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M2 Omron servo driver R88D

1. Specifications Chapter 5 e Wiring Signal No No No procis ool ida dies ag Analog Pulse 1 A 1 m M 1 TREF CW 2 _ B 1 S N 2 AGND CW 3 A 2 c y 3 REF CWW 4 B J a 4 AGND CWW B1 a 3m 5 ECRST 6 B 3 pret N 6 ECRST 7 A 4 EE 7 BKIR BKIR 8 B 4 LR X 8 VCMP INP 9 A 5 ae Var 9 TGON TGON 10 4 B 5 AN 10 OGND OGND 1 A 6 Ms V 11 PCL PCL 12 B 6 IN 12 NCL NCL 18 A 7 018 24VIN 24 VIN 14 4 B 7 A 14 RUN RUN 15 A 8 i NE fo 15 MING MIGN 16 B 8 m di AN 16 POT POT 17 A 9 v Vv 17 NOT NOT 18 B 9 Ec AN 18 RESET RESET 19 A 10 rd ires 19 EGND EGND 20 B 10 DER 20 A A a1 __ A 141 iY yoo 21 A A 22 __ B 11 Qo n 22 B B 23 __ A 12 wee V 23 B B 24 __ B 12 24 Z Z 25 __ A 13 U E 25 Z Z 26 B 18 M N 2 MT 26 27 A 14 27 28 B 14 28 29 a 15 29 30 4 B 15 di ANS 30 ALO1 ALO1 S1 _ A 16 V 31 ALo2 ALO2 32 B 16 32 ALO3 ALO3 3 A 17 im 33 ALOCOM ALOCOM 34 __ B 17 PE 34 ALM ALM 35 qe A 8 RE SS 185 ALMCOM ALMCOM 36 B 18 Shell FG FG 82 1 A 19 ga apr deu ed Sumitomo Ms 10136 3000VE 39 A 20 Connector cover 40 B 20 Sumitomo
2. Co Co Co Co Status displa 1 Alarm histor Power ON li mode pay Settings mode Monitor mode 4 display mode Display example bb cn 00 un 00 0 a02 3 3 3 Mode Changes and Display Contents The following diagram shows the functions and references for each mode 3 7 Operation Chapter 3 Power ON mode Status display Bit Displays page 4 4 Power ON Base block motor not receiving power Y Co Display example Positioning completion Command pulse input b b Motor rotation detected Current limit detected Symbol Displays b Base block U fl In operation running p t Forward rotation prohibited n Reverse rotation prohibited d Alarm display Jog operation page 3 31 Settings mode c n 0 0 System check mode Clear alarm history data page 4 13 Motor parameters check page 4 8 Co Auto tuning page 3 32 Sequence input signal switch page 3 9 A DATA m Setup Sequence output signal switch C n 0 l parameter Interrupt return processing switch 4 no 1 Abnormal stop selection ES Deviation counter with Servo OFF P c
3. NFB Main circuit power supply MC STO PAR ins SIS OFF ON PEN a 5 P 00 MC Main circuit contact P NES NP SUP EA 2 PL ee aes Ex TO ED 00 ek Class 3 ground R88D UP AC Servomotor Driver C200H NC211 CN 1 TB R Gontents No al T R88M U Output power supply input 24 VDC 1 zi f Connect external Regen AC Servomotor 24 VDC i i P gt eration Unit as required Output power supply 0 V 23 N ug R88A CAU S 5VDC U Power Cable mm White Ves X axis pulse CW with resistance 2 1 1 CW V n LY M output CW without resistance 3 1 2 CW Ww Green CCW with resistance 13 4 13 4CCW FC i CCW without resistance 44 L 4 CCW 3 l 5 4ECRST 2 X axis deviation counter reset output 4 i 6 ECRST CN2 X axis origin line driver input 9 1 124 Z Y X axis origin common 11 1 25 Z RE X axis positioning completed input 8 E 8 inp EP cM Encoder Cable X Y axis input common 22 1 13 24VIN 24 VDC ps i e xi I D X axis external interrupt input 6 OO i O 0 0 O 4L 414 RUN X axis origin proximity input T 6d4 O C 18 RESET X axis CCW limit input 17 ee sA 10 OGND X axis CW limit input 18 ee gt 135 ALMCOM X Y axis emergency stop input 19 ee m x1 34 ALM 24 VDC Shell FG FG 12 R88A CPU s General purpose Cable Note 1 Incorrect signal wiring can cause damage to Uni
4. e Parameter Units Specification Mode Handy type R88A PRO2U Mounted type R88A PROSU 6 14 Supplementary Materials Chapter 6 e Encoder Cables Connectors at both ends 3m R88A CRUDOO3C 5m R88A CRUDO05C 10m R88A CRUDO 10C R88A CRUDO015C 20m R88A CRUDO20C e Power Cables Cables Only Specification Mode For standard motor no brake 1 m units R88A CAU001 e General purpose Control Cables For general purpose controller 1 m R88A CPU001S connector at one end 2m R88A CPU002S 6 15 Supplementary Materials Chapter 6 6 4 Parameter Setting Forms m User Parameters PRM Parameter name Factory Setting No setting range Cn 04 Speed loop gain See note 1 1 to 2 000 Speed loop integration constant 2 to 10 000 Cn 06 Emergency stop torque Maximum 0 to maxi torque mum torque 96 Cn 07 Soft start acceleration time 0 ms 0 to 10 000 96 96 Cn 08 Forward torque limit Maximum 0 to maxi torque mum torque Cn 09 Reverse torque limit Maximum 0 to maxi torque mum torque Cn 0A Encoder divider rate See note 2 1 000 Pulses 16 to 2 048 revolution Cn 0b Rotation speed for motor rotation 20 r min 1 to 4 500 detection Cn OC P control switching torque com 200 96 0 to maxi mands mum torque 0 Cn Od P control switching speed commands r min 0 to 4 500 Cn 0E P control switching acceleration com
5. Oo oc 5 Oo nm 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 f e Special Specifications yj 4 8 Motor capacity 9E b2 Motor type 00 200 V type 01 41 100 V type 02 03 04 08 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 30W 50W 100W 200W 300W 400 W 750W User specifications number hexadecimal display Application Chapter 4 4 2 Using the Monitor Output The Servo Drive outputs a monitor voltage proportional to the Servomotor rotation speed and current from the monitor output connector CN4 on the top of the Servo Driv er This output can be used to install a meter in the control panel or to enable more pre cise gain adjustments m Analog Monitor Output Specifications e Monitor Output Terminals Top of the Servo Driver CN4 Pin allocation l
6. 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 Q2 7 Indicates settings mode System check mode lel 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 display 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 13 Application Chapter 4 4 4 Troubleshooting When an error occurs check the error contents by means of the operating status and alarm display inves
7. Checking Terminal Block Wiring The power supply inputs R and T or L1 and L2 must be properly connected to the terminal block The Servomotor s red U white V and blue W power lines and the green ground wire I gt 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 lines and power cables must be securely connected at the Servomotor 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 m 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 al
8. NFB Main circuit power supply MC RO Vie OFF ON pm e 3 a eu a S TO 6 S O O aoe et 2 C200H NC112 l Class 3 ground R88D UP AC Servomotor Driver Contents eming CN 1 TB Output power supply input 24 VDC 1 A four Mages R a chose EC raS i FBT i T R88M UCICICICICICICI Connect external Regen AC Servomotor m TE mre eral A i P eration Unit as required Output power supply input 5 VDC B N pun R88A CAU S 5VDC i bL U F Power Cable I 5 COW with resistance 3 T 4 L 3 4CCW V N 8 CCW without resistance JB X fa cew W eren 2 CW with resistance 4 1 cw LIEN Sd amp CW without resistance B 2 cw i Al y i z di 5 fg 5 ECRST CN l Deviation counter reset output EIE A 6 ECRST fans ov B 1 M E A 24 Z R88A CRUODOOC Origin line driver input 8 4 lo5 Z Encoder Cable B 421024 VDC Positioning completed input 9 A IH 8 INP A 24VIN Position proximity input 10 B i RUN COW limit input 12 LA CD T A ALMCOM CW limit input 13 ret AM External interrupt input 19 Lf FG A Emergency stop input 20 B ee R88A CPUDOOS 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 Use mode 2 for origin search Note 4 Use a dedicated power supply 5 VDC for command pulse signals Note 5 ERB44 02 diodes by Fuji Electric or equivalent are reco
9. 3 5 1 Setting and Checking User Parameters Cn 04 to 29 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 the digit that can be changed e Displaying with Mounted type R88A PRO3U 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 Displa
10. Control Cable 2 30 System Design and Installation Chapter 2 Connecting a Regeneration Unit Single phase 200 230 VAC 50 60 Hz R88D UPLILIH A Single phase 100 115 VAC 50 60 Hz R88D UP L A OMNUC U series Servo Driver 1MC Ped O O R U Mum T i vi TM gt i L CN1 x l 34 ALM CN2 MM ow 35 ALMCOM ae P N D N 1 External R regeneration ALM g resistor RG g ALM JP D Short bar R88A RGO8UA Regeneration Unit Note 1 When using the external regeneration resistor disconnect the short bar between the RG and JP terminals Note 2 Connect the external regeneration resistor between the P and RG terminals Note 3 The Regeneration Unit does not conform to EC Directives 2 31 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 AC Servomotors and Servo Drivers to OMRON Servo Controllers Connecting to a Servo Controller Servo Controller General purpose Control Cable R88A CPU S OMNUC U series AC Servo Driver Model conforming to EC Directives Power Cable R88A CAUOO1 R88A CAUO1B OMNUC U ser
11. Sumitomo 3M model Specifications Chapter 5 5 3 2 Encoder Cables m Encoder Cables for Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards e Types of Cable CE m L Outer diameter of sheath R88A CRUOOSC R88A CRUO05C R88A CRUO10C R88A CRUO15C R88A CRUO20C Up to a maximum of 20 m between the Monitor and the Servo Driver e Connection Configuration OMNUC U Series AC Servomotor OMNUC U Series AC Servomotor Driver e Wiring Symbol No 20 550000005 No Symbol m AWG24 blue 16 At A 2 AWG24 white blue 17 A B4 3 AWG24 yellow 18 B B 4 AWG24 white yellow 19 B S4 5 AWG24 green i 14 S S 6 AWG24 white green i 15 S EOV 7 AWG22 black 1 EOV AWG22 red ESV 8 AWG22 4 ESV FG 9 1 green yellow 20 FG N DENN Cable AWG22 x 3C AWG24 x 3P UL2589 5 39 Specifications Chapter 5 For Cable Connector housing model 172161 1 Nippon Amp Connector plug model 10120 3000VE Sumitomo 3M Connector socket contact model 170365 1 Nippon Amp Connector case model 10320 52A0 008 Sumitomo 3M Crimping tool 724649 1 Pulling tool 724668 2 For Motor Connector plug model 172169 1 Nippon Amp Connector pin contact model 170359 1 Nippon Amp m Encoder Cables for Models Conforming to EC Directiv
12. UO5030L A U10030L A U20030L A 7 8 kHz R88M U30030LA Applicable Servomotor wattage 100 W 200 W 300 W Weight approximate 0 9 kg DW 1 2 kg 1 5 kg 47 W 70W 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 Feed forward com pensation 096 to 10096 of speed command amount pulse frequency Bias setting Position acceleration de celeration time constant 0 to 450 r min 0 to 64 0 ms The same setting is used for acceleration and deceleration Position command pulse input see note TTL line driver input with photoisolation input current 6 mA at 3 V 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 24 1 VDC 50 mA min Position feedback output A B Z phase line driver output EIA RS 422A A phase and B phase dividing rate setting 16 to 2 048 pulses revolution Z phase 1 pulse revolution Speed monitor output 0 5 V 1 000 r min Current monitor output Sequence output 0 5 V 100 Alarm output motor rotation detection
13. omnon USER S MANUAL OMNUC U MODELS R88M U AC Servomotors MODELS R88D UP AC Servo Drivers AC SERVOMOTORS DRIVERS 30 to 750 W Pulse train Inputs Thank you for choosing this OMNUC UP series product This manual provides details on the installation wiring troubleshooting and maintenance of OMNUC UP series products along with parameter settings for the operation of the products Make sure that actual users of this product will read this manual thoroughly and handle and operate the product with care Retain this manual for future reference This manual describes the specifications and functions of the product and relations with other products Assume that noth ing described in this manual is possible Specifications and functions may change without notice to improve product performance Forward and reverse rotation of AC Servomotors described in this manual are defined as looking at the end of the output shaft of the motor as follows counterclockwise rotation CCW is forward and clockwise rotation CW is reverse General Instructions 1 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 Servomotor and Ser vo Driver for proper use The Servomotor and Servo Driver must be wired and the Parameter Unit must be operated by experts in elect
14. 0 and Cn 01 Bit No F 1 This signal can be used in HA LA V W Models only Command signals won t be received internally while this signal is ON Rotation Direction Command 15 RDIR Cn 02 Bit No 2 1 This signal becomes the rotation direction change command for when operation is carried out at the internally set speed no 1 through no 3 internally set speeds When this signal is not input the rota tion direction is forward when it is input the direction is reverse 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 settings of bits nos 6 8 and 9 of setup parameter no 1 Cn 01 Alarm status will not be generated at the Driver When drive prohibition is not used clear the function by connecting the respec tive signal to the external power supply 24 V GND or setting setup parameter Cn 01 bit nos 2 3 1 1 5 11 Specifications Chapter 5 Stopping Methods when Forward Reverse Drive Prohibit is OFF eeusuuuuuuuuuuusx Bit Deceleration Method Stopped Status No 6 Dynamic brake Servo free Bt o I No 8 Pa POT NOT is OFF a 4 Free run eit
15. 00 0 2 3 2 1 2 Installation Conditions 0 0 cece eee eee 2 16 2 2 Wiring Products Conforming to UL cUL and Wiring Products Not Confrorming to Any Standards 0000 2 19 2 2 1 Connecting OMRON Servo Controllers 0 eee eee eee eee 2 19 2 2 2 Connector Terminal Conversion Unit 00 cece eee eee eee eee 2 21 2 2 3 Wiring Servo Drivers 0 0 eee eee he 2 22 2 2 4 Wiring for Noise Resistance 0 eee eee eee een ene eae 2 24 2 2 5 Peripheral Device Connection Examples sese 2 30 2 3 Wiring Products Conforming to EC Directives 0 0 0 2c eee 2 32 2 3 1 Connecting Servo Controllers 0 ec eens 2 32 2 322 Witing Servo Drivers isla a ra eeu 2 33 2 3 3 Wiring Products Conforming to EMC Directives 00 0 eee eee eee ee 2 35 2 3 4 Peripheral Device Connection Examples 00 eee eee eee eee eee 2 41 Chapter 3 Operation 4 2 6 5 dete 8 5 Genes CEN E ESAEN EN PO STE 3 1 Operational Procedure ore IR hes redet ree Int ohooh ee aed 3 3 3 2 Turning On Power and Checking Displays eee 3 4 3 2 1 Items to Check Before Turning On Power 00 eee eee eee eee 3 4 3 2 2 Turning On Power and Confirming the Display 0 2 0 0 e eee 3 4 3 3 Uste Parameter Units iecore ERREUR TOD Aa ELS Boe PS ENT AM ISS PEG 3 6 3 3 1 Parameter Unit Keys and Functions 0 cece cece eee nee 3 6 3 3 2 Modes and C
16. 3 32 Operation Chapter 3 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 Down Key for reverse opera tion Continue pressing the key until End is displayed indicating that auto tuning has been com pleted 11 Release the key The data display will return 12 Press the DATA Key to return to the settings mode e Selecting Mechanical Rigidity Select the set value to match the rigidity of the mechanical system HA LA V W Models Response Set Position loop gain Representative applications value 1 s Articulated robots harmonic drives chain drives belt drives rack and pinion drives etc Medium XY tables Cartesian coordinate robots general purpose ma chinery etc 004 S6 High Ball screws direct coupling feeders etc 005 78 decur H L Models Response Set Position loop gain Representative applications value 1 s 001 Articulated robots harmonic drives chain drives belt drives rack and pinion drives etc Medium 002 40 XY tables Cartesian coordinate robots general purpose ma chinery etc Higa oos 60 Ball screws direct coupling feeders etc Note The higher the rigidity of the mechanical system is the higher the response becomes e Auto tuning Auto tuning will not be complete until at least three operation
17. Application Chapter 4 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 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 BLE NN ES zuo BLUE BUM EA Rx E TBS s qnte Nod pes zB 16 17 18 19 20 4 6 Application Chapter 4 Monitor Bit no Symbol Contents no DIR PCL SPD1 NCL SPD2 A ALM Lit when alarm is generated DBON Lit during dynamic brake operation Lit when in reverse rotation mode when Cn 02 bit no 0 1 Lit when the motor rotational speed is equal to or greater than the rotational speed for motor rotation detection Cn 0b Lit when a torque command is limited by the torque limit value Cn 08 09 or Cn 18 19 INP Lit when the motor rotational speed reaches the speed command val ue PCON Lit when the speed control loop is in P control Lit when forward rotation current limit speed selection command 1 CN1 11 is ON Lit when reverse rotation current limit speed selection command 2 CN1 12 is ON SVON Lit when motor is receiving power Encoder A phase HA L
18. Are the operating sequences correct Are there any abnormal sounds or vibration Is anything abnormal occurring 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 If the gain could not be adjusted completely using auto tuning perform the procedure in 3 7 Making Adjustments to adjust the gain 3 30 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 are 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 cn 01 0 0 0 0 0
19. Switch rotation direction RDIR Pulse command Positioning completed INP tr min j Speed 3 Motor operation r min Speed 1 3 5 4 Electronic Gear Function Position Control m Function The motor will be driven with a pulse determined by multiplying the command pulse count by 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 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 Target pulse count Command pulse count x G1 G2 If G1 G2 1 the motor will turn once for every 8 192 command pulses driver running at a factor of 4X e One pulse for the 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 3 21 Operation Chapter 3 Parameter name Factory Setting Explanation setting range Cn 24 Electronic gear ratio G1 4 1 to 65 535 Setting range numerator 1 100 lt G1 G2 lt 100 Cn 25 Electronic gear ratio G2 1 1 to 65 535 denominator Note The factory settings will produce turn the motor once for
20. Troubleshootilig 5t err A E RR CRAS RR RR Ea en Periodic Maintenance csr ais Suit cca w qe Sapte wee Sat aa SS 5 1 5 2 5 3 5 4 5 5 5 6 Servo Driver Specifications 234 3 ss She ee eh eee whe Se de bees 5 1 1 General Specifications 2 0 0 cece cee tes nen eens 5 1 2 Performance Specifications 0 eee cece eect eens S 13 VO Specifications i oi nin eed oe NS Dent Ee e ere A he ae ee 5 1 4 Explanation of User Parameters 0 0 cece cee ene Servomotor Specifications si sotiei oeii o e eeit epa ksn eee beeen ene nee 5 2 1 General Specifications 1 0 0 ee cece hee 5 2 2 Performance Specifications cies nene 5 2 3 Torque and Rotational Speed Characteristics 0 0 eee 5 2 4 Allowable Loads on Servomotor Shafts 0 0 0 eee eee eee eee 5 2 5 Encoder Specifications creses iannis ta eee eee ee ee eee eee eee teen eres Cable Sp cifications v nea fe ce ns tek ences eee e ie e wes 5 3 1 Controller Connecting Cables esee 53 2 Encoder Cables erret Re reu a Eee le ea a 5 3 3 Power Cable iei Enn ry ER Maat eke ea a athe Blah da atl Sb age bee Spee Soa at Parameter Unit Specifications 00 0 eee eee eee me Regeneration Unit Specifications 00 0 eee ccc eee nen eee Front surface Mounting Bracket Specifications 0 0 cece eee eee eee Chapter 6 Supplementary Materials eere 6 1 6 1 6 2 6 3 6 4 Connecti
21. 10 3 4 GND Output ground This is the output ground mentioned above e Connectors Used 4 Pin Hirose Electric Pin header at Servo Driver DF11 4DP 2DS Socket at cable side DF11 4DS 2C Socket crimp type terminal at cable side DF 11 2428 SC 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 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 setto 20 ms Asthe number is increased the gain is decreased The unit can be changed using the integration time constant setting unit Cn 02 bit No b HA LA V W Models e Emergency Stop Torque Cn 06 When setup parameter Cn 01 bit no 8 1 this sets the braking torque for over travel stopping forward reverse drive prohibit input operation The setting range is 0 to the maximum torque a percentage of the braking torque as 100 of the Servomotor rated
22. 3 38 Operation Chapter 3 Increasing the feed forward amount to much will cause excessive overshooting The feed forward amount is not sent through the deviation counter but 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 096 adjusting it so that 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 1E Deviation counter Sets the level for detection of deviation overflow level counter overflow The residual pulses in the deviation counter will equal the command pulse frequency divided by the position loop gain Divide this value by 256 add a reasonable amount of leeway and set the deviation counter overflow level to the resulting val ue Cn 26 Position command Oto 640 Sets the time constant for smoothing posi acceleration decel tion command soft start function iur ae Even if the position command pulses are eonsian input in steps t
23. 4 The 0 V terminal is internally connected to the common terminals 5 The following crimp terminal is applicable R1 25 3 round with open end Supplementary Materials Chapter 6 Terminal Connection Unit for COM1 CPU43 XW2B 20J6 3B Note Note Note Note Note Note Note CQM1 connector Servo Driver connector Note Terminal block pitch 7 62 mm See See note 1 note 1 COMI Input Uni o o See note 2 24 VDC N of 5 Oo N Inputting this signal will cause the CQM1 s output pulse to be returned and input to the high speed counter Input this output signal to a CQM1 s Input Unit The XB contact is used to turn ON OFF the electromagnetic brake An open collector output is used for the Z phase Do not connect unused terminals The 0 V terminal is internally connected to the common terminals The following crimp terminal is applicable R1 25 3 round with open end 6 9 Supplementary Materials Chapter 6 6 3 OMNUC U series Standard Models Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards e Servomotors 0000 Specification Straight shaft with Standard no 200 VAC no Key prake 0B VEC With brake 200 VAC R88M U03030HA B R88M U05030HA B R88M U10030HA B R88M U20030HA B R88M U40030HA B R88M U75030HA B 100 VAC R88M U03030L
24. Always use the power supply voltage specified in the User s Manual An incorrect voltage may result in malfunction or burning N Caution N Caution N Caution N Caution N Caution Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning Provide an appropriate stopping device on the machine side to secure safety A holding brake is not a stopping device for securing safety Not doing so may result in injury Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption Not doing so may result in injury Take appropriate and sufficient countermeasures when installing systems in the fol lowing locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Operation and Adjustment Precautions N Caution N Caution N Caution N Caution N Caution N Caution Check the newly set parameters for proper execution before act
25. D h EA 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 current Lit when the motor rotational speed is equal to or greater than the rotational limit detection See note speed for motor rotation detection Cn 0b Lit when a torque command is limited by the torque limit value Cn 08 09 or Cn 18 19 Command pulse input Lit when the specified command pulse is being input Note The setting of bit no 4 in setup parameter no 1 Cn 01 determines whether rotation detection or current limit detection will be output 4 4 Application Chapter 4 Symbol Display Contents Symbol display bb Base block no power to motor Forward rotation prohibited Reverse rotation prohibited an0 Alarm display Refer to alarm table 4 1 3 Monitor Mode Un Types of Monitoring In monitor mode ten types of monitoring can be carried out Monitor no Monitor contents Unit Explanation Speed feedback r min Displays actual rotational speed of motor Speed command _ r min Displays comm
26. Indicates settings mode mem check iode 5 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 O AON OA FW N 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 User Parameter Settings The rotational speed during jog operation can be set with user parameter Cn 10 as shown in the follow ing table Parameter name Factory Setting range Explanation setting Jog speed 0 to 4 500 Speed setting for jog operation 3 31 Operation Chapter 3 3 7 Making Adjustments 3 7 1 Auto tuning Auto tuning rotates the Servomotor with a load connected mechanical system and au tomatically adjust
27. Output power supply 0 V 23 N aeg R88A CAUOOOS 1 Cw U m Power Cable EN X axis pulse CW with resistance 2 2 CW V ES Y Ww output CW without resistance 3 oe 3 CCW Ww Green gt i CCW with resistance 43 4 CCW KK CCW without resistance 44 ul 1 6K 5 ECRST z X axis deviation counter reset output 4 AAA 6 ECRST CN2 X axis origin line driver input 9 1194 4Z yN X axis origin common 11 25 Z RE X axis positioning completed input 8 8 INP RS8A CRUEIEEO L E DANG E Encoder Cable X Y axis input common 22 e 13 24VIN 24VDC xu d X axis external interrupt input 6 OO i OC6 00 14 RUN X axis origin proximity input 7 OO r OOo 18 RESET X axis CCW limit input 17 ee L h0 OGND X axis CW limit input 18 ee gt 135 ALMCOM X Y axis emergency stop input 19 ee iji Le x1 34 ALM 24VDC pa i Lk 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
28. R88D UPOSL A 100 V 30W R88A TK01U RB8D UPOAL A OW R88D UP1OL A 5 49 Specifications Chapter 5 m Dimensions e R88A TKO1U Top Mounting Bracket Two 3 6 dia pan head screws 2 27 6 dia Bottom Mounting Bracket ae 2 Two 3 6 dia pan head screws 5 50 Specifications Chapter 5 e R88A TKO2U Top Mounting Bracket 66 9 Two 3 6 dia pan head screws Le Bottom Mounting Bracket Ul AT TT 10 17 5 5 51 Specifications Mounting Dimensions e R88A TKO1U ji 1 2 oo Two M5 5 52 Chapter 5 e R88A TKO2U 15 180 l g Three M5 30 Ll jth hin Chapter 6 Supplementary Materials 6 1 Connection Examples 6 2 Servo Connector Terminal Connection Unit 6 3 OMNUC U series Standard Models 6 4 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
29. approximate Heating value Capacity Maximum pulse frequen cy Position loop gain Electronic gear Positioning completed range Feed forward compensa tion Bias setting Position acceleration de celeration time constant 0 9 kg 15W 200 kpps 0 to 500 1 s Electronic gear ratio setting range 0 01 G1 G2 100 G1 G2 1 to 65 535 0 to 250 command units 0 to 100 of speed command amount pulse frequency 0 to 450 r min 0 to 64 0 ms The same setting is used for acceleration and deceleration Position command pulse input see note TTL line driver input with photoisolation input current 6 mA at 3 V Feed pulse and direction signal forward pulse and reverse pulse or 90 differ ential 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 24 1 VDC 50 mA min Position feedback output A B Z phase line driver output EIA RS 422A A phase and B phase dividing rate setting 16 to 2 048 pulses revolution Z phase 1 pulse revolution Speed monitor output 0 5 V 1 000 r min Current monitor output 0 5 V rated torque Sequence output Alarm output motor rotation detection brake interlock positioning completion open collector outputs 30 VDC 50 mA except for alarm code output
30. plained below 3 40 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 Eg1 1 2 Ny Tp ty 1 027 x 107 J Ego 1 2 No Tp2 to 1 027 x 10 2 J N4 No Rotation speed at beginning of deceleration 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 Ego T W 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 P must not exceed th
31. which is 30 VDC 20 mA External regeneration processing Required for regeneration of more than 30 times the motor s rotor inertia Required for regenera tion of more than 20 times the motor s rotor inertia Protective functions Overcurrent grounding overload overvoltage overspeeding runaway preven tion transmission errors encoder errors deviation counter overflow Note The input pulse width must meet the following conditions H Ti Tig 2 5 us TiL Tin 5 5 Specifications Chapter 5 m 100 VAC Input Servo Drivers Conforming to EC Directives Mem R88D UP03W R88D UPO4W R88D UP10W R88D UP12W R88D UP15W Continuous output current 0 P Momentary max output current 0 P Input power supply Single phase 100 115 VAC 85 to 127 V 50 60 Hz Control method All digital servo Speed feedback Optical encoder 2 048 pulses revolution Applicable load inertia Maximum of 30 times motor s rotor inertia 20 times max Inverter method PWM method based on IGBT PWM frequency 11 kHz 7 8 kHz Applicable Servomotor R88M R88M R88M R88M R88M U03030WA U05030WA U10030WA U20030WA U30030WA Applicable Servomotor wattage 30W 100W Weight approximate 0 9 kg Heating value 17W 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
32. 0 10 0 to 3 000 mands r min s Cn OF P control switching deviation pulse 10 Command 0 to 10 000 units Cn 10 Jog speed 500 r min 0 to 4 500 Cn 11 Number of encoder pulses See notes 2 048 Pulses 2 048 2 and 3 revolution Cn 12 Brake timing 1 0 10 ms 0 to 50 Cn 15 Brake command speed 0 to 4 500 Cn 16 Brake timing 2 50 10 to 100 Cn 17 Torque command filter time constant 4 0 to 250 Cn 18 Forward rotation external current limit 100 96 0 to maxi mum torque Cn 19 Reverse rotation external current limit 100 96 0 to maxi mum torque Position loop gain 40 1 s 1 to 500 Ps Positioning completion range 3 Command 0 to 250 E units Cr 16 Bias rotational speed 0 Wm 045 Feed forward amount 0 Oto100 Cn 1E Deviation counter overflow level 1 024 x 256 1 to 32 767 commands 6 16 Supplementary Materials Chapter 6 Parameter name Factory Setting setting range No 1 internal speed setting 100 0 to 4 500 No 2 internal speed setting 200 0 to 4 500 No 3 internal speed setting 300 0 to 4 500 Soft start deceleration time 0 to 10 000 Electronic gear ratio G1 numerator 1 to 65 535 see note 2 Electronic gear ratio G2 denominator 1 to 65 535 see note 2 Cn 26 Position command acceleration decel 0 to 640 eration time constant Feed forward command filter 0 0 to 640 HA LA V W Models HA LA V W Models See note 4 Note 1 Cn 0
33. 01 specify how the motor will be stopped when the servo goes OFF the run command is OFF an alarm is generated or overtravel occurs The following diagrams show the func tion of these four bits Stop Process for Servo OFF Alarm Servo OFF or Alarm Bit 6 Deceleration method Bit 7 Stop condition Decelerate by dynamic brake Servo free dynamic brake OFF Servo free dynamic brake ON Decelerate by free run Servo free dynamic brake OFF Stop Process for Overtravel Bit 6 Bits O_ Overtravel occurs sgl Deceleration method Stop condition 7 Decelerate by dynamic brake p c Servo free dynamic brake OFF Decelerate by free run Bit 9 4 Servo free dynamic brake OFF Decelerate by emergency stop torque Cn 06 0 Servo lock 3 5 Setting Functions User Parameters Execute the user parameter settings in order as follows Go into settings mode ssuuusss MODE SET Key Display the pertinent parameter number Direction Keys Handy type 3 14 Up and Down Keys Mounted type Display the contents data of the parameter DATA Key Change the data cece ee aes Direction Keys Handy type Up and Down Keys Mounted type Save the data in memory MODE SET and DATA Keys Operation Chapter 3
34. 2 Servomotor Specifications 5 2 1 General Specifications Mem Specifications S Operating ambient temperature 0 C to 40 C Operating ambient humidity 2096 to 8096 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 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 Insulation resistance Between power line terminals and case 10 MQ min 500 VDC megger Dielectric strength Between power line terminals and case 1 500 VAC for 1 min 10 mA max at 50 60 Hz JEC 2121 Run position All directions Insulation grade Type A JIS C4004 Models conforming to UL Standards Type B JIS C4004 All models other than those in Type A Structure Totally enclosed self cooling Protective structure Models Conforming to UL CUL Standards and Models Not Conforming to Any Standards 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 Servom
35. 3M s 10336 52A 008 Connector plug Fujitsu s FCN 361J040 AU Connector cover Fujitsu s FCN 360C040 B 5 36 Specifications Chapter 5 m General purpose Control Cable e a of Cable Length L Outer diameter of sheath R88A NL S jim 9 9 dia R88A CPUOO28 2m e Connection Configuration Position Control Unit mounted on a SYSMAC C CV series PC OMNUC U Series AC Servomotor Driver Specifications Chapter 5 e Wiring No Insulation color Pp Co Signal name Analog Pulse Dot mark color orange Bex TRE OW Red AGND CW o fea awo ow E e Sm p pe per pow CCW ECRST Oo on amp N ECRST 0 Yellow VCMP INP Pink Black TGON TGON Ho Pm faea oan focnn S sm eo ro io Re Na Nx pi 12 13 14 16 Yellow Black POT POT Yellow Red NOT NOT Pink 19 Pink Black RESET RESET B B B B White Z Z Yellow Yellow Pink 30 Orange 31 Orange Black ALO1 ALO1 ALM ALM ALMCOM ALMCOM Cable AWG24X18P UL20276 5 38 FG FG Connector Pin Arrangement 19 20 1 3 21 22 5 23 24 7 25 8 26 9 27 28 11 29 30 31 32 33 34 35 36 Connector plug model 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008
36. 4 0A 6 0A 11 0A put current R T Motor output cur 0 42A 0 6A 0 87 A 2 0A 2 6A 4 4 A rent U V W Power supply in 0 75 mm or AWG 18 min 1 25 mm 2 0 mm put terminal 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 UP L A Driver model R88D UPO3L A R88D UP04L A R88D UP10L A R88D UP12L A R88D UP15LA Watts 30 W Edu 100 W 200 W 300 W Power supply input cur rent R T Motor output current U 0 63 A V W Power supply input ter 0 75 mm or AWG 18 min minal wire size Motor output terminal 0 5 mm or AWG 20 AWG 20 to AWG 18 wire size Use OMRON standard cable The applicable wire size for motor connectors is AWG22 to AWG18 Ground terminal wire Use 2 0 mm external ground wires Use the same wire as used for the motor output size 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 specif
37. 5 dia System Design and Installation Chapter 2 e R88A PRO3U 2 8 System Design and Installation Chapter 2 AC Servomotors Conforming to UL cUL Standards and AC Servomotors Not Conforming to Any Standards e 30 W 50 W 100 W Standard Models R88M U03030HA R88M U05030HA R88M U10030HA R88M U03030LA R88M U05030LA R88M U10030LA Encoder adapter Motor plug e 30 W 50 W 100 W Models with Brake R88M U03030HA B R88M U05030HA B R88M U10030HA B R88M U03030LA B R88M U05030LA B R88M U10030LA B Encoder adapter Motor plug 21 Two 4 3 dia Four R3 7 Standard Models Models with Brake Model L LL S Modai L u Ss R88M U03030HA 94 5 69 5 R88M U03030HA B 126 101 31 5 R88M U03030LA R88M U03030LA B R88M U05030HA 102 0 77 0 R88M U05030HA B 133 5 108 5 31 5 R88M U05030LA R88M U05030LA B R88M U10030HA 119 5 94 5 R88M U10030HA B 160 135 40 5 R88M U10030LA R88M U10030LA B System Design and Installation Chapter 2 AC Servomotors Conforming to UL cUL Standards and AC Servomotors Not Conforming to Any Standards Contd e 200 W 300 W 400 W Standard Models R88M U20030HA R88M U40030HA R88M U20030LA R88M U30030LA 300 30 Encoder adapter Motor plug Four 5 5 dia Four R5 3 50h7 dia e 200 W 300 W 400 W Models with Brake R88M U20030HA B R88M U40030HA B R88M U20030LA B R88M U3003
38. 6 5 C i T NS p ZN f 3 T 5 B phase aala PAM o ip BS r B phase O t t 9 Ld 12 24 4Zz o Z 10 Z phase um E am pm 11 Z phase CUNT A 10 22A ERE ES Bic ee Output line driver p dy LRZ NV i d b SN75ALS 174NS e OV preauivelent 19 O EGND A GND O Applicable line receiver OV 7 A oe ee 770V TI SN75175 MC3486 AM26LS32 36 FG R 220 to 470 Q FG 7 7 FG R 220 to 470 Q 5 18 Specifications Chapter 5 m Control I O Signal Connections and External Signal Processing Reverse pulse cw CW 2 gt O Forward pulse a te BOCW pa Foe Tactics gt s t li Os L COW n y h Deviation counter i 2 7 3ECHST 540 ete censi it M o f ECRST k TS f Do not connect if P these pins li 27 1 28 o 29 24 VDC 24 VIN 13 Run x instruction RUN 14 i Y du i lA7k So Se a Seas Gain decel x eration MNG 15 YT 34 Forward AT RY 9 rotation drive S prohibit por 16 FN e ee O NAA a mae ey a Da Z Reverse CK ee rotation drive Ne i prohibit NoT 17 TNR o ee Q NAN 47k it Alarm reset RESET 1g FR OO Q NNN Forward Alp Kiba a Se rotation i i current limit poi a Xu l 0 0 Q NAAv J Reverse 4 7 k d eo Bs rotation current limit NCL 12 Ys KK BKIR X xK v3 oc i 2 he 10 34 AL
39. 63 A V W Power supply input ter 0 75 mm or AWG 18 min minal wire size Motor output terminal 0 5 mm or AWG 20 AWG 20 to AWG 18 wire size Use OMRON standard cable The applicable wire size for motor connectors is AWG22 to AWG18 Protective earth termi Use 2 0 mm external ground wires Use the same wire as used for the motor output nal wire size 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 sechonal area wires mm resistance ambient temperature iu is 2o fos 19018 des fee 56 45 bs o1 mo 8 o 85 js os wo ma 9o bo 2 34 System Design and Installation Chapter 2 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 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 Di
40. 7 Corresponding Servo Driver R88D UPO3L A UPO3W R88D UPO4L A UPO4W R88D UP10L A UP10W R88D UP12L A UP12W R88D UP15LA UP15W 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 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 29 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 same Note The
41. 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 and command pulse logic setting 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 32 1 0 0 90 differential phase A and B phases signal 4X Command Pulse Logic Reversal Cn 02 bit no d Cn 02 bitno d 0 Positive logic Cn 02 bit no d 2 1 Negative logic 5 13 Specifications Command pulse 3 mode Forward pulse and direction signal Reverse pulse and forward differential Forward pulse and direction signal Reverse pulse and forward pulse Chapter 5 Forward motor Reverse motor commands commands 90 differential phase 5 14 signals PONT PANT APAONT PONT PONT PONT Specifications Chapter 5 Command Pulse Timing Command pulse Timing mode Forward pulse and direction Direction signal T Forward commands Reverse commands Maximum frequency 200 kpps t1 lt 0 1us t2 3 0us Reverse pulse Forwar
42. Conforming to EC Directives Contd e 200 W 300 W 400 W Standard Models R88M U20030VA S1 R88M U40030VA S1 R88M U20030WA S1 R88M U30030WA S1 300 30 Four 5 5 dia e 200 W 300 W 400 W Models with Brake R88M U20030VA BS1 R88M U40030VA BS1 R88M U20030WA BS1 R88M U30030WA BS1 300 30 Four R5 3 Y Loni RRS SERRE Standard Models Standard Models Models with Brake L Mode t t f Modei L R88M U20030VA S1 5 R88M U20030VA BS1 R88M U20030WA S1 R88M U20030WA BS1 R88M U40030VA S1 2 R88M U40030VA BS1 R88M U30030 WA S1 R88M U30030WA BS1 Chapter 2 gt Uo d c o Q S o 5 o M 2a 5 o iP o pes _ a Y O a Lu 2 n E Ez Q 938 bac Oo Io 3 E D ANN N N S ANNS S Ez CO e Oo ie uum SA g O 8 2 O o hace Sl o 3 3 8 o9 o S4 9 x es ales S O c Q z2 g x S 3 2 8 lt N v H e R88M U75030VA BS1 e 750 W Models with Brake 7 dia Four ESSERE ENSIS AASA A NAAN SESS wl es e N N SAA AAA S SENS RRR RRR oy SE A EF A TAAST SIL OS nanan y ul W st U ARN ACESS AREA FSV SIS 2 14 System Design and Installation Chapter 2 m Shaft Dimensions of Motors With Keys Standard U series AC Servomotors do not have k
43. E hd F hee servo lock when stopped Pee eee Internal speed control settings and 1 position control by pulse train input nd Position control by pulse train inputs Factory setting Position control by pulse train inputs pulse stop input IPG enabled Internal speed control settings only Servo lock when stopped Internal speed control settings position control by pulse train input Note Cn 01 bit F is effective in the HA LA V W Models only With H L Models use Cn 02 bit 2 to select either position control by pulse train inputs or internal speed control settings Command Pulses in Position Control Bits 3 4 and 5 of Cn 02 specify the kind of command pulse mode used for position control as shown in the following table e bit 3 e bit 4 Cn 02 bit 5 Selected command pulse mode Feed pulse PULS Direction signal SIGN Forward pulse CCW Reverse pulse CW Factory setting 90 differential phase A B phase signal 1x 90 differential phase A B phase signal 2x 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 13 Operation Chapter 3 m Error Stop Processes Bits 6 7 8 and 9 of Cn
44. Encoder S phase input Encoder S phase input Encoder A phase input Encoder A phase input Encoder B phase input Encoder B phase input Shielded ground Cable shielded ground see note Note Pin 20 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 20P Sumitomo 3M 10220 52A2JL 10120 3000VE 10320 52A0 008 Receptacle at Servo Driver Soldered plug at cable side Case at cable side e Pin Arrangement Note Pin 20 is not used with models conforming to EC Directives e Rotation Direction Change 7 DIR Encoder power sup Encoder P EDS ply GND 11 NC power sup 2 EOM ply GND Encoder TE NG power sup Encoder oun ply GND andes 13 UNE power sup ieee ply 5 V Encoder mi S phase eReader power sup input bora Encoder SLE ply 5 V 1p ms arenes egy power sup ados sad input A phase ye Rotation input Encoder 7 DIR direction 17 A A phase switch input Encoder input 8 NC 18 B B phase input Encoder 9 NC 19 B B phase FG input 10 NC 20 see Frame ground note To set up the mechanical configuration so that a voltage input causes reverse rotation instead of for ward rotation this terminal can be connected to the EOV terminal for any of pins 1 through 3 e
45. 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 rightmost 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 m Setup Parameter No 1 Cn 01 setting Sequence input sig 7 9 asmen p o Ntwed Permits always forward drive Enables reverse drive prohibit input NOT Permits always reverse drive Takes TGON CL
46. If input and output lines are wired together noise resistance will decrease 2 35 System Design and Installation Chapter 2 e No fuse breakers MCCB surge absorbers and noise filters NF should be positioned near the input terminal block ground plate and I O lines should be isolated and wired using the shortest means possible e 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 pe UM vil 3 1 3 AC input NF E AC output ACinput NF zo 0770 3 4 j 2 5 Ground Ground AC output Use twisted pair cables for the power supply cables whenever possible or bind the cables L1 PS Driver or MSS HERR Driver L2 4L2 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 panel with welded joints on the top bottom and all sides The case must be electri cally con
47. 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 46 Operation Chapter 3 e Combining External Regeneration Resistors S caenereton absorption capacity 280W Combining external regeneration resistors 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 the Re generation Unit i e so that power supply is broken when the contacts open 3 47 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 produ
48. Servo Controllers Use general purpose control cables purchased separately or Servo Relay Units for the C200H to connect U series AC Servomotors and Servo Drivers to OMRON Servo Con trollers m Connecting SYSMAC C series Position Control Units Sane come Position Control Units for SYSMAC C series Programmable Controllers 3G2A5 NC111 EV1 C200H NC112 C200H NC211 SYSMAC C series Programmable Controller General purpose Control Cable R88A CPU S OMNUC U series AC Servo Driver Power Cable R88A CAU R88A CAU B Encoder Cable R88A CRU OMNUC U series AC Servomotor Note Refer to Chapter 5 Specifications for connector and cable specifications System Design and Installation Chapter 2 m Connecting SYSMAC C200H Position Control Units Using Servo Relay Units C200H Position Control Unit 1 axis C200H NC112 C200H Position Control Unit 2 axes C200H NC211 Position Control Unit Connecting Cable for C200H NC112 XW2Z 050J A1 0 5 m XW2Z 100J A1 1 m Position Control Unit Connecting Cable for C200H NC211 XW2Z 050J A2 0 5 m XW2Z 100J A2 1 m Terminal Connection Unit for C200H NC211 XW2B 40J6 2B Terminal Connection Unit for C200H NC112 Note 2 A Relay Unit is also available for the CQM1 CPU43 E with pulse I O capability XW22Z 100J B1 1 m XW22 200J B1 2 m Note Two cables are
49. Unit transmission er ror 1 Parameter Unit transmission er ror2 Condition when error oc curred Occurred when power was turned on Occurred while the Parame ter Unit was being used Chapter 4 Probable cause Countermeasures Servo Driver defective Replace Servo Driver Internal element is malfunc Reset and then run again tioning Internal element is dam Replace Servo Driver aged 4 19 Application Chapter 4 4 5 Periodic Maintenance N WARNING Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock N Caution Resume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in an unexpected operation 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 dete
50. Up to a maximum of 20 m between the Monitor and the Servo Driver e Connection Configuration 50 E ES E me M OMNUC U Series AC Servomotor OMNUC U Series AC Servomotor Driver e Wiring Symbol No T AWG20 Red m U phase 1 AWG20 Whit CIO V phase 2 m cO W phase 3 pet Bile CO GR 4 AWG20 Green me Cable AWG20 x 4C Crimp style terminal UL2517 5 42 Specifications Chapter 5 For Cable Connector housing model 172159 1 Nippon Amp Connector socket contact model 170366 1 Nippon Amp Crimping tool 724651 1 Pulling tool 724668 2 For Motor gt Connector plug model 172167 1 Nippon Amp Connector pin contact model 170359 1 Nippon Amp for 30 to 100 W models 170360 1 Nippon Amp for 200 to 750 W models Power Cable for Servomotors With Brakes Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards e Types of Cable Model Length L Outer diameter of sheath R88A CAUO03B 6 8 dia R88A CAU005B R88A CAU010B R88A CAUO15B 15m R88A CAUO20B 20m Up to a maximum of 20 m between the Monitor and the Servo Driver e Connection Configuration OMNUC U Series AC Servomotor OMNUC U Series AC Servomotor Driver 5 43 Specifications Chapter 5 e Wiring Symbol No AWG20 Red oe AWG20 Whit V phase 2 HE W phase 3 AWG20 Blue GR A
51. a series of fully Adjustments and Troubleshooting software controlled AC servo Adjustments Section 3 7 drivers built on advanced OM J Displays Section 4 1 RON software servo technol _ Monitor Outputs Section 4 2 Ody provides Ign Penor Protections and Diagnostics Section 4 3 mance a sensitive man ma chine interface and economy _ Troubleshooting Section 4 4 OMNUC U Series OMNUC U series AC Servo Driver Cable Specifications Chapter 5 5 3 2 5 3 3 I O Operations Chapter 5 5 1 3 Power signals Encoder g signals OMNUC U series AC Servomotor Motor Specifications Chapter 5 5 2 Parameter Units Operation Method Chapter 3 3 3 3 4 3 5 Table of Contents Chapter 1 Introduction iei ey er rete e ta o tesis l 1 Ts T oBeat fes arcte ee IS ee ter cerea e PEERS EUM eei eden prd erp ten Setter fte PS 1 2 1 2 System Configuration lees ehh hehehe hehehe 1 5 1 3 Servo Driver Nomenclature ee srne entor e eee nee as 1 6 1 4 Applicable Standards and Models 0 eee eee cece eee ene eens 1 7 1 4 1 UL cUL Standards o ee a EO eee EG EN EPOR UY 1 7 1 4 2 EC Directives aeiia eni eren nal Bhs ER PRIN ER ER RES 1 7 Chapter 2 System Design and Installation 2 1 2 1 Installation ss ye oltre agi a le HO alg hs a He EO gs ERE WR ed Ewa 2 3 2 1 1 External Dimensions Unit mm
52. 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 Forward Rotation External Current Limit Cn 18 Reverse Rotation External Current Limit Cn 19 These set the Servomotor output torque limits for the forward and reverse directions They are valid when the forward reverse current limits PCL NCL CN1 11 12 are input This function can t be used if the input command mode is set to internal speed control settings The setting range is 0 to the maxi mum torque and the factory setting is for the 100 96 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 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 out
53. brake interlock positioning completion open collector outputs 30 VDC 50 mA except for alarm code output which is 30 VDC 20 mA External regeneration processing Protective functions Note The input pulse width must be meet the following conditions H 5 4 Required for regeneration of more than 30 times the motor s ro tor inertia Required for regeneration of more than 20 times the motor s rotor inertia Overcurrent grounding overload overvoltage overspeeding runaway protection transmission errors encoder errors deviation counter overflow Ti Tig 2 5 us TiL Tin Specifications Chapter 5 m 200 VAC Input Servo Drivers Conforming to EC Directives Continuous output current 0 P R88D UPOS3V 0 6A 0 85 A 1 2A R88D R88D R88D R88D UP04V UP08V UP12V UP20V Momentary max output current 0 P 1 8A 2 7A 4 0A Input power supply Single phase 200 230 VAC 170 to 253 V 50 60 Hz Control method All digital servo Speed feedback Applicable load inertia Optical encoder 2 048 pulses revolution Maximum of 30 times motor s rotor inertia Maximum of 20 times motor s rotor inertia Inverter method PWM method based on IGBT PWM frequency Applicable Servomotor R88M U03030VA 11 kHz R88M R88M R88M R88M R88M U05030VA U10030VA U20030VA U40030VA U75030VA Applicable Servomotor wattage 30 W 100 W 200 W 400 W 750 W 1 2kg 1 5kg Weight
54. 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 Unit Setting Explanation seus range Cn 12 Brake timing 1 10 ms 0 to 50 Delay time setting from brake command until servo turns off Cn 15 Brake command speed r min 0 to 4 500 Sets rotational speed for out putting brake commands Cn 16 Brake timing 2 50 10 ms 10 to 100 Waiting time from servo off to brake command output 3 26 Operation Chapter 3 Operation e Timing for Run Command RUN When Servomotor is Stopped umi 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 max P S 100 max Brake Cancelled operation Maintained Pulse train ON See note 1 command ME LER EE ee 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 into 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
55. counter overflow level set in Cn 1E Overvoltage Main circuit DC voltage exceeded the al lowable value Over speed Detected at 4 950 r min ila il il a ll ON ON ON OFF Excessive speed com mand input Overload Overload Speed command for 4 700 r min was in put H L Models Detected at reverse limit characteristics when the output torque exceeds120 of the rated torque HA LA V W Models Detected at reverse limit characteristics when 135 of the rated torque was ex ceeded H L Models a2 ON ON OFF Overload Detected at reverse limit characteristics for 120 to 135 of the rated torque H L Models OFF JON mE acl mae oH on OFF Phase error detected Encoder A or B phase wire disconnection Encoder S phase wire disconnection Momentary power fail ure alarm Runaway detected Faulty power or encoder wiring Connector not properly connected Encoder not properly wired Either Phase A or Phase B signal was disconnected or short circuited Encoder S phase was disconnected or short circuited The power supply was re started within the power retention period af3 OFF ON orr OFF a99 OFF OFF OFF ON cpf 00 EIER OFF eer a a Note means indefinite 4 10 Alarm reset power sup ply turned on Parameter Unit trans mission error 1 Parameter Unit trans mission error 2 This is history data only and is not an alarm Data coul
56. data values Zu Zu g ag Decrements parameter num bers and data values Left shift for operation digits Right shift for operation digits 3 3 2 Modes and Changing Modes Modes OMNUC U series AC Servo Drivers have four operating modes as described in the following table For example the Settings Mode is used to set parameters Mode Function Status display mode Settings mode Monitor mode Alarm history display mode 3 6 Bit display indicating internal status via indicators Power supply ON display base block positioning completion rotation detection and current limit 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 speed commands torque commands number of pulses from U phase electrical angle internal status bit display command pulse speed display position deviation input pulse counter HA LA V W Models Displays contents of alarms that have been previously generated up to a maximum of 10 Operation Chapter 3 Changing Modes To change modes press the MODE SET Key
57. direct Leakage current resistor capaci including high frequency cur tor in commercial power supply rent frequency range R88D UPO2H A to UPO8H A 3 mA R88D UP12H A 4 mA R88D UP20H A 5 mA 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 Encoder Cable Noise Resistance Signals from the encoder are either A B or S phase The frequency for A or B phase signals is 154 kHz max while 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 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 Donot 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
58. exceeds this set value The factory setting is for 20 r min e P Control Switching Torque Command Cn 0C P Control Switching Speed Command Cn 0d P Control Switching Acceleration Command Cn 0E P Control Switching Deviation Pulse Cn 0F These set the various points for switching the speed controller from PI control to P control in order to moderate excessive characteristics when an operation such as acceleration or deceleration is executed accompanied by output saturation of the controller These selections are made by setting the setup parameter Cn 01 bit nos b d and C e Jog Speed Cn 10 This sets the speed for manual operation The setting range is O to 4 500 r min During manual opera tion operating commands are given from the Parameter Unit The factory setting is for 500 r min e Number of Encoder Pulses Cn 11 This sets the number of pulses per revolution of a connected encoder Do not change this parameter s setting the Servomotor might not operate correctly if it is changed The factory setting is for 2 048 pulses revolution e Brake Timing 1 Cn 12 Brake Command Speed Cn 15 Brake Timing 2 Cn 16 These parameters determine the output timing of the brake interlock signal BKIR which controls the electromagnetic brake Brake timing 1 sets the delay time from the time of brake interlock goes OFF until the servo turns off The setting range is 0 to 50 x 10 ms and the factory setting is for O x 10 ms The br
59. frequency divider Encoder Servo Driver n E A phase B Frequency divider B phase SN S The output phases of the encoder signal output from the Servo Driver are as shown below when divider rate Cn 0A 2 048 Note The width of the Z phase output pulse is not affected by the divider rate and will remain constant Forward Rotation Side Reverse Rotation Side A phase A phase B phase B phase Z phase Z phase Note When the encoder divider rate is set to other than 2 048 1024 512 the phase difference for phases A and B is not 90 but scatters for time T See the diagram below A phase B phase i i t1 2 nT t2 n 1 T t t Hitno tito t2 I a a a gt a a In this diagram T represents the time between phase A and phase B and n is an integer that satisfies the following formula with digits below the decimal point discarded n 2 048 encoder divider rate Inputto frequency divider A phase ze dir encoder output B phase icm 9 T T 3 23 Operation Chapter 3 3 5 6 Bias Function Position Control The bias function shortens positioning time by adding the bias rotational speed to the speed command when the residual pulses in the deviation counter exceed the position ing completion range m Function When the residual pulses in the deviation counter exceed the
60. i 69 R88D UP10L A UP10W Rotor inertia x 30 4 500 r min 100 W R88D UP12L A UP12W 3 200 W R88D UP15LA UP15W 3 8 Rotor inertia x 20 4 500 r min 300 W Rotor inertia x 30 3 000 r min 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 Range for Absorbing Regenerative Energy The relationship between rotation speed and the load inertia that can be absorbed by a Servo Driver alone 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 UPO2H A UPO3H A UPO4H A UPO2V UPO3V UPOAV 30 W 50 W 100 W R88D UPO3L A UPO4L A UP10L A UPO3W UPO4W UP10W 30 W 50 W 100 W Applicable load inertia x10 4kgem 1000 2000 3000 4500 Rotation speed r min 3 44 Operation Chapter 3 e R88D UPO8H A UPO8V 200 W R88D UP12L A U
61. inertia for magnetic brakes is the load inertia e Specifications for AC Servomotors With Brakes Specifications in Common for 100 and 200 VAC Rotor in ertia kgfecmes Brake in kgem ertia GD 4 kgfecmes Total in kgem 0 49 x 1075 2 49 x 1075 ertia GD 4 kgfecmes f 0 36 x 1074 0 50 x 10 4 2 54 x 1074 Weight kg E 0 7 0 8 g 2 2 approx Magne V 24 VDC 10 No polarity tized voltage Power W at 20 C con sumption Current A at20 C 0 25 0 25 0 27 0 25 con sumption friction Absorp ms 40 max 60 max 100 max 200 max tion time see note 1 Release 30 max 40 max time see note 1 Insula Type F brake only tion grade Note 1 The operation time measurement is the measured value with a surge killer CR50500 by Okaya Elec tric Industrial Co installed Note 2 The items in parentheses are reference values 5 30 Specifications Chapter 5 5 2 3 Torque and Rotational Speed Characteristics Torque Characteristics With 3 m Standard Cable and 200 VAC Input R88M U03030H A R88M U03030VA N m kgf cm Frequent use Continuous use 0 1000 2000 3000 4000 r min R88M U20030H A R88M U20030VA N m kgf cm Frequent use Continuous use 1000 2000 3000 4000 r min R88M U05030H A R88M U05030VA N m kgf cm Fr
62. injury Wiring or inspection must be performed at least 5 minutes after turning off the power supply Doing so may result in electric shock Do not damage press or put excessive stress or heavy objects on the cables Doing so may result in electric shock Do not touch the rotating parts of the Servomotor under operation Doing so may result in injury Do not modify the product Doing so may result in injury or damage to the product Use the Servomotors and Servo Drivers in a specified combination Doing so may result in fire or damage to the products Do not store or install in the following places Doing so may result in fire or damage to the Product Locations subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to shock or vibration Locations subject to exposure to water oil or chemicals N Caution Do not touch the Servo Driver radiator or Servomotor while the power is being sup plied or soon after the power is turned off Doing so may result in a skin burn due to the hot surface Storage and Transportation Precautions N Caution N Caution N Caution Do not hold by the cables or motor shaft while transporting th
63. 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 P OF s EP oes 55 to 75 ms signal BKIR OFF gR 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 27 Operation Chapter 3 e Timing for Run Command RUN Errors Power Supply Servomotor Stopped Power supply Oy OF p Run command ON RUN OFF Alarm output ALM See note 2 Brake interlock ON signal orf BKIR Power on Power to motor Power off Approx 10 ms M See note 1 Motor rotational speed Brake command speed Cn 15 Braking by dynamic brake When Cn 01 bit no 6 0 Note 1 Forthe 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 If the Servomotor rotational speed falls below the speed set for the brake command speed Cn 15 or ifthe time set for brake timing 2 Cn 16 elapses after the Servomotor stops receiv ing power the brake interlock sign
64. 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 torque becomes larger For that reason overloading may occur at low temperatures In particu lar in systems which use deceleration devices the load torque at low temperatures may be nearly twice the load torque at normal temperatures Check with a current monitor to see whether overload ing is occurring at low temperatures and how much the load torque is Likewise check to see wheth er there abnormal Servomotor overheating or alarms are occurring at high temperatures An increase in load friction torque increases the apparent load inertia Therefore even if the Servo Driver parameters are adjusted at a normal temperature there may not be optimal operation at low temperatures Check to see whether there is optimal operation at low temperatures too 5 32 Specifications Chapter 5 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 At the time of assembly assemble the Servomotor at no more than th
65. 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 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 5 Periodic Maintenance for details Note 4 The service life of the Servo Driver is 50 000 hours at an average ambient temperature of 55 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 Conforming to UL cUL Standards and 200 VAC Input Servo Drivers Not Conforming to Any Standards Item Continuous output current 0 P Momentary max output current 0 P Input power supply Control method Speed feedback R88D UPO2H A R88D R88D R88D R88D R88D UPO3H A UPO4H A UPOBH A UP12H A UP20H A IA 18A 27A Single phase 200 230 VAC 170 to 253 V 50 60 Hz All digital servo Optical encoder 2 048 pulses revolution Applicable load inertia Maximum of 30 times motor s rotor inertia Maximum of 20 times mo tor s rotor inertia Inverter method PWM freque
66. mman and forward pulse Onward commands Maximum Reverse commands frequency 200 kpps 90 differential phase signals A and B pulses Maximum frequency 200 kpps Forward commands Reverse commands t1 lt 0 1us T gt 2 5us Tz 5 0us Note Although the above timing charts show positive logic the same conditions hold for negative logic Control Output Interface The output circuit for the control I O connector CN1 is as shown in the following diagram To other output circuits Lo n X J v e External power supply 15 E T 24 VDC 1V uo Tm 10 Maximum operating voltage 30 VDC NY 9 Maximum output current 50 mA max NE OGND Alarm code output 20 mA max To other output circuits Di Diode for preventing surge voltage Use speed diodes 5 15 Specifications Chapter 5 e Control Output Sequence Power supply input ON R T OFF _ Approx 2s MAN Alarm output ON ALM OFF Positioning completed output ON INP OFF Brake interlock output ON BKIR OFF 25to35ms i 6ms Run command input ON RUN OFF Alarm reset input ON RESET opp Alarm code outputs ON ALO1 ALO2 ALO3 Gp L E o t Approx 6s R88D UPO2H A UPOSH A UPOSL A R88D UP02V UP03V UPO3W Approx 10 s R88D UPO4H A UPO8H A UP12H A R88D UPOA4L A UP10L A UP12L A R88D UP04V UPO8V UP12V R88D UP04W UP10W UP12W Approx 15 s R88D UP20H A UP15L A R
67. oo Dynamic brake OFF after motor stopped Mehl r 1 Dynamic brake ON after motor stopped Method for stopping when over travel occurs de pends on bit no 6 setting When over travel occurs motor is stopped at the torque set by user parameter Cn 06 emergency stop torque When over travel occurs motor comes to decelera tion stop and servo turns OFF When over travel occurs motor comes to decelera tion stop and position is locked see note 6 Deviation Clear counter for alarms occurring while Servo is counter with OFF Servo OFF Do not clear counter for alarms occurring while Ser vo is OFF P control switch Switch control according to bits C and d selection Do not switch P control switch 0 0 The torque command value Cn 0C is taken as the conditions condition The speed command value Cn Od is taken as the condition The acceleration command value Cn OE is taken as the condition The deviation pulse Cn OF is taken as the condi tion E 19 i Neuse E 9 6 18 Supplementary Materials Chapter 6 Factory Explanation setting Position Control Cn 02 bit 2 0 TRES the pulse iod input Internal speed control settings Cn 02 bit 2 1 Command pulses aren t received when PCL and NCL are OFF Position Control Cn 02 bit 2 0 Enables the pulse stop input Internal speed control settings Cn 02 bit 2 1 Command pulses aren t re
68. power is turned on again after having been cut off Check to see that the LED display has gone off Note 3 Donotchangethe setting of Cn 11 number of encoder pulses The motor might not operate correctly if the setting is changed Note 4 Refer to the Computer Monitor Software Instruction Manual 1513 for OMNUC U series Servo Drivers for more details on Cn 29 unit number setting 3 18 Operation Chapter 3 3 5 3 Internal Speed Control Settings m Function This function controls Servomotor speed using the speeds set in the parameters No 1 No 2 and No 3 internal speed settings The internal speed is selected with control input terminals CN1 11 and CN1 12 speed selection commands 1 and 2 The direction of rotation is specified with CN1 15 the rotation direction com mand When both speed selection commands 1 and 2 are OFF the motor will decelerate to a stop in the software start deceleration time specified in Cn 23 and then go into servo lock status Depending on the parameter settings it might be possible to perform position control in this status using pulse train inputs HA LA V W Models m Setup Parameter Settings Set bit 2 of setup parameter number 2 Cn 02 to 1 When this bit is set to 1 the internal speed control settings function can be used and CN1 11 12 and 15 have the following functions Control inputs CN1 11 and 12 Speed selection commands 1 and 2 SPD1 and SPD2 Contro
69. 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 5 2 User Parameter Chart Parameter name Factory Unit Setting Explanation setting range Cn 00 System check mode Refer to system check mode explanation Setup parameter no 1 Refer to setup parameter no 1 explanation Cn 02 Setup parameter no 2 Refer to setup parameter no 2 explanation Cn 04 Speed loop gain 1 to 2 000 Adjusts speed loop response See note 1 Cn 05 Speed loop integration 210 10 000 Speed loop integration const constant With the HA LA V W Models the units can be set with bit b of Cn 02 Bit b 0 1 ms units Bit b 1 0 01 ms units Cn 06 Emergency stop torque Maximum 0 to maxi Deceleration torque when ab torque mum torque normality occurs compared to rated torque Cn 07 Software start acceleration ms Oto 1
70. required when using the XN Note 1 Refer to Section 6 for a connection example for Relay Unit terminal blocks Servo Driver Connecting Cable tl C200H NC211 two axes OMNUC U series AC Servo Driver Power Cable R88A CAU R88A CAU Uo Encoder Cable R88A CRU C OMNUC U series AC Servomotor Note Refer to documentation on the XW2B Servo Relay Unit for details 2 20 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 Conver sion Unit R88A CTU N Connector Cable for Connector Terminal Conversion Unit OMNUC U series AC Servo Driver Power Cable R88A CAU R88A CAU Uo OMNUC U series AC Servomotor Encoder Cable R88A CRU Note Refer to Chapter 5 Specifications for connector and cable specifications 2 21 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 4 Power Cable R88A CAU S R88A CAU B with brake The broken lines indicate signal IM lines for
71. 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 Overshoots when speed loop gain is high Oscillates when the gain is too high Motor speed speed monitor When speed loop gain is low 3 36 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 shortened and the resiliency toward ex ternal force is weakened If it is set too short oscillation will occur The unit set in bit b of Cn 02 integration constant s unit is used to set the constant HA LA V W Models When the speed loop integration time constant is manipulated the response is as shown in the diagram below Overshoots when speed loop integral time constant is short Motor speed speed monitor A X When speed loop integral time constant is long Time Parameter nam
72. supply ground wires Install a noise 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 A B and Z phase plus the absolute encoder signal lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground 2 40 System Design and Installation Chapter 2 2 3 4 Peripheral Device Connection Examples Connecting to Peripheral Devices R T H T Single phase 200 230 VAC 50 60 Hz R88D UPLILIV Q Single phase 100 115 VAC 50 60 Hz R88D UPOOW O J 6 MCCB 1 2 Noise filter EIN Main circuit 4 power supply ON Main circuit connector OFF el Te Class 3 ground ele Zo IMC to 100 Q or less i 1M X Surge killer X y CON oe PE Servo error display 1MC o 00 R88D CAUOO01 O OMNUC U series CAU001B OMN
73. that need to be synchronized e When you want to increase the control pulse frequency of a controller with a low pulse frequency 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 65 535 The setting range for the gear ratio is 0 01 to 100 i e 0 01 G1 G2 lt 100 m Encoder Resolution Function This function allows the encoder signal output from the driver to be set anywhere from 16 to 2 048 pulses revolution m Software Start Function Internal Speed Control Settings This function causes the motor to be started stopped in the preset acceleration deceleration times allowing a simple position control system to be constructed without a Positioner or Host Controller The acceleration and deceleration times are set separately and the setting range is O to 10 s for each 1 3 In troduction Chapter 1 Pulse Smoothing Function Position Control 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 Reverse Mode Forward Reverse commands can be switched in the parameters without changing the wiring to the motor or encoder Brake Interlock Output Outputs atiming signal interlocked
74. the RUN signal to set whether the Servo can be turned ON OFF Note 8 Class 3 grounds must be to 100 Q or less 6 5 Supplementary Materials Chapter 6 m Connecting to SYSMAC 3G2A5 NC111 EV1 Position Control Unit R88M u 0000000 AC Servomotor ADB Main circuit power supply MC RO 6 DE ON os Dp 5 oee oo MC Main circuit contact F SUP 5 5 Z PL A EU 1 L Class 3 ground R88D UPOOOCO AC Servomotor Driver 3G2A5 NC111 EV1 z Terminal JB Contents Mars CN 1 R A 18 24 VIN T C SUE ts Laos a P LP eatoni as reed i CW limit SEMEN 2 A eo o O O O O 14 RUN N R88A CAULILIUIS CCW limit B Y oo 18 RESET U Power Cable Emergency stop 3 ee 35 ALMCOM V I External interrupt Bl O O NS i 34 ALM w pes A 2r ara 4 A 24 VDC Sale z n Origin proximity B oa l Local A mot Ready 7 777707 B 5 CN 5 VDC f 5 VDC 8 A UHR T B 7 1 cw R88A CRUOOOC ge GWE c em LA 2 Cw Encoder Cable 5 ow 9 Bam o 8 ccw B cow as 4 ccw amp cow 10 5 rmn 5 ECRST OO l6 ECRST VS aye Shel FG R88A CPU General purpose Cable i Note 1 Incorrect signal wirin
75. tion Occurred when the power was turned on Cn 01 bit no E is set to 1 Encoder lines wired incor rectly Servomotor power lines wired incorrectly Encoder lines discon nected Connector contact faulty Cn 01 bit no E is set to 1 Encoder lines discon nected Connector contact faulty Encoder lines wired incor rectly Encoder defective Servo Driver defective Cn 01 bit no E is set to 1 Encoder lines discon nected Connector contact faulty Encoder lines wired incor rectly Encoder defective Servo Driver defective Cn 01 bit no E is set to 1 A momentary power fail ure occurred The power supply was re started within the power retention period Set Cn 01 bit No E to 0 Correct the wiring Correct the wiring Insert the connectors cor rectly Set Cn 01 bit No E to 0 Correct any disconnected lines Insert connectors correct ly Replace the Servomotor Replace Servo Driver Set Cn 01 bit No E to 0 Correct any disconnected lines Insert connectors correct ly Replace the Servomotor Replace Servo Driver Set Cn 01 bit No E to 0 Reset and then run again Set Cn 01 bit no 5 to 1 to automatically clear the alarm when the power is restored after a momen tary power failure Application Alarm display cpf 00 cpfol Error content Parameter
76. with the motor s ON OFF status and rotational speed The hold ing brake of a motor with a brake can be operated reliably Overtravel Sequence An overtravel sequence compatible with the system can be selected There are three deceleration methods available dynamic brake deceleration free run deceleration and emergency stop torque deceleration parameter setting Feed forward and Bias Functions Position Control These functions reduce the position control time e Feed forward Function Reduces the position control time by reducing the number of pulses accumulated in the deviation counter Bias Function Reduces the position control time by adding the bias revolutions to the speed control when the deviation counter value exceeds the position completion range Computer Monitor Software HA LA V W Models 1 4 The special Servo Driver Communications Software allows parameter setting speed and current monitoring I O 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 Introduction Chapter 1 1 2 System Configuration SYSMAC C200HX HG HE Programmable Controller Parameter Units C200H NC112 C200H
77. 0 000 Acceleration time setting for time software start Cn 08 Forward torque limit Maximum 96 0 to maxi Output torque for rotation in torque mum torque forward direction compared to rated torque Cn 09 Reverse torque limit Maximum 0 to maxi Output torque for rotation in re torque mum torque verse direction compared to rated torque Cn 0A Encoder divider rate See 1 000 Pulses 16 to 2 048 Setting for number of output note 2 revolution pulses from Servo Driver 3 16 Operation ieee Cn Ob Rotational speed for motor rotation detection Cn 0C P control switching torque commands Cn Od P control switching speed commands Factory setting 20 200 Chapter 3 Setting Explanation range r min 1 to 4 500 Setting for rotational speed for motor rotor detection output 96 0 to maxi If a torque command exceeds mum torque this value the mode switches from PI to P control If a speed command exceeds this value the mode switches from PI to P control If an acceleration command exceeds this value the mode switches from PI to P control Unit 0 to 4 500 10 r min s 0 to 3 000 Command units 0 to 1 000 If the deviation pulse exceeds this value the mode switches from PI to P control Cn OE P control switching accel eration commands Cn OF P control switching devi ation pulse Cn 10 Jog speed Cn 11 Number of encoder pulses See
78. 0 40 x 1079 1 23x 107 1 91x107 6 71x 1079 0 41 x 1074 0 408 1 26x10 4 1 95x104 16 85 x 10 4 0 355 0 533 0 590 Induced volt age constant see note Mechanical time constant mV r min Power rate kW s 4 36 9 63 25 4 see note S EMEN RUE m 1 5 0 9 0 5 15 8 9 64 6 99 Winding re Q sistance 1 34 1 23 0 45 7 9 5 7 Winding im 7 2 pedance kg Approx 0 3 Approx 0 4 Approx 0 5 Approx 1 1 Approx 1 7 Approx 3 4 Corresponding Servo Electrical time constant Driver mH 23 1 16 9 13 2 S 1 5 1 8 1 9 R88D UPO2H A UPO2V R88D UPO3H A UPO3V R88D UPO4H A UPO4V R88D UPO8H A UPO8V R88D UP12H A UP12V R88D UP20H A UP20V 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 5 28 Specifications Chapter 5 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 m 100 VAC Servomotors Rated output see note Ra
79. 00 r min was input Lower the command pulse frequency Reduce the electronic gear ratio or increase the command pulses 4 17 Application Alarm Error content display Overload Condition when error oc curred Occurred during operation Probable cause Operating at more than 12096 of the rated torque A 70 HA Models Operating at more than 13596 of the rated torque A 71 H L Models Operating at 12096 to 13596 of the rated torque A 72 H L Models Power supply voltage dropped Chapter 4 Countermeasures 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 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 Encoder error Runaway de tected Phase error de tected Encoder A B phase wire dis connection Encoder S phase wire dis connection Momentary power failure alarm 4 18 Occurred when the power was turned on Some movement occurred at the beginning of opera tion Some movement occurred at the beginning of opera tion Occurred when the power was turned on Some movement occurred at the beginning of opera tion Occurred when the power was turned on Some movement occurred at the beginning of opera
80. 0LA B 300 30 Encoder adapter Motor plug Four R5 3 Standard Models Moll Lt tu R88M U20030HA 126 5 96 5 R88M U20030HA B 166 136 R88M U20030LA R88M U20030LA B R88M U40030HA 154 5 124 5 R88M U40030HA B 194 164 R88M U30030LA R88M U30030LA B 2 10 System Design and Installation Chapter 2 AC Servomotors Conforming to UL cUL Standards and AC Servomotors Not Conforming to Any Standards Contd e 750 W Standard Models R88M U75030HA Encoder adapter Motor plug Four R8 2 70h7 dia Encoder adapter Motor plug Four R8 2 2 11 System Design and Installation Chapter 2 m AC Servomotors Conforming to EC Directives e 30 W 50 W 100 W Standard Models R88M U03030VA S1 R88M U05030VA S1 R88M U10030VA S1 R88M U03030WA S1 R88M U05030WA S1 R88M U10030WA S1 300 30 18 Two 4 3 dia Foun Har e 30 W 50 W 100 W Models with Brake R88M U03030VA BS1 R88M U05030VA BS1 R88M U10030VA BS1 R88M U03030WA BS1 R88M U05030WA BS1 R88M U10030WA BS1 Standard Models Models with Brake Model L Model L LL LB R88M U03030VA BS 1 126 101 R88M U03030WA BS1 R88M U05030VA BS1 133 5 108 5 31 5 R88M U05030WA BS1 R88M U10030VA S1 R88M U10030VA BS1 160 1135 40 5 Da aM U10030WA S1 R88M U10030WA BS1 System Design and Installation Chapter 2 m AC Servomotors
81. 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 ERZC10DK471 W 3t05A Electric ERZC14DK471 W 3to 10A Parts ERZC20DK471 W 5to15A ERZO20EKA71 W oA 1504 Bex Ishizuka Z10L471 1 000A Sto5A Electronics eis d 1 250 A 3to5A Co Z21L471 3 000A 5to 10A Z25M471S 10 000A Okaya RAV 1 000 A Electric Ind 781BWZ 2A RAV 1 000 A 781BXZ 2A RAV 1 000 A 401 621BYR 2 Note 1 The W Matsushita models are UL and CSA certified 2 25 System Design and Installation Chapter 2 Note 2 Refer to manufacturers documentation for operating details Note 3 Thesurge 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
82. 2Z 100J B1 XW2Z 200J B1 C200H NC112 Terminal Connection Unit XW2Z 20J6 1B C200H NC211 Terminal Connection Unit XW2Z 40J6 2B CQM1 CPU43 E Terminal Connection Unit XW2Z 20J6 3 Position Control C200H NC112 Unit connection cables NE CONT OPUSE e Connectors and Terminal Blocks Specification f Mode Control cable connector R88A CNUO1C 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 TKO1U 200 VAC 30 to 400 W 100 VAC 30 to 200 W For the following Servo Drivers R88A TKO2U 200 VAC 750 W 100 VAC 300 W Note HA LA models Models manufactured after May 1998 conform to UL cUL Standards H L models Do not conform to UL cUL Standards 6 13 Supplementary Materials Chapter 6 Models Conforming to EC Directives e Servomotors 0000 Specification Straight shafts with Standard no 200 VAC ier prake With brake 200 VAC R88M U40030VA BS 1 R88M U75030VA BS 1 100 VAC R88M U03030WA BS1 R88M U05030WA BS1 R88M U10030WA BS1 R88M U20030WA BS1 R88M U30030WA BS1 e Servo Drivers with Pulse train Inputs Spedfcaion Mode Pulse train inputs 200 VAC R88D UPO2V R88D UPOSV R88D UP04V R88D UPO8V R88D UP12V R88D UP20V 100 VAC R88D UPOSW R88D UPO4AW R88D UP10W R88D UP12W R88D UP15W
83. 4 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 After the settings for Cn 11 number of encoder pulses Cn 24 Electronic gear ratio G1 nu merator 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 Note 3 Set Cn 11 number of encoder pulses according to the number of pulses resolution of the encoder The parameter must be set to 2 048 for an incremental encoder Note 4 Refer to the Computer Monitor Software Instruction Manual 1513 for OMNUC U series Servo Drivers for more details on Cn 29 unit number setting 6 17 Supplementary Materials Chapter 6 m Setup Parameters No 1 Cn 01 Fact Explanat BEL d faa LN El Sequence input Servo turned ON or OFF by Run command exter signal switching nally input L cci fo Rowse ooo Enables forward drive prohibit input POT pL eo Permits ANS TORIO drive E EE EE 4 1 Permits always reverse drive Permits always reverse drive reverse drive Sequence e TGON CLIMT signal as motor rotation detec 4 output Processing at Servo alarm set at time of recovery from momentary 5 time of recovery stop stop ery from momentary stop Pf fier see
84. 88D UP20V UP15W e Brake Interlock 7 BKIR This outputs the external brake timing signal set in Cn 12 15 and 16 Refer to 3 5 8 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 e Motor Rotation Detection 9 TGON CLIMIT This output switches between the Servomotor rotation detection output signal and the current limit detection signal depending on the setting of setup parameter Cn 01 bit no 4 Motor Rotation Detection 9 TGON Setup Parameter Cn 01 Bit No 4 0 Outputs when the motor rotational speed equals or exceeds the value set for user parameter Cn Ob rotational speed for motor rotation detection 5 16 Specifications Chapter 5 Current Limit Detection 9 CLIMIT Setup Parameter Cn 01 Bit No 4 1 When the forward current limit PCL and the reverse current limit NCL are input this signal is out put when the Servomotor s output torque reaches the lower of the two following torque limit values the torque limit value set for user parameters Cn 18 19 forward reverse rotation external current limit or the torque limit value set for user parameters Cn 08 09 forward reverse rotation torque
85. A B R88M U05030LA B R88M U10030LA B R88M U20030LA B R88M U30030LA B 6 10 Supplementary Materials Chapter 6 Specification Mode Straight shafts with Standard no 200 VAC ier bake wih brake 200 W R88M U20030LA BS1 300 W R88M U30030LA BS1 Specification Model Pulse train input 200 VAC iC e Servo Drivers with Pulse train Inputs e Parameter Unit Specification Mods Handy type R88A PRO2U Mounted type R88A PROSU e Regeneration Unit Specification Mo Regeneration processing current 8A R88A RGOSUA 6 11 Supplementary Materials Chapter 6 e External Regeneration Resistor Specification Mode Regeneration capacity 70 W 47 Q R88A RR22047S e Encoder Cables Connectors at both ends 3m R88A CRUOOSC 5m R88A CRU005C 10m R88A CRU010C R88A CRUO15C 20m R88A CRUO20C 1 m units R88A CRUOO 1 e Power Cables Specification For standard Connector at one R88A CAU003S motors no brake end R88A CAU005S R88A CAU010S R88A CAU015S R88A CAU020S For motors with Connector at one brakes end e General purpose Control Cables Specification Moder For general purpose 1m R88A CPU001S controllers connector at one Em un ana R88A CPU002S 6 12 Supplementary Materials Chapter 6 e Servo Terminal Connection Units Specification Model Servo Driver connection cable XW
86. A V W Models Lit when there is a signal H L Models Dimmed when there is a signal Encoder B phase HA LA V W Models Lit when there is a signal H L Models Dimmed when there is a signal Encoder Z phase HA LA V W Models Lit when there is a signal H L Models Dimmed when there is a signal Poll sensor U phase Poll sensor V phase Poll sensor W phase Lit when run command is ON MING RDIR IPG Lit when CN1 15 is ON Input signal functions change according to parameter settings POT Lit when forward drive prohibit 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 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 Application m Servomotor Parameter Checking Operation The items in parentheses in the following explanation indicate operations using the Handy type Param Chapter 4 eter Unit 1 2 M 4 cn Ui Om 04 0 0 fl Indicates settings mode System check mode 5 Co Data 6 2 GS 10 0 2 A y 00
87. Cn 1E Deviation counter overflow Cn 1F No 1 internal speed set Cn 20 No 2 internal speed set ting Cn 21 No 3 internal speed set ting 100 200 300 r min 0 to 4 500 Rotational speed no 1 inter nal setting r min 0 to 4 500 Rotational speed no 2 inter nal setting r min 0 to 4 500 Rotational speed no 3 inter nal setting 3 17 Operation Chapter 3 Parameter name Factory Unit Setting Explanation setting range Cn 23 Software start deceleration 0 ms Oto 10 000 Sets the deceleration time for time software starts Cn 24 Electronic gear ratio G1 1 to 65 535 Setting range numerator see note 2 1 100 lt G1 G2 lt 100 Cn 25 Electronic gear ratio G2 1 to 65 535 denominator see note 2 Cn 26 Position command accel O to 640 Sets the time constant for eration deceleration time smoothing constant Cn 27 Feed forward command 0 to 640 Sets the feed forward com filter mand filter HA LA V W Models tion control HA LA V W Models ing multi axis communications 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 11 number of encoder pulses Cn 24 Electronic gear ratio G1 numerator and Cn 25 Electronic gear ratio G2 denominator have been made they become effective when the
88. E e Rene Ier des 3 1 Auto turning eise e Dr RE PPP Ee p Pau kPa des 3 7 2 Manually Adjusting Gain lseseseseeeeeeeeeee n Regenerative Energy Absorption 0 0 00 eee n 3 8 1 Calculating Regenerative Energy 0 eee ee eee 3 8 2 Servo Driver Absorbable Regenerative Energy 0 000 002 ee eee 3 8 3 Absorption of Regenerative Energy with the External Regeneration Resistor Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards 0 0 0 0 eee eee eee 3 8 4 Processing Regenerative Energy with Multiple Axes Models Conforming to EC Directives lees Chapter 4 Application 4 aree n t ERR REI E mene edd 4 1 4 2 4 3 4 4 4 5 Using DISplays ete setenta arid bs er pore RE eT HEN pps etes 4 1 1 Display Functions i eR ER eed ee er e Rer y ey Ur E gis 4 1 2 Status Display M de sec cia se kr e ere us RE RE RE REP IET 4 1 3 Monitor Mode Un 0 astara naa eh 4 1 4 Checking Servomotor Parameters Cn 00 Set to 04 0 0 eee eee Using the Monitor Output 0 2 cence eee e nen eens Protective and Diagnostic Functions 2 0 ce eee eee eee m 4 3 1 Alarm Displays and Alarm Code Outputs 00 0 e eee eee eee 4 3 2 Alarm Output vessie e b RR Er Rug YR ER IE ra E ee Ea 4 3 3 Overload Characteristics Electron Thermal Characteristics 0 4 3 4 Alarm History Display Mode ssseeeeelee ee
89. IMT signal as motor rotation detection output Takes TGON CLIMT signal as current limit detection output Servo alarm set at time of recovery from momentary stop Servo alarm automatically cleared at time of recovery from mo mentary stop 1 Sequence output sig 4 nal switching Processing at time of 5 see recovery from mo mentary stop Ooj o3 oi 2 o Abnormal stop Motor stopped by dynamic brake Motor stopped with free run 0 1 7 see 0 Dynamic brake OFF after motor stopped note 2 1 Dynamic brake ON after motor stopped 1 0 Method for stopping when over travel occurs depends on bit no 6 setting When over travel occurs motor is stopped at the torque set by user parameter Cn 06 emergency stop torque When over travel occurs motor comes to deceleration stop and servo turns OFF When over travel occurs motor comes to deceleration stop and position is locked see note 6 Deviation counter 0 P control switch P control switch The torque command value Cn 0C is taken as the condition conditions The speed command value Cn 0d is taken as the condition The acceleration command value Cn OE is taken as the condition The deviation pulse Cn OF is taken as the condition o E do je JjNoused 3 10 Operation Chapter 3 Factory Setting Explanation setting Pulse stop switching F 0 0 Position Control when bit 2 of Cn 02 is 0 HA LA V W Mo
90. L Models CN1 15 will be the gain re duction MING In the HA LA V W Models CN1 15 will be the gain reduction MING if Cn 01 bit F is set to 0 or the pulse stop input IPG if Cn 01 bit F is set to 1 Internal speed control settings CN1 11 and 12 are used as speed selection command 1 and 2 inputs SPD1 SPD2 CN1 15 is used as rotation direction command RDIR Command pulse mode 4 3 0 0 1 EET Feed pulse and Forward reverse signal 0 0 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 Deviation counter clear high level Clears the deviation counter on the rising edge of the signal Speed integration 1 ms constant s units HA LA V W Models 0 01 ms Torque command filter Primary filter time constant HA LA V W Models Secondary filter Command pulse logic Positive logic reversal Negative logic Parameter Unit monitor Position deviation monitor set for 1 command output lever change Position deviation monitor set for 100 com mand Not used Note 1 Do not set bit nos 1 6 to 9 F of setup parameter no 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 Note 3 Counterclockw
91. M ao 5 ALMCOM 1 3 32 Lg 4 A Encoder A phase 22 24 25 gt ALO1 Alarm code 31 ALO3 N C yr Brake interlock INP Positioning completion gt TGON Motor rotation detection Output ground common Alarm output output ALO2 gt ALOCOM Alarm code output GND gt B Encoder B phase B Z Encoder Z phase Z 19 EGND Encoder signal output GND 36 FG Frame ground Note Pin 36 is not used with models conforming to EC Directives voltage current voltage current Maximum operating 30 VDC output 50 mA Maximum Maximum operating 30 VDC output 20 mA Maximum Line driver output EIA RS422A conforming Load resistance 200 Q max 5 19 Specifications Chapter 5 m CN2 Encoder Input Specifications PinNo Signal name Function imtae 1 2 3 EOV Encoder power supply GND Power supply outlet for encoder 5 V 120 mA 4 5 6 E5V Encoder power supply 5 V 7 DIR Rotation direction switch input Connects to EOV when reverse rotation is executed by input B9 inc Not used ion fne Not used Not used Do not connect Line driver input conforming to EIA RS422A Input impedance 220 Q Line driver input conforming to EIA RS422A Input impedance 220 Q Line driver input conforming to EIA RS422A Input impedance 220 Q
92. MHz Mods Rated curent Remarks Tokin LF 210N For single phase LF 215N LF 220N 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 filter 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 if they are connected to an output of 7 8 to 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 c
93. NC211 Position Control Unit OMNUC U series AC Servo Driver SYSMAC C CV series Programmable Controller 3G2A5 NC111 EV1 Position Control Unit OMNUC U series AC Servomotor Introduction Chapter 1 1 3 Servo Driver Nomenclature m Front View CN4 Connector for monitor output omron R88D UPO4HA AC SERVO DRIVER Power supply indicator Alarm indicator CN3 Parameter Unit connector CN1 Control I O connector Terminal block CN2 Encoder connector 1 6 Introduction Chapter 1 1 4 Applicable Standards and Models 1 4 1 UL cUL Standards m Applicable Standards Standard Product Applicable Standard Fie No Remarks AC Servo Driver UL508C E179149 AC Servomotor UL1004 E179189 Electric motors AC Servo Driver cUL C22 2 No 14 E179149 Industrial control equipment AC Servomotor Servomotor AC Servomotor cUL C22 2 No 100 E179189 Motor and generators Applicable Models Power supply AC Servo Drivers AC Servomotors With incremental encoder 200 VAC R88D UPL IL HA R88M U 30HA See note 1 See note 2 See note 3 100 VAC R88D UPLIDILA R88M U 30LA See note 1 See notes 2 See note 3 Note 1 Maximum output current for example 04 means approx 4 A Note 2 Motor capacity for example 100 means 100 W Note 3 Optional specifications None Straight shaft without keys and without bra
94. NCL SPD2 24VIN RUN a 29 ON Servo alarm status is reset 5 8 Specifications Chapter 5 e CN1 Control Output Pin No Signalname Function comms Outputs external brake interlock signal 7 BKIR Brake interlock output 8 INP Positioning competed out put Servomotor rotation detection output TGON CLIMT Current limit detection out put EL EE Turned ON when the pulse count remaining in the deviation counter is equal to or less than the posi tioning completed range set in user parameter Cn 1b When setup parameter Cn 01 bit no 4 0 this turns ON if the Servomotor rotational speed exceeds the value set for the Servomotor rotation detection speed Cn Ob When setup parameter Cn 01 bit no 4 1 this turns ON if the forward reverse rotation current limit PCL NCL is ON and the output torque reaches either the external current limit Cn 18 19 or the level of the lowest value set for the torque limit Cn 08 09 If the forward reverse rotation current limit PCL NCL is OFF this output turns ON when the output torque reaches the value set for the torque limit Cn 08 09 Output ground common Output ground common for BKIR VCMP INP TGON CLIMT This is the ground for encoder signal outputs HM ME Encoder signal output GND Encoder A phase output Eze Encoder A phase output a E Encoder B phase output Encoder B phase output Outputs encoder pulses divided accor
95. P12W 200 W Applicable load inertia x10 4kgem 5 0 401 200W 3 69 x 10 4kgem 1000 2000 3000 4500 Rotation speed r min e R88D UP12H A UP12V 400 W R88D UP15LA UP15W 300 W Applicable load inertia x10 4kgem 5 0 4 0 7 300W 400W 3 8 x 10 kgem Seed ten apte eq UA15LA 30 a UP15W UA12H A d 2 0 UP12V i 1 0 0 1000 2000 3000 4500 Rotation speed r min 3 45 Operation Chapter 3 e R88D UP20H A UP20V 750 W Applicable load inertia x10 4kgem2 700W 13 4 x 10 k 1000 2000 3000 4500 Rotation speed r min 3 8 3 Absorption of Regenerative Energy with the External Regeneration Resistor Models Conforming to UL CUL Standards and Models Not Conforming to Any Standards Connect one or more external regeneration resistors when a Regeneration Unit R88A RGO8UA cannot absorb all 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 heatto 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
96. T a Deviation counter reset output 6 A ANN G 6 ECRST MA 0V 7000007070077 FB R88A CRU QE X 24 4Z Encoder Cable Origin line driver input 8 4 i 25 Z B 12 to 24 VDC we A elk i Positioning completed input 9 B 8 INP A z 24VIN Position proximity input 10 kB RUN E A RESET CCW limit input 12 B OGND A ALMCOM CW limit input 13 FB AM 2 A External interrupt input 19 s 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 Q or less 6 3 Supplementary Materials Chapter 6 m Connecting to SYSMAC C200H NC211 Position Control Unit with 5 VDC Power Supply
97. UC U series AC Servo Driver x5 Power Cable AC Servomotor A L1 T 24VDC a i AE OQ 12 vO i v es O 34ALM w TEA 24 VDC t ge 85 ALMCOM X SUN ee 8 l Class 3 ground CN1 CN2 to 100 Q or less 5 E P pi J eA E R88A CRUDLILILIC 2 Encoder Cable R88A CPU S CN1 General purpose foes BKIR 7 XB Control Cable tw matey OGND 10 0 2 41 l P 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 N Caution N Caution N Caution N Caution N Caution Check the newly set parameters for proper execution before actually running them Not doing so may result in equipment damage Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power interrupt
98. WG20 Green AWG20 Black ua 3 AWG20 Black Brake 6 2E MQ Cable AWG20 x 6C Crimp style terminal UL2517 lt For Cable gt Connector housing model 172160 1 Nippon Amp Connector socket contact model 170366 1 Nippon Amp Crimping tool 724651 1 Pulling tool 724668 2 For Motor gt Connector plug model 172168 1 Nippon Amp Connector pin contact model 170359 1 Nippon Amp 30 to 100 W models 170360 1 Nippon Amp 200 to 750 W models Power Cable for Servomotors Without Brakes Models Conforming to EC Directives e Types of Cable Model Length L Outer diameter of sheath R88A CAUOO 1 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 AC Servomotor OMNUC U Series AC Servomotor Driver 5 44 Specifications Chapter 5 e Wiring AC Servomotor AC Servo Driver Red AWG20 Red U phase U White AWG20 White V phase V Blue i AWG20 Blue W phase r W Green Yellow AWG20 Green EE GR L 3 Cable AWG20 x 4C UL2517 Power Cable for Servomotors With Brakes Models Conforming to EC Directives Model 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 Conn
99. ake command speed is the speed r m used to turn OFF the brake interlock The setting range is 0 to 4 500 r m and the factory setting is for 100 r m Brake timing 2 sets the wait time from when the servo goes OFF until the brake interlock goes OFF The setting range is 10 to 100 x 10 ms and the factory setting is for 50 x 10 ms 5 23 Specifications Chapter 5 If the run command turns off a servo error occurs or the main circuit power supply turns off during operation of a Servomotor with a brake the dynamic brake comes on setup parameter Cn 01 bitno 6 0 and Servomotor rotation speed is decreased When the speed drops to the level of the value set for the brake command speed Cn 15 the brake interlock output BKIR CN1 7 turns OFF Even if the speed does not drop to the level of the value set for the brake command speed Cn 15 the brake interlock output BKIR CN1 7 turns OFF after the time set for brake timing 2 has elapsed This time setting is made for the purpose of preventing damage to machinery or the Servomotor holding brake e Torque Command Filter Time Constant Cn 17 This sets the low pass filter time constant for the torque command The setting range is 0 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
100. al BKIR will turn OFF 3 28 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 be the status display mode Display example I 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 t
101. al incremental encoder Number of output pulses A B phase 2 048 pulses revolution Z phase 1 pulse revolution Power supply voltage 5 VDC 5 Power supply current DC 350 mA for load resistance of 220 Q 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 153 6 kHz Output signals 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 34 Specifications Chapter 5 5 3 Cable Specifications 5 3 1 Controller Connecting Cables m Connector Terminal Block Conversion Unit Cables e Types of Cable Mode Length L Outer diameter of sheath R88A CTUOO1N 1m 9 9 dia R88A CTUOO2N 2m e Connection Configuration XW2B 40F5 P Connector Terminal Conversion Unit j 4 OMNUC U Series AC Servomotor Driver 5 35
102. ally so that the model number and writing can be read 7 Z Fan Fan 50 mm min D D D i zZ lt Side of Unit a a a o o o Z Z Z D D o ep o 6 P AA WwW WwW 50 mm min 30 mm min W 10 mm min A Vs e Operating Environment Be sure that the environment in which Servo Drivers are operated meets the following conditions Ambient operating temperature 0 C to 55 C Ambient operating humidity 35 to 85 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 55 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 o
103. an be reduced because the speed loop gain can be set to a higher value If this setting is too high follow up delays can occur during acceleration and deceleration The setting range is 0 to 100 and the factory setting is O 5 25 Specifications Chapter 5 Adjust the compensation gain after adjusting the speed loop gain with Cn 04 and the speed loop inte gral time constant with Cn 05 The compensation gain may not be 100 due to the speed loop gain and speed loop integral time constant set with Cn 04 and Cn 05 in which case increasing the compensation gain will cause an error Make sure that the set value is 0 before performing auto tuning Proper gain adjustment may not be possible with auto tuning if the set value is not 0 e Unit Number Setting Cn 29 HA LA V W Models This setting specifies the Servo Driver s unit number when communicating with a personal computer Set the unit number to 0 when communicating with a single axis Set the unit number from 1 to 14 when communicating with multiple axes in this case be sure not to use the same unit number for more than one Unit The Servo Driver or personal computer might be damaged if the same unit number is used for more than one Unit The setting range is from 0 to14 and the factory setting is O Refer to the Computer Monitor Software Instruction Manual 1513 for OMNUC U series Servo Drivers for more details on the unit number setting 5 26 Specifications Chapter 5 5
104. ands to speed loop when controlling via in ternally set speeds 0 will be displayed when controlling with pulse trains Torque command The command to the current loop is displayed as 10096 of the rated torque Number of pulses Pulses The number of pulses from the U phase edge is displayed from U phase in units of encoder resolution edge Displays pulse number with 1 4 turn being 2048 pulses with an error of approx 5 pulses Electrical angle Degrees Displays the electrical angle of the motor Displays Servo Driver internal information as either lit or display 1 not lit display 2 7 0 Command pulse r min Displays the command pulse counter converted to a fre speed display quency r min Position deviation Pulses Displays the pulse count position deviation remaining on deviation count the deviation counter in command units based on input er pulses Input pulse count Command Counts and displays the input pulses HA LA V W Models er units Operation in Monitor Mode In order to conduct monitoring first go into monitor mode and then setthe monitor number and press the DATA Key The items in parentheses in the following explanation indicate operations using the Handy type Parameter Unit 3 DATA Uu n 09 0 13 10 10 0 DATA Monitor mode Monitor no 4 Monitor data 4 5
105. arm display changes depending on the contents of the error e If the display is normal i e no errors use it as a monitor mode speed display Manually turn the Servomotor shaft clockwise and counterclockwise 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 Check the conductivity of the cable by itself 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 Parameter Unit R88A PRO2U amp Mounted Parameter Unit R88A PROSU omnon R88A PROSU Alarm reset 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
106. be connected 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 Protective earth Green This is the connection terminal Use a 100 Q or less class 3 or bet terminal ter ground 5 7 Specifications Chapter 5 CN1 Control I O Specifications Common to Models Conforming to UL cUL Standards Models Not Conforming to Any Standards and Models Conforming to EC Directives e CN1 Control Input Pine Sgnimame Fumion Contents PULS CW A Feed pulse reverse pulse Line driver input 6 mA at 3V 90 differential phase PULS CW A pulse A phase SIGN Direction signal forward CCW B pulse 90 differential SIGN phase pulse B phase CCW B Open collector input 15 mA at 5V Switched between feed pulse and direction signal reverse pulse and forward pulse and 90 differential phase pulse A and B phases using bits 3 4 and 5 of the Cn 02 setup parameter Maximum frequency 200 kpps ECRST ECRST PCL SPD1 Forward rotation current limit input Speed selec tion command 1 input Reverse rotation current limit input Speed selec tion command 2 input Deviation counter reset Line driver input 6 mA at 3V ON Disables command input and resets deviation counter Operatio
107. c 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 2 048 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 e Feed Forward Command Filter Cn 27 This is the setting for the low pass filter so that the feed forward amount is not added suddenly Using this setting can prevent overshooting in the event of sudden changes in command pulse frequency The setting range is 0 to 640 x 0 1 ms and the factory setting is O x 0 1 ms e Compensating Gain Cn 28 HA LA V W Models When outputting a large torque during acceleration deceleration etc the speed loop gain is de creased based on this setting Motor vibration can be reduced by increasing this setting also the posi tioning time c
108. ce regenerative ener gy m Wiring Method Example for 3 Axes TS ZG Vey D LS O WO me as PL ra A ee ee Girth S S O S 7 Ly S ZZ Axis 1 Axis 2 Axis 3 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 3 48 Il Chapter 4 Application 4 1 4 2 4 3 4 4 4 5 Using Displays Using the Monitor Output 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 t
109. ceived when PCL and NCL are OFF Position control is performed with the internal speed control settings and the pulse train input Note 1 If power is immediately turned back on after having been cut off a momentary stop alarm may be generated If bit no 5 is set to 1 the alarm will be cleared automatically even if it is gener ated and operation will resume Note 2 If set bit 6 to 1 and bit 8 to O the dynamic brake relay will turn OFF after the Servomotor stops regardless of the setting of bit no 7 Note 3 With P control switch conditions a change from PI control to P control is selected Note 4 Donotchange the setting of bits 1 and E of setup parameter no 1 Cn 01 when a Servomotor with an incremental encoder is being used Note 5 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 Note 6 The position loop will not be effective when stopping in this mode 6 19 Supplementary Materials Chapter 6 m Setup Parameters No 2 Cn 02 Factory Explanation setting Reverse rotation mode Rotates in CCW direction with a command See note 3 Rotates in CW direction with a command Origin error mask No used Input command mode Position control with pulse train input see note 2 CN1 11 and 12 are used as forward and re verse current command inputs PCL NCL In the H
110. coder output A B and 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 29 System Design and Installation Chapter 2 2 2 5 Peripheral Device Connection Examples Connecting to Peripheral Devices R EE Single phase 200 230 VAC 50 60 Hz R88D UP H A V Single phase 100 115 VAC 50 60 Hz R88D UP L A 6 779 MCCB 1 2 Noise filter Ey ANP Main circuit 3 4 power supply ON Main circuit connector OFF a Qro Class 3 ground ole QO g MC to 100 Q or less r 1M X Surge killer x P oe N PE Servo error display 1MC S x et R88D CAU S o O OMNUC U series CAU B OMNUC U series AC Servo Driver XB Power Cable AC Servomotor qo ps a LR T24VDC Set ERES T U hi a CN1 ih 3 B d O 34ALM w E 24 VDC i JI 85 ALMCOM LO l l i X Class 3 ground o ee to 100 Q or less 2 CN1 CN2 R88A CRU Encoder Cable S E o dicat D wn 2 CN1 EES BKIR7 XB R88A CPU S M 24VDC General purpose OGND 10 0
111. commended that the Servo Driver and Regeneration Unit be inspected at five year intervals if they are used under conditions worse than the above or not used over a long time of time Contact your OMRON representative for inspection and the necessity of any component replacement 4 20 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 surface Mounting Bracket Specifications Specifications Chapter 5 5 1 Servo Driver Specifications 5 1 1 General Specifications pte Specifications O O O S Operating ambient temperature 0 C to 55 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 Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards Between power line terminals and case 1 000 VAC for 1
112. control signal lines from power supply lines Use a low impedance power supply for control signals 4 15 Application Chapter 4 m Error Diagnosis by Means of Alarm Display Parameter Unit Alarm Error content display Parameter cor ruption Parameter set ting error HA LA V W Models 1 Condition when error oc curred Occurred when power was turned on Occurred when power 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 Countermeasures Replace Servo Driver Change the user parameter setting so it is within the set ting range Replace Servo Driver Occurred after auto tuning was executed Occurred when power was turned on Occurred when Servo was turned on The compensating gain Cn 28 was set a value oth er than 0 when auto tuning was executed Control board defective Current feedback circuit error Main circuit transistor module error Servomotor power line is short circuited or grounded Using the Handy type Parameter Unit set Cn 04 and Cn 05 to their factory default values set Cn 28 to 0 then execute auto tuning 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
113. d 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 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 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 Ml ed 3 1 3 AC input NF E AC output ACinput NF E 2 4 L 2 4 Ground Ground AC output 2 24 System Design and Installation Chapter 2 Use twisted pair cables for the power supply cables whenever possible or bind the cables Driver or bes Ae sl Driver Binding Separate power supply cables and signal cables when wiring m Selecting Components This section describes the standards used to select components required t
114. d not be transmitted after the power supply was turned on It no longer exists in the alarm history Transmission timeout error It no longer exists in the alarm history Application Chapter 4 4 3 2 Alarm Output 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 m Timing Chart Power input R T Run command RUN Error occurrence lt 6 ms min Alarm reset 71 RESET 6msmax Alarm output ON ALM OFF 25 to 35 ms in p Approx 350 ms ON Power to motor 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 alarm is cleared if the alarm is cleared while the Run command RUN is ON possibly creating a dangerous situation Turn OFF the Run command before clearing alarms 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 11 Application Chapter 4 4 3 3 Overload Characteristics Electron Thermal Character
115. dels Disables the pulse stop input CN1 15 is the gain reduction MING Internal speed control settings when bit 2 of Cn 02 is 1 Command pulses aren t received when PCL and NCL are OFF Position Control when bit 2 of Cn 02 is 0 Enables the pulse stop input CN1 15 is the pulse stop input IPG Internal speed control settings when bit 2 of Cn 02 is 1 Command pulses aren t received when PCL and NCL are OFF Position control is performed with the internal speed control settings and the pulse train input Note 1 If power is immediately turned back on after having been cut off a momentary stop alarm may be gen erated If bit no 5 is set to 1 the alarm will be cleared automatically even if it is generated and opera tion will resume Note 2 If set bit 6 to 1 and bit 8 to 0 the dynamic brake relay will turn OFF after the Servomotor stops re gardless of the setting of bit no 7 Note 3 With P control switch conditions a change from PI control to P control is selected Note 4 Do not set bit nos 1 and E of setup parameter no 1 Cn 01 Note 5 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 Note 6 The position loop will not be effective when stopping in this mode 3 11 Operation Chapter 3 m Setup Parameter No 2 Cn 02 Factory IS Reverse rotation
116. ding to user parameter Cn 0A Line driver output conforming to RS 422A Outputs encoder pulses divided according to user parameter Cn 0A Line driver output conforming to RS 4224 Encoder Z phase output Encoder Z phase output Encoder Z phase output 1 pulse revolution Line driver output conforming to RS 4224 Do not connect Alarm code output 1 Alarm code output 2 Alarm code output 3 Alarm code output GND When an alarm is generated for the Servo Driver the contents of the alarm are output in code Open collector output 30 VDC 20 mA max Alarm output ALMCOM Alarm output GND When an alarm is generated for the Servo Driver the output is OFF Open collector output FG Frame ground see note Ground terminal for shield wire of cable and FG line Note Pin 36 is not used on models conforming to the EC Directives e Connectors Used 36P Sumitomo 3M Case at cable side Receptacle at Servo Driver Soldered plug at cable side 10236 52A2JL 10136 3000VE 10336 52A0 008 5 9 Specifications e Pin Arrangement Chapter 5 Note 1 The IPG pulse stop input setting for pin number 15 can be selected in HA LA V W Models only Note 2 Pin 36 is not used on models conforming to EC Directives 5 10 Enc
117. down No 9 4 Servo free fear gu Y Emergency stop torque Cn 06 See note 1 4 Servo locked Note The position loop is not valid when stopping with this mode e Forward Reverse Rotation Current Limit 11 12 PCL SPD1 NCL SPD2 These input signals switch between the forward reverse current limit and the speed selection command signal for the internally set speed depending on the setting of setup parameter Cn 02 bit no 2 Set the required functions for using it Forward Reverse Rotation Current Limit 11 12 PCL NCL When setup parameter Cn 02 bit no 2 0 these input signals become respectively the forward rota tion current limit and the reverse rotation current limit and they limit the current to the Servomotor The current limit values can be set for the respective directions by means of user parameters Cn 18 and 19 Speed Selection Command 11 12 SPD1 SPD2 When setup parameter Cn 02 bit no 2 1 these input signals become the speed selection com mand 1 andthe speed selection command 2 Depending on the combination the Servomotor speed can be controlled according to the internally set speeds nos 1 through 3 which are set in user pa rameter Cn 1F 20 21 Atthattime the CN1 15 pin becomesthe rotation direction command RDIR 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 t
118. ductive When assembling the control panel remove the coating from all joints or mask the joints when coat ing to ensure electrical conductivity Be sure that no gaps are created when installing the control panel as gaps can be caused by distortion when tightening screws Be sure there are not any electrically conductive parts that are not in electrical contact 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 36 System Design and Installation Chapter 2 Be sure that no gaps are created when installing the cover as gaps can be caused by distortion when tightening screws Case EES Control panel Oil proof Conductive packing packing Cover LZ Oil proof packing m Conductive packing pup unu up E ELL LLL Case inside 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 times that of the rated output a
119. e Factory Setting Explanation setting range Cn 17 Torque command 4 Oto 250 Sets torque command filter time constant filter time constant Increase the time constant to reduce os cillation due to machinery resonance fre quency The filter characteristic is switched using the torque command filter time constants HA LA V W Models 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 37 Operation Chapter 3 e Position Loop Gain 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 industrial robots itis 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 Position loop gain is generally expressed as follows Instruction command frequency pulses s Position loop gain Kp WU Deviation counter s residual pulse amount pulses In addition the system response setting is 1 Kp so in order to increase the responsiveness it is neces sary to increase the pos
120. e 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 Eg2 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 power 12 W ofthe Regen eration Unit 3 42 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 Refer to 3 8 3 Models Conforming to UL cUL Standards and Models Not Confor
121. e current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber Electric Ind Note 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 Attenuation characteristic Insulation resistance Test voltage Leakage current max Application Rated current 200 V 30 to 100W SUP P5H 5A Between 100 V 30 or 5OW EPR 4 terminals 1 250 V rms 50 60 Hz 60 s i00 V 100W EPRa Between i terminals and 0 6 mA at 250 V rms 60 Hz Between terminals and case 6 000 MQ min at 500 VDC Normal Common MHz MHz 0 5t030 0 2 to 30 0 6 to 30 0 3 to 30 Brake power supply 200 V 750 W SUP PIOH DA 500 V rms 100 V 200 or 300W EPR 4 50 60 Hz 60 s The appearance of the noise filters is shown below Screw terminals are used 0 7to 30 0 4to 30 100 2 841 74 7 X0 5 63 541 50 8 1 2 38 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 i
122. e momentary maximum radial and thrust loads static pressure Servomotor Momentary Momentary Allowable radial Allowable thrust allowable radial load allowable thrust load load static pressure load static pressure N kof R88M U03030 R88M U05030 R88M U10030 R88M U20030 R88M U30030 R88M U40030 R88M U75030 Note 1 The allowable loads are the same for motors with brakes Note 2 The allowable radial load is the value at a point 5 mm from the end of the shaft Radial load 5mm Note 3 Theallowable radial and thrust loads are values determined with a service life of 20 000 hours taken as a criteria Note 4 The service life of bearing grease is 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 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 33 Specifications Chapter 5 5 2 5 Encoder Specifications em Standards Encoder method Optic
123. e product Doing so may result in injury or malfunction Do not place any load exceeding the figure indicated on the product Doing so may result in injury or malfunction Use the motor eye bolts only for transporting the Motor Using them for transporting the machinery may result in injury or malfunction Installation and Wiring Precautions N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Doing so may result in fire Be sure to install the product in the correct direction Not doing so may result in mal function Provide the specified clearances between the Servo Driver and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply any strong impact Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure that all the mounting screws terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to termi nals Connection of bare stranded wires may result in burning
124. e regeneration processing power 12 W of the Regen eration 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 41 Operation Chapter 3 m Vertical Axle Motor operation Falling 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 Eg 1 2 N4 bd Tpi et 1 027 x 10 2 J Ego No e Ti toe 1 027 x 107 J Eg3 1 2 No Tp2 etzo 1 027 x 10 2 J N4 No Rotation speed at beginning of deceleration r min Tp1 Tp2 Torque when declining kgf cm T2 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 Egs 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 th
125. ection Configuration OMNUC U Series AC Servomotor OMNUC U Series AC Servomotor Driver 5 45 Specifications Chapter 5 e Wiring 5 46 AC Servomotor AC Servo Driver Red AWG20 Red U phase U White AWG20 White V phase V Blue AWG20 Blue W phase r r W Green Yellow AWG20 Green ZA GR 9 Red AWG20 Black mE Brake e OO Brake Black AWG20 Black a Cable AWG20 x 6C UL2517 24 VDC 10 no polarity Specifications Chapter 5 5 4 Parameter Unit Specifications 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 Communications method Baud rate Start bits Data Parity Stop bits Errors detected by Parameter Unit 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
126. ee L 3 i Top of Servo Driver LL Se eee CN4 UUU Front 47 Q CN4 1 gt MN NM Speed monitor CN4 3 IL 1 GND c 49 cnae AM Current monitor e Monitor Output Circuit CN4 4 f GND e Monitor Output Specifications Speed monitor With O V as center voltage output at 0 5 V 1000 r min ratio Forward rotation volt age reverse rotation voltage Output accuracy approximately 10 With O V as center voltage output at 0 5 V rated torque ratio Forward acceleration voltage reverse acceleration voltage Output accuracy approximately 10 4 9 Application Chapter 4 4 3 Protective and Diagnostic Functions 4 3 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 and the alarm code output ALO1 03 are output the Ser vo Driver s internal power drive circuit is turned off and the alarm is displayed m Alarm Table Dis Alarm code Alarm Play ALO1 ALO2 ALo3 ALM Error detection function Parameter corruption Detection contents The checksum for the parameters read from the EEPROM does not match Parameter setting error Incorrect parameter setting HA LA V W Models Overcurrent Overcurrent or overheating detected Deviation counter over flow The pulses remaining on the deviation counter exceed the deviation
127. eleration O to 10 000 Sets the time for the motor to time accelerate from O r min to 4 500 r min Cn 23 Software start deceleration O to 10 000 Sets the time for the motor to time decelerate from 4 500 r min to O r min Cn 26 Position command accelera 0 0 to 640 Sets the time constant for tion deceleration time constant pulse smoothing Cn 1F No 1 internal speed setting 100 r min O to 4 500 Sets the speed for when SPD1 is OFF and SPD2 is ON Cn 20 No 2 internal speed setting 200 r min O to 4 500 Sets the speed for when SPD1 is ON and SPD2 is ON Cn 21 No 3 internal speed setting 300 r min O to 4 500 Sets the speed for when SPD1 is ON and SPD2 is OFF Note 1 The software start acceleration and deceleration times are effective on the internal speed settings Note 2 The actual acceleration and deceleration times are found by means of the following formula Internal speed setting r min Software start acceleration Actual acceleration deceleration time gt 3 4 500 r min deceleration time Note 3 The position command acceleration deceleration time constant is effective on the pulse command Motor speed 4500 r min 0 Cn 07 C n 23 Time 3 20 Operation Chapter 3 Operation Example e Internal Speed Control Settings Position Control HA LA V W Models Speed selection N command 1 SPD1 OFF re a nes 6 ms min Speed selectionO N command 2 OFF SPD2
128. equent use Continuous use 0 1000 2000 3000 4000 r min R88M U40030H A R88M U40030VA N m kgf cm Frequent use Continuous use 1000 2000 3000 4000 r min R88M U10030H A R88M U10030VA N m kgf cm Frequent use 0 Continuous use 0 1000 2000 3000 4000 r min R88M U75030H A R88M U75030 N m kgf cm Frequent use Continuous use 1000 2000 3000 4000 r min 5 31 Specifications Chapter 5 m Torque Characteristics With 3 m Standard Cable and 100 VAC Input R88M U03030L A R88M U03030WA Nm kgf cm N m kgf cm Frequent use Continuous use 1000 2000 3000 4000 r min R88M U20030L A R88M U20030WA N m kgf cm Frequent use R88M U05030L A R88M U05030VA Frequent use Continuous use 1000 2000 3000 4000 r min Continuous use 1000 2000 3000 4000 r min R88M U10030L A R88M U10030VA N m kgf cm Frequent use Continuous use 1000 2000 3000 4000 r min R88M U30030LA R88M U30030WA N m kgf cm Frequent use Continuous use 1000 2000 3000 4000 r min Servomotor and Mechanical System Temperature Characteristics U series AC Servomotors use rare earth magnets neodymium iron magnets The temperature co efficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s momentary maximum torque increases and as the temperature rises the Servomotor s momentary
129. es e Types of Cable BE ME anes L Outer diameter of sheath R88A CRUDOO3C R88A CRUDO05C R88A CRUD010C R88A CRUD015C R88A CRUDO20C Up to a maximum of 20 m between the Monitor and the Servo Driver e Connection Configuration OMNUC U Series AC Servomotor OMNUC U Series AC Servomotor Driver 5 40 Specifications Chapter 5 e Wiring Symbol No 0 5500000000 No Symbol AWG24 blue A 1 mA y 16 A A 2 AWG24 white blue PAM 17 A B4 3 AWG24 yellow y i 1 8 B B 4 Awaea pressi X A 19 B S4 5 AWG24 green V io 14 S S 6 AWG24 white green N ZN 15 S Eov 7 AWG22 black 1 EOV AWG22 red E5V 8 AWG22 4 E5V FG 9 green yellow f 20 E Shell FG Cable AWG22 x 3C AWG24 x 3P UL2589 For Cable Connector model 17J E 13090 02D8A DDK Connector plug model 10120 3000VE Sumitomo 3M Stud model 17L 002A1 DDK Connector case model 10320 52A0 008 Sumitomo 3M For Motor gt Connector 17JE 23090 02D8A DDK 5 41 Specifications Chapter 5 5 3 3 Power Cable Power Cable for Servomotors Without Brakes Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards e Types of Cable Model Length L Outer diameter of sheath R88A CAUO03S 5 8 dia R88A CAUO05S R88A CAUO10S R88A CAUO15S R88A CAUO20S
130. esistance 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 Does not conform to EC Directives 5 48 Specifications Chapter 5 5 6 Front surface 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 m Combinations Servo Driver Front surface Mounting Bracket Model Supply voltage Power model R88D UPO2H A 200 V R88A TKO1U R88D UPO3H A R88D UPO4H A R88D UPO8H A R88D UP12H A 30W 50W J R88D UP20H A R88A TK02U R88D UP12L A R88D UP15LA 200 W 300 W R88A TKO2U Note The Brackets come with a top bracket a bottom bracket and five mounting screws
131. every 2 048 input pulses Example If G1 is setto 8 192 and G2 is setto 1 000 the motor will turn once for every 1 000 input pulses output as 8 192 pulses The motor speed will also be 8 192 1 000 times faster Driver Motor One revolution 1 000 pulses Electronic gear 8 192 pulses 8 192 pulses _ euce UI ARM 8 192 1 000 3 5 5 Encoder Dividing Function m Function With this function any number of pulses can be set for encoder signals output from the Servo Driver The number of pulses per Servomotor revolution can be set within a range of 16 to 2 048 Use this function for the following applications When connecting to a positioner with a low response frequency When it is desirable to set a pulse rate that is easily understandable For example in a mechanical system in which a single Servomotor revolution corresponds to a movement of 10 mm if the resolution is 5 um pulse set the encoder dividing rate to 2 000 pulses revolution Set the parameters as shown in the following table Parameter name Factory Setting range Explanation setting Encoder divider rate 16 to 2 048 Setting for number of output pulses revolu pulses from Servo Driver tion Note The power must be toggled to enable this parameter be sure that the indicators go out complete ly 3 22 Operation Chapter 3 Operation Incremental pulses are output from the Servo Driver through a
132. eys on the shafts The dimensions of motors with keys produced on order are shown below Motors with keys are indicated by adding S1 to the end of the model number Key slots are based on JIS B1301 1976 e 30 W 50 W Models Without Brake R88M U03030 81 R88M U05030 With Brake R88M U03030 e 100 W Models Without Brake R88M U10030 14 Dia 6h6 S1 BS1 R88M U05030 BS1 81 With Brake R88M U10030 e 200 W 300 W 400 W Models Without Brake R88M U20030 BS1 m Dia 8h6 i 81 R88M U40030 With Brake R88M U20030 Bid 81 R88M U30030 Ed R88M U40030 S1 BS1 R88M U30030 e 750 W Models Without Brake R88M U75030 1t With Brake R88M U75030 Dia 16h6 BS1 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 vertic
133. 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 Improving Control I O Signal Noise Resistance Position can be affected if control I O signals are influenced by noise Follow the methods outlined be low for the power supply and wiring Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular be careful not to connect two power supply ground wires Install a noise filter on the primary side of the control power supply 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 2 28 System Design and Installation Chapter 2 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 en
134. g 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 a83G2A5 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 Q or less 6 6 Supplementary Materials Chapter 6 6 2 Servo Connector Terminal Connection Unit Terminal Connection Unit for C200H NC112 XW2B 20J6 1B C200H NC112 connector Servo Driver connector 3 5 lt 15 M LS 5 45 dia 3 2 I Two 3 5 Note Terminal block pitch 7 62 mm Emergency Origin stop proximity External interrupt 4r t s 24 VDC Note 1 The XB contact is used to turn ON OFF the electromagne
135. gn and Installation 2 1 Installation 2 2 Wiring Products Conforming to UL cUL and Wiring Products Not Confrorming to Any Standards 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 step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Doing so may result in fire Be sure to install the product in the correct direction Not doing so may result in mal function Provide the specified clearances between the Servo Driver and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply any strong impact Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure that all the mounting screws terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to termi nals Connection of bare stranded wires may result in burning Always use
136. hanging Modes 0 0c cece cee eee 3 6 3 3 3 Mode Changes and Display Contents 0 0 0 eee eee 3 7 3 4 Initial Settings Setup Parameters 2 0 eee ec e 3 9 3 4 1 Setting and Checking Setup Parameters Cn 01 02 0 00000 3 9 3 4 2 Setup Parameter Contents 0 0 ee cee eee ene 3 10 3 4 3 Important Setup Parameters Cn 01 and Cn 02 0 3 13 3 5 Setting Functions User Parameters 00 ee eee eee 3 14 3 5 1 Setting and Checking User Parameters Cn 04 to 29 0 0 0 eee ee 3 15 325 2 User Parameter Chart 12e neri ea Fu Min Eda Sls Gg NSS RE AONE Go SS 3 16 3 5 3 Internal Speed Control Settings 0 cece 3 19 3 5 4 Electronic Gear Function Position Control 0 0 cece eee eee eee 3 21 3 5 5 Encoder Dividing Function leseeeeeeeeeeeeeee eh 3 22 3 5 6 Bias Function Position Control 0 0 00 eee eee eee 3 24 3 5 7 Torque Limit Function srs 21i eg ru ERG aee les Osa 3 25 3 5 8 Brake Interlock For Motors with Brakes 0 0 0 0 cee eee eee eee 3 26 3 6 Trial Operation o nebat Ere ERI Rb be P sap teh ob b ceyd obett gee aye erm ded 3 29 3 6 1 Preparations for Trial Operation 0 0 eee eee eee 3 29 3 622 Jog Operations 05 54 sd egaed tl Ate stainable Se chenseehts Salen aeeea beet ee aane ya ep neeg oe ates 3 31 3 7 3 8 Table of Contents Making Adjustments siren be et ene Sens ER
137. haracteristics such as positioning time meet system specifications YES 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 i y Does hunting vibration occur x when the motor is operated YES NO Run the motor and monitor its opera tion Decrease Cn 04 speed loop gain Increase Cn 1A position loop gain but do not increase it so far that over shooting occurs End adjustment Increase Cn 05 speed loop integra tion time constant gt x When vibration can t be eliminated despite several adjustments or positioning is too slow Increase Cn 17 torque command filter time constant Y HA LA V W Models s Increase Cn 28 compensating gain 3 35 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
138. he power supply and another is for alarms NSERGKEESEIEGCUNCEDSNI omron R88D UP04H pwn AC SERVO DRIVER 200V 100W 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 Power supply indicator Alarm indicator CSymba Name 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 Alarm reset Co Mode switching 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 current limit detection command pul
139. he 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 Cn 27 Feed forward com Oto 640 Sets the feed forward command filter mand filter This parameters acts as a low pass filter to prevent the feed forward amount from be ing applied too quickly when position com Cn 28 mand pulses are input in steps Compensating gain Oto 100 Decreases the speed loop gain by the set HA LA V W Mod value when a large torque is output due to els acceleration deceleration etc e Compensating Gain Increasing the compensating gain will reduce motor vibration and will also enable setting a larger speed loop gain allowing faster positioning Increasing the compensating gain too much will delay following accelerations decelerations Adjust the compensating gain only after adjusting the speed loop gain Cn 04 and the speed loop in tegration constant Cn 05 Depending on the values of the speed loop gain Cn 04 and the speed loop integration constant Cn 05 the upper limit of the compensating gain may be 100 or less An error will occur if the compen sating gain is set too high 3 39 Operation Chapter 3 Set the compensating gain to 0 when auto tuning The gain will not be adjusted correctly if the compen sating gain is not
140. hen 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 t qu CER e REUS Applicable line driver We a tee ens AM26LS31A or equivalent 5 12 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 M to At 220 AEREE vat p P d VV a V V T 1 Sue SOY 1 N i Pd 1 Y gt O p e E 3 When Vcc 2 5 V R 0Q NZ When Vcc 12 V R 750 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
141. ided will result in death or serious injury NWARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury N Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage OMRON Product References All OMRON products are capitalized in this manual The word Unit is also capitalized when it refers to an OMRON product regardless of whether or not it appears in the proper name of the product The abbreviation Ch which appears in some displays and on some OMRON 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 interest for efficient and convenient operation of the product OMRON 1994 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
142. ied values e Heat resistant Vinyl Wiring UL1007 Rated Temperature 80 C Reference Value Nominal cross Configuration Conductive Allowable current A for sechonal area wires mm resistance ambient temperature om km 2o fos 19018 des fee 56 45 ws wo mo 8 o 85 js bs wo ma 9o bo 2 23 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 R88D l R88M Surge Noise filter Contactor U MCCB absorber Xi 7B TB gt Metal duct Q O10 Y t 1 3 9 07 R U T i Se SS AC power supply A NF i ye M Q O 4 2 E 4 05 0 4 T Ww N Fuse t 1 3I o 0 CN2 l l EE l i s i A RE 8 5mm2 2 mm min z BUM SN Class 3 ground O1 4 ox 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 e Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a grounding plate for the frame ground for each Unit as shown in the illustration an
143. ies AC Servomotor Model conforming to EC Directives Encoder Cable Incremental R88A CRUD C Incremental d Note Refer to Chapter 5 Specifications for connector and cable specifications 2 32 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 9 zz RY 777777 9 ZZ Y SS yy fitla ZZ dm SIIANI 4 77277 Lips A Y mf To Motor LoL WY Py D sorti V AN Power Cable R88A CAUOO 1 R88A CAU01B with brake The broken lines indicate signal lines for the brake There is no polarity on these lines L1 Power supply input The commercial power supply input terminals for the main circuit and the control circuitry R88D UPLILIV Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UPT I W Single phase 100 115 VAC 85 to 127 V 50 60 Hz Main circuit DC output Motor connection terminals Frame ground Green When there is a high level of regenerative energy in a multi axis system the terminals can be connected together and the terminals can be connected together to increase the ability to absorb regenerative energy These are the output terminals to the Servomotor Be careful to wire them correctly G
144. ies HA LA mod els They are useful for obtaining approvals required for specific applications Models conforming to UL cUL Standards have the same product names as conventional U series HA LA models As shown in the following table they are distinguished by the manufacturing date Wods Memwiacurngdate Type Remans Models not conforming to Before April 1998 H L HA LA Production of H L models any standards discontinued Models conforming to After May 1998 HA LA UL cUL markings are UL cUL Standards attached to products m EC Directives CE Markings AC Servomotors 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 HA LA and will aid in obtaining specifications m Control Functions 1 2 Any one of the following 4 control modes can be selected in the parameter settings Position Control Factory Setting 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 selected forward reverse pulses feed pulses directional signals or 90 differential phase A B phases signals Position Control with Pulse Stop Input Enabled HA LA V W Models Turning ON the Pulse Stop Input IPG prevents the control signals from being read by the Unit during position control Introduction Chapter 1 Internal Speed Cont
145. 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 Warnings Observe the following warnings 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 NWARNING N Caution zs Caution Always connect the frame ground terminals of the Servo Driver and the Servomotor to aclass 3 ground to 100 Q or less Not connecting to a class 3 ground may result in electric shock Do not touch the inside of the Servo Driver Doing so may result in electric shock Do not remove the front cover terminal covers cables Parameter Units or optional items while the power is being supplied Doing so may result in electric shock Operation maintenance or inspection must be performed by authorized personnel Not doing so may result in electric shock or
146. ion to avoid an unexpected restart Take appropriate measures to secure safety against an unexpected restart Doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Operation Chapter 3 3 1 Operational Procedure After confirming that the system has been correctly installed and wired make the initial settings for the Servo Driver Then set the functions as required for the application 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 Startup Procedure 1 Mounting and Installation Install the Servomotor and Servo Driver according to the installation conditions Chapter 2 sec tion 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 Se
147. ise direction viewed from the motor output shaft is CCW 6 20 OMRON OMRON Corporation Systems Components Division 66 Matsumoto Mishima city Shizuoka 411 8511 Japan Tel 81 559 77 9633 Fax 81 559 77 9097 fe N Authorized Distributor Cat No 1502 E1 4 Note Specifications subject to change without notice punen m aga
148. istics 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 to A 72 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 12 Application Chapter 4 4 3 A Alarm History Display Mode 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 H4 Error number Alarm history data
149. ition loop gain If a system has low rigidity or low characteristic frequency in creasing the position loop gain sympathetic vibration of machinery will occur and an alarm will be gener ated If position loop gain is low positioning time can be improved by using feed forward control In addition to this method positioning completion can be speeded up by using the bypass function que High position loop gain 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 range 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 Bias rotational O to 450 Used to reduce positioning time speed Positioning time will be decrease as the bias rotational speed is increased but will become unstable if it is increased too much Increase the value gradually from 0 and observe the affect on the system Feed forward Oto 100 Position control feed forward compensa amount tion 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
150. ke B Straight shaft without keys and with brake S1 Straight shaft with keys and without brake BS1 Straight shaft with keys and with brake Note 4 UL cUL Standards apply to models manufactured after May 1998 1 4 2 EC Directives a es Standards Low voltage d Servo Driver EN61010 1 Safety requirements for electrical equipment for measurement control and laboratory use a Servomotor IEC34 1 5 8 9 Rotating electrical machines AC Servo Driver EN55011 class A Limits and methods of measurement of radio AC Servomotor group 1 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 1 7 Introduction Chapter 1 m Applicable Models Power supply AC Servo Drivers AC Servomotors With incremental encoder 200 VAC R88D UP 30VA See note 30WA 100 VAC R88D UP 1 8 See note Note Optional specifications shaft profile straight shaft with keys S1 Straight shaft with keys and without brake BS1 Straight shaft with keys and with brake Chapter 2 System Desi
151. l input CN1 15 Rotation direction command RDIR The following table shows the combinations of speeds and directions that can be selected with these three control inputs CN1 11 CN1 12 CN1 15 Internal speed setting Rotational direction AE AD No 1 internal speed setting forward No 1 internal speed setting reverse No 2 internal speed setting reverse No 3 internal speed setting forward No 3 internal speed setting reverse a No 2 internal speed setting forward e Internal Speed Control Settings and Position Control HA LA V W Models When bit F of setup parameter number 1 Cn 01 is set to 1 the control mode will be internal speed control settings and position control e In this control mode it is possible to perform speed control using the internal speed control settings as well as position control using the pulse train inputs When both SPD1 and SPD2 are OFF the motor will be decelerated the positioning completion out put will be output and the servo will enter servo lock status It will still be possible to receive pulse command inputs in servo lock status Note Input pulse commands after the positioning completion output INP is turned ON The Unit will ignore any pulses input before the positioning completion output goes ON 3 19 Operation Chapter 3 User Parameter Settings Parameter name Factory Setting Explanation setting range Cn 07 Software start acc
152. lectric shock Disconnect all power and wait 5 min Warning label 2 before servicing Warning label 1 Warning Labels for Models Conforming to EC Directives UF P ARE ie k Use proper fe Em WARNING REO amp BRPRURRI75 AM PABA 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 input z 1 x Controller Connecting Cable E Chapter 5 5 3 1 Position Control Unit 3G2A5 NC111 EV 1 SYSMAC C CV C500 NC112 Programmable Controller Setting Functions Setting User Parameters Section 3 5 1 Internally Set Speed Control Section 3 5 3 _ Electronic Gears Section 3 5 4 _ Encoder Dividing Section 3 5 5 B Bias Section 3 5 6 _ Torque Control Section 3 5 7 _ Brake Interlock Section 3 5 8 OMNUC U is
153. limit 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 Alarm Code Outputs 1 to 3 and Alarm Code Output Ground 30 31 32 33 ALO1 to ALO03 and 33 ALOCOM When a Servo Driver error is generated the contents of the error are output in 3 bit code For details refer to 4 3 1 Alarm Displays and Alarm Code Outputs e Encoder A B and Z phase Outputs 20 21 A A 23 22 B B 24 25 Z Z Servomotor encoder signals are output as divided phase difference pulses according to the user pa rameter encoder divider rate setting Cn 0A The output form is line driver output and conforms to EIA RS 422A Receive with a line receiver or high speed photocoupler Output Phase When Encoder Divider Rate Setting is 2 048 Forward Rotation Side Reverse Rotation Side A phase A phase B phase B phase Z phase Z phase 5 17 Specifications Chapter 5 Output Circuit and Receiving Circuit Servo Driver Controller on User s Side CN1 5V 20 A 4A 2 2 16 WE O Tf a A phase 2 A OA R l 1 A phase O Q n 23 B B
154. line driver output EIA RS 422A A phase and B phase dividing rate setting 16 to 2 048 pulses revolution Z phase 1 pulse revolution 0 5 V 1 000 r min 0 5 V rated torque Alarm output motor rotation detection brake interlock positioning completion open collector outputs 30 VDC 50 mA except for alarm code output which is 30 VDC 20 mA Required for regeneration of more than 30 times the motor s rotor inertia Required for regeneration of more than 20 times the motor s rotor inertia Overcurrent grounding overload overvoltage overspeeding runaway prevention transmission errors encoder errors deviation counter overflow Note The input pulse width must meet the following conditions H Ti Tip 2 5 us TiL Tin Specifications Chapter 5 m 100 VAC Input Servo Drivers Conforming to UL cUL and 100 VAC Input Servo Drivers Not Conforming to Any Standards R88D R88D R88D UPO3L A UPO4L A UP10L A Continuous output current 0 P R88D UP12L A R88D UP15LA Momentary max output current 0 P Input power supply Single phase 100 115 VAC 85 to 127 V 50 60 Hz Control method All digital servo Speed feedback Optical encoder 2 048 pulses revolution Applicable load inertia Maximum of 30 times motor s rotor inertia 20 times max Inverter method PWM frequency PWM method based on IGBT 11 kHz R88M Applicable Servomotor R88M R88M R88M UO3030L A
155. machinery Try operating the Servo motor without a load Check to be sure that the ambient temperature around the Servomotor is no higher than 40 C Check to see whether any thing is blocking ventilation Adjust bias revolutions and positioning completed range Adjust the machinery Use auto tuning Adjust the gain manually Lower the ambient tempera ture to 40 C or lower Use a cooler or fan Ensure adequate ventilation There is an overload The correspondence be tween the Servo Driver and the Servomotor is incorrect The machinery is vibrating Check the torque command value by means of monitor mode Check the models 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 Lighten the load Change to a larger capac ity Servomotor Combine models that corre spond correctly Fix any problems causing vibration The speed loop gain adjust ment is insufficient Use auto tuning Adjust the gain manually speed loop gain Vibration is occurring at the same frequency as the applicable power supply Inductive noise is occurring 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 Shorten the control signal lines Separate
156. ming to Any Standards 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 Refer to 3 8 4 Models Conforming to EC Directives e 200 VAC Input Type Absorptive regen Maximum applicable Remarks see note 3 eration energy J load inertia e 0 4 kgem R88D UPO2H A UPO2V Rotor inertia x 30 4 500 r min 80 W R88D UPO3H A UPOS3V Rotor inertia x 30 4 500 r min 50 W R88D UP04H A UP04V Rotor inertia x 30 4 500 r min 100 W R88D UPO8H A UPO8V Rotor inertia x 30 3 000 r min 200 W R88D UP12H A UP12V 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 43 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 30 W 50 W 1 2 inerti 4
157. mmended 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 Q or less 6 2 Supplementary Materials Chapter 6 m Connecting to SYSMAC C200H NC112 Position Control Unit with 24 VDC Power Supply NEB Main circuit power supply MC is a Orr oN MO Main dircuit contact 5 e 00 MC Y s SUP MC ot x l z ee PL TO 63 oo l Class 3 ground R88D UP E IL C AC Servomotor Driver C200H NC112 J TB Contents Terminal CN1 R No peces UE EE R88M U Output power supply input 24 VDC 1 A T7 p Connect external Regen AC Servomotor j e a a m R LRA D B 24VDC eration Unit as required A l l N uS R88A CAUOOOS CAREER pele U Power Cable N Output power supply input 5 VDC B V pane yo CCW with resistance 3 lA i xX z e Ww e raj S M CCW without resistance B 141 46W Ed I 8 CW with resistance 2 CW Du CW without resistance B i CN2 E A i oN Am l 8 ECRS
158. mode Input command mode Command pulse mode 0 Rotates in the CCW direction with a command See note 3 Rotates in the CW direction with a command 0 Position control with pulse train input CN1 11 and 12 are used as forward and reverse current limit inputs PCL NCL In the H L Models CN1 15 will be the gain reduction MING In the HA LA V W Models CN1 15 will be the gain reduction MING if Cn 01 bit F is set to O or the pulse stop input IPG if Cn 01 bit F is set to 1 1 Internal speed control settings CN1 11 and 12 are used as speed selection commands 1 and 2 inputs SPD1 SPD2 CN1 15 will be the rotation direction command RDIR 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 o foss O Not used Deviation counter clear Clears the deviation counter when the signal is high level Clears the deviation counter on the rising edge of the signal Speed integration constant s units HA LA V W Models ims 0 01 ms Torque command filter time constant HA LA V W Models Primary filter Secondary filter Command pulse logic re versal Parameter Unit monitor output lever change Positive logic Negative logic Position deviation monitor set for 1 comma
159. n can be switched between a status signal high level and a differential signal rising edge us ing bit A in setup parameter Cn 02 Forward reverse rotation current limit PCL NCL when setup parameter Cn 02 bit no 2 0 ON Current limit Internal setting speed Cn 1F 20 21 selector switch when setup parameter Cn 02 bit no 2 1 24 V power supply input for control DC Power supply for pin nos 11 12 14 15 16 17 18 24 V input Run command input MING Gain deceleration input Pulse stop input IPG HA LA V W eee 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 Automatically set to Servo ON ON Decrease speed loop gain when setup parame ter Cn 02 bit no 2 0 and Cn 01 bit no F 0 ON Stop input command pulses when setup pa rameter Cn 02 bit no 2 0 and Cn 01 bit no F 1 When setup parameter Cn 02 bit no 2 1 this is the rotation direction command for internal speed settings 1 to 3 OFF Forward ON Reverse RDIR Rotation direction com mand inputs Forward drive prohibit in put Reverse drive prohibit in put Forward rotation overtravel input OFF when prohib ited When setup parameter Cn 01 bit no 2 1 this signal is not used Reverse rotation overtravel input OFF when prohib ited When setup parameter Cn 01 bit no 3 1 this signal is not used RESET Alarm reset input
160. n 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 maximum current is approxi mately twice the rated current The following table shows the recommended contactors Model Rated current Momentary maxi Coil voltage mum current G6C 2BND 24 VDC LY2 D 24 VDC G7L 2A BUBJ 24 VDC 200 to 240 VAC J7AN E3 24 VDC 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 breakers high frequency current is not detected preventing the breaker from operating due to leakage current 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 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 2 27 System Design and Installation Chapter 2 Driver Leakage current
161. ncoder power supply GND terminal This function carries out the same operation by means of setting setup parameter Cn 02 bit no O to 1 Use this to prevent runaway when replacing the Servo Driver 5 20 Specifications Chapter 5 When the rotation direction is changed the encoder A phase and B phase output phases are also changed When not set voltage is for forward rotation and A phase advance when set voltage if for reverse rotation and A phase advance and voltage is for forward rotation and B phase advance Therefore wiring changes are unnecessary for encoder signals to the position controller 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 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 I O interface TXD Transmission data This is the send data line driver output to the TXD Transmission data Parameter Unit or a personal computer RXD Reception data This is the send data line driver input from the RXD Reception data Parameter Unit or a personal computer Unit switching This is the switching terminal for a Parame
162. ncy Applicable Servomotor Applicable Servomotor wattage Weight approximate Heating value Capacity Maximum pulse frequency PWM method based on IGBT 11 kHz R88M ae 7 8 kHz R88M R88M R88M R88M R88M nr A 0030H aie n oe TW aw 12kg 15kg 3 Ww 0 9 kg 15W 200 kpps ew mw jew ew fow Position loop gain 0 to 500 1 s Electronic gear Electronic gear ratio setting range 0 01 G1 G2 1 to 65 535 G1 G2 lt 100 Positioning completed range 0 to 250 command units Feed forward compensa tion 0 to 100 of speed command amount pulse frequency Bias setting 0 to 450 r min Position acceleration decel eration time constant Position command pulse in put see note Input sig nals Deviation counter reset Sequence input Position feedback output Speed monitor output Current monitor output Sequence output External regeneration processing Protective functions 0 to 64 0 ms The same setting is used for acceleration and deceleration TTL line driver input with photoisolation input current 6 mA at 3 V 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 TTL line driver input with photoisolation input current 6 mA at 3 V 24 VDC 5 mA photocoupler input external power supply 24 1 VDC 50 mA min A B Z phase
163. nd Ti C rar 9 A b C d Note 1 Do not set bits number 1 6 to 9 Position deviation monitor set for 100 commands Not used and F of setup parameter no 2 Cn 02 Note 2 These parameters become effective only after power is reset Confirm thatthe indicators go out before turning power back on Check to see that the LED display has gone off Note 3 Counterclockwise direction when viewed from the motor output shaft is CCW and clockwise direction is CW 3 12 Operation Chapter 3 3 4 3 Important Setup Parameters Cn 01 and Cn 02 This section explains the particularly important setup parameters Ifthese parameters aren t set proper ly the motor might not operate or might operate unpredictably Set these parameters appropriately for the system being used Control Mode Settings The control mode is determined by the following setup parameters Input command mode Cn 02 bit 2 position control by pulse train input internal speed control set tings Pulse stop switch Cn 01 bit F The function of this bit depends on the setting of Cn 02 bit 2 The following diagram shows the function of these two bits Cn 01 E um bit F _ Position control by pulse train input Cn 02 a Position control by pulse train input HA LANW 1 i et 2 The pulse stop input IPG is enabled Models Control mode SL Cn 01 Internal speed control settings only
164. nd a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 300 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable Refer to the table 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 37 System Desien and Installation Okaya Chapter 2 Max limit Surge Type voltage immunity R A V 781BYZ 2 783 V 1 000 A Block For power supply line R A V 781BXZ 4 783 V 1 000 A For power supply line ground 1 Refer to manufacturers documentation for operating details Note 2 The surge immunity is for a standard impuls
165. notes 2 and 3 Brake timing 1 Brake command speed Brake timing 2 Cn 17 Torque command filter time constant Cn 18 Forward rotation external current limit 2 048 5 100 0 4 e o eo eo r min 0 to 4 500 Setting for manual rotational speed Pulses Setting for number of pulses revolution for encoder used 10 ms 0 to 50 Delay time setting from brake command until servo turns off r min 0 to 4 500 Sets rotational speed for out putting brake commands 10 ms 10 to 100 Waiting time from servo off to brake command output 100 us 0 to 250 Setting for torque command fil ter time constant 6 4 to 96 0 to maxi 398 Hz Output torque for when for mum torque ward rotation current limit is in put compared to rated torque 2 048 Cn 19 Reverse rotation external current limit 0 to maxi Output torque for when re mum torque verse rotation current limit is input compared to rated torque Cn 1A Position loop gain 1 s 1 to 500 For position loop response ad justment Cn 1b Positioning completion Bias rotational speed Cn 1d Feed forward amount l o Command 0 to 250 Sets the range for the position units ing completion signal output r min 0 to 450 Sets the bias for position con trol 96 0 to 100 Position control feed forward compensation 1 024 Sets the level for detection of deviation counter overflow x 256 commands 1 to 32 767
166. nsure that water cannot penetrate in this way or use water proof connectors Even when machinery is not in use water penetration can be avoided by taking measures such as 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 Oil Seals If the motor shaft is exposed to oil or grease use a Servomotor with oil seals Inquire for details 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 18 System Design and Installation Chapter 2 2 2 Wiring Products Conforming to UL cUL and Wiring Products Not Confrorming to Any Standards 2 2 1 Connecting OMRON
167. o 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 maximum 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
168. o 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 oak WON Press the DATA Key to record the new setting in memory 3 29 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 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
169. oder 1 PULS AGE Apes 19 EGND Signal feed pulse CW A A phase Encoder output PULS reverse pulse i 20 A A phase ap 2 OWIA A phase SIGN dod mr output Fncoder direction 3 CCW B ward pulse Abe SR 4 SIGN signal for B phase 22 B B ibid CCW B ward pulse 4 deviation output Encoder B phase 5 ECRST counter re 23 B B phase deviation set Encoder output 6 ECRST counter re 24 Z Z phase set Brake output Encoder 7 BKIR interlock 25 Z Z phase Positioning output output e IMP completed Motor rotation di output g TGON detection cur 27 CLIMT rent control io Gene Sa ae detection roun Forward rota Common 11 PCL tion current lim 29 Reverse rota SPD1 i speed seen 12 NCL tion current lim Ion comman 30 ALO1 Alarm code SPD2 it speed selec output 1 tion command 2 13 24VIN Control DC 31 ALO2 Alarm code B n ome ss 24 V input output 2 14 RUN mand in 32 ALO3 Alarm code put MING fron cutee stop output 3 Alarm code 15 IPG input rotation 33 ALOCOM output Forward RDIR direction GND 16 POT rotation drive 34 ALM Alarm prohibit input Reverse output Alarm 17 NOT rotation drive 35 ALMCOM output prohibit input FG GND 18 RESET Alarm reset 36 see Frame input note 2 ground Specifications Chapter 5 Control Input Interface The input circuit for the control I O connector CN1 is as shown in the following diagram 24VIN 13 47k 33k Exte
170. on Examples iii ce a Ry RR ee eg e pede dang ERR A er Er Pee aes Servo Connector Terminal Connection Unit 0 0 0 0 0 ccc ee eee eee OMNUC U series Standard Models 0 0 0c ccc ccc eee eee e ees Parameter Setting Forms coe eee ts eb eR EP CLER Pepe er Ee e edewe Mee il Mh Chapter 1 Introduction 1 1 1 2 1 3 1 4 Features System Configuration Servo Driver Nomenclature Applicable Standards and 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 7 types of AC Servomotors 30 W 50 W 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 30 W 50 W 100 W 200 W 400 W and 750 W For 100 115 VAC 85 to 127 V single phase 50 60 Hz Input 30 W 50 W 100 W 200 W and 300 W The Servomotors also come with and without brakes and with and without keys on the straight shaft Servomotors that conform to EC Directives however are available only with keys on the shaft Models Conforming to UL cUL Standards Available UL cUL Markings AC Servomotors and Servo Drivers that conform to UL cUL Standards are now available Their per formance functionality and appearance are the same as the conventional U ser
171. ontrol switch selection P control switch conditions Pulse Stop Switch HA LA V W Models vata Reverse mode page 3 9 Setup Input command mode C n 2 parameter Command pulse mode no 2 Deviation counter clear Speed integration constant s units HA LA V W Models Torque command filter time constant HA LA V W Models Command pulse logic Monitor output level switch User parameters C N 4 Speed loop gain page 3 14 i con 2 9 Unit number setting HA LA V W Models Y Monitor mode un 00 Speed feedback page 4 5 un 0 1 Speed command When using internally set speed control Co un 0 2 Torque command Alun 0 3 Number of pulses from U phase edge un 0 4 Electrical angle af un 0 5 Internal status bit display 1 un 0 6 Internal status bit display 2 un 0 7 Command pulse speed display i un 0 8 Position deviation deviation counter Alarm un 0 9 Input pulse counter HA LA V W Models history A display mode 0 d Error one time before page 4 13 nd i C 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 tu
172. otor Driver under conditions which will not exceed 19 6 m s 2 G over a long period of time Note 2 Theabove 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 models conforming to UL CUL Standards and models not conforming to any standards are special specifications covered by IP 44 Models with drip proof specifications provide drip proofing on Servomotors with oil seals 5 27 Specifications Chapter 5 5 2 2 Performance Specifications m 200 VAC Servomotors p i Rated output W 30 50 100 200 see note Rated torque see note Rated rota tional speed Momentary maximum rotational speed Momentary maximum torque see note Momentary maximum rated current ratio kgfecm r min R88M U03030H A U03030VA 0 974 3 000 R88M U05030H A U05030VA Nem 0 095 0 159 0 318 1 62 3 000 R88M U10030H A U10030VA R88M U20030H A U20030VA R88M U40030H A U40030VA R88M U75030H A U75030VA 3 25 3 000 3 000 3 000 3 000 Ec 1 91 3 82 7 10 19 5 39 0 72 9 300 308 Rated cur rent see note Momentary maximum current see note Torque constant see note kgem GD2 4 kgfecmes Nem A kgfecm A 0 21 x 1079 0 21 x 1074 0 255 0 26 x 1079 0 27 x 1074 0 286
173. ould be damaged 2 26 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 is increased because the surge voltage is the lowest Fuii uji Electric Co ERB44 06 or equiv when power is cut off Used for 24 48 VDC systems 3 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 VaHsibr 270 V the varistor 200 VAC system varistor 470V 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 RE F 50 Q tor Used for 100 200 VAC circuit contactors e rid D gie Q Note Thyristors and varistors are made by the following companies Refer to manufacturers documentatio
174. positioning completion range Cn 1b this function adds the bias rotational speed Cn 1C to the speed command When the pulses are within the positioning completion range it stops adding the bias rotational speed m Parameters to be Set Parameter name Factory Unit Setting Explanation setting range Cn 1b Positioning completion 3 Com 1t0250 Sets the range for positioning range mand completion signal output units Bias rotational speed 0 r min Oto 450 Sets position control bias Note 1 When not using the bias function set the bias rotational speed to 0 Note 2 Asthe bias rotational speed increases Servomotor rotation becomes more unstable The optimal val ue changes depending on the load gain and positioning completion range so observe the response while making the adjustment Start with the bias rotational speed set to 0 and slowly increase it m Operation e When the residual pulses in the deviation counter exceed the positioning completion range Cn 1b the bias rotational speed Cn 1C is added to the deviation counter output speed command When the pulses are within the positioning completion range the bias rotational speed is no longer added to the speed command For internal processing block configuration refer to the position loop block diagram in 3 7 2 Manual ly Adjusting Gain r min Speed command f Vw Servomotor speed without Frequency of jr ip X bias function command pulse f NN
175. put INP When the deviation counter value falls below 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 Bias Rotational Speed Cn 1C This is the setting for position control bias Use this setting according to the load conditions in order to shorten positioning time The setting range is 1 to 450 r min and the factory setting is O r min 5 24 Specifications Chapter 5 e Feed forward Amount Cn 1d This is the feed forward compensation for the position controller Positioning time is shortened by ad ding the command pulse differential to the speed command The setting range is 0 to 100 and the factory setting is 096 e Deviation Counter Overflow Level Cn 1E This sets the level for detection deviation counter overflow If the deviation counter value exceeds this set value a servo alarm will be generated The setting range is 1 to 32 767 x256 command units and the factory setting is 1 024 x256 command units e No 1 Internal Speed Setting Cn 1F Factory Setting 100 r min No 2 Internal Speed Setting Cn 20 Factory Setting 200 r min No 3 Internal Speed Setting Cn 21 Factory Setting 300 r min Make these settings to control speeds by means of internal settings The setting range is 0 to 4 500 r min For details refer to 3 5 3 Setting Internal Speed Control e Electronic Gear Ratio G1 Numerator Cn 24 Electroni
176. quipment 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 vehicles com bustion systems medical equipment amusement machines or safety equipment 3 The application of the product to systems machines or equipment that may have a serious influence 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 U AC Servomotors MODELS R88D UP AC Servo Drivers AC SERVOMOTORS DRIVERS 30 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 property NDANGER Indicates an imminently hazardous situation which if not avo
177. rectives The Servo Driver must be installed in a metal case control panel Noise filters and surge absorbers must be installed on all power supply lines e Shielded cables must be used for all I O signal lines and encoder lines Use tin plated soft copper wires for the shield weaving All cables leaving the control panel must be wired in metal ducts or conduits with blades Ferrite cores 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 Metal duct or conduit AC power supply Ground 100 Q max Controller power supply Controller Grounding plate 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 Use the 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 f no fuse breakers MCCB are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring
178. rent OMRON J7AN E3 120A 24 VDC 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 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 UAO2V to UAO8V 80 mA 3 mA R88D UA12V 60 mA 4 mA R88D UA20V 110 mA 5 mA 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 2 39 System Design and Installation Chapter 2 Note 3 Leakage current for 100 VAC input Servomotors is approximately half tha
179. rge Cn 1E deviation counter overtravel is too small The power supply voltage is outside of the allowable range The load inertia is too large Unlock the Servomotor shaft Correct the wiring Adjust the gain Lengthen the acceleration deceleration time Lighten the load Select another Servomo tor Increase Cn 1E 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 power supply voltage is outside of the allowable range 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 Regeneration Unit error Replace the Regeneration Unit Occurred while lowering vertical shaft High speed rotation oc curred when command was input Gravity torque is too large The rotational speed ex ceeded 4 950 r min due to overshooting Encoder is wired incorrectly 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 Excessive speed com mand input H L Models a 51 a 52 High speed rotation oc curred when command was input A speed command exceed ing 4 7
180. ri cal 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 Donot perform withstand voltage or other megameter tests on the product Doing so may damage internal com ponents Servomotors and Servo Drivers have a finite service life Be sure to keep replacement products on hand and to consider the operating environment and other conditions affecting the service life Donotsetany parameter not described in this manual otherwise the Servomotor or Servo Driver may malfunc tion Contact your OMRON representatives if you have any inquiry The functions and specifications differ for the various models as shown below Be sure to check which models are being used before proceeding HA LA V W AC Servo Drivers R88D UPLJLIHA R88D UPLILILA R88D UPLILIV and R88D UPLILIW H L AC Servo Drivers R88D UP H and R88D UP L NOTICE Before using the product under the following conditions consult your OMRON representatives make sure that the ratings and performance characteristics of the product are good enough for the systems machines or e
181. rmining actual maintenance schedules m Servo Motors Recommended Periodic Maintenance Oil Seal 2 000 hours Bearings 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 Theradial 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 55 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 re
182. rnal power supply g M EM 24NDC 1 V T z1 vo 50 mA min u RUN 44 5mA Ma we DN To other input circuit GNDs To other input circuits Y 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 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 Pulse Stop 15 IPG Rotation Direction Command 15 RDIR This input signal can be switched among the following three kinds of signals by changing on the settings of bit 2 of setup parameter Cn 02 and bit F of setup parameter Cn 01 Select the signal function required for your application Gain Reduction 15 MING Cn 02 Bit No 2 0 and Cn 01 Bit No F 0 Bit F of Cn 01 can be set in HA LA V W Models only 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 can not be used for the vertical shaft where a gravity load is applied because position deviation will oc Cur Pulse Stop 15 IPG Cn 02 Bit No 2
183. rned 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 as follows EC A 8 6 4 2 0 Sa EI nt nt Mt Mt BIENS NE NE NE Mt 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 O 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
184. rol Settings The speed of the motor is controlled with the three speeds No 1 No 2 and No 3 internal speed settings set in the parameters This mode is effective for simple position control or speed switching operation Internal Speed Control Setting Position Control HA LA V W Models Speed control can be performed with the internal speed settings and position control can be per formed with pulse train inputs 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 speed commands 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 Rotational speed can be set in the parameters m Electronic Gear Function Position Control 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
185. round to a class 3 ground to 100 or less or better Note Refer to 3 8 Regenerative Energy Absorption for the methods to calculate regenerative energy 2 33 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 UPI V Driver R88D UPO2V R88D UP03V R88D UP04V R88D UPO8V R88D UP12V R88D UP20V Watts 30 W 50 W 100 W 200 W 400 W 750 W Power supply input current L1 L2 Motor output cur rent U V W Power supply input 0 75 mm or AWG 18 min terminal 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 Protective earth Use 2 0 mm external ground wires Use the same wire as used for the motor output terminal 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 UP Driver model R88D UPO3L A R88D UPO4L A R88D UP10L A R88D UP12L A R88D UP15LA Watts 30 W W 100 W 200 W 300 W Power supply input cur 2 0A 4 5A 8 0A 10 0A rent L1 L2 Motor output current U 0
186. rvo Driver Chapter 3 section 3 2 Initial Settings 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 Chap ter 3 section 3 5 Trial Operation Before performing trial operation turn the power supply off and then back on so that any parameters that have been set will be valid 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 UP H A 200 VAC specifications Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UPI L A 100 VAC specifications Single phase 100 115 VAC 85 to 127 V 50 60 Hz R88D UPLILIV 200 VAC specifications Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UPLILJW 100 VAC specifications X Single phase 100 115 VAC 85 to 127 V 50 60 Hz
187. s 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 Servomotor rotation speed will be approximately 1 2 that of the jog speed Cn 10 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 3 33 Operation Chapter 3 f auto tuning does not complete or if the gain set via auto tuning is not sufficient adjust the gain manu ally using the procedure in 3 7 2 Manually Adjusting Gain 1 2jog speed Approx 1 1 s Approx 0 7 s S gt 3 34 Operation Make sure that Cn 28 for compensation gain adjustment is set to 0 before performing Chapter 3 3 7 2 Manually Adjusting Gain auto tuning This parameter is factory set to O e Gain Adjustment Flowchart Perform auto tuning to match the rigid ity of the mechanical system y The motor hunts when servo locked Accompanied by a hunting noise YES y NO Raise the rigidity selection to the value just before hunting occurs and perform Decrease the rigidity selection so hunting doesn t occur and perform auto tuning auto tuning Do c
188. s 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 Make sure that Cn 28 for compensation gain adjustment is set to O before performing auto tuning Prop er gain adjustment may not be possible with auto tuning if the parameter is not set to 0 This parameter is factory set to O 1 E 3 JE o Ole 0 0 0 5 Indicates settings mode emen check de 7 Co o Data 5 C 010 1 87 ESI BP ERES Auto tuning display E eli niid Auto tuning end display 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 05 Auto tuning Press the MODE SET Key to switch to the mechanical rigidity selection display 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 Oo oc fF Oo nm
189. se 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 speed commands torque commands number of pulses from U phase electrical angle internal status bit display command pulse speed position deviation and input pulse counter HA LA V W Models 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 CO CO Power ON i mag displays io Settings mode gt Monitor mode 4 NA Display example bb cn 00 un 00 0 a02 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 at Base block oe
190. set to O e Position Loop Block Diagram Cn 1d Cn 24 25 Cn 27 Cn 1C Feed forward panne Feed forward Bias rotational amount G1 G2 command filter V speed Cn iba m aeternas of Positioning Cn 02 bit Cn 26 a Command 599 9 4 5 Position com Cn 24 25 Cn 1A Cn 04 05 Cn 17 pulses Command Morum Ed Deviation _ Position w Speed Current gt pulse mode eration tiie G1 G2 counter loop gain x loop loop constant 7 Cn 1E Cn 28 CX Comp x gain x4 a Cn 0A Speed area ae Encoder detection p divider rate 7 16 to x4 2048 2048 e 4 eX A B C E Mj 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
191. ssue The reset time short reverse recovery time is increased because the surge voltage is the lowest Ei uji Electric Co ERB44 06 or equiv when power is cut off Used for 24 48 VDC systems Jei q 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 VaHstor 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 current is 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 cur
192. st load is applied which exceeds specifications Do not put rubber packing on the flange 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 up the structure so that the radial load can be adjusted A large radial load may also be applied as a result of belt vibration Attach a brace and adjust Servo Driver gain so that belt vibration is minimized Pull oe Make adjustable Belt Tension Motor shaft Load shaft 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 Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards 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 e
193. t of the values shown above Improving 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 Donot 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 Clamp filter ZCAT2032 0930 ZCAT3035 1330 1330 A 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 Improving Control I O Signal Noise Resistance Position can be affected if control I O signals are influenced by noise Follow the methods outlined be low for the power supply and wiring Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular be careful not to connect two power
194. ted torque see note Rated rotational speed Momentary maximum rotational speed Momentary maximum torque see note Momentary maximum rated current ratio Rated current see note Momentary maximum current see note Rotor inertia kgem GD2 4 R88M U03030L A U03030WA 30 0 095 0 974 3 000 4 500 0 29 2 92 317 0 63 2 0 0 21 x 1075 R88M U05030L A U05030WA 50 0 159 1 62 3 000 4 500 4 500 0 48 0 96 4 87 9 75 R88M U10030L A U10030WA 100 0 318 3 25 3 000 R88M U20030L A U20030WA 200 0 637 6 49 3 000 4 500 1 91 19 5 322 323 311 0 9 2 2 2 9 7 1 0 26 x 1075 0 40 x 1075 2 7 8 4 1 23 x 1075 R88M U30030LA U30030WA 300 0 954 9 74 3 000 4 500 3 72 38 0 400 3 7 1 91 x 1075 kgfecmes 0 21 x 1074 0 27 x 10 4 0 41 x 1074 1 26 x 1074 1 95 x 10 4 Torque constant see note Induced voltage constant see note Power rate see note Nem A 0 168 0 194 0 156 0 255 0 279 kgfecm A mV r min 1 72 1 98 1 59 2 60 2 85 Mechanical time constant ms 1 6 0 9 0 6 0 4 0 3 Winding resistance Q 7 22 4 34 1 22 0 706 0 435 Winding impedance mH 9 7 6 9 2 0 4 0 2 3 Electrical time constant 1 8 1 6 1 6 5 7 5 3 Weight kg Approx 0 3 Approx 0 4 Approx 0 5 Approx 1 1 Approx 1
195. ter 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 Termination resistance This is the termination resistance terminal for enabled disabled the line receiver For 1 to 1 communications or for the final Servo Driver short circuit RT1 RT2 5 V output This is the 5 V output to the Parameter Unit Ground e Pin Arrangement Transmission 1 TXD data 6 RT1 Termination 2 TXD Transmission resistance data on off 7 RT2 3 RxD Reception data 8 5V 5 V output Reception 4 RXD data 9 GND Ground Unit 5 PRMU switching 5 21 Specifications Chapter 5 e Connectors Used D sub Connector 9 Pin Dai ichi Denshi Kogyo Socket at Servo Driver 17LE 13090 27 D2BC Soldered plug at cable side 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 CN4 Speed Current Monitor Specifications Signal I O interface name Speed monitor output Voltage output with a ratio of 0 5 V 1 000 r min centered at OV voltage is forward voltage is reverse and output accuracy is about 10 Current monitor output Voltage output with a ratio of 0 5 V rated torque centered at OV voltage is forward acceleration voltage is reverse acceleration Output accuracy is about
196. the brake There is no nid polarity on these lines i l p Black _ gt E CSS eS ee oases us ll Black _ 24 VDC mm due Power supply The commercial power supply input terminals for the main circuit and the input control circuitry R88D UPLILIH A Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UPLILIL A Single phase 100 115 VAC 85 to 127 V 50 60 Hz1 The terminals for connecting Regeneration Units R88A RGO8UA Connect Terminal label 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 Green 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 Regenerative Energy Absorption for the methods to calculate regenerative energy 2 22 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 UP H A Driver R88D UPO2H A R88D UPO3H A R88D UPO4H A R88D UPOSH A R88D UP12H A R88D UP20H A Watts 30 W 50 W 100 W 200 W 400 W 750 W Power supply in 1 3A 1 5A 25A
197. the power supply voltage specified in the User s Manual An incorrect voltage may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning Provide an appropriate stopping device on the machine side to secure safety A holding brake is not a stopping device for securing safety Not doing so may result in injury Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption Not doing so may result in injury Take appropriate and sufficient countermeasures when installing systems in the fol lowing locations e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies System Design and Installation Chapter 2 2 1 Installation 2 1 1 External Dimensions Unit mm AC Servo Drivers Conforming to UL CUL Standards and AC Servomotors Not Conforming to Any Standards e R88D UPO2H A UPOSH A UPO4H A UPO8H A 200 VAC 30
198. tic brake Note 2 Do not connect unused terminals Note 3 The 0 V terminal is internally connected to the common terminals Note 4 The following crimp terminal is applicable R1 25 3 round with open end 6 7 Supplementary Materials Chapter 6 Terminal Connection Unit for C200H NC211 XW2B 40J6 2B Y axis Servo Driver connector H 3 5 7 155 X axis Servo Driver connector C200H NC211 connector Note Terminal block pitch 7 62 mm X Y axis X axis Y axis emergency origin origin stop proximity proximity X axis X axis gt F a P Y axis Y axis a i 3 24 cw CCW X axis X axis X axis X axis cw CCW Y axis Y axis Y axis Y axis limit limit RUN MING ALM BKIR limit limit RUN MING ALM BKIR ov Com Com Com Com Com Com Com Com Com FG mon mony mon mon mon mon mon mon mon f amp See note 1 aa See note 1 Y axis T external VDC interrupt X axis ALMCOM X axis external 2 interrupt Y axis ALMCOM Note Note Note Note Note 6 8 aL 24 VDC 1 The XB contact is used to turn ON OFF the electromagnetic brake 2 Connect the CW and CCW limit signals to a common terminal when controlling one axis 3 Do not connect unused terminals
199. tigate the cause and apply the appropriate countermeasures Error Diagnosis by Means of Operating Status Symptom Probablecause femstocheck Countermeasures The power supply indicator Power supply lines are in Check the power supply Correct the power supply PWR does not light even correctly wired voltage Correct the wiring when the power supply is e 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 O 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 and 3 to 1 The mode is the internal Check Cn 02 bit no 2 Set Cn 02 bit no 2 to 0 un speed control setting mode less internally set speed control is being used 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
200. to 200 W R88D UPO3L A UPOA4L A UP10L A 100 VAC 30 to 100 W Installation dimensions eee Three M4 Installation dimensions p oo Three M4 2 3 System Design and Installation Chapter 2 AC Servo Drivers Conforming to UL CUL Standards and AC Servomotors Not Conforming to Any Standards Contd e R88D UP20H A 200 VAC 750 W and R88D UP15LA 100 VAC 300 W MUUN NNI TET SN LLL Installation dimensions System Design and Installation Chapter 2 AC Servo Drivers Conforming to EC Directives e R88D UP02V UP03V UP04V UPO8V 200 VAC 30 to 200 W R88D UPOSW UPOAW UP10W 100 VAC 30 to 100 W Installation imensions Three M4 e R88D UP12V 200 VAC 400 W R88D UP12W 100 VAC 200 W Installation vag000000000000 J il Three M4 2 5 System Desien and Installation Chapter 2 m AC Servo Drivers Conforming to EC Directives Contd e R88D UP20V 200 VAC 750 W R88D UP15W 100 VAC 300 W i T nt A T DU TUM 160 System Design and Installation Chapter 2 m Regeneration Unit e R88A RGO8UA 15 6 125 Dia 6 Installation dimensions Two M4 R3 _1_ 18 5 130 m Parameter Units e R88A PRO2U Two 4
201. torque The factory setting is for the maximum torque e Software Start Acceleration Time Cn 07 Software Start Deceleration Time Cn 23 The Servomotor rotation acceleration time from O r min to 4 500 r min is set in Cn 07 and the decelera tion time from 4 500 r min to 0 r min is set in Cn 23 The factory setting is for O ms Set the acceleration and deceleration times to 0 ms unless using the internal speed settings 5 22 Specifications Chapter 5 e Forward Torque Control Cn 08 Reverse Torque Control Cn 09 The Servomotor output torque control value for forward rotation is set in Cn 08 and the value for re verse rotation is set in Cn 09 The setting range is 0 to the maximum torque and the factory setting is for the maximum torque e Encoder Divider Rate Cn 0A The number of pulses detected A and B pulses per encoder revolution is converted to the number of pulses set for this parameter and output from the Servo Driver The setting range is 16 to 2 048 pulses revolution and the factory setting is for 1 000 pulses revolution e Rotational Speed for Servomotor Rotation Detection Cn 0b This sets the rotational speed for detecting whether or not the Servomotor is rotating The setting range is 1 to 4 500 r min When motor rotation detection has been set for the sequence output signal switch Cn 01 bit 4 0 the Servomotor rotation detection output TGON CN1 9 is turned ON if the Servomo tor rotational speed meets or
202. torque limit for the reverse direction as a percentage of the rated torque Note Set these parameters to the maximum torque the factory setting when the torque limit function isn t being used e Method 2 Limiting Operation with External Signals Setup Parameter Settings Bit 2 of Cn 02 0 Set bit 2 of Cn 02 the input command mode to 0 When bit 2 is 0 control input terminal CN1 11 will be PCL forward current limit input CN1 12 will be NCL reverse current limit input and it will be possible to use the external current limit function User Parameter Settings Parameter name Factory Setting range Explanation Ed EF ANN NN Cn 18 Forward rotation 100 96 0 to maximum This parameter sets the output torque external current limit torque limit as a percentage of the rated torque when the forward rotation cur rent limit is input Cn 19 Reverse rotation 100 96 0 to maximum This parameter sets the output torque external current limit torque limit as a percentage of the rated torque when the reverse rotation cur rent limit is input 3 25 Operation Chapter 3 3 5 8 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
203. train N PAA XX 7 S Wu Servomotor speed when N N bias function is used Motor speed rey VN Time reduced Time Positioning on completion INP OFF 3 24 Operation Chapter 3 3 5 7 Torque Limit Function m Function This function limits the Servomotor s output torque This function can be used to protect the Servomotor and machine system by preventing excessive force or torque on the machine system when the machine moving part pushes against the work piece with a steady force such as in a bending machine There are two methods for limiting the torque 1 Limitthe steady force applied during normal operation with user parameters Cn 08 forward torque limit and Cn 09 reverse torque limit 2 Limit operation with external signals connected to pins CN1 11 PCL forward current limit input and CN1 12 NCL reverse current limit input Set user parameters Cn 18 forward rotation external current limit and Cn 19 reverse rotation external current limit m Parameter Settings e Method 1 Limiting the Force Applied During Operation User Parameter Settings Parameter name Factory Setting range Explanation setting Cn 08 Forward torque limit Maximum 0 to maximum This parameter sets the output torque torque torque limit for the forward direction as a percentage of the rated torque Cn 09 Reverse torque limit Maximum 0 to maximum This parameter sets the output torque torque
204. transmission errors encoder errors deviation counter overflow Note The input pulse width must be meet the following conditions H Ti Tig 2 5 us TiL Tin 5 6 Specifications Chapter 5 5 1 3 I O Specifications Terminal Block Specifications Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards Signal Function Power supply in put Main circuit DC output Condition R88D UPLILIH A 200 VAC Units Single phase 200 230 VAC 170 to 253 VAC 50 60 Hz R88D UPLILIL A 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 Servomotor U phase output These are the terminals for outputs to the Servomotor Servomotor V phase output Servomotor W phase output Power supply in put Frame ground 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 Condition R88D UP V 200 VAC Units Single phase 200 230 VAC 170 to 253 VAC 50 60 Hz R88D UPLILIW 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
205. ts 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 5 or 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 Q or less 6 4 Supplementary Materials Chapter 6 m Connecting to SYSMAC C200H NC211 Position Control Unit with 24 VDC Power Supply NFB Main circuit power supply MC RC zs OFF ON 7 ori 5 O O M Main circuit contact E T 6 6 8 o0 of Class 3 ground R88D UP AC Servomotor Driver C200H NC211 CN 1 TB Contents No R i Qu ES p R88M U Output power supply input 24 VDC 1 m t amp Sa Ge aes AC Servomotor
206. ually running them Not doing so may result in equipment damage Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart Take appropriate measures to secure safety against an unexpected restart Doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Maintenance and Inspection Precautions NWARNING Do not attemptto disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock N Caution Resume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in an unexpected operation Warning Labels Warning labels are pasted on the product as shown in the following illustration Be sure to follow the instructions given there Warning labels Warning Labels for Non conforming Models EOS BRPAUREI785 A8 TEMAS LEP ARE iiu Use proper grounding techniques May cause e
207. units range Feed forward com 0 to 100 of speed command amount pulse frequency pensation Bias setting 0 to 450 r min Position acceleration de 0 to 64 0 ms The same setting is used for acceleration and deceleration celeration time constant Input Position command pulse TTL line driver input with photoisolation input current 6 mA at 3 V signals 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 24 1 VDC 50 mA min Position feedback output A B Z phase line driver output EIA RS 422A A phase and B phase dividing rate setting 16 to 2 048 pulses revolution Z phase 1 pulse revolution Speed monitor output 0 5 V 1 000 r min Current monitor output 0 5 V 100 Sequence output Alarm output motor rotation detection brake interlock positioning completion open collector outputs 30 VDC 50 mA except for alarm code output which is 30 VDC 20 mA External regeneration processing Required for regeneration of more than 30 times the motor s ro Required for tor inertia regeneration of more than 20 times the motor s rotor inertia Protective functions Overcurrent grounding overload overvoltage overspeeding runaway protection
208. use a pulley remover to remove pulleys couplings or other objects from the shaft 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 4 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 i Motor shaft center line Shaft core variation displacement Ball screw center line SR 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 2 17 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 thru
209. vervoltage alarms malfunctioning due to noise and damage to individual elements If a Servo Driver is always operated at the maxi mum ambient temperature of 55 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 16 System Design and Installation Chapter 2 e Keeping Foreign Objects Out of Units e Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the 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
210. 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 Overcurrent Overheating 4 16 Occurred during operation Occurred even though pow er was on If reset is executed after waiting for a time operation resumes The ambient temperature for the Servo Driver is high er than 55 C Bring the ambient tempera ture for the Servo Driver down to 55 C or lower The load torque is too high Lighten the load Lengthen the acceleration time Select another Servomo tor Application Alarm Error content display Deviation count er overflow Overvoltage Over speed Condition when error oc curred 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 Occurred when power was turned on Occurred during Servomo tor deceleration Probable cause Servomotor power lines or encoder lines are wired in correctly Chapter 4 Countermeasures Correct the wiring 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 la
211. 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 setting for the number Check whether Cn 11 is Set Cn 11 to 2048 mentarily but then it does of encoder pulses is incor 2048 not operate rect The Servomotor power lines Check the Servomotor pow Correct the wiring or encoder lines are wired er line U V and W phases incorrectly and the encoder line wiring 4 14 Application Chapter 4 Symptom Probable cause Hemsiocheck Countermeasures Correct the wiring Servomotor operation is unstable Servomotor is overheating There are unusual noises The Servomotor power lines or encoder lines are wired incorrectly Check the Servomotor pow er line U V and W phases and the encoder line wiring The settings for the bias function are not correct There are eccentricities or looseness in the coupling connecting the Servomotor shaft and the mechanical system or there are load torque fluctuations according to how the pulley gears are engaging Gain is wrong The ambient temperature is too high Ventilation is obstructed e Check the
212. 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 5 47 Specifications Chapter 5 5 5 Regeneration Unit Specifications R88A RGOS8UA Regeneration Unit e General Specifications em J Smdads 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 REARGUUA 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 Indicator LED Specifications Specifications POWER Lit while power flows between P and N terminals REGEN Lit during regeneration operation ALARM REGEN Lit for regeneration r
213. y DATA cun 0141 1010 10 8 10 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 a A W I 3 15 Operation Chapter 3 6 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 steps 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

M2 Omron servo driver R88D

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