VAC R88D KN150H ECT 15 kW Wall Mounting External dimensions 261 231 07 7 F p zo 435 450 A MISI TORE R3 5 R3 5 31 231 O Q D T o Q m gt lt r D 5 z 3 D 5 2 O 5 T Mounting dimensions 261 200 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 32 imensions Models and External D 2 4 External and Mounting Dimensions 3 phase 400 VAC R88D KNO6F ECT
542. s in error condition 1 Forward and reverse drive prohibition input disabled Forward and reverse drive prohibition input enabled 2 lf either the forward or the reverse prohibition input is open a Drive Prohibition Input Error 1 Error No 38 0 will occur 1 For details refer to explanation for Stop Selection for Drive Prohibition Input 3505 hex H Precautions for Correct Use Both signals are disabled in a state in which drive prohibition will not operation in the default settings If prohibiting the drive input is required set the Drive Prohibit Input Selection 3504 hex to either O or 2 The setting on the Input Signal Selection 1 to 10 3400 to 3409 hex can change the logic and allocation for the respective Input terminals CN1 to 7 and 8 Stop Selection for Drive Prohibition Input 3505 Hex Set the deceleration and stop methods upon a forward or reverse drive prohibition is input Decelerating 2 After stopping 3504hex ssoshex ___Decelerating S 4 setvalue Deceleration method Operation after sto STN value p p counter Torque command 0 for AE AKG drive prohibition direction 1 Free run Clear Torque command 0 tor Held 0 drive prohibition direction Cleared after Torque command and dece eraioi Immediate stop Clear torque limit are as completes specified then held 1 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 2 F
543. s red U write V and blue W power lines and the green yellow must be properly connected to the terminal block i Checking the Motor There should be no load on the motor Do not connect the mechanical system The motor side power lines and the power cables must be securely connected g Checking the Encoder Wiring The encoder cable must be securely connected to the encoder connector CN2 at the drive The encoder cable must be securely connected to the encoder connector at the motor OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 2 uoijeiado Operation 10 2 Preparing for Operation i Checking the EtherCAT Communications Connectors The EtherCAT Communications Cables must be connected securely to the EtherCAT Communications Connectors ECAT IN and ECAT OUT l Checking the Node Address Setting Make sure that the node address is correctly set on the node address rotary switches Status indicators RUN Rotary switches for ERR node address setting L L A IN L A OUT Contents Connection to CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 Rotary switch setting 00 The Position Control Unit sets the node address 01 to 99 The rotary switch setting is used as the node address i Precautions for Correct Use Do not change the setting on the rotary switches after the power supply has been turned ON The n
544. s the position loop and speed loop gain Select enable or disable using Gain Switching Input Operating Mode Selection 3114 hex Set the switching condition using the gain switching setting If the load inertia changes or you want to change the responsiveness depending on whether the motor is stopping or operating you can perform optimal control by using gain switching The function is used when the realtime autotuning does not work effectively such as e When the load inertia fluctuates in 200 ms or less e When the motor rotation speed does not exceed 500 r min or load torque does not exceed 50 of the rated torque e When an external force is constantly applied as with a vertical axis y Precautions for Correct Use When Gain 2 has been selected realtime autotuning does not operate normally If using the gain switching set the Realtime Autotuning to Disabled 3002 hex 0 7 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 9 Gain Switching Function Objects Requiring Settings Realtime Autotuning Mode Set the operation mode for realtime autotuning 3002 hex Selection Realtime autotuning cannot be used if the gain switching page 9 2 function is being used 3114 hex Gain Switching Input l Set whether to enable or disable the gain switching function page 9 11 Operating Mode Selection Position Control Mode and Fully closed Control Mode Switching Mode in Set t
545. s the standard value Applicable load inertia NO These are the values when the motor is combined with a drive at normal temperature 20 C 65 The momentary The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible If the dynamic brake is activated frequently with high load inertia the Dynamic Brake Resistor may burn 3 The allowable radial and thrust loads are the values determined for a limit of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Ira load Thrust load J Shaft center LR 2 4 This is a non excitation brake It is released when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd 6 Direct current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation 7 Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 54 o suoljeoijineds Specifications 3 3 Servomotor Specifications Torque Rotation Speed Characteristics for 1 500 r min
546. sabled Disabled Disabled Gain switching command input via l EtherCAT communications 3 Disabled Disabled Disabled 4 4 3 Command torque value Refer to Figure Enabled elas aa A Control F 3116 hex N 4 Always Gain 1 3100 to 3104 hex Disabled Disabled Disabled 5 Command speed Refer to Figure B Enabled Enabled r min Enabled r min nye 5 5 6 Pulse position error Refer to Figure C Enabled Enabled Enabled pulse pulse 7 Whether there is a position command Enabled Disabled Disabled Refer to Figure D 9 Actual motor speed Refer to Figure B Enabled Enabled r min Enabled r min Combination of whether there is a Enabled 6 Enabled 6 10 position command and actual motor Enabled r min r min speed Refer to Figure E 1 The Gain Switching Delay Time in Position Control 3116 hex becomes effective when the gain is switched from 2 to 1 2 The Gain Switching Hysteresis in Position Control 3118 hex is defined in the drawing below A 4 3117 hex gt A 24 fo A 0 Gain 1 Gain 2 Gain 1 pg 3116 hex If object 3117 hex is less than object 3118 hex object 3117 hex will automatically be set to the same value as object 3118 hex 3 When the Gain Switching command of EtherCAT communications is 0 the gain switches to gain 1 When the command is 1 the gain switches to gain 2 4 Set the percentage of the rated torque Example To set 10 of
547. scaccsazcssnsacsicecctancnteesncaberaacaesasessntes 2 5 2 4 External and Mounting Dimension 00 2 23 2 5 EMC Filter DIMeNSIONG ccceeeeeeeeeeeeeeeeeeeeeeeeees 2 67 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 1 Servo System Configuration 2 1 Servo System Configuration Support Software Support Software e CX One FA Integrated e CX One FA Integrated SYSMAC PLC Position Control Unit with EtherCAT Interface Toni Package reo oe CX Programmer k Including CX Drive CX Position SSS e CX Drive and CX Motion WS02 DRVC1 Programmable Controller SYSMAC CJ2 Position Control Unit NC CJ1W NCLJ8L N c Q T c D Models and External D 2 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications AC Servo Drive USB communications lt San lt S m EtherCAT communications e OMNUC G5 series Servo Drive R88D KNLJ ECT 100 VAC 200 VAC 400 VAC Peripheral Devices e External Regeneration Resistors External R88A RR encoder OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 1 Servo System Configuration AC Servomotors Motor power signals Power Cables e Flexible Cables Without Brake R88A CA e With Brake R88A CA
548. sceeseeeseeeeeeeees 12 33 peripheral equipment connection examples 4 7 position control mode adjustment cceeeeees 11 14 Positioning Completion Output 2 INP2 0 3 25 Power Cable Connector 0cccccceeeeeeseeeeeeneeeeaes 3 75 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications power cables with brakes European flexible cables 3 69 power cables without brakes European flexible cables eceeeeeeeeeeeeeee 3 66 preparing for operation cceeceeeeeeeeeeeeeeeeeeees 10 2 process data objects PDOS ccceeeeeee eee eens 5 5 R radio NOISE fher sanoen bere te obstauiaceassaec esas 4 42 reactor to reduce harmonic Current eeeeeeeee 4 46 FEACIONS signtcre sce nietes a i ache caseee i 4 46 realtime autotuning ccceceeeeeeeeeseesceseeesenesenas 11 6 regeneration absorption Capacity ccsecseeeeees 4 51 regenerative energy AbSOrption cccceeeeeeeeeees 4 49 Remote Outputs R OUT1 and R OUT2 3 27 reverse drive prohibition fUNCtION ccceeeeeeeeees 7 6 Reverse Drive Prohibition Input NOT 006 3 22 Reverse External Torque Limit Input NCL 3 23 rotation speed characteristics 1 000 r mMin Servomotors cc cceeeeeeeee eee e eee ees 3 61 2 000 r min Servomotors cccceeeeeeeeeeeeeeaaeees 3 55 3 000 r min Servomotor
549. se the built in resistor and an external resistor at the same time 7 7 Install an external protective device such as a er eae a temperature fuse Monitor the temperature of the external Dynamic Brake Resistor 4 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring i R88D KN150H ECT RS T 3 phase 200 to 230 VAC 50 60 Hz 1 2 3 Noise filter 1 Main circuit contactor 1 Main circuit power supply L 45 6 OFF ON 1MC 2MC Eg Ground to ai imo SMC 100 Q or less Ha i pg ea es a Surge suppressor 1 a ee oe x 1MC 2MC X eS Sy G i i 4 C5 OMNUC G5 series g OMNUC G85 series AC Servo Drive AC Servomotor ee Pp oe Cees Oe o lt n F 4 gt i 2MC meaa Q CI Ground to 100 Q or less CN2 aT Encoder cables fe 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 A 24 pag VDO BKIR 11 0 HKB H4 VPO 3 There is no polarity on the brakes U id 2 4 Provide auxiliary contacts to protect the ee BKIRCOM 10 system with an external sequence so that conto a Servo ON state will not occur due to device deposition in the Dynamic Brake Resistor 5 Use an external
550. se the value of the Disturbance Torque Compensation Gain 3623 hex from a small value to a large value The larger the value set on the Disturbance Torque Compensation Gain 3623 hex is the more effective control over the disturbance influence can be obtained But the larger the value is the larger the operation noise will be Set this object in combination with the Disturbance Observer Filter Setting 8624 hex to achieve balanced settings OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 9 Friction Torque Compensation Function 11 9 Friction Torque Compensation Function Two types of friction torque compensations can be set to reduce the influence of mechanical frictions One is the unbalanced load compensation that offsets the constantly applied unbalance torque The other is the dynamic friction compensation that changes the offset direction in accordance with the operating direction Operating Conditions You can use the function under the following conditions When Servo is ON gt gt e o Conditions When there is no trouble with the motor s normal rotation When realtime autotuning function is disabled When instantaneous speed observer function is disabled Objects Requiring Settings The torque compensation function needs the combined settings of following three objects Torque Command Value 3607 hex Offset 3608 hex Forward Direction Torque Offset 3609 h
551. set Note 2 This bit is forced to O when Target velocity ignored 6041 hex bit 12 0 during deceleration processing for the drive prohibition input Refer to page A 45 for details Bit 5 Forward Software Limit PSOT Bit 6 Reverse Software Limit NSOT PSOT is 1 when the Position actual value is greater than the set value of the Max position limit 607D hex Sub index 02 hex NSOT is 1 when the Position actual value is less than the set value of the Min position limit 607D hex Sub index 01 hex The value is O when the Software Position Limit Function is disabled individual settings are possible in each direction with 3801 hex and when homing is not attained Bit 7 Speed Agreement VCMP This bit operates as the Speed Agreement V_CMP VCMP is 1 when the absolute value of the difference between the command speed before acceleration limit and the Velocity actual value is less than the Speed Conformity Detection Range 3435 hex Note 1 The position error in encoder pulses can be set as the threshold value for the external output signal INP output from the Position Setting Unit Selection 3520 hex However this signal is always in command units The set values of Positioning Completion Condition Selection 3432 hex and Positioning Completed Hold Time 3433 hex do not affect this signal Therefore there may be OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 40
552. set esp full esp full Sening O to 100 Unit Rotation BEIAU ona range setting attribute Size 2 bytes INT16 Access RW PDO map PDO map map Not possible The feedback pulse error is reset every time the motor rotates for the amount set by the Hybrid Following Error Counter Reset 3329 hex This can be used for applications where feedback pulse error accumulates due to slippage Refer to 6 5 Fully closed Control on page 6 12 Feedback pulse error value command units absolute value Occurrence of excessive feedback pulse deviation error Excessive p feedback pulse f 77777777777 7777 777 75 gene error setting a speed rotations Ensure that an appropriate value is set to the Hybrid Following Error Counter Reset 3329 hex before you use the feedback pulse error counter reset When the set value is extremely small the protective function may not work to prevent any erroneous operation due to improper connection of the external encoder s 2 lqO 19 8WeJeg 0A1 Q UO Sj1e q H Precautions for Correct Use Provide sufficient safety measures This includes mounting limit sensors OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 30 Details on Servo Parameter Objects 9 5 Interface Monitor Settings 9 5 Interface Monitor Settings 3400 hex Input Signal Selection 1 CAL Setting 0 to OOFF FFFF hex Unit Default 0094 9494
553. splay Selection eng 0 to 32767 Unit erau oara A range setting attribute Size 2 bytes INT16 PDO map Not possible Select a data type to display on the 7 segment display on the front panel 9 53 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects Explanation of Set Value Set value Indicated item Description 0 Normal state Displays during Servo OFF and 00 during Servo ON Mechanical angle Electric angle Total number of EtherCAT communications errors Rotary switch setting node address Total number of Displays a value between 0 and FF hex The value 0 indicates the zero position of the encoder The value increments when the motor rotates in the counterclockwise CCW direction The value returns to 0 when it exceeds FF but the count continues When an incremental encoder is used it indicates nF i e not fixed is displayed until the zero position of the encoder is detected after the control power is turned ON Displays a value between 0 and FF hex The value 0 indicates the position when the U phase electro motive force shows the positive peak The value increments when the motor rotates in the counterclockwise CCW direction The value returns to 0 when it exceeds FF but the count continues Displays a value between 0 and FF hex The cumulative count is saturated when it reaches the maximum value FFFF hex
554. ssion will be lost if torque saturation occurs Damping filter Damping filter setting is too large setting is appropriate Torque saturation we Torque command When setting the damping frequencies reduce the setting if the torque become saturated and increase the setting to make operation faster Normally 0 is set The setting range is as follows Damping filter setting range Damping filter setting lt Damping frequency 100 lt Damping frequency Damping filter setting Set the Damping Filter Selection 3213 hex Damping filters 1 to 4 can be switched according to the conditions of the machine vibration Set value Switching mode Up to two filters Damping Filter 1 and Damping Filter 2 can be used 0 l simultaneously 1 2 For use by manufacturer Switching with command direction 3 Forward Damping filter 1 and 3 enabled Reverse Damping filter 2 and 4 enabled OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 6 Adaptive Filter 11 6 Adaptive Filter The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the motor speed during actual operation and automatically sets the frequency of the notch filter which removes the resonance component from the torque command The automatically set notch filter frequency is set in Notch 3 3207 to 3209 hex or Notch 4 3210 to 3212
555. stant 1 Seng 0 to 2500 Unit 0 01 ms eke 84 eae range setting attribute Size 2 bytes INT 16 Access RW PDO map Not possible 1 The default setting is 126 for a Drive with 200 V and 1 kW or greater or with 400 V Set the time constant for the first order lag filter inserted into the torque command This object may be effective in suppressing vibration due to torsion resonance 3105 hex Position Loop Gain 2 meting 0 to 30000 Unit 0 1 s oa 570 ae range setting attribute Size 2 bytes INT16 Access RW PDO map Not possible 1 The default setting is 380 for a Drive with 200 V and 1 kW or greater or with 400 V Set the responsiveness of the position control system for the second position loop 9 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 Gain Settings 3106 hex Speed Loop Gain 2 eeu 1 to 32767 Unit 0 1 Hz pool 270 eae range setting attribute Size 2 bytes INT 16 Access RW PDO map Not possible 1 The default setting is 180 for a Drive with 200 V and 1 kW or greater or with 400 V Set the responsiveness of the second speed loop 3107 hex Speed Loop Integral Time Constant 2 Sering 1 to 10000 Unit 0 1 ms ea 10000 oaa range setting attribute Size 2 bytes INT16 Access RW PDO map Not possible Set the second speed loop integral time constant 3108 hex Speed Feedback Filter Time Constant 2 Setting Default
556. state machine ESM An EtherCAT communication state machine EtherCAT slave information ESI An XML file that contains setting information for an EtherCAT slave A 81 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Index OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Index Numerics 1 000 r min Servomotors IMOGES TADS eir salen 2 10 rotation speed characteristics cccseeeeeeees 3 61 DEVO DIVES arro a asain ean A weds 2 13 2 000 r min Servomotors MOCO ADS wi ctiatituicca E a E 2 8 rotation speed characteristics ccccceeeeeeees 3 55 SENO DIVES anuro a A a ANE 2 12 3 000 r min Servomotors MOS TADS aaa a E A 2 6 rotation speed characteristics ccceeeeeeees 3 44 SEWO DIVES mie E N 2 11 Segment display cceceeseeeeeeseescencerseeesenaes 10 4 A absolute encoder DaGkKUD Datei scapin aciesseiese 2 20 battery cables i icccecttcseaieelet ones eeccsecs sede tte ted eats 2 20 battery replacement ccceceeseeeseeseneeeneens 12 35 SGD ee ohana Asien ee ne tebe tet T 10 6 SDE CITIGAU ONS sacs tevacct ann meee etaaadasness oc aeuies 3 62 PCCESS ONES dias tunes aaa paeae ane tee e a a Miaeen 12 adaptive TIMCN sca sew sncanecsh nd alwors ance teed teu aaa me bas 11 18 analog control objects External Feedback Pulse Direction Switching 9926 NEK ara OEE 9 29 Externa
557. structions provided on this label Sthen APA 33 Warning label display location ZE 2 coma Be 5538 ES 5 an R ENS _ 2 ols 4 ANS pe i R88D KNO2H ECT Instructions on Warning Label fake DF RRR AS CAC HRIEI CE B BRE EOREI ORFEEMTSCL FES TAB DFR ARE Ai AB SEER CPM ATRIA EBay Read the manual and follow the safety instructions before use DANGER Never fail to connect Protective Earth PE terminal Ir REQSI SEES BRAM k kEm T a Eta E RDI a 1 SHA AE aoe im SEB FQN OT RES SARE Hazardous Do not touch terminals within 15 minutes after Voltage disconnect the power Risk of electric shock er Be PITE ORNS FUMES bby Ich ze BBs BATRA All AN TE SRE gh Do not touch heatsink when power is ON Temperature Risk of burn Disposal e When disposing of the battery insulate it using tape and dispose of it by following the applicable ordinances of your local government e Dispose of the Servo Drive as industrial waste OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 Items to Check after Unpacking Items to Check after Unpacking After unpacking check the following items e Is this the model you ordered e Was there any damage sustained during shipment f Accessories Safety Precautions document x 1 copy e Connectors mounting screws mounting brackets and other accessories other than t
558. sult Do not store or install the Servo Drive in the following locations e Location subject to direct sunlight e Location where the ambient temperature exceeds the specified level e Location where the relative humidity exceeds the specified level e Location subject to condensation due to rapid temperature changes e Location subject to corrosive or flammable gases e Location subject to high levels of dust salt content or iron dust e Location subject to splashes of water oil chemicals etc e Location where the Servo Drive may receive vibration or impact directly Installing or storing the Servo Drive in any of these locations may result in fire electric shock or equipment damage The Servo Drive radiator Regeneration Resistor Servomotor etc may become hot while the power is supplied or remain hot for a while even after the power supply is cut off Never touch these components A burn injury may result gt OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 Safety Precautions Storage and Transportation Caution When transporting the Servo Drive do not hold it by the cables or Servomotor shaft Injury or failure may result Do not overload the Servo Drive or Servomotor Follow the instructions on the product label Injury or failure may result Use the Servomotor eye bolts only when transporting the Servomotor Do not use them to transport the machine
559. sures Allocate the functions to the connector pins correctly e Check the gains the balance between position loop gain and speed loop gain and the inertia ratio e Increase the set value of object 3514 hex Alternatively set object 3514 hex to 0 to disable the protection function e Reset all of the objects e If this error occurs repeatedly the Servo Drive may be faulty In this case replace the Servo Drive Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair The Servo Drive is faulty Replace the Servo Drive Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair 12 20 sdueUd UIeW pue HuljooussjqnolL 12 4 Troubleshooting Error No hex Cause Measures When the Drive Prohibition Input Check for any problems with the switches Prohibition Selection 3504 hex was set to 0 both the wires and power supplies that are Input Error 1 Forward Drive Prohibition Input POT and connected to the Forward Drive the Reverse Drive Prohibition Input NOT Prohibition input or the Reverse Drive turned ON When object 3504 hex was set Prohibition input In particular check to to 2 either the Forward Drive Prohibition see if the control signal power supply 12 input or the Reverse Drive Prohibition to 24 VDC turned ON too slowly input turned ON 38 Drive When object 3504 hex was set to 0 Prohibition EtherCAT communicati
560. t Attribute Size Access PDO map Object index given by a four digit hexadecimal number The object name Related operation modes Common All operation modes csp Cyclic synchronous position mode csp Semi Only operation modes related to semi closed control csp Full Only operation modes related to fully closed control csv Cyclic synchronous velocity mode cst Cyclic synchronous torque mode xipueddy The possible range of settings Physical units Default value set before shipment The timing when a change in the contents is updated for a writable object A Always updated B Changing prohibited during motor rotation or commands If a change is made during motor rotation or commands the update timing is unknown C Updated after the control power is reset or after a Config command is executed via EtherCAT communications R Updated after the control power is reset It is not updated for a Config command via EtherCAT communications Write prohibited The object size is given in bytes Indicates whether the object is read only or read and write RO Read only RW Read and write Indicates the PDO mapping attribute Possible RxPDO Reception PDOs can be mapped Possible TxPDO Transmission PDOs can be mapped Not possible PDOs cannot be mapped OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 18 A 1 CiA402 Drive Profile
561. t Note The electronic gear ratio can be set only to 1 1 A Function Setting Error Error No 93 4 does not occur even when a value other than 1 1 is set Fully closed Control Only 1701 hex can be set in the RxPDO when 6 fully closed control is set for the Control Mode Selection 3001 hex The following table shows the Modes of operation that can be used for each combination of communications cycle and RxPDO Communications RxPDO ee 1702 1703 1704 1705 hex 250 2 A 500 2 te OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 4 gt xipueddy 2 C D Q Q lt A 5 A 1 CiA402 Drive Profile Communications RxPDO cycle us 1701 hex 2000 4000 1702 1703 1704 1705 hex 2 csp hm A 1 The communications cycle is set in the controller Refer to the manual of the controller that is connected for the setting procedure 2 The Function Setting Error Error No 93 4 will occur if a setting labeled Not supported is set Note The electronic gear ratio can be set only to 1 1 A Function Setting Error Error No 93 4 does not occur even when a value other than 1 1 is set OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile Modes of Operation and Applied Functions The relationships between the modes of operation of OMNUC G5b series Servo Drives w
562. t 160 If the ratio is set too small control to the unit of 1 external feedback pulse may be disabled On the other hand if the external feedback pulse ratio is increased operating noise may increase Setting Example Ball screw pitch 10 mm External encoder resolution 0 1 um Encoder resolution 20 bits Servomotor Encoder resolution 20 bits rotation i rotation 10 mm j Ball screw PT Ik TE Ball screw pitch 10 mm h Encoder Output Pulses per Motor Rotation 3324 hex D h encoder 20 bits 1 048 576 resolution 0 1 um External Encoder Output Pulse per Motor Rotation 3325 hex 10 mm 0 1 um pulse 100 000 pulses Object 3324 hex Encoder resolution per motor rotation pulses _ 1048576 Object 3325 hex External encoder resolution per motor rotation pulses 100000 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 16 SUOI OUN 01 JU04D dISeg Basic Control Functions 6 5 Fully closed Control Hybrid Error Setting 3328 Hex 3329 Hex The difference between the encoder position and external encoder position is detected and if the difference exceeds the value of Hybrid Following Error Counter Overflow Level 3328 hex an error occurs Hybrid Following Set the allowable difference 1 to 227 Command Error Counter hybrid error between the units 3328 hex Overflow Level encoder detected position and external encoder detected position in command
563. t 0 8 Trigger input 60B9 hex Bit 0 8 60B9 hex Bit 1 9 60B9 hex Bit 6 14 60B9 hex Bit 7 15 1 L 1 i ry a 1 n 1 n i wu ut 60BC hex 7 39 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Function EA This function stops the Servomotor based on a signal from a safety controller or safety sensor An outline of the function is given together with operation and connection examples 8 1 Safe Torque OFF Function ccccccceseeeeeeeeeeeeeeeeees 8 1 8 2 Operation EXalnDle iiaa 8 4 8 3 Connection Examples c cccscceeeeeeeeneeeeseneseneneeees 8 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Function 8 1 Safe Torque OFF Function 8 1 Safe Torque OFF Function 8 1 The safe torque OFF function hereinafter referred to as STO according to IEC 61800 5 2 is used to cut off the motor current and stop the motor through the input signals from a safety device such as a Safety controller or safety sensor that is connected to the safety connector CN8 When the STO function is operating the Servo Drive turns OFF the servo ready completed output READY to go into the safety status The PFH value is 2 30 x 10 Precautions for Safe Use When using the STO function be sure to execute a risk assessment of the equipment to confirm th
564. t applied and dynamic braking is applied or the motor is left to run free as indicated by operation B For details on errors refer to Troubleshooting on page 12 7 3 When the error is cleared a process which makes the Position demand value follow the Position actual value comes into effect To operate in cyclic sync mode csp after the servo turns ON reset the command coordinates in the host controller and then execute the operation The motor may move suddenly i Precautions for Correct Use Position control is forced into operation during deceleration and after the motor has stopped during an error or when the servo is OFF The internal position command generation process is also forced to stop OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 48 xipueddy 2 C D Q Q lt A 1 CiA402 Drive Profile 6060 hex Modes of operation Range 0 to 10 Unit Default pO Attribute Size 1 byte INT8 Access RW PDO map Possible This object sets the operation mode The default value is 0 Not specified Set the operation mode from the master after the power supply is turned ON A Command warning Error No B1 hex occurs if the servo is turned ON Operation enabled 1 with the default setting of O Not specified Even when the default value 0 Not specified is set again after changing the mode of operation the mode of operation does not retur
565. tage is accepted until the Servo OFF state is reached 4001 hex Sub Error Code All Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes U16 Access RO PDO map Possible This object shows errors that have occurred in the Servo Drive 4100 hex Config Range 0000 0000 r cr FFFF junit Serii eoon op KIE Size 4 A bytes U3 U32 Access RW PDOmap PDO map map Not possible E object enables changing objects with data attribute C This function can be executed by writing 666e 6f63 hex using SDO mailbox communications The Servo will be forced OFF if Configuration is executed in the Servo ON state The Servo Drive moves to a Fault state error 27 7 after this process is completed In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 666e 6f63 hex Writing when there is a Control Power Supply Undervoltage Error error 11 0 4102 hex Absolute Encoder Setup All except All except full a 0000 0000 g g FFFF wf or on en Size 4 A bytes U32 U32 Access RW PDOmap PDO map map Not possible a object clears the multi rotation counter of the absolute encoder This function can be executed by writing 6a64 6165 hex using SDO mailbox communications The Servo Drive moves to a Fault State error 27 7 after this process is completed A 41 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with
566. tching Enable Mode 10 Gain Switching Disable Mode 0 Switching mode in Position Control Gain Switching Delay Time in 30 30 30 20 30 30 30 30 Position Control Gain Switching Level in Position 50 50 50 50 50 50 50 50 Control Gain Switching Hysteresis in 33 33 33 33 33 Position Control 33 Position Gain Switching Time Torque Command Value Offset Estimated if object 3002 hex 3 Forward Direction Torque Offset Estimated if object 3002 hex 4 Reverse Direction Torque Offset Estimated if object 3002 hex 4 Function Expansion Setting Disturbance Torque Compensation Gain Disturbance Observer Filter Setting 1 This is limited to a minimum value of 10 if a 17 bit absolute encoder is used OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 12 suoljoun u wzsnfpy 11 4 Manual Tuning 11 4 Manual Tuning A As described before the OMNUC Gb5 series have a realtime autotuning function Readjustment however is required if realtime autotuning cannot adjust the gain properly for same reasons there is a restriction by load conditions or a necessity to ensue optimum responsiveness and stability for each load This section describes how to perform manual tuning 11 Basic Settings Before Manual Setting More reliable adjustment can be performed quickly by using waveform monitoring with the data tracing function of the CX Drive or by measuring t
567. te 2 Numbers within boxes are hexadecimal index numbers Note 3 Homing mode hm is also included in this block diagram Note 4 The electronic gear function is not supported Use a setting of 1 1 6 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 2 Cyclic Synchronous Velocity Mode 6 2 Cyclic Synchronous Velocity Mode SSS In this mode of operation the controller has a path generation function an operation profile calculation function and it gives the target speed to the Servo Drive using cyclic synchronization Speed control and torque control are performed by the Servo Drive The Torque offset 60B2 hex can be used as the torque feed forward amount Cyclic Synchronous Velocity Mode Configuration The following diagram shows the configuration of the Cyclic synchronous velocity mode Torque offset 60B2h Velocity offset 60B1h Target velocity 60FFh T Speed u Torque control control Velocity actual value 606Ch s Torque actual value 6077h Torque demand Position actual value 6064h The following diagram shows the control function configuration of the Cyclic synchronous velocity mode Velocity offset 60B1h Target velocity 60FFh Position actual value 6064h Torque offset 60B2h Control Velocity actual value 606Ch function Max torque 6072h Torque actual value 6077h Torque demand OMNUC G5 series AC S
568. ted with O at the end of the model number The motor dimensions do not change R88M K90010 R88M K90010Ll BL OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 58 SUOISUBWIG gu13 x4 pue Sj powN Models and External Dimensions 2 4 External and Mounting Dimensions 2 kW 3 kW without Brake R88M K2K010H S2 K3K010H S2 R88M K2K010T S2 K3K010T S2 2 kW 3 kW with Brake R88M K2K010H B S2 K3K010H B S2 ITs R88M K2K010T B S2 K3K010T B S2 WES Motor and brake connector Encoder connector 176x176 Shaft end specifications with key and tap M3 through 10h9 IN T o Zi 8 l AS M12 depth 25 Y 7 Sac Dimensions mm oqe T KB2 R88M K2K0100 163 5 119 5 141 5 R88M K3K0100 209 5 165 5 1128 5 187 5 R88M K2K0100 BC 188 5 144 5 166 5 R88M K3K0100 BC 2345 190 5 11285 2125 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 59 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 4 5 kW without Brake R88M K4K510T S2 4 5 kW with Brake R88M K4K510T B S2 176 x 176
569. teristics tT Ty S ee dB T TSS ZTE TTT OoOo ST T O 7 Sh a eee ee ee ee ee B A N Es o h o TL o L O E S 10 100 1000 Frequency Hz 11 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 8 Disturbance Observer Function 11 8 Disturbance Observer Function You can lower the effect of the disturbance torque and reduce vibration by using the estimated disturbance torque value Disturbance torque Internal torque command Add to the direction that negates the disturbance Feedback Motor Speed l Setting with 3623 hex Disturbance torque Estimation value Operating Conditions You can use the disturbance observer in the following situations Conditions Operating mode Position control semi closed control speed control When Servo is ON When there is no trouble with the motor s normal rotation When realtime autotuning function is disabled Others n When instantaneous speed observer function is disabled H Precautions for Correct Use If there is a resonance point below the cut off frequency estimated by the disturbance observer or if a large amount of high frequency elements is found in the disturbance torque the disturbance observer may not be effective OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 24 suoljoun u wzsnfpy Adjustment Func
570. tes a large position error momentarily If an error occurs set the Following error window 6065 hex and the Overrun Limit Setting 3514 hex to appropriate values A load on the vertical axis and so forth may fall due to its own weight in the drive prohibition input state To prevent the load from falling set deceleration with the immediate stop torque and stopping with a servo lock set value 2 in the Stop Selection for Drive Prohibition Input 3505 hex or limit the operation using the Host Controller rather than using this function A Command Warning Warning No B1 hex will occur if a command is given in the drive prohibition direction while the Servomotor is stopped i e decreases the speed to 30 r min or lower and the Drive Prohibition Input is open EN Reference While the Forward Drive Prohibition Input POT is open the Servomotor cannot be driven in the forward direction but it can be driven in the reverse direction Conversely while the Reverse Drive Prohibition Input NOT is open the Servomotor cannot be driven in the reverse direction but it can be driven in the forward direction i Immediate Stop Torque 3511 Hex This is the torque limit when the Stop Selection for Drive Prohibition Input 3505 hex is set to 2 and the Servomotor decelerates due to a drive prohibition input The settable range is 0 to 500 in units of 0 1 When it is set to 0 the normal torque limit is used OMNUC G5 series AC Servomo
571. th an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 47 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 4 kW 5 kW without Brake R88M K4KO30F S2 K5KO30F S2 R88M K4K030C S2 K5K030C S2 4 kW 5 kW with Brake R88M K4K030F B S2 K5KO30F B S2 R88M K4K030C B S2 K5K030C B S2 Motor and brake LL 65 connector i Shaft end specifications with key and tap Encoder connector 130x130 gt MB through 8h9 S 4 i j M8 depth 20 Dimensions mm Model R88M K4K0300 BO 233 211 R88M K5K0300 BO 246 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 48 SUOISUBWIG u1 3 x4 pue Sj powN 2 4 External and Mounting Dimensions i 1 500 r min and 2 000 r min Servomotors 200 V 1 kW 1 5 kW 2 kW 3 kW without Brake R88M K1K020H S2 K1K520H S2 K2K020H S2 K3K020H S2 tT R88M K1K020T S2 K1K520T S2 K2K020T S2 K3K020T S2 1 kW 1 5 kW 2 kW 3 kW with Brake R88M K1K020H B
572. therCAT communications The DC mode is used for OMNUC G5 series Servo Drives to perform highly accurate control in a multi axis system In DC mode the master and slaves are synchronized by sharing the same clock Interruptions Sync0 are generated in the slaves at precise intervals based on this clock Servo Drive control is carried out at this precise timing Communications Cycle DC Cycle The communications cycle is determined by setting the SyncO signal output cycle Setting range 250 us 500 us 1 ms 2 ms 4 ms H Precautions for Correct Use Set 6091 hex Gear ratio to 1 1 for 250 us or 500 us If it is not set to 1 1 a Function Setting Error Error 93 4 will occur OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 10 SUOI EDIUNWIWOD LW919U 4 EtherCAT Communications 5 7 Emergency Messages 3 Emergency Messages When an error or warning occurs ina OMNUC Go5 series Servo Drive an emergency message is sent to the master using mailbox communications An emergency message is not sent for a communications error You can select whether to send emergency messages setting Diagnosis history 10F3 hex The default setting is to not send emergency messages 10F3 hex Sub 05 hex Flags 0 Set the sub index 05 hex Flags in object 10F3 hex to 1 every time the power is turned ON to send emergency messages Emergency messages consist of 8 bytes of data M
573. time Autotuning Machine Rigidity Setting Setting 0 to 31 Unit Default 13 1 Data B range setting attribute Size 2 bytes INT16 Access PDO map Not possible 1 The default setting is 11 for a Drive with 200 V and 1 kW or greater or for a Drive with 400 V Set the machine rigidity to one of 32 levels when realtime autotuning is enabled The higher the machine rigidity set value is the higher the responsiveness is however the more vibration occurs Low Machine rigidity High Low lt lt Servogain High Low Responsiveness High Refer to 11 3 Realtime Autotuning on page 11 6 H Precautions for Correct Use If the set value is changed suddenly by a large amount the gain may change rapidly subjecting the machine to shock Always start with a small setting and gradually increase the setting while monitoring machine operation 3004 hex Inertia Ratio B Seung 0 to 10000 Unit S 250 va range setting attribute Size 2 bytes INT16 PDO map Not possible Set the load inertia as a percentage of the motor rotor inertia 3004 hex Load inertia Rotor inertia x 100 When realtime autotuning is enabled the inertia ratio is continuously estimated and saved in EEPROM every 30 minutes If the inertia ratio is set correctly the setting unit for the Speed Loop Gain 1 3101 hex and Speed Loop Gain 2 3106 hex is Hz lf the Inertia Ratio 3004 hex is set larger than the actual value th
574. tion Torque Compensation FUNCTION ccccceeceeeeseeeeeeeeeeeeeees 11 26 Operating CondillONS sorra Bie itu Pear E E A E A 11 26 Objects Requiring Settings cc ceccecceeccescceeeceeceeeseeeseeseeeeeceeetaeeseeteeeteeeeeteeeaneees 11 26 Operation EXAM pl Eneasi ssc ainsi pas ea a a a Ma teaon 11 27 11 10 Hybrid Vibration Suppression FUNCTION cccceeeeeeeeeeeeeeeeeeeeeeees 11 28 operating COMGITON Sass oo scaerenoeicascs acten aac a N 11 28 Objects Requiring Settings cc eccecccecceecceeeceete cece eeseeceeseeceeetaeeseeseeteeeeeteeeeeeess 11 28 operating LOC COC seccitctaw cs Do satestssie stosatsi testis Saisie E A 11 28 11 11 Feed forward FUN ction ccccseccececeeesseeeeeceeeeeeteeeeeeeeeeeeeeeneteeees 11 29 Objects Requiring Settings sicaictcs tniacd dda Sectiihds dete laletd datetianlaiete ues od ndansnisiel dekGgeen Uodensernes 11 29 Operating Procedure oie ta ho heise et ots as eo a hee a Saccotatieeue 11 30 11 12 Instantaneous Speed Observer FUNCTION cccccceceeeeeeeeeeeeeenees 11 32 Operating Conditions eiiie a awd niacastuminedacia A AES 11 32 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Table Of Contents Objects Requiring Settings ccsccceccseccecseeccscccersecccseccsetarecsetsetterececteeetarecessaess 11 32 Operating PrOCCOUIC iG is ia hee toe a E Gait N Te 11 33 Chapter 12 Troubleshoot
575. tion properly under the conditions described in the following table In such cases use manual tuning Conditions under which realtime autotuning does not operate properly e If the load inertia is too small or too large compared with the rotor inertia less than 3 times more than 20 times or more than the applicable load inertia Load inertia ratio e If the load inertia changes quickly Koad e If the machine rigidity is extremely low e If there is a non linear element play such as a backlash e If the speed continues at below 100 r min e If the acceleration deceleration is below 2 000 r min in 1 s Operation e If the acceleration deceleration torque is too small compared with the unbalanced pattern load and the viscous friction torque If either a speed of 100 r min or higher or an acceleration deceleration of 2 000 r min s does not last for at least 50 ms With realtime autotuning each object is fixed to the value in the machine rigidity table at the time the machine rigidity is set By estimating the load inertia from the operation pattern the operation coefficient for the speed loop gain and the integral time constant are altered Doing this for each pattern can cause vibration so the estimation value is set conservatively The torque feed forward function cannot be used when realtime autotuning is being used Set both the Torque Feed forward Gain 3112 hex and Torque Feed forward Command Filter 3113 hex to 0
576. tion speed x 3313 hex x 1 ms Rotation speed r min Maximum motor rotation speed Step input of a rotation i a Rotation speed speed aero command after command acceleration or deceleration processing i gt 3312 hex x 1ms 3313 hex x 1ms i Precautions for Correct Use Do not set the Soft Start Acceleration Time and the Soft Start Deceleration Time when the position loop structure with a Host Controller is used 7 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 8 Soft Start S curve Acceleration or Deceleration Time The function sets the S curve time for the acceleration and deceleration time set by the Soft Start Acceleration Time 3312 hex and the Soft Start Deceleration Time 3313 hex The S curve time is a duration around an inflection point during acceleration and deceleration Rotation speed r min Target speed Vc ta Vc Maximum motor rotation speed x 3312 hex x 1 ms td Vc Maximum motor rotation speed x 3313 hex x 1 ms ts 3314 hex x 1 ms Note Be sure that ts is smaller than the values 7 Ze obtained by the divisions of ta tds ta td gt and gt OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 24 suoipuny paddy x Applied Functions 7 9 Gain Switching Function 7 9 Gain Switching Function This function switche
577. tions There is a duplicate setting in the input signal IN5 IN6 IN7 and IN8 function allocations There is an undefined number specification in the input signal IN1 IN2 IN3 and IN4 function allocations Alternatively a logic setting error was detected There is an undefined number specification in the input signal IN5 IN6 IN7 and IN8 function allocations Alternatively a logic setting error was detected There is an undefined number specification in the output signal OUTM1 function allocation There is an undefined number specification in the output signal OUTM2 function allocation There is an error in the latch input function allocation e The function was allocated to input signals other than IN5 IN6 or IN7 e The function was allocated to NC e The function was not allocated for all control modes The Servomotor exceeded the allowable operating range set in the Overrun Limit Setting 3514 hex with respect to the position command input range e The gain is not appropriate e The set value of object 3514 hex is too small Data in the Object Save Area was corrupted when the power supply was turned ON and data was read from the EEPROM EEPROM write verification data was corrupted when the power supply was turned ON and data was read from the EEPROM OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 4 Troubleshooting Mea
578. tions 11 8 Disturbance Observer Function Objects Requiring Settings Index 3610 hex Function Expansion Settings Set the bits related to the disturbance observer page 9 48 3623 hex Disturbance Torque Set the compensation gain for disturbance page 9 50 Compensation Gain torque 3624 hex Disturbance Observer Filter Set the filter time constant for disturbance torque page 9 50 Setting compensation Operating Procedure 11 25 1 Set the Function Expansion Setting 3610 hex Set whether to enable or disable the disturbance observer in bit 1 0 Disabled 1 Enabled Set the operating conditions for enabling the function in bit 2 0 Enabled at all time 1 Enabled only when gain 1 is selected Set the Disturbance Observer Filter Setting 3624 hex Set a small value for the Disturbance Torque Compensation Gain 3623 hex Change the value in the Disturbance Observer Filter Setting 3624 hex from a large value gradually to a smaller one The smaller the value set of the Disturbance Observer Filter Setting 3624 hex is the lesser disturbance torque lag can be estimated and the more effective control over the disturbance influence can be obtained But the smaller the value is the larger the operation noise can be You must consider the balance of these advantage and disadvantage to set a value Set the Disturbance Torque Compensation Gain 3623 hex After you set the Disturbance Observer Filter Setting 8624 hex increa
579. tive Time 3605 hex 0 0eee 9 47 Gain 3 Ratio Setting 3606 hex eee 9 47 Hybrid Vibration Suppression Filter 8635 hex 9 52 Hybrid Vibration Suppression Gain 3634 hex 9 52 Origin Range 3803 hNeX cceceeeeeee eee eeeeeeees 9 58 Origin Return Mode Settings 3822 hex 9 59 Overspeed Detection Level Setting at Immediate SIOD 90 15 NEX Jnae OE EO 9 49 Position Command FIR Filter Time Constant 3810 eX anaa A R 9 58 Power ON Address Display Duration Setting 3 CONNEX ioeina a a O E ee N A 9 54 Power Supply ON Initialization Time 3618 hex 9 49 Realtime Autotuning Estimated Speed Selection S63 T DEX eirik kae e a aaan 9 50 Reverse Direction Torque Offset 3609 hex 9 47 Torque Command Value Offset 3607 hex 9 47 Torque Limit Flag Output Setting 3703 hex 9 54 Vibration Detection Threshold 3637 hex 9 52 Warning Hold Selection 3759 hex cceeeee 9 56 Warning Mask Setting 3638 hex cceeeaee 9 52 Speed Conformity Output VCMP ceeeeee eee 3 26 Sle lUS IMIGIGAIONS iniaa ed mshtateseun tects ceamacece 5 2 SUNGG AD SONDCN sredasa chavs ci A A 4 40 surge SUD DICSSOl aa c ch densi eteeend oe isens ache oetads 4 44 SVE MANAGE eama a neta EA 5 6 Sync manager communication objects 06 A 34 SM2 synchronization 1032 hex cceeeeee es A 36 SM3 synchronization 1C33 hex cceeeeee es
580. to the encoder cable because the cable is longer than the specified length Check the encoder cable for damage Noise is entering into the signal lines because the encoder cable is stuck or the sheath is damaged Check to see if the encoder cable is bound together with or too close to high current lines Excessive noise on encoder cable The FG s potential is fluctuating due to devices near the Servomotor such as welding machines Check for ground problems loss of ground or incomplete ground at equipment such as welding machines near the Servomotor Errors are being caused by excessive vibration or shock on the encoder There are problems with mechanical vibration or Servomotor installation Such as the precision of the mounting surface attachment or axial offset Review the setting of object 3100 hex Review the set values of objects 3101 hex and 3102 hex The Position Loop Gain 1 3100 hex is too large The Speed Loop Gain 1 3101 hex and the Speed Loop Integral Time Constant 1 3102 hex are balanced incorrectly The machine rigidity set by Review the setting of the machine rigidity realtime autotuning is incorrect Review the set value of the Inertial Ratio 3004 hex The set inertia ratio differs from the load Measures Use the CX Drive or the analog monitor to measure the response and adjust the gain Use a control I O signal cable that meets specificati
581. to the torque of 1 5 N m M5 or 2 5 N m M6 If the torque for terminal block screws exceeds 2 0 N m M5 or 3 0 N m M6 the terminal block may be damaged Tighten the fixing screw of the terminal block cover to the torque of 0 4 N m M5 Tighten the ground screw to a torque of 2 4 to 2 6 N m M6 Never connect an External Regeneration Resistor between the B1 and NC terminals 3 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications i R88D KNO6F ECT KN10F ECT KN15F ECT KN20F ECT Main Circuit Connector Specifications CNA L1 Main circuit power supply R88D KNLIF ECT E 600 W to 1 5 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz L3 Motor Connector Specifications CNB Motor connection Phase U These are the output terminals to the Servomotor terminals Phase V Be sure to wire them correctly Phase W Control Circuit Connector Specifications CNC 24V Control circuit power 24 VDC 15 OV supply input suoljeoijineds External Regeneration Resistor Connector Specifications CND B1 External Regeneration Normally B2 and B3 are shorted Do not short B1 and B2 Doing Resistor connection so may result in malfunctioning B3 terminals If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration B2 Resistor between B1 and B2 NC
582. toff sequence using the output from the thermal switch R88D KNO4L ECT KNO8H ECT KN10H ECT KN15H ECT KN20H ECT KN30H ECT KN50H ECT KNO6F ECT KN10F ECT KN15F ECT KN20F ECT KN30F ECT KN50F ECT 4 53 Normally B2 and B3 are shorted If an External Regeneration Resistor is necessary remove the short circuit bar between B2 and B3 and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below Servo Drive eee Thermal switch output External Regeneration Resistor Remove the short circuit bar between B2 and B3 i Precautions for Correct Use Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 4 Regenerative Energy Absorption R88D KT 75H KT150H KT75F K1T150F If an External Regeneration Resistor is necessary connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below Servo Drive a ae Thermal switch output yee ee Ss ee eee al External Regeneration Resistor i Precautions for Correct Use Connect
583. tors and Servo Drives User s Manual with Built in EtherCAT Communications 7 8 suoljoun4 paddy x Applied Functions 7 3 Overrun Protection 7 3 Overrun Protection This function detects an Overrun Limit Error Error No 34 0 and stops the Servomotor if the motor exceeds the allowable operating range set for the Overrun Limit Setting 3514 hex with respect to the position command input The function can also prevent the Servomotor from clash into the machine edge due to vibration Operating Conditions The overrun limit works under the following conditions Conditions Operating Mode Position Control Mode Fully closed Control Mode Servo ON state Others The factors other than control objects must be set correctly This includes the torque limit The motor must operate normally without any failures i Conditions for Clearing the Position Command Input Range The position command input range will be cleared to zero under any of the following conditions When the power supply is turned ON While the position error is cleared This includes when the servo is OFF and when the error counter is cleared due to a deceleration stop for the drive prohibit input When a trial operation via USB communications starts and when it ends When the position data is initialized This includes at a component setup request at an origin return when setting the coordinate system at an adjustment command and when clearin
584. tput 4 47 Use noise filters without built in capacitors on the motor output lines Select a noise filter with a rated current at least twice the Servo Drive s continuous output current The following table shows the noise filters that are recommended for motor output lines current OMRON For inverter output Note 1 Motor output lines cannot use the same noise filters for power supplies Note 2 General noise filters are made for power supply frequencies of 50 60 Hz If these noise filters are connected to output of the Servo Drive a very large about 100 times larger leakage current may flow through the noise filter s capacitor This may damage the Servo Drive External Dimensions 3G3AX NF001 NF002 Dimensions mm Cc J P PA eee ei aya fe OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Model 3G3AX NF003 NF004 NF005 NFO006 Model 3G3AX NF003 3G3AX NF004 3G3AX NFO05 3G3AX NFO06 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications eag limaili ne 0 0 0 0 0 OJ0 0 0 0 0 0 0 0 0 0 0 0 0 OLE 0 0 0 0 Daili OOOO 0 0 0 0 OOOO 0 0 0 0 0 0 0 0 AOS oo000 210 0 0 0 0 0 OO foco oo fo 0 0 0 OOOO 0 0 0 0 0 0 0 0 0 0 0 0 eR O00 oO O O aS O 0 0 O OP O90 OP ozo a eo ie e 4 3 Wiring Co
585. trol 1 Set any value between 0 and 5 for semi closed control 3002 hex Realtime Autotuning Mode Selection Setting 0to6 Unit Default Data range setting attribute Size 2 bytes INT16 Access RW PDO map PDO map map Not possible Set the operating mode for realtime autotuning Refer to 11 3 Realtime Autotuning on page 11 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 s 09f qo 19 8WeJeg OAIBS UO Sj1e q Details on Servo Parameter Objects 9 1 Basic Settings Explanation of Set Values Sat Realtime autotuning Description value 0 Disabled Realtime autotuning is disabled Focus on stability No unbalanced load friction compensation or gain switching default setting Focus on position Used for a horizontal axis or other axes that have no unbalanced control load or for a ball screw drive with little friction 3 Used when an unbalanced load is present such as a vertical axis Friction Used when friction is large unbalanced load also calculated 4 compensation and Used for a belt driving shaft with large friction Variations in finalizing vertical axis the positioning are suppressed Load characteristic Used only for estimating load characteristics estimation Sz Customization This mode is used for customizing the realtime autotuning function by using the Realtime Autotuning Customization Mode Setting 3632 hex 3003 hex Real
586. trol input Pulse Position Error encoder units Position Error command units Fully closed Error external encoder units Electronic gear reverse conversion Position Command Electronic panned Position input gear filter control Position actual internal value Position actual value Electronic gear encoder units external encoder units command units reverse conversion Encoder feedback external encoder feedback 3 The encoder temperature is indicated only for a 20 bit incremental encoder The value is not stable for other types of encoders OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 2 11 1 Analog Monitor 4 The direction of monitor data either forward or reverse is the direction set in the Rotation Direction Switching 3000 hex However CCW is the forward direction for the absolute encoder 1 rotation data A normal value is output from the incremental encoder after the first phase Z i Analog Monitor Output Setting 3421 Hex Select the direction for analog monitor output voltage These are the output voltage range and the output direction when the Analog Monitor 1 Selection or Analog Monitor 2 Selection is set to the feedback motor speed and the Analog Monitor 1 Scale Setting or the Analog Monitor 2 Scale Setting is set to 0 i e 1V 500 r min Set value Output range Data output Output voltage V 10 V Feedback 0 10 t
587. trol torque control fully closed control PEELE Positive torque limit value Negative torque limit value PCL ON PCL OFF 2 NCL ON NCL OFF 2 0 1 3013 hex 3013 hex 3522 hex 3 3522 hex 3013 hex 3522 hex 3013 hex 60E0 or 3013 hex 60E1 or 3522 hex 4 5 60E0 or 3013 3043hex 60E1 0r 3522 3522 hex hex 3 hex 6 3525hex 60E0 or 3013 se56 hex 60E1 or 3522 hex 3 hex 4 7 3013 hex 3525 hex 3522 hex 3526 hex 1 When either the external input signal PCL or NCL or the EtherCAT communications torque control command P CL or N CL is ON 2 When both the external input signal PCL or NCL or the EtherCAT communications torque control command P CL or N CL are OFF 3 The smaller of 60E0 hex or 3013 hex is used n NO gt OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 44 s 2 lqO 10 8WeJeg 0A1 Q UO Sj1e q Details on Servo Parameter Objects 9 6 Extended Objects 4 The smaller of 60E1 hex or 3522 hex is used When this object is set to O or 1 the Forward and Reverse Torque Limit Inputs are restricted by the Positive torque limit value 60E0 hex l Precautions for Correct Use For the torque limit parameters the objects that are specified are different for an R88D KNLILJLJ ECT R Servo Drive Refer to the OMNUC G5 AC Servomotors Servo Drives User s Manual Cat No 1573 for details on R88D KNLILILI ECT R objects 3522 h
588. ttings SMO Mailbox receive Master to Slave SM1 Mailbox send Slave to Master SM2 Process data output Master to Slave SM3 Process data input Slave to Master 14010 hex Sync manager 0 PDO assignment All Sub index 0 Number of assigned PDOs Size 1 byte U8 Access RO PDO map Not possible The PDO mapping used by this sync manager is given Mailbox reception sync manager does not have PDOs OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 34 xipueddy 2 C D Q Q lt A 35 A 1 CiA402 Drive Profile 14011 hex Sync manager 1 PDO assignment All Sub index 0 Number of assigned PDOs Size 1 byte U8 Access RO PDO map Not possible The PDO mapping used by this sync manager is given Mailbox reception sync manager does not have PDOs 4C12 hex Sync manager 2 PDO assignment All Sub index 0 Number of assigned RxPDOs Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Assigned PDO 1 Size 2 bytes U16 PDO map Not possible The reception PDOs used by this sync manager are given 14013 hex Sync manager 3 PDO assignment All Sub index 0 Number of assigned TxPDOs Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Assigned PDO 1 Size 2 bytes U16 PDO map Not possible The transmission PDOs used by this sync manager are given OMNUC G5 series AC Servomotors and Servo Drives User s Manual wit
589. ttribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 8 8th object Range S Unit Default 60BA 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 9 9th object Range Unit fo Default 60FD 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 10 10th object Range Unit Default 606C 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This is the mapping for an application that uses different modes of operation Touch probe status is available Only one latch position is supported The Following error actual value 60F4 hex and Velocity actual value 606C hex are provided 2 C D Q Q lt A 33 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile Sync Manager Communication Objects Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory 4C00 hex Sync manager communication type All Sub index 0 Number of used sync manager channels Size 1 byte U8 Access RO PDOmap Not possible Sub index 1 Communication type SMO Size 1 byte U8 Access RO PDOmap Not possible Sub index 2 Communication type SM1 Size 1 byte U8 Access RO PDOmap Not possible Sub index 3 Communication type SM2 Sub index 4 Communication type SM3 The sync manager has the following se
590. ture packing the motor flange may crack under the tightening force When connecting to a V belt or timing belt consult the manufacturer for belt selection and tension A radial load twice as large as the belt tension will be placed on the motor shaft Do not allow a load that exceeds the allowable radial load to be placed on the motor shaft If an excessive radial load is applied the motor shaft and bearings may be damaged Set up a movable pulley in the middle of the motor shaft and the load shaft so that the belt tension can be adjusted Belt Tension Tension adjustment Set a movable structure Water and Drip Resistance The protective structure for the motors is as follows Equivalent to IP67 except for through shaft parts 4 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 1 Installation Conditions i Oil water Measures Use the Servomotor with an oil seal if you are using it in an environment where oil drops can adhere to the through shaft part The operating conditions of the Servomotor with an oil seal are as follows Keep the oil level below the lip of the oil seal Prepare a good lubricated condition under which only oil droplets splash on the oil seal If you are using the Servomotor with the shaft in upward direction make sure that no oil accumulates on the lip of the oil seal Radiator Plate Installation Condit
591. ual with Built in EtherCAT Communications 7 30 suoioun4 paddy x Applied Functions 7 9 Gain Switching Function 7 31 i Torque Control Mode In the Torque Control Mode it varies as follows according to Switching Mode in Torque Control 3124 hex Description 3124 Gain Gain EE hex Switching Switching P set Gain switching conditions Delay Time in Level in Bi ue Control value Torque Control Torque Control 2 3125 hex 1 oie nex 0 Always Gain 1 3100 to 3104 hex Disabled Disabled Disabled Always Gain 2 3105 to 3109 hex Disabled Disabled Disabled Gain switching command input via Eher ne conmunis Disabled Disabled Disabled Torque command change amount Enabled Enabled Enabled 4 Refer to Figure A 0 05 0 05 1 The Gain Switching Delay Time in Torque Control 3125 hex becomes effective when the gain is switched from 2 to 1 2 The Gain Switching Hysteresis in Torque Control 3127 hex is defined in the drawing below 9126 hex A ie a 0 I 3126 hex N oO Gain 1 oP Gain 2 Gain 1 ses 3125 hex 3 When the Gain switching command of EtherCAT communications G SEL is 0 the gain switches to Gain 1 When the command is 1 the gain switches to Gain 2 4 The variation means the change amount in a millisecond ms E g The set value is 200 when the condition is a 10 change in torque in 1 millisecond OMNUC G5 series AC Servomotors and Servo
592. ue 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 5 Fully closed Control Electronic Gear Function 6091 01 Hex 6091 02 Hex This function sets the position command for the position control part to the value that is calculated by multiplying the command from the Host Controller with the electronic gear ratio Motor revolutions Set the numerator of the 0 to 6091 01 hex electronic gear ratio for the 1 073 741 824 command pulse input Shaft revolutions Set the denominator of the 1 to 6091 02 hex electronic gear ratio for the 1 073 741 824 command pulse input For details on the electronic gear function refer to Electronic Gear Function on page 7 18 External Feedback Pulse Type Selection 3323 Hex 3326 Hex Set the external encoder output type and direction External Select the type of the external encoder to be 0 to 2 Feedback Pulse used Type Selection 0 Encoder with 90 phase difference output 3323 hex 1 Incremental encoder with serial communications 2 Absolute encoder with serial communications External If the count directions of the external encoder Feedback Pulse feedback pulse and the encoder total Direction feedback pulses do not match reverse the Switching external encoder feedback pulse direction in this setting 0 Not reversed 1 Reversed 3326 hex Supported External Encoders The corresponding external
593. ue Command Value Offset Estimated if object 3002 hex 3 Estimated if object 3002 hex 4 Estimated if object 3002 hex 4 Forward Direction Torque Offset Reverse Direction Torque Offset Function Expansion Setting Disturbance Observer Filter Setting G A 1 This is limited to a minimum value of 10 if a 17 bit absolute encoder is used OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Index 3004 hex 3100 hex 3101 hex 3102 hex 3103 hex 3104 hex 3105 hex 3106 hex 3107 hex 3108 hex 3109 hex 3110 hex 3111 hex 3112 hex 3113 hex 3114 hex 3115 hex 3116 hex 3117 hex 3118 hex 3119 hex 3607 hex 3608 hex 3609 hex 3610 hex 0 3610 hex 1 3623 hex 3624 hex 11 3 Realtime Autotuning AT Machine Rigidity Setting 3003 hex 24 25 26 27 28 29 30 31 Estimated load inertia ratio SpeedLoopGaint Loop Gain 1 5000 S Feedback Filter Time Constant 1 Torque Command Filter Time 4 7 7 5 Constant 1 SpeedLoopGain2 Loop Gain 2 2500 5000 Spat ap hale Coa Loop Integral Time Constant 4999 49990 10000110000 10000110000 10000 10000 _ Feedback Filter Time Constant 2 Torque Command Filter Time 7 7 5 Constant 2 1 Speed Feed forwardGain Feed forward Gain 300 300 Torque Feed forward Gain Feed forward Gain Torque Feed Eo e a Command Filter Gain Switching Input Operating Mode Selection Gain Swi
594. ue of 0 4 N m M5 Tighten the ground screw to a torque of 2 4 to 2 6 N m M6 Never connect an External Regeneration Resistor between the B1 and NC terminals 3 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications EtherCAT Communications Connector Specifications RJ45 The EtherCAT twisted pair cable is connected to a shielded connector Electrical characteristics Confirm to IEEE 802 3 Connector structure RJ45 8 pin modular connector conforms to ISO 8877 Abbreviation Direction Send data Output Send data Output D D FG T T Not used Comecorneed Prene goma FO Input ee e col eo ee ee ee G C ae eT Ee ae eo OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 16 o suoljeoijineds Specifications 3 1 Servo Drive Specifications Control I O Connector Specifications CN1 i Control I O Signal Connections and External Signal Processing 12 to 24 VDC 24 VINJ6 General purpose input 1 General purpose input 2 4 7 KQ General purpose input 3 General purpose input 4 General purpose input 5 General purpose input 6 General purpose input 7 General purpose input 8 IN8 L BAT a Backup battery BATGND 15 poe 100 31 ALM i Error output 4 ALMCOM eyes 100 1LOUTM1 We
595. ure described by mapping parameters containing one or several process data entities Receive PDO RxPDO A process data object received by an EtherCAT slave 2 C D Q Q lt Transmit PDO TxPDO A process data object sent from an EtherCAT slave Collection of control elements to coordinate access to concurrently used objects sync manager J op distributed clock Method to synchronize slaves and maintain a global time base device profile Collection of device dependent information and functionality providing consistency between similar devices of the same device type fieldbus memory management unit FMMU Single element of the fieldbus memory management unit one correspondence between a coherent logical address space and a coherent physical memory location A series of elements to access data link services from the application layer physical device internal interface CAN in Automation CiA CiA is the international users and manufacturers group that develops and supports higher layer protocols CAN application protocol over CoE A CAN application protocol service implemented on EtherCAT EtherCAT EEPROM EEPROM Electrically erasable PROM EtherCAT Technology Group ETG The ETG is a global organization in which OEM End Users and Technology Providers join forces to support and promote the further technology development EtherCAT slave controller ESC A controller for EtherCAT slave communication EtherCAT
596. urns with the ZCAT3035 1330 TDK Radio Noise Filter Okaya Electric OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives Radio Noise Filter and Emission Noise Prevention Clamp Core Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal clock circuit Model Application 3G3AX ZCL1 1 For Drive output and power cable 3G3AX ZCL2 2 For Drive output and power cable ESD R 47B For Drive output and power cable ZCAT3035 1330 4 For Encoder cable and I O cable 1 Generally used for 1 5 kW or higher 2 Generally used for 1 5 kW or lower The maximum number of windings is 3 turns 3 Generally used for 50 100 W The maximum number of windings is 2 turns 4 Also used on the Drive output power lines to comply with the EMC Directives Only a clamp is used This clamp can also be used to reduce noise current on a FG line External Dimensions 3G3AX ZCL1 3G3AX ZCL2 180 2 7x14 Long hole ESD R 47B ZCAT3035 1330 4 42 ubisag wajshs System Design 4 3 Wiring Conforming to EMC Directives Impedance Characteristics 3G3AX ZCL1 Impedance Q
597. ute encoder Items to Check Before Turning ON the Power Supply p Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below R88D KNA5L ECT KN01L ECT KN02L ECT KN04L ECT Single phase 100 VAC input Main circuit power supply Single phase 100 to 120 VAC 85 to 132 50 60 Hz Control circuit power supply Single phase 100 to 120 VAC 85 to 132 50 60 Hz R88D KNO1H ECT KNO2H ECT KNO4H ECT KNO8H ECT KN10H ECT KN15H ECT Single phase or single phase 3 phase 200 VAC input Main circuit power supply Single phase or single phase 3 phase 200 to 240 VAC 170 to 264 50 60 Hz Control circuit power supply Single phase 200 to 240 VAC 170 to 264 50 60 Hz R88D KN20H ECT KN30H ECT KN50H ECT KN75H ECT KN150H ECT 3 phase 200 VAC input Main circuit power supply 3 phase 200 to 230 VAC 170 to 253 50 60 Hz Control circuit power supply Single phase 200 to 230 VAC 170 to 253 50 60 Hz R88D KNO6F ECT KN10F ECT KN15F ECT KN20F ECT KN30F ECT KN50F ECT KN75F ECT KN150F ECT 3 phase 400 VAC input Main circuit power supply 3 phase 380 to 480 VAC 323 to 528 50 60 Hz Control circuit power supply 24 VDC 15 i Checking Terminal Block Wiring The main circuit power supply inputs L1 L3 or L1 L2 L3 must be properly connected to the terminal block The control circuit power supply inputs L1C L2C must be properly connected to the terminal block The motor
598. ution Completed O Zero Speed Detected Torque Limit Applied TLIMT 4 Speed Limit VLIMT Forward Software Limit oe Reverse Software Limit Speed Agreement vo Within limit range Speed agreement during speed control Outside positioning proximity range during positioning control Positioning Completed 2 INP2 Within positioning proximity range during positioning control a cannot be oe accepted a processing 9 Servo Ready can be 2 Le EG tp Le aa gt a EN NSOT ae KA speed control Q A 39 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile Support in each mode Symbol Code Description Position Speed Torque If an unsupported bit is read the value will be undefined Bit 0 Origin Position ZPOINT This bit is 1 when Position actual value 6064 hex is within the Origin Range 3803 hex after homing is completed In the absolute mode homing is completed when the control power is turned ON or when the Config operation is completed Distribution Completed DEN This bit shows Distribution Completed DEN for the position command DEN is 1 under the following conditions In csp mode 10 to 15 When the position command distribution amount before or after position command filtering is zero during the communications cycle In hm m
599. v so Switch on enable x 1 1 1 1 3 4 operation Disable x x x x 7 9 10 voltage Quick stop z 2 z Not supported 2 operation operation 1 The state automatically moves to Operation enabled state after Switched on state 2 Quick stop commands are not supported Even if a quick stop command is received it will be ignored OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 2 gt xipueddy A 1 CiA402 Drive Profile 3 Bit 7 Operation when Fault reset bit turns ON Fault state Errors are reset and the Servo Drive returns to its initialized state If there are any warnings Warning 6041 hex Statusword bit 7 they are reset State other than Fault state If there are any warnings Warning 6041 hex Statusword bit 7 they are reset The state will change according to command bits 0 to 3 4 When an error reset is executed with bit 7 set the bit back to 0 before giving the next command l State Coding State is indicated by the combination of bits in Statusword 6041 hex as shown in the following table Bit 6 a as ae me J ae 2 State 4 sod Fault 1 x 1 0 Le Ft eS Se 1 sod switch on disabled 2 qs quick stop 3 ve voltage enabled 4 f fault 5 oe operation enabled 6 so switched on 7 rtso ready to switch on 2 C D Q Q lt A 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in Eth
600. ve Model Table 2 5 The table below lists the Servo Drive models Specifications Single phase 100 VAC Single phase 3 phase 200 VAC 3 phase 200 VAC 3 phase 400 VAC OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 50 W 100 W 200 W 400 W 100 W 200 W 400 W 750 W 1 kW 1 5 kW 2 kW 3 kW 5 kW 7 5 kW 15 kW 600 W 1 kW 1 5 kW 2 kW 3 kW 5 kW 7 5 kW 15 kW Model R88D KNA5L ECT R88D KN01L ECT R88D KN02L ECT R88D KN04L ECT R88D KN01H ECT R88D KN02H ECT R88D KN04H ECT R88D KNO8H ECT R88D KN10H ECT R88D KN15H ECT R88D KN20H ECT R88D KN30H ECT R88D KN50H ECT R88D KN75H ECT R88D KN150H ECT R88D KNO6F ECT R88D KN10F ECT R88D KN15F ECT R88D KN20F ECT R88D KN30F ECT R88D KN50F ECT R88D KN75F ECT R88D KN150F ECT 2 3 Model Tables Servomotor Model Tables The following tables list the Servomotor models by the rated motor speed j 3 000 r min Servomotors Model Specifications With absolute encoder Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 50W R88M K05030H R88M K05030T R88M K05030T S2 100W R88M K10030L R88M K10030S R88M K10030S S2 ee 200W R88M K20030L R88M K20030S R88M K20030S S2 400W R88M K40030L R88M K40030S R88M K40030S S2 50W R88M K05030H R88M K05030T R88M K05030T S2 100 W R88M K10030H R88M K10030T R88M K10030T S2 200W R88M K20030H R88M K20030T R88M K20030T S2 400 W R8
601. vo Drive status Modes of Operation Display 6061 hex Servo OFF not operation enabled state 0 Not specified Servo ON operation enabled state The value that is shown depends on the setting of Modes of operation 6060 hex Not following Drive prohibition The value that is shown depends on the setting of Modes of commands in the operation 6060 hex The stop process is executed inside Controlword 6060 the Servo Drive using a deceleration stop command hex when the generated within the Servo Drive servo is ON Deceleration stop in progress due to main circuit power OFF Deceleration stop in progress due to Servo OFF Deceleration stop in progress due toan 0 Not specified error Fault reaction active state or Fault state during an error 1 When Drive Prohibition Input Selection 3504 hex 0 2 When Undervoltage Error Selection 3508 hex 0 Bit Displays According to Modes of Operation Display 6061 Hex some of the bits in the Statusword 6041 hex and Statusword 1 4000 hex are dependent on the control mode Their relationship with Modes of operation display is shown in the following table 6061 Modes of Operation Display Speed Torque Object Position control mode Control Mode Control Mode 6041 hex Target 0 reached Home Targetvelocity Target torg ue position a 4 4 attained ignored ignored ignored Following oming 0 error error a A E ee O S 1 When commands in the Controlword
602. ware has the control right to the Servo Drive Target reached This bit is 1 when homing is completed during the Homing mode For details refer to 6 4 Homing Mode This bit is not used in other modes of operation 10 Internal limit active This bit indicates that the limit function is in effect This bit becomes 1 when the limit function in the Servo Drive is activated The limit function has four limits the torque limit speed limit drive prohibition input and software limit 2 C D Q Q lt 11 Target value ignored or Homing These bits are specific to the operation mode attained This bit is 0 when the Servo Drive could not move according to the host command while the Servo is ON or in csp mode csv mode or cst mode This bit will not become 0 if there is an error When the Target value ignored bit is 0 the target value is ignored and operation will follow the Servo Drive s internal command Update the target position in the controller while monitoring items such as the Position actual value or other target values for operation when the Target Value Ignored bit changes to 1 and the target position is enabled It becomes 0 in the following cases Between when the drive prohibition input PLS NLS is input until when the Servomotor decelerates and stops when the Drive Prohibition Input Selection 3504 hex is set to 0 When a warning occurs for a mode of operation 12 When a data setting warning
603. when a specific value is written to sub index 1 This prevents parameter values from being accidentally overwritten The specific value means save MSB 65 hex 61 hex A value of 0000 0001 hex command valid is given when reading Nothing can be saved to the EEPROM while there is a Control Power Supply Undervoltage Error Error 11 0 Objects with attribute C are enabled for Config 4100 hex or when the control power supply is reset Objects with attribute R are enabled when the control power supply is reset In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 6576 6173 hex Writing when there is a Control Power Supply Undervoltage Error Error 11 0 Writing to the EEPROM may take up to 10 seconds This is when all objects are changed There is a limit to the number of times you can write to the EEPROM The following objects are saved Index Sub index Description 2200 hex Communications Error Setting ted to 3999 00 hex All OMNUC G5 series Servo Drive parameters 605B hex Shutdown option code 605C hex Disable operation option code 605E hex Fault reaction option code 6065 hex Following error window A 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile Index Sub index Description 607C hex Home offset 607D hex Min position limit 607D hex Max position lim
604. wing table POS SEL A 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 CiA402 Drive Profile POS SEL 3 Set the value of the Coordinate System Setting Position 4104 hex to the Position Demand Value 6062 hex and Position Demand Value After Filtering 4018 hex For the Position actual value 6064 hex set the value obtained by subtracting the Following error actual value 60F4 hex from the Position Demand Value After Filtering 4018 hex Other than 3 A homing error Homing error 1 will occur REFE 0 The Homing not attained state is reached when this Homing method ends normally 1 The Homing attained state is reached when this Homing method ends normally Note The REFE bits are enabled only when an incremental encoder is used An absolute encoder is always in a Homing attained state Set Value of the Coordinate System Setting Position 4104 hex and Position Actual Value type POS DATA Coordinate Canan N 4104 hex System rw INT32 i 8000000 0 d units Setting 0 hex Position OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 16 xipueddy gt A 1 CiA402 Drive Profile Object Dictionary i Object Dictionary Area CAN application protocol over EtherCAT CoE uses the object dictionary as its base All objects are assigned four digit hexadecimal numbers in the areas shown in the follow
605. wiring refer to Safety Connector Specifications CN8 on page 3 34 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 80 U O D O gt O A c O 5 7 Specifications 3 4 Cable and Connector Specifications Control Cable Specifications i Cables for Servo Drives XW2Z _ J B34 These cables connect to the connector terminal blocks on G5 series Servo Drives with Built in EtherCAT Communications Cable Models Model Length L maiar omaia of Weight XW2Z 100J B34 Approx 0 1 kg 8 8 dia XW2Z 200J B34 Approx 0 2 kg Connection Configuration and Dimensions Connector Terminal Block Conversion Unit side XW2B 20G4 XW2B 20G5 XW2D 20G6 Servo Drive side gt R88D KNO Wiring Terminal block connector Servo Drive connector CN1 a 2 AVN ov 2 3 av 3 HH o EC ov fa ty a tav 8 HF po ov 6 a Servo Drive Connector DEC 8 Connector plug POT 9 10126 3000PE Sumitomo 3M 10326 52A0 008 Sumitomo 3M EXT3 Terminal Block Connector BATGND Connector socket BAT XG4M 2030 OMRON BKIRCOM Strain relief XG4T 2004 OMRON 3 Cable e Shell AWG28 x 3P AWG28 x 7C UL2464 Before you use the Servo Drive confirm that the signals of Servo Drive connector are set as shown above 3 81 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Commu
606. x A Not Not ka 8th object 60BA0020 hex 4 bytes U32 Mor z possible Q 9th object 60FD0020 hex 4 bytes U32 Nol a possible Sync manager B communication type Number of used sync 04 hex 1 byte U8 Not manager channels possible 1 Communication type SMO 01 hex 1 byte U8 No 1C00 yP y possible hex Not 2 Communication type SM1 02 hex 1 byte U8 possible ew Not ee Not Sync manager 0 PDO gt 1C10 assignment hex l Not Number of assigned PDOs 00 hex 1 byte U8 possible Al Sync manager 1 PDO B 1C11 assignment hex Not Number of assigned PDOs 00 hex 1 byte U8 possible Sync manager 2 PDO B assignment 1C12 Number of assigned Not 0000 to Not Sync manager 3 PDO B assignment 1013 Number of assigned Not 0000 to Not A 69 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 2 Object List Corre Index Default setting Sening Data PDO spond range attribute map ing Pn number Number of synchronization Not MEN Not possible 1C32 Synchronization types Not possible Not Not Number of synchronization Not gt Not ag O Not Q 1C33 4 Synchronization types 0004 hex 2 bytes U16 Not hex supported possible possible Not Not possible 2100 hex RA Error History Clear 0000 0000 hex 0 to 15 Poe 4 bytes U32 possible Communications Error 00 to OF Not 2201 hex SYNE NORE ee U TIM eOMt 0 to 600 s 2 bytes U16 C Not n777 Setting possible PETE re 2 bytes
607. y setting the friction torque for each rotation direction in the Forward Direction Torque Offset 3608 hex and Reverse Direction Torque Offset 3609 hex you can reduce the deterioration of and inconsistencies in the positioning stabilization time due to dynamic friction for loads that require a large amount of dynamic friction torque due to a radial load such as the belt driven shaft i Precautions for Correct Use You can use the unbalanced load compensation and the dynamic friction compensation together or separately Take note that the following use limit is applied upon control mode switching or servo ON During Torque Control The unbalanced load compensation and the dynamic friction compensation are O regardless of the object setting When servo is OFF during speed control The unbalanced load compensation is enabled based on 3607 hex The dynamic friction compensation will be 0 regardless of the object setting When the Servo Is Turned ON during Position Control or Fully closed Control The unbalanced load compensation and the dynamic friction compensation values are held until the first position command is input When the position command is input the unbalanced load compensation is updated based on 3607 hex Also based on the command direction the dynamic friction compensation value is updated according to objects 3608 and 3609 hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communicat
608. yclic synchronous position mode csp the value of this object is added to the Speed Feed forward Gain 3110 hex for use as the speed feed forward input value in controlling the speed 60B2 hex Torque offset Range 5000 to 5000 Default pO Attribute Size 2 bytes INT16 IE DPR A PDO map Possible In Cyclic synchronous position mode csp or Cyclic synchronous velocity mode csv the value of this object is added to the Torque Feed forward Gain 3112 hex for use as the torque feed forward input value in controlling the torque In Cyclic synchronous torque mode cst the value of this object is used as the offset value of the Target torque 6071 hex to control the torque Appendix 60B8 hex Touch probe function Latch function All Size 2 bytes U16 PDO map Possible This object sets and controls the latch function There are two channels Latch 1 bits 1 to 7 and Latch 2 bits 8 to 15 Bits 0 and 8 execute latching when changed from 0 to 1 To change the settings set bit O or 8 to O and then to 1 again Latching is disabled in the following cases When communications is in the Init state When the Statusword 6041 hex bit 9 remote is O local For details on the latch function refer to Touch Probe Function Latch Function on page 7 37 Bit Descriptions Description Latch 1 is disabled Latch 1 is enabled Trigger first event Latch on the first trigger Continuous Latch continuously
609. ystems varistor voltage 200 V and when reset time is critical 100 VAC systems varistor voltage 270 V The surge voltage at power shutoff is 200 VAC systems varistor voltage 470 V approx 1 5 times the varistor voltage 4 Capacitor The capacitor plus resistor combination is Okaya Electric Industries Co Ltd resistor used to absorb vibration in the surge at XEB12002 0 2 uF 120 Q power supply shutoff XEB12003 0 3 uF 120 Q The reset time can be shortened by selecting the appropriate capacitance and resistance Thyristors and varistors are made by the following manufacturers Refer to manufacturer s documentation for details on these components Thyristors Ishizuka Electronics Co Varistor Ishizuka Electronics Co Panasonic Corporation Contactors Select contactors based on the circuit s inrush current and the maximum momentary phase current The drive inrush current is covered in the preceding explanation of no fuse breaker selection And the maximum momentary phase current is approx twice the rated current ubisag wia jsAs OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 44 System Design 4 3 Wiring Conforming to EMC Directives i Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder s noise resistance Always use the specified encoder cables If cables are joined midway be
610. ytes INT16 PDO map Not possible 1 It is limited by the maximum torque of the connected motor 9 45 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 6 Extended Objects Set the reverse external torque limit for the torque limit switching input This object is set in units of 0 1 of the rated torque OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 46 s 09f qo 10 8WeIeg OAJBS UO Sjie 9Qq Details on Servo Parameter Objects 9 7 Special Objects 9 7 Special Objects 3602 hex Excessive Speed Error Setting Sering 0 to 20000 Unit r min Poa ae range setting attribute Size 2 bytes INT16 PDO map Not possible Set the value for an Excessive Speed Deviation Error Error No 24 1 If the set value is 0 excessive speed errors will not be detected 3605 hex Gain 3 Effective Time Setting 0 to 10000 Unit Jims Default Data range setting attribute Size 2 bytes INT16 Access RW PDO map Not possible Set effective time of gain 3 of 3 step gain switching Refer to 7 10 Gain Switching 3 Function on page 7 35 3606 hex Gain 3 Ratio Setting e 50 to 1000 Unit pea 100 ie range setting attribute Size 2 bytes INT16 PDO map Not possible Set gain 3 as a multiple of gain 1 Refer to 7 10 Gain Switching 3 Function on page 7 35 3607 hex Torque Command Value Offset Setting 400 to 100 Unit

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