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USER`S MANUAL

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1. R IT Single phase 200 230 VAC 50 60 Hz R88D UEPOOH SZ Q Single phase 100 115 VAC 50 60 Hz R88D UEP L ON 0 77 70 MCCB 1 2 Noise filter EE Main circuit 4 power supply ON Main circuit connector E OFF MUN Z T Class 3 ground f ee o id ME to 100 Q or less pud 1M X Surge killer X JES PL Servo error display 1MC oj EE R88D CAU S O C OMNUC U series UE model CAU B OMNUC U series UE model AC Servo Driver XB Power Cable AC Servomotor Pis OO ag d R T24VDC See note 19 O e l NE Or U O VO Le ba EN f CN1 l M 34 AIM w id 12t024VDC AA rd LLL 5 85 ALMCOM LO Xx Class 3 ground o se to 100 Q or less O CN1 CN2 R88A CRU 5 Encoder Cable 3 E 4 ese D p 2 5 CN1 DON BKIR 7 O XB R88A CPU S 12 to 24 VDC General purpose OGND 10 Control Cable Note Use an independent power supply when using an electromagnetic brake 2 27 System Design and Installation Chapter 2 Connecting a Regeneration Unit Single phase 200 230 VAC 50 60 Hz 88D UEP H Single phase 100 115 VAC 50 60 Hz 88D UEP L OMNUC U series R T AC Servo Driver O O UE model 1MC GENS 010 5 Za rt 934 ALM 935 ALMCOM Mimo 12 to 24 V
2. Metal plate oe Noise Brake pow O O i ilter ersuply 1 253 PX Metal Metal AC power duct or Suge NN i duct or EE B J supply conduit MCCB absorber Contacto L conduit yy La 6 OO U gt I A d A N 4 Suc e Noise o O L2 V y f M D filter MEE A j Ee 2m a eo d LN d Le ji cha EE PIE 13 I Im 0 5 m A i max Ground 100 max f Controller poapoa Ferrite Ferrite 4 POWER CN2 coe A HI Cl core A A supply Je i f TE f E N d A UJ G LU 9 Clamp pe Clamp 0 CN2 7 ki Controller ED Clamp SL 1 m max i Grounding plate AN Controller Note 1 The cable winding for the ferrite core must be 1 5 turns Note 2 Remove the sheath from the cable and ground it directly to the metal plate at the clamps Ground the motor s frame to the machine ground when the motor is on a movable shaft Usethe grounding plate for the protective earth for each Unit as shown in the illustration and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so thatthe ground lines are as short as possible If no fuse breakers MCCB are installed at the top and the power supply line is wired from the lower duct use metal tubes f
3. MCCB Main circuit power supply MC f Ta ma f OFF ON LN Mo R88D UEP TEIL 5 e O MC Main circuit contact 100 115 VAC 50 60 Hz me 1 1 o 5 gt SUP R88D UEPOIOH 2 Ix 200 230 VAC 50 60 Hz z PO E N ef EE Her T 6 66 00 d Class 3 ground R88D UEP AC Servomotor Driver C200H NC211 CN 1 TB Contents No MUR i i R88M UEDOOODO Output power supply input 24 VDC 1 y f Connect external Regen AC Servomotor 24 VDC i i P eration Unit as required Output power supply 0 V 23 N ug RBBA GAUI S 5VDC U Power Cable HA i White Ni X axis pulse CW with resistance 2 1 CW W es man output CW without resistance 3 1 22 CW Ww Green CCW with resistance 13 4 13 ccw FC CCW without resistance 14 dal CCW 3 l 5 ECRST 7 X axis deviation counter reset output 4 6 ECRST CN2 V X axis positioning completed input 8 8 INP RE i E 12to 24 VDC j R88A CRU Gor pm X axis origin input 10 33 ZCOM Encoder Cable X axis origin common 11 32 z X Y axis input common 22 418 24VIN i E ae X axis external interrupt input 6 OO e O O O O 14 RUN X axis origin proximity input T 655 o C 8 RESET X axis CCW limit input 17 ee 10 OGND ee X axis CW limit input 18 eo
4. e Wiring Symbol No NES Bd U phase 1 TIO oa 5 AWG20 White W phase 3 AWG20 Blue GR 4 AWG20 Green Brak 5 AWG20 Black e Brake 6 AWG20 Black Cable AWG20 x 6C Crimp style terminal UL2517 5 35 Specifications Chapter 5 Cable Side Connector housing model 172160 1 Nippon Amp Connector socket contact model 170366 1 Nippon Amp Crimping tool 724651 1 Pulling tool 724668 2 Motor Side Connector plug model 172168 1 Nippon Amp Connector pin contact model 170359 1 Nippon Amp for 100 W use 170360 1 Nippon Amp for 200 to 750 W use Power Cable for Servomotors Without Brakes Models Conforming to EC Directives e Types of Cable Model Length L Outer diameter of sheath R88A CAUOO1 Note 1 Power cables will be cut to the specified length in 1 m increments Note 2 The maximum distance between the Servomotor and the Servo Driver is 20 m e Connection Configuration OMNUC U Series UE model AC Servomotor OMNUC U Series UE model AC Servomotor Driver e Wiring AC Servomotor AC Servo Driver Red AWG20 Red U phase U White AWG20 White V phase V Blue AWG20 Blue W phase W Green Yellow AWG20 Green gu GR D Cable AWG20 x 4C UL2517 5 36 Specifications Chapter 5 Power Cable for Servomotors With Brakes Models Conforming to EC Directives Mode
5. A Z Fan Fan 50 mm min D D D l z e e Side of Unit a a a o o o E e 3 o o o o o o A i Ww Ww 50 mm min 30 mm min W 10 mm min N 7 e Operating Environment Be sure that the environment in which Servo Drivers are operated meets the following conditions Ambient operating temperature 0 C to 50 C Ambient operating humidity 3596 to 8596 RH with no condensation Atmosphere No corrosive gases e Ambient Temperature Servo Drivers should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability Temperature rise in any Unit installed in a closed space such as a control box will cause the ambient temperature to rise inside the entire closed space Use a fan or a air conditioner to preventthe ambi ent temperature of the Servo Driver from exceeding 50 C Unit surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and keep separate any devices or wiring that are sensitive to heat The service life of a Servo Driver is largely determined by the temperature around the internal elec trolytic capacitors The service life of an electrolytic capacitor is affected by a drop in electrolytic vol ume and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements I
6. EL OX LI Ma TE MEME Ma Ms Exo eec ec are dire Mie albo Eo iam D CO C C5 c5 c5 c5 c5 c CO OO C Un R OO MO Y Alarm history display mode 0 d Error one time before page 4 11 ED 9 d Error ten time before Operation Chapter 3 3 4 Initial Settings Setup Parameters Setup parameters are parameters that are essential for starting up the system They in clude I O signal function changes selection of processing for momentary stops and er rors command pulse modes and so on Set them to match the user system Once the parameters have been set they become effective when the power supply is turned on again after having been turned off Check to see that the LED display has gone off 3 4 1 Setting and Checking Setup Parameters Cn 01 02 Displaying Setup Parameters There are two setup parameters No 1 Cn 01 and No 2 Cn 02 To display the contents of setup parameters execute the following key operations 1 To go into settings mode cn 00 press the MODE SET Key 2 To display the setup parameter number cn 01 orcn 02 press the Up and Down keys 3 To display the contents of the setup parameter press the DATA key To display the setting of setup parameter No 2 press the Up Key twice at step 2 before pressing the DATA Key The contents of the setup parameters are displayed
7. _ Electronic Gear Chapter 3 section 3 5 3 Magnetic and Dynamic brakes Chapter 3 section 3 5 4 a y a Trial Operation and Adjustment DIGITAL INNOVATION 3 Trial Operation Chapter 3 section 3 6 1 f Auto tuning Chapter 3 section 3 7 1 OMNUC U is a series of fully 4 P software eohtrolled AE emo 3 Manually Adjusting Gain Chapter 3 section 3 7 2 drivers built on advanced OM RON software servo technol Troubleshooting and Remedies ogy It provides high perfor J Using Displays Chapter 4 section 4 1 mance a sensitive man ma Protective and Diagnostic Functions Chapter 4 section 4 2 chine interface and economy 3 Troubleshooting Chapter 4 section 4 3 OMNUC U Series OMNUC U series UE Model AC Servo Driver E P Cable Specifications Chapter 5 5 3 Encoder B signals Power signals Driver Specifications Chapter 5 5 1 Motor Specifications Chapter 5 5 2 Terminal Block Wiring 4 Chapter 2 2 2 3 o EET OMNUC U series UE Model AC Servomotor 3 000 r m 100 to 750 W With incremental encoder Parameter Units Operation Method Chapter 3 3 3 3 4 3 5 Table of Contents Chapter 1 Introduction vii ns l 1 TEL c E A rre ee 1 2 1 2 System Configuration i e eoe th dee ah eked a Ret eeepc DER ees 1 4 1 3 Servo Driver Nomenclature aii iie se Sk Se ehm 1 5 1 4 EC Directive
8. Secure cables so that there is no impact or load placed on the cable connector areas e Connecting to Mechanical Systems The axial loads for Servomotors are specified in sec tion 5 2 3 If an axial load greater than that specified is applied to a Servomotor it will reduce the service life ofthe motor bearings and may damage the motor shaft When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity and Motor shaft center line Shaft core variation displacement Ball screw center line Recommended Coupling Oldham coupling Myghty Co Ltd For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree of accuracy for exam ple JIS class 2 normal line pitch error of 6 um max Backlash for a pitch circle diameter of 50 mm If the gear preci sion is not adequate allow backlash to ensure that no radial load is placed on the motor shaft Adjust backlash by adjusting the distance between shafts lt 2 16 System Design and Installation Chapter 2 Bevel gears will cause a load to be applied in the thrust direction depending on the structural preci sion the gear precision and temperature changes Provide appropriate backlash or take other mea sures to ensure that no thrust load is applied which exceeds specifications Do not put rubber packing on the fla
9. 1 23 x 1075 1 91 x 1075 BS1 R88M UE40030 1 91 x 1079 BS1 R88M UE75030 6 71 x 1075 kgfecmes 0 41 x 1074 1 26 x 10 4 1 95 x 10 4 1 95 x 10 4 6 85 x 10 4 Brake inertia kgem 0 09 x 1075 G D2 4 0 58 x 10 5 1 40 x 10 5 kgfecmes 0 09 x 1074 0 59 x 1074 1 43 x 1074 kgem 0 49 x 1075 G D2 4 Total inertia 1 81 x 10 5 2 49 x 1075 2 49 x 1075 8 11 x 1075 kgfecmes 1 85 x 10 4 2 54 x 1074 2 54 x 1074 8 28 x 10 4 Weight approx kg 1 6 2 2 2 2 4 3 Magnetized V voltage 24 VDC 10 No p olarity Power con C 6 sumption 6 5 Current con sumption E friction Ll 0 34 min 3 5 min Absorption time see note 1 0 27 1 5 min 15 0 min 100 max 200 max Release time 40 max see note 1 Backlash Insulation grade Note tric Industrial Co installed Note 2 The items in parentheses are r 5 24 eference values 50 max 1 The operation time measurement is the measured value with a surge killer CR50500 by Okaya Elec Specifications Chapter 5 5 2 3 Torque and Rotational Speed Characteristics Torque Characteristics With 3 m Standard Cable and 200 VAC Input R88M UE10030H S1 R88M UE20030H S1 R88M UE40030H S1 UE10030V S1 UE20030V S1 UE40030V S1 N m kgf cm N mXkgf cm Nm kgf cm Frequent u
10. 1 71 85 ALMCOM X Y axis emergency stop input 19 se f x1 34 ALM 24 VDC Shell FG FG 12 R88A CPU s General purpose Cable Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Use mode 2 for origin search Note 4 Use a dedicated power supply 24 VDC for command pulse signals Note 5 ERB44 02 diodes by Fuji Electric or equivalent are recommended for surge absorption Note 6 This wiring diagram is an example of X axis wiring only If two axis control is used the external input and Servo Driver wiring must be done in the same way for the Y axis Note 7 Use the RUN signal to set whether the Servo can be turned ON OFF Note 8 Class 3 grounds must be to 100 or less Note 9 The Servo Relay Unit and Cables for the R88D UP cannot be used 6 4 Supplementary Materials Chapter 6 m Connecting to SYSMAC C200H NC211 Position Control Unit with 24 VDC Power Supply MCCB Main circuit po
11. 6 1 Connection Examples vii kk eo CE iS gek a tate teca 6 2 6 2 OMNUC U Series Standard Models 0 0 0 0 cece cece eee 6 7 6 3 Parameter Setting Forms e eiet eee e 6 10 Il N Chapter 1 Introduction 1 1 1 2 1 3 1 4 Features System Configuration Servo Driver Nomenclature EC Directives and Applicable Models Introduction Chapter 1 1 1 Features OMNUC AC Servo Drivers control the power supplied to AC Servomotors with pulse train input signals and perform precision position control There are 5 types of AC Servomotors 100 W 200 W 300 W 400 W and 750 W m Motor Output Capacity AC Servomotors with the following output capacities are available For 200 230 VAC 170 to 253 V single phase 50 60 Hz Input 100 W 200 W 400 W and 750 W For 100 115 VAC 85 to 127 V single phase 50 60 Hz Input 100 W 200 W and 300 W Note 1 Each Servomotor is available with or without a brake Note 2 Each motor shaft has a straight axis with a key m EC Directives CE Markings AC Servomotor and Servo Drivers that conform to EC low voltage and EMC directives are now available These provide the same performance and functions as the rest of the U Series UE Mod els and will aid in obtaining specifications m Control Functions Controls the position and speed of the Servomotor very precisely with pulse train input signals Any one of the following 3 pulse trains can be select
12. Note 1 The above items reflect individual evaluation testing The results may differ under com pounded conditions Note 2 Absolutely do not conduct a withstand voltage test or a megger test on the Servo Driver If such tests are conducted internal elements may be damaged Note 3 Depending on the operating conditions some Servo Driver parts will require maintenance Refer to 4 4 Periodic Maintenance for details Note 4 The service life of the Servo Driver is 50 000 hours at an average ambient temperature of 50 C at the rated torque and the rated rotation speed 5 2 Specifications Chapter 5 5 1 2 Performance Specifications m 200 VAC Input Servo Drivers Non conforming Models NE ii EA EEN emm UEPO4H UEPO8H UEP12H UEP20H ISTA Single phase 200 230 VAC 170 to 253 V 50 60 Hz Control method All digital servo Speed feedback Optical encoder 1 024 pulses revolution Applicable load inertia Maximum of 30 times motor s ro Maximum of 20 times motor s ro tor inertia tor inertia Inverter method PWM method based on IGBT PWM frequency 11 kHz 7 8 kHz Applicable Servomotor R88M R88M R88M R88M UE10030H S1 UE20030H S1 UE40030H S1 UE75030H S1 Applicable Servomotor wattage 100 W 200 W 400 W 750 W Cable length between motor and driver 20 m max Weight approximate Approx 0 9 kg Approx 1 2 kg Approx 1 5 kg Capacity Maximum pulse frequency 200 kpps Position loop gain 1 to 500 1 s Electronic g
13. DATA Monitor no 4 Monitor data 1 Press the MODE SET Key to go into monitor mode 2 Using the Up and Down and Right and Left Keys set the monitor number 3 Press the DATA Key to display the monitor data 4 Press the DATA Key to return to the monitor number display 5 Press the MODE SET Key to move from monitor mode to alarm history display mode 4 5 Application Chapter 4 m Internal Status Bit Display Un 05 Un 06 Internal status is displayed by 7 segment bit lighting The bit number allocation is shown in the following diagram 13 B SN ig lt 14 sum ae Ems p 13 BUR ES su esie E 16 17 18 19 20 Monitor Bit no Symbol Contents no E when the motor rotational speed reaches the speed Command val Encoder Z phase Lit when there is a signal Poll sensor U phase Poll sensor V phase Poll sensor W phase Lit when run command is ON Lit when the gain is reduced Lit when forward drive prohibit input is ON Lit when reverse drive prohibit input is ON Lit when clockwise command pulses are being input Lit when counterclockwise command pulses are being input ECRST Lit when the deviation counter reset input is ON 4 1 4 Checking Servomotor Parameters Cn 00 Set to 04 Servomotor parameters can be checked when system check mode Cn 00 is set to 04 Servomotor parameters are the Servomotor specifications that can
14. Increase Cn 17 torque command filter time constant 3 23 Operation Chapter 3 e Gain Adjustment Standards The following table shows reference values for gain adjustment Adjustments can be made quickly if these values are used as standards Make the initial gain setting based on the load inertia Load inertia Speed loop gain Speed loop Position loop gain Comments factor Cn 04 Hz integration constant Cn 1A 1 s Cn 05 ms 1 80 60 High rigidity 40 Factory setting 40 40 20 Moderate rigidity 10 Low rigidity m Adjustment Parameters e Adjusting Speed Loop Gain Parameter name Factory Setting Explanation setting range Cn 04 Speed loop gain 80 1 to Adjusts the speed loop response 2 000 As the gain is increased the servo rigidity is strengthened The greater the inertia rate the higher this is set If the gain is set too high oscillation will occur When the speed loop gain is manipulated the response is as shown in the diagram below When speed loop gain is high Oscillates when gain is too high Motor speed speed monitor When speed loop gain is low 3 24 Operation Chapter 3 e Adjusting the Speed Loop Integration Time Constant Parameter name Factory Setting Explanation setting range Cn 05 Speed loop integra Speed loop integration constant tion constant As the constant is increased the response is shortene
15. LT Ad a lt do D O A ey E red a To Motor Power Cable R88A CAU001 R88A CAU01B with brake The broken lines indicate signal lines for the brake There is no polarity on these lines L1 Power supply The commercial power supply input terminals for the main circuit and the input control circuitry R88D UEPLILIW Single phase 100 115 VAC 85 to 127 V 50 60 Hz Main circuit DC When there is a high level of regenerative energy in a multi axis system the output terminals can be connected together and the terminals can be connected together to increase the ability to absorb regenerative energy Motor connection These are the output terminals to the Servomotor Be careful to wire terminals them correctly R88D UEPCIOV Single phase 200 230 VAC 170 to 253 V 50 60 Hz Green Ground to a class 3 ground to 100 Q or less or better Note Refer to 3 8 Regenerative Energy Absorption for the methods to calculate regenerative energy 2 30 System Design and Installation Chapter 2 Terminal Block Wire Sizes The following table shows the rated effective currents flowing to the Servo Driver and the sizes of the electrical wires e Servo Drivers with 200 VAC Input R88D UEP V Driver Watts R88D UEP04V R88D UEP08V R88D UEP12V R88D UEP20V 100 W 200 W 400 W 750 W Power supply input current L1 L2 25A 40A 6 0A 11 0A Motor output curren
16. omnon USER S MANUAL OMNUC U MODELS R88M UE AC Servomotors MODELS R88D UEP AC Servo Drivers AC SERVOMOTORS DRIVERS 100 to 750 W Pulse train Inputs Thank you for choosing this OMNUC U series UE models product Proper use and handling of the product will ensure proper product performance lengthen product life and may prevent possible accidents Please read this manual thoroughly and handle and operate the product with care General Instructions Refer to Precautions first and carefully read and be sure to understand the information provided Familiarize yourself with this manual and understand the functions and performance of the Servo motor and Servo Driver for proper use The Servomotor and Servo Driver must be wired and the Parameter Unit must be operated by ex perts in electrical engineering We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed Precautions on the dangers of high voltage equipment Precautions on touching the terminals of the product even after power has been turned off These terminals are live even with the power turned off Do not perform withstand voltage or other megameter tests on the product Doing so may damage internal components Servomotors and Servo Drivers have a finite service life Be sure to keep replacement products on hand and
17. B NS E x 8 CW with resistance 2 CW Du CW without resistance B CN2 E A ON 5 rg ECRST a Deviation counter reset output 6 A ECRST gt POV ZZ Pal R88A CRU e E A ZCOM Encoder Cable Origin input 11 ea Z Positioning completed input 9 A INP N 24VIN Position proximity input 10 B RUN A RESET CCW limit input 12 B OGND A ALMCOM CW limit input 13 FB AM A External interrupt input 19 FB FG Emergency stop input 20 A ee Ga waa Cable Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Use mode 2 for origin search Note 4 Use a dedicated power supply 24 VDC for command pulse signals Note 5 ERB44 02 diodes by Fuji Electric or equivalent are recommended for surge absorption Note 6 Use the RUN signal to set whether the Servo can be turned ON OFF Note 7 Class 3 grounds must be to 100 or less Note 8 The Servo Relay Unit and Cables for the R88D UP cannot be used 6 3 Supplementary Materials Chapter 6 m Connecting to SYSMAC C200H NC211 Position Control Unit with 5 VDC Power Supply
18. For the following Servo Drivers R88A TKO2U 200 VAC 750 W 100 VAC 300 W 6 8 Supplementary Materials Chapter 6 Models Conforming to EC Directives e Servomotors Specification Model O Straight shafts with Standard no 200 VAC 100W R88M UE10030V S1 keys brake 200 W R8gM UE20030V S1 400 W R88M UE40030V S1 100 VAC 100 W R88M UE10030W S1 200 W R88M UE20030W S1 With brake 200 VAC 100 VAG e Servo Drivers with Pulse train Inputs specication we Pulse train inputs 200 VAC AS e Parameter Units Specification Model Handy type R88A PRO2U Mounted type R88A PROSU e Encoder Cables specication Mods Connectors at both ends R88A CRUDO15C R88A CRUDO20C Cable only R88A CRUOO1 6 9 Supplementary Materials Chapter 6 e Power Cables Cables Only Specification For standard motor no brake 1 m units R88A CAU001 For motor with brake 1 m units R88A CAUO1B e General purpose Control Cables Specification For general purpose controller 1 m R88A connector at one end 2m R88A CPUOO 2S 6 3 Parameter Setting Forms m User Parameters Parameter name Factory Unit Setting setting range Speed loop gain see note 1 80 Hz 1 to 2 000 P Speed loop integration constant 20 ms 2 to 10 000 mad Brake timing 0 10 ms 0 to 50 Torque command filter time constant 100 us 0 to 250 N Position loop gain 1 s 1 to 500 Positioni
19. OFF Momentary power fail ure alarm The power supply was re started within the power retention peri od ON Alarm reset power sup ply turned on This is history data only and is not an alarm Parameter Unit trans mission error 1 Data could not be transmitted after the power supply was turned on It no longer exists in the alarm history Parameter Unit trans mission error 2 Note means indefinite 4 2 2 Alarm Output Transmission timeout error It no longer exists in the alarm histo ry This section describes the timing of alarm outputs when power is turned on and when alarms occur The method used to clear alarms is also described 4 8 Application Chapter 4 m Timing Chart Power input R T Run command RUN Error occurrence lt 6 ms min Alarm reset 1 RESET _ Approx 2 s ON 9 6 ms max Alarm output if ALM OFF H 25to35ms Hp SEDI S50 MS ON Power to motor Alarm output ALMCOM Output specifications 30 VDC 50 mA max Normal Output transistor ON Error alarm Output transistor OFF Clearing Alarms Any of the following methods can be used to clear alarms Turn ON the alarm reset signal RESET Toggle the power supply Press the Reset Key on the Parameter Unit Overcurrent alarms A 10 however cannot be cleared by toggling the power supply Operation will start as soon as the ala
20. Occurred even though pow er was on If reset is executed after waiting for a time operation resumes Occurred when Servomotor did not operate even when command pulse train was input Occurred at high speed op eration Occurred when a long com mand pulse was given The ambient temperature for the Servo Driver is high er than 50 C Bring the ambient tempera ture for the Servo Driver down to 50 C or lower The load torque is too high Servomotor power lines or encoder lines are wired in correctly The Servomotor is mechani cally locked Servomotor power lines or encoder lines are wired in correctly The gain adjustment is insufficient The acceleration decelera tion times are too extreme The load is too large Lighten the load Lengthen the acceleration time Select another Servomo tor Correct the wiring Unlock the Servomotor shaft Correct the wiring Adjust the gain Lengthen the acceleration deceleration time Lighten the load Select another Servomo tor Application Alarm Error content display Overvoltage Over speed Condition when error oc curred Occurred when power was turned on Occurred during Servomo tor deceleration Occurred while lowering vertical shaft High speed rotation oc curred when command was input Occurred during operation Probable cause The power supply voltage is outside of the al
21. UEP20H 100 V 100 W R88A TKO1U zow Note The Brackets come with a top bracket a bottom bracket and five mounting screws Dimensions e R88A TKO1U Top Mounting Bracket Two 3 6 dia pan head screws 2 B s P 5 40 Specifications Chapter 5 Bottom Mounting Bracket Two 3 6 dia pan head screws e R88A TK02U Top Mounting Bracket 66 9 6 dia tb i so cen N 5 41 Specifications Chapter 5 Bottom Mounting Bracket Mounting Dimensions e R88A TKO1U e R88A TK02U 15 180 j 3 e lt D Two M5 30 Three M5 5 42 Ll a M Chapter 6 Supplementary Materials 6 1 Connection Examples 6 2 OMNUC U Series Standard Models 6 3 Parameter Setting Forms Supplementary Materials Chapter 6 6 1 Connection Examples m Connecting to SYSMAC C200H NC112 Position Control Unit with 5 VDC Power Supply MCCB Main circuit power supply MC RO 60 OFF ON s ON aN R88D UEPODL 3 20 i 100 115
22. resistance ambient temperature imm m p fs wow ws es ss s fors syos eso es zo fs ig les so ess oo 77 fo 2 3 3 Wiring Products Conforming to EMC Directives Models conforming to EC Directive will meet the requirements of the EMC Directives EN55011 Class A Group 1 EMI and EN50082 2 EMS if they are wired under the conditions described in this section If 2 31 System Design and Installation Chapter 2 the connected devices wiring and other conditions cannot be made to fulfill the installation and wiring conditions when the product is incorporated into a machine the compliance of the overall machine must be confirmed The following conditions must be met to conform to EMC Directives The Servo Driver must be installed in a metal case control panel Noise filters and surge adsorbers must be installed on all power supply lines Shielded cables must be used for all VO signal lines and encoder lines Use tin plated soft copper wires for the shield weaving All cables leaving the control panel must be wired in metal ducts or conduits with blades Ferrite cores must be attached to the shielded cable and the shield must be clamped directly to the ground plate to ground it Wiring Methods Control Panel Device Containing Servomotor
23. 3 35 p Il Chapter 4 Application 4 1 4 2 4 3 4 4 Using Displays Protective and Diagnostic Functions Troubleshooting Periodic Maintenance Application Chapter 4 4 1 Using Displays 4 1 1 Display Functions OMRON U series AC Servomotors have unique servo software that enables quantita tive monitoring in real time on digital displays of changes in a variety of characteristics Use these displays for checking the various characteristics during operation m Servo Driver Displays There are two LED indicators on the Servo Driver itself One is for the power supply and another is for alarms Power supply indicator OMRON R88D UEPO4H ewe AC SERVO DRIVER Alarm indicator Symbol Name Power supply indicator Lit when AC power supply is normal Alarm indicator If the alarm indicator is lit connect a Parameter Unit and check the contents of the alarm m Parameter Unit Displays When a Parameter Unit is connected monitoring can be conducted by means of a 5 digit 7 segment LED R88A PRO2U Handy Type R88A PROSU Mounted Type OMRON R88A PRO3U Display area 7 segment display MODE SET 4 2 Application Chapter 4 m Parameter Unit Key Functions The contents displayed by the Parameter Unit can be changed by key operations Handy type Mounted Parameter Unit Parameter Unit R88A PRO2U R88A PRO3U RESET Bell a Er Alarm reset Co Mode swit
24. Be sure to follow the instructions given there Warning labels ERO b ARAURA 765 DA ATESA May cause electric shock Disconnect all power and wait 5 min before servicing USP ARE m u k Use proper grounding techniques Warning label 2 Warning label 1 Warning Labels for Models Conforming to EC Directives t amp WARNING D DFP ARE ie k Use proper REDRA GI BETRURE1765 Af EPIA T May cause electric shock Disconnect all power and wait 5 min before servicing grounding techniques Warning label 2 Warning label 1 VISUAL INDEX For users who wish to operate soon _ The following portions of this manual provide the minimum information required for operation Be sure you fully understand at least the information in these portions before attempting opera tion Chapter 2 System Design and Installation and sections 3 1 3 2 3 3 3 4 3 5 and 3 6 of Chap ter 3 Operation Instructions for jog operation using a Parameter Unit are provided in 3 6 SYSMAC C200HX HG HE Position Control Unit Programmable Controller C200H NC112 C200H NC211 Pulse M a Controller Connecting Cable Chapter 5 5 3 1 Np mM i Position Control Unit 3G2A5 NC111 EV 1 aT SYSMAC C CV series Programmable Controller Function Setting Parameter Setting Setting and Checking User Parameters Chapter 3 section 3 5 1
25. JANI AR 4 096 1 000 3 5 4 Brake Interlock For Motors with Brakes Magnetic Brakes The magnetic brakes for Servomotors with brakes are specialized holding brakes with non magnetized operation Therefore set the parameters so that the brake power supply is turned off after the Servomo tor stops Ifthe brake is applied while the Servomotor is operating the brake will suffer abnormal wear or even damage and will quickly become defective For wiring methods refer to 2 2 5 Peripheral Device Connection Examples Function The output timing of the brake interlock signal BKIR that control turning the magnetic brake ON and OFF can be set Parameters to be Set Parameter name Factory Setting Explanation setting range Cn 12 Brake timing 10 ms 0 to 50 Delay time setting from brake command until servo turns off 3 15 Operation Chapter 3 m Operation e Timing for Run Command RUN When Servomotor is Stopped uie EE Run instruction RUN OFF f dne 25 to 35 ms s Approx 6 ms Brake interlock O N signal BKIR OFF Brake power ON supply OFF j e 200 ms max P S 100 ms max Brake Cancelled operation Maintained Pulse train ON See note 1 command ME LER EE EA cwccw OFF i Cn 12 see note 2 Cod o MC ME motor Power off Note 1 Ittakes upto 200 ms for the brake to be cleared after the brake power supply has been turned on Taking this delay in
26. Symptom Probable cause Hemsiocheck Countermeasures Servomotor is overheating There are unusual noises Vibration is occurring at the same frequency as the applicable power supply Check to be sure that the ambient temperature around the Servomotor is no higher than 40 C The ambient temperature is too high Lower the ambient tempera ture to 40 C or lower Use a cooler or fan Ventilation is obstructed Check to see whether any Ensure adequate ventilation thing is blocking ventilation There is an overload Check the torque command value by means of monitor mode The correspondence be Check the models tween the Servo Driver and the Servomotor is incorrect The machinery is vibrating Inspect the machinery to see whether there are any for eign objects in the movable parts or whether there is any damage deformation or looseness The speed loop gain adjust ment is insufficient Check to see whether the Servo Driver control signal lines are too long Check to see whether con trol signal lines and power supply lines are too close to each other Inductive noise is occurring Lighten the load Change to a larger capac ity Servomotor Combine models that corre spond correctly Fix any problems causing vibration Use auto tuning Adjust the gain manually speed loop gain Shorten the control signal lines Separate control signal lines from po
27. js os woi ma 90 bo 2 21 System Design and Installation Chapter 2 2 2 4 Wiring for Noise Resistance m Wiring Method Noise resistance will vary greatly depending on the wiring method used Resistance to noise can be increased by paying attention to the items described below Servo Driver Servomotor No fuse R88D R88M breaker Surge Noise filter Contactor U MCCB absorber Xi 7B TB Metal duct D me 1 1 N 1 3 99 R U p VA N AC power supply A NF Es V ie M 0 n e 2 E 4 O5 6 T w l AS Fuse t 1 Y ONO CN2 l EE 1 oa i A RE 3 5mm2 2 mm min z BUM SN Class 3 ground O OT I to 100 Q or less Ground plate i vest l L Thick power line Control board Controller power supply i Machine 3 5 mm ground aaa ground Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a grounding plate for the frame ground for each Unit as shown in the illustration and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so thatthe ground lines are as short as possible If no fuse breakers MCCB are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring and
28. power lines and the green ground wire must be properly connected to the terminal block m Checking the Servomotor There should be no load on the Servomotor Do not connect to the mechanical system The power line connectors at the Servomotor must be securely connected Checking the Encoder Connectors The encoder connectors CN2 at the Servo Driver must be securely connected The encoder connectors at the Servomotor must be securely connected Checking the Control Connectors The control connectors must be securely connected The Run command must be OFF m Checking the Parameter Unit Connection The Parameter Unit R88A PRO2U or R88A PRO3U must be securely connected to connector CN3 3 2 2 Turning On Power and Confirming the Display Turning On Power Confirm that it is safe to turn on the power supply and then turn on the power supply 3 4 Operation Chapter 3 Checking Displays When the power is turned on one of the codes shown below will be displayed Normal Base block Error Alarm Display E 4042 Note 1 Base block means that the Servomotor is not receiving power Note 2 The alarm code the number shown in the alarm display changes depending on the contents of the error If the display is normal i e no errors use it as a monitor mode speed display Manually turn the Servomotor shaft clockwise and counterclockwis
29. 15 A mav 500A i504 aox Ishizuka Z10L471 773 V 1 000A Disk Electronics zisLami eo 5 38 V 1 250 A 20 Wes Z21L471 733 V 3 000 A 510 10A Z25M4718 810 V 10 000A 1235J Block Okaya RAV 783 V 1 000 A Block Electric Ind 781BWZ 2A RAV 783 V 1 000 A 781BXZ 2A RAV 620 V 1 000 A 401 621BYR 2 2 23 System Design and Installation Chapter 2 Note 1 The W Matsushita models are UL and CSA certified Note 2 Refer to manufacturers documentation for operating details Note 3 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber Note 4 The energy resistance is the value for 2 ms It may not be possible to retard high energy pulses at less than 700 V In that case absorb surges with an insulated transformer or reactor e Noise Filters for Power Supply Input Use a noise filter to attenuate extraneous noise and to diminish noise radiation from the Servo Driver Selecta noise filter with a load current of at leasttwice the rated current The following table shows noise filters that reduce by 40 dB noise between 200 kHz and 30 MHz Maker Model Rated current Remarks For single phase To attenuate noise at frequencies of 200 kH or less use an insulated transformer and a noise filter For high frequencies of 30 MHz or more use a ferrite core and a high frequency noise fi
30. 2 The allowable radial load is the value at a point 5 mm from the end of the shaft Note taken as a criteria Note 4 The service life of bearing grease is Radial load E Thrust load 5mm 3 The allowable radial and thrust loads are values determined with a service life of 20 000 hours 20 000 hours at a Servomotor ambient temperature of 40 C and under the rated operating conditions Note 5 Absolutely do not impact the Servomotor or the output shaft by striking them with an imple ment such as a hammer Doing so will damage the Servomotor and encoder bearings 5 26 Specifications Chapter 5 Note 6 Make sure that the radial load is within the allowable range when there is a radial load applied Ifthe Servomotor is operated at more than the allowable radial load the shaft may suffer dam age due to fatigue Note 7 Applying an excessive load even once can damage the bearings and eventually cause a breakdown 5 2 5 Encoder Specifications ear Encoder method Optical incremental encoder Number of output pulses A B phase 1 024 pulses revolution Z phase 1 pulse revolution Power supply voltage 5 VDC 5 Power supply current DC 350 mA for load resistance of 220 Phase characteristics 90 43 2 Phase relationship For rotation in the CW direction A phase is advanced by 90 compared to B phase Maximum rotational speed 4500 r min Maximum response frequency 76 8 kHz Output sign
31. 2 for origin search Note 4 Use a dedicated power supply 24 VDC for command pulse signals Note 5 ERB44 02 diodes by Fuji Electric or equivalent are recommended for surge absorption Note 6 This wiring diagram is an example of X axis wiring only If two axis control is used the external input and Servo Driver wiring must be done in the same way for the Y axis Note 7 Use the RUN signal to set whether the Servo can be turned ON OFF Note 8 Class 3 grounds must be to 100 or less Note 9 The Servo Relay Unit and Cables for the R88D UP cannot be used 6 5 Supplementary Materials Chapter 6 m Connecting to SYSMAC 3G2A5 NC111 EV1 Position Control Unit MCCB Main circuit power supply MC RO 66 OFF ON oo 3 OO MC Main circuit contact P SUP i 3 ER e PL A eit v TO OO OO L Class 3 ground R88D UEP ICIG AC Servomotor Driver 3G2A5 NC111 EV1 5 Terminal IB Contents Noe CN 1 R 12 to 24 VDC ESA eee i Connect external Regen he Servat B 24 VDC x1 eration Unit as required CWlmt gt Al o oo 014 RUN N Red R88A CAUNIDIOS CCW li
32. 4 5 Position com Cn 24 23 Cn 1A Cn 04 05 Cn 17 pulses Command Moscou Ede Deviation Position Speed Current pulse mode eration time G1 G2 counter loop gain x loop loop constant Encoder Speed Z phase detection output x4 ME 2 A Ss EY M uw N a Xx Encoder Motor 3 8 Regenerative Energy Absorption Regenerative energy produced at times such as Servomotor deceleration is absorbed by the Servo Driver s internal capacitors thereby preventing an increase in DC voltage If the regenerative energy from the Servomotor becomes too large however an over voltage error will occur In such cases it is necessary to connect a Regeneration Unit to increase the capacity for absorbing regenerative energy 3 8 1 Calculating Regenerative Energy Regenerative energy is produced when the direction of Servomotor rotation or output torque is re versed The methods for calculating regenerative energy for the horizontal and vertical shafts are ex plained below 3 27 Operation Chapter 3 m Horizontal Axle N Motor operation Motor output torque Note In the output torque graph when the rotation direction and the torque direction match it is shown as positive The regenerative energy for each section can be found by means of the following formulas Est 1 2 N4 e Tp4 et 1 027 x 10 2 J Ego 1 2 No bo Tp2 etse 1 027 x 10 2 J N4 No Rotation speed at beginning of deceler
33. Brake R88M UE10030H BS1 R88M UE10030L BS1 300430 Encoder adapter Motor plu A Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 Two 4 3 dia FRUI RS 2 1 8 System Design and Installation Chapter 2 e 200 W 300 W 400 W Standard Models R88M UE20030H S1 R88M UE40030H S1 R88M UE20030L S1 R88M UE30030L S1 300430 Encoder adapter Motor plug Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 Four 5 5 dia Four R5 3 14h6 dia 50h7 dia e 200 W 300 W 400 W Models with Brake R88M UE20030H BS1 R88M UE40030H BS1 R88M UE20030L BS1 R88M UE30030L BS1 300 30 Encoder adapter Motor plug Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 RS 14h6 dia an R88M UE20030H BS1 R88M UE20030L BS1 R88M UE40030H BS1 R88M UE30030L BS1 R88M UE20030H S1 R88M UE20030L S1 R88M UE40030H S1 R88M UE30030L S1 2 10 System Design and Installation Chapter 2 e 750 W Standard Models R88M UE75030H S1 300430 Encoder adapter Motor plug Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 Four R8 2 E 2 30 5 90 dia 16h6 dia 70h7 dia e 750 W Models with Brake R88M UE75030H BS1 300430 E
34. Displays page 4 4 Power ON 1 Base block motor not receiving power Status display Positioning completion mode Command pulse input Display example bb Motor rotation detected ED Symbol Displays Base block f U fl In operation running p t Forward rotation prohibited n Reverse rotation prohibited d Alarm display SES Jog operation page 3 20 Settings mode C n 0 0 System check mode Clear alarm history data page 4 11 Motor parameters check page 4 7 Co Auto tuning page 3 21 A Setup NA Sequence input signal switch page 3 10 C n 0 1 parameter Abnormal stop selection x no 1 Deviation counter with Servo OFF pata Reverse mode page 3 11 Command pulse mode Deviation counter clear Torque command filter time constant Monitor output level switch Setup con 0 2 parameter no 2 User parameters C N 4 Speed loop gain page 3 14 cn 2 0 Position command acceleration deceleration time constant Y Monitor mode Speed feedback page 4 5 Torque command Number of pulses from U phase edge Electrical angle Internal status bit display 1 Internal status bit display 2 Command pulse speed display Position deviation deviation counter Input pulse counter
35. VAC 50 60 Hz 1 o R88D UEPOOH 2 200 230 VAC 50 60 Hz z P I TO 6 OO Ende Rp C200H NC112 AE Class 3 ground R88D UEPOOO AC Servomotor Driver Contents Terminal CN1 TB Output power supply input 24 VDC 1 A c R Se E Di has E T R88M UE B P Connect external Regen AC Servomotor 2 A eration Unit as required Output power supply input 5 VDC B M N m R88A CAU S 5VDC 1 j U Power Cable PA CCW with resistance A T White Y BL ae MS De 3 4 EE pi x Blue ou 1 1 LA j 8 CCW without resistance B ZN 4 ccw Ww Green 8 CW with resistance 4 LA e r 1 acw PSI 2 cw without resistance B 2 CW 1 A x ov peal 5 Fg ECRST UNE Deviation counter reset output A ECRST EN EEU ON ER SUE MNT 6 4 RE ov B A m mA ZCOM R88A CRUCICICIC Origin input B Z Encoder Cable Positioni leted i 9 A ositioning completed input Pal INP A 24VIN Position proximity input 10 4 B RUN t 12 A RESET CCW limit input Cal OGND To A ALMCOM CW limit input 18 FB ALM External interrupt input 19 LA B FG i 20 A Emergency stop input Bl R88gA CPUDIDIOS General purpose Cable WH Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Use mode 2 for origin search Note 4 Use a dedicated power supply 24 5 VDC for command pulse signals Note 5 ERB44 02 diodes by Fuji Electric or equivale
36. after power is reset Confirm that the indicators go out before turning power back on Check to see that the LED display has gone off 1 3 10 Operation Chapter 3 E AN Parameter No 2 Cn 02 setting Reverse rotation mode CCW direction i is taken as forward rotation M Pr e Not used Not used Command pulse mode 4 0 0 Feed pulse Forward reverse signal Forward rotation pulse Reverse rotation pulse 90 phase difference A B phase signal 1X 90 phase difference A B phase signal 2X 90 phase difference A B phase signal 4X Not used Not used HO 2 BE CTS Deviation counter clear A 0 EE E S AE BEE Wtwe Torque command fite LEEN N N e d Jo j Notused 0 Parameter Unit monitor AA Pf INotused oj Note 1 Do not change the settings of bits 1 2 6 through 9 b d or F of setup parameter 2 Cn 02 Note 2 These parameters become effective only after power is reset Confirm that the indicators go out before turning power back on Check to see that the LED display has gone off 3 4 3 Important Setup Parameters Cn 01 and Cn 02 This section explains the particularly important setup parameters If these parameters aren t set proper ly the motor might not operate or might operate unpredictably Set these parameters appropriately for the system being used Command Pulses in Position Control Bits 3 4
37. and 3 to 1 The deviation counter reset Check the deviation counter Turn OFF the ECRST sig input ECRST is ON reset signal in monitor mode nal internal status bit display Correct the wiring An error occurred with the Check the RESET signal s Turn the RESET signal OFF RESET signal ON ON and OFF by means of and take measures the monitor mode according to the alarm display The setting for the command Check positioner s Set according to the pulse mode is not correct command pulse type and controller command pulse Cn 02 bits 3 4 5 Driver s command pulse type mode The motor operates mo The Servomotor power lines Check the Servomotor pow Correct the wiring mentarily but then it does or encoder lines are wired er line U V and W phases not operate incorrectly and the encoder line wiring Servomotor operation is The Servomotor power lines Check the Servomotor pow Correct the wiring unstable or encoder lines are wired er line U V and W phases incorrectly and the encoder line wiring There are eccentricities or Check the machinery Adjust the machinery looseness in the coupling Try operating the Servo connecting the Servomotor motor without a load shaft and the mechanical system or there are load torque fluctuations according to how the pulley gears are engaging Gain is wrong Use auto tuning Adjust the gain manually 4 12 Application Chapter 4
38. and 5 of Cn 02 specify the kind of command pulse mode used for position control as shown in the following table Cn 02 bit 3 Selected command pulse mode o Jo Jo J Feedpulse PULS Direction signal SIGN 1 Jo Jo Forward pulse CCW Reverse pulse CW Factory setting o x WO 90 differential phase A B phase signal 1x H da foo 4 90 differential phase A B phase signal 2x oo O dis rd 90 differential phase A B phase signal 4x Note One of three multiples can be selected when inputting a 90 differential phase signal 1x 2x or 4x If the 4x multiple is selected the input pulses are multiplied by a factor of 4 so the number of motor revolutions speed and angle are 4 times the number when the 1x multiple is selected 3 11 Operation Chapter 3 Overtraveling Servomotor Deceleration to Stop Bit 08 of Cn 01 Select either one of the following methods of motor deceleration to stop at the time of overtraveling Deceleration method Stop condition Bit 8 Decelerate by dynamic brake 4 Servo free dynamic brake OFF Overtravel occurs Decelerate by the maximum torque al Servo lock While the Servomotor is in servo OFF condition the following motor deceleration method is used when an alarm goes off Deceleration method Stop condition Servo OFF or Alarm Decelerate by dynamic brake Servo fr
39. be controlled by that Servo Driver They are not the specifications of the Servomotor that is connected Use this to check whether the Servo Driver and Servomotor combination is suitable 4 6 Application Chapter 4 m Servomotor Parameter Checking Operation The items in parentheses in the following explanation indicate operations using the Handy type Param eter Unit 1 12 M 4 cn 0910 90 10 01 4 r4 cr a ae 6 eS AIRE EDIE ce y 0 07 07 0 gt Oo oc BOND m Parameter Display Contents e Servomotor Parameters Press the MODE SET Key to switch to the settings mode Using the Up and Down Keys set parameter number 00 System check mode Press the DATA Key to display the setting of Cn 00 Using the Up and Down Keys change the setting to 04 Servomotor parameter check Press the MODE SET Key and check the Servomotor parameters in order Press the MODE SET Key to display special specifications in hexadecimal Press the MODE SET Key to return to the data display for the system check mode f e Special Specifications Motor capacity 01 100W 02 200W Motor type 03 300W 04 200 V type UE models 04 400 W 05 100 V type UE models 08
40. e R88D UEP12H 200 VAC 400 W and R88D UEP12L 100 VAC 200 W 5 Installation dimensions 130 6 2 5 60 1 Spp 4 R p XC T MEN eee m _ 2 3 System Design and Installation Chapter 2 e R88D UEP20H 200 VAC 750 W and R88D UEP15L 100 VAC 300 W CON Mg N Oo E Sell D TO UOTE 185 Installation dimensions System Design and Installation Chapter 2 AC Servo Drivers Conforming to EC Directives e R88D UEPOAV UEPOSV 200 VAC 100 200 W R88D UEP10W 100 VAC 100 W e R88D UEP12V 200 VAC 400 W R88D UEP12W 100 VAC 200 W S 2 6 stem Design and Installation R88D UEP20V 200 VAC 750 W R88D UEP15W 100 VAC 300 W 160 Chapter 2 System Design and Installation Chapter 2 m Regeneration Unit e R88A RGO8UA System Design and Installation Chapter 2 m Parameter Units e R88A PRO2U Two 4 5 dia elajaleja e R88A PRO3U 2 8 System Design and Installation Chapter 2 m AC Servomotors Non conforming Models e 100 W Standard Models 1 R88M UE10030H S1 R88M UE10030L S1 300430 Encoder adapter Motor plug Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 8h6 dia 119 5 e 100 W Models with
41. interest for efficient and convenient operation of the product OMRON 1997 All rights reserved No part of this publication may be reproduced stored in a retrieval sys tem or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no re sponsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication General Precautions Observe the following precautions when using the OMNUC Servomotor and Servo Driver This manual may include illustrations of the product with protective covers removed in order to describe the components of the product in detail Make sure that these protective covers are on the product before use Consult your OMRON representative when using the product after a long period of storage NWARNING NWARNING NWARNING NWARNING NWARNING NWARNING NWARNING N Caution N Caution N Caution N Caution Do not touch the internal circuitry of the Servo Driver Doing so may re
42. is applied directly to the speed loop The differential of the deviation counter is thus not applied causing a faster response when the load response is delayed from the commands Be sure that the position loop is completely adjusted and that the speed loop is operating safely before adjusting the feed forward amount Increasing the feed forward amount too much will cause the speed command to oscillate resulting in abnormal noise from the motor Increase the feed forward amount slowly from 0 adjusting it so that 3 26 Operation Chapter 3 the positioning completion output is not adversely affected e g turn repeatedly ON and OFF and so that the speed does not overshoot Parameter name Factory Setting Explanation setting range Cn 26 Position command O O to 640 Sets the time constant for smoothing posi acceleration decel tion command soft start function eration time Even if the position command pulses are constant input in steps the time constant set here will be used to accelerate decelerate the motor The same time will be used for both accel eration and deceleration Set this parameter to 0 when using a posi tion controller that has an acceleration de celeration function m Position Loop Adjustment e Position Loop Block Diagram Cn 1b Positioning Cn 02 bit Cn 26 ue Command 99 3
43. is increased because the surge voltage is the lowest Fuii A uji Electric Co ERB44 06 or equiv when power is cut off Used for 24 48 VDC systems q alent Thyristor and varistor are used for loads when induction Select varistor voltage as follows coils are large as in electromagnetic brakes solenoids 24 VDC system varistor 39 V etc and when reset time is an issue The surge voltage 100 VDC system varistor 200 V when power is cut off is approximately 1 5 times that of 100 VAC system varistor 270 V the varistor 200 VAC system varistor 470 V Use capacitors and resistors for vibration absorption of Okaya Electric Ind resistor surge when power is cut off The reset time can be CR 50500 0 5 uF 50 Q shortened by proper selection of the capacitor or resis CRE 50500 0 5 uF 50 Q tor S2 A 0 0 2 uF 500 Q Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Parts e Contactors When selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Servo Driver inrush currentis 50 A and the momentary maximum current is approxi mately twice the rated current The following table shows the recommended contactors Rated current Momentary maxi Coil voltage mum current OMRON J7AN E3 120 A 24 VDC e Lea
44. 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 No fuse breakers MCCB surge absorbers and noise filters NF should be positioned near the input terminal block ground plate and VO lines should be isolated and wired using the shortest means possible Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control panel whenever possible Good Separate input and output NO Noise not filtered effectively po du 3 1 3 AC input NF E AC output ACinput NF E 2 4 L 2 4 Ground Ground AC output 2 22 System Design and Installation Chapter 2 Use twisted pair cables for the power supply cables whenever possible or bind the cables Driver or EED Driver Binding Separate power supply cables and signal cables when wiring m Selecting Components This section describes the standards used to select components required to increase noise resistance Select these components based on their capacities performances and applicable ranges Recommended components have been listed refer to the manufacturer of each component for details e No fuse Breakers MCCB When selecting no fuse breakers take into consideration the maximu
45. of user parame ters and setup parameters e Speed Loop Gain Cn 04 This is the proportional gain for the speed controller The adjustable range is 1 to 2 000 Hz the response frequency when equivalent inertia is used As the number is increased the gain is increased The factory setting is for 80 Hz Using the factory setting for the Servomotor alone or with a small load inertia will cause vibration to occur so set the value to a maximum of 20 Hz for operation e Speed Loop Integration Constant Cn 05 This is the integration time for the speed controller The adjustable range is 2 to 10 000 ms and it is factory set to 20 ms As the number is increased the gain is decreased e Brake Timing Cn 12 These parameters determine the output timing of the brake interlock signal BKIR which controls the electromagnetic brake Brake timing sets the delay time from the time of brake interlock goes OFF until the servo turns off A dynamic brake will be applied when the Run command turns OFF while the motor is operating when a Servo error occurs or when power is turned off The brake interlock output BKIR will turn OFF when the motor speed is reduced to 100 r min or less The brake interlock output BKIR will also turn OFF if power is not supplied to the motor for 500 ms even if the motor speed is greater than 100 r min This setting is used to prevent destroying the holding brake on the servomotor or the machine e Torque Command Filt
46. power of the Regeneration Unit 3 29 Operation Chapter 3 Connect an external regeneration resistor when the regeneration processing power of the Regenera tion Unit 12 W is exceeded Refer to 3 8 3 Absorption of Regenerative Energy with the External Re generation Resistor for details on external regeneration resistors 3 8 2 Servo Driver Absorbable Regenerative Energy m Regenerative Energy Absorbed Internally The Servo Driver absorbs regenerative energy by means of an internal capacitor If there is more regen erative energy than can be absorbed by the capacitor an overvoltage error will be generated and opera tion cannot continue The amounts of regenerative energy that can be absorbed by the various Servo Drivers alone are shown in the tables below If regenerative energy exceeding these values is pro duced take the following measures e Connect a Regeneration Unit R88A RGO8UA Non conforming Models Lower the operating rotation speed The regenerative energy is proportional to the square of the rotation speed Lengthen the deceleration time Reduce the amount of regenerative energy per unit time When using multiple axes the terminals can be connected together and the terminals can be connected together to use regenerative energy as the drive energy for the other axes Models Con forming to EC Directives e 200 VAC Input Type Absorptive regen Maximum applicable Remarks see note 3 eration energy J lo
47. the digit that can be changed 3 12 Operation Chapter 3 e Displaying with Mounted type R88A PROSU 1 Press the MODE SET Key to go into settings mode cn 2 Press the Up and Down Keys to display the desired user parameter number The number will be incremented or decremented each time the Up or Down Key is pressed 3 Press the DATA Key to display the setting of the specified parameter 4 Press the DATA Key again to return to the parameter number display e Parameter Display Example Parameter Number Display 1 2 Data Display DATA cJ nj LO 4 ej oj oj 8 0 DATA 5 4 m Setting User Parameters First use the previous procedure to display the settings of the user parameter Then use the following procedures to set user parameters e Making Settings with Handy type R88A PRO2U 1 Use the Right and Left Keys to select the digit that is to be set The digit for which the value can be changed will blink Press the Up and Down Keys to change the value of the digit Repeat the previous two steps as required to set the parameter Press the MODE SET or DATA Key The parameter will be set and the display will blink Press the DATA Key again to return to the parameter number display oa BR WwW I Repeat steps 1 through 5 above as required to set other parameters Note 1 Settings can also be made by pressing only the Up and Down Keys in stead of using st
48. to consider the operating environment and other conditions affecting the service life Do not set any parameter not described in this manual otherwise the Servomotor or Servo Driver may malfunction Contact your OMRON representatives if you have any inquiry NOTICE Before using the product under the following conditions consult your OMRON representatives make sure thatthe ratings and performance characteristics of the product are good enough for the systems machines or equipment and be sure to provide the systems machines or equipment with double safety mechanisms 1 Conditions not described in the manual 2 The application of the product to nuclear control systems railroad systems aviation systems ve hicles combustion systems medical equipment amusement machines or safety equipment 3 Theapplication ofthe productto systems machines or equipmentthat may have a serious influence on human life and property if they are used improperly Items to Check After Unpacking Check the following items after removing the product from the package Has the correct product been delivered i e the correct model number and specifications Has the product been damaged in shipping The product is provided with this manual No connectors or mounting screws are provided omnon USER S MANUAL OMNUC U MODELS R88M UE AC Servomotors MODELS R88D UEP AC Servo Drivers AC SERVOMOTORS D
49. vary with the mechanical system Here low speed means approxi mately 1096 to 2096 of the actual operating speed Check the following items Is the emergency stop operating correctly Are the limit switches operating correctly Is the operating direction of the machinery correct Are the operating sequences correct Are there any abnormal sounds or vibration Is anything abnormal occurring e If anything abnormal occurs refer to Chapter 4 Application and apply the appropriate countermea sures 6 Operation Under Actual Load Conditions Operate the Servomotor in a regular pattern and check the following items Is the speed correct Use the speed display Is the load torque roughly equivalent to the measured value Use the torque command display Are the positioning points correct When an operation is repeated is there any discrepancy in positioning Are there any abnormal sounds or vibration Is either the Servomotor or the Servo Driver abnormally overheating Is anything abnormal occurring e If anything abnormal occurs refer to Chapter 4 Application and apply the appropriate countermea sures 7 Readjust the gain f the gain could not be adjusted completely using auto tuning perform the procedure in 3 7 Making Adjustments to adjust the gain 3 19 Operation Chapter 3 3 6 2 Jog Operations Jog operations rotate the Servomotor in a forward or reverse direction using the Parameter Unit Jog operations a
50. 00 VAC Servomotors R88M R88M R88M R88M UE10030H S1 UE20030H S1 UE40030H S1 UE75030H S1 UE10030V S1 UE20030V S1 UE40030V S1 UE75030V S1 200 300 750 Rated torque see note Rated rotational speed win 8000 8 000 Momentary maximum rota r min 4 500 4 500 4 500 4 500 tional speed obra maximum j096 t 91 3 82 7 10 torque see note ues gt 75 1195 39 0 72 9 Momentary maximum rated 316 current ratio Rated current see note 0 87 2 6 4 4 Momentary maximum cur A Aus 2 8 8 0 13 9 rent see note Rotor inertia kgem 0 40 x 1075 5 1 91 x 1075 6 71 x 105 GD 4 kgfecmes 0 41 x 1074 a 1 95 x 1074 6 85 x 1074 Torque constant see note Nem A 0 408 0 533 0 590 kgfecm A 4 16 5 44 6 01 Induced voltage constant mV r min 14 0 3 18 6 20 6 see note Power rate see note me e 4 84 6 85 1 Mechanical time constant 0 3 0 3 Winding lede as 1 13 1 0 45 S Etectial ine constant ms hs 8 54 UEPO4V UEPO8V UEP12V UEP20V Note The values for torque and rotational speed characteristics are the values at an armature winding tempera ture of 100 C combined with the Servo Driver Other values are at normal conditions 20 C 65 The maximum momentary torque is a reference value e AC Servomotor Heat Radiation Conditions When an AC Servomotor is continuously operated at the rated conditions a heat radiation plate equiva lent to an rectangular aluminum
51. 02 bit no d 0 Positive logic Cn 02 bit no d 2 1 Negative logic 5 12 Specifications Chapter 5 Command Forward motor Reverse motor pulse commands commands 3 mode Forward pulse and direction Reverse pulse and forward RE so differential B5Bomml2 j5omm lc 5om Forward pulse and direction signal T Forward commands Maximum frequency 200 kpps t1 0 1us t2 3 0us Reverse pulse and forward pulse Forward commands Maximum Reverse commands frequency 200 kpps 90 differential phase signals A and B pulses Maximum frequency 200 kpps ml Forward commands Reverse commands t1 lt 0 1us TE 2 5US Tz 5 0us Note Although the above timing charts show positive logic the same conditions hold for negative logic L level LO 1 mA H level IHO 2mA 5 13 Specifications Chapter 5 Control Output Interface The output circuit for the control VO connector CN1 is as shown in the following diagram To other output circuits o x y d i External power supply T 12 to 24 VDC 4 f ya nie R JA T 10 a Maximum operating voltage 30 VDC NY y Maximum output current 50 mA max M OGND Z phase output 20 mA max To other output circuits Di Diode for preventing surge voltage Use speed diodes e Control Output Sequence Power supply input ON RD OFF Approx 2s DU Alarm output ON ALM OFF Positioning co
52. 2 C200H NC211 SYSMAC C series Programmable Controller General purpose Control Cable R88A CPU S OMNUC U series UE model AC Servo Driver Power Cable R88A CAU R88A CAU Uo Encoder Cable R88A CRU OMNUC U series UE model AC Servomotor Note Refer to Chapter 5 Specifications for connector and cable specifications 2 18 System Design and Installation Chapter 2 2 2 2 Connector Terminal Conversion Unit The AC Servo Driver can be easily connected to the Connector Terminal Conversion Unit through a special cable without soldering Controller XW2B 40F5 P Connector Terminal Conversion Unit R88A CTU N Connector Cable for Connector Terminal Conversion Unit OMNUC U series UE Model AC Servo Driver Inl icu Power Cable R88A CAU R88A CAU Uo OMNUC U series UE Model Encoder Cable AC Servomotor R88A CRU Note Refer to Chapter 5 Specifications for connector and cable specifications 2 19 System Design and Installation Chapter 2 2 2 3 Wiring Servo Drivers Provide proper wire diameters ground systems and noise resistance when wiring terminal blocks m Wiring Terminal Blocks To Motor M Power Cable R88A CAU S R88A CAU B with brake The broken lines indicate signal lines for the brake There is no p
53. 24 x 3P UL2589 Cable Side Connector housing model 172161 1 Nippon Amp Connector socket contact model 170365 1 Nippon Amp Crimping tool 724649 1 Pulling tool 724668 2 Connector plug model 10120 3000VE Sumitomo 3M Connector case model 10320 52A0 008 Sumitomo 3M 5 32 Specifications Chapter 5 Motor Side Connector plug model 172169 1 Nippon Amp Connector pin contact model 170359 1 Nippon Amp m Encoder Cables for Models Conforming to EC Directives e Types of Cable Model Length L Outer diameter of sheath R88A CRUDOOSC 8 dia R88A CRUDOOSC R88A CRUDO10C R88A CRUDO15C R88A CRUDO20C Up to a maximum of 20 m between the Monitor and the Servo Driver e Connection Configuration OMNUC U Series UE model AC Servomotor OMNUC U Series UE model AC Servomotor Driver e Wiring Symbol No ros No Symbol AWG24 blue A 1 16 A A 2 AWG24 white blue 17 A B 3 AWG24 yellow 18 B B 4 Awaz white yellow 19 B S4 5 AWG24 green 14 S S 6 AWG24 white green 15 S EOV 7 AWG22 black 1 EOV AWG22 red E5V 8 wea 4 E5V FG 9 green yellow 20 N EROR TE Shell FG Cable AWG22 x 3C AWG24 x 3P UL2589 5 33 Specifications Chapter 5 Cable Side Connector model 17J E 13090 02D8A DDK Connector plug model 10120 3000VE Sumitomo 3M Connec
54. 4 Red CCW 6 7 24 25 5 Black ECRST 8 9 26 27 6 Red ECRST t0 ileso 7 Black BKIR 12 13 30 31 8 Red INP 14 15 32 33 e pm oa DEE 10 Pink Red OGND 18 36 di Gray Connector plug model Red 10136 3000VE 13 Orange 24VIN Sumitomo 3M Orange Red Connector case model 10336 52A0 008 Hed MNG Sumitomo 3M 15 i i Red or 18 i 0 2 3 S RESET 2 Yellow 2 2 2 2 2 Bed 2 p E E S AAA E p Black Z ZCOM A LM ALMCOM FG 6 7 6 7 White Shield Cable AWG24X18P 5 31 Specifications Chapter 5 5 3 2 Encoder Cable m Encoder Cables for Non conforming Models e Types of Cable Length L Outer diameter of sheath 3m 8 dia R88A CRU003C R88A CRU005C R88A CRU010C R88A CRU015C R88A CRU020C Up to a maximum of 20 m between the Monitor and the Servo Driver e Connection Configuration OMNUC U Series UE model AC Servomotor OMNUC U Series UE model AC Servomotor Driver e Wiring Symbol No EE No Symbol A 1 AWG24 blue o f 16 At A 2 AWG24 white blue A 17 A Bs g AWG24 yellow o 18 Ba 5 4 aneza white yellow X A 19 B S SET AN tals S g Awezs white green X 15 S EOV 7 AWG22 black 1 EOV ESV Bes 4 ESV FG 9 renato 20 FG Cable AWG22 x 3C AWG
55. 535 The setting range for the gear ratio is 0 01 to 100 i e 0 01 G1 G2 100 Pulse Smoothing Function Even high frequency commands can be executed smoothly by including acceleration deceleration in the command pulses The same setting is used for both the acceleration and deceleration times and the setting range is 0 to 64 ms m Reverse Mode Forward Reverse commands can be switched in the parameters without changing the wiring to the motor or encoder m Brake Interlock Output Outputs atiming signal interlocked with the motor s ON OFF status and rotational speed The hold ing brake of a motor with a brake can be operated reliably m Computer Monitor Software The special Servo Driver Communications Software allows parameter setting speed and current monitoring VO monitoring auto tuning and jog operations to be performed from a personal com puter It is also possible to perform multiple axis communications that set the parameters and moni tor the operation of several drivers Refer to the Computer Monitor Software Instruction Manual 1513 for OMNUC U series Servo Drivers for more details Note Version 1 1 or later of the Computer Monitor Software supports the UE Models 1 3 Introduction Chapter 1 1 2 System Configuration SYSMAC C200HX HG HE Programmable Controller C200H NC112 C200H NC211 Position Control Unit Parameter Units SYSMAC C CV series
56. 750W y 0 User specifications number hexadecimal display Application Chapter 4 4 2 Protective and Diagnostic Functions 4 2 1 Alarm Displays and Alarm Code Outputs The Servo Driver has the error detection functions shown below When an error is de tected the alarm output ALM is output the Servo Driver s internal power drive circuit is turned off and the alarm is displayed Alarm Table Dis Alarm Error detection play ALM function The checksum for the parameters read from the EEPROM does not match a04 OFF Parameter setting error Incorrect parameter setting Overcurrent or overheating detected a31 OFF Deviation counter over The pulses remaining on the deviation counter exceed the devi flow ation counter overflow level a40 OFF Overvoltage Main circuit DC voltage exceeded the allowable value Detected at 4 950 r min EB M Detected at reverse limit characteristics when the output torque exceeds120 of the rated torque Runaway detected Faulty power or encoder wiring Phase error detected Connector not properly connected Encoder not properly wired Detection contents OFF acl OFF ac2 OFF ac3 OFF Encoder A or B phase wire disconnection Either Phase A or Phase B signal was disconnected or short cir cuited OFF Encoder S phase wire disconnection Encoder S phase was disconnected or short circuited
57. Adjustments 3 7 1 Auto tuning Auto tuning rotates the Servomotor with a load connected mechanical system and au tomatically adjusts the position loop gain the speed loop gain and the speed loop in tegration time constant When adjustments cannot be made by auto tuning refer to 3 7 2 Manually Adjusting Gain m Executing Auto tuning 1 2 3 poc hj J Indicates settings mode System check mode Data g y 4 Co 5 CO C OLIE toU ES Auto tuning display Auto tuning end display 1 Confirm that the initial display is shown bb 2 Press the MODE SET Key to enter the settings mode 3 Using the Up and Down Keys set parameter number 00 System check mode 4 Press the DATA Key to display the setting of Cn 00 5 Using the Up and Down Keys set the parameter to 05 Auto tuning 6 Press the MODE SET Key to switch to the mechanical rigidity selection display 7 Using the Up and Down Keys adjust the rigidity to the mechanical system Refer to Selecting Me chanical Rigidity below 8 Press the MODE SET Key to switch to the auto tuning display 9 Press the SERVO DATA Key to turn on the servo This step is not required if the Run Command Input is ON 10 Perform auto tuning using the Up Key for forward operation and the
58. B 6 2 ex 12 18 A 7 13 24 VIN 14 B 7 V E 14 RUN 15 A 8 db S 15 MIGN 16 7 B 8 m 16 POT 17 A 9 eS N 17 NOT 18 B BA TE 18 RESET 19 4 A 10 m 19 20 B 10 NA V 20 2 A 1 f at 22 __ B f A Va 22 233 A AS P 23 24 Bes ay Y 24 25 alB EER Cs 25 26 B 13 y 26 27 A 14 N sk 27 28 B 14 ER 28 29 A 15 A ee 29 a0 B 5 m je ag 31 A 16 AN A i 31 32 B 16 P MO E 83 A 77 AN A 383 ZCOM 34 B 17 Et SAA 34 ALM 85 A 18 i 35 ALMCOM 36 B 18 e shell FG p TA E B is Cable AWG24 x 18P Connector plug Sumitomo 3M s 10136 3000VE 39 A 20 Connector cover 40 B 20 Sumitomo 3M s 10336 52A0 008 Connector plug Fujitsu s FCN 361J040 AU Connector cover Fujitsu s FCN 360C040 B 5 29 Specifications Chapter 5 m General purpose Control Cable e AE of Cable Length L Outer diameter of sheath R88A NL S im 9 9 dia R88A CPUOO28 2m e Connection Configuration Position Control Unit mounted on a SYSMAC C CV series PC OMNUC U Series UE model AC Servomotor Driver 5 30 Specifications Chapter 5 e Wiring BF dl I arrangement color color Arrangement 1 Black CW 1 19 2 Red CW Sou b 3 Black CCW traes
59. DC OFF pH ipi External Regenerative 1MC X i i Resistor O O O O jf ON a zn o O EU Short bar Regeneration Unit R88A RGO8UA Note 1 Disconnect the short bar from terminals RG and JP before connecting the External Regen erative Resistor Note 2 Connect the External Regenerative Resistor between terminals P and RG Note 3 The Regeneration Unit does not conform to EC Directives 2 28 System Design and Installation Chapter 2 2 3 Wiring Products Conforming to EC Directives 2 3 1 Connecting Servo Controllers Use general purpose control cables purchased separately to connect U series UE Model AC Servomotors and Servo Drivers to OMRON Servo Controllers m Connecting to a Servo Controller Servo Controller General purpose Control Cable R88A CPU S ZAG W OMNUC U series UE Model AC Servo Driver Model conforming to EC Di A f rectives i Ex Power Cable R88A CAUOO 1 OMNUC U series R88A CAUO1B UE Model AC Servomotor Model conforming to EC Directives Encoder Cable R88A CRUD Note Refer to Chapter 5 Specifications for connector and cable specifications 2 29 System Design and Installation Chapter 2 2 3 2 Wiring Servo Drivers Provide proper wire diameters ground systems and noise resistance when wiring terminal blocks m Wiring Terminal Blocks E Er
60. Down Key for reverse opera tion Continue pressing the key until End is displayed indicating that auto tuning has been com pleted 3 21 Operation Chapter 3 11 Release the key The data display will return 12 Press the DATA Key to return to the settings mode m Selecting Mechanical Rigidity Select the set value to match the rigidity of the mechanical system Response Set Position loop gain Representative applications value 1 s oot 16 Articulated robots harmonic drives chain drives belt drives rack and pinion drives etc Medium 003 40 XY tables Cartesian coordinate robots general purpose ma chinery etc High 56 Ball screws direct coupling feeders etc 06 108 m Auto tuning Auto tuning will not be complete until at least three operations have been completed Be sure there is plenty of room for the machine to operate e If the auto tuning is not complete after three operation operations will be repeat as long as the key is held down The motor speed for auto tuning is approximately 250 r min The auto tuning speed cannot be chan ged Auto tuning will automatically change the setting of the user parameter position loop gain Cn 1A speed loop gain Cn 04 and speed loop integration time constant Cn 05 These values will not be changed however until the auto tuning operation has been completed If auto tuning does not complete or if the gain set via auto tuning is no
61. Encoder Cable Noise Resistance The following encoder signals are used A B and S phase The frequency for A or B phase signals is 154 kHz max the transmission speed for S phase signals is 616 kbps Follow the wiring methods outlined below to improve encoder noise resistance Be sure to use dedicated encoder cables e If lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition be sure to use shielded wire e Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Be sure to use cables fully extended When installing noise filters for encoder cables use ferrite cores The following table shows the rec ommended ferrite core models EMI core ESD QR 25 1 Clamp filter ZCAT2032 0930 ZCAT3035 1330 ZCAT2035 0930A Do not wire the encoder cable in the same duct as power cables and control cables for brakes sole noids clutches and valves m Improving Control VO Signal Noise Resistance Position can be affected if control I O signals are influenced by noise Follow the methods outlined be low for the power supply and wiring Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular be careful not to connect two power supply ground wires Install a n
62. G GND 18 RESET EE reset 36 see Bus inpu note groun RUN e Run Command 14 RUN This is the input that turns on the power drive circuit for the main circuit of the Servo Driver If this signal is not input i e servo off status the Servomotor cannot operate Depending on the setting of setup pa 5 10 To other input circuit GNDs v To other input circuits Specifications Chapter 5 rameter Cn 01 bit no O this signal can be bypassed In that case the servo will be turned on after the power is turned on e Gain Reduction 15 MING Input this signal to lower the loop gain for the control loop and to weaken servo rigidity repellant force with respect to external force In addition when parts are inserted after positioning the insertion operation is made easier because the repellant force with respect to external force is weakened by the inputting of this signal This cannot be used for the vertical shaft where a gravity load is applied because position deviation will occur e Forward Drive Prohibit 16 POT Cn 01 bit No 2 0 Reverse Drive Prohibit 17 NOT Cn 01 bit No 3 0 These two signals are the inputs for forward and reverse drive prohibit overtravel When they are in put driving is possible in the respective directions When driving is prohibited movement will stop ac cording to the setting of bit no 8 of setup parameter no 1 Cn 01 Alarm status will not be genera
63. Length L Outer diameter of sheath R88A CAUO1B Note 1 Power cables will be cut to the specified length in 1 m increments Note 2 The maximum distance between the Servomotor and the Servo Driver is 20 m e Connection Configuration OMNUC U Series UE model AC Servomotor OMNUC U Series UE model AC Servomotor Driver e Wiring AC Servomotor AC Servo Driver Red AWG20 Red U phase E White AWG20 White V phase V Blue AWG20Blue W phase i w Green Yellow AWG20 Green m ae E Red AWG 20 Black Brake 7 Brake Black AWG20 Black e T Cable AWG20 x 6C 24 VDC 10 UL2517 no polarity 5 37 Specifications Chapter 5 5 4 Parameter Unit Specifications m General Specifications Wem Stdads 3596 to 8596 RH with no condensation Storage ambient humidity 35 to 85 RH with no condensation Storage and operating No corrosive gasses atmosphere Vibration resistance 4 9 m s 0 5 G max Acceleration 19 6 m s 2 G max Impact resistance m Performance Specifications R88A PRO2U Hand held R88A PROS3U Mounted Accessory cable 1 000 mm Connected by connectors Accessory connectors 7910 7500SC 10 pins D sub connector 9 pins Display 7 segment LED 5 digits External dimensions Commu nications specifica tions Standard Communicatio
64. Locations subject to dust dirt chloride or iron powder Locations subject to splashes of water oil chemicals or other liquids Locations subject to direct vibration or shock Do not touch the Inverter radiator Regeneration Unit or Servomotor while power is being supplied or for a while after the power is turned off Doing so may result in a burn injury Storage and Transportation Precautions N Caution N Caution N Caution Do not carry the Servomotor by the cable or shaft of the Servomotor Doing so may result in an injury or Servomotor malfunction Do not pile up the products excessively Doing so may result in an injury or product malfunction Use motor eye bolts only for transporting the Servomotor Do not use them for trans porting the machines Doing so may result in an injury or machine malfunction Installation and Wiring Precautions N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution Do not stand on the product or put heavy objects on the product Doing so may result in an injury Make sure that the product is well ventilated and the interior of the product is free of foreign matter Not doing so may result in a fire Mount the product properly Not doing so may result in a product malfunction Keep the specified distance between the Servo Driver and the interior surface of the control panel or any other machine Not
65. Programmable Controller cm sevsege z oj HEES Hi EY AI d 3G2A5 NC111 EV1 Position Control Unit mmm OMNUC U series UE Models AC Servo Driver OMNUC U series AC Servomotor 1 4 Introduction Chapter 1 1 3 Servo Driver Nomenclature m Front View CN4 Not used Power supply indicator OMRON R88D UEPO4H 6 AC SERVO DRIVER Q 200V 100W Alarm indicator a CNS Parameter Unit connector T CN1 Control VO connector CN2 Encoder connector Terminal block it lt c 2 vo m Introduction Chapter 1 1 4 EC Directives and Applicable Models m EC Directives ECDirecive Product Directive Roas Low voltage AC Servo Driver EN61010 1 Safety requirements for electrical equipment for measurement control and laboratory use AC Servomotor IEC34 1 5 8 9 Rotating electrical machines AC Servo Driver EN55011 class A group 1 Limits and methods of measurement AC Servomotor of radio disturbance characteristics of industrial scientific and medical ISM radio frequency equipment EN50082 2 Electromagnetic compatibility generic immunity standard Part 2 Industrial environment Note Installation under the conditions specified in 2 3 3 Wiring Products Conforming to EMC Direc tives is required to conform to EMC Directives m Applicable Models Power supply Output capacity AC Servo Drivers AC Ser
66. Q When Vcc 24 V R 1 6 kQ Deviation Counter Reset 5 6 ECRST ECRST The contents of the deviation counter will be reset and the position loop will be disabled when the devi ation counter reset signal turns ON The deviation counter reset signal must be input for at least 20 us to be effective The counter may or may not be reset if the input signal is less than 20 us The setting of Cn 02 bit No A determines whether setting is performed on the high signal level or on the rising edge of the signal Feed Pulse Reverse Pulse 90 Differential Pulse A Phase CN1 1 PULS CW A Feed Pulse Reverse Pulse 90 Differential Pulse A Phase CN1 2 PULS CW A Direction Signal Forward Pulse 90 Differential Pulse B Phase CN1 3 SIGN CCW B Direction Signal Forward Pulse 90 Differential Pulse B Phase CN1 4 SIGN CCW B The functions of the above pulses depend on the command pulse mode Positive command pulse logic is used Command Pulse Mode Cn 02 bit nos 5 4 3 Cn 02 bit nos 5 4 3 0 0 0 Feed pulses and direction signal Cn 02 bit nos 5 4 3 0 0 1 Forward pulse and reverse pulse factory default Cn 02 bit nos 5 4 320 1 0 90 differential phase A and B phases signal 1X Cn 02 bit nos 5 4 3 0 1 1 90 differential phase A and B phases signal 2x Cn 02 bit nos 5 4 3 1 0 0 90 differential phase A and B phases signal 4X Command Pulse Logic Reversal Cn 02 bit no d Cn
67. RIVERS 100 to 750 W Pulse train Inputs Notice OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual The following conventions are used to indicate and classify precautions in this manual Al ways heed the information provided with them Failure to heed precautions can result in inju ry to people or damage to the product NDANGER Indicates information that if not heeded is likely to result in loss of life or serious injury NWARNING Indicates information that if not heeded could possibly result in loss of life or serious injury N Caution Indicates information that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation OMRON Product References All OMRON products are capitalized in this manual The word Unit is also capitalized when it refers to an OMRON product regardless of whether or not it appears in the proper name of the product The abbreviation Ch which appears in some displays and on some OMRON products of ten means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular
68. SW Continuous output current 0 P 3 1A 3 8A 4 8A Momentary max output current 10A 12A 15A 0 P PWM frequency Cable length between motor and 20 m max driver Weight approximate Approx 0 9 kg Approx 1 2 kg Approx 1 5 kg Capacity Max pulse frequency 200 kpps Position loop gain 1 to 500 1 s Electronic gear Electronic gear ratio setting range 0 01 lt G1 G2 lt 100 G1 G2 1 to 65 535 Positioning completed 0 to 250 command units range Position acceleration de 0 to 64 0 ms The same setting is used for acceleration and deceleration celeration time constant Position command pulse TTL line driver input with photoisolation input current 6 mA at 3 V input see note Feed pulse and direction signal forward pulse and reverse pulse or 90 differen tial phase A and B phases signal set via parameter Pulse width See note Deviation counter reset TTL line driver input with photoisolation input current 6 mA at 3 V Sequence input 24 VDC 5 mA photocoupler input external power supply 12 to 24 VDC 30 mA min Position feedback output Z phase open collector output 30 VDC 20 mA 1 pulse revolution OFF on Z phase detection Sequence output Alarm output brake interlock positioning completion open collector outputs 30 VDC 50 mA External regeneration processing Required for regeneration of more than 30 times the Required for regeneration motor s rotor inertia of more than 20 times the motor
69. T24AVDC T BJ LS L1 e L TAN E Q Le UO vo P ES CN1 M 34ALM w l cu a N 88 ALMCOM DO ae x Class 3 ground PEN 2 G 2 to 100 Q or less y Y S CN2 RBBA CRUD e 2 Encoder Cable 2 NOLL 5 CN1 CE m we oe D wn 5 CN1 BKIR 7 R88A CPU S 24 VDC General purpose OGND 10 O Control Cable 2 38 l 3 Chapter 3 Operation 3 1 Operational Procedure 3 2 Turning On Power and Checking Displays 3 3 Using Parameter Units 3 4 Initial Settings Setup Parameters 3 5 Setting Functions User Parameters 3 6 Trial Operation 3 7 Making Adjustments 3 8 Regenerative Energy Absorption Operation Chapter 3 Operation and Adjustment Precautions N Caution Confirm the settings of all parameters to be sure they are correct before starting ac tual operation Incorrect parameters may damage the product N Caution Do not make extreme changes in the settings of the product Doing so may result in unstable operation of the product and injury N Caution Confirm the operation of the motor before connecting it to the mechanical system Unexpected motor operation may result in injury N Caution If an alarm is ON remedy the cause make sure the system is safe reset the alarm and restart the system Not doing so may result in an injury N Caution The system may restart abruptly when power is resupplied after an instantaneous power failure Take safety measures
70. ad inertia x10 4 kgem R88D UEP04H UEP04V 13 3 1 2 Rotor inertia x 30 4 500 r min 100 W R88D UEPO8H UEPO8V 23 9 3 69 Rotor inertia x 30 3 000 r min 200 W R88D UEP12H UEP12V 21 1 3 8 Rotor inertia x 20 3 000 r min 400 W 750 W Note 1 The input voltage is the value at 200 VAC As the input voltage is increased the amount of regenerative energy that can be absorbed is decreased Note 2 For Servomotors with brakes add the brake inertia to the load inertia Note 3 This is the applicable range for the horizontal shaft No external force should be applied 3 30 Operation Chapter 3 e 100 VAC Input Type Model Absorptive regen Maximum applicable Remarks see note 3 eration energy J load inertia x10 4 kg m R88D UEP10L UEP10W 13 3 Rotor inertia x 30 4 500 r min 100 W 1 2 i R88D UEP12L UEP12W 23 9 3 69 Rotor inertia x 30 3 000 r min 200 W R88D UEP15L UEP15W 99 5 3 8 Rotor inertia x 20 4 500 r min 800 W Note 1 The input voltage is the value at 100 VAC As the input voltage is increased the amount of regenerative energy that can be absorbed is decreased Note 2 For Servomotors with brakes add the brake inertia to the load inertia Note 3 This is the applicable range for the horizontal shaft No external force should be applied m Range for Absorbing Regenerative Energy The relationship between rotational speed and the load inertia that can be absorbed by a Servo Driver al
71. al Signal Processing Reverse pulse ROREM Forward pulse Sens EPA ER EMILE i 1 Maximum op Positioning completion erating voltage 9 gom 30 VDC ere ER COMO Maximum out Deviation counter reset ECRST 5 2202 SRU ground put current 50 mA LP ecnstle XD Do not connect Alarm output these pins ALMCOM Maximum op Ho m erating voltage f TERN 30 VDC i ata Paasa Maximum out i ZCO put current 20 mA 12 to 24 VDC Run Gain decel eration O Forward rotation drive prohibit Reverse rotation drive prohibit OFG Frame ground see note Note Pin 36 is not used on models conforming to EC Directives 5 16 Specifications Chapter 5 CN2 Encoder Input Specifications Pin Wo Signal name Function imee 1 2 3 Power supply outlet for encoder 5 V 350 mA DE Rs Nc Need pomtcmmet in ERE S4 Encoder S phase input Line driver input conforming to ElA RS422A 415 S Encoder S phase input Input impedance 220 Q2 a A Encoder A phase input Line driver input conforming to ElA RS422A Encoder A phase input Input impedance 220 Q 18 Encoder B phase input Line driver input conforming to ElA RS422A 19 Encoder B phase input Input impedance 220 9 20 Shielded ground Cable shielded ground see note Note Pin 20 is not used on models conforming to EC Directives Instead connect the cable shield
72. als A A B B S S Output impedance Conforming to EIA RS 422A Output based on AM26LS31CN or equivalent Serial communications data Z phase poll sensor U V W phase Serial communications method Combination communications method based on A B and S phases 5 27 Specifications Chapter 5 5 3 Cable Specifications 5 3 1 Controller Connecting Cable m Connector Terminal Block Conversion Unit Cables e Types of Cable Length L Outer diameter of sheath R88A CTUOOIN 1m 9 9 dia R88A CTUOO2AN 2m e Connection Configuration XW2B 40F5 P Connector Terminal Conversion Unit OMNUC U Series UE model AC Servomotor Driver 5 28 Specifications Chapter 5 e Wiring No No p Ed eod e dis eun es a No Signal 1 A 1 NE X 1 CW 2 B 1 N N 2 CW 3 A 2 y y 3 CWW 4 B 2 E N PS 4 CWW 5 A 3 gt 5 ECRST 6 B 3 N A 6 ECRST 7 A 4 m yoo 7 BKR 8 B 4 SU g INP 9 A 5 m Y 9 10 4 B BE a 10 OGND 11 4 A 6 EE 11 12
73. alues shown above are for normal temperatures and humidity The values will change depending on the temperature and humidity Note 3 Leakage current for 100 VAC input Servomotors is approximately half that of the values shown above Improving Encoder Cable Noise Resistance Signals from the encoder are either A B or S phase The frequency for A or B phase signals is 76 8 kHz max while the transmission speed for S phase signals is 307 kbps Follow the wiring meth ods outlined below to improve encoder noise resistance Be sure to use dedicated encoder cables If lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition be sure to use shielded wire e Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Be sure to use cables fully extended When installing noise filters for encoder cables use ferrite cores The following table shows the rec ommended ferrite core models ESD OR 26 TDK Clamp filter ZCAT2032 0930 ZCAT3035 1330 ZCAT2035 0930A Do not wire the encoder cable in the same duct as power cables and control cables for brakes sole noids clutches and valves m Improving Control VO Signal Noise Resistance Position can be affected if control I O signals are influenced by noise Follow the methods outlined be low for the
74. aph when the rotation direction and the torque direction match it is shown as positive The regenerative energy for each section can be found by means of the following formulas Eg1 1 2 Ny Tp ty 1 027 x 1072 J Ego No Tio eto 1 027 x 1072 J Egg 1 2 No Tpo tg 1 027 x 1072 J N4 No Rotation speed at beginning of deceleration r min TD1 Tp Torque when declining kgf cm T 2 Deceleration torque kgf cm ty tg Travel time equivalent to torque when declining s to Deceleration time s Note There is some loss due to winding resistance so the actual regenerative energy will be approxi mately 90 of the figure derived by the formula The maximum regenerative energy for the Servo Driver s internal capacitors only can be found by means of the following formula Eg is the larger of Egy Ego Egg When regenerative energy is absorbed at the Servo Driver only Eg must not exceed the amount of re generative energy that can be absorbed atthe Servo Driver In addition the average regenerative pow er when a Regeneration Unit is connected can be found by means of the following formula P Egit Ego Eg3 T IW T Operation cycle s Eg must not exceed the maximum regeneration absorption capacity of the Servo Driver when only the Servo Driver is used to absorb regenerative energy When a Regeneration Unit is connected the aver age regenerative power Pi must not exceed the regeneration processing
75. as follows EC A 8 6 4 2 0 Sa EI nt nt Mt Mt BIENS NE VI VI VI 0 e F d b d f E I e Bit no to be set In the leftmost four digits 16 bits of information are displayed In the rightmost digit the bit number that can be set is displayed It can be checked whether the bit information is 0 not lit or 1 lit according to the 7 segment display vertical bar To change the set value first set the bit number in the rightmost digit and then set the appropriate bit to 0 or 1 m Setting Setup Parameters First display the setting of the setup parameter No 1 or No 2 using the procedure given above To change a setting specify the bit to be changed and then set it to 1 or 0 e Making Settings with Hand held Parameter Unit R88A PRO2U 1 Use the Right and Left Keys to display in the rightmost digit the bit number that is to be set 2 Using the Up or Down Key reverse the lit not lit status of the appropriate bit number For lit set the bit number to 1 For not lit set it to 0 3 Repeat steps 1 and 2 above as required 4 Save the data in memory by pressing the MODE SET Key or the DATA Key 5 With this the parameter setting operation is complete Pressing the DATA Key atthis point will bring back the parameter number display e Making Settings with Mounted Parameter Unit R88A PROS3U 1 Use the Up and Down Keys to display in the rig
76. ation r min Tp1 Tp Deceleration torque kgf cm t4 to Deceleration time s Note There is some loss due to winding resistance so the actual regenerative energy will be approxi mately 90 of the figure derived by the formula The maximum regenerative energy for the Servo Driver s internal capacitors only can be found by means of the following formula Eg Egi Ego J Eg is the larger of Egy and Ego When regenerative energy is absorbed at the Servo Driver only Eg must not exceed the amount of re generative energy that can be absorbed at the Servo Driver In addition the average regenerative pow er when a Regeneration Unit is connected can be found by means of the following formula Pr Egi Eg2 T IW T Operation cycle s Eg must not exceed the maximum regeneration absorption capacity of the Servo Driver when only the Servo Driver is used to absorb regenerative energy When a Regeneration Unit is connected the aver age regenerative power Pi must not exceed the regeneration processing power of the Regeneration Unit Connect an external regeneration resistor when the regeneration processing power of the Regenera tion Unit 12 W is exceeded Refer to 3 8 3 Absorption of Regenerative Energy with the External Re generation Resistor for details on external regeneration resistors 3 28 Operation Chapter 3 m Vertical Axle Motor operation Falling Motor output torque Note In the output torque gr
77. atmo No corrosive gasses sphere Vibration resistance 10 to 150 Hz in X Y and Z directions with 0 2 mm double amplitude acceleration 24 5 m s 2 5 G max time coefficient 8 min 4 sweeps Impact resistance Acceleration 98 m s 10 G max in X Y and Z directions three times Between power line terminals and case 10 MQ min 500 VDC megger Between power line terminals and case 1 500 VAC for 1 min 10 mA max at 50 60 Hz JEC 2121 Insulation grade Type B JIS C4004 Totally enclosed self cooling Protective structure Non conforming Models IP 42 JEM1030 Models Conforming to EC Directives IP 44 IEC34 5 excluding shaft opening Cannot be used in environment with water soluble cutting fluids Vibration grade V 15 JEC2121 Mounting method Flange mounting Note 1 Vibration may be amplified due to sympathetic resonance of machinery so use the Servomotor Driver under conditions which will not exceed 19 6 m s 2 G over a long period of time Note 2 The above items reflect individual evaluation testing The results may differ under compounded condi tions Note 3 The Servomotor cannot be used in a misty atmosphere Note 4 The drip proofing specifications for non conforming models are special specifications cov ered by IP 44 Models with drip proof specifications provide drip proofing on Servomotors with oil seals 5 21 Specifications Chapter 5 5 2 2 Performance Specifications m 2
78. ching data memory Servo ON OFF during jog operations Switching between parameter display and data display data memory m Types of Modes There are four types of modes for Parameter Unit displays The functions in each mode are shown inthe following table Status display mode Bit display indicating internal status via indicators Power supply ON display base block positioning completed rotation detection and command pulse input Symbol display indicating internal status via 3 digit 7 segment display Base block operating forward rotation prohibited reverse rotation prohibited alarm display Settings mode System check Jog operations alarm history data clear motor parameters check auto tuning Setting and checking setup parameters Setting and checking user parameters Monitor mode Speed feedback torque commands number of pulses from U phase electrical angle internal status bit display command pulse speed position deviation and input pulse counter Alarm history display Displays contents of alarms that have been previously generated up to a maximum mode of 10 4 3 Application Chapter 4 Changing the Mode Use the MODE SET Key to change from one mode to another Co CO Status display Power ON li mode m Settings m
79. cifications Chapter 5 100 VAC Input Servo dali Eg Models Pm R88D UEPIQL R88D UEPIZL R88D UEPISL O Continuous output current 0 P 3 1A 3 8A 4 8A Momentary max output current 10A 12A 15A 0 P PWM frequency Cable length between motor and 20 m max driver Weight approximate Approx 0 9 kg Approx 1 2 kg Approx 1 5 kg Capacity Max pulse frequency 200 kpps Position loop gain 1 to 500 1 s Electronic gear Electronic gear ratio setting range 0 01 G1 G2 100 G1 G2 1 to 65 535 Positioning completed 0 to 250 command units range Position acceleration de O to 64 0 ms The same setting is used for acceleration and deceleration celeration time constant Position command pulse TTL line driver input with photoisolation input current 6 mA at 3 V input see note Feed pulse and direction signal forward pulse and reverse pulse or 90 differen tial phase A and B phases signal set via parameter Pulse width See note Deviation counter reset TTL line driver input with photoisolation input current 6 mA at 3 V Sequence input 24 VDC 5 mA photocoupler input external power supply 12 to 24 VDC 30 mA min Position feedback output Z phase open collector output 30 VDC 20 mA 1 pulse revolution OFF on Z phase detection Sequence output Alarm output brake interlock positioning completion open collector outputs 30 VDC 50 mA External regeneration processing Required for regeneration of mor
80. d at the beginning of opera tion Some movement occurred at the beginning of opera tion Encoder lines wired incor rectly Servomotor power lines wired incorrectly Encoder lines discon nected Connector contact faulty Correct the wiring Correct the wiring Insert the connectors cor rectly 4 15 Application Alarm Error content display a c3 Encoder A B phase wire dis connection a c4 Encoder S phase wire dis connection fig a Momentary power failure alarm cpf 00 Parameter Unit transmission er ror 1 cpfol Parameter Unit transmission er ror2 C f 4 16 Condition when error oc curred Some movement occurred at the beginning of opera tion Some movement occurred at the beginning of opera tion Occurred when power was turned on Occurred while the Parame ter Unit was being used Probable cause Encoder lines discon nected Connector contact faulty Encoder lines wired incor rectly Encoder defective Servo Driver defective Encoder lines discon nected Connector contact faulty Encoder lines wired incor rectly Encoder defective Servo Driver defective A momentary power fail ure occurred The power supply was re started within the power retention period Servo Driver defective Internal element is malfunc tioning Chapter 4 Countermeasures Correct any disconnected lines Inse
81. d and the resiliency toward ex ternal force is weakened If it is set too short vibration will occur When the speed loop integration time constant is manipulated the response is as shown in the diagram below When speed loop integral time constant is short Motor speed speed monitor A N When speed loop integral time constant is long Time Parameter name Factory Setting Explanation setting range Cn 17 Torque command Oto 250 Sets torque command filter time constant filter time constant Increase the time constant to reduce os cillation and vibration due to machinery res onance frequency The filter characteristic is switched using the torque command filter time constants Cn 1A Position loop gain 1 to 500 For servo lock strength adjustment when position lock function is used Adjust to match mechanical rigidity 3 25 Operation Chapter 3 e Position Loop Gain Adjust the position loop gain according to the rigidity of the machine The responsiveness of the servo system is determined by the position loop gain When a servo system has high position loop gain the responsiveness is greater and positioning can be faster In order for position loop gain to be raised the mechanical rigidity and the characteristic frequency must be in creased For general NC machine tools the range is 50 to 70 1 s for general machinery and assembly devices it is 30 to 50 1 s for industr
82. doing so may result in a fire or Servomotor malfunction Protect the product from excessive shock Not doing so may result in a product mal function Wire the system correctly Not doing so may result in an out of control Servomotor and injury Tighten mounting screws terminal screws and cable connector screws firmly Loose screws may result in a product malfunction Use crimp terminals when wiring Connecting bare twisted wires directly to terminals may result in fires Use the power supply voltages specified in this manual Incorrect voltages may damage the product Take steps to ensure that the rated power supply voltage is maintained in locations with poor power supply conditions Improper power supply voltages may damage the product N Caution N Caution N Caution N Caution Install safety measures such as circuit breakers to protect against shorts in external wiring Insufficient safety measures may result in fires Install a safety stop on each machine Not doing so may result in an injury A brake is not considered a safety stop Install an emergency stop to shut off power to the system instantly Not doing so may result in an injury Take sufficient measures to protect the product in the following locations Insufficient protection may damage the product Locations where static electricity and other noise is generated Locations subject to strong electromagnetic or magnetic fields Locations subj
83. e The Servo Driver stores the history of the 10 most recent alarms that have been gener ated The alarm history can be displayed by going into the alarm history display mode and using the Up and Down Keys To clear the alarm history set the system check mode to 02 and press the MODE SET Key Displaying the Alarm History RA Error number Alarm history data 1 Confirm that the initial display is shown bb 2 Press the MODE SET Key to go to the alarm history display mode 3 Use the Up and Down Keys to go up and down through the error occurrence numbers and display the corresponding alarm history data The larger the error occurrence number the less recent the alarm is Clearing Alarm History Data Alarm history data initialization is executed in the system check mode The items in parentheses in the following explanation indicate operations using the Handy type Parameter Unit 2 3 4 i 5 Colin ARE eet 40 210 0 7 Indicates settings mode System check mode 16 Data CO To data display Alarm history data cleared Confirm that the initial display is shown bb Press the MODE SET Key to enter the settings mode Using the Up and Down Keys set parameter number 00 System check mode Press the DATA Key to dis
84. e and check to be sure that it agrees with the posi tive and negative on the speed display If it does not agree then the encoder signal line may be wired incorrectly 0 0 3 8 Forward rotation Reverse rotation Display example 0 0 2 5 Reverse rotation Forward rotation Note To monitor the speed feedback value press the MODE SET Key and go into monitor mode un 0 0 Then press the DATA Key If there is an error refer to Chapter 4 Application and take the necessary countermeasures Operation Chapter 3 3 3 Using Parameter Units The key operations for the Hand held R88A PRO2U Parameter Unit and the Mounted R88A PROSU Parameter Unit vary depending on the functions used 3 3 1 Parameter Unit Keys and Functions Hand held Mounted Parameter Unit Parameter Unit R88A PRO2U R88A PRO3U Alarm reset omron__ R88A PRO3U Mode switching Data memory Servo ON OFF during jog op erations Switching between parameter display and data display data memory Increments parameter num bers and data values A A g ag Decrements parameter num bers and data values Left shift for operation digits Right shift for operation digits 8 3 3 2 Modes and Changing Modes Modes OMNUC U series AC Servo Drivers have four
85. e 10336 52A0 008 5 9 Specifications Chapter 5 e Pin Arrangement Note Pin 36 is not used on models conforming to EC Directives m Control Input Interface The input circuit for the control VO connector CN1 is as shown in the following diagram External power supply 12 to 24 VDC 30 mA min 24 VIN feed pulse 14 PULS EE EE 19 Not used PULS feed pulse CW A A phase 2 ICWIA es direction 20 Not used 3 SIGN signal for 21 Not used direction CCW B ward pulse 4 SIGN signal for B phase 22 Not used CCW B ward pulse deviation B phase 5 ECRST counter re 23 Not used deviation set 6 ECRST counter re 24 Not used set Brake 7 BKIR interlock 25 Not used Positioning output 8 INP completed 26 Not used output 9 Not used 27 Not used Output 10 OGND ground 28 Not used common 11 Not used 29 Not used 12 Not used 30 Not used Control DC 13 24VIN 412 to 31 Not used Run com 24 V input Encoder 14 RUN mand in 32 Z Z phase ented ut output ncoder 3 15 MING Salndecel P 33 ZCOM Z phase out Forward put ground 16 POT rotation drive 34 ALM Alarm prohibit input Reverse output Alarm 17 NOT rotation drive 35 ALMCOM output prohibit input F
86. e becomes larger For that reason overloading may occur at low temperatures In particu lar in systems which use deceleration devices the load torque at low temperatures may be nearly twicethe load torque at normal temperatures Check with a monitor using a torque command to see whether overloading is occurring at low temperatures and how much the load torque is Likewise check to see whether there abnormal Servomotor overheating or alarms are occurring at high tem peratures An increase in load friction torque increases the apparent load inertia Therefore even if the Servo Driver parameters are adjusted at a normal temperatures Check to see whether there temperature there may not be optimal operation at low is optimal operation at low temperatures too 5 2 4 Allowable Loads on Servomotor Shafts The allowable loads on Servomotor shafts are shown in the following table Operate the Servomotor at no more than the allowable radial and thrust loads Atthe time of assembly assemble the Servomotor at no more than the momentary maximum radial and thrust loads static pressure Servomotor Momentary allowable radial load static pressure n 5 176 176 176 392 allowable thrust Allowable thrust load Allowable radial load Momentary load static pressure eN Og Ng 13 78 8 54 5 5 Note 1 The allowable loads are the same for motors with brakes Note
87. e ene 3 23 Regenerative Energy Absorption 00 ses cece Ses Ses Se ge m es 3 27 3 8 1 Calculating Regenerative Energy 0 cece eee 3 27 3 8 2 Servo Driver Absorbable Regenerative Energy 0 0 e eee eee eee ee 3 30 3 8 3 Absorption of Regenerative Energy with the External Regeneration Resistor 3 33 3 8 4 Processing Regenerative Energy with Multiple Axes Models Conforming to EC Directives esee 3 35 Table of Contents Chapter 4 Application ooo oooooooomooronrrnsorros del 4 1 Using Displays oo speed 4 2 4 1 T Display Functions ys A A AS 4 2 4 1 2 Status Display Mode iS SS SS SE n 4 4 4 1 3 Monitor Mode Un ee ES SE SS ES Se e nee ee 4 5 4 1 4 Checking Servomotor Parameters Cn 00 Set to 04 o oo oooooooommooo o o 4 6 4 2 Protective and Diagnostic Functions 0 ESE SE Se SS ee ee 4 8 4 2 1 Alarm Displays and Alarm Code Outputs 0 0 0 0 SS Se eee eee 4 8 4 2 2 Alarm Output veieren p RR re RP RR REP EE PR 4 8 4 2 3 Overload Characteristics Electron Thermal Characteristics 4 10 4 2 4 Alarm History Display Mode 2 cece eee ee 4 11 4 3 Troubleshooting nee respon a Sika ue eem PRESS Gah gia BG m EE TRE 4 12 4 4 Periodic Maintenance rion mre eteti a I HH Se see 4 17 Chapter 5 Specifications eeeeeee err Del 5 1 Servo Driver Specifications ese
88. e 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 e Noise Filters Use the following noise filters on the power supplies for the Servo Driver and brake These filters are manufactured by Okaya Electric Ind Application Rated Test voltage Insulation Leakage Attenuation current resistance current characteristic max Normal Common MHz MHz 200 V 100W SUP P5H 5A Between Between 0 6 mA 0 5 to 30 0 2to 30 Brake power supply EPR 4 terminals terminals and at 250 Vrms 1 250 Vrms case 60 Hz 200 V 200 or 400 W SUP P8H 8A 50 60 Hz 60 s 6 000 MQ min 0 6to30 0 3 to 30 100 V 100 W EPR 4 Between at 500 VDC terminals and 200 V 750 W SUP P10H 10A case 0 7 to 30 0 4 to 30 100 V 200 or 300W EPR 4 2 000 V rms 50 60 Hz 60 s The appearance of the noise filters is shown below Screw terminals are used 74 7 X 0 5 63 51 2 35 System Design and Installation Chapter 2 e Surge Killers Install surge killers for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows types of surge killers and recommended products Type Features Recommended products Diodes are relatively small devices such as relays used Use a fast recovery diode with a for loads when reset time is not an issue The reset time short reverse recovery time
89. e than 30 times the Required for regeneration motor s rotor inertia of more than 20 times the motor s rotor inertia Protective functions Overcurrent grounding overload overvoltage overspeeding runaway protection transmission errors encoder errors deviation counter overflow Note The input pulse width must be meet the following conditions H Ti Tin 2 5 us Ti Tin 5 4 Specifications Chapter 5 m 200 VAC Input Servo Drivers Models Conforming to EC Directives R88D R88D R88D R88D UEPO4V UEPO8V UEP12V UEP20V Continuous output current OP Momentary max output current 0 P 11 3A 19 7A Input power supply Single phase 200 230 VAC 170 to 253 V 50 60 Hz Control method All digital servo Speed feedback Optical encoder 1 024 pulses revolution Applicable load inertia Maximum of 30 times motor s ro Maximum of 20 times motor s ro tor inertia tor inertia nverter method PWM method based on IGBT PWM frequency 11 kHz 7 8 kHz Applicable Servomotor R88M R88M R88M R88M UE10030V S1 UE20030V S1 UE40030V S1 UE75030V S1 Applicable Servomotor wattage 750W Cable length between motor and driver 20 m max Weight approximate Approx 0 9 kg Approx 1 2 kg Approx 1 5 kg Capacity Maximum pulse frequency 200 kpps Position loop gain 1 to 500 1 s Electronic gear Electronic gear ratio setting range 0 01 G1 G2 100 G1 G2 1 to 65 535 Positioning completed range 0 to 250 command unit
90. e the status display mode Display example ef D D Set the speed loop gain Cn 04 to 20 or less Match the gain with no load Confirm the initial display shown above Press the MODE SET Key to enter the settings mode Press the Up Key to specify user parameter Cn 04 Press the DATA Key to display the setting of Cn 04 Press the Down Key to change the setting to 20 oO 0c BOND Press the DATA Key to record the new setting in memory 3 18 Operation Chapter 3 7 Press the DATA Key again to return to the parameter number display 2 Jog Operations See 3 6 2 Jog Operations Perform jog operations using the Parameter Unit and confirm the following Does the motor turn in the correct direction Is there any unusual sound or vibration Do any error occur If an error occurs refer to Chapter 4 Application for troubleshooting 8 Connect a load and auto tune See 3 7 Making Adjustments Connectthe motor shaftto the load mechanical system securely being sure to tighten screws so that they will not become loose Perform auto tuning with the Parameter Unit 4 Turning ON the Run command Input Turn ON the run command input The Servomotor will go into servo ON status Give a speed command or carry out the following check with a jogging operation 5 Low Speed Operation Operate at low speed Apply a low frequency pulse command The meaning of low speed can
91. ear Electronic gear ratio setting range 0 01 G1 G2 100 G1 G2 1 to 65 535 Positioning completed range 0 to 250 command units Position acceleration deceleration 0 to 64 0 ms The same setting is used for acceleration and decel time constant eration Input sig Position command pulse input TTL line driver input with photoisolation input current 6 mA at 3 V nals see note Feed pulse and direction signal forward pulse and reverse pulse or 90 differential phase A and B phases signal set via parameter Pulse width See note Deviation counter reset TTL line driver input with photoisolation input current 6 mA at 3 V Sequence input 24 VDC 5 mA photocoupler input external power supply 12 to 24 VDC 30 mA min Output sig Position feedback output Z phase open collector output 30 VDC 20 mA nals 1 pulse revolution OFF on Z phase detection Sequence output Alarm output brake interlock positioning completion open collector outputs 30 VDC 50 mA External regeneration processing Required for regeneration of Required for regeneration of more than 30 times the motor s more than 20 times the motor s rotor inertia rotor inertia Protective functions Overcurrent grounding overload overvoltage overspeeding run away prevention transmission errors encoder errors deviation counter overflow Note The input pulse width must meet the following conditions H Ti Tig 2 5 us Ti Tin Spe
92. ect to radioactive exposure Locations close to power lines Operation and Adjustment Precautions N Caution N Caution N Caution N Caution N Caution N Caution Confirm the settings of all parameters to be sure they are correct before starting ac tual operation Incorrect parameters may damage the product Do not make extreme changes in the settings of the product Doing so may result in unstable operation of the product and injury Confirm the operation of the motor before connecting it to the mechanical system Unexpected motor operation may result in injury If an alarm is ON remedy the cause make sure the system is safe reset the alarm and restart the system Not doing so may result in an injury The system may restart abruptly when power is resupplied after an instantaneous power failure Take safety measures to prevent accidents that may result in an injury Do notuse the built in brake of the Servomotor for normal control of the Servomotor Doing so may result in a Servomotor malfunction Maintenance and Inspection Precautions N Caution N Caution After replacing a Unit always transfer all data required for operation before attempt ing to restart operation Improper data settings may damage the product Do not disassemble or repair the product Doing so may result in an electric shock and injury Warning Labels Warning labels are pasted on the product as shown in the following illustration
93. ed forward reverse pulses feed pulses directional signals or 90 differential phase A B phases signals m Auto tuning The gain can be adjusted automatically when the responsiveness has been selected to match the rigidity of the mechanical system The auto tuning feature automatically finds the optimum adjust ment to match the load with no need for difficult operations Monitor Displays the driver s operating status on the Parameter Unit The following items can be monitored speed feedback torque commands number of pulses from the U phase edge electrical angle internal status bit display command pulse s speed position deviation and the input pulse counter m Jog Operation Forward Reverse motor operation can be controlled from the Parameter Unit 1 2 Introduction Chapter 1 m Electronic Gear Function The number of pulses used to rotate the motor is calculated by multiplying the number of command pulses by the electronic gear ratio This function is useful in the following kinds of cases When you want to finely adjust the position and speed of two lines that need to be synchronized e When you want to increase the control pulse frequency of a controller with a low pulse frequency e When you want to set the movement pulse to a certain amount such as 0 01 mm pulse The electronic gear ratio is set with parameters G1 and G2 G1 numerator and G2 denominator The setting range for parameters G1 and G2 is 1 to 65
94. ee dynamic brake ON 3 5 Setting Functions User Parameters Execute the user parameter settings in order as follows Go into settings mode 2 00 MODE SET Key Display the pertinent parameter number Direction Keys Handy type Up and Down Keys Mounted type Display the contents data of the parameter DATA Key Change the data EE EE EE ees ee Direction Keys Handy type Up and Down Keys Mounted type Save the data in memory ei EE ie MODE SET and DATA Keys 3 5 1 Setting and Checking User Parameters Cn 04 to 26 Displaying User Parameters Perform the following procedures on the Parameter Unit to display the user parameters e Displaying with Handy type R88A PRO2U 1 Press the MODE SET Key to go into settings mode cn 2 Press the Direction Keys to display the desired user parameter number Press the Right and Left Keys to select the digit to be set The digit whose value can be set will blink Press the Up and Down Keys to increment or decrement the digit 3 Press the DATA Key to display the setting of the specified parameter 4 Press the DATA Key again to return to the parameter number display Note If only the Up or Down Key is pressed at step 2 the parameter number can be set directly In this case the rightmost digit will blink The number cannot be set if the second digit the 10s digit is blinking i e blinking indicates
95. el with welded joints on the top bottom and all sides The case must be electri cally conductive When assembling the control panel remove the coating from all joints or mask the joints when coat ing to ensure electrical conductivity Besure that no gaps are created when installing the control panel as can be cause by distortion when tightening screws Be sure there are not any electrically conductive parts that are not in electrical contact Ground all Units mounted in the control panel to the panel case e Cover Structure Use a metal cover Use a water proof structure as shown in the following diagram and be sure there are no gaps Use electrically conductive packing between the cover and the case as shown in the following dia gram Remove the coating the contact points of the packing or mask the contact points when coat ing to ensure electrical conductivity 2 33 System Design and Installation Chapter 2 Besurethat no gaps are created when installing the cover as can be cause by distortion when tighten ing screws Case Cover Control panel Oil proof Conductive packing packing Oil proof packing Conductive packing a o Case inside m Selecting Components e No fuse Breakers MCCB When selecting no fuse breakers take into consideration the maximum output current and the inrush current The momentary maximum output for a servo system is approximately three time
96. eps 1 and 2 This will enable setting digits higher than the one that is blinking Use whichever meth od is faster for the number of digits that need to be set Note 2 The Down Key can be pressed when all digits higher than the blinking one are zeros to set the minimum value in the setting range Note 3 The fifth digit i e the leftmost digit cannot be made to blink by pressing the Left Key The fifth digit can be set from the fourth digit For example to set 10000 press the Left Key to make the fourth digit blink and then press the Up Key again once the fourth digit reaches 9 The fifth digit will change to 1 and the fourth digit will change to 0 e Making Settings with Mounted type R88A PRO3U 1 Using the Up and Down Keys set the data If the keys are held down the numbers will change 10 at atime If the keys are held down even longer the numbers will change 100 and then 1 000 ata time 2 Press the MODE SET Key or the DATA Key The parameter will be set and the display will blink 3 Pressing the DATA Key again will bring back the parameter number display 4 Repeat steps 1 through 4 above as required to set other parameters 3 13 Operation Chapter 3 3 5 2 User Parameter Chart Parameter name Factory Unit Setting Explanation setting range Cn 00 System check mode Refer to system check mode explanation Cn 01 Setup parameter no 1 Refer to setup parameter no 1 explanation Cn 02 Setup parame
97. er Time Constant Cn 17 This sets the low pass filter time constant for the torque command The setting range is O to 250 x 100 us and the factory setting is 4 x 100 us The relationship between the filter time constant and the cut off frequency can be found by means of the following formula fc Hz 1 2nT T Filter time constant If T 400 us fc will be approximately 400 Hz When the characteristic vibration of the machinery is within the response frequency of the servo loop Servomotor vibration will occur In order to prevent this sympathetic vibration based on the characteris tic vibration of the machinery setthe torque filter time constantto a value that will eliminate the vibration i e set it to a high value e Position Loop Gain Cn 1A Adjust the position loop gain to the rigidity of the machine Set to between 50 and 70 1 s for general NC machine tools to between 30 and 50 1 s for general and assembly machines and to 10 to 30 1 s for industrial robots Load alarms will be caused by machine oscillation if the position loop gain is increased for systems with low rigidity or systems with intrinsically low frequency vibration 5 19 Specifications Chapter 5 The setting range is 1 to 500 1 s and the factory setting is 40 1 s e Positioning Completed Range Cn 1b This sets the deviation counter value for outputting the positioning completed output INP When the deviation counter value falls be
98. erminal wire size Motor output 0 5 mm or AWG 20 AWG 20 see note to AWG 18 terminal wire size Use OMRON standard cable The applicable wire size for motor connectors is AWG22 to AWG18 Ground terminal Use 2 0 mm external ground wires Use the same wire as used for the motor output wire size Note Ifthe cable length is 15 meters or longer for a 750 W Servomotor the momentary maximum torque at rota tion speeds of 2 500 r min or higher may drop by approximately 796 e Servo Drivers with 100 VAC Input R88D UEP L RBED UEPTAL 200 W RSBD UEPISL 300 W Power supply input current R T 4 5 A Motor output current U V W 2 2A Power supply input terminal wire 0 75 mm or AWG 18 size min Motor output terminal wire size AWG 20 to AWG 18 Use OMRON standard cable The applicable wire size for motor connectors is AWG22 to AWG18 Ground terminal wire size Use 2 0 mm external ground wires Use the same wire as used for the motor output m Wire Sizes and Allowable Current The following table shows allowable currents when there are three electrical wires Use values equal to or lower than the specified values e Heat resistant Vinyl Wiring UL1007 Rated Temperature 80 C Reference Value Nominal cross Configuration Conductive Allowable current A for secuonal area wires mm resistance ambient temperature iud is 2o fos 19018 des fee 56 Jas bs hoos mo fas o 85
99. es of monitoring can be carried out Monitor no Monitor contents Speed feedback Torque command Unit r min Explanation Displays actual rotational speed of motor The command to the current loop is displayed as 100 of the rated torque Number of pulses from U phase edge The number of pulses from the U phase edge is displayed in units of encoder resolution Displays pulse number with 1 4 turn being 1024 pulses with an error of approx 5 pulses Electrical angle Degrees Displays the electrical angle of the motor Internal status bit display 1 Internal status bit display 2 Displays Servo Driver internal information as either lit or not lit Command pulse speed display r min Displays the command pulse counter converted to a fre quency r min Position deviation deviation count er Input pulse count er Pulses Command units m Operation in Monitor Mode In order to conduct monitoring first go into monitor mode and then set the monitor number and press the DATA Key The items in parentheses in the following explanation indicate operations using the Handy type Parameter Unit Displays the pulse count position deviation remaining on the deviation counter in command units based on input pulses Counts and displays the input pulses 3 DATA f 0 0 0 Monitor mode
100. f Niue CECI f Netused CEC Netused CIN Note 1 Do not change the setting of bits 1 4 to 7 9 and b to F of setup parameter no 1 Cn 01 Note 2 These parameters become effective only after power is reset Confirm that the indicators go out before turning power back on Check to see that the LED display has gone off 6 11 Supplementary Materials Chapter 6 m Setup Parameters No 2 Cn 02 Factory Explanation setting Reverse rotation mode CCW direction is taken as forward rotation CCW direction is taken as reverse rotation No used Not used Command pulse mode 5 4 3 0 0 1 EA Feed pulse and Forward reverse signal Forward rotation pulse and Reverse rotation pulse 90 phase difference A B phase signal 1X 90 phase difference A B phase signal 2X 90 phase difference A B phase signal 4X Ee EI we 5 CI EE Nee o AAA A E A CRI Deviation counter clear the deviation counter when the signal is 2 0 high level Clears the deviation counter on the rising edge of the signal b Not used Torque command filter C 0 Primary filter time constant Secondary filter o E CO e em ami Parameter Unit monitor Position deviation monitor set for 1 command output lever change Position deviation monitor set for 100 com mand FEE wued E Note 1 Do not change the settings of bits 1 2 6 to 9 b d and F of setup parameter no 2 Cn 02 Note 2 These parameters become effect
101. f a Servo Driver is always operated at the maxi mum ambient temperature of 50 C then a service life of approximately 50 000 hours can be ex pected A drop of 10 C in the ambient temperature will double the expected service life 2 15 System Design and Installation Chapter 2 e Keeping Foreign Objects Out of Units Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the Units during installation Be sure to remove the cover after installa tion is complete If the cover is left on during operation heat buildup may damage the Units Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of Servo Drivers m AC Servomotors e Operating Environment Be sure that the environment in which the Servomotor is operated meets the following conditions Ambient operating temperature 0 C to 40 C Ambient operating humidity 2096 to 8096 RH with no condensation Atmosphere No corrosive gases e Impact and Load The Servomotor is resistant to impacts of upto 10 G 98 m s Do not subject it to heavy impacts or loads during transport installation or positioning In addi tion do not hold onto the encoder cable or connec tor areas when transporting it Always use a pulley remover to remove pulleys couplings or other objects from the shaft
102. gs Make the settings for the operation setup parameters initial settings Chapter 3 section 3 4 Function Settings By means of the user parameters set the functions according to the operating conditions Chapter 3 section 3 5 Trial Operation Checkto see whether protective functions such as emergency stop and operational limits are work ing reliably Check operation at both low speed and high speed Chapter 3 section 3 6 Adjustments Execute auto tuning Manually adjust the gain as required Chapter 3 section 3 7 Operation Operation can now begin If any trouble should occur refer to Chapter 4 Applications Chapter 4 3 3 Operation Chapter 3 3 2 Turning On Power and Checking Displays 3 2 1 Items to Check Before Turning On Power m Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below R88D UEP H 200 VAC specifications Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UEP L 100 VAC specifications Single phase 100 115 VAC 85 to 127 V 50 60 Hz R88D UEPL IL V 200 VAC specifications Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UEPLILIW 100 VAC specifications Single phase 100 115 VAC 85 to 127 V 50 60 Hz Checking Terminal Block Wiring The power supply input R and T phases must be properly connected to the terminal block The Servomotor s red U white V and blue W
103. he Re generation Unit i e so that power supply is broken when the contacts open 3 34 Operation Chapter 3 3 8 4 Processing Regenerative Energy with Multiple Axes Models Conforming to EC Directives When using multiple axes the terminals on the Servo Drivers can be connected to gether and the terminals can be connected together to use regenerative energy as the drive energy for the other axes thus absorbing the energy Servo Drivers with different power supply voltages however cannot be connected Also regeneration absorption capacity will not be increased when all axes simultaneously produce regenerative ener gy m Wiring Method Example for 3 Axes z os LZ ET AA 9 AA 2 lo CR A z c gt LAA OF Lx oy Sr py 22 N A hol Ll TES YES 7 D O FIT AS Note 1 Do not open or close the connections between the or terminals while power is being sup plied The Units may be destroyed Note 2 Do not connect Servo Drivers that are using different power supply voltages The Units may be destroyed Regeneration absorption capacity will not be increased when all axes simultaneously produce regen erative energy Take one or more of the following methods if this occurs Reduce the number of rotations being used Regenerative energy is directly proportional to the square of the number of rotations Increase the deceleration time This will reduce the regenerative energy per unit time
104. htmost digit the bit number that is to be set 2 Using the MODE SET Key reverse the lit not lit status of the appropriate bit number For lit set the bit number to 1 For not lit set it to 0 3 9 Operation Chapter 3 3 Repeat steps 1 and 2 above as required 4 Save the data in memory by pressing the DATA Key 5 With this the parameter setting operation is complete Pressing the DATA Key atthis point will bring back the parameter number display 3 4 2 Setup Parameter Contents Cn 01 and Cn 02 m Setup Parameter No 1 Cn 01 Factory Setting Explanation setting Sequence input sig Servo turned ON or OFF by Run command externally input nal switching Servo always ON Not used Enables forward drive prohibit input POT Permits always forward drive Enables reverse drive prohibit input NOT Permits always reverse drive Not used Not used Not used Not used The dynamic brake decelerates to stop the Servomotor at the time of overtraveling The maximum torque decelerates to stop the Servomotor at the time of overtraveling Not used Deviation counter Clear counter for alarms occurring while Servo is OFF with Servo OFF Do not clear counter for alarms occurring while Servo is OFF Not used Not used Not used Not used Not used Note 1 Do not VET the settings of bits 1 4 through 7 9 or b through F of setup parameter 1 Cn 01 Note 2 These parameters become effective only
105. ial robots it is 10 to 30 1 s The factory setting for position loop gain is 40 1 s so it should be lowered for systems with low rigidity Ifa system has low rigidity or low characteristic frequency increasing the position loop gain sympathetic vibration of machinery will occur and an alarm will be generated Position loop gain is generally expressed as follows Instruction command frequency pulses s Position loop gain Kp 1 s Deviation counter s residual pulse amount pulses The response is as shown in the following diagram when the position loop gain is manipulated High position loop gain md gn p pg Motor speed Low position loop gain Time Parameter name Factory Setting Explanation setting range Cn 1b Positioning comple O to 250 Sets the range for the positioning comple tion signal output Generally set according to the precision required by the system Increasing the positioning completion range too much can cause the positioning completion output to turn ON during low speed operation or other times when there are few residual pulses e Feed forward Amount The feed forward amount is effective when the position loop gain is set to less than 25 l s It will not be very effective when the position loop gain is higher than 25 l s Increasing the feed forward amount to much will cause excessive overshooting The feed forward amount is not sent through the deviation counter but
106. ically set to Servo ON MING Gain deceleration input ON Decrease speed loop gain 16 POT Forward drive prohibit in Forward rotation overtravel input OFF when prohib put ited When setup parameter Cn 01 bit no 2 1 this signal is not used Reverse drive prohibit in Reverse rotation overtravel input OFF when prohib put ited When setup parameter Cn 01 bit no 3 1 this signal is not used ON Servo alarm status is reset Do not connect 5 8 Specifications Chapter 5 e CN1 Control Output Pin No Signalname Function comms 7 BKIR Brake interlock output Outputs external brake interlock signal 8 INP Positioning competed out Turned ON when the pulse count remaining in the put deviation counter is equal to or less than the posi tioning completed range set in user parameter Cn 1b 9 Do not connect 10 OGND Output ground common Output ground common for BKIR VCMP INP TGON CLIMT CAM NC Cn CENE e ee AA EI al Encoder Z phase output 1 pulse revolution OFF ZCOM Encoder Z phase output When Z phase is detected When an alarm is generated for the Servo Driver ma ml a Note Pin 36 is not used on models conforming to EC Directives Instead connect the cable shield to the connector plug and ground it directly using a clamp e Connectors Used 36P Nippon Amp Receptacle at Servo Driver 178239 5 Sumitomo 3M Soldered plug at cable side 10136 3000VE Case at cable sid
107. icator LED Specifications Specifications POWER Lit while power flows between P and N terminals REGEN Lit during regeneration operation ALARM REGEN Lit for regeneration resistance disconnection or regeneration transistor damage ALARM OV Lit when overvoltage occurs Note 1 When the error detection function operates an alarm is output from the Unit Note 2 Create a sequence so that the power supply R T to the Servo Driver is cut off when an alarm is generated Note 3 Whenthe error detection function operates and the Servo Driver s power supply is cut off the Regeneration Unit won t be restored to its normal status until 2 to 3 seconds have elapsed even if the power supply is turned on again Normal status is restored after the electrolytic capacitor in the Servo Driver has been discharged and the voltage between P and N drops Note 4 The Regeneration Unit does not conform to EC Directives 5 39 Specifications Chapter 5 5 6 Front mounting Bracket Specifications The Front surface Mounting Brackets R88A TKO1U TKO2U are used to mount a Ser vo Driver from the front surface The model of the Bracket depends on the model of the Servo Driver These Mounting Brackets cannot be used with models conforming to EC Directives Combinations Front surface Mounting Bracket Model Supply voltage Power n R88D UEP04H 200 V 100 W R88A TKO1U R88D UEPOBH UEPO8H 20W W RD EN UEP12H 40W ME
108. ission data This is the send data line driver output to the Parameter Unit or a personal computer Reception data This is the send data line driver input from the Parameter Unit or a personal computer Reception data Unit switching This is the switching terminal for a Parameter Unit or personal computer If the pin is open it is for a personal computer If connected to 5V it is for a Parameter Unit This is the termination resistance terminal for the line receiver For 1 to 1 communications or for the final Servo Driver short circuit RT1 RT2 This is the 5 V output to the Parameter Unit Termination resistance enabled disabled 5 V output Ground e Pin Arrangement Transmission 1 TXD data 4 6 RT1 o Termination 2 TXD Transmission resistance data on off 7 RT2 3 Rxp Reception data 8 5V 5 V output Reception 4 RXD data 9 GND Ground Unit 5 PRMU switching e Connectors Used D sub Connector 9 Pin Dai ichi Denshi Kogyo Socket at Servo Driver Soldered plug at cable side 17LE 13090 27 D2BC 17JE 23090 02 D1 Cover at cable side 17JE 09H 15 OMRON Soldered plug at cable side XM2A 0901 Cover at cable side XM2S 0912 m CN4 Not Used 5 18 Specifications Chapter 5 5 1 4 Explanation of User Parameters Refer to 3 4 2 Setup Parameter Contents and 3 5 2 User Parameter Chart for a table
109. itions 20 C 65 The maximum momentary torque is a reference value e AC Servomotor Heat Radiation Conditions When an AC Servomotor is continuously operated at the rated conditions a heat radiation plate equiva lent to an rectangular aluminum plate of t6 x 250 mm is required at the Servomotor flange mounting area This is for horizontal mounting with nothing around the Servomotor and no interference from heat convection currents 5 23 Specifications Chapter 5 m Specifications for Servomotors with Magnetic Brakes The magnetic brakes installed in Servomotors with brakes are status holding brakes with non magnetized operation The magnetic brake is released when a magnetic cur rent 24 VDO is applied The magnetic brake is not meantto be used for braking Using it for braking will damage it During Servomotor operation be sure to release the magnetic brake by applying a magnetic voltage The specifications for Servomotors with brakes are similarto those for Servomotors without brakes so except for inertia and weight the various constants are all the s ame The inertia for magnetic brakes is the load inertia Use a separate power supply for the magnetic brake excitation power e Specifications for AC Servomotors With Brakes Specifications in Common for 100 and 200 VAC R88M UE10030 0 40 x 1075 kgem G D 4 Rotor inertia R88M R88M BS1 UE30030 UE20030
110. ive only after power is reset Confirm that the indicators go out before turning power back on Check to see that the LED display has gone off 6 12
111. kage Breakers Select leakage breakers designed for inverters Since switching operations take place inside the Servo Driver high frequency current leaks from the armature of the Servomotor With inverter leakage breakers high frequency current is not detected preventing the breaker from operating due to leakage current When selecting leakage breakers also remember to add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on For detailed information about the selection methods of leakage breakers refer to catalogs provided by manufacturers The following table shows the Servomotor leakage currents for each Servo Driver Driver Leakage current direct Leakage current resistor capacitor including high frequency current in commercial power supply fre quency range R88D UEPO4V to 3 mA UEPO8V R88D UEP12V 60 mA 4mA R88D UEP20V 110 mA 5 mA 2 36 System Design and Installation Chapter 2 Note 1 Leakage current values shown above are for motor power lines of 10 m or less The values will change depending on the length of power cables and the insulation Note 2 Leakage current values shown above are for normal temperatures and humidity The values will change depending on the temperature and humidity Note 3 Leakage current for 100 VAC input Servomotors is approximately half that of the values shown above Improving
112. ll of the regenerative energy Remove the short bar from be tween the RG and JP terminals on the Regeneration Unit and connect the resistor be tween the P and RG terminals Connecting to the wrong terminals may destroy the Re generation Unit so connect the resistor carefully The Regeneration Unit does not con form to EC Directives The external regeneration resistor will heat to approximately 120 C Do not install it near devices or wiring that is sensitive to heat Install heat radiation plates suitable to the radi ation conditions m External Regeneration Resistors e Models Resistance Nominal Regeneration Heat Thermal switch capacity absorption at radiation output specifications 120 C conditions R88A RR22047S 47Q 5 220 W 70 W t1 0 x 350 Operating SPCC temperature 170 C N C contact 3 33 Operation Chapter 3 e Combining External Regeneration Resistors Doe Regeneration absorption capacity ow T Combining external regeneration A pan resistors R Note Use a combination with an absorption capacity larger than the average regenerative power P e Dimensions Unit mm Thermal switch output Wiring External Regeneration Resistors Remove the short bar from between the RG and JP terminals on the Regeneration Unit and connect the resistor s between the P and RG terminals Short bar Note The thermal switch output must be connected in the same way as the ALM output from t
113. low this setting the positioning completed output turns ON The setting range is O to 250 command units and the factory setting is 3 command units e Electronic Gear Ratio G1 Numerator Cn 24 Electronic Gear Ratio G2 Denominator Cn 25 The motor will be operated by the pulses resulting from the number of command pulses multiplied by the gear ratio G1 G2 The setting range for both G1 and G2 is 65 535 and the settings are restricted as follows 1 100 G1 G2 100 The factory setting is G1 24 G2 1 i e an electronic gear ratio of 4 1 At the factory setting inputting 1 024 pulses will cause one Servomotor revolution e Position Command Acceleration Deceleration Time Constant Cn 26 This executes smoothing processing on command pulses for Servomotor operation It is valid in the following cases There is no acceleration or deceleration for command pulses The command pulse frequency changes suddenly The electronic gear ratio setting is large G1 G2 10 The setting range is O to 640 x 0 1 ms and the factory setting is O x 0 1 ms 5 20 Specifications Chapter 5 5 2 Servomotor Specifications 5 2 1 General Specifications Rem Specifications Operating ambient temperature 0 C to 40 C Operating ambient humidity 2096 to 80 RH with no condensation Storage ambient temperature 10 C to 75 C Storage ambient humidity 20 to 85 RH with no condensation Storage and operating
114. lowable range The load inertia is too large The power supply voltage is outside of the allowable range Regeneration Unit error Gravity torque is too large The rotational speed ex ceeded 4 950 r min due to overshooting Encoder is wired incorrectly Operating at more than 12096 of the rated torque Chapter 4 Countermeasures The supply voltage must be 170 to 253 VAC when 200 VAC is specified The supply voltage must be 85 to 127 VAC when 100 VAC is specified Lengthen the deceleration time Reset the motor The supply voltage must be 170 to 253 VAC when 200 VAC is specified The supply voltage must be 85 to 127 VAC when 100 VAC is specified Replace the Regeneration Unit Add a counterbalance to the machine and reduce the gravity torque Reduce the lowering speed Connect a Regeneration Unit Adjust the gain Lower the maximum speed of the command Correct the wiring f the Servomotor shaft is locked unlock it f Servomotor power lines are incorrectly wired cor rect them Lighten the load Lengthen the acceleration time Adjust the gain Power supply voltage dropped The supply voltage must be 170 to 253 VAC when 200 VAC is specified The supply voltage must be 85 to 127 VAC when 100 VAC is specified Overload Runaway de tected Phase error de tected a5l a 10 a cl C2 Some movement occurre
115. lter with a through type capacitor e Noise Filters for Motor Output Use noise filters without built in capacitors on the Servomotor output lines Output lines cannot use the same noise filters as the power supply General purpose noise filters are made for a power supply fre quency of 50 60 Hz ifthey are connected to an output of 7 8to 11 kHz the Servo Driver PWM frequen cy an extremely large leakage current approx 100 times normal will flow to the capacitor in the noise filter The following table shows the noise filters that are recommended for motor output Rated Remarks current LF 310KA Three phase block noise filter LF 320KA ESD R 47B EMI core for radiation noise Fuji Electrochemical Co RN80UD 10 turn for radiation noise Note 1 The Servomotor output lines cannot use the same noise filters used for power supplies Note 2 Typical noise filters are used with power supply frequencies of 50 60 Hz If these noise filters are connected to outputs of 7 8 to 11 KHz the Servo Driver s PWM frequency a very large about 100 times larger leakage current will flow through the noise filter s condenser and the Servo Driver could be damaged 2 24 System Desien and Installation Chapter 2 e Surge Killers Install surge killers for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows types of surge killers and recommended products Type Feature
116. m input current and the inrush current The momentary maximum output for a servo system is approximately three times that of the rated output and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 30096 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable Refer to the table in 2 2 3 Terminal Block Wiring for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers etc to make the selection The Servo Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take into consideration the entire inrush current for the system e Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting surge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance For 200 VAC systems use a varistor voltage of 470 V The surge absorbers shown in the following table are recommended Varistor Max limit Surge Energy Fuse Type voltage voltage immunity resistance capacity Matsushita 775 V 1 250 A Disk un psv aso ws EE 775 V 2 500 A 80 J 3to 10A 775 V 4 000 A 150 J 510
117. malfunction Use crimp terminals when wiring Connecting bare twisted wires directly to terminals may result in fires Use the power supply voltages specified in this manual Incorrect voltages may damage the product Take steps to ensure that the rated power supply voltage is maintained in locations with poor power supply conditions Improper power supply voltages may damage the product Install safety measures such as circuit breakers to protect against shorts in external wiring Insufficient safety measures may result in fires Install a safety stop on each machine Not doing so may result in an injury A brake is not considered a safety stop Install an emergency stop to shut off power to the system instantly Not doing so may result in an injury Take sufficient measures to protect the product in the following locations Insufficient protection may damage the product Locations where static electricity and other noise is generated Locations subject to strong electromagnetic or magnetic fields Locations subject to radioactive exposure Locations close to power lines System Design and Installation Chapter 2 2 1 Installation 2 1 1 External Dimensions Unit mm m AC Servo Drivers Non conforming Models e R88D UEPO4H UEPOSH 200 VAC 100 200 W R88D UEP10L 100 VAC 100 W Installation dimensions s i 44 KX ia Three M4 _
118. mit B oo Jig RESET U white wer Cable EN Emergency stop 3 A 35 ALMCOM V Blue LY External interrupt B ma 34 ALM Ww Green ms Origin 4 24 VDC Salk w Origin proximity B ith u Local 5 A bod Ready Bl CN2 5 SVDC RE 5 VDC 8 te T b E B The 1 HOW R88A CRUOOOC 2 peo LE tl LA 2 cw Encoder Cable 3 ow 9 Bam o 3 CCW ASE ad A 4 CCW amp cow 10 5 rr 5 ECRST oo l6 ECRST esc Shel FG R88A CPU General purpose Cable i Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 ERB44 02 diodes by Fuji Electric or equivalent are recommended for surge absorption Note 4 When using a3G2A5 NC111 EV1 Position Control Unit origin search is carried out according to the origin and origin proximity inputs Set the origin and origin proximity for the mechanical system Even after the 3G2A5 NC111 EV1 completes the origin search and pulses are stopped pulses are still accumulated in the deviation counter in the Servo Driver The Servo motor will move for the amount of residual pulses and then stop so there may be a discrepan Cy with the origin In order to minimize the amount of the discrepancy set the origin search proximity speed as low as possible Note 5 Use the RUN signal to set whether the Servo can be turned ON OFF Note 6 Class 3 grounds must be to 100 or less 6 6 Supplementar
119. mpleted output ON INP OFF Brake interlock output ON BKIR OFF 25to35ms i 6ms Run command input ON RUN OFF Alarm reset input ON i RESET opp MEEN EMEN t Approx 10s R88D UEPO4H UEPO8H UEP12H R88D UEP10L UEP12L R88D UEPOAV UEPO8V UEP12V R88D UEP10W UEP12W Approx 15 s R88D UEP20H UEP15L R88D UEP20V UEP15W e Brake Interlock 7 BKIR This outputs the external brake timing signal set in Cn 12 Refer to 3 5 4 Brake Interlock For Motors with Brakes for details e Positioning Completed Output 8 INP This output is turned ON when the pulse count remaining on the deviation counter is less than the posi tioning completed range set in user parameter Cn 1b If the command speed is low and the positioning completed range is large the positioning completed output will remain ON 5 14 Specifications Chapter 5 e Alarm Output Alarm Output Ground 34 35 ALM ALMCOM When the Servo Driver detects an error outputs are turned OFF At that time an alarm code see below is output according to the contents of the error This output is OFF atthe time of powering up and turns ON when the power up processing is completed e Encoder Z phase Output 32 and 33 Z and ZCOM The encoder Z phase signal is output from the Servomotor The output i e 20 mA open collector out put at 30 VDO is OFF when the Z phase is detected 5 15 Specifications Chapter 5 m Control I O Signal Connections and Extern
120. mum current is approxi mately twice the rated current The following table shows the recommended contactors Momentary maxi Model Rated current mum current v2 0 10 JANES SA LC1 D093A60 11A 200A 24 VDC 200 220 VAC 200 to 240 VAC e Leakage Breakers Select leakage breakers designed for inverters Since switching operations take place inside the Servo Driver high frequency current leaks from the armature of the Servomotor With inverter leakage break ers high frequency current is not detected preventing the breaker from operating due to leakage cur rent Another way to prevent leakage current from being detected is to install an insulating transformer When selecting leakage breakers remember to also add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on The following table shows the Servomotor leakage currents for each Servo Driver Coil voltage Driver Leakage current direct including high frequency current Leakage current resistor capaci tor in commercial power supply frequency range R88D UEPOAH to UEPO8H 80 mA 3 mA RGBD UEP 2H 50 mA RBSD UEP2OH TOMA 2 25 System Design and Installation Chapter 2 Note 1 Leakage current values shown above are for motor power lines of 10 m or less The values will change depending on the length of power cables and the insulation Note 2 Leakage current v
121. ncoder adapter Motor plug Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 Four 7 dia Four R8 2 16h6 dia 70h7 dia System Design and Installation Chapter 2 m AC Servomotors Conforming to EC Directives e 100 W Standard Models R88M UE10030V S1 R88M UE10030W S1 300 30 Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 8h6 dia 1 8 icc 1 mw 3 e 100 W Models with Brake R88M UE10030V BS1 R88M UE10030W BS1 _ Four R3 7 The key groove is in accordance with 800430 Shaft Edge Dimension JIS B1301 1976 8h6 dia Two 4 3 dia 2 12 System Design and Installation Chapter 2 e 200 W 300 W 400 W Standard Models R88M UE20030V S1 R88M UE40030V S1 R88M UE20030W S1 R88M UE30030W S1 300430 Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 Four 14h6 dia 5 5 dia Four R5 3 14h6 dia ss SS SS SS Sy il SS OSOS OSOS SS EI e 200 W 300 W 400 W Models with Brake R88M UE20030V BS1 R88M UE40030V BS1 R88M UE20030W BS1 R88M UE30030W BS1 Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 300430 14h6 dia 14h6 dia Four R5 3 SS EERE OSOS SS OSOS SS SS OSOS OSI OS Standard Model
122. ng completion range Command 0 to 250 Electronic gear ratio G1 numerator 1 to 65 535 see note 2 Electronic gear ratio G2 denominator 1 to 65 535 see note 2 Position command acceleration decel j 0 to 640 eration time constant Note 1 Cn 04 speed loop gain is factory set for three times the load inertia Therefore if the load inertia is extremely small some oscillation may occur If it does then lower Cn 04 to 20 or less Note 2 Afterthe settings Cn 24 Electronic gear ratio G1 numerator or Cn 25 Electronic gear ratio G2 denominator have been made they become effective when the power is turned on again after having been cut off Check to see that the LED display has gone off 6 10 Supplementary Materials Chapter 6 m Setup Parameters No 1 Cn 01 Fact Explanatio BN ug A Sequence input Servo turned ON or OFF by Run command exter signal switching nally input 1 Servo always ON Permits always forward drive jo Enables reverse drive prohibit input NOT CIN eue always reverse drive MES used EE Pe Emergency stop GEE the motor using a dynamic brake for overtra selection vel E Stops the motor using maximum torque for overtra vel 9 p f Posa Deviation Clears the counter when the servo shuts off or when 2 0 counter with an error occur Servo OFF Does not clear the counter when the servo shuts off or when an error occur SE eee f Niue CECI
123. nge surface If Make moveable the flange is mounted with rubber packing the motor flange may separate due to the tightening strength When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to be placed on the motor shaft due to belt tension If an excessive radial load is ap plied the motor shaft may be damaged Set upthe structure so thatthe radialload can be adjusted A large radial load may also be applied as a result of belt vibration Attach a brace and adjust Servo Driver gain so that belt vibration is minimized Pulley Belt Tension Motor shaft Load shaft Make adjustable e Water and Drip Resistance The Servomotor does not have a water proof structure Except for the connector areas the protec tive structure is covered by the following JEM The Japan Electrical Manufacturers Association standards Non conforming Models IP 42 EC Directive Models IP 44 except shaft penetration point e Ifthe Servomotor is used in an environment in which condensation occurs water may enter inside of the encoder from the end surfaces of cables due to motor temperature changes Either take mea sures to ensure that water cannot penetrate in this way or use water proof connectors Even when machinery is not in use water penetration can be avoided b
124. ngs 20 000 hours Application Conditions Ambient motor operating temperature of 40 C within allowable shaft load rated operation rated torque and r m installed as described in operation manual The radial loads during operation rotation on timing pulleys and other components contacting belts is twice the still load Consult with the belt and pulley manufacturers and adjust designs and system set tings so thatthe allowable shaft load is not exceeded even during operation If a motor is used under a shaft load exceeding the allowable limit the motor shaft can break the bearings can burn out and other problems can occur m Servo Driver and Regeneration Units Recommended Periodic Maintenance Aluminum analytical capacitors 50 000 hours Application Conditions Ambient driver regeneration unit operating temperature of 50 C rated op eration rated torque installed as described in operation manual The life of aluminum analytical capacitors is greatly affected by the ambient operating temperature Generally speaking an increase of 10 C in the ambient operating temperature will reduce capacitor life by 5096 We recommend that ambient operating temperature be lowered and the power supply time be reduced as much as possible to lengthen the maintenance times for Servo Drivers and Regen eration Units It is recommended that the Servo Driver and Regeneration Unit be inspected at five year intervals if they are used under conditio
125. nnected together and the terminals can be connected together to increase the regeneration absorption capacity U Servomotor U These are the terminals for outputs to the Servomotor phase output V Servomotor V White phase output W Servomotor W Blue phase output terminal ter ground 5 7 Specifications Chapter 5 CN1 Control I O Specifications e CN1 Control Input HmNe Sgnimme Fumion Contents PULS CW A Feed pulse reverse pulse Line driver input 6 mA at 3V 90 differential phase Open collector input 15 mA at 5V PULS CW A CW A pulse A phase Switched between feed pulse and direction signal SIGN Direction signal forward reverse pulse and forward pulse and 90 differential CCW B pulse 90 differential phase pulse A and B phases using bits 3 4 and 5 SIGN phase pulse B phase of the Cn 02 setup parameter CCW B Maximum frequency 200 kpps ECRST Deviation counter reset Line driver input 6 mA at 3V ON Disables command input and resets deviation counter Operation can be switched between a status signal high level and a differential signal rising edge us ing bit A in setup parameter Cn 02 BEE 13 24VIN 12 to 24 V power supply Power supply for pin nos 14 15 16 17 18 12 to input for control DC 24 V input 14 RUN Run command input ON Servo ON when setup parameter Cn 01 bit no 0 0 When setup parameter Cn 01 bit no 0 1 this sig nal is not used Automat
126. ns method Baud rate Start bits Data Parity Stop bits Errors detected by Parameter Unit 5 38 63 x 135 x 18 5 W x H x D RS 232C Asynchronous ASYNC 2 400 bps 1 bit 8 bits None 1 bit 54 x 57 5 x 15 W x H x D RS 422A Display CPFOO Cannot transmit even after 5 seconds have elapsed since power supply was turned on CPFO1 A BCC error or faulty reception data has occurred for five consecutive times or a time overrun 1 s has occurred for three consecutive times Specifications Chapter 5 5 5 Regeneration Unit Specifications R88A RGO8UA Regeneration Unit e General Specifications en Sedes Operating ambient temperature O C to 55 C Storage ambient temperature 10 C to 75 C Operating ambient humidity 35 to 85 RH with no condensation Storage ambient humidity 35 to 85 RH with no condensation Storage and operating No corrosive gasses atmosphere Vibration resistance 4 9 m s 0 5 G max Impact resistance Acceleration 19 6 m s 2 G max e Performance Specifications Mode BARBA Externally connected regeneration 47 Q 5 resistance Error detection function Regeneration resistance disconnection regeneration transistor damage overvoltage Alarm output SPST NC contact open contact at time of protective function operation 200 VAC drive possible External dimensions 55 x 160 x 130 W x H x D e Ind
127. ns worse than the above or not used over a long time of time Contact your OMRON representative for inspection and the necessity of any component replacement 4 17 Tl in Im Chapter 5 Specifications 5 1 Servo Driver Specifications 5 2 Servomotor Specifications 5 3 Cable Specifications 5 4 Parameter Unit Specifications 5 5 Regeneration Unit Specifications 5 6 Front mounting Bracket Specifications Specifications Chapter 5 5 1 Servo Driver Specifications 5 1 1 General Specifications Ooo oema Specifications O O O O S Operating ambient temperature 0 C to 50 C Operating ambient humidity 35 to 85 RH with no condensation Storage ambient temperature 10 C to 75 C Storage ambient humidity 35 to 85 RH with no condensation Storage and operating atmo No corrosive gasses sphere Vibration resistance 10 to 55 Hz in X Y and Z directions with 0 10 mm double amplitude acceleration 4 9 m s 0 5 G max time coefficient 8 min 4 sweeps Impact resistance Acceleration 19 6 m s 2 G max in X Y and Z directions three times Insulation resistance Between power line terminals and case 5 MQ min at 1 000 VDC Dielectric strength Non conforming Models Between power line terminals and case 1 000 VAC for 1 min 20 mA max at 50 60 Hz Models Conforming to EC Directives Between power line terminals and case 1 500 VAC for 1 min at 50 60 Hz Protective structure Built into panel
128. nt are recommended for surge absorption Note 6 Use the RUN signal to set whether the Servo can be turned ON OFF Note 7 Class 3 grounds must be to 100 or less Note 8 The Servo Relay Unit and Cables for the R88D UP cannot be used 6 2 Supplementary Materials Chapter 6 m Connecting to SYSMAC C200H NC112 Position Control Unit with 24 VDC Power Supply MOCB Main circuit power supply MC ua EN 5 HL MO Main ruit contact 100 115 VAC 50 60 Hz Xt R88D UEPLIDH 2 MEC ud i 200 230 VAC 50 60 Hz 2 ee PO i wok x1 NC EN TO Ne OO l Class 3 ground R88D UEP AC Servomotor Driver C200H NC112 gt TB Contents Terminal CN 1 R A Ne or MS T HI R88M UEODOOOOO Output power supply input 24 VDC 4 A Fa p Connect external Regen AC Servomotor PA AA eiae B 24 VDC eration Unit as required A l l N 5 R88A CAUOOOS MERE EE AMEN AN pele U Power Cable N Output power supply input 5 VDC B V nte yo 3 CCW with resistance 3 A XX s z e Ww e HS MJ 3 COW without resistanos
129. ode Monitor mode Alarm history display mode Display example bb cn 00 un 00 0 a02 T g 4 1 2 Status Display Mode The status display mode is entered when powering up or by means of the MODE SET Key In the status display mode Servo Driver status is displayed in two ways bit data and symbols These displays are shown in the following illustration Rotation detected Current limit detected Positioning completed it E Base block al D D e A Command pulse input Power supply ON Bit data display Symbol display m Bit Data Display Contents Power supply ON Lit when Servo Driver power supply is ON Base block Lit during base block no power to motor dimmed when servo is ON Positioning completed Lit when the pulse count remaining on the deviation counter is equal to or less than the positioning completed range set in Cn 1b Rotation detection Lit when the motor rotational speed is 20 r min or higher Command pulse input Lit when the specified command pulse is being input m Symbol Display Contents Symbol display bb Base block no power to motor Forward rotation prohibited Reverse rotation prohibited ano0 Al Alarm display Refer to alarm table 4 4 Application Chapter 4 4 1 3 Monitor Mode Un Types of Monitoring In monitor mode nine typ
130. oise filter on the primary side of the control power supply For speed and torque command input lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground e If the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the Servo Driver input section and the controller output section For encoder output Z phase lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground 2 37 System Design and Installation Chapter 2 2 3 4 Peripheral Device Connection Examples Connecting to Peripheral Devices R T Single phase 200 230 VAC 50 60 Hz R88D UEPLILIV 2 Single phase 100 115 VAC 50 60 Hz R88D UEPLILW 9 7 76 MCCB 1 2 Noise filter E Mn Main circuit E power supply ON Main circuit connector OFF L NS Class 3 ground ele o0 ne 1MC X Surge killer X Poy ee PL Servo error display La 1MC T oa a R88A CAU001 O amp OMNUC U series UE model CAUO1B OMNUC U series UE model AC Servo Driver we Power Cable AC Servomotor TREA EN
131. olarity on these lines Power supply The commercial power supply input terminals for the main circuit and the input control circuitry The power supply voltage depends on the model being used R88D UEPL IL H Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UEPLILIL Single phase 100 115 VAC 85 to 127 V 50 60 Hz Main circuit DC The terminals for connecting Regeneration Units R88A RGO8UA Connect output these terminals when there is a high level of regenerative energy See note Motor connection Red These are the output terminals to the Servomotor Be careful to wire terminals them correctly Frame ground The ground terminal for both the motor output and power supply in put Ground to a class 3 ground to 100 Q or less or better Note Refer to 3 8 Hegenerative Energy Absorption for a method to calculate regeneration energy 2 20 System Design and Installation Chapter 2 m Terminal Block Current and Wire Sizes The following table shows the rated effective currents flowing to the Servo Driver and the sizes of the electrical wires e Servo Drivers with 200 VAC Input R88D UEP H Driver Watts R88D UEPOAH 100 W R88D UEPOSH 200 W R88D UEP12H 400 W Power supply input 2 5 A 4 0A 6 0A 11 0A current R T Motor output cur 0 87 A 2 0A 2 6A 4 4A rent U V W Power supply input 0 75 mm or AWG 18 min 1 25 mm t
132. one is shown in the diagrams below If a Servo Driver is operated outside of this range a Regeneration Unit must be connected These diagrams show the applicable range for the horizontal shaft If an exter nal force acts in the same direction as the Servomotor rotation due to factors such as the fall time on the vertical shaft be sure to measure the regenerative energy and check to see that the amount that can be absorbed is not exceeded e R88D UEPO4H UEPO4V 100 W R88D UEP10L UEP10W 100 W Applicable load inertia x10 4kgem 100W 1 2 x 10 4kgem2 1000 2000 3000 4500 Rotational speed r min 3 31 Operation Chapter 3 e R88D UEPO8H UEPOSV 200 W R88D UEP12L UEP12W 200 W Applicable load inertia x10 4kgem 5 0 401 200W 3 69 x 10 4kgem 1000 2000 3000 4500 Rotational speed r min e R88D UEP12H UEP12V 400 W R88D UEP15L UEP15W 300 W Applicable load inertia x107 kgem 5 0 4 0 7 300 400W 3 8 x 10 4kg m In ue Ad UEP15L 3 0 UEP15W UEP12H 1 9 2 0 UEP12V 1 0 0 1000 2000 3000 4500 Rotational speed r min 3 32 Operation Chapter 3 e R88D UEP20H UEP20V 750 W Applicable load inertia x1074kgem 700W 13 4 x 10 k 1000 2000 3000 4500 Rotational speed r min 3 8 3 Absorption of Regenerative Energy with the External Regeneration Resistor Connect one or more external regeneration resistors when a Regeneration Unit R88A RGO8UA cannot absorb a
133. operating modes as described in the following table For example the Settings Mode is used to set parameters Mode Function Status display mode Bit display indicating internal status via indicators Power supply ON display base block positioning completion and rotation detection command pulse input Symbol display indicating internal status via 3 digit 7 segment display Base block operating forward rotation prohibited reverse rotation prohibited alarm display System check Jog operations alarm history data clear motor parameters check auto tuning Setting and checking setup parameters Setting and checking user parameters Speed feedback torque commands number of pulses from U phase electrical angle internal status bit display command pulse speed display position deviation input pulse counter Settings mode Monitor mode Alarm history display mode 3 6 Displays contents of alarms that have been previously generated up to a maximum of 10 Operation Changing Modes To change modes press the MODE SET Key Chapter 3 Power ON li Display example C2 Co Co Status displa y f Alarm histor mode pay Settings mode Monitor mode display dU bb cn 00 un 00 0 a02 3 7 Operation Chapter 3 3 3 3 Mode Changes and Display Contents Power ON Bit
134. or wiring and make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease No fuse breakers MCCB surge absorbers and noise filters NF should be positioned near the input terminal block ground plate and I O lines should be isolated and wired using the shortest means possible 2 32 System Design and Installation Chapter 2 Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control panel whenever possible Good Separate input and output NO Noise not filtered effectively AR 3 1 3 AC input NF E AC output ACinput NF 2 4 E 2 4 Ground Ground AC output Use twisted pair cables for the power supply cables whenever possible or bind the cables L1 L1 Driver or Lo t Driver L2 Yt E Binding Separate power supply cables and signal cables when wiring m Control Panel Structure Any gaps in the cable entrances mounting screws cover or other parts of a control panel can allow electric waves to leak from or enter the control panel The items described in this section must be abided by in panel design and selection to ensure that electric waves cannot leak or enter the control panel e Case Structure Useametal control pan
135. plate of t6 x 250 mm is required at the Servomotor flange mounting area This is for horizontal mounting with nothing around the Servomotor and no interference from heat convection currents 5 22 Specifications Chapter 5 m 100 VAC Servomotors NENNEN i Rated output see note Rated torque see note Nem kgfecm Rated rotational speed R88M UE10030L S1 UE10030W S1 100 0 318 3 25 R88M UE20030L S1 UE30030L S1 UE20030W S1 UE30030W S1 EG 0637 6 49 R88M 3 000 Momentary maximum rotational 4 500 speed Momentary maximum torque see Nem note 3 000 4 500 si 195 kgfecm Momentary maximum rated cur rent ratio Rated current see note Momentary maximum current see note Rotor inertia 3 7 126 10 0255 260 S S rm rm kgem GD2 4 0 40 x 1075 kgfecmes 0 41 x 1074 Torque constant see note Nem A 0 156 kgfecm A 1 59 Induced voltage constant see mV r min 5 43 note Power rate see note 25 4 1 23x 1075 ms y mH Electrical time constant ms Weight Corresponding Servo Driver x o o o 1 22 N n oum e oo N o A AlN m Solo Approx 0 5 Approx 1 1 Approx 1 7 R88D UEP10L R88D UEP12L R88D UEP15L UEP10W UEP12W UEP15W Note The values for torque and rotational speed characteristics are the values at an armature winding tempera ture of 100 C combined with the Servo Driver Other values are at normal cond
136. play the setting of Cn 00 Using the Up and Down Keys set the parameter to 02 Alarm history clear Press the MODE SET Key to clear the alarm history data Press the DATA Key to return to the settings mode Oo c WBN 4 11 Application Chapter 4 4 3 Troubleshooting When an error occurs check the error contents by means of the operating status and alarm display investigate the cause and apply the appropriate countermeasures m Error Diagnosis by Means of Operating Status Symptom Probable cause nemsto check Countermeasures The power supply indicator Power supply lines are in e Check the power supply e Correct the power supply PWR does not light even correctly wired voltage Correct the wiring when the power supply is Check the power supply turned on lines The motor does not oper The RUN signal is OFF Check the RUN signals ON Input the RUN signal ate even when command when Cn 01 bit no 0 is 0 and OFF by means of the Correct the wiring pulses are input No monitor mode alarm is output The correspondence be Check the models Combine models that corre tween the Servo Driver and spond correctly the Servomotor is incorrect The POT and NOT signals Check whether POT and Turn ON the POT and are OFF when Cn 01 bit NOT are displayed in status NOT signals nos 2 and 3 are 0 display mode If POT and NOT are not being used set Cn 01 bit nos 2
137. power supply and wiring Use completely separate power supplies for the control power supply especially 12 to 24 VDC and the external operation power supply In particular be careful not to connect two power supply ground wires Install a noise filter on the primary side of the control power supply Use separate power supplies for control power and for power for the pulse command and deviation counter reset input lines Do not connect the ground wires for these two power supplies to the same ground We recommend line drivers for the pulse command and deviation counter reset outputs For the pulse command and deviation counter reset input lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground e If the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the Servo Driver input section and the controller output section For encoder output Z phase lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground Wiring must be 1 m or less when using open collector outputs 2 26 System Design and Installation Chapter 2 2 2 5 Peripheral Device Connection Examples Connecting to Peripheral Devices
138. re made possible when system check mode Cn 00 is set to 00 The items in parentheses in the following explanation indicate operations using the Handy type Parameter Unit 1 2 C n 0 0 5 0 0 0 0 SS pu 5 NI X Indicates settings mode System check mode Data 4 ON CO OFF 4 Operating Procedure Key in Parentheses are for Mounted type Parameter Units Confirm that the initial display is shown bb Press the MODE SET Key to enter the settings mode Using the Up and Down Keys set parameter number 00 System check mode Press the DATA Key to display the setting of Cn 00 Using the Up and Down Keys set the parameter to 00 Jog operation Press the MODE SET Key to shift to the jog display Press the SERVO DATA Key to turn on the servo Press the Up Key to jog forward Forward operation will continue as long as the key is held down Press the Down Key to jog in reverse Reverse operation will continue as long as the key is held down 10 Press the SERVO DATA Key to turn off the servo 11 Press the MODE SET Key to return to the data display 12 Press the DATA Key to return to the settings mode Oo AON Da A OO N Note The motor speed for jogging is 500 r min The jogging speed cannot be changed 3 20 Operation Chapter 3 3 7 Making
139. rm is cleared if the alarm is cleared while the Run command RUN is ON possibly creating a dangerous situation Turn OFF the Run command before clearing alarms Take adequate safety precautions if an alarm is going to be cleared while the Run command is ON or when the Servo Always ON Cn 01 bit O set to 1 is used 4 9 Application Chapter 4 4 2 3 Overload Characteristics Electron Thermal Characteristics An overload protection function electron thermal is built into the Servo Driver to protect against Servo Driver or Servomotor overload If an overload A 70 does occur first clear the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning on the power again If the power is turned on again too soon the Servomotor coil may be damaged Overload Characteristic Graph The characteristic between the load ratio and the electronic thermal operating time is shown in the fol lowing graph 1000 300 100 30 Operation time s 10 50 100 150 200 250 300 Load ratio 96 Note 1 The load ratio is calculated in relation to the Servomotor s rated current Servomotor current Load ratio x 100 Servomotor rated current Note 2 Forexample ifacurrent three times the rated motor current is applied continuously and over load will be detected in approximately 3 s 4 10 Application Chapter 4 4 2 4 Alarm History Display Mod
140. rning On Power and Confirming the Display ooooooooocoocrroo o 3 4 Using Parameter Units oie Etes ie ee e ees edle oe e a Bip Dds wea ees 3 6 3 3 1 Parameter Unit Keys and Functions 0 0c eee eee eee eee 3 6 3 3 2 Modes and Changing Modes 0 eee cece eee eect eens 3 6 3 3 3 Mode Changes and Display Contents 0 eee eee eee ee 3 8 Initial Settings Setup Parameters 0 cece eee eee een een eae 3 9 3 4 1 Setting and Checking Setup Parameters Cn 01 02 00 00 eee eee 3 9 3 4 2 Setup Parameter Contents Cn 01 and Cn 02 0 eee eee eee 3 10 3 4 3 Important Setup Parameters Cn 01 and Cn 02 0 00 002 3 11 Setting Functions User Parameters 0 2 0 c eee cee een ene eee 3 12 3 5 1 Setting and Checking User Parameters Cn 04 to 26 o ooooooooommmoo o 3 12 339 2 User Parameter Chart estoit epu ke pep RU Gag eek ER Sa Y REUS 3 14 3 523 Blectronic Gear d sre e eeu er e rese ng ei EE N 3 14 3 5 4 Brake Interlock For Motors with Brakes ooooooooooocrrormmo omo 3 15 Trial Operation ci evo ee Pale eos AA B EROS RR UICE RE Mey 3 18 3 6 1 Preparations for Trial Operation 0 0 0 EE SE eee ee 3 18 326 2 Jog ODeration8 24 N ep dye meee te er ERE Pete e ate Dee anaes 3 20 Making Adjustments varios o ce gogo Re wR AGHAST SWS A E oe ae 3 21 IA AUTO p P 3 21 3 7 2 Manually Adjusting Gain 01 SE Se SE Se SS See Ses S
141. rt connectors correct ly Replace the Servomotor Replace Servo Driver Correct any disconnected lines Insert connectors correct ly Replace the Servomotor Replace Servo Driver Reset and then run again Replace Servo Driver Reset and then run again Internal element is dam aged Replace Servo Driver Application Chapter 4 4 4 Periodic Maintenance N Caution After replacing a Unit always transfer all data reguired for operation before attempt ing to restart operation Improper data settings may damage the product N Caution Do not disassemble or repair the product Doing so may result in an electric shock and injury Servo Motors and Drives contain many components and will operate properly only when each of the individual components is operating properly Some of the electrical and me chanical components require maintenance depending on application conditions In or der to ensure proper long term operation of Servo Motors and Drivers periodic inspec tion and part replacement is required according to the life of the components The periodic maintenance cycle depends on the installation environment and application conditions of the Servo Motor or Driver Recommended maintenance times are listed below for Servo Motors and Drivers Use these are reference in determining actual maintenance schedules Servo Motors Recommended Periodic Maintenance Oil Seal 2 000 hours Beari
142. s Recommended products Diodes are relatively small devices such as relays used for loads when reset time is not an issue The reset time is increased because the surge voltage is the lowest when power is cut off Used for 24 48 VDC systems 1 resistor Thyristor and varistor are used for loads when induction coils are large as in electromagnetic brakes solenoids etc and when reset time is an issue The surge voltage when power is cut off is approximately 1 5 times that of the varistor Use capacitors and resistors for vibration absorption of surge when power is cut off The reset time can be shortened by proper selection of the capacitor or resis tor Use a fast recovery diode with a short reverse recovery time Fuji Electric Co ERB44 06 or equiv alent Select varistor voltage as follows 39 V 200 V 270V 470V 24 VDC system varistor 100 VDC system varistor 100 VAC system varistor 200 VAC system varistor Okaya Electric Ind CR 50500 0 5 uF 50 Q CRE 50500 0 5 uF 50 Q S2 A 0 0 2 uF 500 Q Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Parts e Contactors When selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Servo Driver inrush current is 50 A and the momentary maxi
143. s Position acceleration deceleration 0 to 64 0 ms The same setting is used for acceleration and decel time constant eration Input sig Position command pulse input TTL line driver input with photoisolation input current 6 mA at 3 V nals see note Feed pulse and direction signal forward pulse and reverse pulse or 90 differential phase A and B phases signal set via parameter Pulse width See note Deviation counter reset TTL line driver input with photoisolation input current 6 mA at 3 V Sequence input 24 VDC 5 mA photocoupler input external power supply 12 to 24 VDC 30 mA min Output sig Position feedback output Z phase open collector output 30 VDC 20 mA nals 1 pulse revolution OFF on Z phase detection Sequence output Alarm output brake interlock positioning completion open collector outputs 30 VDC 50 mA External regeneration processing Required for regeneration of Required for regeneration of more than 30 times the motor s more than 20 times the motor s rotor inertia rotor inertia Protective functions Overcurrent grounding overload overvoltage overspeeding run away prevention transmission errors encoder errors deviation counter overflow Note The input pulse width must meet the following conditions H Ti Tin 2 5 us Ti Tin 5 5 Specifications Chapter 5 100 VAC Input Servo ne Models OU to EC Directives Hem Re8D UEPIQW R amp eD UEPI2W Re8D UEPI
144. s Standard Models with Brake Model L Model L Models LL LL R88M UE20030V S1 126 5 96 5 R88M UE20030V BS1 166 136 R88M UE20030W S1 R88M UE20030W BS1 R88M UE40030V S1 154 5 124 5 R88M UE40030V BS1 194 164 R88M UE30030 W S1 R88M UE30030W BS1 2 13 Chapter 2 The key groove is in accordance with Shaft Edge Dimension JIS B1301 1976 System Desien and Installation e 750 W Standard Models R88M UE75030V S1 16h6 dia 16h6 dia R8 2 Shaft Edge Dimension Four The key groove is in accordance with JIS B1301 1976 7 dia 7 dia Four Four RSS SS SESSE SS OSOS i ANNANN SOS SOS TROY SS OOOO SOS SOS ERA WS ON SOS OSOS ES Iu SAKE ES CORRS SS ay ul i 145 185 Tr OSOS RED R ASS S S Ct A 4 e 750 W Models with Brake R88M UE75030V BS1 189 5 229 5 2 14 System Design and Installation Chapter 2 2 1 2 Installation Conditions m AC Servo Drivers e Space Around Drivers Install Servo Drivers according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel Also install a fan for circulation if Servo Drivers are installed side by side to prevent uneven temperatures from developing inside the panel Mount the Servo Drivers vertically so that the model number and writing can be read
145. s and Applicable Models seseeeeeee ne 1 6 Chapter 2 System Design and Installation 2 1 2 1 2 2 2 3 TristallatiOn MP 2 3 2 1 1 External Dimensions Unit mm 00 0 eee eee een 2 3 2 1 2 Installation Conditions ES I 2 15 Wiring Non conforming Products 0 0 cece cece eee eee eens 2 18 2 2 1 Connecting OMRON Servo Controllers 0 0 eee eee 2 18 2 2 2 Connector Terminal Conversion Unit 00 cece eee eee eee 2 19 2 2 3 Wiring Servo Drivers sis ee eee ghe rhe base ee nee 2 20 2 2 4 Wiring for Noise Resistance liess n 2 22 2 2 5 Peripheral Device Connection Examples 0 0 0 0 Se eee ee eee eee 2 27 Wiring Products Conforming to EC Directives 0 0 0 eee eee ee eee 2 29 2 3 1 Connecting Servo Controllers 0 eee eect e 2 29 2 3 2 Witing Servo Drivets mic cere eee edge eb oe a blab une as 2 30 2 3 3 Wiring Products Conforming to EMC Directives 00 00 cece eee eee 2 31 2 3 4 Peripheral Device Connection Examples 0 0c eee eee eee eens 2 38 Chapter 3 Operation A OC E e JL 3 1 3 2 3 3 3 5 3 6 3 8 Operational Procedure ss nere A TR ERR Mea ele e ER Ue 3 3 3 1 1 Beginning Operation isnon Eee E e e hm 3 3 Turning On Power and Checking Displays sees 3 4 3 2 1 Items to Check Before Turning On Power 0 eee ee eee eee eee 3 4 3 2 2 Tu
146. s rotor inertia Protective functions Overcurrent grounding overload overvoltage overspeeding runaway protection transmission errors encoder errors deviation counter overflow Note The input pulse width must be meet the following conditions H Ti Tin 2 5 us Ti Tin 5 6 Specifications Chapter 5 5 1 3 VO Specifications Terminal Block Specifications Non conforming Models Power supply in put Main circuit DC output Servomotor U phase output R88D UEPLILIH 200 VAC Units Single phase 200 230 VAC 170 to 253 VAC 50 60 Hz R88D UEPLILIL 100 VAC Units Single phase 100 115 VAC 85 to 127 VAC 50 60 Hz These are the connection terminals for the Regeneration Unit R88A RGO8UA Connect these when the regeneration energy is high These are the terminals for outputs to the Servomotor Servomotor V phase output Servomotor W phase output Frame ground Power supply in put Green This is the connection terminal Use a 100 Q or less class 3 or bet ter ground It is used in common for Servomotor output and power supply input R88D UEPLILIV 200 VAC Units Single phase 200 230 VAC 170 to 253 VAC 50 60 Hz R88D UEPLILIW 100 VAC Units Single phase 100 115 VAC 85 to 127 VAC 50 60 Hz Main circuit DC output When using multiple axes and there is excessive regenerative energy the terminals can be co
147. s that of the rated output and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 30096 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable Refer to the table in 2 2 3 Terminal Block Wiring for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers etc to make the selection The Servo Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take into consideration the entire inrush current for the system e Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting surge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance For 200 VAC systems use a varistor voltage of 470 V The surge absorbers shown in the following table are recommended 2 34 System Design and Installation Chapter 2 Max limit Surge Type voltage immunity Okaya RA V 781BYZ 2 1 000 A For power supply line Electric Ind RAV 781BXZ 4 783 V 1 000 A For power supply line ground Note 1 Refer to manufacturers documentation for operating details Note 2 Thesurg
148. se Frequent use Frequent use Continuous use Continuous use 0 1000 2000 3000 4000 r min 1000 2000 3000 4000 r min 0 5 0 Continuous use 1000 2000 3000 4000 r min R88M UE75030H S1 UE75030V S1 N m kgf cm Frequent use Continuous use 0 1000 2000 3000 4000 r min Torque Characteristics With 3 m Standard Cable and 100 VAC Input R88M UE10030L S1 R88M UE20030L S1 R88M UE30030L S1 UE10030W S1 UE20030W S1 UE30030W S1 N m kgf cm N m kgf cm N m kgf cm Freguent use Freguent use Continuous use Continuous use 1000 2000 3000 4000 r min 1000 2000 3000 4000 r min 1000 2000 3000 4000 r min m Servomotor and Mechanical System Temperature Characteristics U series AC Servomotors use rare earth magnets neodymium iron magnets The temperature co efficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s 5 25 Specifications Chapter 5 momentary maximum torque increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 C and 10 C are compared the momentary maximum torque increases by approximately 496 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 896 Generally in a mechanical system when the temperature drops the friction torque increases and the load torqu
149. ses Ses Ses SS ete eee ence ene eae 5 2 2 1 1 General Specifications 2 rg yv ERO DPI E PERRO DP e pe 5 2 5 1 2 Performance Specifications siese Ee Es EE ee ES Ee nnn 5 3 5 1 3 I O Specifications see cee cece eg ene ene eae 5 7 5 1 4 Explanation of User Parameters esse ss SE Se Se Se Se Se ee 5 19 5 2 Servomotor Specifications 0 es SE SE ESE SE Se Se Se eee eee een eae 5 21 5 2 1 General Specifications srir eo erbe er ards era a Di Red 5 21 5 2 2 Performance Specifications 0 cece eee ect eee ene 5 22 5 2 3 Torque and Rotational Speed Characteristics 0 0 eee eee eee eee 5 25 5 2 4 Allowable Loads on Servomotor Shafts 0 0 0 0 Se Se Se Se Se se se se 5 26 5 2 5 Encoder Specifications reses rennin SS SE Ee ES ES ee ee eee eee eee eee 5 27 5 3 Cable Specifications siii Babe ea table Rages ete Sele ieee hs le A EE E Res ae PO ety A 5 28 5 3 1 Controller Connecting Cable ESE EE SE SE SE Se Se Se Se Se se se se 5 28 5 3 2 Encoder Cable ondas io a Bl ED EG RIPE 44 FS ONS e Ip ESSET IS 5 32 5 3 3 Power Cable A AAA A AA AA A e RC PERS 5 34 5 4 Parameter Unit Specifications siese SE SE Se SS es See Se Se Ge ke es Se se see 5 38 5 5 Regeneration Unit Specifications ie es SE SE SE Sek SE Se Se EG ek Ges Se Se eens 5 39 5 6 Front mounting Bracket Specifications ses EES ES ES SS eee eee 5 40 Chapter 6 Supplementary Materials o oooo ooooo 6 1
150. sult in an electric shock Be sureto ground the FG terminals of the Servomotor and Servo Driver Not doing so may result in an electric shock Do not connect or disconnect the front cover terminal cover Parameter Unit or peripheral devices while power is being supplied to the product Doing so may result in an electric shock Make sure that the product is operated maintained or inspected by authorized people only Not doing so may result in an electric shock Do not be wire or inspect the product within five minutes after power to the product is turned off Doing so may result in an electric shock Do not damage press or put excessive stress or heavy objects on the cables Doing so may result in an electric shock Do not touch the rotating part of the Servomotor in operation Doing so may result in an injury Do not modify the product Doing so may damage the product Use the Servomotor in proper combination with the Servo Driver Not doing so may result in a fire or damage to the Servomotor or Servo Driver Do not store or install the product in the following locations Doing so may result in fire or damage to the product Locations subject to direct sunlight Locations subject to temperatures beyond the specified ranges Locations subject to humidities beyond the specified ranges Locations subject to rapid changes in temperature and possible condensation Locations subject to corrosive or flammable gases
151. t U V W 0 87 A 2 0A 2 6A 44A Power supply input terminal wire size 0 75 mm or AWG 18 min Motor output terminal wire size 0 5 mm or AWG AWG 20 see note to AWG 18 20 Use OMRON standard cable The applicable wire size for motor connectors is AWG22 to AWG18 Protective earth terminal wire size Use 2 0 mm external ground wires Use the same wire as used for the motor output Note Ifthe cable length is 15 meters or longer for a 750 W Servomotor the momentary maximum torque at rota tion speeds of 2 500 r min or higher may drop by approximately 796 e Servo Drivers with 100 VAC Input R88D UEP W Driver model Watts R88D UEP10W 100 W R88D UEP12W 200 W R88D UEP15W 300 W Power supply input curent L1 L2 100A Motor output curent U V W Power supply input terminal wire size 0 75 mm or AWG 18 min Motor output terminal wire size AWG 20 to AWG 18 Use OMRON standard cable The applicable wire size for motor connectors is AWG22 to AWG18 Protective earth terminal wire size Use 2 0 mm external ground wires Use the same wire as used for the motor output Wire Sizes and Allowable Current The following table shows allowable currents when there are three electrical wires Use values equal to or lower than the specified values e Heat resistant Vinyl Wiring UL1007 Rated Temperature 80 C Reference Value Nominal cross Configuration Conductive sectional area wires mm
152. t sufficient adjust the gain manu ally using the procedure in 3 7 2 Manually Adjusting Gain 250 r min Approx 1 1 s Approx 0 7 s e gt 3 22 Operation Chapter 3 3 7 2 Manually Adjusting Gain m Gain Adjustment Flowchart Perform auto tuning to match the rigid ity of the mechanical system y The motor hunts when servo locked YES Accompanied by a hunting noise y NO Raise the rigidity selection to the value Decrease the rigidity selection so just before hunting occurs and perform hunting doesn t occur and perform auto tuning auto tuning Do characteristics such as positioning YES time meet system specifications End adjustment Increase Cn 04 speed loop gain to a value where hunting doesn t occur in servo lock Decrease Cn 05 speed loop integra tion time constant to a value where hunting doesn t occur in servo lock Does hunting vibration occur YES when the motor is operated NO i Run the motor and monitor its opera Decrease Cn 04 speed loop gain tion Increase Cn 1A position loop gain Increase Cn 05 speed loop integra l but do not increase it so far that over tion time constant shooting occurs Y gt When vibration can t be eliminated despite several adjustments or positioning is too slow End adjustment
153. ted at the Driver When drive prohibition is not used clear the function by connecting the respective signal to the external power supply 24 V GND or setting setup parameter Cn 01 bit nos 2 3 1 1 Stopping Methods when Forward Reverse Drive Prohibit is OFF M Deceleration Method Stopped Status o 8 o 4 Decelerate by dynamic brake Servo free dynamic brake OFF POT NOT is OFF Decelerate by the maximum Servo lock Note The position loop is not valid when stopping with this mode e Alarm Reset 18 RESET This is the external reset signal input for the servo alarm The alarm is reset when the signal turns ON Remove the cause of the alarm and then restart operation In order to prevent danger turn OFF the run command before inputting the reset signal e Command Pulse Inputs and Deviation Counter Reset Inputs The input circuits for command pulse and deviation counter reset inputs are shown in the following dia gram Line driver Input Controller side Servo Driver side Pi 220 Q v b i w Too M4 juges Applicable line driver 3 E AM26LS31A or equivalent 5 11 Specifications Chapter 5 Open collector Input When connected with open collector output insert a current limit resistor as shown below Controller side Servo Driver side Vcc R A 220 EN es Roc A V IG ee Ji RE EN of When Vcc 2 5 V R 0 RE When Vcc 12 VR 750
154. ter no 2 Refer to setup parameter no 2 explanation Cn 04 Speed loop gain Hz 1 to 2 000 Adjusts speed loop response See note 1 Cn 05 Speed loop integration 20 ms 2 to 10 000 Speed loop integration constant constant Brake timing i Cn 17 Torque command filter Setting for torque command fil time constant ter time constant 6 4 to Position loop gain 1b 4 398 Hz n Positioning completion 3 0 to 250 Sets the range for the position range ing completion signal output 4 1 0 1 s 1 to 500 For position loop response ad justment Electronic gear ratio G1 1 to 65 535 Setting range numerator see note 2 0 01 G1 G2 100 Electronic gear ratio G2 denominator see note 2 Position command accel eration deceleration time constant Note 1 Cn 04 speed loop gain is factory set for three times the load inertia Therefore if the load inertia is extremely small some oscillation may occur If it does then lower Cn 04 to 20 or less Note 2 Afterthe settings for Cn 24 Electronic gear ratio G1 numerator and Cn 25 Electronic gear ratio G2 denominator have been made they become effective when the power is turned on again after having been cut off Check to see that the LED display has gone off 3 5 3 Electronic Gear 1 to 65 535 0 to 640 Sets the setting number for smoothing m Function The motor will be driven with a pulse determined by multiplying the command pulse count by
155. the electronic gear ratio The electronic gear is useful for the following applications To fine tune the position and speed of two lines that must be synchronized e When using a positioner with a low command pulse frequency To set the machine movement per pulse to a specific value such as 0 01 mm m Setting User Parameters e The electronic gear is set as G1 divided by G2 G1 G2 G1 is set in user parameter Cn 24 G2 is set in Cn 25 The target pulse count is computed as follows 3 14 Operation Chapter 3 Target pulse count Command pulse count x G1 G2 e If G1 G2 1 the motor will turn once for every 4 096 command pulses driver running at a factor of 4X One pulse forthe position deviation deviation counter display and positioning completion range will be equivalent to one input pulse here the unit is said to be the command Parameter name Factory Setting Explanation SEU range Electronic gear ratio G1 1 to 65 535 Setting range numerator 1 100 lt G1 G2 lt 100 Electronic gear ratio G2 1 1 to 65 535 denominator Note The factory settings will produce turn the motor once for every 1 024 input pulses m Example If G1 is setto 4 096 and G2 is setto 1 000 the motor will turn once for every 1 000 input pulses output as 4 096 pulses The motor speed will also be 4 096 1 000 times faster Driver Motor One revolution 1 000 pulses Electronic gear 4 096 pulses 4 096 pulses _ euce
156. to account have the speed command be given after the brake has been cleared Note 2 Ittakes upto 100 ms for the brake to be held after the brake power supply has been turned off When using itfor the vertical shaft take this delay into account and set brake timing 1 Cn 12 so that the Servomotor will not receive power until after the brake is held e Timing for Power Supply When Servomotor is Stopped Power supply en OF s EP oes 55 to 75 ms signal BKIR OFF 1 A Cn 12 see note Powerto Power on motor Power off Note It takes up to 100 ms for the brake to be held after the brake power supply has been turned off When using it for the vertical shaft take this delay into account and set brake timing 1 Cn 12 so that the Servomotor will not receive power until after the brake is held 3 16 Operation Chapter 3 e Timing for Run Command RUN Errors Power Supply Servomotor Stopped Power supply ON ER Run command ON RUN OFF Alarm output E See note 2 BKIR OFF Power to motor Motor rotational speed Power on Power off Approx 10 ms xr See note 1 Braking by dynamic brake 100 r min Note 1 For the approximately 10 ms it takes from when the power to the Servomotor turns off until the dynamic brake operates the Servomotor rotates by momentum Note 2 Ifthe motor rotational speed falls to 100 r min or below or if 500 ms elapse after power to the Servomo
157. to prevent accidents that may result in an injury AN Caution Do not use the built in brake of the Servomotor for normal control of the Servomotor Doing so may result in a Servomotor malfunction 3 2 Operation Chapter 3 3 1 Operational Procedure 3 1 1 Beginning Operation Before beginning operation be sure to make the initial settings for the Servo Driver Make function settings as required according to the use of the Servomotor Any incorrect settings in the parameters could cause unexpected motor operation creating an extremely dangerous situation Use the procedures provided in this section to carefully set all parameters m Startup Procedure 1 Mounting and Installation Installthe Servomotor and Servo Driver according to the installation conditions Chapter 2 section 2 1 Wiring and Connections Connect to power supply and peripheral devices Chapter 2 section 2 2 2 3 The specified installation and wiring conditions are particularly important to ensure that models con forming to EC Directives actually conform to the EC Directive in the final system Turning on Power Supply Before turning on the power supply check the necessary items In order to make the initial settings turn on an application power supply Chapter 3 section 3 2 Checking Display Status Check by means of the displays to see whether there are any internal errors in the Servo Driver Chapter 3 section 3 2 Initial Settin
158. to the connector plug and ground it directly using a clamp e Connectors Used 20P Nippon Amp Sumitomo 3M 178239 2 10120 3000VE 10320 52A0 008 Receptacle at Servo Driver Soldered plug at cable side Case at cable side e Pin Arrangement Encoder power sup Encoder is ply GND i i power sup 2 EOV ply GND Encoder 12 NC power sup Encoder Aa RON ply GND Encoder aa power sup 4 E5V ply 5 V Encoder pores pi Encoder power sup 5 ESV poes 15 S S phase ESV power sup 16 A a ein det A phase ply 5 V input Encoder ZING 17 A A phase Encoder input 8 NC 18 B B phase input Encoder glia 19 B pida es inpu rare 20 eae Frame ground note Note Pin 20 is not used with models conforming to EC Directives e Encoder Pulse Input Signals A B S phase Inputs signals output from the Servomotor encoder In S phase servo sensor U V W and Z phase are transmitted according to A and B phase logic 5 17 Specifications Chapter 5 e Encoder Power Supply Grounds 1 to 3 EOV and Encoder Power Supply 5 V E5V 4 to 6 Outputs 5 2 0 1 V as the power supply for the Servomotor encoder The encoder power supply can not be used for other purposes CN3 Parameter Unit Input Specifications PinNo Signal name Function VO interface Transmission data Transm
159. tor case model 10320 52A0 008 Sumitomo 3M 5 3 3 Power Cable Power Cable for Servomotors Without Brakes Non conforming Models e Types of Cable Model Length L Outer diameter of sheath 3m R88A CAU003S R88A CAU005S R88A CAU010S R88A CAU015S R88A CAU020S Up to a maximum of 20 m between the Monitor and the Servo Driver e Connection Configuration OMNUC U Series UE model AC Servomotor OMNUC U Series UE model AC Servomotor Driver e Wiring Symbol No AWG20 Red E U phase 1 AWG20 Whit LIO V phase 2 e TO W phase 3 ASE TO GR 4 AWG20 Green O Cable AWG20 x 4C Crimp style terminal UL2517 Cable Side Connector housing model 172159 1 Nippon Amp Connector socket contact model 170366 1 Nippon Amp 5 34 Specifications Chapter 5 Crimping tool 724651 1 Pulling tool 724668 2 Motor Side Connector plug model 172167 1 Nippon Amp Connector pin contact model 170359 1 Nippon Amp for 100 W use 170360 1 Nippon Amp for 200 to 750 W use Power Cable for Servomotors With Brakes Non conforming Models e Types of Cable Model Length L Outer diameter of sheath 68 da R88A CAUO10B R88A CAUO15B R88A CAUO20B Up to a maximum of 20 m between the Monitor and the Servo Driver e Connection Configuration OMNUC U Series UE model AC Servomotor OMNUC U Series UE model AC Servomotor Driver
160. tor is interrupted the brake interlock signal BKIR will turn OFF Note 3 The dynamic brake decelerates to stop the Servomotor when the RUN signal is OFF alarm output is ON or power is turned off The Servomotor will be in servo free condition with the dynamic brake ON after the Servomotor stops rotating 3 17 Operation Chapter 3 3 6 Trial Operation After the wiring is complete and the parameter settings have been made conduct a trial operation First check with rotation of the motor without connecting a load i e without connecting the mechanical system Then connect the mechanical system auto tune the system and confirm that the correct operation pattern is performed 3 6 1 Preparations for Trial Operation m Preparations e Power Off The power supply must be toggled to apply some of the parameter settings Always turn off the power supply before starting e No Motor Load Do not connect a load to the motor shaft during trial operation just in case the motor runs out of control e Stopping the Motor Make sure that the power switch can be turned off or the Run command used to stop the motor immedi ately in case of trouble e Connecting a Parameter Unit Connect a Parameter Unit to the CN3 connector on the front of the Servo Driver if one is not already connected m Actual Trial Operation 1 Powering Up With the run command RUN OFF apply an AC voltage After internal initialization the mode will b
161. vomotors With incremental encoder 200 VAC 100W R88D UEP04V R88M UE10030V S1 200W R88D UEPO8V R88M UE20030V S1 100 VAG Note The above models with brakes are also applicable Change the suffix to BS1 for models with brakes 1 6 Chapter 2 System Design and Installation 2 Installation 2 2 Wiring Non conforming Products 2 3 Wiring Products Conforming to EC Directives System Design and Installation Chapter 2 Installation and Wiring Precautions N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution 2 2 Do not stand on the product or put heavy objects on the product Doing so may result in an injury Make sure that the product is well ventilated and the interior ofthe product is free of foreign matter Not doing so may result in a fire Mount the product properly Not doing so may result in a product malfunction Keep the specified distance between the Servo Driver and the interior surface ofthe control panel or any other machine Not doing so may result in a fire or Servomotor malfunction Protect the product from excessive shock Not doing so may result in a product mal function Wire the system correctly Not doing so may result in an out of control Servomotor and injury Tighten mounting screws terminal screws and cable connector screws firmly Loose screws may result in a product
162. wer supply lines Use a low impedance power supply for control signals 4 13 Application Chapter 4 m Error Diagnosis by Means of Alarm Display Parameter Unit Alarm Error content display Parameter cor ruption Parameter set ting error Condition when error oc curred Occurred when power was turned on Occurred when power was turned on Occurred when power was turned on Occurred when Servo was turned on Probable cause Internal memory error A user parameter was set to a value outside of the set ting range previously Control board defective Control board defective Current feedback circuit error Main circuit transistor module error Servomotor power line is short circuited or grounded Countermeasures Replace Servo Driver Change the user parameter setting so it is within the set ting range Replace Servo Driver Replace Servo Driver Replace Servo Driver Correct the power line short circuiting or ground ing Measure the insulation re sistance at the Servomo tor itself If there is short circuiting replace the Ser vomotor There is faulty wiring at the U V or W phase or the GR Correct the wiring Servomotor coil are dam aged Measure the winding resis tance If the coil are dam aged replace the Servomo tor Deviation count er overflow a 10 Overcurrent Overheating 4 14 Occurred during operation
163. wer supply MC R 0 0 OFF ON gt Er R88D UEPODL 1 5 eee oo Main circuit contact 100 115 VAC 50 60 Hz i R88D UEPODH 2 200 230 VAC 50 60 Hz 2 l Class 3 ground R88D UEPT AC Servomotor Driver C200H NC211 CN 1 TB Contents No R REEN SIG E R88M VEDODODO Output power supply input 24 VDC 1 SEE Er EE t Ts S Ge SUE AC Servomotor Output power supply 0 V 23 N am R88A CAUCILILUS 1 Cw U m Power Cable HA X axis pulse CW with resistance 2 r 2 CW V Eis Y Ww output CW without resistance 3 e 3 CCW Ww Green gt i CCW with resistance 13 4 CCW R CCW without resistance 44 ul 16K 5 ECRST X axis deviation counter reset output 4 AAA r 6 ECRST CN X axis positioning completed input 8 g INP RE 121024 VDC oe R88A CRUCILICIO X axis origin input 10 1 Ht Ad 33 ZCOM Encoder Cable X axis origin common 11 321 Z X Y axis input common 22 i EE E 7 13 24VIN X axis external interrupt input 6 OO OO A 14 RUN X axis origin proximity input 7 OO PS OO 18 RESET X axis CCW limit input 17 ee 10 OGND X axis CW limit input 18 ee gt a5 ALMCOM X Y axis emergency stop input 19 ee iji Le x1 34 ALM 24VDC y ie Lo FG FG 12 R88A CPULILILIS General purpose Cable Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Use mode
164. y Materials Chapter 6 6 2 OMNUC U Series Standard Models Non conforming Models e Servomotors Specification RR Straight shafts with Standard no 200 VAC ier prake AS With brake 200 VAC 100 VAC R88M UE10030L BS1 R88M UE20030L BS1 R88M UE30030L BS1 e Servo Drivers with Pulse train Inputs Specification Model Pulse train input 200 VAC AS e Parameter Unit Specification TO Mode Handy type R88A PRO2U Mounted type R88A PRO3U e Regeneration Unit Specification mo Regeneration processing current 8 A R88A RGOSUA e External Regeneration Resistor Specification mo Regeneration capacity 70 W 47 Q R88A RR22047S 6 7 Supplementary Materials Chapter 6 e Encoder Cables specication RR Connectors at both ends e Power Cables specication Mei For standard Connector at one motors no brake end For motors with Connector at one bakes end e General purpose Control Cables Specification Model For general purpose 1m R88A CPU001S controllers connector at one end 2m R88A CPU002S e Connectors and Terminal Blocks Control cable connector R88A CNU01C Connector terminal block XW2B 40F5 P Connection cable for R88A CTUOO1N connector terminal block R88A CTUOO2N e Front surface Mounting Brackets Specification Mode For the following Servo Drivers R88A TK01U 200 VAC 100 to 400 W 100 VAC 100 200 W
165. y taking measures such as keeping the motor in servo lock status to minimize temperature changes If machining oil with surfactants e g coolant fluids or their spray penetrate inside of the motor in sulation defects or short circuiting may occur Take measures to prevent machining oil penetration e Other Precautions Do not apply commercial power directly to the Servomotor The Servomotors run on synchronous AC and use permanent magnets Applying 3 phase power will burn out the motor coils Do not carry or otherwise handle the Servomotor by its cable otherwise the cable may become dis connected or the cable clamp may become damaged Take measures to prevent the shaft from rusting The shafts are coated with anti rust oil when shipped but anti rust oil or grease should also be applied when connecting the shaft to a load Absolutely do not remove the encoder cover or take the motor apart The magnet and the encoder are aligned in the Servomotor If they become misaligned the motor will not operate 2 17 System Design and Installation Chapter 2 2 2 Wiring Non conforming Products 2 2 1 Connecting OMRON Servo Controllers Use general purpose control cables purchased separately to connect U series UE model AC Servomotors and Servo Drivers to OMRON Servo Controllers m Connecting SYSMAC C series Position Control Units Position Control Units for SYSMAC C series Programmable Controllers 3G2A5 NC111 EV1 C200H NC11

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