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Chapter 2

1. of ht jun 12 50 15 Dimensions Mounting on Bottom Mounting on Back 50 M4 tap 14 M4 tap O P x r4 2 127 Standard Models and Specifications Chapter 2 Connections An example of connections between the host controller servo drives and a Repeater is shown below MECHATROLINK II gt 30 less 15 stations max 30 mor less 16 stations max 30 to 50 m 14 stations max 30 to 50m 15 stations max 100 m max Maximum number of stations for Controller The maximum is 16 stations for the CJ 1W CS1W NCF 71 and 30 stations for the 1W CS 1W MCH71 2 128 Chapter 3 System Design and Installation 3 3 2 3 3 3 4 Installation Conditions Wiring Regenerative Energy Absorption Adjustments and Dynamic Braking When Load Inertia Is Large System Design and Installation Chapter 3 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 3 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
2. Note 1 The reduction gear inertia indicates the Servomotor shaft conversion value Note 2 The enclosure rating for Servomotors with reduction gears is IP 44 Note 3 The allowable radial loads are measured in the center of the shaft 2 90 Standard Models and Specifications Chapter 2 m 3 000 r min Flat style Servomotors with Economy Reduction Gears 100 to 750 W Reduction rotation torque inertia Without ry brake Cum Wm X umm m ew 4 w 31 4 556 333 200 200 78 556 333 200 LN m 793 amens per me Bae mr purae peo Ew 57 ae m mr s R88M WP 75030 16 09 pia 13 T Note 1 The reduction gear inertia indicates the Servomotor shaft conversion value Note 2 The enclosure rating for Servomotors with reduction gears is IP 44 Note 3 The allowable radial loads are measured in the center of the shaft LONE LN LONE 2 5 4 Encoder Specifications m incremental Encoder Specifications 3 000 r min Servomotors 3 000 r min Flat 1 000 r min 50 to 750 1t03kW style Servomotors Servomotors Encoder method Optical encoder Number of output B phase 2 048 B phase 32 768 B phase
3. m s n m ps e s Je Ja we m nemwansrcensy ni joo m m 6 newwansicene un l m ms fso 6 30 6338 fias 2 12 25 42 7 12 m fs m pa ps be a 15 750 5 n J ha m m s 5 _ w20_ 20_ Reem w7s0a0n c678 un Diagram 2 Key dimensions M Effective depth QK h Lh wla Four RD6 1 Sh7 dia D3h7 dia rri NO Four Z dia LL LM p 20 2 37 Standard Models and Specifications Chapter 2 e 3 000 Servomotors 1 to 5 kW with Standard Gears Dimensions mm LM LR C1 C2 wel jM TkW Tus Remwwikosnens s 1 ue wo us e no 149 193 140 100 91 naswowikosorco28 2 1 5 kW R88M W1K530L1G05B 1 175 R88M W1K530L LIGO9B 2 J R88M W1K530L1 LIG 20B 0 1 29 R88M W1K530L1 LIG 29BJ 1 45 R88M W1K530l L G45BJ 2 kW R88M W2K030L LIG05B J R88M W2K030L LIGO9B 2 1 20 R88M W2K0300 OG20Bj m N mn N mn m mn mn 1 29 R88M W2K030l 1 16 29BJ 1 45 R88M W2K0300 OG 45BJ 3 kW R88M W3K0300 OG 05BJ j
4. 2 16 2 3 External and Mounted Dimensions 2 18 2 4 Servo Diver SpecmiCaulOns DA 2 50 2 5 SEFVOMOLOF Specifications a4 Td 2 71 2 6 Cable and Connector 1 2 93 2 7 External Regeneration Resistor 2 121 2 8 Absolute Encoder Backup Battery Specifications 2 122 2 9 Reactor SPE CU ICAUIONS ce a ut A read N dote baa ol Ape Pa aR ee oe 2 124 2 10 MECHATROLINK II Repeater Specifications 2 126 3 1 Installation Conditions ss a ob aun ck role SI Sew Whe eo be ee eee eed 3 3 a hone hoe 3 8 3 3 Regenerative Energy Absorption es 3 32 3 4 Adjustments and Dynamic Braking When Load Inertia Is Large 3 39 Chapter 4 Al Ao Operational Procedure xu io duet IRE eie eat Ow d a 4 3 4 2 Prepanme Tor ODSLdllOlk 4 4 4 5 User Parameters ob v bare ein co Sad ees 4 8 AA Operan on Pulictolls s adea ooo tod oe dod Fence Uo sc o e boe Ost ce ee paren 4 75 2 nal Operation Procedute Joi tS ieee io o
5. Note 1 Use a minimum cable length of 0 5 m between any two devices L1 L2 Ln Note 2 The total cable length L1 L2 Ln must not exceed 50 m 2 94 Standard Models and Specifications Chapter 2 m Servo Driver Cable XW2Z J B16 This Cable is for the Connector Terminal Block Conversion Unit for W series Servo Drivers with builtin MECHATROLINK II communications e Cables XW2Z B16 Length L External sheath diameter XW 22 100 B16 8 0 dia Approx 0 1 kg XW 27 200 B16 Approx 0 2 kg e Connection Configuration and External Dimensions Connector Terminal Block Conversion Unit side XW2B 20G4 XW2B 20G5 amp XW2D 20G6 y t Servo Driver side R88D WNI e Wiring Connector for Connector Connector on Servo Terminal Block Conversion Unit Driver CN 1 _ F OV Connector plug model 10126 3000VE Sumitomo 3M Connector Case model 10326 52A0 008 Sumitomo 3M EXT3 Connector on Connector Terminal BATGND Block Conversion Unit BAT Connector Socket Model BKIRCOM XG4M 2030 OMRON Strain Relief Model 4 ALMCOM XG4T 2004 OMRON Cable Shell FG AWG28 x 3P AWG28 x 7C UL2464 Note Set and use the signal names listed above for the Servo Driver connectors 2 95 Standard Models and Specifications Chapter 2 Connector Terminal Block Conversion Unit XW2B 20G Control input signals from WN series
6. Ist TE Ist the filter time internal torque commands x0 01ms 100 torque com 65535 mand filter time con stant Pn402 Forward Forward rotation output torque limit rated torque ratio 0 to 800 torque limit Pn403 Reverse Reverse rotation output torque limit rated torque ratio NN d to 800 torque limit Forward Output torque limit during input of forward rotation current limit rated 100 to 800 rotation torque ratio external cur rent limit 4 15 Reverse Output torque limit during input of reverse rotation current limit rated 100 0 to 800 rotation torque ratio external cur rent limit Pn406 Emergency Deceleration torque when an error occurs rated torque ratio NE to 800 stop torque Pn407 5 limit Sets the speed limit in torque control mode ill 10000 Pn408 Torque com Selects notch 0 1 Notch filter 1 not used 0000 sep d filter 1 used for torque com mands 1 wer f0 Bo not change seting S elects notch UNE Notch filter 2 not used filtrer 2 func tion Notch filter 2 used for com 0 not change seting 409 Notch filter Sets notch filter 1 frequency for torque command 2000 50 to 1 frequency 2000 Pn40A Notch Ya Sets Q value of notch filter 1 x 0 01 50 to 1 Q value 1000 40 filter Sets the notch filter 2 frequency for torque commands 2000 50 to 2 frequency 2000 Opera
7. 9096 max with no condensation 2070 85 Storage and operating atmo No corrosive gasses sphere Vibration resistance 10 to 55 Hz in X Y and Z directions with 0 1 mm double amplitude acceler ation 4 9 m s max Impact resistance Acceleration 19 6 m s max in X Y and Z directions three times Insulation resistance Between power line terminals and case 0 5 min at 500 V DC Dielectric strength Between power line terminals and case 1 500 V AC for 1 min at 50 60 Hz Between each control signal and case 500 V AC for 1 min Protective structure Built into panel IP 10 EC directives EMC directive EN55011 class A group 1 EN61000 6 2 Low voltage EN50178 directive UL standards UL508C CUL standards CUL C22 2 No 14 Note 1 The above items reflect individual evaluation testing The results may differ under compound conditions Note 2 Absolutely do not conducta withstand voltage test with a Meggertester on the Servo Driver If such tests are conducted internal elements may be damaged 50 Standard Models and Specifications Chapter 2 Note 3 Depending on the operating conditions some Servo Driver parts will require maintenance Refer to 5 5 Periodic Maintenance for details Note 4 The service life of the Servo Driver is 50 000 hours at an average ambient temperature of 40 C at 80 of the rated torque 2 4 2 Performance Specifications m Control Specifications e 100
8. to 100 or less Ground plate g Controller power supply Controller E EU M s Note 1 Make 1 5 turns for the ferrite core s cable winding Note 2 Peel the insulation off the cable at the clamp and directly connect the shield to the metal plate Note 3 single phase power supply input models R88D WNABLI to R88D WNOAL R88D WNOSH the main circuit power supply input terminals will be L1 and L2 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 above diagrams and ground to a single point Use ground lines with a minimum thickness of 3 5 mm2 and arrange the wiring so that the ground lines are as short as possible f no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease e No fuse breakers surge absorbers and noise filters should be positioned near the input terminal block ground plate and 1 0 lines should be isolated and wired using the shortest distance possi ble e The noise filter should be installed at the entrance to the control box whenever possible Wire the noise filter as shown in th
9. 4 6 1 Adjustment Methods The Servo gain can be adjusted either using auto tuning for simple adjustment or using manual adjustment auto tuning is performed using the Computer Monitor Software The features of the vari ous means of adjustment are listed in the following table Select the method that is most suitable for the purpose Note Refer to 6 3 Restrictions Adjustment method Guidelines for selection Advanced auto tuning An automatic operation pattern is used to Use this method to automatically calcu with inertia automatically calculated the inertia ratio late the Servo gain A stroke must be pro and setthe Servo gain and notch filter vided for the automatic operation pattern Gain adjustment is possible only using the automatic operation pattern Advanced auto tuning An automatic operation pattern is used to Use this method when manually setting without inertia automatically set the Servo gain and the Servo gain in Pn103 A stroke must notch filter The inertia ratio is notcalcu be provided for the automatic operation lated pattern Gain adjustment is possible only using the automatic operation pattern One parameter auto parameter is setto adjustand bal Use this method when manually setting tuning ance the following four parameters the Servo gain in Pn103 Machine These are adjusted during operation from can be monitored while chang the host ing just one parameter to reduce the
10. jected to excessive vibra tion or securely mount tion and shock the S ervomotor Encoder is defective Replace the Servomotor e The Servo Driver board is Replace the Servo defective Driver Encoder parame Occurs when Encoder is defective Replace the Servomotor ter error control oe The Servo Driver board is Replace the Servo power Supply 15 defective Driver turned ON 5 28 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Encoder echo back error Occurs when the control circuit power supply is turned ON or dur ing operation Occurs when the control circuit power supply is turned ON Multi turn limit dis crepancy The encoder wiring is incorrect or the contact is faulty e The encoder cable is car rying noise that does not accord with the specifica tions rying noise because the distance is too long The encoder cable is crimped and deteriora tion of the insulation is allowing noise to affect the signal line The encoder cable is bundled with or close to lines carrying a large cur rent The electric potential of the FG is fluctuating due to influence from machin ery such as welders in the vicinity of the Servo motor Noise is being carried to the line for signals com ing from the encoder e The encoder is sub jected to excessive vibra tion and shock The en
11. asso qm m Bas remsa s qur m pus sme pum u m m m ps es m ps per pem om a e qm e Jnana pm m foe Note 1 The reduction gear inertia indicates the Servomotor shaft conversion value Note 2 The enclosure rating for Servomotors with reduction gears is IP 44 Note 3 The maximum momentary torque values marked by asterisks are the maximum allowable torque for the reduction gears Use torque limits so that these values are not exceeded Note 4 The allowable radial loads are measured in the center of the shaft m 3 000 r min Servomotors with Economy Reduction Gears 100 to 750 W Maxi Reduction mum gear inertia i Without tary brake torque Dmm e mm ws m Ww is memorem m ns w m Decem m ps qs _ pas wsmemows ine pm ar m qur us sme _ ws usnm m ex e pw qui Bm ap mr m ve s m ns e ps 5 pm eax m qur fo pas ee Ti 3 pm ui m m ma pe pr quo A s s 8 55 55 os Ppa ps pas wsmweweesciuse pm ms qu 98 pas ee ps m wa je px ui her p fo m par S ime pe e Do as remma me qms es qur mz pem ee pa _ Das vemcwsoseiceme us 507 m n 9 2559
12. m Applicable Controller Commands Controller Commands and instructions CJIW NCF71 1W CJIW NCF71 According to torque control commands CS1W MCH71 According to torque control commands TORQUE TORQUER CJ 1W MCH71 Note For details on commands and instructions refer to the manual for the specific Unit 4 77 Operation Chapter 4 4 4 4 Forward and Reverse Drive Prohibit All Operating Modes m Functions e When forward drive prohibit POT CN1 7 and reverse drive prohibit NOT CN1 8 are OFF stops the Servomotor rotating P in No is allocated in the default settings You can stop the Servomotor from rotating beyond the device s movement range by connecting a lit input m Parameters Requiring Settings Parameter Parameter name Explanation Reference No Pn50A 3 Input signal selection You must allocate both POT and NOT 4 3 2 Important P n50B 0 1 POT signal selection Note As the default setting they are allocated Parameters Input signal selection to CN1 pins 7 and 8 2 NOT signal selec tion Function selection Setthe stop method when POT and NOT in 4 3 2 Important application switch 1 Pn001 1 stop selection for drive prohibition Parameters input are OFF If Pn001 1 is set to 0 stop according to Pn001 0 setting be sure to set Pn001 0 stop selection for alarm generation with Servo OFF Pn406 Emergency stop If Pn001 1 is setto 1 or 2 setemergency stop 4 3 3 Parameter torque torque
13. An overload protection electronic thermal function is built into the Servo Driver to protect against Servo Driver or Servomotor overload If an overload A 710 to A 720 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 m Overload Characteristics Graph Overload characteristics are shown in the following table If for example a current of three times the 5 ervomotor s rated current flows continuously it will be detected after approximately three seconds 1000 100 Operation time s 10 Load rate 96 A 3 000 r min Servomotors 30 to 400 W 3 000 r min Flat style S ervomotors 100 to 400 W B 3 000 r min Servomotors 750 W to kW 3 000 r min Flat style Servomotors 750 W to 1 5 kW 1 000 r min S ervomotors 300 W to 2 kW 1 500 r min S ervomotors 450 W to 1 8 kW 5 43 Troubleshooting Chapter 5 Interpreting the Graph If a current that is equivalent to the maximum torque is applied continuously to a Servomotor equiva lent to B in the above graph an overload will be detected in approximately 5 s 5 44 Troubleshooting Chapter 5 5 5 Periodic Maintenance Maintenance and Inspection Precautions NWARNING Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire
14. Reew waooso casc uas ie nos er fos feo us o s Tow us z 1895 ms so m ao Jo o e 02 26090 ues ors er oe feo us o s Reeww7sosoccisc ue amp feo us 9 s _ 175 wsewow7sesocrnezsc __ us us eo us uo s mensions mm x e a wemewinsoicesc pm m 2 p m ps a ps R88M W10030L1 L1G09C R88M W10030L1 1G15C R88M W10030L L1G25C 200 W R 88M W20030L LIG05C R88M W20030L 01G 09C R88M W20030L 0G 15C R88M W20030L1 L1G25C 400 W R88M W40030L 01G 05C R88M W40030L1 LIG09C R88M W40030L 01G 15C R88M W40030L 01G 25C 750 W R 88M W75030L LIG05C R88M W75030L1 L1G09 w m m ws gt e ps s qm qm qw m pe s ps as s m m 55 ua m e n e m ws m fs i s ws m m ees i m po n s as uw p n s s ws m m s 55 i fao po n fe ws m o i m po n fe i ws m o R88M W75030L LIG15C 43 18 24 40 8 7 125 wsew w sosoknezsc se ur s s ss mo 20 e s 5 Note WOB and WB mean without brake and with brake respectively EM N 17 N N T
15. lee 90 Allowable thrustload N 16 he 1 Nh Weight Radiation shield dimensions material t12 x 1300 mm Al t20 x 1400 mm Al Applicable load inertia See note 6 100 V ey 200V WN10H ML2 WN15H ML2 WN20H ML2 WN30H ML2 AC Brake inertia kg m 3 25x10 3 25x10 3 25x10 2 1x10 GD2 4 Excitation voltage 24 V DC 10 Powerconsump W 7 7 7 tion at 20 C Current consump 0 29 0 29 0 29 0 41 tion at 20 C Static friction N m 7 8 min 7 8 min 7 8 min 20 min torque Attraction time ms 180 max 180 max 180 max 180 max See note 3 Release time See ms 100 max 100 max 100 max 100 max note 3 Applicable S ervo Driver R88D Backlash 1 reference value Continuous Insulation grade Type F Note 1 The values for items marked by asterisks are the values at an armature winding tempera ture of 100 C for models of 750 W or less or 20 C for models of 1 kW or more combined with the Servo Driver Other values are at normal conditions 20 C 6596 The momentary maximum torque shown above indicates the standard value Note 2 The brakes are the non excitation operation type released when excitation voltage is ap plied Note 3 The operation time is the measured value reference value with a surge killer CR50500 by Okaya Electric Industries co LTD inserted Note 4 The allowable radial and thrustloads are the values determined for a s
16. power supply AC power supplied from L1 L2 L3 terminals 1 DC power supply input DC power from B1 terminals or DC power from 1 C2 termi nals e Select setting 1 if using a DC power supply f using a DC power supply perform the following operations Control circuit power supply Supply DC power to LIC and L2C There is no polarity Main circuit power supply Supply DC power as follows Positive voltage to B1 1 terminal and ground to O or C2 terminal External regeneration resistance terminals Remove the short bar from between B2 and so that B1 B2 and B3 are open For Servo Drivers without B3 open B1 and B2 Use 270 to 320 VDC as the input voltage 100 V input models do not handle DC inputs Note 1 Always setthis parameter to 1 when using a DC power supply If a DC power supply is con nected with this parameter set to 0 the regeneration absorption circuit will operate possibly damaging the Servo Driver When changing the setting from 0 to 1 either the main circuit power supply must be OFF or the external regeneration resistance terminals must be open Note 2 If using a DC power supply the regeneration absorption circuit inside the Servo Driver will not operate The regeneration power returns to the DC power supply so make sure the DC power supply can absorb the regeneration power Note 3 If using DC power supply the residual voltage in the main circuit power supply is not dis
17. tion Servomotor stopped with free Switches run 1 1 Stop selec Stop according to Pn001 0 set tion when ting release S ervomotor after drive prohib stopping ited 15 input Stop Servomotor using torque set in Pn406 and lock Servomo tor after stopping 2 Stop Servomotor using torque set in Pn406 and release Servo motor after stopping 2 AC DC AC power supply DC power power input Supplied from L1 L2 L3 termi selection nals DC power supply DC power from 1 terminals Do not change setting Torque com Do not use option command 0000 mand input value elec ae Use option command value 1 as Me control the torque limit value Use option command value 1 as the torque feed forward com mand value Use option command value 1 or 2 as the torque limit value according to the forward and reverse torque limits that are specified 1 Speed com 20 not use option command mand input value ous E Use option command value 1 as control the speed limit value 2 R Use as absolute encoder if Use as incremental encoder lute encoder 3 Notused 0 Do not change setting 6 3 switches 2 Appendix Chapter 6 Param Param Explanation Default Setting Restart eter No eter setting range power name 004 Func 0 Notused 0 not change setting 0110 Yes 0111 Do not change setting fon Do not change setting oe S Not used Do not change setting
18. Display Status when Cause of error Countermeasures error occurs Parameter combi nation error Combination error Servo ON com mand invalid alarm 5 14 Occurs when pow ering up again after changing the electronic gear ratio Pn20E Pn210 or after changing to a Ser vomotor with a dif ferent number of encoder pulses Occurs when the setting for the pro gram J OG speed Pn533 is changed Occurs when pow ering up again and attempting to exe cute advanced auto tuning after changing the elec tronic gear ratio Pn20E Pn210 or after changing to a Servomotor with a different number of encoder pulses Occurs when the control circuit power supply is turned ON Occurs when the Servo is turned ON after one ofthe following functions is used J OG ori gin search pro gram OG EasyFFT e Lower the value for the electronic gear ratio Pn20E Pn210 Due to the change in the electronic gear ratio Pn20E Pn210 or the 5 ervomotor the speed for the program J OG operation command was out of the setting range Increase the program J OG speed P n533 Due to the change in the program J OG speed Pn533 the speed for the program J OG opera tion command was out of the setting range Due to the change in the electronic gear ratio Pn20E Pn210 or the 5 ervomotor the travel speed for advanced auto tuning was out of the set ting range e Set the electronic gear ra
19. L1c Varistor Q Control 5 15V ower quc ei 5V Encoder output 12 V CN5 ASIC PWM Ea gel Analog monitor control etc CN output al Power Power Open for OFF ON servo alarm 1KM CPU position Control I O H gt H El speed calculations IKM id Surge ee protector ur F MECHATROLINK II E Personal computer 200 V AC R88D WNO8H ML2 Single phase 200 to 230 V 10 15 50 60 Hz ______________________________ M Ei B1 OTB2 2 filter Servomotor T U ETE VA Temperature detection Control 5 V 15V supply CN gt Analog monitor AS IC PWM conversion C N 1 output control etc Encoder output 12 V Power Power Open for OFF ON servo alarm IKM UO Control 1 0 rt L1 Varistor 2 OH 1 oh mpag EM CPU position speed calculations CN6A ae 1 1 Surge etc protector 200 MECHATROLINK II CN3 CN6B O e u e Personal computer 1 8 Introduction Chapter 1 m 200 V AC R88D WN15H ML 2 WN20H ML2 WN30H ML2 Three phase 200 to 230 V 10 15 50 60 Hz L1 Varistor lau A NE Rela ASIC PWM version output control etc Encoder output Power Power Open for OFF ON servo alarm Control I O E CPU posit
20. Note For details on commands and instructions refer to the manual for the specific Unit e When torque limit is ON CLIMT current limit detection signal is output if the signal has been allo cated using parameter P n5OF 0 f multiple torque limits are enabled the output torque is limited to the minimum limit value m Parameters Requiring Settings e Limiting Steady Torque During Operation with User Parameters All Operating Modes No Pn402 Forward torque limit Set moo NA output torque limit for the forward direc 4 3 3 Bass tion as a percentage of the rated torque setting Details range 0 to 800 Pn403 Reverse torque limit Set the output torque limit for the reverse direc 4 3 3 Parameter tion as a percentage of the rated torque setting Details range 0 to 800 Note 1 Setthese parameters to 350 the default setting when the torque limit function is not being used Note 2 Ifthe connected Servomotor is set to a value greater than the maximum momentary torque the maximum momentary torque will become the set limit 4 84 Operation Chapter 4 e Limiting Operation with External Signals All Operating Modes CJ 1W NCF71 Only Parameter Parameter name Explanation Reference No Pn404 Forward rotation exter Set the output torque limit when the forward 4 3 3 Parameter nal current limit rotation current limit designation is ON as a per Details centage of the Servomotor rated torque setting
21. CN5 pin distribution front panel view Driver pin header DF11 4DP 2DS Cable connector socket DF 11 4DS 2C Cable connector contact DF11 2428SCF Manufactured by Hirose Function and interface Analog monitor 2 Default setting S peed monitor 1 V 1000 r min change using Pn007 0 1 Analog monitor 1 Default setting Current monitor 1 V rated torque change using P n006 0 1 Analog monitor ground Ground for analog monitors 1 and 2 4 GND Analog monitor ground Note 1 Displays status with no change to scaling Note 2 Maximum output voltage is 8 V Exceeding this value may result in an abnormal output Clamped at 8 V Note 3 Output accuracy is approximately 15 4 132 Operation Chapter 4 m Analog Monitor Output Circuit Servo Driver A71 CN5 1 ANM analog monitor 2 47 CN52 analog monitor 1 CN5 3 er ND analog monitor ground CN5 4 A ND analog monitor ground m Analog Monitor Cable R88A CMWO01S Use this cable to connect the Servo Driver s Analog Monitor Connector CN5 1000 Servo Driver External devices Servo Driver Symbol Ren White Connector socket model TES DF11 4DS 2C Hirose Beer Connector socket model DF11 2428SCF Hirose Cable AWG24 x 4 UL1007 1 7 dia m Monitored Item Selection Function selection application switches 6 Analog monitor 1 signal selection All operation modes Setting 00 to 1F Unit Defaul
22. Continuous usage 2 r min 500 1000 1500 2000 R88M W 1K210H T 1 2 kW Nem Continuous usage 5 5 r min 2000 500 1000 1500 R88M W60010H T 600 W Nem 12 7 Repeated usage Continuous usage 2 8 r min 500 1000 1500 2000 R88M W2K010H T 2 kW Repeated usage 19 1 9 7 Continuous usage r min 500 1000 1500 2000 R88M W90010H T 900 W N m 20 19 3 15 Repeated usage 10 88 8 62 Continuous usage r min 500 1000 1500 2000 e Servomotor and Mechanical System Temperature Characteristics W series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomo tors momentary maximum torque increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 and 10 C are compared the momentary maximum torque increases by approximately 496 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 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 particular in systems which use deceleration devices the load torque at low temperatures may be nearly twice the l
23. Explanation S oftware limit function 1 Notused 0 not change setting 2 No software limit check using reference 1 S oftware limit check using reference Software limit check using refer ence 3 Forward reverse soft ware limits disabled D _ S oftware limit enabled 0003 1 Forward software limit disabled 2 Reverse software limit disabled Wetused 0 Do not change seing Default setting Setting Restart range power LOARLNEEN QE UM NN Pn803 Zero point Sets the origin position detection range 10 Command 0 to 250 width unit Pn804 806 P n808 Pn80A Forward software limit Reverse software limit Absolute encoder zero point position offset First step inear accelera tion parameter S econd step lin ear accel eration parameter Accelera tion parame ter switch ing speed First step linear decelera tion parameter S econd step lin ear decel eration parameter Decelera tion parame ter switch ing speed Exponen tial accel eration decelera tion bias Do not change setting Sets the software limit for the positive direction 8191 Command 1073741823 Note Pn806 must be set lower than P n804 91808 unit to n must be set lower than Pn 1073741823 Sets the software limit for the negative direction 8191 Note Pn806 must be set lower than P n804 91808 Sets the encoder position and machine
24. Noise in the encoder wir Implement measures ing is causing malfunc against noise in the tioning encoder wiring Position speed com Lower the command mand inputs are exces value sive The command input gain Correct the command setting is incorrect input gain e The Servo Driver board is Replace the Servo defective Driver Dividing pulse out Occurs during Ser The dividing pulse fre Lower the setting for the put overspeed vomotor operation quency equaled or encoder divider rate exceeded 1 6 MHz Pn212 Lower the Servomotor rotation speed Vibration alarm Occurs during Ser An abnormal oscillation Lower the Servomotor vomotor operation was detected in the Ser rotation speed vomotor s rotation speed Lower the speed loop gain Pn100 e The inertia ratio Pn103 Seta suitable value for value is greater than the the inertia ratio Pn103 actual value or it is greatly fluctuating Auto tuning alarm Occurs during e The motor speed oscil Without using advanced advanced auto lated during operation auto tuning set Pn103 tuning by calculating the inertia ratio from various machine elements a ut 1 5 21 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Overload momen Occurs when The Servo Driver board is Replace the Servo tary maximum control circuit defec
25. Note 2 When using a Servomotor with an absolute encoder for the first time A 810 backup error will be displayed Clear this error by setting up the absolute encoder Refer to 4 2 2 Abso lute Encoder Setup and Battery Changes f the display is normal i e no errors manually turn the Servomotor shaft forward and reverse and check to be sure that it agrees with the positive and negative on the speed display Display the speed feedback with the Computer Monitor Software and manually turn the Servomotor shaft for ward and reverse m Panel Operator Status Display e Status Display Bit Data Item Bit data Display contents T m Servomotor rotation detection Lit while Servomotor is rotating Servo ON OFF Lit when Servo is OFF 1 when Servo is ON 2 4 3 3 Command input detection Lit Lit while a command is being input a command is Lit while a command is being input input a CONNECT Litwhen CONNECT is complete Operation Chapter 4 Code Display Forward rotation drive prohibited POT is OFF or the forward software limit has been exceeded Alarm display Refer to 5 2 Alarms Reverse rotation drive prohibited NOT is OFF or the reverse software limit has been exceeded Codes are displayed one character at a time on the Servo Driver s front panel display as shown below Example When both forward rotation drive prohibit P and reverse rotation drive prohibit n are ON
26. When speed loop gain is low Time 101 Speed loop integration constant Position speed S etting 15 to 51200 Unit 0 01 Default 2000 Restart range setting power Sets the speed loop integral time constant The higher the setting the lower the response and the lower the resiliency to external force There is a risk of oscillation if the setting is too low Overshoots when speed loop integration constant is short 4 S ervomotor speed Ld Ld When speed loop integration constant is long Time 4 38 Operation Chapter 4 Pn102 Position loop gain Position Setting 10 to 20000 Unit x 0 1 s Default Restart range setting power e Adjust the position loop response to suit the mechanical rigidity e Servo system response is determined by the position loop gain Servo systems with a high loop gain have a high response and positioning is fast To raise the position loop gain you must improve mechanical rigidity and raise the specific oscillation This should be 500 to 700 0 1 s for ordinary machine tools 300 to 500 0 1 s for general use and assembly machines and 100 to 300 0 1 s for production robots The default position loop gain is 400 0 1 s so be sure to lower the setting for machines with low rigidity Raising the position loop gain in systems with low mechanical rigidity or systems with low specific oscillation may result in machine
27. e e s ss nemwwicusrrenoe 10 m m jm s 7 ans m m Jo jm me s 7 uas m m s s e s gt sr s 55 nemwieisrccos us m m b s e e ur e ss 19 _ m m Jo s n 7 wemwikeisrrGnoe 20 s s o o n 7 Remweirceme 1729 Diagram 2 Key dimensions D5 dia D4 dia D3h7 dia LL LM LR 2 45 Standard Models and Specifications Chapter 2 m AC Servomotors with Economy Gears e 3 000 r min Servomotors 100 to 750 W with Economy Reduction Gears Dimensions mm Dimemios mm LM LR C1 C2 o t How us i ws us m m 4 as Lus wsewwioeccewc ss fers x e s 5 m s e e 9 5 ums remme ss us fso m e w m ex us 9s ne ws so m eo fo e has 99s me me so se feo Jo o e 175 Reaw wroos0cG25c ne ue s pe feo Jo o e mow us R amp wowaooor ocosc 2 i ws so m e 9 o e us meewowaoooneox 1 ie ws so m eo fo o fe has Reew waoosocGisc uas ie ne fso m foo o fe
28. kgm 7 24 10 4 1 39 x 10 2 05 x 10 3 3 17 x 10 3 GD2 4 5 E Without brake Approx 5 5 Approx 7 6 Approx 9 6 Approx 14 With brake Approx 7 5 Approx 9 6 Approx 12 Approx 19 Radiation shield dimensions material Applicable load inertia Applicable Servo Driver R88D t20 x 1400 mm Fe See note 6 t30 1550 mm Fe WNO5H ML2 WN10H ML2 WNI15H ML2 WN20H ML2 2 83 Standard Models and Specifications Chapter 2 200 V AC Model R88M W45015T W85015T W1K315T W1K815T Unit Brake inertia kgm 2 1 10 4 2 1x 10 2 1x 10 8 5 x 10 602 4 Excitation voltage Lm 24 V DC 10 Power consump tion at 20 Current consump A tion at 20 Static friction 4 41 min 12 7 min 12 7 min 43 1 min torque Attraction time 180 max 180 max 180 max 180 max See note 3 note 3 sacs 1 e value Insulation grade mam Type F Note 1 The values for items marked by asterisks are the values at an armature winding tempera ture of 20 combined with the Servo Driver Other values are at normal conditions 20 6596 The momentary maximum torque shown above indicates the standard value Note 2 The brakes are the non excitation operation type released when excitation voltage is ap plied Note 3 The operation time is the measured value reference value with a surge killer CR50500 by Okaya Electric Industries Co LTD inserted Note 4 The all
29. 2 62 o 160 70 eo 1092 fso 65 645 40 62 o 46 60 70 eo 1092 jso 65 645 40 62 91 55 74 60 0120 15 5 59 9 62 91 55 74 90 160 fazo 15 5 84 59 9 qms pe qm qe mmus e Je 9 9 67 985 fse 74 90 fazo 1105 5 fea 59 9 98 5 64 84 105 so 139 120 100 96 59 12 PERS i ee 87 1185 56 74 90 fazo 15 5 84 59 9 ee 8 amp 7 1185 71 105 120 80 158 135 15 112 59 aes n Te oe ps E Ti 865 120 64 84 105 120 139 120 100 86 59 86 5 120 o5 120 120 0158 135 15 12 59 CACAT 120 0192 165 140 134 120 s8 ON 100 W R 88M WP 10030L1 L1G05B R88M WP 100300 OG 11B R88M WP 10030 16218 R88M WP 10030 16 33B 200 W R88M WP 200300 OG 05B R88M WP200300 OG 11B R88M WP200300 OG21B R88M WP 200300 OG 33B 400 W R88M WP 400300 OG 05B R88M WP 400300 OG 11B R88M WP 400300 OG21B R88M WP 400300 OG 33B 750 W R88M WP 750300 OG 05B R88M WP750300 OG 11B R88M WP750300 OG 21B R88M WP 75030L L1G 33B 1 5 kW R88M WP 1K5300 OG 05B R88M WP 1K5300 OG11B R88M WP 1K5300 O0G21B R88M WP 1K5300 0G33B C _ Le us us zo pes ha ue
30. 24 V voltage oe Is overtravel limit switch e Stabilize overtravel limit operation unstable switch operation s the overtravel limit switch Correct the wiring to the The forward reverse drive wiring correct cable overtravel limit switch undamaged screws tight ened etc The forward reverse drive Check the POT signal e Correct the POT signal prohibit input signal POT selection Pn50A 3 selection Pn50A 3 NOT selection is incorrect Check the NOT signal Correct the NOT signal selection Pn50B 0 selection Pn50B 0 e Is the free run stopping e Check the settings for method selected for the Pn001 0 and Pn001 1 Servomotor s free run set for torque e Check the settings for control Pn001 0 and Pn001 1 The overtravel limit switch The overtravel limit switch Setthe overtravel limit position is inappropriate position is less than the switch position correctly coasting amount Noise is carried because e Is twisted pair wire or e Make sure that the encoder the encoder cable specifi twisted pair bound shielded cable conforms to the spec cations are incorrect core wire of 0 12 mm min ifications made of tin coated soft copper being used The encoder cable is car Use a maximum wiring dis Make sure that the encoder rying noise because the tance of 50 m cable distance conforms to distance exceeds the oper the specifications The Servomotor stopping
31. 3 6 V DC age Battery current con 20 uA for backup when stopped 3 uA when Servo Driver is powered sumption Maximum rotation 5 000 r min speed Output signals Output impedance Conforming to EIA RS 422A Output based on LTC1485CS or equivalent Serial communica Position data poll sensor U V W phase encoder alarm Servomotor data tions data Serial communica Bi directional communications in HDLC format by Manchester method tions method Absolute value com Amount of rotation munications data 2 92 Standard Models and Specifications Chapter 2 2 6 Cable and Connector Specifications 2 6 1 MECHATROLINK II Communications Cable Specifications gm MECHATROLINK Communications Cable With Connectors at Both Ends and a Core FNY W6003 e Cable Models Medd _ MECHATROLINK II Cable MECHATROLINK II Terminating Resistor FNY W6022 e Connection Configuration and External Dimensions MECHATROLINK II Cable L all E MECHATROLINK II Terminating Resistor L 48 10 2 93 Standard Models and Specifications Chapter 2 e Wiring The following example shows the MECHATROLINK II Communications Cable connections between a host device and Servo Drivers Position Control Unit omnon omnon omnon R88D WNO1H ML2 j 200V R88D WNO1H ML2 200 R88D WNO1H ML2 c Ji EL Terminating Resistor CHARGE e
32. CO mf Control circuit Rated current 0 13 0 13 13 0 13 13 input L1C ww L2C ie X Jm Servomotor Rated current a 0 91 91 minal U V W ieee am 112 lt __ Bee noe 2 Seria Nonfusebreakerorfusecapacly A ms amp 6 Note 1 Use the same wire sizes for O1 O2 Bl and B2 Note 2 Connect special OMRON Power Cable to the Servomotor connection terminals e 200 V AC Input R88D WT H ML2 Unit ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 Eecmpuer meum mom da Em ae ee Pe E ken o mM peus E contol cir pese me us qus qs pa ps ps pa Exe 5 dM Ee Senome Rated curent a ms u ost z1 28 ss pe pe us ws ss ene mme pe e CENE CONS RN RR V See note Torque N m 1 LN 1 2 gun EL 3 BAL x No fuse _ or fuse rms capacity 3 16 System Design and Installation Chapter 3 Note 1 Use the same wire sizes and tightening torques for O1 O2 Bl B2 and Note 2 Connect special OMRON Power Cable to the Servomotor connection terminals m Wire Sizes and Allowable Current The following table shows the allowable current for when there are three wires e 600 V Heat resistant Vinyl Wiring HIV Reference Values Nomin
33. OMRON USER S MANUAL Cat No 1544 E1 06 OMNUC MODELS R88M WL 1 AC Servomotors MODELS R88D WNL1 ML2 AC Servo Drivers AC SERVOMOTORS SERVO DRIVERS WITH BUILT IN MECHATROLINK II COMMUNICATIONS Thank you for choosing this OMNUC W series product Proper use and handling of the prod uct will ensure proper product performance will length product life and may prevent possible accidents Please read this manual thoroughly and handle and operate the product with care 1 ensure safe and proper use of yur OMRON Servomotors and Servo Drivers please read this manual Cat No 1544 E 1 to gain sufficient knowledge of the products safety information and precautions before actual use 2 The products are illustrated without covers and shieldings to enable showing better detail in this manual For actual use of the products make sure to use the covers and shieldings as specified 3 Copies of this manual and other related manuals must be delivered to the actual end users of the products 4 Please keep a copy of this manual close at hand for future reference 5 product has been left unused for a long time please consult with your OMRON sales representative NOTICE 1 This manual describes the functions of the product and relations with other products You should assume that anything not described in this manual is not possible 2 Although care has been given in documenting the product please contact y
34. Receptacle 5 3102 18 10 DDK Ltd Cable AWG15 x 4C UL2586 M4 crimp terminals For Servomotors with Brakes Servo Driver Servomotor Symbol Cable OI Phase U hase U Straight plug N MS3106B20 15S J AE Ltd om White B Phase v Cable clamp N MS 3057 12 J AE Ltd Blue Servomotor Or Green Y ellow Receptacle MS3102A20 15P DDK Ltd om See D FG Om T Brake W OI F Brake Cable AWG15 x6C UL2586 F Brake _ M4 crimp terminals Note Connector type terminal blocks are used for Servo Drivers of 1 5 kW or less as shown in Ter minal Block Wiring Procedure under 3 2 3 Terminal Block Wiring Remove the crimp terminals from the phase U phase V and phase W wires for these Servo Drivers 2 116 Standard Models and Specifications Chapter 2 m R88A CAWD R The R88A CAWDLIR Cables are for 3 000 r min Servomotors 3 to 5 kW 1 000 r min Servomotors 1 2 to 3 kW and 1 500 r min S ervomotors 1 8 to 4 4 kW e Cable Models For Servomotors without Brakes Model Length Outerdiameterofsheath Weight _ 135 dia For Servomotors with Brakes Model Length 1 Outer diameter ofsheath Weight _ 165 di e Connection Configuration and External Dimensions For Servomotors without Brakes 70 L 69 1 Servo Driver S ervomotor LL R88D WNL ML2 R88M WO For Servomotors with Brakes Servo Driver R88D W
35. Status display Code display fM a 4 Status display gt Not lit H Notlit Not lit bit data Example A E60 E display gt Not lit gt Not lit E Not lit 9 Not lit not lit bit data 4 2 2 Absolute Encoder Setup and Battery Changes You must set up the absolute encoder if using a Servomotor with an absolute encoder Perform the setup if connecting a Battery Unit R88A BATO1W to an absolute encoder for the first time or when setting the mechanical rotation data to 0 for a trial operation For the absolute encoder setup refer to Computer Monitor Software procedure m Cases where Setup is Required e During Trial Operation The absolute encoder s multi turn data may become too large when connecting the S ervomotor to the mechanical system for trial operation so the setup must be executed again e When Replacing the Battery Unit The setup must be executed again if an alarm A 810 occurs after the Battery Unit has been replaced Operation Chapter 4 Note If no alarm occurs after the Battery Unit has been replaced there is no need to execute the setup again orto initialize the Motion Control Unit settings For details on the Battery Units service life and replacement method refer to 5 6 Replacing the Absolute Encoder Battery ABS e Other Cases f the Encoder Cable is removed from the connector on either the Servo Driver or Servomotor side the da
36. Therefore first adjust the speed loop and then the position loop speed loop adjustment increases tracking for speed commands Perform this adjustment in servolock status while checking the Servo rigidity the force holding the position against external force e The position loop adjustment increases tracking for position commands Input the position com mand in the actual operating pattern while checking the positioning time 4 102 Operation Chapter 4 47 Advanced AdjustmentFunctions 4 7 1 Bias Function Position m Functions e The bias function shortens positioning time by adding bias revolutions to speed commands Le commands to the speed control loop f the residual pulses in the deviation counter exceed the setting in Pn108 bias addition band the speed set in Pn107 bias rotational speed is added to the speed command and when the residual pulses in the deviation counter are within the setting in Pn108 adding to the number of bias rota tions stops By setting the following user constants and providing a bias to the speed command unit in the S ervo Driver the settling time can be shortened during positioning control m Parameters Requiring Settings No Pn107 Bias rotational speed Setthe rotation speed to be added to the bias 4 3 3 Parameter setting range 0 to 450 r min Details 108 Bias addition band S et the residual pulses to be added to the num
37. W series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomo tors momentary maximum torque increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 and 10 C are compared the momentary maximum torque increases by approximately 496 Conversely when the magnet warms up to 80 from the normal temperature of 20 the momentary maximum torque decreases by approximately 8 Generally in a mechanical system when the temperature drops the friction torque increases and the load torque becomes larger Therefore 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 over loading is occurring at low temperatures and how much the load torque is Likewise check to see whether there is abnormal Servomotor overheating or alarms are occurring at high temperatures e An increase in load friction torque visibly increases load inertia Therefore even if the Servo Driver parameters are adjusted at a normal temperature there may not be optimal operation at low tem peratures Check to see whether there is optimal operation at low temperatures too 2 85 Standard Models a
38. automatic gain changeover related switches 1 Pn131 to Pn139 4 45 bias addition band 108 4 40 bias rotational speed Pn107 4 40 feed forward amount Pn109 4 41 feed forward command filter Pn10A 4 41 inertia ratio Pn103 4 39 less deviation control parameters Pn1AO to Pn1 AC 4 49 P control switching acceleration command Pn10E 4 43 P control switching deviation pulse Pn10F 4 43 P control switching speed command Pn10D 4 42 P control switching torque command Pn10C 4 42 P control switching conditions Pn10B 0 4 41 position loop control method Pn10B 2 4 42 position loop gain Pn102 4 39 position loop gain 2 Pn106 4 40 predictive control selection switches Pn150 to Pn152 4 47 speed control loop switching Pn10B 1 4 42 speed feedback compensating gain Pn111 4 44 speed feedback compensation function selection Pn110 1 4 43 speed loop gain Pn100 4 38 speed loop gain 2 Pn104 4 39 speed loop integration constant Pn101 4 38 speed loop integration constant 2 Pn105 4 39 I O signal allocation Pn50A Pn50B Pn50E to Pn512 4 26 important parameters 4 24 input signal selections Pn50A Pn50B Pn511 4 27 input signal selections 1 POT forward drive prohibited signal Pn50A 3 4 27 input signal selections 2 NOT reverse drive prohibited signal Pn50B 0 4 28 input signal selections 5 DEC origin return deceleration LS signal Pn511 0 4 29 I
39. gram Acceleration deceleration i Waiting time time Pn534 L3 Waiting time Pn531 Pn531 Pn535 n Pn535 own i 1 Travel Travel Travel speed I 533 distance distance Speed 0 1 Waiting time Travel cceleration Pn535 speed deceleration time Pn534 5 ervomotor oper Pur Pow ating status T 2 T T Stopped Reverse Stopped Reverse Stopped Forward Stopped Forward operation MA a 4 94 Operation Chapter 4 Pn530 0 4 Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Forward movement Pn531 x Number of movement operations Pn536 5 peed line dia Number of travel operations P n536 gram Pn531 Travel speed Travel distance 1 Speed 0 Up Key ON Travel speed Waiting time Pn535 Acceleration 535 deceleration time 534 S ervomotor oper ating status Y T Stopped Forward Stopped Reverse Stopped uc operation Pn530 0 5 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 Reverse movement Pn531 x Number of movement operations Pn536 S peed line dia Number of travel operations Pn536 gram Acceleration decel Waiting time eration time P n534 time Pn531 Pn535 Travel distance Down Key ON lt S peed 0 i Travel speed Pn533 S ervomotor oper LF az 7 ating status Fi By E53 Stopped Reverse Stopped Forward Sto
40. voltage reverse rotation speed voltage Speed command 1 V 1 000 r min forward command voltage reverse com 01 mand voltage Torque command 1 V per 10096 of rated torque forward acceleration voltage 02 gravity compensation reverse acceleration voltage torque Pn422 Position deviation 0 05 V 1 command unit plus error voltage reverse error volt age Position amp error 0 05 V per encoder pulse unit plus error voltage minus error voltage Position command 1 V per 1 000 r min forward rotation voltage reverse rotation 05 speed rotation speed voltage calculated value A Not used 6 Not used 00 Positioning completed completed 5 V positioning not completed 0 V Speed feed forward 1 V per 1 000 r min forward rotation voltage reverse rotation VER voltage Torque feed forward 1 V per 100 of rated torque forward acceleration voltage 0 reverse acceleration voltage Not used Note 1 The table shows the specifications with no offset adjustment or scaling changes Note 2 The maximum output voltage is 8 V Normal outputs will not be possible if this value is ex ceeded Note 3 The output accuracy is approximately 15 Note 4 For items marked with an asterisk the position deviation monitor signal is 0 when speed control is in effect 2 70 Standard Models and Specifications Chapter 2 2 5 Servomotor Specifi
41. 4 108 Operation Chapter 4 m Parameters Requiring Settings Parameter Parameter name Explanation Reference No Automatic gain Set Pn139 0 to 1 Automatic switching pattern 4 3 3 Parameter changeover related 1 in order to use the automatic gain switching Details switches 1 Gain function switching selection switch Pn139 1 Automatic gain Set the condition for switching from No 1 gain 4 3 3 Parameter changeover related to No 2 Details switches 1 Gain switching condition A Pn131 Gain switching time 1 Setthe switching time for switching from No 1 4 3 3 Parameter gain to No 2 Details Setting range 0 to 65 535 ms 135 Gain switching waiting Setthe time for starting to switch from No 1 4 3 3 Parameter gain to No 2 after gain switching condition A Details has been satisfied Setting range 0 to 65 535 ms 139 2 Automatic gain Set the switching time for switching from No 2 4 3 3 Parameter changeover related gain to No 1 Details switches 1 Gain switching condition B Pn132 Gain switching time 2 Setthe switching time for switching from No 2 4 3 3 Parameter gain to No 1 Details Setting range 0 to 65 535 ms Pn136 Gain switching waiting Setthe time for starting to switch from No 2 4 3 3 Parameter gain to No 1 after gain switching condition B Details has been satisfied Setting range 0 to 65 535 ms 104 No 2 speed loop gain Setthe speed loop gain for the No 2 gain 4 3 3 Parame
42. 40 ww s 7 19e Dimensions of output section of 750 W Servomotors Dimensions of shaft end with ke and tap 52 5 M5 effective depth 8 2 26 Standard Models and Specifications Chapter 2 m 3 000 Servomotors with a Brake e 200 V AC 200 W 400 W 750 W R88M W20030H B S1 W40030H B S 1 W75030H B S 1 Incremental R88M W2003O0T B S 1 W40030T B S 1 W7503O0T B S 1 Absolute Dimensions mm rcc 136 30 7o sor ss eH Rean waooaaran 164 30 60 70 son7 ss nane 20 ess 40 90 vor e 7 19e 30_ Dimensions of output section of 750 W Servomotors db Dimensions of shaft end with ke BS1 S32 Dimensions of shaft end with ke and tap BS 2 5 5 effective depth 8 2 27 Standard Models and Specifications Chapter 2 m 3 000 r min Servomotors without a Brake e 200 V AC 1 kW 1 5 kW 2 kW 3 kW R88M W1K030H S 2 W1K5030H S 2 W2K030H S 2 W3K030H S 2 Incremental R88M W1K03O0T S2 W1K5030T S2 W2K030T S2 W3K030T S2 Absolute KL1 R88M W 1K030l R88M W1K530l 66 MINA NODA
43. C1 C2 t m o e m s feo 9 me s Joo eo ux po m s s me e fee e us ze ue w sm 2 _ Haus ise e eo us ze oe s nas mss mo eo pass us uz m a hus ness eo usn es us m 6 _ Note The values in parentheses are reference values Diagram 1 Diagram 1 1 Four Z dia Key dimensions 1 1 Four RD6 D4 dia D3h7 dia EL LM LR Four Z dia 2 36 Standard Models and Specifications Chapter 2 Note WOB and WB mean without brake and with brake respectively Dimensions mm inn E eee m s e pe se s s m Remwosomcceose 1 0 m s m se ps s s 2 e meewowosonrrzezis 101 3 m fe m ps m T 3 m s m se j b b m 15 100 am qm x s e s 10 mewowiosrnene 201 m s m x s J2 e ws i Remmwinsrcess 133 m s pe m xm s e m semwanxocens wi m s n m ps e s Je m sem wanxocens wn a s s m ps e s Je 7 4 we m nemwanoxrcess 133
44. EMS These conditions were stipulated when EMC Directive approval was obtained for the W Series They will be affected by the installation and wiring conditions resulting from the connected devices and wiring when the W Series is built into the system Therefore the entire system must be checked for conformity The following conditions must be satisfied in order to conform to the EC Directives e The Servo Driver must be mounted in a metal case control box It is not necessary to mount the 5 ervomotor in a metal box Noise filters and surge absorbers must be inserted in power supply lines e Shielded cable must be used for I O signal cables and encoder cables Use tinned soft steel wire Cables leading out from the control box must be enclosed within metal ducts or conduits with blades It is not necessary to enclose the 30 cm power cable encoder cable or connectors in a metal duct or conduit Ferrite cores must be installed for cables with braided shields and the shield must be directly grounded to a ground plate 3 23 System Design and Installation Chapter 3 m Wiring Method Control box J Brake Noise filter power supply Motor built in device R88M W Metal ductor AC power conduit Metal duct or conduit Ferrite a S absorber core supply E d i Noise HES El im filte Class 3 ground Ferrite i
45. Four Z dia EAC R88M W3K030L Note The external dimensions are the same for IP67 waterproof models 00 2 28 s pas ue ma ro us ov s v 12 9886 8 effective depth 16 Dimensions mm co 1 Qk Standard Models and Specifications Chapter 2 m 3 000 Servomotors with a Brake e 200 V AC 1 kW 1 5 kW 2 kW 3 kW R88M W1K030H B 5 2 W1K5030H B S2 W2K030H B S2 W3K 030H B 5 2 Incremental R88M W1K030T B 5 2 W1K5030T B 5 2 W2K030T B 5 2 W3K030T B S2 Absolute KL1 KL2 gu i Model Note The external dimensions are the same for IP67 waterproof models BOL KB1 UJ UJ UJ Dimensions mm m 237 s ns ne ns po us nov ies 2 so Y in ON Four Z dia 2 29 Standard Models and Specifications Chapter 2 m 3 000 r min Flat style Servomotors without a Brake e 200 V AC 100 W 200 W 400 W 750 W 1 5 kW R88M WP 10030H S 1 WP20030H S 1 WP40030H S 1 WP75030H S1 WP1K530H S1 Incremental R88M WP10030T S1 WP20030T S1 WP40030T S1 WP75030T S1 WP1K530T S1 Absolute Model Dime
46. Incremental R88M W05030T S1 W10030T S1 Absolute Dimensions mm bg n gg ry wewwouxon m e 2 2 m ws s fo 300 30 Dimensions of shaft end with key S 1 A _ 14 Dimensions of shaft end with key and tap S2 h M effective depth J i 14 1 m 3 000 Servomotors with a Brake e 200 V AC 50W 100W R88M W05030H B 5 1 W 10030H B S 1 Incremental R88M W05030T B 5 1 W10030T B S 1 Absolute e o eum owes spes 2 2 x 5 m CN wmwwwwcos 15 1 6 300 30 J Dimensions of shaft end with key BS 1 h aur J ELT 14 t1 LEN Bp Dimensions of shaft end with key and LE tap BS2 A e tap b5 M effective h depth 2 25 Standard Models and Specifications Chapter 2 m 3 000 r min Servomotors without a Brake e 200 V AC 200 W 400 W 750 W R88M W20030H S 1 W40030H S 1 W75030H S 1 Incremental R88M W20030T S 1 W40030T S 1 W75030T S 1 Absolute Dimensions mm ws memewanaoicr 965 3o 70 sov s 55 1416 20 Reew wao030 1245 30 60 so 6 535 1416 20 memes 145
47. Note 3 value greater than the encoder resolution is set operation will proceed according to the formula divider rate setting encoder resolution 4 79 Operation Chapter 4 e Servomotors with encoders of 17 bit resolution 32 768 encoder pulses rotation or greater set the value at the increments shown below when the encoder divider rate Pn212 is set Conforming Encoder divider rate Pn212 setting conditions Servomotor rotation encoder Pn212 Pulses revolution speed upper limit r min resolution at the set encoder divider rate 17 bits min 16 to 16384 6000 2 pulses increments 984 x 105 P n212 Note If the above setting range or setting conditions are not satisfied a dividing pulse output setting error alarm A 041 will be output Also if the Servomotor rotation speed upper limit for the set encoder divider rate is exceeded a dividing pulse output overspeed alarm A 511 will be out put m Setting Example Encoder with 17 bit resolution Pn212 can be set to 25 000 pulses rotation but Pn212 cannot be set to 25 001 pulses rotation or A 041 will be output Output Example e When Pn212 is set to 16 16 pulse outputs per rotation Set value 16 1 rotation m Operation e Incremental pulses are output from the Servo Driver through a frequency divider Phase A Phase B Phase Z Encoder ae ele inge UNE Frequency circuitry mI e The output phas
48. Or pp E Brake W C D Cable AWG10x6C UL2463 F Brake M5 crimp terminals Note Connector type terminal blocks are used for Servo Drivers of 1 5 kW or less as shown in Ter minal Block Wiring Procedure under 3 2 3 Terminal Block Wiring Remove the crimp terminals from the phase U phase V and phase W wires for these Servo Drivers Robot Cable Encoder Cable Specifications Select an Encoder Cable to match the Servomotor being used The cables range in length from 3 to 50 meters The maximum distance between the Servomotor and Servo Driver is 50 meters e Cable Models R88A CRWA _Length L Outerdiameterofsheath Weight RBBACRWAODSCR 3m 70 dis RBGA CRWAO3OCR 30m 6748 R88A CRWB 0 Outerdiameterofsheath Weight RSSACRWBODNR 3m _ 6548 R88A CRWBOI5NR Approx 1 0 kg R88A CRWBO20NR Approx 1 3 kg R88A CRWBO30NR 6 8 dia Approx 1 9 kg R88A CRWBO4ONR Approx 2 5 kg R88A CRWBO50NR Approx 3 1 kg 2 110 Standard Models and Specifications Chapter 2 e Connection Configuration and External Dimensions R88A CRWAL ICR 43 5 E 43 5 Servo Driver T f Servomotor R88D WNLI ML2 dj gt R88M WC L o t 12 R88A CRWB NR L 69 1 Servo Driver eo R88D WNO ML2 lt 5 ervomotor gt R88M WO 37 3 dia e Wiring R88A CRWA Cable Servo Driver AWG22 x 2 AWG24 2 0
49. Replace the Servo Driver Occurs during nor Check the AC power sup Set the AC power supply mal operation ply voltage Was there voltage in the correct an excessive change in range voltage e The operating rotation e Recheck the load and frequency is high and operating conditions the load inertia is exces Check the load inertia sive The regeneration and minus load specifica capacity is insufficient tions e Servo Driver is defective Replace the Servo Driver Occurs during Ser The operating rotation e Check the load and oper vomotor decelera frequency is high and ating conditions tion the load inertia is exces Sive 5 19 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Low voltage Occurs when the The Servo Driver board is Replace the Servo control circuit defective Driver power supply is turned ON Occurs when the The AC power supply e Setthe AC power supply main circuit power voltage is 120 V orlower voltage in the correct supply is turned range The Servo Driver fuse is Replace the Servo burned out Driver nrush current limit resis Replace the Servo tance disconnection Driver Check the power Check whether there is supply voltage and an error in the powersup reduce the frequency at ply voltage or an inrush which the main circuit is current limit resistance switched ON and OFF ove
50. Reverse Drive Prohibit 2 65 notch filter 4 125 one parameter tuning 4 99 operation precautions 1 3 preparations 4 4 procedure 4 3 trial operation 4 96 Origin Return Deceleration Switch Signal DEC 2 65 overload characteristics 5 43 P P control switching 4 112 parameter tables 4 8 6 3 function selection parameters from Pn000 4 8 other parameters from Pn600 4 22 position control parameters from Pn200 4 13 sequence parameters from Pn500 4 16 Servo gain parameters from Pn100 4 10 speed control parameters from Pn300 4 14 torque control parameters from Pn400 4 15 parameters absolute encoder zero point position offset Pn808 4 69 acceleration deceleration parameters Pn80A to Pn812 4 70 details 4 32 final travel distance for external positioning Pn814 4 71 forward software limit Pn804 4 69 function selection application switches 1 stop selection if an alarm occurs when Servomotor is OFF Pn001 0 4 25 stop selection when drive prohibited is input 001 1 4 25 function selection application switches 2 operation switch when using an absolute encoder Pn002 2 4 34 speed command input change Pn002 1 4 34 torque command input change Pn002 0 4 34 function selection application switches 6 software limit function Pn801 0 4 68 function selection basic switches reverse rotation Pn000 0 4 25 Unit No setting Pn000 2 4 32 gain parameters
51. See note 2 E VQ TENA Main circuit power supply Main circuit connector 4 5 6 OFF ON See note 2 I Ground to 100 Q or less IMC X 9 0 E S urge killer See note 2 Servo error display OMNUC W series OMNUC W series AC Servo Driver AC Servomotor XB Power Cable mE i O L2C Ol Ol EB DC Reactor Ground to be CN1 3 ALM 24VDC Ld 4 ALMCOM Note 1 Set by user parameter 50 Note 2 Recommended product in 3 2 4 Wiring for Noise Resistance For conformity to EC Directives re Pet fer to 3 2 5 Wiring for Conformity 24 V DC BKIR 10 xB to EMC Directives See note 3 Note 3 Recommended relay MY Relay unl 24 V OMRON For exam ple an MY2 Relay outputs to a 2 A inductive load at 24 VDC making it applicable to all W se ries Motors with Brakes See note 1 User controlled M BEEN MECHATROLINK II Cable 3 13 System Design and Installation Chapter 3 R88D WNOSH ML2 R T Single phase 200 230 V AC 50 60 Hz Noise filter See note 2 Main circuit power supply Main circuit connector OFF ON See note 2 E AE Ground to O0 100 Q or less mE X p a LU M0 NE killer See note 2 Servo error display OMNUC W series OMNUC W series AC Servo Driver AC Servomotor Power Cable pZ L2C IMC Q Q XE DC Reactor
52. The torque limit function limits the Servomotor s output torque e This function can be used to protect the Servomotor and mechanical system by preventing exces sive force or torque on the mechanical system when the machine moving part pushes against the workpiece with a steady force such as in a bending machine 4 83 Operation Chapter 4 EE are four methods that can be used to limit the torque pin No is allocated at the factory CJ 1W NCF71 CS1W MCH71 CJ 1W MCH71 Limiting NEL MN torque during opera Limit the steady force applied during normal operation with user tion with user parameters all operation Pn402 forward torque limit and Pn403 reverse torque modes limit Limiting torque when an external signal Limit the torque with user parameters P n404 For turns ON with user parameters all ward rotation external current limit and d operation modes Reverse rotation external current limit by turning ON the axis operation output bit area s forward and reverse rotation current limit designation and start ing axis operation Limiting torque with option command Use option command values as torque limit values values speed Limiting torque when an external signal Limit torque using option command values as turns ON with option command values torque limit values by turning ON the axis operation speed output bit area s forward and reverse rotation cur rent limit designation and starting axis operation
53. Thick power line 3 5 mm Machine ground Ground plate Controller power supply 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 above diagrams and ground to a single point 3 19 System Design and Installation Chapter 3 Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible f no fuse breakers are installed at the top and the power supply line is wired from 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 surge absorbers and noise filters NF should be positioned near the input termi nal block ground plate and 1 0 lines should be isolated and wired using the shortest distance pos sible 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 box whenever possible Correct Separate input and output WRONG Noise not filtered effectively AC input AC output AC input Grune Ground AC output e Use twisted pair cables for the power supply cables whenever possible or bind the cables Correct P roperly twisted Correct Cables
54. adjustment 1 3 general 1 1 inspection 1 4 installation 1 2 3 2 maintenance 1 4 maintenance and inspection 5 45 operation 1 3 4 2 storage 1 2 transportation 1 2 wiring 1 2 3 2 predictive control 4 115 program JOG operation 4 91 Q Q value notch filter 4 59 4 125 R Reactors 2 2 3 15 3 22 dimensions 2 124 specifications 2 124 READY Servo Ready Output 2 67 Index regenerative energy 3 32 absorption capacity 3 34 external regeneration resistance 3 35 replacing Absolute Encoder Backup Battery ABS 5 47 Servomotor and Servo Driver 5 4 Reverse Drive Prohibit NOT 2 65 4 78 5 sequence parameters from Pn500 4 61 Servo Drivers combinations with Servomotors 2 16 dimensions 2 18 installation conditions 3 3 regenerative energy absorption capacity 3 34 replacing 5 4 specifications 2 50 general 2 50 performance 2 51 transmission times 2 58 Servo Ready Output READY 2 67 Servomotor Rotation Detection Output TGON 2 67 Servomotors combinations with Servo Drivers 2 16 dimensions 2 25 installation conditions 3 4 replacing 5 4 specifications 2 71 general 2 71 performance 2 73 2 77 2 80 2 83 with Economy Gears 2 15 combinations 2 10 dimensions 2 46 with Reduction Gears specifications 2 86 with Standard Gears 2 12 combinations 2 0 dimensions 2 36 soft start 4 86 specifications Absolute Encoder Backup Battery 2 122 Absolute Encoder Batte
55. calculation error Command warning 2 An unsupported command was specified unsupported command Command warning 3 Command conditions set by parameters were not met Command warning 4 Command interference mainly latch command interference Command warning 5 5 ub command and main command interference MECHATROLINK II com A communications error occurred during MECHATROLINK II com munications warning munications Un 10 Troubleshooting Chapter 5 Note 1 When Pn008 2 Is setto 1 Warnings not detected the following warnings are not detected A 900 A 901 A 910 A 911 A 920 A 930 Note 2 Depending on the setting for Pn800 1 Warning check mask A 94 A 95 and A 96 I warnings may not be detected With the default setting A 94_ A 95L and A 96l warnings are detected Troubleshooting Chapter 5 5 3 Troubleshooting If an error occurs in the machinery check the type of error using the alarm indicators and operation status verify the cause and take appropriate countermeasures 5 3 1 Error Diagnosis Using Alarm Display Display Status when Cause of error Countermeasures error occurs Parameter check Occurs when the The control voltage drops Correct the power supply sum error 1 control circuit to a range of 30 to 60 V and initialize the parame power supply is AC ters The control circuit power constant was input supply was interrupted again after parameter ini d
56. eter No setting range power name Pn007 Func 0 tol ON ns UEM rotation Hon RN 0000 tion tor2 mu r min 2580 signal Selec E Speed command 1 V 1000 r min applica Torque command gravity compensation tion torque Pn422 1 V per 100 E Position deviation 0 05 V 1 command unit Position amp error after electronic gear 0 05 V per encoder pulse unit Position command speed 1 V 1 000 r min completed command Positioning completed 5 V positioning not completed 0 V S peed feed forward 1 V 1 000 r min Torque feed forward 1 V per 10096 OB to 1F Not used 0 x multipter 1 10x multiplier selection 100K 3 110 1 100x Do not change setting E a3 Warnings not detected 3 Notused 4 Donotchange setting m Servo Gain Parameters from Pn100 Param Parameter Explanation See note 1 Default Setting Restart j eter No name CMT Move Explanation See note 2 setting range power 100 Speed loop mds DE speed loop response m x ud 1 Hz 10 to gain pou ice 101 Speed loop loop integral time constant al 0 01 ms 15 to integration 51200 constant 102 Position Ome 7 position loop response ud 0 1 s 10 to loop gain 20000 Lowered bat battery voltage drop as alarm 4000 E voltage alarm warn ion ing WE T battery voltage drop as warning M ees h Do not change setting X ee 2 Warning 0 Warnings detected 103 Iner
57. for low input Allocated to CN1 pin 12 Valid for low input Always enabled Always disabled Allocated to CN1 13 Valid for high input Allocated to CN1 pin 7 Valid for high input Allocated to CN1 pin 8 Valid for high input C Allocated to CN1 pin 9 Valid for high input Allocated to CN1 pin 10 Valid for high input E Allocated to CN1 pin 11 Valid for high input F Allocated to CN1 pin 12 Valid for high input Always disabled Allocated to CN1 pin 10 Valid for low input 5 Allocated to CN1 pin 11 Valid for low input Allocated to CN1 pin 12 Valid for low input Always enabled 8 Always disabled Always disabled Allocated to CN1 pin 10 Valid for high input E Allocated to CN1 pin 11 Valid for high input F Allocated to CN1 pin 12 Valid for high input 1 sig nal input ter minal allocation EXT2 sig 0 to F Same as for Pn511 1 nal input ter EXT2 signal allocation minal allocation EXT3 sig 0 to F Same as for Pn511 1 nal input ter minal allocation EXT3 signal allocation 4 19 Operation Param eter No Pn512 Pn513 Do not change setting Pn515 Pn51B Pn51E Pn520 Pn522 Pn524 Pn526 Pn528 Pn529 Pn52A Do not change setting Pn52F Do not change setting FFF Parame ter name Output signal reverse Deviation counter overflow warning level Deviation counter overflow level Position ing com plet
58. lute encoder Note 3 The general purpose input at pin No 13 can be monitored through MECHATROLINK II Note 4 An automatic reset fuse is provided to protect output If the fuse is activated for overcurrent it will automatically reset after a fixed period of time has lapsed without current flowing 2 60 Standard Models and Specifications Chapter 2 m Control 1 0 Signals e CN1 Control one Rion kd mede 7 to 9 return NENNEN NNNM is the deceleration input for origin return deceleration switch signal POT 7 ae drive pro Forward rotation overtravel een ae NOT 8 Reverse drive pro Reverse rotation iatis cc nu input input 10 to 12 10 514 External latch sig This is the external signal input for latching the All nal 1 present feedback pulse counter EXT2 11 S15 External latch sig nal 2 EXT3 12 S16 External latch sig nal 3 oq Sequence signal This is the 24 VDC power supply input terminal All control power sup for sequence inputs pin Nos 7 to 13 ply LE BAT battery are the battery connection terminals for All abso BATGND inputs the absolute encoder power backup lute Note Connectthe battery either to these termi nals or to the absolute encoder battery cable 13 Notallocated General purpose This terminal can be monitored in the MECHA All S10 Input TROLINK
59. method selection is incor rect ating range Noise interference is e The encoder cable is Correctthe cable installa occurring because of dam crimped or deterioration of tion age to the encoder cable the insulation is allowing noise to affect the signal line There is excessive noise e 15 the encoder cable bun Arrange the cable so that interference to the encoder dled with or close to lines the encoder cable is not cable carrying a large current affected by surges 5 41 Troubleshooting Chapter 5 Symptom Probable cause items to check Countermeasures _ Overtravel OT Travelling outside of the zone speci The FG is fluctuating due to influence from machin ery such as welders in e What is the grounding sta tus of equipment such as welding machines near the e Ground the machinery to prevent branching to the encoder s FG fied by the host device the vicinity of the Servomo 5 ervomotor e g imper tor fectly grounded not grounded at all s noise being carried to the line for signals coming from the encoder The Servo Driver pulse count is incorrect due to noise e Implement measures against noise in the encoder wiring e Reduce machine vibration or correct the Servomotor mounting e Check for machine vibra tion or faulty Servomotor mounting mounting sur face precision secure fas tening centering etc Encoder is defective Encoder i
60. range 0 to 800 Reverse rotation exter Set the output torque limit when the reverse 4 3 3 Parameter nal current limit rotation current limit designation is ON as a per Details centage of the Servomotor rated torque setting range 0 to 800 Note the connected Servomotor is set to a value greater than the maximum momentary torque the maximum momentary torque will become the set limit e Limiting Torque with Option Command Values Speed 1W NCF71 Only When 1 is set for Pn002 0 Torque command input change torque limit values can be specified with option command values Unit 96 command range 0 to 399 96 of Servomotor momentary maximum torque e Limiting torque by option command values operates by taking option command value 1 as the for ward torque limit and option command value 2 as the reverse torque limit Parameter Parameter name Explanation Reference No Pn002 0 Torque command input Set Pn002 0 to 1 option command value used 4 3 3 Parameter switching as torque limit command Details e Limiting Torque with Option Command Values by Turning ON External Signals Speed CJ 1W NCF71 Only If 3 is set for Pn002 0 Torque command input switching torque limit values can be specified with option command values when the forward or reverse rotation current limit designation is turned ON Unit 96 command range 0 to 39996 96 of Servomotor momentary maximum torque e When the forward rotation
61. refer to 4 6 Making Adjustments and adjust the gain 3 Operation Under Actual Load Conditions Operate the Servomotor in a regular pattern and check the following items Is the operating speed correct Use the speed feedback monitor Is the load torque roughly equivalent to the measured value Use the torque command monitor and the accumulated load monitor 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 any error or alarm generated Note 1 Refer to 4 9 Using Monitor Output for how to display the speed feedback monitor torque command monitor and the cumulative load rate monitor Note 2 If anything abnormal occurs refer to Chapter 5 Troubleshooting and apply the appropriate countermeasures Note 3 If the system vibrates due to insufficient gain adjustment impeding making it difficult to check the operation refer to 4 6 Making Adjustments and adjust the gain 4 Completing the Trial Operation Performing the above completes the trial operation Next adjustthe gain to improve command efficiency Refer to 4 6 Making Adjustments for details 4 97 Operation Chapter 4 4 6 Making Adjustments The OMNUC R88D WNLILILI ML2 Series is equipped with a responsive auto tuning function When auto tuning cannot be used make adjustments manually
62. 2 99 Standard Models and Specifications Chapter 2 e Power Cables Minimum bending radius R With brake R8BACAWALTIBR 35mm Wibrake RG8ACAWBLITBR 96mm With brake R amp 8ACAWCITTIBR 96mm With brake 150mm LLLI 003 to 050 e Encoder Cables Mode Minimum bending radius RY LLLI 003 to 020 AAA 030 to 050 e Moving Bending Test Stroke 320 mm 100 times min 2 100 Standard Models and Specifications Chapter 2 Standard Encoder Cable Specifications Select an Encoder Cable to match the Servomotor being used The cables range in length from 3 to 50 meters The maximum distance between the Servomotor and Servo Driver is 50 meters e Cable Models R88A CRWA Mode Lengi L Outerdiameterofsheath Weight _ RSSKCRWADDGC 3m ___ 65 da RSBA CRWAONC 30 6848 R88A CRWBL IN Model L Outer diameter ofsheath Weight _ RBGA CRWBOON 3m 6548 R88A CRWBO20N Approx 1 4 kg R88A CRWBO3ON 6 8 dia Approx 2 6 kg R88A CRWBO40N Approx 3 4 kg R88A CRWBO5ON e Connection Configuration and External Dimensions Approx 4 2 kg R88A CRWA Servo Driver S ervomotor R88M WI 100 R88D WNO ML2 lt dj R88A CRWB IN Servo Driver eo R88D WNO ML2 lt S ervomotor gt R88M WC 37 3 dia 2 101 Standard Models and Specif
63. 3M Connector case 10326 52A0 008 Sumitomo 3M Encoder Connectors R88A CNWO These are the connectors for the encoder cable These connectors are used when the cable is pre pared by the user They are solder type connectors Use the following cable e Wire size AWG16 max e Stripped outer diameter 2 1 mm max e Outer diameter of sheath 6 7 0 5 mm e External Dimensions R88A CNWOIR For Driver s CN2 Connector Connector Plug Model Number 55100 0670 Molex EM E Connector Plug Model Number z 54280 0609 Molex 2 120 Standard Models and Specifications Chapter 2 2 7 External Regeneration Resistor Specifications If the Servomotors regenerative energy is excessive connect an External Regeneration R esistor R88A RR22047S External Regeneration Resistor E Um ifications Resistance Nominal Regeneration Heat Thermal switch capacity absorption for 120 C radiation output temperature rise condition specifications NM RR22047S 47 Q 5 220 W 70 W t1 0 x 350 Operating tempera SPCC ture 170 3 NC contact Rated output 3 A m External Dimensions All dimensions are in millimeters e R88A RR22047S External Regeneration Resistor Thermal switch output 0 75mm 230 2 121 Standard Models and Specifications Chapter 2 2 8 Absolute Encoder Backup Battery Specifications A backup battery i
64. 4 Index external latch signal 1 signal Pn511 1 4 29 EXT2 external latch signal 2 signal Pn511 2 4 29 EXT3 external latch signal 3 signal Pn511 3 4 29 origin search parameters Pn816 to Pn819 4 71 output signal reverse pins CN1 1 and 2 Pn512 0 4 31 pins CN1 23 and 24 Pn512 1 4 31 pins CN1 25 and 26 Pn512 2 4 31 output signal selections 1 INPI positioning completed 1 signal Pn50E 0 4 30 READY Servo ready signal Pn50E 3 4 30 TGON Servomotor rotation direction signal Pn50E 2 4 30 VCMP speed conformity signal Pn50E 1 4 30 output signal selections 2 BKIR brake interlock signal Pn50F 2 4 31 CLIMT current limit detection signal Pn50F 0 4 30 VLIMT speed limit detection signal Pn50F 1 4 30 WARN warning signal Pn50F 3 4 31 output signal selections 3 INP2 positioning completed 2 signal Pn510 0 4 31 position control parameters absolute encoder multi turn limit setting Pn205 4 51 backlash compensation amount Pn214 4 53 backlash compensation selection Pn207 2 4 52 backlash compensation time constant Pn215 4 53 electronic gear ratio G1 G2 Pn20E Pn210 4 52 encoder divider rate Pn212 4 53 soft start deceleration time Pn306 4 54 regeneration resistor capacity Pn600 4 66 reverse software limit Pn806 4 69 sequence parameters brake command speed Pn507 4 61 brake timing 1 Pn506 4 61 brake timing 2 Pn508 4 61 deviation counter overf
65. 5 min 7 1 min torque Attraction time 20 max 20 max 60 max 20 max 20 max See note 3 note 3 I SISSE value Insulation grade ma Type F Note 1 The values for items marked by asterisks are the values at an armature winding tempera ture of 100 C combined with the Servo Driver Other values are at normal conditions 20 6596 The momentary maximum torque shown above indicates the standard value Note 2 The brakes are the non excitation operation type released when excitation voltage is ap plied Note 3 The operation time is the measured value reference value with a surge killer CR50500 by Okaya Electric Industries co LTD inserted Note 4 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures Note 5 The value indicated for the allowable radial load is for the position shown in the following di agram load a Thrust load Note 6 Applicable Load Inertia 1 The drivable load inertia ratio load inertia rotor inertia changes depending on the me chanical configuration being driven and its rigidity Highly rigid machines can operate with a large load inertia Select a Servomotor and verify operation 2 Ifthe dynamic brake is used frequently with a large load inertia it may lead to burnout of the dynamic brake resistor Do not repeatedly turn the Servo ON and OFF with the dy namic brake enable
66. 7 3 vesc C i t 6 External device 17 2 118 Standard Models and Specifications Chapter 2 e Wiring Servo Driver Red AM 2 white 3 ND 4 GND 4 Cable AWG24 x 4C UL1007 Connector socket DF 11 4DS 2C Hirose Electric Connector contacts DF11 2428SCF Hirose Electric Computer Monitor Cables R88A C CWO002P2 In order to set Servo Driver parameters and monitor a Servo Driver from a personal computer the Computer Monitor S oftware and Computer Monitor Cable are required e Cable Models For DOS V Computers Model Length L Outer diameter of sheath Weight R88A CCW002P2 2 m 6di 0 1 kg e Connection Configuration and External Dimensions For DOS V Computers Servo Driver Personal s computer gj R88D WNLI ML2 DOS V e Wiring For DOS V Computers Computer S ervo Driver No onnector plug 10114 3000VE Sumitomo 3M onnector case 10314 52A0 008 Sumitomo 3M RTS 7 CTS 8 FG Shell Cable AWG26 x3C UL246 Connector 17J E 13090 02 D8A DDK Ltd OO 2 119 Standard Models and Specifications Chapter 2 m Control I O Connector R88A CNWOI1 This is the connector for connecting to the Servo Driver s Control 1 0 Connector CN1 This connec tor is used when the cable is prepared by the user e External Dimensions L A N Connector plug 10126 3000VE Sumitomo
67. BATO1W Note Required when using a Servomotor with an absolute encoder The cable and con nector are included Reactors For R88D WNA5L ML2 01L ML2 R88A PX5053 02H ML2 For R88D WNO2L ML2 04H ML2 R88A PX5054 For R88D WNOA4L ML2 08H ML2 88 5056 m Front panel Brackets ForR88D WNASL ML2 to 04L R88A TKO5W ML2 For R88D WNA5H ML2 01H ML2 R88A PX5052 F For R88D WNA5H ML2 to 10H R88A TKO5W ML2 For R88D WN15H ML2 R88A TKOOW ForR88D WN20H ML2 30H ML2 R88A TKO7W Note Required when mounting a Servo Driver from the front panel Standard Models and Specifications Chapter 2 m Standard Encoder Cables for Incremental and Absolute Encoders Specifications Mode For3 000 r 30 3m R88A CRWAO003C min Servomo 750W 5m R88A CRWAO05C s 10 m R88A CRWAOIOC 5 R88A CRWAO15C R88A CRWAO20C R88A CRWAO030C R88A CRWAO040C 50 m R88A CRWAO050C 3 R88A CRWBOO3N R88A CRWBOO5N R88A CRWBOION R88A CRWBOI5N R88A CRWBO20N R88A CRWBO30N R88A CRWBO40N R88A CRWBO50N R88A CRWAO003C R88A CRWAO05C R88A CRWAO10C R88A CRWAO015C R88A CRWAO020C R88A CRWAO030C R88A CRWAOAO0C 50m R88A CRWAO050C R88A CRWBO003N WIN Fe 3 3 10 15 20 30 0 50 zs I 3 3 3 For 3 000 r min Flat style Servomotors 3 30 3 EE For 1 000 r min Servomo 5m R88A CRWBOOSN mE EXUN R88A CRWBO10N R88A CRWBOI5N R88A CRWBO20N
68. Backlash Pn215 Pn209__ Notused _ Do not change seting EN Pn20A Do not change setting 32768 32768 Electronic 1 1 to Yes gear ratio 1073741824 G2 nator Pn212 Encoder Sets the number of output pulses per Servomotor rota 1000 P ulses 16 to Yes divider tion rotation 1073741824 rate Pn214 Backlash Mechanical system backlash amount the mechanical Command 32767 to unit 32767 sation amount compen sation time con Pn216 Do not change setting Pn217 Notused not change setting p qe qe i 8 3 Pn281_ Notused Do not change setting ao 2 20 Electronic Sets the pulse rate for the command pulses and Servo 1 to Yes gearratio Servomotor travel distance 1073741824 61 0 001 lt Pn20E Pn210 lt 1000 numera tor denomi compen gap between the drive shaft and the shaft being driven Sets the backlash compensation time constant x0 01ms 0 to 65535 stant 6 9 Appendix Chapter 6 m Speed Control Parameters from Pn300 dn range power Param Parameter Explanation i ELT e jPra00_ Wotused Too notchangesetingy Notused iDo otchange seting Pn302 Wotused Demotehamesetn o Po ose loo rotchonge seno fat pes J og speed rotation eee P jog operation r min 0 to 10000 S oft start S ets time during speed control soft start 0 to accelera 10000 tion time Pn306
69. Bund 100 Q or less d DIAM ALM Encoder Cable 24 VDC qp 4 ALMCOM Note 1 Set by user parameter P n50F Note 2 Recommended product in 3 2 pu 4 Wiring for Noise Resistance BKIR 1 For conformity to EC Direc eens tives refer to 3 2 5 Wiring for BKIRCOM 2 Conformity to EMC Directives Note 3 Recommended relay MY Re lay 24 V by OMRON For ex ample an MY2 Relay outputs to a 2 A inductive load at 24 VDC making it applicable to all W series Motors with Brakes User controlled See note 1 i BEEN MECHATROLINK II Cable 3 14 System Design and Installation Chapter 3 3 2 3 Terminal Block Wiring When wiring a Terminal Block pay attention to wire sizes grounding systems and anti noise measures m Terminal Block Names and Functions Terminal label 1 Main circuit power sup R88D WNCIH ML2 50 to 400 W ply input Single phase 200 230 V AC 170 to 253 V 50 60 Hz There is no L3 terminal R88D WNO8H ML2 750 W Single phase 200 230 V AC 170 to 253 V 50 60 Hz The L3 terminal is not used do not connect it R88D WNLIH ML2 500 W to 3 0 kW Three phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WNLIL ML2 50 to 400 W Single phase 100 115 V AC 85 to 127 V 50 60 Hz There is no L3 ter minal Connection terminals R88D WNLIH ML2 500 W to 3 0 kW for DC for Normally short between O1 and O2 pou oup Mei When harmo
70. Chapter 2 Rated i i Reduction Weight pue Without y tary brake p o mm m ew _ ss remmarna uu pus m em n 4 6 J 1G 098 2 kW R88M W2K030L1 LIG05B R88M W2K030LJ LIG 09B 1 1 102 14 8 9 39 2 70 6 6088 mu sem qas s 98 _ Note 1 The reduction gear inertia indicates the Servomotor shaft conversion value Note 2 The enclosure rating for Servomotors with reduction gears is IP 55 for 50 to 750 W models and IP 44 for 1 to 3 kW models Note 3 The maximum momentary rotation speed for the motor shaft of Servomotors with reduction gears is 4 000 r min Note 4 The maximum momentary torque values marked by asterisks are the maximum allowable torque for the reduction gears Use torque limits so that these values are not exceeded Note 5 The allowable radial loads are measured ata point 5 mm from the end of the shaft for 50 to 750 W Servomotors and in the center of the shaft for 1 to 3 W Servomotors 38 06 3 8 18 12 70 82 EN mo DI pono NN LR NE B v D E e Hu d ee LECHE EE Ep I D y ee LN 1 7 1 3 44 22 68 1 2 2 4 2 6 7 7 333 150 103 67 333 150 103 67 333 150 103 67 333 150 103 7 m mc m m m 2
71. Crimp terminal 50639 8091 Molex J Connector socket 54280 0609 Molex J apan Servomotor Connector plug 55102 0600 Molex J apan Standard Power Cable Specifications Select a Power Cable to match the Servomotor being used The cables range in length from 3 to 50 meters The maximum distance between the Servomotor and Servo Driver is 50 meters m R88A CAWA The R88A CAWAL Cables are for 3 000 r min 5 ervomotors 30 to 750 W 3 000 r min Flat style Servomotors 100 to 750 W e Cable Models For Servomotors without Brakes Mode Length iL Outer diameter ofsheath Weight _ 0035 3m 6248 2 103 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Model Length L Outerdiameterofsheath Weight _ RBGA CRWAQOSB 3m T4 di Note 750 W Servomotor is to be wired ata distance of 30 meters or more use R88A CAWBLILJ Cable e Connection Configuration and External Dimensions For Servomotors without Brakes 50 L 27 4 Servo Driver T S ervomotor x ee N R88D WNLI ML2 LL Zo R88M WI For Servomotors with Brakes R88D WNLI ML2 e Wiring Servomotor D 28 4 For Servomotors without Brakes Servo Driver 5 ervomotor Cable Red Connector cap 350780 1 Tyco Electronics AMP KK White Connector socket 350689 3 Tyco Electronics AMP KK B
72. LED display Used for MECHATROLINK II communications settings Lit when the control power is being supplied Communications Indicator COM Lit when MECHATROLINK II communications are in progress Model Number aN Rotary Switch SW1 Used for setting MECHATROLINK II node address Input voltage Charge Indicator Lit when the main circuit is powered Also for Servo Drivers of 1 kW or less the indicator lights dimly when only the control power supply is ON Even after the power is turned OFF it remains lit as long as an electric charge remains in the main circuit capacitor so do not touch the Servo Driver s terminals during this period Main circuit Power Terminals These are the input terminals for the main circuit power supply Control Power Terminals These are input terminals for the control power supply Regenerative Resistance Terminals These are terminals for external regenerative resistance Top cover MECHATROLINK II Communications Connectors CN6A CN6B Connect either a special cable for a MECHATROLINK II system or a Terminating Resister Personal Computer Connector CN3 This is the connector for communications with a personal computer command input signals and sequence 1 0 signals Nameplate Side Panel The nameplate shows the Servo Driver model number and ratings Servomotor Connector Terminals These are conn
73. MECHATROLINK failure synchronous communications are started e Servo Driver is defective Replace the Servo Driver the Servo OFF e Correct the detection level e Seta suitable value for the limit speed level at Servo ON Pn529 Replace the Servo Driver e Make sure the conditions in 6 3 Hestrictions are met e Seta suitable value for the MECHATROLINK II transmission cycle e Correct the WDT data refreshing for the host device e Servo Driver is defective Replace the Servo Driver e The WDT data refreshing for the host device was e Correct the WDT data refreshing for the host device e Wire the MECHA TROLINK II communica tions cable correctly Connect the terminator correctly e Servo Driver is defective Replace the Servo Driver Implement measures against noise such as using MECHATROLINK communications cable checking the FG wiring and installing a ferrite core in the MECHA TROLINK II communica tions cable 5 31 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs The MECHATROLINK II Eliminate the cause of transmission cycle fluctu fluctuation in the host MECHATROLINK Occurs during transmission MECHATROLINK cycle error communications ated device transmission cycle Driver DRV alarm 0 Occurs when Servo Driver is defective Replace the Servo DRV a
74. Models and Specifications Chapter 2 2 9 Reactor Specifications Connect a DC Reactor to the Servo Driver s DC Reactor connection terminal as a harmonic current control measure Select a model to match the Servo Driver being used m AC DC Reactors m Specifications Servo Driver model Model Rated current A inductance mH Weight ka Single phase REEXPXSOS 30 50 Appok04 _ RaBAPXs056 52 po App 04 _ RBSD WNASH MLI ReBA PXSOS2 10 450 04 R8BD WNOIH ML2 882 505 10 50 _ RBSDJWNOSH ML2 88 50 48 20 Abmx 08 _ RBSDJWNIOH ML2 REEA PXSOS A8 5 _ RSD WNISH ML2 ROBA PHSO6O fas approx 2 0 5060 88 s _ RBEDJWN3OH ML2 5099 140 10 Abpoxll _ m External Dimensions Unit mm Nameplate 2 124 Standard Models and Specifications Chapter 2 m NEN NE ONUS INR 8 5052 35 520 80 185 0 145 43 Rex fs m fo us 5 9 4 a3 RBBA PX5054 35 50 80 95 30 40 45 4 45 RBBA PX5056 135 52 jeo 95 40 45 4 43 RSRAwXSOSS so 74 15 35 5 R88A PX5060 140 59 05 15 5 60 6 14 43 RR8BA PX5061 35 52 80 95 5 145 5 4 43 2 125 Standard Models and Specifications Chapter 2 2 10 MECHATROLINK II Repeater Specifications The MECHATROLINK II Repeater is required to extend the MECHATR
75. Mounting Holes 6 i Four M 4 holes 16 x um nS j I _ B ite um o S 2 ts d H EB gt 3 j Ground terminals pec EE Two M4 screws i 4 4 4 7 m 20 50 0 5 20 180 5 Mounting pitch m Three phase 200 V R88D WN20H ML2 WN30H ML2 2 to 3 kW e Wall Mounting External dimensions Mounted dimensions Mounting Holes Four M 4 holes ek M SM LU SML US KZ KZ KA KZ KZ 180 Sud C e c AKA k Nameplate Terminal Block Ground ter minals Two M4 screws 4 screws ao CR i 180 100 2 23 Standard Models and Specifications Chapter 2 e Front Panel Mounting Using Mounting Brackets External dimensions 2 2 100 Two 5 dia Terminal Block m Tot Peat adel KI I A m VM Paii NA RANA y NA iu F _ al Oe IATA ES X Li 48D 4 Nameplate Ground terminals 2 75 180 Two M4 screws 2 24 Mounted dimensions Mounting Holes Four M 4 holes S 6 7 T ME OD 8 5 N 2 180 r4 50 0 5 Mo Pun ang Rum Standard Models and Specifications Chapter 2 2 3 2 AC Servomotors m 3 000 Servomotors without a Brake e 200 V AC 50W 100W R88M W05030H S 1 W 10030H S 1
76. Note Other torque limit functions include Pn402 forward torque limit Pn403 reverse torque limit Pn404 Forward rotation external current limit and Pn405 Reverse rotation external current limit The smallest output torque from among the enabled limitations is limited Pn002 1 Function selection application switches 2 Speed command input change S etting 0 1 Unit Default Restart range setting power Setting Explanation Setting Explanation Function not used Option command value used as analog speed limit e This parameter sets the option command value function for torque control When 1 is set the speed limit operates according to the option command value For details on the speed limit function refer to 4 4 10 Speed Limit Function Torque Note Other speed limitation functions include Pn407 speed limit The speed is limited to the lower value 002 2 Function selection application switches 2 Operation switch when using an absolute encoder All operation modes absolute S etting 0 1 Unit Default Restart range setting power 4 34 Operation Chapter 4 Setting Explanation Setting Explanation 0 55 Use as an absolute encoder Use as an incremental encoder e When 1 is set the absolute encoder operates as an incremental encoder backup battery not nec essary Pn002 3 Function selection application switches 2 Not used Setting Unit Default Restart range setting pow
77. OMNUC W series AC Servo Drivers with built in MECHATROLINK II Communications are designed specifically for use with the MECHATROLINK II high speed motion field network Combining these Servo Drivers with MECHATROLINK II compatible Motion Control Units CS 1W MCH71 or CJ IW MCH71 or Position Control Units 1W NCF71 is an easy to create a high speed servo control system with a communications link between the Servo Drivers and the Controllers m Data Transfer by MECHATROLINK II Communications When a Servo Driver is combined with a MECHATROLINK II compatible Motion Control Unit CS 1W MCH71 IW MCH71 or Position Control Unit IW NCF71 all control data is transferred between the Servo Driver and the Controller by means of data communications Control commands are transferred by means of data communications so Servomotor performance is not limited by control interface specifications such as response frequencies for input pulses and encoder feedback pulses This allows the Servomotor to perform to its fullest capacity Moreover system data control is simplified by having all Servo Driver parameters and monitor data managed by the host controller m Built in Communications Interface The MECHATROLINK II communications interface has been built into the Servo Driver In compari son with earlier W series Servo Drivers in which the MECHATROLINK II Application Module is installed only 6096 of the installation surface
78. Occurs when the Servo 15 turned ON e Encoder wiring is incor Correct the encoder wir rect faulty wiring or con ing nections e Servo Driver is defective Replace the Servo Driver e Servomotor wiring is Correct the Servomotor incorrect faulty wiring or wiring connections e Encoder wiring is incor Correct the encoder wir rect faulty wiring or con ing nections e The starting torque e Recheck the load condi exceeds the maximum tions the operating con torque ditions and the 5 ervomotor capacity e Servo Driver is defective Replace the Servo Driver The effective torque e Recheck the load condi exceeds the rated torque tions the operating con ditions and the Servomotor capacity e The temperature is high Lower the temperature in in the Servo Driver s the panel to 55 C or less panel e Servo Driver is defective Replace the Servo Driver Vibration Occurs during nor The Servo Driver gain is In order set the correct mal operation incorrect gain lower the speed loop gain Pn100 and the position loop gain Pn101 and increase fil ter time constants such as thelst step lst torque Occurs without S ervomotor rota tion by command input Occurs during nor mal operation command filter time con stant P n401 e The inertia ratio Pn103 Seta suitable value for value is greater than the the inertia ratio Pn103 actual value
79. Occurs when the control circuit power supply is turned ON Occurs when the control circuit power supply is turned ON e The control voltage drops to a range of 30 to 60 V AC e The control circuit power supply was interrupted during parameter setting e The upper limit for the number of parameter Writes was exceeded e g parameters were changed by the host device with every scan The control voltage drops to a range of 30 to 60 V AC e The Servo Driver EEPROM and peripheral circuits are defective e Servo Driver is defective value outside of the setting range was set in the parameters e The Servo Driver EEPROM and peripheral circuits are defective The encoder dividing pulses setin Pn212 are out of range or do not meet the setting condi tions Chapter 5 Display Status when Cause of error Countermeasures error occurs Parameter check Sum error 2 System parameter checksum error 2 e Correct the power supply and initialize the parame ters A constant was input again after parameter ini tialization processing Replace the Servo Driver Correct the parameter writing method e Correct the power supply and initialize the parame ters Replace the Servo Driver Replace the Servo Driver Resetthe parameters within the setting range Replace the Servo Driver e Set an appropriate value for Pn212 5 13 Troubleshooting Chapter 5
80. R88A CAWCO15B 15 R88A CAWBO15S R88A CAWBOISB 20 m R88A CAWCO20S R88A CAWCO20B e Power Cable for 1 000 r min Servomotors 1 8 kW Specifications Witoutbrake With brake _ 300 15m R88A CAWCO15S R88A CAWCOISB 40 m R88A CAWD040S R88A CAWDO40B R88A CAWCO20S R88A CAWC020B nocere DUUM 30 m R88A CAWCO30S R88A CAWCO3OB m Encoder Cables for Robot o 3m Absolute Encoders 1 2 2KW 5m R88A CAWDOO5S R88A CAWDOOSB 10 m R88A CAWDO10S R88A CAWDOIOB Specifications For 3 000 r 30 3 R88A CRWAO03CR min Servomo 750 W R88A CRWAO40CR R88A CRWAO5OCR R88A CRWBOO3NR R88A CRWBOOSNR R88A CRWBO10NR R88A CRWBOISNR R88A CRWBO20NR R88A CRWBO30NR R88A CRWBO40NR R88A CRWBO5ONR HI 3 3 UJ 3 0 R88A CAWC030B R88A CAWC040B R88A CAWC050B m R88A CAWD003B m R88A CAWD005B 10 R88A CAWD010B R88A CAWD015B R88A CAWD020B 30 R88A CAWD030B u w u gt ojo JEEBBEE 3 2 4 Standard Models and Specifications Specifications Mode For3 000 100 W R88A CRWA003CR R 88A CRWAOO5CR Servomotors R88A CRWAOLOCR R88A CRWAOL5CR R88A CRWAO20CR R88A CRWAO30CR R88A CRWA040CR R88A CRWAO50CR For 1 000 300 W R88A CRWBO03NR R88A CRWBOOSNR tors SEN R88A CRWBOIONR min Servomo R8SA CRWBOLSNR tors 1 8 kW R88A CRWBO20NR R88A CRWBO30NR R88A CRWBO40NR R88A CRWBO50NR Power Cable for Robot Cables e Power Cable for 3 000 r min Servomo
81. R88M W90010T BG20B 9001086458 R88M W1K210H G05BJ R88M W1K210H BG05BJ R88M W1K210T G05BJ R88M W1K210T BG05B R88M W1K210T G09B R88M W1K210T BG09B RBBM WIK2IOT BG208 RBBM WIK2IT BG208 RBBM WZKOIUTBGOSB R88M W2K010H G09BJ R88M W2K010H BG09BJ R88M W2K010T GO9B R88M W2KO010T BGO9B R88M W2K010H G20BJ R88M W2K010H BG20BJ R88M W2K010T G20B R88M W2KO010T BG20B 900 W 1 2 kW 1 500 r min Servomotors Specifications d With absolute encoder Without brake R88M W45015T G05B With incremental encoder Without brake R88M W45015T BG05B R88M W45015T G 09B R88M W45015T BG 09B R88M W45015T G 20B R88M W45015T BG20B R88M W45015T G 29B R88M W45015T BG 29B R88M W45015T G 45B R88M W45015T BG45B R88M W85015T G05BJ R88M W85015T BG05B R88M W85015T G09BJ R88M W85015T BG09B R 88M W85015T BG 20B R88M W85015T G29B R88M W85015T BG29B R88M W85015T G45BJ R88M W85015T BG45B R 88M W1K315T BG05B R88M W1K315T G09BJ R88M W1K315T BG09B R88M W1K315T G20B R88M W1K315T BG20B R88M W1K315T BG29B R88M W1K315T BG45B R88M W1K815T BG05B R 88M W1K815T BGO09B R 88M W1K815T BG 20B R88M W1K815T G29B R88M W1K815T BG29B 850 W 1 3 kW 1 8 kW 200 V 450W i 2 14 Standard Models and Specifications Chapter 2 e Servomotors with Economy Gears Straight Shaft with Key 3 000 r min Servomotors
82. Reewawikoson7T Yes ws e w De 15w Reawawiksson7T Yes vs e s s Reew waKosoH7T Yes ves es Ye s kw Yes ves 3 000 r min Flat style Servomotors Specifications Basic model Gear deceleration rate cosj coss G1is 62087 62187 6298 6 6458 00 memewexxg wes e e e 200w wemcwezoxHm vs e e be How Reaw weaooa0HT Yes e be o De 7500 emcweroxHm vs e pe De isww nempweicson vs ves be e 2 9 Standard Models and Specifications Chapter 2 1 000 r min Servomotors Specifications Basic mode cose coss GiiB 6208 621 62987 G338 G4S 20v RAGM WS00I0HT ws s sw Reaw weoo10HT Yes es e vse e fa00w Reew waco10HT ves es De pe vs i2ww wmWICINT Yes es vs ve s ves es 0 0 1 500 r min Servomotors Specifications Basic model Gosj Gosaj G1ib 6208 621 26298 6 6458 20v sow ws e OoOo e We sow Raam wasoist Ye es Ye e e isuw nmwwicGiT s vse e hs Tew Reew wikaist Yes vs ve e 1 m Combination Table for Servomotors with Economy Gears Economy Gears are low cos
83. Servo Drivers CN1 can be converted to a terminal block by using the Connector Terminal Block Conversion Unit with the XW2Z L B16 Cable for Connector Terminal Block Conversion Units e Connector Terminal Block Conversion Units XW2B 20G4 The XW2B 20G4 is a Connector Terminal Block Conversion Unit with a M3 screw terminal block e External Dimensions Flat cable connector MIL plug gp at 19 Precautions Use 0 30 to 1 25 mm wire AWG22 to AWG 16 e The wire inlet for screw terminal blocks is 1 8 x 2 5 mm vertical x horizontal e Strip the sheath as shown in the following diagram 6 mm 2 96 Standard Models and Specifications Chapter 2 e Terminal Block Model XW2B 20G5 The XW2B 20G5 is a Connector Terminal Block Conversion Unit with a M3 5 screw terminal block Flat cable connector MIL plug 3 5 112 5 2 9 29 5 45 Two 3 5 dia holes 8 5 1 3 Terminal block i A dl Note The terminal pitch is 8 5 mm 43 5 45 3 Precautions e When using crimp terminals use crimp terminals with the following dimensions Round Crimp Terminals Fork Crimp Terminals Dia 3 7 mm A A 5 6 8 ETC 3 7 mm 6 8 mm max y Applicable Crimp Terminals Applicable Wires Round Terminals 1 25 to 3 AW G22 to AWG16 0 30 to 1 25 mm AWG16 to AWG1
84. Side View Top and Side Views 7 A to 55 A Models J c Dimensions mm 81 FNISBLIT 55 1 50 25 20 5 65 300 EN FN258L 1607 303 5s 275 50 30 AWG10 10 FN258L3007 335 150 60 305 320 85 e Surge Killers e 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 Diode Diodes are used for relatively small Use a fast recovery diode with a short loads when the reset time is not an reverse recovery time Issue such as relays The reset time is increased because the surge voltage is the lowest when power is cut off Used for 24 48 V DC systems Thyristor Thyristors and varistors are used for Select the varistor voltage as follows or varistor loads when induction coils are large as 24 VDC system 39 V in electromagnetic brakes solenoids etc and MET reset time is an issue 190 VDC system 200 V The surge voltage when power is cut off 100 VAC system 270 V Is approximately 1 5 times the varistor 200 VAC system 470 V voltage Capacitor The capacitor resistor combination is Okaya Electric Industries Co Ltd resistor used to absorb vibration in the surge XEB120020 2 uF 1200 when power is cut off The reset time XEB120030 3 uF 1200 Example Fuji Electric Co E
85. Specifications Table 200 V AC Model RBaM WIODIOH WGOOIOH w90010H w o No _ Momentary maximum rota 2 000 tion speed Momentary maximum N m 7 17 14 1 19 3 28 0 torque Momentary maximum cur A rms 7 3 13 9 16 6 28 42 rent kgm 7 24 x 10 1 39 x 103 2 05 x 10 3 17 x 103 4 60 x 103 602 4 Allowable radialioad _ N t9 _ Allowable thrustioad _ N fe s e O Weight Radiation shield dimensions material Applicable load inertia See note 6 Applicable Servo Driver R88D WNO5H ML2 WN10H ML2 WNI1OH ML2 WN15H ML2 WN20H ML2 2 80 Standard Models and Specifications Chapter 2 200 V AC Model R88M WGODIOH WGOOIOH WIKZIOH Unit W30010T W60010T W90010T W1K210T W2K010T Brake inertia kgm 2 1 10 21510 2d sq 8 5 x 10 4 8 5 x 10 4 specifi GD2 4 cations Excitation voltage V 24 DC 10 Power consump W 18 5 18 5 tion at 20 Current consump tion at 20 Static friction 4 41 min 12 7 min 12 7 min 43 1 min 43 1 min torque Attraction time 180 max 180 max 180 max 180 max 180 max See note 3 note 3 acis EE 1 value Rans Insulation grade mam Type F Note 1 The values for items marked by asterisks are the values at an armature winding tempera ture of 100 C combined with the Servo Driver Other values
86. The battery has a faulty Correct the battery con seconds or more connection or is discon nections have elapsed after nected the control power supply is turned e The battery voltage is Replace the battery and ON Used with lower than the prescribed turn the encoder power absolute value value 2 7 V supply ON again setting Pn002 2 e The Servo Driver board is Replace the Servo 0 defective Driver Parameter change Occurs when parameter was Turn the power OFF and requiring restart parameters are changed that required back ON changed the power to be turned OFF and back ON IH Data setting warn Occurs when a An unusable parameter Use a correct parameter ing 1 parameter RD number was used number No PRM W or PPRM WR com mand is sent 1 Li 5 35 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Data setting warn Occurs when a An attempt was made to Seta value in the setting ing 2 outof range MECHATROLINK seta value outside ofthe range command is setting range for the com Check the setting of Sent mand data Pn813 and change it to f the Servo Driver is con 0032 hex if any other nected to the CJ 1W value is set MCH71 or CS1W MCH71 the option moni tor parameters may not be set correctly ul Data setting warn Occurs when a An error occu
87. The machine rigidity set Check the machine rigidity Correctthe machine rigidity ting is inappropriate setting setting The inertia ratio Pn103 e Check the inertia ratio Correct the inertia ratio data is inappropriate Pn103 data Pn103 data The speed loop gain Default Kv 80 0 Hz Correct the setting for the Pn100 is settoo high Refer to the instructions on speed loop gain Pn100 adjusting gain in the user s manual The position loop gain Default Kp 40 0 s Correct the setting for the Pn102 is settoo high Refer to the instructions on position loop gain Pn102 adjusting gain in the user s manual The speed loop integral Default Ti 20 00 ms e Correct the setting for the time constant Pn101 set Referto the instructions on speed loop integral time ting Is Inappropriate adjusting gain in the user s constant Pn101 manual The machine rigidity set Check the machine rigidity Correctthe machine rigidity ting is inappropriate setting setting The inertia ratio Pn103 e Check the inertia ratio e Correct the inertia ratio data is inappropriate Pn103 data Pn103 data e Use the Servomotor switch function 5 39 Troubleshooting Chapter 5 Symptom Probable cause items to check Countermeasures Absolute encoder position displace ment error The position in the host device s memory when the power is turned OFF is dif ferent from the position when t
88. This may cause the relay contacts to fuse For Servomotors of 1 5 kW or less if there is a possibility of the power being turned ON during Ser vomotor rotation either set 0 Stop Servomotor by dynamic brake for the function selection applica tion switch Pn001 0 Stop selection for alarm generation with Servo OFF or make sure that the power will not be turned ON until the Servomotor has stopped 3 40 Chapter 4 Operation 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 Operational Procedure Preparing for Operation User Parameters Operation Functions Trial Operation Procedure Making Adjustments Advanced Adjustment Functions Using Displays Using Monitor Output Operation Chapter 4 Precautions N Caution Confirm that there will be no effect on the equipment and then perform a test operation Not doing so may result in equipment damage N Caution Check the newly set parameters for proper execution before actually running them Not doing so may result in equipment damage N Caution Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury N Caution Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury N Caution When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury N Caution Do notuse the built
89. V AC Input Type Model R88D 2 Input power Single phase 100 115 V AC 85 to 127 V 50 60 Hz supply Single phase 100 115 V AC 85 to 127 V 50 60 Hz ae valu PWM frequency SOW Applicable 3 000 rmin Servomotor somn increments W 10030H WP20030H w40030H WP 10030T WP20030T WP40030T e 1 Perarmance Speed range 0 0196 max at 096 to 10096 at rated rotation speed 0 at rated voltage 10 at rated rotation speed 2 51 Standard Models and Specifications Chapter 2 e 200 V AC Input Type Single phase Input Model R88D WNA5H ML2 WNO1H ML2 WNO2H ML2 WNO4H ML2 WNO8H ML2 Continuous output current rms 10 66 A 0 91A Momentary maximum output cur 2 1 2 8A 6 5 8 5 16 9 rent rms Input Single phase 200 230 V AC 170 to 253 V 50 60 Hz B Single phase 200 230 V AC 170 to 253 V 50 60 Hz Heating 46 133W value Control circu PWM frequency 10 667 kHz Weight Approx Approx Approx Approx Approx 0 7 kg 0 7 kg 0 7 kg 0 9 kg 1 4 kg Maximum applicable Servomotor 50 W 100 W 200 W 400 W 750 W wattage Applica 3 000 r Incremen W05030H W 10030H W 20030H W 40030H W 75030H ble Servo min tal motor Absolute W05030T W 10030T W 20030T W40030T W 75030T mor 3 000 r Incremen WP10030H WP20030H WP40030H WP75030H min Flat tal style Absol
90. W40030T BG05E 1 11 R88M W40030H G11B R88M W40030H BG11BJ R88M W40030T G11B R88M W40030T BG11B 1 21 R88M W40030H G21B R88M W40030H BG21BJ R88M W40030T G21BJ R88M W40030T BG21B 750W 1 5 R88M W75030H G05BJ R88M W75030H BG05BJ R88M W75030T G05BJ R88M W75030T BG05B 1 11 R88M W75030H G118J R88M W75030H BG11BJ R88M W75030T G11B R88M W75030T BG11B 7503086218 1 33 R88M W75030H G338J R88M W75030H BG33BJ R88M W75030T G33BJ R88M W75030T BG33B T RB8M WIKOSOT BGOSS 1 20 R88M W1K030H G20BJ R88M W1K030H BG20BJ R88M W1K030T G20BJ R88M W1K030T BG20B RB8M WIKOSOT BG208 RBBM WIKO3OT BG45E 1 5 15 R88M W1K530H G05BJ R88M W1K530H BG05BJ R88M W1K530T G05BJ R88M W1K530T BGO5B RBBM WIKS3OTBGOOE 1 29 R88M W1K530H G29BJ R88M W1K530H BG29BJ R88M W1K530T G29BJ R88M W1K530T BG29B REBM WIKSSOT BG4SS TT RB8M WZKOSOT BGOSS 19 R88M W2K030H G09BJ R88M W2K030H BG09BJ R88M W2K030T GO9BJ R88M W2K030T BG09B RBBM WZKOSOT 5G208 1 45 R88M W2K030H G45BJ R88M W2K030H BG45BJ R88M W2K030T G45BJ R88M W2K030T BG45B TI R88M W3K030T 8058 19 R88M W3K030H G09BJ R88M W3K030H BG09BJ R88M W3K030T GO9BJ R88M W3K030T BG09B 1 20 R88M W3K030H G20BJ R88M W3K030H BG20BJ R88M W3K030T G20BJ R88M W3K030T BG20B RBBM W3KO3OT BG298 RGBM W3KO3OT BGA5B e Pf 1 1 e e e e 1 1 A w e e e Ce e
91. 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 3 1 2 Servomotors m Operating Environment The environment in which the S ervomotor is operated must meet the following conditions e Ambient operating temperature 0 to 40 C e Ambient operating humidity 2096 to 8096 with no condensation e Atmosphere No corrosive gases Impact and Load e The Servomotor is resistant to impacts of up to 490 m s Do not subject it to heavy impacts or loads during transport installation or removal When transporting it hold onto the Servomotor itself and do not hold onto the encoder cable or connector EN areas Holding onto weaker areas such as these can damage the Servomotor e Always use a pulley remover to remove pulleys cou plings or other objects from the shaft e Secure cables so that there is no impact or load placed on the cable connector areas System Design and Installation Chapter 3 m Connecting to Mechanical Systems e The axial loads for Servomotors are specified in 2 5 2 Performance Spec
92. acceleration deceleration gain Pn152 Predictive control weighting ratio Pn102 Position loop gain Tracking control Positioning control Tracking control Positioning control Setthe predictive control type to Setthe predictive control type to positioning Pn150 1 1 tracking Pn150 1 0 Turn ON predictive control Pn150 0 1 and turn ON the power Predictive control will be set automatically linked to the position loop gain Pn102 Operates with predictive control basic adjustments Specifications satisfied or adjustment limited No Performance Eliminate overshooting Yes improvement Eliminate overshooting Lower the predictive control Performance improvement acceleration deceleration gain Pn151 or the predictive con trol weighting ratio Pn152 while checking for overshoot ing due to position deviation Reduce tracking deviation Reduce tracking deviation M Eliminate No S horten settling time overshooting Raise the predictive con Increase the predictive control trol acceleration deceler weighting ratio Pn152 to a Lower the position gain ation gain Pn151 to a range where overshooting P102 while checking for range where overshoot does not occur and the torque overshooting due to position ing does not occur waveform does not oscillate deviation End m Applicable Restriction e Advanced auto tuning can
93. added Note 1 Set Pn107 to 0 if not using bias function Note 2 If the bias rotation speed is too great the S ervomotor operation may become unstable The optimum value will vary depending on the load gain and bias addition range so check and adjust the Servomotor response Gradually increase the value starting from Pn107 0 Bias function operation Speed command command pulse frequency S ervomotor speed Bias function not used Bias function used Pn107 added to speed command when residual pulses exceed P n108 Time 4 40 Operation Chapter 4 109 Feed forward amount Fos fon Setting 0 to 100 Unit Default Restart range setting power Sets the feed forward compensation value during positioning e When performing feed forward compensation the effective Servo gain rises improving response There is almost no effect however on systems where the position loop gain is sufficiently high Use to shorten positioning time Note Setting a high value may result in machine vibration Set the feed forward amount for general machinery to 8096 maximum Check and adjust machine response 10 Feed forward command filter Position 0 to 6400 Unit x 0 01 ms Default Restart setting power Sets the feed forward primary lag command filter during position control f the positioning completed signal is interrupted i e repeatedly turns ON and OFF because of performing feed
94. alarm Abnormal vibration was detected in DB stop Yes the Servomotor rotation speed Auto tuning alarm The inertia ratio was in error during DB stop Yes auto tuning Overload momentary O perated for several seconds to Zero speed Yes maximum load several tens of seconds ata torque stop greatly exceeding the rating Overload continual maxi Operated continually at a torque DB stop Yes mum load exceeding the rating DB overload During DB dynamic braking oper DB stop Yes ation rotation energy exceeds the DB capacity Inrush resistance overload The main circuit power supply has DB stop Yes frequently and repeatedly been turned ON and OFF Overheat The Servo Driver s radiation shield Zero speed Yes overheated stop Troubleshooting Error detection function Cause of error Stopping Alarm reset method at possible Encoder backup error The encoder power supply was DB stop completely down and position data was cleared Encoder checksum error The encoder memory checksum DB stop results are in error Encoder battery error The absolute encoder backup bat DB stop Yes tery voltage has dropped Encoder data error The encoders internal data is in DB stop error Encoder overspeed The encoder rotated at high speed DB stop when the power was ON Encoder overheat The encoder s internal temperature DB stop 15 too high Display Current detection error2 The phase V current detector is in DB stop error Curr
95. alarm reset operation been reset several times method by turning OFF the power e Was the load excessive Recheck the load and or was the regeneration operating conditions processing capacity exceeded The Servo Driver was Reduce the Servo mounted in an unsult Driver s ambient temper able way direction ature to 55 or below ing Is there heat radiation in the or is there a heating effect from the surroundings e The Servo Driver s fan is Replace the Servo stopped Driver e Servo Driver is defective Replace the Servo Driver 5 16 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs 23 m Regeneration error Occurs when the control circuit power supply is turned ON Occurs when the main circuit power supply is turned ON Occurs during nor mal operation e The Servo Driver board is defective For models of 400 W and below a value other than zero is setfor Pn600 and there is no external regeneration resistance installed e Check whether the regeneration resistance wiring is defective loose or disconnected Servo Driver is defective The regeneration tran sistor or the voltage detection component is defective e Check whether the regeneration resistance wiring is defective loose For models of 500 W or greater the jumper between B2 and B3 is disconnected e The reg
96. ampli tude Sets the filter frequency for internal torque commands 2000 T 100 to NE 2000 Sets the torque command filter Q value 70 ee D 1000 0 to 65535 Sets the filter time constant for No 2 gain internal torque 100 x0 01ms 0to commands 65535 Do not change setting 100 Do not change setting um Sets the vibration suppression value while stopped F 10 to 100 Sets the time from when the position command becomes 0 1000 0 to until the stopped vibration suppression begins 65535 Sets the gravity compensation torque x 0 01 20000 to 20000 Sets the sweep torque command amplitude 1 to 800 Sets the filter time constant for internal torque commands 6 11 Appendix Chapter 6 Sequence Parameters from Pn500 JI range power Param Parame Explanation No ter name E Pn502 Rotation the number of D os for the Servomotor rotation r min 1 to 10000 speed for detection output TGON motor rotation detection Pn503 Sets the allowable fluctuation number of rotations forthe 10 r min 0 to 100 BEN Pn506 Brake tim Sets the delay from the brake command to the Servomo x 10 ms 0 to 50 ing 1 tor turning OFF Pn507 Brake S ets me number of rotations for outputting the brake com 100 r min 0 to 10000 command mand Speed Pn508 Brake tim Sets the delay time from the Servomotor turning OFF to x 10 ms 10 to 100 ing 2 the brake c
97. are at normal conditions 20 6596 The momentary maximum torque shown above indicates the standard value Note 2 The brakes are the non excitation operation type released when excitation voltage is ap plied Note 3 The operation time is the measured value reference value with a surge killer CR50500 by Okaya Electric Industries Co LTD inserted Note 4 The allowable radial and thrustloads are the values determined for a service life of 20 000 hours at normal operating temperatures Note 5 The value indicated for the allowable radial load is for the position shown in the following di agram a Thrust load le nd of Servomotor shaft Note 6 Applicable Load Inertia 1 The drivable load inertia ratio load inertia rotor inertia changes depending on the me chanical configuration being driven and its rigidity Highly rigid machines can operate with a large load inertia Select a Servomotor and verify operation 2 Ifthe dynamic brake is used frequently with a large load inertia it may lead to burnout of the dynamic brake resistor Do not repeatedly turn the Servo ON and OFF with the dy namic brake enabled 2 81 Standard Models and Specifications Chapter 2 e Torque and Rotation Speed Characteristics 1 000 r min Servomotors With a 200 VAC Servo Driver The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M W 30010H T 300 W Nem 8
98. are bound Driver Driver uc N 25 XXXX2 O L2C m Y L2 OL3 Vi Binding e Separate power supply cables and signal cables when wiring m Selecting Components This section explains the criteria for selecting the connection components required for improving noise resistance These criteria include capacity performance applicable range and so on For more details contact the manufacturers directly e No fuse Breakers NFB When selecting no fuse breakers take into consideration the maximum output current and the inrush current 3 20 System Design and Installation Chapter 3 voltage A rms circuit A 0 p current 125 Single phase 10 200 47 mw woa uw fa fas Single 200 pow ps ps phase nm how 12 ms 200 E pre Three phase 200 fow fas 635 _ 20 wns jsw p3 e 9125 200 WN20H Maximum Input Current e The momentary maximum output for a Servo Driver is approximately three times that of the rated output and a maximum output of three seconds can be executed Therefore select no fuse break ers with an operating time of at least five seconds at 300 of the rated maximum output G eneral purpose and low speed no fuse breakers are generally suitable e g Mitsubishi S Series The table in 3 2 3 Terminal Block Wiring shows the rated power supply input currents for each Ser vomotor Sele
99. area is required for 200 V 100 W Servo Drivers This allows a great saving of space in the control panel m W series Servomotor Compatibility A W series Servomotor can be used as is including the encoder cable and power cable so the sys tem can be upgraded without changing the structural design The W series product line offers 3 000 r min Servomotors Cylinder style 50 W to 3 kW Flat style 100 W to 1 5 kw 1 000 r min S ervomotors 300 W to 2 kW and 1 500 r min Servomotors 450 W to 1 8 kW Also IP 67 waterproof Servomotors can be connected in the same way m High speed High precision Motion Control Capability A less deviation control function and a predictive control function are provided to shorten the Servo motor s settling time and achieving high tracking capability The W series Servomotors handle motion control with increased speed and precision including syn chronous control in combination with CS 1TW MCH71 or CJ IW MCH71 Motion Control Units Introduction Chapter 1 m Regenerative Power Processing In addition to the built in regenerative power processing function using regeneration resistance external regeneration resistance can also be connected allowing the W Series to be used for appli cations with high regenerative energy on vertical axes m Conformity to Standards The W Series conforms to EC Directives both low voltage and EMC as well as to UL and cUL requirements thereby assisting the user in me
100. automatic gain switching is set and the switching conditions are met Pn139 2 Gain switching condition B must be set Refer to 4 7 4 Automatic Gain Switching Position for details f the mechanical system inertia changes greatly or if you want to change the response for when the Servomotor is rotating and when it is stopped you can achieve the appropriate control by setting the gain and time constant beforehand for each of these conditions and then switch according to the conditions Note 1 Automatic gain switching is enabled for position control only When position control is not used the Servomotor operates using No 1 gain Pn100 Pn101 Pn102 Note 2 When automatic gain switching is used set No 1 gain for gain during operation and set No 2 gain for gain while stopped Pn107 Bias rotational speed Position S etting 0 to 450 Unit r min Default Restart range setting power 108 Bias addition band Position S etting 0 to 250 Unit Command Default Restart range unit setting power e These two parameters set the position control bias e This function shortens the positioning time by adding the number of bias rotations to the speed command i e commands to the speed control loop e When the deviation counter residual pulses exceed the Pn108 bias addition band setting the speed set in Pn107 bias rotational speed is added to the speed command and when they are within the limits for Pn108 it stops being
101. battery has a faulty connection or is discon nected The battery voltage is lower than the prescribed Correct the battery con nections Replace the battery and turn ON the encoder power again value 2 7 V e The Servo Driver board is Replace the Servo defective Driver 5 25 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs e The encoder is malfunc e Ifthe problem continues tioning to occur frequently after the encoder power is Encoder data error Occurs when the control circuit power supply is turned ON turned ON again replace the Servomotor e The Servo Driver board is Replace the Servo defective Driver e The encoder is malfunc Correct the encoder s tioning peripheral wiring Sepa rating the encoder and power lines grounding etc Encoder is defective f the problem occurs fre quently replace the Ser vomotor e The Servo Driver board is Replace the Servo defective Driver e The Servomotor is rotat Set the Servomotor to ing at 200 r min or more rotate at less than when the encoder power 200 r min when the is turned ON or when encoder power is turned the SEN signal turns ON ON for an absolute encoder Encoder over Occurs when the Speed control circuit power supply is turned ON Encoder is defective Replace the Servomotor e The Servo Driver board is Replace the Servo de
102. change is set to 1 e With the CJ 1W NCF 71 the output torque reaches the torque limit value specified by option command value 1 or 2 with the torque limit forward reverse rotation current limit designation setto ON when Pn002 0 Torque command input change is set to 3 2 67 Standard Models and Specifications Chapter 2 m Speed Limit Detection Output VLIMT Note As the default setting the VLIMT signal is not allocated It is allocated in P n50F 1 e The VLIMT signal is turned ON in either of the following two cases The Servomotor rotation speed reaches the limit set in Pn407 speed limit e With the CJ 1W NCF 71 the Servomotor rotation speed reaches the speed limit specified by option command value 1 when Pn002 1 speed command input change is set to 1 Note This output is always OFF when the control mode is any mode other than torque control m Brake Interlock Output 1 BKIR Brake Interlock Output Common 2 BKIRCOM Note This is the default allocation The BKIR signal is allocated in P n50F 2 External brake timing signals are output according to the settings in Pn506 Brake timing 1 Pn507 Brake command speed and 508 Brake timing 2 Note For details on the brake interlock function refer to 4 4 6 Brake Interlock All Operating Modes m Warning Output WARN Note As the default setting the WARN signal is not allocated It is allocated in Pn50F 3 e The WARN signal is turned ON in any of the fol
103. change seting Notused 8 Do notchange seting Notused 8 Do notchange seting Notused 8 Donotchange seting INP 1 posi tioning com pleted 1 signal out put terminal allocation VCMP speed con formity sig nal output terminal allocation TGON ser vomotor rotation detection signal out put terminal allocation READY servo ready sig nal output terminal allocation CLIMT cur rent limit detection signal out put terminal allocation VLIMT speed limit detection signal out put terminal allocation BKIR brake interlock signal out put terminal allocation WARN warning signal out put terminal allocation Default setting Explanation Same as Pn50A 3 NOT reverse drive pro hibited signal allocation Setting Restart range power i o Notused fowo 2000 Allocated to CN1 pins 1 2 0 to F 8882 Do not change setting 8888 Do not change setting Do not change setting 8 B B E Do not change setting 8 i B l Do not change setting Do not change setting 2 Allocated to CN1 pins 23 24 3 Allocated to CN1 pins 25 26 S ame as Pn50E 0 VCMP speed coinci dence signal allocation S ame as Pn50E 0 TGON Servomotor rota tion detection signal allocation S ame as Pn50E 0 READY servo ready signal allocation S ame as Pn50E 0 CLIM
104. defective Replace the Servo Driver 5 22 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Inrush resistance overload e The Servo Driver board is defective Occurs when the control circuit power supply is turned ON Occurs at times other than when the main circuit Replace the Servo Driver e The Servo Driver board is defective Replace the Servo Driver power supply is turned ON and OFF e Reduce the main circuit power supply ON OFF frequency to 5 times min The allowable main cir cuit power supply ON OFF frequency was exceeded for the inrush current limit resistance e Servo Driver is defective Replace the Servo Driver Occurs when the main circuit power supply is turned ON and OFF 5 23 Troubleshooting Chapter 5 Display A IH 5 24 Status when Cause of error Countermeasures error occurs Overheat Occurs when the control circuit power supply is turned ON Overheating of radiation shield occurs when the main circuit power supply is turned ON or during Ser vomotor operation e Servo Driver is defective Replace the Servo Driver An overload alarm has e Change the alarm reset been reset several times method by turning OFF the power e The load exceeds the e Recheck the load condi rated load tions the operating con ditions and the Servomotor capacity e The Serv
105. ev ta E a ts 4 96 4 6 Making Adjustments 4 98 4 7 Advanced Adjustment Functions 4 103 4 5 Using Displays A 4 130 4 9 sine xn os dao cde IBEX ST nane Grads Bento 4 132 Chapter 5 Troubleshooting 5l 5 1 Measures when Trouble OCCUES ee d d 45 4 et Ne Roh dca uc d x 5 2 ANGUS otha eub THUS 5 6 3 9 c ITOUDICSHOOUNG oia bese nd Oke ERR de E 5 12 5 4 Overload Characteristics Electronic Thermal 5 43 5 55 Periodic S ut ede se es M n fest dra 5 45 5 6 Replacing the Absolute Encoder Battery 5 47 Table of Contents Chapter 6 Appendix 6 1 Connection Examples dale bh aai ade de est eke ae ded eee 6 2 6 2 Parameter setine Tables uu eee a cm Sieh EIE ES i S aq dra 6 3 653 d oe 6 21 MND ON Sound RA Se I 1 Chapter 1 Introduction 1 1 1 2 1 3 1 4 1 5 Features System Configuration Servo Driver Nomenclature Applicable Standards and Models System Block Diagrams Introduction Chapter 1 1 1 Features
106. feedback filter time constantfor 4 3 3 Parameter time constant 2 the No 2 gain Details Setting range 30 to 3 200 x 0 01 ms Torque command filter Adjust for less deviation control set Pn10B 2 to 4 3 3 Parameter 1 4 time constant 2 1 Details Setting range 0 to 2 500 x 0 01 ms Pn1A7 0 Utility control switches Setthe integral compensation processing for 4 3 3 Parameter Integral compensa No 1 gain and the No 2 gain during less Details tion processing deviation gain switching 4 120 Operation Chapter 4 No 1 9 Utility integral gain Adjust the auxiliary integral gain 4 3 3 Parameter Setting range 0 to 500 Hz Details 1 Position proportional Adjustthe position proportional gain 4 3 3 Parameter gain Setting range 0 to 500 Hz Details 1 Speed integral gain Adjust the speed integral gain 4 3 3 Parameter Setting range 0 to 500 Hz Details 1 Speed proportional Adjust the speed proportional gain 4 3 3 Parameter gain Setting range 0 to 2 000 Hz Details m Procedure for Adjusting Less deviation Control Execute and adjust less deviation control according to the following flowchart The inertia ratio must be set first and then the notch filter if required Then select less deviation control and turn the power OFF and back ON 4 121 Operation Chapter 4 Setthe inertia ratio Manually set Pn103 or use the inertia calculation functio
107. for each Servomotor is shown below Set this resolution as the upper limit INC 3 000 r min Servomotor 30 to 750 W 2 048 pulses rotation 3 000 r min S ervomotor 1 to 3 kW 32 768 pulses rotation 3 000 r min flat type S ervomotor 2 048 pulses rotation 1 000 r min S ervomotor 32 768 pulses rotation ABS 3 000 r min S ervomotor 30 to 750 W 16 384 pulses rotation 3 000 r min S ervomotor 1 to 3 kW 32 768 pulses rotation 3 000 r min flat type S ervomotor 16 384 pulses rotation 1 000 r min S ervomotor 32 768 pulses rotation 1 500 r min S ervomotor 32 768 pulses rotation Note 1 value greater than the encoder resolution is set the encoder resolution will be taken as the divider rate Note 2 For details on the encoder divider rate refer to 4 4 5 Encoder Dividing Function All Oper ating Modes Pn214 Backlash compensation amount Position Setting 32767to Unit Command Default Restart range 32767 unit setting power Pn215 Backlash compensation time constant Position Setting to 65535 Unit x0 01ms Default Restart range setting power Note For details refer to 4 7 12 Backlash Compensation Position Pn216 Setting Unit Default Restart range setting power Note Do not change setting Pn217 Not used Setting Unit Default Restart range setting power Note Do not change setting 4 53 Operation Chapter 4 Not used Unit Default 20 Restart setting power Note Do not chang
108. foreign objects from entering the product Failure to observe this may result in fire Be sure to install the product in the correct direction Not doing so may result in malfunction Provide the specified clearances between the Servo Driver and the control box or 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 ter minals Connection of bare stranded wires may result in burning Always use the power supply voltages specified in the this manual An incorrect voltage may result in malfunctioning or burning Take appropriate measures to ensure that the specified power with the rated volt age and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunctioning Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning To avoid damage to the product take appropriate and suffic
109. forward compensation and a speed overshoot is generated alleviate the problem by setting the primary lag filter e Speed Control Setting Pn10B Default Setting 0004 Pn10B 0 Speed control setting P control switching conditions Position speed Setting 0 to 4 Unit Default Restart range setting power Setting Explanation Setting Explanation 0 X JInternaltorque command 10 condition Position speed Speed command Pn10D condition Position speed Acceleration command Pn10E condition Position speed Deviation pulse Pn10F condition Position 4 control switching function not used Position speed e Sets the speed control loop switching function from PI control to P control Normally using the speed loop gain and the position loop gain set by means of the auto tuning operation will provide adequate control Consequently there is normally no need to change the setting e When PI control is always being used switching to P control may help if the Servomotor speed overshoots or undershoots i e the effective Servo gain is reduced by switching to P control to sta bilize the Servo System The positioning time can also be shortened in this way f the output torque is saturated during acceleration and deceleration set speed control to 0 switching by internal torque command or 2 switching by acceleration command f the speed control overshoots or undershoots without the output torque be
110. in Pn406 Details m Operation Stopping Methods when Forward Reverse Drive Prohibit is OFF Pn001 0 Deceleration Method Stopped Status Pn001 1 0 or 1 Dynamic brake Servo unlocked 0 e Pn001 1 2n Servo unlocked Emergency stop torque Pn406 See note 1 abe Servo locked Note 1 If the Servomotor stops in this mode during position control the position loop is disabled Note 2 The position method used during torque control depends on Pn001 0 setting the P001 1 setting is unrelated Note 3 With a vertical load the load may fall due to its own weight if itis left ata drive prohibit input We recommend that you set the stop method for the drive prohibit input P n001 1 for decel erating with the emergency stop torque and then set stopping with the servo locked SV 1 to prevent the load from falling 4 78 Operation Chapter 4 POT forward ON drive prohibited orf LOOO 00 irect onn ON NOT reverse drive prohibited OFF Reverse direction lt Posit osition pi Only forward drive allowed Both forward and reverse Only reverse drive allowed drive allowed Note 1 When a command to travel in a prohibited direction within the drive prohibit area is input the 5 ervomotor is stopped using the method set in Pn001 1 If a command to travel in the op posite direction is input the Servomotor automatically resumes operation Note 2 With position control the feedback pulse
111. in brake of the Servomotor for ordinary braking Doing so may result in a malfunction Operation Chapter 4 4 1 Operational Procedure After mounting wiring and connecting a power supply check the operation of the Servomotor and Servo Driver Then make the function settings as required according to the use of the Servomotor and Servo Driver If the parameters are set incorrectly there is a risk of an unforeseen Servomotor operation Set the parameters in accordance with the instructions in this manual 1 Mounting and installation Install the Servomotor and Servo Driver according to the installation conditions Do not connect the Servomotor to the mechanical system before checking the no load operation R efer to 3 1 n stallation Conditions 2 Wiring and connections Connect to power supply and peripheral devices Specified installation and wiring requirements must be satisfied particularly for models conforming to the EC Directives Refer to 3 2 Wiring 3 P reparing for operation Before turning ON the power supply check the necessary items Check by means of the displays to see whether there are any internal errors in the S ervo Driver If using a Servomotor with an ab solute encoder first set up the absolute encoder Refer to 4 4 2 Speed Control Speed 4 Checking operation Check the operation of the Servomotor and Servo Driver alone by performing a jogging operation without a load Refer to 4 4 5 Encoder Dividin
112. multiplier selection Do not change setting Func Lowered bat battery voltage drop as 4000 he ED voltage alarm A 830 selec alarm warn an cde drop as tor Qo 2E Do not change setting switches 8 2 Wening 0 Warnings detected NM Warnings not detected 3 Notused 4 not change setting Servo Gain Parameters from Pn100 Param Parameter Explanation See note 1 Default Setting Restart j eter No name Wee Explanation See note 2 setting range power Pn100 Speed loop pecca LP speed loop response x 0 1 Hz 10 to gain 20000 101 5 loop loop integral time constant 2000 x0 01ms 15to integration 51200 constant Pn102 h Adjusts position loop response 0 1 5 10 to h gain 20000 Pn103 Inertia ratio Setusing the ratio between the machine system inertia and 0 to the S ervomotor rotor inertia 20000 104 Speed loop des speed loop response enabled by gain switching x 0 1 Hz 10 to gain 2 input 20000 105 Speed loop inoue loop integral time constant enabled by gain switching 2000 0 01 ms 15 to integration input 51200 constant 2 Position pierda position loop response enabled by gain switching x 0 1 s 10 to loop gain 2 input 20000 6 5 Appendix Chapter 6 Param Parameter Explanation See note 1 Default Setting Restart i 2 107 Bias rota Sets position control bias r min oa to 450 tional speed 10
113. 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 Servomotors and Servo Drivers contain many components and will operate properly only when each of the individual components is operating properly Some of the electrical and mechanical components require maintenance depending on application conditions In order to ensure proper long term operation of Servomotors and Drivers periodic inspection 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 Servomotor or Driver Recommended maintenance times are listed below for Servomotors and Drivers Use these for reference in determining actual maintenance schedules gm Servomotors Recommended Periodic Maintenance Bearings 20 000 hours Reduction gear 20 000 hours Oil seal 5 000 hours Application Conditions Ambient S ervomotor operating temperature of 40 C within allowable shaft load rated operation rated torque and r m installed as described in oper ation manual e The radial loads during operation rotation on timing pulleys and other components contacting belts is twice the still load Consult with the belt and pulley manufacturers and adjust designs and system settings so that the allowable shaft load is not e
114. or it is greatly fluctuating 5 34 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Regeneration Occurs when the The Servo Driver board is Replace the Servo overload control circuit defective power supply is turned ON Occurs during nor Regenerative energy is Reselect the regenera mal operation excessive tion resistance amount Large increase IN Regeneration Is continu or recheck the load con E resiS ous ditions and operating conditions ture Occurs during nor mal operation Driver e The capacity set in e Correct the setting for Pn600 is smallerthan the Pn600 Small increase in external regeneration regeneration resiS resistance capacity tance tempera ture e Servo Driver is defective Replace the Servo Driver Occurs during Ser Regenerative energy is Reselect the regenera vomotor decelera excessive tion resistance amount tion or recheck the load con ditions and operating conditions Absolute encoder when The Servo Driver board is Replace the Servo battery warning control circuit defective Driver power supply is turned ON Occurs when the The Servo Driver board is Replace the Servo control circuit defective When abso Driver power supply is lute values are used turned ON incrementally Setting Pn002 1 Occurs when four
115. overload alarm are detected based on the set value Note If an External Regeneration Resistor or External Regeneration Resistance Unit is not con nected set Pn600 to 0 Pn800 0 Communications control MECHATROLINK II communications check mask All operation modes Setting 0 to 3 Unit Default Restart range setting power Setting Explanation 3 Explamton Ignore communications errors 6 WDT errors A E51l I e This function is used for ignoring communications alarm checks in operations such as debugging during trial operation When itis used for normal operation O with check must be set Pn800 1 Communications control Warning check mask All operation modes Setting 0 to 7 Unit Default Restart range setting power Setting Explanation Explamton oo o Nomad S 4 gmoecommunsionswammg 88 e Depending on the setting for Pn800 1 warnings are not detected for A 94 951 and A 961 I Warnings are detected for A 94 and A 95L A in the default settings 4 67 Operation Chapter 4 e When connecting to the CJ IW NCF71 or CS1IW NCF 71 always use the default setting 4 or a set ting of 0 Pn800 2 Communications control Communications error count at single transmission All operation modes S etting 0 to F Unit Default Restart range setting power Setting Explanation Explanation
116. pin enabled using H input e When 7 always enabled is set the external latch signal is always enabled e When 8 always disabled is set the external latch signal is always disabled Pn511 2 Input signal selections 5 EXT2 external latch signal 2 signal input terminal allocation All operation modes 0 to F Unit Default Restart setting power e Settings are the same as for Pn511 1 When 7 always enabled is set the deceleration switch is always enabled e When 0 to 3 or 8 to C always disabled is set the deceleration switch is always disabled Pn511 3 Input signal selections 5 EXT3 external latch signal 3 signal input terminal allocation All operation modes Setting 0 to F Unit Default Restart range setting power 4 29 Operation Chapter 4 e Settings are the same as for Pn511 1 e When 7 always enabled is set the deceleration switch is always enabled e When 0 to 3 or 8 to C always disabled is set the deceleration switch is always disabled e Output Signal Selections Pn50E to Pn510 Pn512 e Output signal selection is performed in 50 to Pn510 and whether each signal should be reversed is set in Pn512 You can allocate multiple output signals to the same pin Such signals are output separately as an OR operation e The default setting is for BKIR brake interlock output to be allocated to pins No 1 and 2 Pn50E 0 Output signal selections 1 INP 1 p
117. pitch 45 75 130 2 18 Standard Models and Specifications Chapter 2 e Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions 6 2252 105 5 Mounting Holes 4 5 Two M 4 holes Terminal 7 ek Block mil 170 0 5 Mounting pitch 2 150 ael Ni 1 1 18 E 130 E a 7119 5 1 25 5 m Single phase 100 V R88D WNO4L ML2 400 W e Wall Mounting External dimensions Mounted dimensions Mounting Holes Air flow Three M 4 holes Terminal Block 139 5 0 5 Mounting pitch Ground terminals Two M4 screws Air flow Mounting pitch 70 70 2 19 Standard Models and Specifications Chapter 2 e Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions Mounting Holes Two M 4 holes o e Ground terminals Two M4 screws m Single phase 200 VAC R88D WNOAH ML2 400 W e Wall Mounting External dimensions Mounted dimensions Mounting Holes 6 Two M 4 holes in LP rM F E 12 i mA 4 Terminal 139 5 0 5 Mounting pitch 1 LI D OCD d o o e o o w o o e ami 5 Ground terminals Two 4 screws 2 20 Standard Models and Specifications Chapter 2 e Front Panel Mounting Using Mounting Brackets External dim
118. position inputs The input signal selections Check the settings forthe Correct Check the settings Pn50A to Pn50D areset inputsignal selections for the input signal selec incorrectly Pn50A to Pn50D tions Pn50A to Pn50D The type of encoder being Is incremental or an Match the setting in used is different from the absolute encoder Pn002 2 to the type of parameter setting encoder that is being used The Servo ON SV ON e Check the host device com Specify the Servo ON SV command is not being mands ON command sent The sensor ON e Check the host device com Send commands to the SENS ON command is Servo Driver in the correct not being sent sequence The forward drive prohibit Check the POT and NOT e Turn ON the POT and NOT P OT and reverse drive input signals input signals prohibit NOT input sig nals are remaining OFF Servo Driver is defective The Servo Driver board is Replace the Servo Driver defective The Servomotor Servomotor wiring is faulty Check the Servomotor wir Correct the Servomotor operates momen ing wiring m then Encoder wiring is faulty e Check the encoder wiring Correct the encoder wiring Servomotor rota Wiring connections to Connections are unstable e Tighten any looseness at tion is unstable S ervomotor are faulty m line phase U V the processing terminals or encoder connectors and connectors
119. range 0 to 10 000 r min Details e Limiting Speeds with Option Command Values CJ 1W NCF71 Only e When 1 is set for Pn002 1 Speed command input change speed limit values can be specified with option command value 1 Unit 0 001 command range 0 to 100 000 96 of maximum number of Servomotor rotations e Speed limits based on option command values are the same for forward and reverse rotation Parameter Parameter name Explanation Reference No Pn002 1 Speed command input Set Pn002 1 to 1 option command value used 4 3 3 Parameter change as speed limit command Details 4 88 Operation Chapter 4 4 4 11 Acceleration Deceleration Function Position m Functions This function sets the speed during acceleration and deceleration to two levels e The setting is made by a host device from MECHATROLINK II m Parameters Requiring Settings No Pn80A First step linear accel Sets the step 1 acceleration for when two step 4 3 3 Parameter eration parameter acceleration is used Details Pn80B Second step linear Sets the step 2 acceleration for when two step 4 3 3 Parameter acceleration parameter acceleration is executed When using one step Details acceleration set this parameter as a one step acceleration parameter Acceleration parame Sets the switching speed for the step 1 and step 4 3 3 Parameter ter switching speed 2 acceleration when two step acceleration is Details executed When using one step ac
120. range setting power Note Refer to 4 3 2 Important Parameters Pn000 1 Function selection basic switches Not used S etting Unit Default Restart range setting power Note Do not change setting Pn000 2 Function selection basic switches Unit No setting All operation modes S etting 0 to F Unit Default Restart range setting power Setting Explanation Setting Explanation Sets the Servo Driver unit number e This setting is required when multiple Servo Drivers are connected and Computer Monitor S oftware is used 000 3 Function selection basic switches Not used S etting Unit Default Restart Yes range setting power Note Do not change setting e Function Selection Application Switches 1 Pn001 Default setting 0000 Pn001 0 Function selection application switches 1 Stop selection if an alarm occurs when Servomotor is OFF All operation modes S etting 0 to 2 Unit Default Restart range setting power Note Refer to 4 3 2 Important Parameters 4 32 Operation Chapter 4 Pn001 1 Function selection application switches 1 Stop selection when drive prohibited is input Posi tion speed 0 to 2 Unit Default Restart setting power Note Refer to 4 3 2 Important Parameters Pn001 2 Function selection application switches 1 AC DC power input selection All operation modes 0 1 Unit Default Restart setting power Setting Explanation Setting Explanation 0
121. rated Servomotor for use in a wet environment install waterproof connectors for the power and Encoder Cables The recommended connectors are the same as for the EC Directives listed in the tables above m Oil Seals If the Servomotor is to be used in a location where it may be exposed to oil or grease select an IP 67 rated Servomotor or a Servomotor with an oil seal m Other Precautions e Do not apply commercial power directly to the Servomotor The Servomotors run on synchronous AC and use permanent magnets Applying commercial power directly will burn out the motor coils 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 shaftto a load e Absolutely do not remove the encoder cover or take the motor apart The magnet and the encoder are aligned in the AC Servomotor If they become misaligned the motor will not operate 3 7 System Design and Installation Chapter 3 3 2 Wiring 3 2 1 Connecting Cable This section shows the types of connecting cable used in an OMNUC W series Servo System The wide selection of cables provided for configuring a Servo System using a Motion Control Unit or Position Unit makes wiring simple m Servo System Configuration Computer Monitor Software 6 Computer Monitor Cable Controller CN6 MECHATROLINK II communications cable Motion Control Unit MECHATROLI
122. ratio is large however adjustment becomes difficult using only the rigidity setting and autotuning as shown below The following table lists the adjustment criteria according to the load inertia Load inertia ratio Adjustment criteria Below 500 Adjustment is possible using mainly the factory settings or the rigidity setting function Fn001 500 to 1 000 Adjustment is possible using mainly the rigidity setting and autotuning 1 000 to 3 000 Adjustment may be possible using the rigidity setting and autotuning but it may be nec essary to manually adjust settings such as the gain Above 3 000 Adjustment will be difficult using the rigidity setting and autotuning Set the load inertia based on mechanism settings and manually adjust the gain 3 4 2 Dynamic Braking When Load Inertia Is Large Dynamic braking is used to brake the Servomotor by consuming rotational energy using a resistor The Servomotor s rotational energy can be found by using the following equation Servomotor rotational energy 1 2 x 21 2 x x 2 x n x 60 J Load inertia Servomotor rotor inertia N Servomotor speed r min Therefore if the load inertia ratio is large and the motor speed is high the load on the dynamic brake circuit will be great and there will be a risk of burnout Burnout may also occur if the dynamic brake is used repeatedly within a short period of time Do not use the dynamic brake under conditions where the maximum
123. resonance causing an overload alarm to occur f the position loop gain is low you can shorten the positioning time using feed forward You can also shorten the positioning time using the bias function Position loop gain is generally expressed as follows Command pulse frequency pulses s Position loop gain Kp 0 1 5 Deviation counter residual pulses pulses When the position loop gain is manipulated the response is as shown in the diagram below When position loop gain is high Servomotor speed on Ld Ld 2 2 2 2 2 When position loop gain is low Time Pn103 Inertia ratio Position d Setting Oto 20000 Unit Default Restart range setting power Set the mechanical system inertia load inertia for Servomotor shaft conversion using the ratio 96 of the Servomotor rotor inertia If the inertia ratio is set incorrectly the Pn103 inertia ratio value will also be incorrect 104 Speed loop gain 2 Position speed Setting 10 to 20000 Unit x 0 1 Hz Default Restart range setting power 105 Speed loop integration constant 2 Position speed 15 to 51200 Unit 0 01 ms Default 2000 Restart setting power 4 39 Operation Chapter 4 106 Position loop gain 2 Position 10 to 20000 Unit x 0 1 5 Default Restart setting power e These parameters are gain and time constants selected when using gain switching under the fol lowing conditions e When
124. setting power Note Detection accuracy tends to increase with a higher command amplitude but mechanical vibra tion and noise are temporarily increased When changing the command amplitude increase the amplitude value little by little while observing the conditions Sequence Parameters from Pn500 Pn501 Not used Setting Unit Default 10 Restart range setting power Note Do not change setting Pn502 Rotation speed for motor rotation detection All modes Setting 1 to 10000 Unit r min Default Restart range setting power Set the rotation speed for outputting TGON Servomotor rotation detection output e TGON turns ON when the Servomotor rotation speed is greater than the set value Note Related parameter Pn50E 2 TGON signal output terminal allocation Pn503 Speed conformity signal output width S peed Setting 0 to 100 Unit r min Default Restart range setting power Set the allowable fluctuation range rotation speed for outputting VCMP speed conformity output during speed control VCMP turns ON when the difference between the speed command value and Servomotor rotation speed is less than the set value Note Related parameter Pn50E 1 VCMP signal output terminal allocation Pn506 Brake timing 1 all operation modes Setting 0 to 50 Unit x 10 ms Default Restart range setting power Pn507 Brake command speed all operation modes Setting Oto 10000 Unit r min Default Restart
125. specifications 2 101 2 110 Encoder Connectors 2 120 encoder dividing function 4 79 encoder input specifications 2 68 encoders specifications 2 91 2 92 error diagnosis alarms 5 12 warning indicators 5 33 EXT2 EXT3 External Latch Signals 1 2 3 2 66 External Latch Signals 1 2 3 EXTI EXT2 EXT3 2 66 external regeneration resistance 3 35 External Regeneration Resistor specifications 2 121 feed forward function 4 104 Forward Drive Prohibit POT 2 65 4 78 function selection parameters from Pn000 4 32 G gain adjustment 4 102 gain parameters from Pn100 4 38 H harmonic currents countermeasures 3 22 I O signals specifications 2 60 incremental encoders specifications 2 91 indicators 4 130 INPI INP2 Positioning Completed Outputs 1 2 2 66 inspection precautions 5 45 installation conditions 3 3 precautions 1 2 3 2 L less deviation control 4 120 M maintenance 5 45 precautions 1 4 5 45 manual tuning 4 100 MECHATROLINK II Cable 2 93 MECHATROLINK II Cables 2 93 3 9 MECHATROLINK II communications cable specifications 2 93 setup 2 58 specifications 2 57 MECHATROLINK II Terminating Resistor 2 93 MECHATROLINK II Terminating Resistors 2 93 3 9 models 2 2 NFB no fuse breakers 3 20 3 26 no fuse breakers NFB 3 20 3 26 noise filters 3 28 noise resistance Encoder Cables 3 31 wiring 3 19 nomenclature 1 5 NOT
126. speed control and internally set speed control Note Refer to 4 4 8 Soft Start Function Speed for details Pn307 Not used Setting Unit Default Restart range setting power Note Do not change setting P n308 Speed feedback filter time constant Position speed Setting to 65535 Unit x0 01ms Default Restart range setting power Sets the filter time constant primary filter for speed feedback e Set this parameter if the speed loop gain cannot be raised due to factors such as mechanical sys tem vibration Pn310 0 Vibration detection switches Vibration detection selection All operation modes Setting 0 to 2 Unit Default Restart range setting power Setting Explanation Setting Explanation 0 Vibration detection not used Gives warning A 911 when vibration is detected Gives warning A 520 when vibration is detected Pn310 1 Vibration detection switches Not used Setting Unit Default Restart range setting power Note Do not change setting Pn310 2 Vibration detection switches Not used Setting Unit Default Restart range setting power Note Do not change setting 4 55 Operation Chapter 4 Pn310 3 Vibration detection switches Not used Unit Default Restart setting power Note Do not change setting Pn311 Vibration detection sensa All operation modes S etting 50 to 500 Unit Default Restart range setting power Pn312 Vibration detection level All operation m
127. speeds or load inertia ratios shown in the following table are exceeded For operating conditions other than these use the following equation 1 2 x J x Constant 3 39 System Design and Installation Chapter 3 3 000 max 1 000 3 000 r min F lat type S ervomotors 200 W or 400 W 1 500 max 3 000 r min Flat type S ervomotors 750 W or 1 5 kW 1 000 max 1 000 r min S ervomotors 300 W to 2 kW 1 000 max 1 500 r min Servomotors 450 W to 1 8 kW 1 00096 max For Servomotors of 1 5 kW or less observe the following precautions if there is a possibility of the power being turned ON while the S ervomotor is rotating In Servomotors of 1 5 kW or less the dynamic brake circuit uses a relay Normally if an alarm occurs while the Servo is OFF the dynamic brake operates according to the function selection application switch Pn001 0 1 when drive prohibition is being input At 1 5 kW or less however the dynamic brake operates regardless of this setting even if the main circuit power supply or the control power supply is OFF Current flows to the relay while the dynamic brake is operating If 2 Stop Servomotor by free run is selected for the function selection application switch Pn001 0 Stop selection for alarm generation with Servo OFF the relay turns OFF when the power is turned ON again If the power is turned from OFF to ON while the Servomotor is rotating the relay operates while cur rent is flowing to it
128. the program J OG opera Times 1 to 1000 program ions JOG movement Pn540 Sets the gain limit 2000 10 402000 Analog Sets the analog monitor 1 offset voltage 0 1 10000 to monitor 1 10000 offset volt age Analog Sets the analog monitor 2 offset voltage 0 1 10000 to monitor 2 10000 offset volt age m Other Parameters from 600 Param Parame Explanation Default Setting Restart j eter No ter name Biak f ee ene Explanation setting range power Regener Setting for regeneration resistance load ratio monitoring x 10W 0 to varies by ation calculations model See resistor note 2 capacity See note 1 cations TROLINK II control communica Ignore oro tions check errors mask Ignore WDT errors A E5L Ignore communications errors A E6L and WDT errors A E5L warning 0 Normal enece MASK 1 Ignore data setting warning A 94 Ignore command warn ing A 9501 T A 94L and Ignore communications warning A 960 ane A 94L and A 96L Ignore A 95 and A 96L 1 7 Ignore 94 1 A 95 and A 96L1 Communi Detects communica cations error tions errors A E60 if count at sin errors occur consecu gle trans tively for the set value mission plus two times 3 Notused 0 Do not change setting 6 18 Appendix Chapter 6 Param Parame eter No ter name Function selection applica tion 6 software LS Pn801
129. to perform origin teaching 3 Set up the absolute encoder ABS f using a Servomotor with an absolute encoder when replacing the S ervomotor the absolute data in the absolute encoder will be cleared so you need to set up the data again Also the rotation limit data will be different from before you replaced the Servomotor so initialize the Motion Control Unit settings Note Referto 4 2 2 Absolute Encoder Setup and Battery Changes for details Also if you have changed the setting in Pn205 absolute encoder multi turn limit setting an A CC rotation speed mismatch alarm will occur so change the rotation limit setting Fn013 using system check mode m Replacing the Servo Driver 1 Make a note of the parameters f using Computer Monitor Software start the program and transfer and save all the parame ters in the Servo Driver to the personal computer f not using Computer Monitor Software transfer all of the parameters saved in the host to the Servo Driver 2 Replace the Servo Driver 3 Setthe parameters f using Computer Monitor Software transfer all the parameters stored in the personal com puter to the Servo Driver Troubleshooting Chapter 5 f using Computer Monitor Software transfer all of the parameters saved in the hostto the Ser vo Driver Refer to the manuals for the host for operating procedures 4 Set up the absolute encoder ABS f using a Servomotor with an absolute encoder
130. to set the travel distance for machinery per pulse to 0 01 mm for example m Parameters Requiring Settings Parameter Parameter name Explanation Reference No J Electronic gear ratio Set the pulse rate for the command pulse and 4 3 3 Parameter G1 numerator 5 ervomotor travel distance When G1 G2 1 if Details Gl Electronic gear ratio the pulse encoder resolution x 4 is input the G2 denominator S ervomotor will rotate once 1 the internal driver will rotate x 4 See note 1 1 Set within the range 0 001 lt G1 G2 lt 1000 Note 2 These parameters become effective when the power is turned ON again after having been turned OFF Check to see that the LED display has gone OFF Note 3 With the default setting G 1 62 4 the Servomotor will rotate once when the encoder res olution pulses are input Note 4 One position deviation deviation counter display and positioning completed range pulse make one input pulse This is called a command unit m Operation e Servomotor with 2 048 Pulses Rotation Encoder e When set to G1 G2 8192 1000 the operation is the same as for a 1 000 pulses rotation Servo motor S ervomotor 5 ervo Driver Encoder resolution 2 048 pulses rotation 8 192 pulses Position command 1000 gt 1 rotation 8 192 pulses 4 87 Operation Chapter 4 4 4 10 Speed Limit Function Torque m Functions e This function limits Servomotor rotation speed whe
131. tuning Switches method 0 ON ack com pensation 1 OFF function 2 to 3 Not used selection 2 Notused 0 change setting 0 to 800 r min 0 to 10000 es Notused 0 not change setting Pnlll Speed feed Adjusts speed m feedback gain back com pensating gain Pn119 Do not change setting 11 Do not change setting 11 Do not change setting 1 to 500 Ul 1000 1000 T a Appendix Chapter 6 Param Parameter Explanation See note 1 Default Setting Restart j eter No name eee Explanation See note 2 setting range power PnllF Position Position loop integral time constant x 0 1 ms 0 to integral time 50000 constant PRI Wotued o Pni2C_ Notused notchange setin 230 2999 Pmi2D Wotued seting dO Pni2E Wotued Bo notchange seting dO Pm Notused notchange seting 230 po Wotued 131 switch Switching time from No 1 gain to No 2 gain ms 0 to ing time 1 65535 132 Gain switch Switching time from No 2 gain to No 1 gain ms 0 to ing time 2 65535 135 Gain switch The time from when gain switching condition A is satisfied ing waiti
132. 0 to F Detects communications errors 60 if errors occur consecutively for the set value plus two times Pn800 3 Communications control Not used S etting Unit Default Restart range setting power Note Do not change setting Pn801 0 Function selection application 6 software LS zoommare limit function All operation modes S etting 0 to 3 Unit Default Restart range setting power Setting Explanation ExpamWon Forward software imitdsabled O 2 Reverse software O U Forward reverse software limits disabled Enables or disables software limits Software limit function settings are executed according to the next user constant Software limits are enabled in the cases described below In all other cases software limits do not go into effect even when the software limit range is exceeded When the origin is established when the No origin Flag is OFF for the CJ IW NCF71 CS1W MCH71 CJ 1W MCH71 When an infinite length axis is used CS 1W MCH71 CJ 1W MCH71 Set enable disable with the above setting method described above Pn801 1 Function selection application 6 software LS Not used S etting Unit Default Restart range setting power Note Do not change setting Pn801 2 Function selection application 6 software LS Software limit check using reference Position S etting 0 1 Unit Default Restart range setting power 4 68 Operation Chapt
133. 0000 speed for output TGON motor rotation detection Pn503 Sets the allowable fluctuation number of rotations for the speed r min 0 to 100 conformity output VCMP dth Pn506 Sets the delay from the brake command to the Servomotor turn 0 to 50 uu ing 1 507 Brake Sets the number of rotations for outputting the brake command 100 r min 0 to 10000 command Speed 411 3rd step Sets the filter time constant for internal torque commands torque com mand filter time con Stant ing OFF Pn508 Brake tim Sets the delay time from the Servomotor turning OFF to the brake 50 x 10 ms 10 to 100 ing 2 command output 10 Pn509 Sets the time during which alarm detection is disabled when 20 ms 20 to 1000 tary hold power failure occurs time 4 16 Operation Chapter 4 Parame eter No ter name E Pn50A Input sig nal selec tions 1 BY 3 Pn50B Inputsig nal selec tions 2 Pn50C Input sig nal selec tions 3 Pn50D Input sig nal selec 1 tions 4 2 Explanation Default Setting Restart j NOT reverse drive prohib ited input Do not change setting 1881 Yes Notused 8 Do not change setting Notused 8 Do not change setting P OT for Allocated to CN1 pin 13 Valid ward drive for low input EU Allocated to CN1 pin 7 Valid for nal Input low input terminal 2 Allocated to CN1 pin 8 Valid for a
134. 0030T L R88D WNO2H ML2 O2L ML2 m 3 000 r min Flat style Servomotors and Servo Drivers Voltage Servo Driver Rated With incremental With absolute output encoder encoder 7007 m 1 000 r min Servomotors Servo Drivers Voltage Servomotor Servo Driver Rated With incremental With absolute output encoder encoder 200V 300W R88M W30010H L R88M W30010T L R88D WNO5H ML2 2 16 Standard Models and Specifications Chapter 2 m 1 500 r min Servomotors and Servo Drivers Voltage Servomotor Servo Driver Rated With incremental With absolute output encoder encoder 200V 450W jR88M W45015T X R88D WNO5H ML2 850W R88M W85015T R88D WN10H ML2 L3kW R88M W1K315T R88D WN15H ML2 L8kW R88M W1K815T R88D WN20H ML2 2 17 Standard Models and Specifications Chapter 2 2 3 External and Mounted Dimensions 2 3 1 AC Servo Drivers m Single phase 100 V R88D WNASL ML2 WNOIL ML2 WNO2L ML2 50 to 200 W Single phase 200 V R88D WNAS5H ML2 WNO1H ML2 WNO2H ML2 50 to 200 W e Wall Mounting External dimensions Mounted dimensions 6 Mounting Holes Two M 4 holes SS pe T _ 5 7 4 O P i B Terminal iy d 5 Block P d 4 M 3 E Iv M rum EO br Pd B 1 1 1 2 i Ln i t Ea Ground terminals 5 320 5 Two M4 screws 25 Nameplate Mounting E 18
135. 08 A E09 and A EAT Note 4 When an alarm occurs the Servo Driver stops the Servomotor by the following methods e DB stop The Servomotor is stopped according to the method set in Pn001 0 e Zero speed stop The speed command at the Servo Driver is set to zero and then the Servo motor is stopped according to the method set in Pn001 0 m Alarm Table Display Error detection function Cause of error Stopping Alarm reset method at possible alarm Parameter checksum error The Servo Driver s internal param DB stop 1 eter data is abnormal Parameter formaterror 1 The Servo Driver s internal param DB stop eter data is abnormal System parameter check The Servo Driver s internal param DB stop sum error 1 eter data is abnormal Parameter password error The Servo Driver s internal param DB stop 1 eter data is abnormal Parameter checksum error The Servo Driver s internal param DB stop 2 eter data is abnormal System parameter check The Servo Driver s internal param DB stop sum error 2 eter data is abnormal Main circuit detection error There is an error in the detection DB stop Yes data for the power supply circuit Parameter setting error 1 A parameter value exceeds the set DB stop ting range Parameter setting error 2 A parameter value exceeds the set DB stop ting range Troubleshooting Chapter 5 Display Error detection function Cause of error Stopping Alarm reset method at poss
136. 0H B S2 Incremental R88M W 30010T B 5 2 W60010T B 5 2 W90010T B 5 2 W1K210T B S 2 W2K010T B S2 Absolute Dimensions of output section of 300 W to 900 W Servomotors LL LR G F p Q 8 g da SID 12 a ni E 30 dia v v J Dimensions of shaft end with gt eC key BS2 M Effective depth gt NO gt KL1 Four Z dia _ Dimensions mm ce e po wm rTe z 5 NS R88M W60010L1 58 120 88 130 145 1107 165 12 25 M5 12 33 79 146 88 180 200 1143 230 3 2 18 15 5 5355 10 5 M12 25 0 025 0 4 Model mm R88M W2K010D B Note The external dimensions are the same for IP 67 waterproof models BOL 2 33 Standard Models and Specifications Chapter 2 m 1 500 r min Servomotors without a Brake e 200 V AC 450 W 850 W 1 3 kW 1 8 kW R88M W45015T S2 W85015T S2 W1K 315T S2 W1K815T S2 Absolute Dimensions of output section of 450 W to 1 3 kW Servomotors yo A 30 dia Org O P Dimensions of shaft end with key S2 06 us M Effective depth KL1 T NO Dimens
137. 120276 3 to 20 m Servomotor B Cable Connector socket TE 54280 0609 Molex J apan Orange White Ks J Connector plug Open White 55102 0600 Molex J Connector plug 55100 0670 Molex J Crimp terminal 50639 8091 Molex R88A CRWB NR Cable Servo Driver AWG22 2 AWG24 x2P 0120276 3 to 20 m Servomotor Si EE Cable traight plug E RIMS 3106B20 295 AE Lt Cable plug Orange White NE N MS 3057 124 J AE Ltd Servomotor Receptacle Open White lt gt MS3102A20 29P DDK Ltd Connector plug 55100 0670 Molex J Crimp terminal 50639 8091 Molex J 2 111 Standard Models and Specifications Chapter 2 Robot Cable Power Cable Specifications Select a Power Cable to match the Servomotor being used The cables range in length from 3 to 50 meters The maximum distance between the Servomotor and Servo Driver is 50 meters R88A CAWA The R88A CAWALIR Cables are for 3 000 r min Servomotors 30 to 750 W and 3 000 r min Flat style Servomotors 100 to 750 W e Cable Models For Servomotors without Brakes Lengih Outerdiameterofsheath Weight _ RBGA CRWAOOSSR 3m 6548 For Servomotors with Brakes Mode Length L Outer diameter ofsheath Weight _ 7 0 dia Note 750 W Servomotor is to be wired at a distance of 30 meters or more use R88A CAWBLIR Cable e Connection Configuration and
138. 1W MCH71 or CS1W MCH71 Note 5 If the Servo Driver is used with the CJ 1W MCH71 or CS 1W MCH71 this parameter will be setto 0024 If parameters are edited with the WMON ML2 connected this parameter will set to 0000 If this happens you must reset this parameter to 0024 from the 1W MCH71 or CS1W MCH71 4 3 2 Important Parameters This section explains the user parameters you need to set and check before using the Servomotor and Servo Driver If these parameters are set incorrectly there is a risk of the Servomotor not rotating and of a malfunction Set the parameters to suit your System 4 24 Operation Chapter 4 m Reverse Rotation Mode Settings Pn000 0 Pn000 0 Function selection basic switches Reverse rotation All operation modes Setting 0 1 Unit Default Restart range setting power Setting Explanation Explanation AE CCW direction is taken for positive command counterclockwise seen from the Servomotor out put shaft CW direction is taken for positive command clockwise seen from the Servomotor output shaft e This parameter sets the Servomotor s direction of rotation Even if 1 is set the Servo Drivers encoder output phase phase does not change 1 the S ervomotor s direction of rotation is simply reversed For example with a pulse command the motor will rotate counterclockwise for a counterclockwise command if the Reverse Rotation Mode Setting is set to 0 and will
139. 2 0 1 35 1 0 0 76 Continuous usage r min 1000 2000 23000 4000 5000 2 75 Standard Models and Specifications Chapter 2 3 000 r min Servomotors With a 200 VAC Servo Driver The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M W05030H T 50 W Nem 0 5 10 477 0 477 Repeated usage Continuous usage r min 1000 2000 3000 4000 5000 R88M W40030H T 400 W Nem 4 0 4 3 82 3 0 Repeated usage 2 0 1 0 Continuous usage r min 1000 2000 3000 4000 5000 R88M W 1K530H T 1 5 kW Nem 10 Continuous usage 2 4 r min 1000 2000 3000 4000 5000 R88M W10030H T 100 W Nem 1 0 10 955 0 955 Repeated usage Continuous usage r min 1000 2000 3000 4000 5000 R88M W75030H T 750 W 6 0 Repeated usage 4 0 2 0 Continuous usage r min 1000 2000 3000 4000 5000 R88M W2K030H T 2 kW 15 10 Continuous usage r min 1000 2000 3000 4000 5000 R88M W20030H T 200 W Repeated usage Continuous usage r min 1000 2000 3000 4000 5000 R88M W 1K030H T 1 kW Nem Repeated usage Continuous usage 1 7 r min 1000 2000 3000 4000 5000 R88M W3K030H T 3 kW Nem 30 29 4 20 Repeated usage Continuous usage r min 1000 2000 3000 4000 5000 e Servomotor and Mechanical System Temperature Characteristics W series AC Servomotors use rare earth magnets neodymium iron magnets The temp
140. 2 048 B phase 32 768 pulses pulses revolution pulses revolution pulses revolution pulses revolution Z phase 1 pulse Z phase 1 pulse Z phase 1 pulse Z phase 1 pulse revolution revolution revolution revolution Power supply voltage 5 V DC 5 Power supply current 120 mA 150 mA 120 mA 150 mA 2 91 Standard Models and Specifications Chapter 2 3 000 r min Servomotors 3 000 r min Flat 1 000 r min 50 to 750 W 1t03kW style Servomotors Servomotors Maximum rotation 5 000 r min speed Output signals 5 S Output impedance Conforming to EIA RS 422A Output based on LTC1485CS or equivalent Serial communica Position data poll sensor U V W phase encoder alarm Servomotor data tions data Serial communica Bi directional communications in HDLC format by Manchester method tions method m Absolute Encoder Specifications 3 000 r min Flat 1 000 r min 50 to 750W style Servomotors Servomotors 1 500 r min Encoder method O ptical encoder Number of output A B phase 16 384 A B phase 32 768 A B phase 16 384 A B phase 32 768 pulses pulses revolution pulses revolution pulses revolution pulses revolution Z phase 1 pulse Z phase 1 pulse Z phase 1 pulse Z phase 1 pulse revolution revolution revolution revolution Maximum rotational 32 768 to 32 767 rotations or 0 to 65 534 rotations speed P ower supply voltage 5 V DC 5 ower supply current 180 mA P Applicable battery volt
141. 2 3 Terminal Block Wiring shows the rated power supply input currents for each Ser vomotor Select a no fuse breaker with a rated current greater than the total effective load current when multiple S ervomotors are used 3 26 System Design and Installation Chapter 3 e When making the selection add in the current consumption of other controllers and so on Servo Driver Inrush Current The Servo Driver inrush currents are listed in the following table e With low speed no fuse breakers an inrush current 10 times the rated current flows for 0 02 sec ond For a simultaneous inrush for multiple Servo Drivers select a no fuse breaker with a 20 ms allow able current greater than the total inrush current shown in the following table for the applicable Ser vomotor models Servo Driver RGED WNOZL ML2 RGSD WNOAL ML2 RGSD WNASH ML2 RGED WN2OR ML2 e Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal voltages etc e When selecting surge absorbers take into account the varistor voltage the amount of surge immu nity and the amount of energy resistance For 200 V AC systems use surge absorbers with a varistor voltage of 470 V e The surge absorbers shown in the following table are recommended Max limit Surge Type voltage immunity O kaya Electric R A V 781BYZ 2 783 V 1 000 A Between power supply lines Industries Co Ltd R A y 781BXZ 4 783
142. 200 230 V AC 170 to 253 V 50 60 Hz 500 W to 3 kW 3 phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WNLIL ML2 50 to 400 W Single phase 100 115 V AC 85 to 127 V 50 60 Hz Control circuit Power Supply Input Terminals L1C L2C R88D WNLIH ML2 Single phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WNLIL ML2 Single phase 100 115 V AC 85 to 127 V 50 60 Hz If the voltage falls outside of this range there is a risk of malfunction so make sure that the power supply is correct Make sure that the voltage of the sequence input power supply 24 VIN Terminal CN1 6 pin is within the range 23 to 25 VDC If the voltage falls outside of this range there is a risk of malfunc tion so make sure that the power supply is correct m Selecting Analysis Tools e Check Whether an Alarm Has Occurred f an alarm has occurred check the alarm code A LILIL and perform analysis depending on the alarm code f an alarm has not occurred perform analysis depending on the error Note Refer to 5 3 Troubleshooting in either case e Types of Analysis Tools e The types of analysis tools are as follows Servo Driver Indicators and Parameter Unit Perform analysis using the display 7 segment LEDs and the operation keys on the front panel of the Servo Driver This manual explains analysis using these methods Troubleshooting Chapter 5 Computer Monitor Software Install and use the Computer Monitor Software The following thr
143. 4 Operation Chapter 4 m Operation Pn109 H Pn10A Position loop gain Kp Encoder feedback Position command Speed command 4 7 3 Torque Feed forward Function Speed m Functions e The torque feed forward function reduces the acceleration time by adding the torque feed forward command value to the current loop Normally a differential value is generated in the controller and this value is input as the torque feed forward command value Controller Servo Driver MECHATROLINK II Position Control Unit CJ 1W NCF71 Speed command m Parameters Requiring Settings Parameter Parameter name Explanation Reference No Pn002 0 Torque command input Set Pn002 0 to 2 Option command value used 4 3 3 Parameter switching as torque feed forward command value Details 4 105 Operation Chapter 4 m Operation Speed command value 0 Torque feed forward command value Without the torque feed forward function 7 4 4 Without the torque feed forward function S ervomotor output torque r min S ervomotor operation Note If torque feed forward is input when the S ervomotor s rotation speed is fixed the rotation speed won t match the speed command Design the Controller s circuit so that torque feed forward is applied only when the Servomotor is accelerating or decelerating m Applicable Controller Commands Controller Commands and in
144. 4 1 25 to 2 0 mm Fork Terminals 1 25Y to 3 AWG 22 to AWG 16 0 30 to 1 25 mm AWG 16 to AWG14 1 25 to 2 0 mm Use a tightening torque of 0 59 N m when connecting wires and crimp terminals to the terminal block 2 97 Standard Models and Specifications Chapter 2 e Terminal Blocks XW2D 20G6 The XW2D 20G6 is an M3 screw terminal block e External Dimensions 79 _ 39 1 Two 4 5 dia holes Precautions e When using crimp terminals use crimp terminals with the following dimensions Round Crimp Terminals Fork Crimp Terminals 3 2 mm dia JO d Cin sank 5 8 mm max 3 2 mm 5 8 mm max Applicable Crimp Terminals Applicable Wires Round Terminals 11 25 to 3 AW G22 to AWG16 0 30 to 1 25 mm Fork Terminals 1 25Y to 3 AW G22 to AWG16 0 30 to 1 25 mm Use a tightening torque of 0 7 N m when connecting wires and crimp terminals to the terminal block 2 98 Standard Models and Specifications Chapter 2 e Terminal Block Wiring Example for XW2B 20G4 XW2B 20G5 and XW2D 20G6 See note 7 5 j 24 VDC 24 VDC Note 1 Backup battery for absolute encoders 2 8 to 4 5 V Note 2 A backup battery for absolute encoders is not required for motors with incremental encod ers Note 3 Connect a backup battery for an absolute encoder to either the Connector Terminal Block Conversion Unit or to the battery cable for absolute encoder backup w
145. 4 3 3 Parameter ber of bias rotations using command units set Details ting range 0 to 250 command units Note 1 When not using the bias function set Pn107 to 0 Note 2 the bias rotational speed is set too high it will cause Servomotor operation to be unstable The optimum setting depends on the load the gain and the bias addition band so adjust the setting while observing the Servomotor response Begin with a bias setting of Pn107 0 and gradually increase it m Setting Procedure e Complete the gain adjustment before adjusting the bias e Increase the Pn107 bias rotational speed setting until positioning time is minimal At this point if there are no problems with using overshoot adjustments are complete f the overshoot is too large increase Pn108 bias addition band to reduce it To shorten positioning time make the settings according to the mechanical conditions The bias addition band Pn108 is the value that indicates by position deviation pulses the timing for adding the bias Pn107 Bias is added when the position deviation pulses exceed the set value for the bias addition band 4 103 Operation Chapter 4 m Operation Speed command When bias is set No bias Bias addition band Pn108 Bias Pn107 Position error pulses Bias Pn107 Bias addition band Pn108 4 7 2 Feed forward Function Position m Functions e This function shortens positio
146. 40 130 185 160 130 9 138 176 223 140 130 245 220 190 135 130 600W 1 5 R88M W60010L 1G05BJ 1 161 199 156 100 140 130 185 160 130 94 jor 1 20 R88M W60010L1 L1G 20B 1 29 R88M W60010L1 L1G 29B 1 45 R88M W60010L L1G45B 161 199 213 140 130 245 220 190 135 130 ele Co cO NIN Ww Ww iss foo mo ix fio 9 1 161 199 244 160 130 310 280 240 186 182 213 140 245 220 190 135 130 234 160 310 240 182 900 W 1 5 R88M W900100 OG 05B 9 R88M W90010C CIGO9B 2 1 20 R88M W90010C1 11G 20B 1 29 R88M W90010C1 11G 29B 1 45 R88M W900100 OG 45B 244 1160 ss m N N UJ mn N N UJ d N mm N N UJ d N mm N mm 1 2kW 1 5 R88M W1K210L CIGO5B 2 140 1 9 R88M W1K2100 OG 09B 166 140 1 20 R88M W1K2100 OG 20BJ 1 29 R88M W1K2100 OG 29B 217 1 45 R88M W1K2100 OG 45B 2kW 1 5 R88M W2KO010L LIG05B 2 192 243 R88M W2K010L1 L1G09B 1 20 R88M W2K010 192 243 620 Diagram 1 Four Z dia D5 dia D4 dia D3h7 dia 2 42 Standard Mo
147. 45 88 1 210 1 1 45 2 kW 8 2 0100 76 05B R88M W2K0100 OG 09B Hu s 138 1 20 R88M W2K010LFLIG20BJ 50 EXE SM CORN RN Note 1 The reduction gear inertia indicates the Servomotor shaft conversion value Note 2 The enclosure rating for Servomotors with reduction gears is IP 44 Note 3 The maximum momentary torque values marked by asterisks are the maximum allowable torque for the reduction gears Use torque limits so that these values are not exceeded Note 4 The allowable radial loads are measured in the center of the shaft 2 3 2 2 68 5 m 1 500 r min Servomotors with Standard Reduction Gears 450 W to 1 8 kW Reduction gear inertia wmm We w ss wemewensrcems per m ms owe sm pu _ Bm remasse m pue nen qmm m ms m quo per queas pam qm n 9 mm m e pm meet sem em m le Bur Tm mr pas m em pe fe xemcwissrceme rs fea m puo mp aroxaoe nes qum 5 sr us m us 220 29 quem n 5 167 15 52 83 300 167 15 2 33 2 89 Standard Models and Specifications Chapter 2 Maxi Reduction mum gear momen inertia tary torque Dmm we X mh ue ww ww bs sees per qur qe 9 p Yaa on per 5 1 m pue 88
148. 5 Display Error detection function Cause of error Stopping Alarm reset method at possible alarm Multi turn limit discrepancy The multi turn limits for the encoder DB stop and the Servo Driver do not match Deviation counter overflow Position deviation pulses exceeded DB stop Yes the level set for Pn520 Deviation counter overflow When Servo ON was executed the DB stop Yes alarm at Servo ON accumulated number of position deviation pulses reached or exceeded the number set for 526 Deviation counter overflow If Servo ON is executed with posi stop Yes alarm by speed limit at tion deviation pulses accumulated Servo ON the speed is limited by the setting in Pn529 A command pulse was input during this period without the limit being cleared and the setting in Pn520 was exceeded COM alarm 0 Servo Driver COM error 0 Zero speed Yes occurred Stop COM alarm 1 Servo Driver COM error 1 Zero speed Yes occurred Stop COM alarm 2 Servo Driver COM error 2 DB stop occurred COM alarm 7 Servo Driver COM error 7 DB stop occurred COM alarm 8 Servo Driver COM error 8 Zero speed occurred Stop COM alarm 9 Servo Driver COM error 9 Zero speed occurred Stop MECHATROLINK II trans There is an error in the setting for 2 mission cycle setting error the MECHATROLINK II communi stop cations transmission cycle MECHATROLINK II syn A synchronization error occurred Zero speed chronization error du
149. 6 3000VE Sumitomo 3M Cable case 10326 52A0 008 Sumitomo 3M e Sequence Inputs Servo Driver 6 33k EI on ee En NN L P hotocoupler input 24 V DC 7 mA E TE rises ones To other input circuits External power supply 24V 1V DC Power supply capacity 50 mA min per Unit Min ON time 2 ms To other input circuit GNDs Signal Levels ON level Minimum 424VIN 11 V OFF level Maximum 24VIN 1 V 2 63 Standard Models and Specifications Chapter 2 m Control Output Circuits e Position Feedback Output Servo Driver 220 to 4700 v 45V 17 SA qe A A A 2 16 Pres Output line driver SN75ALS174NS Phase Phase B or equivalent 12 Phase 7 PhaseZ 0V Applicable line receiver x7 xw SN75175 MC3486 SUSU UR 4 261532 FG FG e Sequence and Alarm Outputs Servo Driver side To other output circuits External power supply Maximum operating voltage 30 V DC ME i 24 V DC 41V Maximum output current 50 mA Di Diode for preventing surge voltage Use speed diodes See note Note An automatic reset fuse is provided to protect output If the fuse is activated for overcurrent it will automatically reset after a fixed period of time has lapsed without current flowing m Backup Battery Input 14 BAT Backup Battery Input 15 BATGND e These are the connection terminals for a backup battery for when power to th
150. 8 Bias addi Sets the position control bias operation start using deviation Command to 250 tion band counter pulse width unit 109 Feed for Position control feed forward compensation value 0 to 100 ward amount 10 Feed for Sets position control feed forward command filter 0 01 ms 0 to ward com 6400 mand filter NM 10 Speed con P control Sets internal torque com 0004 trol settings switching mand value conditions conditions Pn10C Sets speed command value conditions 10 Sets acceleration com mand value conditions 10 Sets deviation pulse value conditions Pn10F No P control switching function et con PI control tro loop switching IP control Position loop 0 Standard control Sus Less deviation control 00001 Watused 0 Do not change seting 10 P control Sets level of em command to switch from control to P switching control torque command Pn10D P control Sets level of speed command to switch from control to P switching control speed com mand PnlOE P control Sets level of acceleration command to switch from control r min s 0 to switching to P control 30000 accelera tion com mand PnlOF P control Sets level of deviation pulses to switch from control to P Command 0 to Switching control unit 10000 deviation pulse 110 Normal Normal auto Do not change setting 0012 autotuning
151. 808 Absolute encoder zero point position offset All operation modes absolute 1073741823 Unit Command Default Restart to unit setting power 1073741823 e The encoder position and machine coordinate system position AP OS offsets for when an absolute encoder is used can be set 4 69 Operation Chapter 4 e The settings are shown below To take the machine coordinate system origin 0 as the encoder position X set Pn808 to X Machine coordinate system position APOS _ Encoder position x Pn808 Encoder position Encoder position origin e Acceleration Deceleration Speed Parameters Pn80A to Pn812 Pn80A First step linear acceleration parameter Position S etting 1 to 65535 Unit x 10000 Default range Command setting unit s Sets the step 1 acceleration speed for when two step acceleration is used Second step linear acceleration parameter Position 1 to 65535 Unit x 10000 Default Command setting unit s e Sets the step 2 acceleration for when two step acceleration is executed or the one step accelera tion parameter for when one step acceleration is executed 80 Acceleration parameter switching speed Position S etting 0 to 65535 Unit x 100 Com Default Restart range mand unit s setting power e Sets the switching speed for the step 1 and step 2 acceleration for when two step acceleration is executed When using one step acceleration set the acceleration par
152. 87 Standard Models and Specifications Chapter 2 m 3 000 r min Flat style Servomotors with Standard Reduction Gears 100 W to 1 5 kW Maxi Reduction mum ear inertia momen g Without tary ry brake rotation speed We wmm Wm me 9 ms um m fase The 4 364 1 95 x 10 9 190 1 95 x 10 568 rotation torque ciency 1 33 R88M WP 100300 OG 33B 8 40 200W 15 1 11 1 21 1 33 8 8 14 R88M WP 200300 OG05BJ 600 2 55 R88M WP200300 OG11BJ 5 96 R88M WP 20030 1 1 21 114 J 8 8 R88M WP40030L1 LIG05B 600 540 8 8 11 9 m i J Ramcwersmricem mo 400W 1 5 1 11 1 21 1 33 750W 1 5 1 11 1 21 1 33 73 3 73 3 R88M WP 20030L LIG 33B Hor iit 73 3 73 3 33 5 10 2 22 3 42 7 67 0 1 72 x 10 7 65 x 10 5 23 x 10 6 63 x 10 4 55 x 10 8 8 8 343 451 813 921 m UJ c o 8 8 353 mm N m 1 54 x 10 2 09 x 10 1 98 x 107 1 12 x 10 9 5 5 5 5 5 5 5 5 5 5 5 R88M WP 1 530 1 1 05 600 20 3 R88M WP 1K530C1 L1G 11BJ 273 R88M WP 1053001 16218 143 R88M WP1K530L LIG33B 91 8 647 80 1 126 mm N mm 1 5 kW 1 5 1 11 1 21 1 33 Note Note Note mm N mm 1 The reducti
153. A O1 a DC reactor pes Terminating Resistor FNY W6022 2 E 22802 Power Cable C Red R88A CAW NES White R88A CAWLIR 6 24V DC L 28 8 Encoder Cable ids R88A CRW m R88A CAW Lo 24V DC az HO 2327 Note 1 The example shows three phase 200 V AC input to the Servo Driver for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Driver in use Note 2 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 3 Leave unused signal lines open and do not wire them Note 4 The diode recommended for surge absorption is the ERB44 02 Fuji Electric UJ Appendix Chapter 6 6 2 Parameter Setting Tables m Function Selection Parameters from 000 Param eter No Pn000 001 002 Explanation Default Setting Restart eter setting range power name Func Reverse rota ME is taken for posi 0000 tion tion ME 5 Ail command selec tion CW direction is taken for positive basic command switches Do not change setting UnitNo set OtoF Servo Driver communications ting unit number setting necessary for multiple Servo Driver connec tions when using personal com monitoring software Do not change setting Func Stop selec stopped by dynamic 0002 0000 tion tion if an brake m m ek OFF after Servo applica motor is OFF
154. ATROLINK Occurred during e Connection is faulty or Review the connector communications MECHATROLINK line is disconnected wiring warning II communications die conne tions in the communica tions wiring e Communications error Implement noise counter due to noise other fac measures tors Check system operation and if there are no prob lems or if the problems are acceptable set to ignore the A 96L warn ing using the warning check mask 5 36 Troubleshooting Chapter 5 5 3 3 Troubleshooting by Means of Operating Status Symptom Probable cause to check Countermeasures The Servomotor The control power supply Check the voltage between Correct the control power does not start is not ON the control power supply supply ON circuit terminals The main circuit power e Check the voltage between Correct the main circuit supply is not ON the main circuit power sup power supply ON circuit ply terminals The 1 0 CN1 wiring is e Check the condition and Correct the 1 wiring faulty or disconnected wiring of the CN1 connec tor The Servomotor or e Checking the wiring e Connect the wiring encoder wiring is detached There is an overload Operate without an over Either lighten the load or load change to a Servomotor with greater capacity Speed and position com Check the input pins e Correct the speed and mands are not being input
155. Adjusts the auxiliary integral response gral gain 0 to PnlAA Position pro Adjusts the position proportional response portional gain PnlAB Speed inte Adjusts the speed integral response gral gain 120 2000 PnlAC Speed pro Adjusts speed proportional response portional gain Hz Hz Hz Hz Pn1B5 Do not change setting e oc Appendix Chapter 6 m Position Control Parameters from Pn200 Default Setting Restart Pn200 Notused 0 Notusd JO X Do not change setting 0100 Yes 0100 1 Notused 0 Donotchange setting Do not change setting Notused 0 Do not change Absolute Sets the multi turn limit for when a Servomotor with an 65535 Rotation 0 to 65535 Yes encoder absolute encoder is used multi turn limit set ting Position 0 Notusd 0 Do not change setting 0010 Yes 110 um Do not change setting 2 Backlash LEN Disabled eli s La MM IET Compensates to for a selec E ward rotation side 2 Compensates to reverse rotation side 3 INP 1 output When the position devia timing tion is below the INP 1 range 1 When the position devia tion is below the INP1 range and also the com mand after the position command filter is 0 2 When the absolute value for the position deviation is below the INP1 range Pn522 and also the position command input Is 0 Pn205 Pn207 Pn210
156. CAWBOOSBR R88A CAWBO10BR R88A CAWBO15BR R88A CAWBO20BR R88A CAWBO3OBR R88A CAWBOAOBR R88A CAWBO50BR 20 20 2 1 5 3 R88A CAWBOO3SR 88A CAWBOO5SR 10 m R88A CAWBO10SR 15 m R88A CAWBOI5SR 20 m R88A CAWBO20SR R88A CAWBO3OSR R88A CAWBO40SR R88A CAWBO5OSR 20 D B D e Power Cable for 1 000 r min Servomotors Specifications Mod wu x 300 3m R88A CAWCOO3SR fe 10 m R88A CAWCO10SR R88A CAWCO10BR 15 m R88A CAWCOI15SR R88A CAWCO15BR 20m R88A CAWCO20SR R88A CAWCO20BR 30 R88A CAWCO30SR R88A CAWCO3O0BR 40 m R88A CAWCO40SR R88A CAWCOAOBR 50 R88A CAWCOSOSR R88A CAWCOBOBR 2 5 Standard Models and Specifications Chapter 2 Specifications model Without brake With brake _ 126 e Power Cable for 1 500 r min Servomotors Specifications Mode _ Withoutbrake With brake _ 450 t 50 R88A CAWCOSOSR R88A CAWCOBOBR 1 8 3 R88A CAWDO0O3SR R88A CAWD003BR 5m R88A CAWDOOSSR R88A CAWDOOSBR 10 m R88A CAWDO10SR R88A CAWDOI1OBR 15 m R88A CAWDO15SR R88A CAWDO15BR 20 m R88A CAWDO20SR R88A CAWDO20BR 30 R88A CAWDO30SR R88A CAWDO30BR 40 m R88A CAWDO40SR R88A CAWDOA0BR 50 m R88A CAWDO5OSR R88A CAWDO50BR 2 6 Standard Models and Specifications Chapter 2 Servomotors Specifications 1 With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight piat wit
157. CS1W MCH71 and CJ 1W MCH71 Motion Control Units and CJ 1IW NCF71 Position Control Units are stored in the Controller as shown below e Controller Alarm Codes e Alarm codes such as the following are stored at the Controller for alarms that occur at the Servo Driver Controller alarm error code 40010 Hex The leftmost two digits from the Servo Driver s 3 digit alarm code are entered at the two boxes 00 Example Deviation counter overflow alarm at Servo ON A d01 The alarm code stored at the Controller is 40D0 hex 5 3 Troubleshooting Chapter 5 e Controller Storage Area Storage variable bit name Motion Control Unit System variable Stored as detailed codes for the error CS1W MCH71 Error log log CJ 1W MCH71 Position Control Unit Input Area for individual axis operation Stored as error codes for errors occur CJ 1W NCF71 Axis alarm codes ring for individual axes Note For details on the above variable bit areas refer to the users manual for the specific Controller 5 1 3 Replacing the Servomotor and Servo Driver Perform the following procedure to replace the Servomotor or Servo Driver m Replacing the Servomotor Replace the Servomotor 2 Perform origin teaching if using position control e When replacing the Servomotor the Servomotor s specific origin position Z phase may slip so be sure to perform origin teaching Refer to the manual for the position controller you use for how
158. Chapter 4 m Operation Speed 80 4 4 12 Sequence Input Signals All Operating Modes m Functions e These are sequence input signals for controlling Servo Driver operation They must be connected as required Used for purposes such as latching the feedback position m Parameters Requiring Settings Input Signals Parameter Parameter name Explanation Reference No Pn511 1 Input signal selections External latch signals 1 2 and 3 4 3 2 Important 5 1 signal allo Note As the default setting the signals are Parameters cation allocated to CN1 pins 10 11 and 12 Pn511 2 Input signal selections 5 EXT2 signal allo cation Pn511 3 Input signal selections 5 EXT3 signal allo cation m Connection e Connect sequence input signals as shown in the following diagram 4 90 Operation Chapter 4 24 V voltage 24 V 3 3 kQ 24VIN P hotocoupler Host device o 2 Servo Driver wl o o EXT3 Y o 4 4 13 Program J OG Operation This is an auxiliary function that enables continuous automatic operation determined by preset oper ating patterns movement distances movement speeds acceleration deceleration times and num bers of repeat operations to be executed using a Digital Operator J ust like the J OG operation mode this function can operate a Servomotor for trial operation without being connected to a host device Also continually repeate
159. D Setting Unit Default Restart range setting power Note Do not change setting e Input Signal Monitor Parameter Pn81E ZEE Unit Default 0000 Restart setting power Note Do not change setting Pn8lF Setting Unit Default Restart range setting power Note Do not change setting e Latch Area Parameters Pn820 Pn822 Pn820 Setting Unit Default 00000000 Restart range setting power Setting Unit Default 00000000 Restart range setting power Note Do not change setting e Option Monitor Parameters Pn824 Pn825 Pn824 Not used Setting Unit Default 0000 Restart range setting power e f the Servo Driver is used with the CJ 1W MCH71 or CS1W MCH71 this parameter will be set to 0032 If parameters are edited with the WMON ML2 connected this parameter will set to 0000 If this happens you must reset this parameter to 0032 from the 1W MCH71 or CS1W MCH71 4 73 Operation Chapter 4 Note Do not change setting Unit Default 0000 Restart setting power e f the Servo Driver is used with the CJ 1W MCH71 or CS1W MCH71 this parameter will be set to 0024 If parameters are edited with the WMON ML2 connected this parameter will set to 0000 If this happens you must reset this parameter to 0024 from the CJ 1W MCH71 or CS1W MCH71 Note Do not change setting e Other Unused Parameters P n900 to Notused S etting Unit Default Restart range setting power Note Do not chang
160. DIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the p
161. External Dimensions For Servomotors without Brakes 50 L 27 4 Servo Driver T 5 ervomotor m N R88D WNO ML2 O R88M W 2 112 Standard Models and Specifications Chapter 2 For Servomotors with Brakes R88D WNLI ML2 e Wiring S ervomotor C I reium s R88M WO t 28 4 For Servomotors without Brakes Servo Driver Red Cable AWG21 x 4C 012464 M4 crimp terminal For Servomotors with Brakes Servo Driver Red White Blue on Green Y ellow Black Brown QO Cable AWG21x6C UL2464 M4 crimp terminals m R88A CAWB S ervomotor Cable Connector cap 350780 1 Tyco Electronics AMP KK Connector socket 350689 3 Tyco Electronics AMP KK Servomotor Connector plug 350779 1 Tyco Electronics AMP KK Connector pins 1 to 3 350690 3 Tyco Electronics AMP KK Connector pin 4 770210 1 Tyco Electronics AMP KK S ervomotor No Symbol Cable Connector cap 350781 1 Tyco Electronics AMP KK Connector socket 350689 3 Tyco Electronics AMP KK Phase w 2ervomotor Connector plug 350715 1 Tyco Electronics AMP KK Connector pins 1 to 3 5 6 350690 3 Tyco Electronics AMP KK Connector pin 4 770210 1 Tyco Electronics AMP KK Brake The R88A CAWBLIR Cables are for 3 000 r min Flat style Servomotors 1 5 kW e Cable Models For Servomotors without Brakes Model Length L Outer diameter of sheath We
162. II I O monitor field Note 1 Input signal DEC POT and NOT functions can be allocated to pin Nos 7 to 13 510 to 516 by setting parameters Pn50A Pn50B and Pn511 Note 2 Inputsignal EXT1 EXT2 and EXT3 functions can be allocated to pin Nos 10 to 12 514 to S16 by setting P n511 Note 3 The general purpose input at pin No 13 S10 can be monitored through MECHATROLINK l Note 4 The numbers in parentheses show the default pin number allocations The terminal name is shown in brackets 2 61 Standard Models and Specifications Chapter 2 e CN1 Control Outputs Signal name Contents Control Alarm output When an alarm is generated for the Servo acon Driver the output is OFF 1 to tr INPl 1 INP1 Positioning com when the position deviation is within the Position 23 26 INP1COM pleted output 1 positioning completed range P n500 INP2 INP2 com when the position deviation is within the Position INP2COM pleted output 2 positioning completed range P n504 VCMP Speed conformity when the Servomotor speed error is within Speed VCMPCOM output s conformity signal output range TGON 5 ervomotor rota OR hes the Servomotor rotation speed Speed TGONCOM tion detection out exceeds the value set for the Servomotor rota put tion detection speed Pn502 Note TGON is always ON when the encoder of the Servo Driver is not connected READY Ser
163. L ML2 50 to 400 W terminal This terminal does not normally need to be connected If regenerative energy is high connect an External Regeneration Resistor between B1 and B2 There is no B3 terminal R88D WNLIH ML2 500 W to 3 0 kW hort circuit between B2 and If regenerative energy is high remove the short bar between B2 and B3 and connectan External Regeneration Resistor between B1 and B2 Servomotor connec Red These are the terminals for outputs to the Servomotor Be tion terminals sure to wire these terminals correctly Green Yellow This is the ground terminal Ground to a minimum of 100 Q class 3 UJ C Im NO B1 UJ NO TL TP Pu Un Standard Models and Specifications Chapter 2 2 4 4 Communications Specifications CN6 gm MECHATROLINK II Communications Specifications tem Specifications Communications specifications MECHATROLINK II 10 Mbps Maximum transmission dis 50 m See note tance Minimum distance between 0 5m nodes Encoding Manchester encoding Data length Either 17 or 32 bytes can be selected Note This is the total length of cable for connecting between devices The maximum length will vary depending on the number of devices connected For details refer to the section on wiring in 2 6 1 MECHATROLINK II Communications Cable Specifications The following table shows whether or not a Communications Repeater is required in various combi n
164. LILILICR The OLU in the model number indi 1 to 3 0 kW R88A CAWBLILILINR Cates the cable length 000 r min F lat styl 100to 15kW R88A There are 8 cable lengths 3 m 5 m qe dese 10 m 15 m 20 m 30 m 40 m and 50 m 1 000 r min Servomotors 300 to 2 0 kW R88A CAWBLILLINR Example model number 1 500 r min Servomotors 450 W to 1 8 kW R88A CAWBLILILINR RggA CRWAOO3CR 3 m Power Cables Without Brakes Brakes 3 000 r min Servomotors 3 000 r min Flat style 1 000 Servomators ptm Sere CANDCCEER 00 Servomators Ln tm Note The OLI in the model number indicates the cable length There are 8 cable lengths 3 m 5 m 10 m 15 m 20 m 30 m 40 m and 50 m Example model number R88A CAWAO003SR 3 m 3 10 System Design and Installation Chapter 3 e 6 Computer Monitor Cable A Computer Monitor Cable and Computer Monitor Software are required to set or monitor parame ters from a personal computer Name specifications Computer Monitor For DOS personal 2m R88A CCW002P2 Only 2 meter cables are available Cable computers e 7 Analog Monitor Cable This cable connects to the Servo Drivers Analog Monitor Connector CN5 Itis required for connect ing analog monitor outputs to an external device such as a measuring instrument Name specifications Remarks _ Analog Monitor Cable R88A CMWO01S Only 1 meter c
165. M WP 75030T BG 05B 111 R88M WP75030H G11B R88M WP 75030H BG11BJ R88M WP75030T G11B R88M WP75030T BG11B 1 21 R88M WP75030H G21B R88M WP75030H BG21B R88M WP75030T G21B R88M WP75030T BG21BJ 1 33 R88M WP75030H G33BJ R88M WP 75030H BG33BJ R88M WP75030T G33BJ R88M WP 75030T BG 33BJ 1 5 kW 1 5 R88M WP 1K530H R88M WP 1K530H R88M WP1K530T G05BJ R88M WP1K530T G05BJ BG05BJ BG05BJ Mf ve 1 11 R88M WP1K530H R88M WP 1K530H R88M WP 1K530T G11BJ R88M WP 1K530T G11B BG11BJ BG11BJ 1 21 R88M WP1K530H R88M WP 1K530H R88M WP 1K530T G21BJ R88M WP 1K530T G21BJ BG21BJ BG21BJ 1 33 R88M WP1K530H R88M WP1K530H R88M WP1K530T G33B R88M WP1K530T G33BJ BG 33BJ 33BJ 2 13 Standard Models and Specifications Chapter 2 1 000 r min Servomotors Specifications 200 V 300 W 600 W Wihoutbrake With brake Withoutbrake Withbrake RBSM WSOD1OT BGOSB R amp 8N W 30010786096 1 29 R88M W30010H G29BJ R88M W30010H BG29BJ R88M W30010T G29BJ R88M W30010T BG29B W30010T BGA5E W600107 BGO5E 1 9 R88M W60010H G09BJ R88M W60010H BG09BJ R88M W60010T G09BJ R88M W60010T BG09B R 88M W600107 BG298 1 45 R88M W60010H G45BJ R88M W60010H BG45BJ R88M W60010T G45BJ R88M W60010T BG45B RB8N WODO10T BGOSE RB8M W90010T B6098 J J R88M W90010H G20BJ R88M W90010H BG20B R88M W90010T G20B
166. M WP10030T G25CJ R88M WP10030T BG25C 200 W R88M WP 20030H BG05CJ R88M WP20030T GO05CJ R88M WP20030T BG05C RB8M WP20030T 5G09C R88M WP 20030H BG15C J R88M WP20030T G15CJ R88M WP20030T BG 15C R88M WP 20030H BG25C R88M WP20030T G25CJ R88M WP20030T BG25C R 88M WP40030H BGO09C R88M WP40030T G09CJ R88M WP40030T BG09C R88M WP40030T BG15C R88M WP40030T BG25C 750 W R88M WP 75030H BG05CJ R88M WP 75030 605 R88M WP75030T BG05C RB8M WPT5030T 5G09C R88M WP 75030T G25CJ R88M WP 75030T BG25C R88M WP 10030T BG05C R88M WP 10030T BG 09C R88M WP 10030T BG 15C e e c e e e 1 _ e e e 1 1 2 15 Standard Models and Specifications Chapter 2 2 2 Servo Driver and Servomotor Combinations The tables in this section show the possible combinations of OMNUC W series Servo Drivers with built in MECHATROLINK II communications and Servomotors No other combinations are possible Note The boxes L at the ends of the model numbers are for options such as shaft type brake waterproofing decelerator and so on m 3 000 r min Servomotors and Servo Drivers Voltage Servomotor Servo Driver Rated With incremental With absolute output encoder encoder 200 V R88M W05030H L R88M W05030T R88D WNA5H ML2 ASL M2 100W R88M W10030H R88M W10030T R88D WNO1H ML2 01L ML2 200W R88M W20030H R88M W2
167. NK II Cable CJ 1W MCH71 ERE CS1W MCH71 CN3 Personal computer connector Position Control Unit CJ 1W NCF71 7 Analog Monitor Cable i f com Sw1 07 AS NOLH ML2 0 BENT ES WER m CHARGE If CN1 acl y I O signal connector M 1 0 Signal Connector Aa R88D WNCI ML2 Terminal block 4 CN2 A Encoder Connector Absolute Encoder Backup Battery Unit EE Power Cable E Encoder Cable See note See note em Robot Cable Power Cable lt gt Robot Cable gt Encoder Cable Note Use a Robot Cable if the cable needs to bend Refer to page 2 99 Absolute Encoder Battery Cable R88A CRWCOR3C 0 3 uy EE R88M W 3 8 System Design and Installation Chapter 3 e 1 MECHATROLINK II Cable Special MECHATROLINK II Cables Use the following cables to connect to MECHATROLINK II devices Unt Cable model Length _ C IWNCFZ C IW NCHTI Terminating Resistor Use the following terminating resistor at the end of the MECHATROLINK II communications line n Resistor e 2 I O Signal Connector Use the following connector to make your own cable for the Servo Driver 1 0 connector CN1 I O Signal Connector R88A CNWOIC Connects to the I O signal connector CN1 Connector only e 3 Powe
168. NLI ML2 lt S ervomotor gt R88M WO 2 117 Standard Models and Specifications Chapter 2 e Wiring For Servomotors without Brakes Servo Driver S ervomotor B Phase V LB F6 Cable Straight plug N MS3106B22 22S J Ltd Cable clamp N MS 3057 124 J AE Ltd Servomotor Receptacle 5 3102A22 22P DDK Ltd Cable AWG11x4C UL2586 M5 crimp terminals For Servomotors with Brakes Servo Driver S ervomotor Red Symbol Cable Goa A Phase U Straight plug N MS 3106B24 105 J AE Ltd Cx Cable clamp N MS 3057 16 J AE Ltd Blue Servomotor Or Green Y ellow Receptacle MS3102A24 10P DDK Ltd Or ack D FG Or S Brake W E OM Cable AWG11x6C UL2586 M5 crimp terminals Note Connector type terminal blocks are used for Servo Drivers of 1 5 kW or less as shown in Ter minal Block Wiring Procedure under 3 2 3 Terminal Block Wiring Remove the crimp terminals from the phase U phase V and phase W wires for these Servo Drivers 2 6 3 Peripheral Cables and Connector Specifications m Analog Monitor Cable R88A C MWO01S This is cable for connecting to the Servo Driver s Analog Monitor Connector CN5 It is required for connecting analog monitor outputs to external devices such as measuring instruments e Cable Models Mode Length L Weight _ R88A CMWO001S Approx 0 1 kg e Connection Configuration and External Dimensions L Servo Driver
169. O e eO e e e ce lt e c c c c c c c c c c c c c ef Re aM c c c c c c c c c c c c c 1 te e ef Re Re ee ee Ce Ce Ce 2 12 Standard Models and Specifications Chapter 2 3 000 r min Flat style Servomotors Specifications Mo Wihoutbrake With brake Wihoutbrke _ 200 V 100 W R88M WP 10030H BG05BJ R88M WP10030T G05BJ R88M WP10030T BG05BJ R88M WP 10030H G118J R88M WP 10030H BG11B R 88M WP 10030H G21BJ R88M WP 10030H BG21BJ R88M WP10030T G21BJ R88M WP10030T BG21B R 88M WP 10030H G33BJ R88M WP 10030H BG33BJ R88M WP10030T G33BJ R88M WP 10030T BG 33B 200W 115 R8BM WP20030H G058 RBEM WP20030H BGO5E R 88M WP 20030H G11BJ R88M WP 20030H BG11BJ R88M WP20030T G11B R88M WP20030T BG11B R 88M WP 20030H G21BJ R88M WP 20030H BG21BJ R88M WP20030T G21BJ R88M WP20030T BG21B 400 W R88M WP 40030H G05BJ R88M WP40030H BG05BJ R88M WP40030T G05BJ R88M WP 40030T BG 05B R 88M WP 40030H G11BJ R88M WP 40030H BG11BJ R88M WP40030T G11BJ R88M WP40030T BG118BJ R 88M WP 40030H G33BJ R88M WP 40030H BG33BJ R88M WP40030T G33BJ R88M WP40030T BG 33B 750 W R88M WP 75030H G05BJ R88M WP 75030H BG05BJ R88M WP75030T G05BJ R88
170. OLINK II connection distance m FNY REP2000 S pecification Cable lengths Controller to Repeater 50 m max kepester w wmnnanna resisence Maximum number of 14 stations over 50 m or 15 stations over 30 m from Controller to Repeater stations 15 stations over 50 m or 16 stations over 30 m from Repeater to terminating resis tance Also the number of stations on both sizes of the Repeater must not exceed the maximum number of stations for the Controller The maximum is 16 stations for the CS1W CJ 1W NCF 71 Three Power CN1 transmitting and CN2 transmitting Power supply current 180 mA max External power supply 100 mA at 24 VDC 24 8 V Repeater Part Names DIP S witch Leave all pins setto OFF MECHATROLINK II communications connectors CN1 and CN2 Control power supply terminals 24 VDC and 0 VDC Protective ground terminal 2 126 Standard Models and Specifications Chapter 2 MECHATROLINK II Repeater Dimensions m FNY REP2000 Dimensions 97 77 _ 20 1 12 50 ly 10 T l l c NN N i KJ 4 x CH H C2 CH D O O O ES aT 20 EE
171. Output 21 Phase Z Encoder Output 22 Phase Z m Alarm output 3 ALM Alarm output ground 4 ALMCOM e When the Servo Driver detects an error outputs are turned OFF e This output is OFF atthe time of powering up and turns ON when the Servo Driver s initial process ing is completed m Positioning Completed Outputs 1 2 INP1 INP2 Note As the default setting these INP signals are not allocated The INP1 signal is allocated in Pn50E 0 and the INP2 signal in PN510 0 e The INP 1 signal turns ON when the number of accumulated pulses in the deviation counter is less than the value set in Pn522 Positioning completed range 1 INP2 turns ON when the number is less than P n524 Positioning completed range 2 e When the speed command is a low speed and the set value for the positioning completed range is large the positioning completed outputs stay ON 2 66 Standard Models and Specifications Chapter 2 Note These outputs are always OFF when the control mode is any mode other than position control m Speed Conformity Output VCMP Note As the default setting the VCMP signal is not allocated It is allocated in Pn50E 1 The VCMP signal turns ON when the difference between the speed command and the Servomotor rotation speed is equal to or less than the value set for Pn503 Speed conformity signal output range For example if the speed command is for 3 000 r min and the set value is for 50 r min it turns ON w
172. R88A CRWBO30N R88A CRWBO40N R88A CRWBO50N For 1 500 r min Servomo 15m tors 20 m m 50m e e W e Standard Power Cable e Power Cable for 3 000 r min Servomotors 30 to 750 W Without brake R88A CAWA003S R88A CAWA005S R88A CAWA010S R88A CAWAO015S R88A CAWA020S R88A CAWA030S R88A CAWA040S R88A CAWAO050S R88A CAWC003S R88A CAWC005S R88A CAWCO10S R88A CAWCO15S R88A CAWCO20S R88A CAWC030S R88A CAWC040S R88A CAWCO50S R88A CAWD003S R88A CAWD005S R88A CAWDO010S R88A CAWDO15S R88A CAWD020S R88A CAWDO30S 2 10 15 0 0 0 0 m m 10 R88A CAWD040S R88A CAWD050S e Power Cable for 3 000 r min Flat style Servomotors Specifications Mod Without brake 100 3m R88A CAWAO003S R88A CAWA003B 190W R88A CAWAO05S R88A CAWAOOSB Ui w 10 BRUN ul Bl w 3 3 3 3 3 1 to kW 3 kW Sa 31313 3 10m R88A CAWAO10B 15m R88A CAWAO15B 0m R88A CAWAO020B 0m R88A CAWA030B 40 R88A CAWA040S R88A CAWA040B 50 R88A CAWA050S R88A CAWA050B Standard Models and Specifications Chapter 2 Specifications Model Power Cable for 1 500 r min Without brake Withbrake Servomotors Specifications Model Without brake With brake 450 R88A CAWCO03S R88A CAWC003B 1 3 5m j R88A CAWCOO5S R88A CAWCOO5B 10 R88A CAWCO10S R88A CAWCOIOB R88A CAWCO15S
173. RA22 06 can be shortened by selecting the appropriate capacitance and resistance Note Thyristors and varistors are made by the following companies Refer to manufacturers docu mentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Industrial Co 3 29 System Design and Installation Chapter 3 e Contactors e When selecting contactors take into consideration the circuits inrush current and the maximum momentary current e The Servo Driver inrush current is covered in the preceding explanation of no fuse breaker selec tion and the maximum momentary current is approximately twice the rated current The following table shows the recommended contactors Waker Model Rated current Coll voltage OWRON 1009106 200 LC1D25106 26A 24V DC e Leakage Current and Leakage Breakers e Use a surge resistant leakage breaker designed for Inverters that will not operate for high fre quency currents e The detection current of a leakage breaker is setto approximately 60 of the normal rated current You should thus allow a leeway of approximately two times the rated current e Leakage current will also flow to the input noise filter switch mode power supply and other devices Be sure to allow for these devices as well Servo Driver model Leakage current Additional PWM frequency Input power for 10 m cable leakage current supply
174. Servo Drivers R88A CAWD_ The R88A CAWDL Cables are for 3 000 r min Servomotors 3 to 5 kW 1 000 r min Servomotors 1 2 to 3 kW and 1 500 r min Servomotors 1 8 to 4 4 kW e Cable Models For Servomotors without Brakes Medel _Length 1 Outer diameter ofsheath Weight _ 14 7 dia RBSA CAWDOIOS RBSA CAWDOISS 2 108 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Model Length L Outer diameter ofsheath Weight _ 178 ds e Connection Configuration and External Dimensions For Servomotors without Brakes 70 L 69 1 Servo Driver T Servomotor R88D WNL ML2 doe Cy semen E For Servomotors with Brakes Servo Driver R88D WNLI ML2 e Wiring S ervomotor gt R88M WO For Servomotors without Brakes Servo Driver Servomotor B Phase V_ D FG Cable Straight plug N MS3106B22 22S J AE Ltd Cable clamp N MS3057 12A J AE Ltd Servomotor Receptacle 5 3102A22 22P DDK Ltd Cable AWG10 x 4C 112463 M5 crimp terminals 2 109 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Servo Driver S ervomotor Red Symbol Cable Phase U Straight plug N MS 3106B24 105 J AE Ltd KNEE Cable clamp N MS 3057 164 J AE Ltd Blue Servomotor Green Y ellow C Phase W Receptacle 5 3102 24 10 DDK Ltd
175. Servo drive prohibition is OFF i e the reverse rotation drive is permit ted e The NOT signal permits reverse rotation drive upon input Pn50B 1 Input signal selections 2 Not used S etting Unit Default Restart Yes range setting power Note Do not change setting Pn50B 2 Input signal selections 2 Not used S etting Unit Default Restart Yes range setting power Note Do not change setting 4 28 Operation Chapter 4 Pn50B 3 Input signal selections 2 Not used Setting Unit Default Restart range setting power Note Do not change setting Pn511 0 Input signal selections 5 DEC origin return deceleration LS signal input terminal allocation All operation modes 0 to F Unit Default Restart setting power e Settings are the same as for Pn50A 3 When 7 always enabled is set the deceleration switch is always enabled e When 8 always disabled is set the deceleration switch is always disabled Pn511 1 Input signal selections 5 1 external latch signal 1 signal input terminal allocation All operation modes Setting 0 to F Unit Default Restart Yes range setting power Setting Explanation Seg E OO located to CHE TO pn enabled ushgL mput 5 Allocated to CNi 11 pin enabled using nut 6 Allocated to CNi 12 pin enabled using L nut D Alocated to CNI 10 pin enabled using H put F Allocated to CN1 12
176. Servomotor Servo Driver is defective Sonn Driver board is Replace the Servo Driver rotates without any defective commands 5 37 Troubleshooting Chapter 5 Symptom Probablecause items to check Countermeasures The parameter setting is e Check the setting for e Correct the parameter set incorrect Pn001 0 ting Replace the Servo Driver and check the load system DB dynamic brake does not operate s there excessive inertia rotation speed or fre quency of DB use DB drive circuit is defec DB circuit componentis Replace the Servo Driver tive defective The mechanical installation Are Servomotor mounting Tighten the mounting screws loose SCrews is faulty Are couplings off center Center the couplings Are couplings unbalanced Balance the couplings e Check for sounds and f there are any abnormali DB resistance is discon nected The Servomotor is making strange noises There is a problem with the 5 38 bearings The source of vibration is in another machine Noise is carried because the input signal line specifi cations are incorrect Noise is carried because the encoder cable specifi cations are incorrect The encoder cable is car rying noise because the distance exceeds the oper ating range Noise interference Is occurring because of dam age to the encoder cable There is excessive noise interference to the en
177. Servomotor rated torque for each Note The following torque limit functions are available Analog torque limit Pn002 0 1 or 3 Pn402 forward torque limit Pn403 reverse torque limit Pn404 forward rotation external current limit and Pn405 reverse rotation external current limit The output torque is limited by the smallest of the enabled limit values Refer to 4 4 7 Torque Limit Function All Operating Modes for details 4 57 Operation Chapter 4 Pn406 Emergency stop torque Foston speed 0 to 800 Unit Default Restart setting power e Setthe deceleration torque if overtravel occurs using the ratio 96 of the Servomotor rated torque Note This parameter is enabled when Pn001 1 stop selection when drive prohibited is input is set to 1 or 2 i e stop using Pn406 407 S peed limit Torque S etting O to 10000 Unit r min Default 3000 Restart range setting power e Set the speed limit for Torque Control Mode Note The following speed limit functions are available Analog speed limit when 002 1 1 and P n407 speed limit The speed limit is set to whichever is the smaller Refer to 4 4 3 Torque Control Torque for details e Torque Command Setting Pn408 Default Setting 0000 408 0 Torque command settings Selects notch filter 1 function All operation modes Setting 0 1 Unit Default Restart range setting power Setting Explanation Setting Explanation E Notch filter 1 funct
178. Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomo tors momentary maximum torque increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 and 10 C are compared the momentary maximum torque increases by approximately 496 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 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 particular 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 overloading is occurring at low temperatures and how much the load torque is Likewise check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Servo Driver parameters are adjusted at a normal temperature there may not be optimal operation at low tem peratures Check to see whether there is optimal operation at low temperatures too m 1 000 r min Servomotors e Performance
179. Sets deceleration time during speed control soft start 0 to decelera 10000 tion time Pn308 Speed feed constant during MUERTE feedback ek 65535 back filter time con stant Pn310 Vibration Vibration detection not 0000 000L1 detection detection used switches selection Gives warning A 911 when vibration is Gives warning A 520 when vibration is detected 1 Notused __ Do not change setting 2_ Notused 0 bonotchange setting 3 Notwsed o not change setting Pn311 Vibration Sets the vibration detection sensitivity 50 to detection 500 Sensitivity Pn312 Vibration Sets the vibration detection level uni 0 to detection 5000 level m Torque Control Parameters from Pn400 Param Parameter Explanation Default Setting Restart P0 Natused Domtchgesshn Ist en Ist the filter time for internal torque commands x0 01ms 0 torque com 65535 mand filter time con stant Pn402 Forward Forward rotation output torque limit rated torque ratio EM Lu to 800 torque limit Pn403 Reverse Reverse rotation output torque limit rated torque ratio to 800 torque limit Forward Output torque limit during input of forward rotation current ME uu to 800 rotation limit rated torque ratio external cur rent limit Reverse Output torque limit during input of reverse rotation current 0 to 800 rotation limit rated torque ratio external cur rent limit Emer
180. Specifications _ Wihoutbrake With brake Wihoutbrke Wihbrke 200 V 100 1 9 R88M W10030H GO9C R88M W10030H BGO9C R88M W10030T G09CJ R88M W10030T BG09C 1 25 R88M W10030H G25C R88M W10030H BG25CJ R88M W10030T G25C R88M W10030T BG25C 200 W R88M W20030H G05C R88M W20030H BG05CJ R88M W20030T G05C R88M W20030T BGO5C R88M W20030H G09C R88M W20030H BG09CJ R88M W20030T G09CJ R88M W20030T BGO9C 115 R88M W20030H G15C R88M W20030H BG15CJ R88M W20030T G15C R88M W20030T BG15C RB8M W20030T BG25C 1 9 R88M W40030H GO9CJ R88M W40030H BGO9CJ R88M W40030T G09CJ R88M W40030T BG09C RB8M WAO0SOT BGISC R88M W40030T BG25C 750W 1 5 R88M W75030H G05CJ R88M W75030H BG05CJ R88M W75030T G05CJ R88M W75030T BG05C 19 R88M W75030H GO9C R88M W75030H BGO9CJ R88M W75030T G09CJ R88M W75030T BG09C 1 15 R88M W75030H G15C R88M W75030H BG15C R88M W75030T G15CJ R88M W75030T BG 15C 1 25 R88M W75030H G25C R88M W75030H BG25CJ R88M W75030T G25C R88M W75030T BG25C e e e e 1 1 e e e 1 ve 3 000 r min Flat style Servomotors Specifications With absolute encoder Wihoutbrke With brake Without brake 200 V 100 W R88M WP 10030T G05C R88M WP 10030H BG09C R88M WP 10030T G09C R88M WP 10030H BG25C J R88
181. T KH UJ UJ EN m dq J UJ m Ww Ww NO Ww W U N ele rn I EN 33 43 33 N N e gt A w 2 46 Standard Models and Specifications Chapter 2 Diagram 1 Key dimensions Four Z dia Effective depth gt D3h7 dia Key dimensions Four Z dia Effective depth D4 dia D3h7 dia 2 47 Standard Models and Specifications Chapter 2 e 3 000 r min Flat style Servomotors 100 to 750 W with Economy Gears Dimensions mm Dimensions mm d c C2 wee a a a a Ds pee m m 9 m _ us Reem we 1003050600 sz 725 m pe m s To Reem WP 20030 11609 R88M WP 20030C1 LIG15C R88M WP 20030C1 L1G25C 400 W R88M WP 400300 OG 05 R88M WP 40030 1 1 09C R88M WP 400300 06 15 R88M WP 4003071625 R88M WP 75030 16 05 R88M WP 75030 6 09C Law zl 2 1 1 m Dimensions mm 01711 1 1 17 I h
182. T current limit detection signal alloca tion S ame as Pn50E 0 VLIMT speed limit detection signal alloca tion Same as Pn50E 0 BKIR brake interlock signal allocation S ame as Pn50E 0 WARN warning signal allocation 6 13 Appendix Chapter 6 Param Parame Explanation Setting Restart j INP2 posi Same as Pn50E 0 Yes 000L tioning com INP2 positioning com pleted 2 pleted 2 signal alloca signal out tion put terminal allocation Notused 10 Do not change setting 2 Notused 0 not change setting Notued 0 Do not change setting 6 14 Appendix Chapter 6 Param Parame eter No ter name Input sig nal selec tions 5 Pn511 Explanation Default DEC signal Allocated to CN1 pin 13 6543 Yes input termi Valid for low input V 1 Allocated to CN1 pin 7 Valid for low input 2 Allocated to CN1 pin 8 Valid for low input 3 Allocated to CN1 pin 9 Valid for low input Allocated to CN1 pin 10 Valid for low input 5 Allocated to CN1 pin 11 Valid for low input Allocated to CN1 pin 12 Valid for low input Always enabled 8 Always disabled Allocated to CN1 pin 13 Valid for high input Allocated to CN1 pin 7 Valid for high input Allocated to CN1 pin 8 Valid for high input C Allocated to CN1 pin 9 Valid for high input Allocated to CN1 pin 10 Valid for high input E Allocated to CN1 pin 11 Valid for high inp
183. The inertia ratio was in error during auto tuning Overload momentary maxi O perated for several seconds to several tens of seconds at a torque greatly mum load exceeding the rating Overload continual maximum Operated continually at a torque exceeding the rating load DB overload During DB dynamic braking operation rotation energy exceeds the DB capacity Inrush resistance overload The main circuit power supply has frequently and repeatedly been turned ON and OFF The Servo Driver s radiation shield overheated Encoder backup error The encoder power supply was completely down and position data was cleared Encoder checksum error The encoder memory checksum results are in error Encoder battery error The absolute encoder backup battery voltage has dropped Encoder data error The encoder s internal data is in error 2 54 Standard Models and Specifications Chapter 2 MECHATROLINK communica The MECHATROLINK communications ASIC is in error tions ASIC error 1 MECHATROLINK communica A fatal error occurred in the MECHATROLINK communications ASIC tions ASIC error 2 Encoder communications posi An error occurred in the encoder s position data calculations tion data error Encoder communications timer An error occurred in the timer for communications between the encoder and error Servo Driver Encoder parameter error Encoder parameters are corrupted Encoder echo back error The contents of communications with
184. V 1 000 A Between power supply line grounds Note 1 Refer to the manufacturers documentation for operating details Note 2 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber 3 27 System Design and Installation Chapter 3 e Noise Filters for Power Supply Input Use the following noise filters for the Servo Driver power supply Servo Driver model Noise Filter BN E nemn current voltage FN2070 6 07 250V 0 40 mA at 230 Vrms 50 Hz Schaffner R88D WNA5H ML2 E2070 6 07 R88D WNO1H ML2 WNOIH ML2 SORTEM WNO2H ML2 WNO4H ML2 FN2070 10 07 10A R88D WNO8H ML2 1 2070 16 07 p A R88D WNO5H ML2 2581 7 07 480V SA 4 30 mA at 450 Vrms 50 Hz FN258L 16 07 16A 4 40 mA at 450 Vrms 50 Hz R88D WN15H ML2 SWS WN20H ML2 Note The leakage currents shown for Schaffner noise filters are the values for when a three phase power supply uses a Y connection The leakage current will be greater for a X connection External Dimensions FN2070 6 07 FN2070 10 07 Noise Filters by Schaffner Side View Top View M FN2070 16 07 Noise Filters by Schaffner Side View Top View 3 28 System Design and Installation Chapter 3 TET CT mures e a a FN2070 1607 us ess STE ees ws ao ee 74 amp 8 1 e FN258L 7 07 16 07 30 07 Noise Filters by Schaffner
185. W600100 BO R88M W900100 BO 1 500 r min R88M W45015T BO R88M W85015T BL R88M W1K315T BD Aged ype 122 KW_ RBBM WAK210 BL1 LOA EAZ4 2kW 88 2 01077 0 L04V 6A24 10SE EB 1 500 r min 1 8 R88M W 1K815T BLJ 3 6 CE05 8A18 10S D B BAS For sheath external diameter of 6 5 to 8 7 dia CE3057 10A 3 D265 For sheath external diameter of 8 5 to 11 dia CE3057 10A 2 D265 For sheath external diameter of 10 5 to 14 1 dia CE3057 10A 1 D265 For sheath external diameter of 6 5 to 9 5 dia J L04 2022CK 09 For sheath external diameter of 9 5 to 13 dia JL04 2022CK 12 For sheath external diameter of 12 9 to 15 9 dia J L04 2022CK 14 For sheath external diameter of 6 5 to 9 5 dia JL04 2022CK 09 For sheath external diameter of 9 5 to 13 dia J L04 2022CK 12 For sheath external diameter of 12 9 to 15 9 dia J L04 2022CK 14 For sheath external diameter of 9 to 12 dia JL04 2428CK 11 For sheath external diameter of 12 to 15 dia J L04 2428CK 14 For sheath external diameter of 15 to 18 dia JL04 2428CK 17 For sheath external diameter of 18 to 20 dia J L04 2428CK 20 DDK Ltd J apan Avia tion Electron ics Industry Ltd J AE J apan Avia tion Electron ics Industry Ltd J AE J apan Avia tion Electron ics Industry Ltd J AE System Design and Installation Chapter 3 For Encoder Cables Connector model C
186. Y and Z direc tions two times tions two times tions two times tions two times Insulation resistance Between power line terminals and FG 10 MQ min at 500 V DC Dielectric strength Between power line terminals and FG 1 500 V AC for 1 min at 50 60 Hz 2 71 Standard Models and Specifications Chapter 2 3 000 r min Servomotors 3 000 r min Flat 1 000 r min and 50 to 750 W style 1 500 r min St 750W 1193K Servomotors Servomotors Run position All directions Insulation grade Type B Type F Type B Type F Structure Totally enclosed self cooling Vibration grade V 15 Mounting method Flange mounting EC Direc Direc EN55011 class A group 1 tives tive EN61000 6 2 Low voltage 1 60034 8 EN60034 1 5 9 Directive UL standards UL1004 CUL standards CUL C22 2 No 100 Note 1 Vibration may be amplified due to sympathetic resonance of machinery so use the Servo motor Driver under conditions which will not exceed 8096 of the specification values over a long period of time Note 2 Water proof connectors must be used on the Power and Encoder Cables when used in en vironments subject to direct contact with water Refer to 3 1 2 Servomotors for the recom mended connectors Note 3 The above items reflect individual evaluation testing The results may differ under compound conditions Note 4 The Servomotors cannot be used in misty environments m Protective Structure The protective structure de
187. able model Maker 3 000 r min R88M W1K030L1 L to Angled type For sheath external diam Avia 1to 3 kW R88M W 3K030l J 0 20 295 1 eter of 6 5 to 9 5 dia tion E lectron 1 000 r min R88M W300100 O to Straight type J L04 2022CKE 09 ics Industry 300 W to 2 0 88 2 0100 0 JA06A 20 29S J I EB For sheath external diam Ltd J AE 1 500 r min R88M W45015T L to eter of 9 5 to 13 dia 450 W to 1 8 kW R88M W 1K815T J L04 2022CKE 12 For sheath external diam eter of 12 9 to 16 dia J L04 2022CKE 14 m Water and Drip Resistance The enclosure ratings for the Servomotors are as follows 3 000 r min S ervomotors 50 to 750 W IP55 except for through shaft parts 3 000 r min Servomotors 1 to 3 0 kW IP67 except for through shaft parts Models are also available with IP 67 ratings that include through shaft parts 3 000 r min Flat style S ervomotors 100 W to 1 5 kW IP55 except for through shaft parts Mod els are also available with IP 67 ratings that include through shaft parts 1 000 r min S ervomotors 300 W to 2 0 kW IP 67 exceptfor through shaft parts Models are also available with IP 67 ratings that include through shaft parts 1 500 r min S ervomotors 450 W to 1 8 kW IP 67 except for through shaft parts Models are also available with IP 67 ratings that include through shaft parts The standard cable conforms to IP 30 When selecting an IP 67
188. ables are available 3 11 System Design and Installation Chapter 3 3 2 2 Peripheral Device Connection Examples R88D WNASL ML2 WNOIL ML2 WNO2L ML 2 WNO4L ML2 WNASH ML 2 WNO1H ML 2 WNO2H ML2 WNO4H ML2 R T Single phase 100 115 V 50 60 Hz R88D WNUILIL ML2 Single phase 200 230 V AC 50 60 Hz R88D WNLILIH ML2 Noise filter See note 2 Main circuit power supply Main circuit connector OFF ON See note 2 Ground to O imc 100 Q or less IMC X m Surge killer See note 2 Servo error display OMNUC W series OMNUC W series AC Servo Driver AC Servomotor Power Cable Ground to 100 or less Note 1 Set by user parameter Pn50F Note 2 Recommended product in 3 2 4 24V DC Wiring for Noise Resistance For BKIR 10 gui conformity to EC Directives refer to BKIRCOM 2 Q See note 3 3 2 5 Wiring for Conformity to EMC Directives See note 1 Note 3 Recommended relay MY Relay 24 V by OMRON For example an MY2 Relay outputs to a 2 A in ductive load at 24 VDC making it applicable to all W series Motors with Brakes User controlled MECHATROLINK II Cable 3 12 System Design and Installation Chapter 3 R88D WNOSH ML2 WN10H ML2 WN15H ML2 WN20H ML 2 WN30H ML2 S T O Three phase 200 230 V AC 50 60 Hz 1 Noise filter
189. al cross Configuration Conductive Allowable current A for ambient sectional area mm wires mm resistance temperature aia 7 05 hos 533 56 56 48 os 30018 70 s w sbi8 ma 90 77 180 24 10 55 710 38 BO 7 1 2 2 41 w _ 5 uo _ m Terminal Block Wiring Procedure Connector type Terminal Blocks are used for Servo Drivers of 1 5 W or less except for the R88D WN20H ML2 to R88D WN30H ML2 The procedure for wiring these Terminal Blocks is explained below R e ue Connector type Terminal Block i Example R88D WNO1H ML2 l Remove the Terminal Block from the Servo Driver N Caution The Terminal Block must be removed from the Servo Driver before being wired The Servo Driver will be damaged if the wiring is done with the Terminal Block in place 3 17 System Design and Installation Chapter 3 2 Strip the covering off the ends of the wires Prepare wires of the right sizes according to the tables provided under Terminal Block Wire Sizes above and strip off 8 or 9 mm of the covering from the end of each wire 3 the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Servo Driver as in Fig A Insert a flat blade screwdriver end width 3 0 to 3 5 mm int
190. ameter switching speed Pn80C to 0 800 First step linear deceleration parameter Position S etting 1 to 65535 Unit x 10000 Default range Command setting unit s Sets the step 1 deceleration for when two step acceleration is used 80 Second step linear deceleration parameter Position S etting 1 to 65535 Unit x 10000 Default range Command setting unit s e Sets the step 2 deceleration for when two step deceleration is executed When using one step acceleration set Pn80E as the one step deceleration parameter 4 70 Operation Chapter 4 Pn80F Deceleration parameter switching speed Position Setting to 65535 Unit x 100 Com Default Restart range mand unit s setting power e This parameter sets the switching speed for the step 1 and step 2 deceleration when two step deceleration is executed When using one step acceleration set the deceleration parameter switch ing speed Pn80F to 0 Pn810 E xponential acceleration deceleration bias Position Setting to 32767 Unit Command Default Restart range unit s setting power e Sets the bias for when an exponential filter is used for the position command filter Pn811 E xponential acceleration deceleration time constant Position Setting 0 to 5100 Unit x 0 1 ms Default Restart range setting power e This parameter sets the time constant for when an exponential filter is used for the position com mand filter Pn812 Moving average
191. ants such as the program J OG movement distance and the program J OG movement speed e This function is executed with the Servo Driver in Servo ready status It cannot be executed while the Servo is ON f the Servo ON command is ON turn it OFF f user parameter Pn50A 1 is set to 7 and Servo ON is selected to be always enabled clear the always enabled setting for the Servo ON signal e The mode during program J OG operation is the position control mode but pulse command inputs to the Servo Driver are prohibited and not received e The overtravel function is disabled J OG mode but itis enabled for program J OG operation e The SEN signal is always enabled when an absolute encoder is used e Functions such as position command filters that can be used for position control can be used e This function cannot be executed when Pn200 2 is setto 1 Deviation counter not reset when Servo is OFF 4 92 Operation Chapter 4 m Program Operating Patterns Pn530 0 0 Waiting time Pn535 Forward movement Pn531 x Number of movement operations Pn536 5 peed line dia Number of travel operations Pn536 gram Pn531 Pn531 Travel speed Travel Travel P n533 i distance distance Speed 0 Up Key ON e Waiting time Acceleration Waiting time Waiting time Pn535 deceleration Pn535 Pn535 time Pn534 S ervomotor oper ues Stopped Forward Stopped Forward Stopped Forward Speed line
192. apter 4 Param Parame eter No ter name Program J oper ation related switches Pn530 Pn531 Program JOG move ment dis tance Pn533 Program JOG move ment Speed Pn534 Program JOG accelera tion decel eration time Pn535 Program JOG wait ing time Numberof Sets the number of repetitions of the program J OG operations Pn536 JOG Explanation Setting Restart Program Waiting time Pn535 Forward 0000 J OG operat movement Pn531 x Number of ing pattern movement operations Pn536 1 Waiting time Pn535 Reverse movement P n531 x Number of movement operations P n536 2 Waiting time Pn535 Forward movement P n531 x Number of movement operations P n536 Waiting time Pn535 Reverse movement P n531 x Number of movement operations P n536 3 Waiting time Pn535 Reverse movement P n531 x Number of movement operations P n536 Waiting time Pn535 Forward movement P n531 x Number of movement operations P n536 Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reverse move ment Pn531 x Number of move ment operations Pn536 5 Waiting time Pn535 Reverse movement Pn531 Waiting time P n535 Forward move ment P n531 x Number of move ment operations P n536 Notused 0 not change setting 2 Netused 0 Do notchange setting Notused 0 Do not change setting Sets the program J OG move
193. art Yes range setting power Note Do not change setting 110 1 Normal autotuning switches Speed feedback compensation function selection Position speed Setting 0 1 Unit Default Restart range setting power Setting Explanation Explanation 0 Speed feedback compensation function ON S peed feedback compensation function OFF This function shortens positioning time Use this function to lower speed loop feedback gain and to raise speed loop gain and position loop gain In this way you can improve command response and shorten positioning time Positioning time cannot be shortened however when external force is applied as with the vertical shaft because response to external interference is lowered f 0 function ON is set set Pn111 speed feedback compensating gain 110 2 Normal autotuning switches Not used Setting Unit Default Restart Yes range setting power 4 43 Operation Chapter 4 Note Do not change setting Pn110 3 Normal autotuning switches Not used Unit Default Restart setting power Note Do not change setting 111 Speed feedback PILLE gain Position speed S etting 1 to 500 Unit Default Restart range setting power e Use this parameter to adjust the speed loop feedback gain for when Pn110 1 speed feedback com pensation function selection is set to ON e The smaller the setting the higher you can raise the speed loop gain and position loop gai
194. ase consult with OMRON to determine whether or not components need to be replaced 5 46 Troubleshooting Chapter 5 5 6 Replacing the Absolute Encoder Battery ABS Replace the absolute encoder backup battery if ithas been used for atleastfive years or if an A 930 battery warning warning or an A 830 battery error alarm occurs m Battery Model and Specifications ee Specification Absolute Encoder Backup Battery Unit Model numbers R 88A BATO1W Battery model ER3V Toshiba Battery voltage 1 000 mA Note Refer to 2 8 Absolute Encoder Backup Battery Specifications for dimensions and wiring details m Battery Replacement Procedure Replace the battery using the following replacement procedure After replacing the battery if a A 810 backup error alarm does not occur the replacement is completed If an A 810 alarm occurs you need to setup the absolute encoder Turn ON the power supply to the Servo Driver s control circuit e Turn ON the power supply to the Servo Driver s control circuit only This will supply power to the absolute encoder Note If an A 930 warning occurs when the power supply is ON turn OFF only the main circuit power supply after completing operation and then perform the following replacement proce dure If the control circuit power supply is turned OFF the absolute data in the absolute en coder may be inadvertently cleared 2 Replace the battery e Remove the old battery f
195. asures error occurs e Setso that the Servomo tor does not operate with Deviation counter Occurs during Ser The Servo turned ON vomotor drive with position deviation overflow alarm by speed limit at Servo ON ation counter overflow level P n520 REDD _ COM alarm 0 Occurs when the REB alarm 1 control circuit power supply is COM alarm 2 turned ON AEDI alarm 7 alarm 8 AEDI alarm 9 MECHATROLINK Occurs when transmission MECHATROLINK cycle setting error communications are started MECHATROLINK during II synchronization MECHATROLINK error communications e The conditions in 6 3 when using the Com the specifications correct not correct when syn chronous communica tions started so they could not be started MECHATROLINK during communications MECHATROLINK error communications e Correct the MECHA TROLINK II wiring A MECHATROLINK II data reception error occurred due to noise pulses accumulated and command pulses were input during operation at the limit speed Position deviation pulses accumu lated exceeding the devi e Servo Driver is defective Restrictions were not met puter Monitor S oftware MECHATROLINK II transmission cycle set ting is out of the range in e The WDT data refreshing for the host device is not MECHATROLINK Occurs when synchronization
196. at the encoder cable is not affected by surges e Ground the machinery to prevent branching to the encoder s FG Implement measures against noise in the encoder wiring Troubleshooting Chapter 5 Symptom Probable cause items to check Countermeasures _ There is interference due Check for machine vibra Lower machine vibration or to the encoder being sub tion or faulty Servomotor correct Servomotor mount jected to excessive vibra mounting mounting sur ing The Servomotor is making strange noises Servomotor oscil lates at approx 200 to 400 HZ Frequency over shooting when starting and stop ping is too high tion and shock face precision secure fas tening centering etc Encoder is defective Encoder is defective Replace the Servomotor The speed loop gain Default Kv 80 0 Hz Correct the setting for the Pn100 is settoo high Refer to the instructions on speed loop gain Pn100 adjusting gain in the user s manual The position loop gain Default Kv 40 0 Hz Correct the setting for the Pn102 is settoo high Refer to the instructions on position loop gain Pn102 adjusting gain in the user s manual The speed loop integral Default Ti 20 00 ms Correct the setting for the time constant Pn101 set Refer to the instructions on speed loop integral time ting Is Inappropriate adjusting gain in the user s constant Pn101 manual
197. at the encoder cable conforms to the spec ifications e Make sure that the encoder cable distance conforms to the specifications e Correct the cable installa tion Arrange the cable so that the encoder cable is not affected by surges e Ground the machinery to prevent branching to the encoder s FG e Implement measures against noise in the encoder wiring e Reduce machine vibration or correct the Servomotor mounting Replace the Servomotor Pulses are not changing Servo Driver is defective Multi turn data is not output Replace the Servo Driver from the Servo Driver Troubleshooting Chapter 5 Symptom Probable cause to check Countermeasures _ s the voltage correct for Use a 24 V external the external power supply power supply 24 V for input signals Overtravel OT The forward reverse drive Travelling outside prohibit input signal does of the zone speci notchange POT CN1 7 fied by the host or NOT CN1 8 is atH device level 15 the operating status cor Correct the status of the rect for the overtravel limit overtravel limit switch switch e Is the wiring to the over e Correct the wiring to the travel limit switch correct overtravel limit switch Does the external power Eliminate the fluctuation in prohibit input signal is mal supply 24 V voltage fluc the external power supply functioning Does the POT tuate
198. ations of numbers of connected MECHATROLINK II devices and maximum transmission distances MERE Maximum transmission distance Number of con 1 to 15 Repeater not required Repeater not required nected devices Repeater not required Repeater required 17 to 30 Repeater required Repeater required OMRON model number Yaskawa Electric model number distance Communications Repeater FNY REP 2000 J EPMC REP 2000 m System Configuration The following diagram shows the basic system configuration For details on the number of devices that can be connected refer to Transmission Time below 2 57 Standard Models and Specifications Chapter 2 e Connection Example Connecting to a SYSMAC CS1W MCH71 CJ 1W MCH71 or CJ 1W NCF71 Servo Driver Servo Driver S ervomotor S ervomotor MECHATROLINK II Communications Setup This section describes the required switch settings for MECHATROLINK II communications e Communications Specifications MECHATROLINK II communications specifications are set using DIP switch SW2 The settings are shown below Changes to settings go into effect when the power is turned ON again Bit Name Setting Contents Default setting Reserved for system we Reserved for system Bit 3 Node address setting n address 40H SW1 Nooo ON Node address 50H SW1 m Reserved for system SW2 default setting SW1 default setting e Transmission Time T
199. ault Restart range setting power e Set the deviation counter overflow warning detection level for Servo ON to a percentage of Pn526 deviation counter overflow alarm level at Servo ON e The deviation counter overflow warning at Servo ON A 901 is generated when the accumulated pulses in the deviation counter exceed the set value Pn529 Speed limit level at Servo ON Position S etting O to 10000 Unit r min Default 10000 Restart range setting power e Set the speed limit to use if the Servo is turned ON when there are position deviation pulses in the deviation counter 4 64 Operation Chapter 4 Pn52A Setting Unit Default 20 Restart range setting power Note Do not change setting 52 Setting Unit Default FFF Restart range setting power Note Do not change setting m Program J OG Pn530 to Pn536 Pn530 0 Program J OG operation related switches Program J OG operating pattern All operation modes Setting 0 to 5 Unit Default Restart range setting power Setting Explanation Setting Explanation 0 time Pn535 Forward movement Pn531 x Number of movement operations Pn536 Waiting time Pn535 gt Reverse movement P n531 x Number of movement operations P n536 2 Waiting time Pn535 Forward movement P n531 x Number of movement operations P n536 Waiting time Pn535 Reverse movement P n531 x Number of movement operations P n536 3 Waiting time Pn535 Reverse movemen
200. ble plug model number Pages 2 71 2 72 2 76 2 78 and 2 81 Changed specifications for applicable load inertia Pages 2 73 and 2 76 Changed note 6 Pages 2 79 and 2 82 Added note 6 Pages 2 92 Added information on Servo Driver cables Connector Terminal Block Conver sion Units and motor cable specifications Pages 2 93 2 94 and 2 95 Modified the header levels and changed connector plug model number and connector socket model number Page 2 102 Added robot cable specifications Page 2 104 Changed connector plug model number Page 3 8 Modified the servo system configuration Page 3 9 Changed Servomotor capacity in the bottom table e 3 10 Changed Servomotor capacity in the top table and added information on robot cables Pages 3 11 3 12 3 13 and 3 18 Changed grounding indication in the figure Page 3 14 Changed description for frame ground at the bottom of the table Page 3 20 Added a table for selecting non fuse breakers to the top of the page Pages 3 22 and 3 32 Modified the table under surge suppressors Page 4 5 Added Status Display Bit Data atthe bottom of the page Page 4 6 Changed the paragraph and figure at the top of the page Pages 4 7 and 6 3 Changed the explanation for reverse rotation setting 1 Page 4 29 Deleted a paragraph about WARN Page 4 62 Added a paragraph under P n520 Page 5 6 Modified signal name WARN Page 5 36 Added a row for A 960 to the bottom of the table Pages 5 43 and 5 44 Modified desc
201. cable is car Forthe cable specifica ing operation un rying noise that does not tions us twisted pair wire accord with the specifica ortwisted pair bound tions shielded wire core wire of 0 12 mm min made of tin coated soft copper The encoder cable is car Use a maximum wiring rying noise because the distance of 20 m defective distance is too long 5 27 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Encoder communi Occurs when the The encoder cable is e Correct the cable installa cations position control circuit crimped and deteriora tion data error power supply is tion of the insulation is turned ON ordur allowing noise to affect Ing operation the signal line e The encoder cable is Arrange the cable so that bundled with or close to the encoder cable is not lines carrying a large cur affected by surges rent e The electric potential of Ground the machinery to the FG is fluctuating due prevent branching to the to influence from machin encoders FG ery such as welders in the vicinity of the Servo motor Encoder communi Occurs when the Noise is being carried to Implement measures cations timer error control circuit the line for signals com against noise in the power supply is ing from the encoder encoder wiring turned ON or dur The encoder is sub e Reduce machine vibra Ing operation
202. cations gm OMNUC W series AC Servomotors R88M WI There are three kinds of OMNUC W Series AC Servomotors as follows 3 000 r min S ervomotors 3 000 r min Flat style S ervomotors 1 000 r min Servomotors 1 500 r min Servomotors These Servomotors also have optional specifications such as shaft type with or without brake waterproofing with or without reduction gears and so on Selectthe appropriate S ervomotor for your system according to the load conditions and installation environment 2 5 1 General Specifications 3 000 r min Servomotors 3 000 r min Flat 1 000 r min and 50 to 750 W style 1 500 r min Ambient operating tem 0 to 40 C perature Ambient operating 2096 to 8096 with no condensation humidity Ambient storage temper 20 to 60 ature Ambient storage humidity 2096 to 8096 with no condensation Storage and operating No corrosive gasses atmosphere Vibration resistance See 10 to 2 500Hzin 110 2 500 Hzin 10 to 2 500 Hzin 10to2 500Hzin X Y andZdirec X Y andZdirec X Y andZ direc X Y and Z direc tions with accelera tions with accelera tions with accelera tions with accelera tion 49 m s max tion 24 5 m s max tion 49 m s max tion 24 5 m s2 max Impact resistance Acceleration Acceleration Acceleration Acceleration 490 m s max in 490 m s max 490 m s max 490 m s max in X Y and Z direc X Y and Z direc X Y 7 direc X
203. ce frequency 4 3 3 Parameter Setting range 50 to 2 000 Hz Details Pn40A Notch filter 1 Q value Setthe Q value for notch filter 1 4 3 3 Parameter Setting range 50 to 1 000 x 0 01 Details Pn408 2 Torque command set When using notch filter 2 set Pn408 2 to 1 4 3 3 Parameter ting Selects notch fil Notch filter 2 used Details ter 2 function Pn40C Notch filter 2 frequency Set the machine resonance frequency 4 3 3 Parameter Setting range 50 to 2 000 Hz Details Pn40D Notch filter 2 Q value Setthe value for notch filter 2 4 3 3 Parameter Setting range 50 to 1 000 x 0 01 Details Note 1 The Q value determines the notch filter characteristics The smaller the Q value is set the larger the frequencies that lower response so current loop response for frequencies other than for resonance frequencies is lowered If the Q value is increased the frequencies that lowers response can be reduced to the resonance frequencies If the resonance frequencies vary due to influences such as the load or temperature the effectiveness of the notch filter is decreased Therefore determine the optimum setting while making adjustments Note 2 Be very careful when setting the notch frequency Pn409 or Pn40C Do not set the notch frequency near the speed loop response frequency Set the frequency at least four times greater than speed loop response frequency or it may cause damage to the machinery Note 3 Make sure that the Servomotor is stopp
204. cel used for the position command filter eration decelera tion time constant Pn812 Moving Sets the moving average time for when S curve acceler x 0 1 ms 0 to 5100 average ation deceleration is used and an average movement fil time ter is used for the position command filter Pn813 Do not change setting mm 1073741823 to 1073741823 Parame Param eter No 811 814 Final Sets the distance from the external signal input position 100 Command travel dis when external positioning is executed unit tance for Note Fora negative direction or if the distance is short external operation is reversed after decelerating to a stop position Ing Forward direction 0000 Zero point Zero point irecti return return direc TEER mode set tion aM ings 1 Notused fo Do not change seting 2 0 not change setting Do not change setting Zero point Sets the origin search speed after the deceleration limit return switch signal turns ON approach Pn816 EE NN EN 1073741823 to 1073741823 817 5 speed 1 Pn818 Zero point Sets the origin search speed after the deceleration limit return switch signal turns ON approach speed 2 Final Sets the distance from the latch signal input position to 100 Command travel dis the origin for when origin search is executed unit tance to Note If the final travel distance is i
205. celeration set 0 for this parameter Pn80D First step linear decel Sets the step 1 deceleration for when two step 4 3 3 Parameter eration parameter deceleration is used Details Pn80E Second step linear Sets the step 2 deceleration for when two step 4 3 3 Parameter deceleration parame deceleration is executed When using one step Details ter deceleration set this parameter as a one step deceleration parameter Deceleration parame Sets the switching speed for the step 1 and step 4 3 3 Parameter ter switching speed 2 deceleration when two step deceleration Is Details executed When using one step deceleration set 0 for this parameter Pn810 Exponential accelera Sets the bias for when an exponential filter is 4 3 3 Parameter tion deceleration bias used for the position command filter Details Pn8ll Exponential accelera Sets the time constant for when an exponential 4 8 8 Parameter tion deceleration time filter is used for the position command filter Details constant Pn812 Moving average time Sets the moving average time for when and an 4 3 3 Parameter average movement filter is used for the position Details command filter Set when using S curve accel eration deceleration Note When trapezoidal acceleration deceleration not using two step acceleration deceleration is executed set Pn80C and Pn80F to 0 set the acceleration speed in Pn80B and set the decel eration speed in Pn80E 4 89 Operation
206. change setting 816 2 Zero point return mode settings Not used S etting Unit Default Restart range setting power Note Do not change setting 816 3 Zero point return mode settings Not used S etting Unit Default Restart range setting power Note Do not change setting Pn817 Zero point return approach speed 1 Position S etting 0 to 65535 Unit x 100 Com Default Restart range mand unit s setting power Sets the origin search speed after the deceleration limit switch signal turns ON Pn818 Zero point return approach speed 2 Position S etting 0 to 65535 Unit x 100 Com Default Restart range mand unit s setting power e Sets the origin search speed from when the deceleration limit switch signal turns ON until it turns OFF Final travel distance to return to zero point Position 1073741823 Unit Command _ Default Restart to unit s setting power 1073741823 Sets the distance from the latch signal input position to the origin for when origin search is exe cuted If the final travel distance is in the opposite direction from the origin return direction or if the distance is short operation is reversed after decelerating to a stop Pn81B Not used S etting Unit Default Restart range setting power 4 72 Operation Chapter 4 Note Do not change setting Pn81C Not used Setting Unit Default Restart range setting power Note Do not change setting Pn81
207. charged rapidly when the power is turned OFF Be sure to mount a discharge circuit on the DC power supply Also check that the charge indicator is not lit before storing the power sup ply input when the power supply has been turned OFF the discharge time for the Servo Driver is approximately 30 minutes Pn001 3 Function selection application switches 1 Not used Setting Unit Default Restart range setting power Note Do not change setting 4 33 Operation Chapter 4 e Function Selection Application Switches 2 Pn002 Default Setting 0000 Pn002 0 Function selection application switches 2 Torque command input change Speen S etting 0 to 3 Unit Default Restart range setting power Setting Explanation 3 ExpamWon Option command value torque OoOO 2 opion command value used as torque fed forward command valves Option command value used as torque limit value according to rotation current limit designation e This parameter sets the option command value function for speed control e When 1 or 3 is set the torque limit operates according to the option command value e When 2 is set the torque feed forward operates according to the option command value For details on the torque limit function refer to 4 4 7 Torque Limit Function All Operating Modes For details on the torque feed forward function refer to 4 7 3 Torque Feed forward Function Speed
208. cking the Encoder Connectors e The Encoder Cable must be securely connected to the Encoder Connector CN2 at the Servo Driver The Encoder Cable must be securely connected to the Encoder Connector at the S ervomotor e Checking the I O Connector The 1 0 Signal Cable must be securely connected to the 1 0 Connector CN1 Operation Chapter 4 e Checking the MECHATROLINK II Connections The MECHATROLINK II Connector must be securely connected to the MECHATROLINK II Con nector at the host controller The MECHATROLINK II Cable must be securely connected to the MECHATROLINK II Connector CN6 atthe Servo Driver e The termination resistance must be securely connected to the final Servo Driver m Turning ON Power e First carry out the preliminary checks and then turn ON the control circuit power supply It makes no difference whether or not the main circuit power supply is also turned ON e The ALM output will take approximately 2 seconds to turn ON after the power has been turned ON Do not attempt to detect an alarm using the Host Controller during this time when power is being supplied with the Host Controller connected m Checking Displays e When the power is turned ON one of the codes shown below will be displayed at either the indica tors or the Parameter Unit Error Alarm Display Note 1 The alarm code the number shown in the alarm display changes depending on the con tents of the error
209. coder cable The electric potential of the FG is fluctuating due to influence from machinery such as welders in the vicinity of the S ervomotor The Servo Driver pulse count is incorrect due to noise vibration around the bear ings Have any foreign objects gotten into the movable parts of the machine or is there any damage or defor mation Is twisted pair wire or twisted pair bound shielded core wire of 0 12 mm min made of tin coated soft copper being used Is twisted pair wire or twisted pair bound shielded core wire of 0 12 mm min made of tin coated soft copper being used Use a maximum wiring dis tance of 50 m The encoder cable is crimped or deterioration of the insulation is allowing noise to affect the signal line Is the encoder cable bun dled with or close to lines carrying a large current Whatis the grounding sta tus of equipment such as welding machines near the 5 ervomotor e g imper fectly grounded not grounded at all Is noise being carried to the line for signals coming from the encoder ties please contact an OMRON representative e Consult with the maker of the machine Make sure that input signal lines conform to the specifi cations Make sure thatthe encoder cable conforms to the spec ifications e Make sure that the encoder cable distance conforms to the specifications e Correct the cable installa tion Arrange the cable so th
210. coder cable is car Use a maximum wiring e Correct the encoder wir Ing For the cable specifica tions us twisted pair wire or twisted pair bound shielded wire core wire of 0 12 mm min made of tin coated soft copper distance of 20 m e Correct the cable installa tion Arrange the cable so that the encoder cable is not affected by surges e Ground the machinery ground to prevent branching to the encoder s FG Implement measures against noise in the encoder wiring e Reduce machine vibra tion or securely mount the Servomotor Encoder is defective Replace the Servomotor e The Servo Driver board is Replace the Servo defective Driver A Servo Driver parameter 15 set incorrectly e The encoder s multi turn limit setting was omitted or changed Occurs during The Servo Driver board is operation defective e Correct the setting for Pn205 0 to 65 535 e Change settings when an alarm occurs Replace the Servo Driver 5 29 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Deviation counter 5 30 overflow Deviation counter overflow alarm at Servo ON e The Servo Driver board is defective Occurs when the control circuit power supply is turned ON Occurs during high speed rota tion e Servomotor s U V faulty connections e The Servo Driver board is d
211. completed 2 output terminal allocation Position e Parameter settings are the same as for Pn50E 0 Pn512 0 O utput signal reverse Pins CN1 1 and 2 output signal reverse All operation Ne Setting 0 1 Unit Default Restart range setting power Setting Explanation Setting Explanation e Select the characteristics of the output signal allocated to pins CN1 1 and 2 f you set 1 reverse ON OFF outputs are reversed Pn512 1 Output signal reverse Pins CN1 23 and 24 output signal reverse All operation modes Setting 0 1 Unit Default Restart range setting power Setting Explanation Setting Explanation SSS Pn512 2 Output signal reverse Pins CN1 25 and 26 output signal reverse All operation modes Setting 0 1 Unit Default Restart range setting power Setting Explanation Setting Explanation 4 31 Operation Chapter 4 4 3 3 Parameter Details This section explains all user parameters not already explained in 4 3 2 Important Parameters Make sure you fully understand the meaning of each parameter before making any changes to parameter settings Be sure not to change parameters designated Not used and digit No settings m Function Selection Parameters from 000 e Function Selection Basic Switches Pn000 Default Setting 0010 Pn000 0 Function selection basic switches Reverse rotation All operation modes S etting 0 1 Unit Default Restart
212. coordinate sys tem offsets for when an absolute encoder is used Sets the step 1 acceleration for when two step accelera tion is used Sets the step 2 acceleration for when two step accelera tion is executed or the one step acceleration parameter for when one step acceleration is executed Sets the switching speed for the step 1 and step 2 accel eration when two step acceleration is executed Note When used as one step acceleration 0 must be set Sets the step 1 deceleration for when two step decelera tion is used Sets the step 2 deceleration for when two step decelera tion is executed or the one step deceleration parameter for when one step deceleration is executed Sets the switching speed for the step 1 and step 2 decel eration when two step deceleration 15 executed Note When used as one step acceleration 0 must be set Sets the bias for when an exponential filter is used for the position command filter Command 1073741823 unit to 1073741823 Command 1073741823 to 1073741823 unit x 10000 Command unit s 1 to 65535 x 10000 Command unit s 1 to 65535 0 to 65535 x 10000 Command unit s 1 to 65535 100 x 10000 Command unit s 1 to 65535 0 to 65535 Command 0 to 32767 unit s 6 1 Appendix Chapter 6 Explanation Setting Restart Exponen Sets the time constant for when an exponential filter is x 0 1 ms 0 to 5100 tial ac
213. ct a no fuse breaker with a rated current greater than the total effective load current when multiple Servomotors are used e When making the selection add in the current consumption of other controllers and so on Servo Driver Inrush Current eThe Servo Driver inrush currents are shown in the above table e With low speed no fuse breakers an inrush current 10 times the rated current flows for 0 02 sec ond For a simultaneous inrush current for multiple Servo Drivers select a non fuse breaker with a 20 ms allowable current greater than the total inrush current shown in the above table for the applica ble Servomotor models e Noise Filters for Servomotor Output Use noise filters without built in capacitors on the Servomotor output lines e Select a noise filter with a rated current at least two times the total rated current of the Servo Driver s continuous output current 3 21 System Design and Installation Chapter 3 The following table shows the noise filters that are recommended for Servomotor output Waker Model Rated current Remarks NEC TOKIN LF 310KA Three phase block noise filter LF 320KA LF 350KA LF 3110KB 110A Note 1 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 11 7 2 5 9 kHz the Servo Drivers PWM frequenc
214. current limit designation turns ON option command value 1 is taken as the forward torque limit and the torque limit functions for forward rotation e When the reverse rotation current limit designation turns ON option command value 2 is taken as the reverse torque limit and the torque limit functions for reverse rotation Parameter Parameter name No Pn002 0 Torque command input Set Pn002 0 to 3 Option NEN o NES value used 4 3 3 switching as torque limit value according to the forward Details reverse rotation current limit designation 4 85 Operation Chapter 4 4 4 8 Soft Start Function Speed m Functions eThis function accelerates and decelerates the Servomotor in the set acceleration and deceleration times You can set the acceleration and deceleration independently of each other using the trapezoidal acceleration and deceleration curve e The soft start processes speed command value switching to reduce shock during acceleration and deceleration This function is effective for simple positioning and speed switching operations Note Do not use this function for a position controller with an acceleration deceleration function m Parameters Requiring Settings Parameter Parameter name Explanation Reference No Pn305 Soft start acceleration Setthe acceleration time from 0 r min to the 4 4 4 Forward and time maximum rotation speed setting range 0 to Reverse Drive Pro 10 000 ms
215. d 2 78 Standard Models and Specifications Chapter 2 e Torque and Rotation Speed Characteristics 3 000 r min Flat style Servomotors With a 100 VAC Servo Driver The following graphs show the characteristics with a 3 m standard cable and 100 V AC input R88M WP 10030H T 100 W Nem 0 750 Repeated usage Continuous usage r min 1000 2000 3000 4000 5000 R88M WP 20030H T 200 W 1 5 Repeated usage 1 0 0 5 Continuous usage r min 1000 2000 3000 4000 5000 R88M WP40030H T 400 W Nem 4 0 43 82 3 0 Repeated usage 2 0 1 0 1 00 0 76 Continuous usage r min 1000 2000 3000 4000 5000 3 000 r min Flat style Servomotors With a 200 VAC Servo Driver The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M WP10030H T 100 W Nem 1 0 40 955 0 955 0 750 Repeated usage 0 19 Continuous usage r min 1000 2000 3000 4000 5000 R88 WP 75030H T 750 W Continuous usage r min 1000 2000 3000 4000 5000 R88M WP 20030H T 200 W Repeated usage Continuous usage r min 1000 2000 3000 4000 5000 R88M WP 1K530H T 1 5 kW Nem Continuous usage r min 1000 2000 3000 4000 5000 R88M WP40030H T 400 W Nem Continuous usage r 1000 2000 3000 4000 5000 2 79 Standard Models and Specifications Chapter 2 e Servomotor and Mechanical System Temperature Characteristics e W series AC
216. d filter x 0 01 ms IN to 6400 P control switching conditions S ets internal torque command 0004 value conditions Pn10C Sets speed command value condi tions 10 Sets acceleration command value conditions 10 3 Sets deviation pulse value condi tions Pn10F No P control switching function 1 S peed con PI control trol loop switching iG IP control Position loop I Standard control Hn Less deviation control 3 Notwed o Do not change setting S ets level of torque command to switch from control to P control 200 0 to 800 r min 0 to 10000 r min s 0 to 30000 Command 0 to unit 10000 Lb Do not change setting 500 500 em m Do not change setting 1000 Do not change setting 1000 x 0 1 ms Position loop integral time constant 0 to 50000 Notused Do not change setting 400 fe e Sets level of speed command to switch from control to P control Sets level of acceleration command to switch from control to P control S ets level of deviation pulses to switch from control to P control Normal auto 2 Do not change setting 0012 tuning method 1 feed ack com pensation function 2 to 3 Not used selection 2 Notused 0 Donotchange setting 3 Notused 0 Donotchange setting Adjusts speed um feedback gain Im 4 1 p Operation Chapter 4 Param Pa
217. d operations according to position control are enabled making it possible to check command units and the electronic gear and to execute simple positioning operations 4 91 Operation Chapter 4 m Parameters Requiring Settings Parameter Parameter name Explanation Reference No Pn530 0 Program JOG opera Setthe program J OG operating pattern 4 3 3 Parameter tion related switches Details Program J OG operat ing pattern Pn531 Program JOG move Setthe program J OG movement distance 4 3 3 Parameter ment distance Setting range 1 to 1 073 741 824 command Details units Program OG move Sets the program JOG movement speed 4 3 3 Parameter me ARN Setting range 1 to 10 000 r min Details Pn534 Program J OG acceler Setthe acceleration deceleration time for pro 4 3 3 Parameter ation deceleration time gram J OG operation Details Setting range 2 to 10 000 ms Pn535 Program JOG waiting Setthe program OG waiting time the time that 4 3 3 Parameter time the Servomotor is to be Dun Details Setting range 0 to 10 000 ms Number of program Sets the number of repetitions of the operating 4 3 3 Parameter J movements pattern set in Pnn530 0 under the conditions Details set in Pn531 to Pn535 Setting range 1 to 1 000 times m Precautions The following restrictions apply during operation e When setting this function set the operating range for the machinery and the safe operating speed in user const
218. d set according to the position loop gain Kp setatthat time If required the adjustment can be further refined by means of user constants for minute adjustment 4 115 Operation Chapter 4 Predictive control position response Position Position command host command Predictive control used Predictive control not used Time Predictive control position deviation response Position deviation Predictive control used Predictive control not used m Parameters mere Settings Lm 3 Ml control In order to use the predictive control function 4 3 3 Parameter selection switches set 1 Predictive control used for Pn150 0 Details Predictive control selection Pn150 1 Predictive control Setthe predictive control type 4 3 3 Parameter switches Predictive Details control type 151 Predictive control S et the acceleration deceleration gain for pre 4 3 3 Parameter acceleration decelera dictive control Details tion gain Setting range 0 to 300 96 Pn152 Predictive control Setthe position deviation ratio for predictive 4 3 3 Parameter weighting ratio control Details Setting range 0 to 300 96 m Predictive Control Type Pn150 1 Predictive control for tracking Pn150 1 0 This function operates by retaining the tracking for position commands that are input Use it when there is a need to retain the shape of position command tracking The beginning of operation is delayed by several m
219. decelerating to a stop Preme Woused Domtchmgesetng PnBIC Wotused Domtchmesetn bh k ko Oo notchange seting ko PnBiE Wotused Oo notchange seting 0 i PnBIF Wotused Oo notchange seting k ko Pn820_ Notused Oo notchange seting bh i 822 Wotused Oo notchange seting bh k ii Notused notchange seting Seena Wd Pn825__ Notused not change setting Seenote 5 00 900 Notused Do not change setting to Pn910 Pn920 Notused Do not change setting to Pn95F Note 1 The normal setting is 0 If an external regeneration resistor is used refer to 3 3 3 Regener ative Energy Absorption by External Regeneration Resistance for the recommended setting Note 2 The upper limit is the maximum output capacity W of the applicable Servo Driver Note 3 If the Servo Driver is used with the CJ 1W MCH71 or CS 1W MCH71 this parameter will be setto 0032 If parameters are edited with the WMON ML2 connected this parameter will set to 0000 If this happens you must reset this parameter to 0032 from the CJ 1W MCH71 or CS1W MCH71 Note 4 If the Servo Driver is used with the CJ 1W MCH71 or CS 1W MCH71 this parameter will be setto 0023 If parameters are edited with the WMON ML2 connected this parameter will set to 0000 If this happens you must reset this parameter to 0023 from the
220. ded portions of the following dia grams If used in these regions the Servomotor may heat causing the encoder to malfunction R88M W2K030L 2 kW Effective torque Nem 10 20 30 40 Ambient temperature C m 3 000 r min Flat style Servomotors e Performance Specifications Table 200 V AC Model RB8M WPIODSOH WP20030H WP40O30H _WP75030H WPIKSSON Eurer WoO Momentary maximum rota r min 5 000 tion speed Momentary maximum 0 955 torque Momentary maximum cur rms 2 8 0 rent Rotor inertia kgm 4 91 x 106 1 93 x 10 6 3 31 x 10 2 10 x 10 4 02 x 10 602 4 Powers o mo on 7 Mechanical tme constant ms 0 054 0 oe 046 Electicaltime constant 1 Da 8 B N ms E 43i e 2 77 Standard Models and Specifications Chapter 2 200 V AC Model R88M WP10030H WP2o030H _WP40030H WPISOOH WPIKS30H Uni 5 8 e Weight Radiation shield dimensions material Applicable load inertia See note 6 Applicable Servo Driver 100 V WNOIL ML2 WNO2L ML2 WNO4L ML2 88D AC WNO1H ML2 WNO2H ML2 WNO4H ML2 WNO8H ML2 WNI15H ML2 ci remet 2 9 x 105 1 09 x 10 1 09 x 10 8 75 x 10 8 75 x 10 GD2 4 Excitation voltage 24 V DC 10 Power consump 8 2 tion at 20 C Current consump tion at 20 C Static friction 0 4 min 0 9 min 1 9 min 3
221. dels and Specifications Chapter 2 Note WOB and WB mean without brake and with brake respectively Dimensions mm e s remme us 300 s m p e s s e e s s _ Raew w30o107 G0 8 us so p om s p js qe js R88M W 60010 IG 09BJ 1 i J m N UI o e N e s pm s pm s s m e s m s s ps e s s s J s m s s ps e s ps s s 12 m p p m p pm p p m p 14 im R88M W90010l IG 45BJ 1 45 2 kW N oO e 3 5 m5 50 5 13 fes f J9 55 gt 5 18 feo fo m fs Ju 2 5 18 feo fo m fis uu 7 3 5 5 17 6 J9 55 pm 3 s s so 5 J 17 6 J9 55 CN MC CAM GN CAM ON OW OM NR NR CN CON AM GN UM UON OM OR NN a 7 5 m5 50 75 7 p e s p ps ju 92 ss 5 s eo 9 s j18 ju R88M W2K010 1 9 R88M W2K010 Ui Ui Diagram 2 D5 dia D4 dia D3h7 dia LL LM LR 2 43 Standard Models and Specifications Chapter 2 e 1 500 r min Servomotors 450 W to 4 4 kW wi
222. deviation pulses are equal to or greater than the number of pulses set the user constant P n10F the speed loop is switched to P control Command V 5 ervomotor speed BE 9 Time PIi Pcontroi PI control Operation Example Used to shorten the settling time In general the speed loop gain must be raised in order to shorten the settling time but in this case overshooting and undershooting are suppressed Without P control switching With P control switching Servomotor Speed Speed Position deviation pulses S ervomotor Speed Long settling time Wm Speed loop gain 7 Overshooting S ervomotor Speed Under shooting S ettling time le 4 7 8 Predictive Control Position Predictive control is a method for minimizing future deviation by using machine characteristics and target values in position control mode to predict deviation The R88D WNLILILI ML2 Servo Driver provides two types of predictive control predictive control for positioning which aims at shortening the settling time and predictive control for tracking which aims at reducing tracking deviation With predictive control for positioning future position commands are predicted in order to execute high speed positioning With predictive control for tracking on the other hand the tracking of position commands that are input is retained The adjustment method is to simply enable predictive control and then the recommended value is calculated an
223. dia gram Speed 0 Pn531 Travel speed Travel Pn531 P n533 distance Travel distance Pn531 Travel distance l 1 l 1 l 1 l 1 l 4 l 1 l 1 l 1 l l l 1 I l 4 1 l d I l 1 l 1 Down Key lt gt 4 Waiting time Acceleration waiting time Waiting time Pn535 deceleration pp535 Pn535 time Pn534 5 ervomotor oper ating status T T T Stopped Reverse Stopped Reverse Stopped Reverse 4 93 Operation Chapter 4 Pn530 0 2 Waiting time Pn535 Forward movement Pn531 x Number of movement operations Pn536 Waiting time Pn535 Reverse movement Pn531 x Number of movement operations Pn536 5 peed line dia Number of travel operations Pn536 Number of travel operations P n536 gram Acceleration deceleration 531 Pn531 Waiting time Travel ses Travel Travel emnes Pn535 n533 distance distance Speed 0 Up Key ON i 4 Travel speed 1 4 Pn531 ane eese Waiting time Travel 1 n time Pn534 n935 distance S ervomotor oper ws amp 6G Stopped Forward Stopped Forward Stopped Reverse Reverse operation ra Pn530 0 3 Waiting time Pn535 Reverse movement Pn531 x Number of movement operations Pn536 Waiting time Pn535 Forward movement Pn531 x Number of movement operations Pn536 5 peed line dia Number of travel operations Pn536 Number of travel operations Pn536
224. e instructions given there ROT 8D W ACSERVO NO1H M L2 UM 55 6 Warning label BETSEKUSRT7 amp 521m T8 8 57 RBOBNS Y WARNING Disconnect all power and wait 5 min before servicing May cause electric shock GBgmEE HLLZIC A AB0OSn5U CAUTION Do not touch heatsink when power is ON May cause burn UST ARE BBE E Use proper grounding techniques Precautions for Safe Use Dispose of the product and batteries according to local ordinances as they apply Have qualified specialists properly dispose of used batteries as industrial waste CE 51 Read and Understand this Manual Please read and understand this manual before using the product Please consult yur OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL IN
225. e 2 Pn132 Pn139 2 Even when the switching conditions are met switching is not executed during the gain switching waiting time This is effective for when switching conditions are not stable or when detailed timing is set The switching time is set to reduce shock during gain switching and the gain is directly switched during this time The gain switching waiting time and switching time can be set for No 1 to No 2 and No 2 to No 1 gain as shown in the following table No 1 gain 100 Pn101 Pn102 Pn401 No 2 gain Pn104 105 106 Pn412 e Automatic Gain Switching Parameter setting Switching condition Switching gain Gain switching Gain switching waiting time time Pn139 0 1 Condition A met No 1 2 Waiting time 1 Switching time 1 Automatic switch 139 1 Pn135 Pn131 ing pattern 1 Condition B met No 2 No 1 gain Waiting time 2 S witching time 2 Pn139 2 Pn136 Pn132 e Gain Switching Waiting Time and Gain Switching Time The following diagram shows the relationship between the gain switching waiting time and the gain switching time constant In this example automatic gain switching pattern 1 takes the turning ON of positioning completed signal 1 INP 1 as the condition and operation is switched from the position loop gain Pn102 to the No 2 position loop gain Pn106 The switching condition is satisfied when the INP1 signal turns ON and then from that point ope
226. e For details on notch filters refer to 4 7 10 Torque Command Filter All Operating Modes Pn4OF 2nd step 2nd torque comman E All operation modes S etting 100 to 2000 Unit Default 2000 Restart range setting power Pn410 2nd step 2nd torque command filter Q value All E modes S etting 50 to 1000 Unit x 0 01 Default Restart range setting power Pn411 3rd step torque command filter time constant All operation modes S etting to 65535 Unit Default Restart range setting power Pn412 lst step 2nd torque command filter time constant All operation modes S etting 0 to 65535 Unit x0 01ms Default 100 Restart range setting power Setting Unit Default 100 Restart range setting power Note Do not change setting Pn414 S etting Unit Default 100 Restart range setting power Note Do not change setting Pn420 Damping for vibration suppression on stopping Poston S etting 10 to 100 Unit Default Restart range setting power Pn421 Vibration suppression 2110 time Position S etting 65535 Unit Default 1000 Restart range setting power Note For details on vibration suppression when stopped refer to 4 7 11 Vibration Suppression when Stopping Position P n422 Gravity compensation torque S etting 20000 to Unit x 0 01 Default Restart range 20000 setting power 4 60 Operation Chapter 4 456 5 weep torque command Setting to 800 Unit Default Restart range
227. e Servomotors Without 200V e 1 000 r min Servomotors Wihout 200 V Wi 2007 2 8 Standard Models and Specifications Chapter 2 e 1 500 r min Servomotors Without 200V 450W R88M W45015TO R88M W45015T 0S2 brake sow R8MJNBSOISTO RBBN WASOIST OS2 R88M WIKSISTO RB8M WIKSISTOS2 With 200 450W f j R88M W45015T BO R88M W45015T BOS2 sow R8eMJNBSOISTBO RBSM WBSOIST BOS2 R amp BM WIKGISFBO RBM WIKSIST 8OS2 Sid RBSMAWIKBISTBO RE8M WIKEISTBOS2 m Servomotors with Gears e Combination Table for Servomotors with Standard Gears Standard Gears are highly accurate gears with a maximum backlash of 3 degrees The standard shaft is a straight shaft with a key Models without keys can also be manufactured for 3 000 r min motors from 30 to 750 W and for 3 000 r min flat style motors Models without keys have a suffix of GOLUB Note A check mark in a box indicates thatthe two models can be combined If the box is unchecked then the models cannot be combined 3 000 r min Servomotors Specifications Basic model Gossj Go9Bj ciis G208 621 G298 63383 G45B vs pe be o 200w Ye e e e row Reawawaoos0H ve e be be msow memcwmoxmm ve e e be
228. e absolute encoder is interrupted Normally a Backup Battery Unit is used and the battery is connected to the battery holder for the absolute encoder battery cable so do not connect anything to these terminals Absolutely do not connect to both of them or it will cause damage e The battery voltage is 2 8 to 4 5 V 2 64 Standard Models and Specifications Chapter 2 m Forward Drive Prohibit 7 POT Reverse Drive Prohibit 8 NOT Note This is the default allocation For either signal the drive prohibition is normally disabled This setting can be changed by Pn50A 3 P n50B 0 e These two signals are the inputs for forward and reverse drive prohibit overtravel e When they are input driving is possible in the respective direction e When driving is prohibited movement will stop according to the settings of Pn001 0 and Pn001 1 Refer to the diagram below Alarm status will not be generated at the Servo Driver while driving is prohibited Stopping Methods when Forward Reverse Drive Prohibit is OFF Deceleration Method S topped Status Pn001 0 Pn001 1 or 1 Dynamic brake Servo unlocked 0 NOT is OFF 2 Free run Pn001 1 1 gr 2 7 Servo unlocked Emergency stop torque Pn406 See note 1 Servo locked Note 1 The position loop will not operate for position control when stopping in this mode Note 2 When torque control is being used the stopping method is determined by 001 0 setti
229. e following illustrations 3 24 System Design and Installation Chapter 3 Correct Separate input and output WRONG Noise not filtered effectively AC input AC output AC input Ground AC output Use twisted pair cables for the power supply cables whenever possible or bind the cables Correct Properly twisted Correct Cables are bound Driver Driver OLI uc 2 L2 L3 7 Binding e Separate power supply cables and signal cables when wiring Control Box Structure If there are gaps in the control box from cable openings operating panel installation holes gaps around the door and so on it may allow electric waves to penetrate In order to prevent this from occurring take the measures described below e Case Structure Construct the control box case of metal and weld the joints between the top bottom and sides so that they will be electrically conductive For assembly strip the paint off of joined areas or mask them during painting to make them elec trically conductive f gaps are opened in the control box case when tightening down screws make adjustments to pre vent this from occurring Do not leave any conducting part unconnected e Connect to the case all Units inside of the case e Door Structure e Construct the door of metal Use a water draining structure where the door and case fit together and leave no
230. e setting Pn920 to Not used Pn95F S etting Unit Default Restart range setting power Note Do not change setting 4 74 Operation Chapter 4 4 4 Operation Functions 4 4 1 Position Control Position m Functions Position control is performed according to commands from MECHATROLINK II e The motor is rotated by the command value multiplied by the gear ratio Pn20E Pn210 Controller OMNUC W series Servo Driver MECHATROLINK II Model Motion Control Unit Position Control Mode CS1W MCH71 CJ 1W MCH71 Electronic gears OMNUC W series Pn20E 210 Servomotor Positioning command executed G1 G2 Position Control Unit CJ 1W NCF71 m Parameters Requiring Settings LE gear ratio Setthe pulse rates for the position command 4 4 9 Electronic numerator value and the Servomotor travel amount Gear Function Pn210 cork gear ratio 0 001 lt 61 62 lt 1000 Position G2 denominator m Related Functions e The main functions related to position control that can be used during position control are as fol lows Function name Explanation Reference Feed forward function Adds the position command value differential to the speed loop 4 7 2 Feed for to reduce positioning time ward Function Position Bias function Calculates number of bias rotations for the speed loop to reduce 4 7 7 Bias Func positioning time tion Position Torque limit function Limits the Servomotor s torque outp
231. e setting m Speed Control Parameters from Pn300 Pn300 Not used S etting Unit Default Restart range setting power Note Do not change setting P n301 S etting Unit Default 100 Restart range setting power Note Do not change setting P n302 S etting Unit Default 200 Restart range setting power Note Do not change setting S etting Unit Default 300 Restart range setting power Note Do not change setting P n304 J og speed All operation modes S etting to 10000 Unit r min Default Restart range setting power e Sets the speed for when the jog operation is used Note If a value that exceeds the maximum Servomotor rotation speed is set that value will be regarded as the maximum Servomotor rotation speed P n305 Soft start acceleration time speed S etting Oto 10000 Unit Default Restart range setting power Pn306 S oft start deceleration time pee S etting to 10000 Unit Default Restart range setting power 4 54 Operation Chapter 4 Sets the acceleration and deceleration time for soft start using speed control e Set the acceleration time from Servomotor rotation speed 0 r min to the maximum rotation speed in Pn305 and setthe deceleration time from the maximum rotation speed to the Servomotor rotation speed 0 r min in P n306 Set both Pn305 and Pn306 to 0 if using a position controller with acceleration and deceleration functions or if not using
232. ection level 100 Note 1 Vibration may be difficult to detect due to an inappropriate Servo gain setting Moreover not all vibration that occurs can be detected Use a uniform criterion for detected results Note 2 Setthe appropriate inertia rate Pn103 If the setting inappropriate it may result in errone ous detection of vibration alarms or warnings or in detection failure Note 3 To execute this function the commands that the user is actually using must be input Note 4 Execute this function in the operating conditions under which the vibration detection level is to be initialized If this function is executed with the Servomotor rotating atlow speed vibra tion will be detected as soon as the Servo is turned ON Error will be displayed if this func tion is executed while the S ervomotor is operating at 1096 or less of its maximum rotation speed m Torque Control Parameters from Pn400 P00 Unit Default 30 Restart setting power 4 56 Operation Chapter 4 Note Do not change setting Pn401 lst step 1st torque command filter time constant All operation modes Setting to 65535 Unit x0 01ms Default Restart range setting power Sets the primary filter time constant for the internal torque command When the mechanical resonance frequency is within the response frequency of the Servo loop 5 ervomotor vibration will occur In order to prevent this from occurring set the torque command fil te
233. ector terminals for Servomotor power line Encoder Connector CN2 This is the connector for the encoder provided for the 5 ervomotor These are ground terminals for Expansion Connector CN4 preventing electrical shock This is a supplementary Connect to 100 or less connector for future expansion It cannot presently be used so do not connect anything to it 1 5 Introduction Chapter 1 1 4 Applicable Standards and Models m EC Directives EC Directive Product Applicable standard Low Voltage Servo Drivers EN50178 eS requirements for electrical equipment for measurement control and laboratory use AC Servomotors IEC60034 8 Rotating electrical machines EN60034 1 5 9 AC Servo Drivers EN55011 class A group 1 Limits and methods for measuring radio distur and AC Servo bance characteristics of industrial scientific and motors medical ISM radio frequency equipment EN61000 6 2 Electromagnetic compatibility generic immunity Standard in industrial environments Note Installation under the conditions specified in 3 2 5 Wiring for Conformity to EMC Directives is required to conform to EMC Directives UL cUL Standards Standards Product Applicable standard FileNo Remarks UL AC Servo Drivers UL508C E179149 Servomotors 011004 179189 cUL AC Servo Drivers cUL C22 2 No 14 179149 Industrial control equipment AC Servomotors cUL C22 2 No 100 E179189 Mo
234. ed mutual induction and inductance will increase and will cause malfunctions Always use cables fully extended e When installing noise filters for Encoder Cables use clamp filters The following table shows the recommended clamp filter models Maker Model TDK Clamp filter Do not place the Encoder Cable in the same duct as Power Cables and Control Cables for brakes solenoids clutches and valves 3 31 System Design and Installation Chapter 3 3 3 Regenerative Energy Absorption The Servo Drivers have internal regenerative energy absorption circuitry for absorbing the regenerative energy produced during time such as Servomotor deceleration and thus preventing the DC voltage from increasing An overcurrent error is generated however if the amount of regenerative energy from the Servomotor is too large If this occurs measures must be taken to reduce the regenerative energy produced by changing operating patterns and so on or to improve the regenerative energy absorption capacity by connecting external regeneration resistance 3 3 1 Regenerative Energy Calculation m Horizontal Axis 1 S ervomotor operation N2 S ervomotor output torque Note In the output torque graph acceleration in the positive direction is shown as positive and acceleration in the negative direction is shown as negative e The regenerative energy values for Eg1 and Eg2 are derived fr
235. ed range 1 Position ing com pleted range 2 Deviation counter overflow level at Servo ON Deviation counter overflow warning level at Servo ON Speed limit level at Servo ON Chapter 4 Explanation Setting Restart Outputsig Notreverse foo Yes nal reverse for CN1 pins 1 Reversed 1 2 Outputsig Notreversed nal reverse for CN1 pins 1 Reversed 23 24 2 Outputsig 0 Notreverss __ nal reverse for CN1 pins 1 Reversed 25 26 Netused 0 Do notchange setting om e CNN 10 to 100 262144 Command 1 to unit 1073741823 262144 20 Do not change setting Do not change setting Sets the detection level for the deviation counter overflow warn ing A warning is output for P n520 x Pn51E 100 or higher Sets the deviation counter overflow alarm detection level Pn520 gt Max feed speed command unit s Pn102 2 0 Command Setting range for positioning completed range 1 INP 1 unit 0 to 1073741823 to 1073741823 Command Setting range for positioning completed range 2 INP 2 unit 1 to 1073741823 Command unit 96 10 to 100 r min 0 to 10000 Sets the deviation counter overflow alarm detection level for S ervo Sets the deviation counter overflow warning detection level for Servo ON Sets the speed limit for when the Servo turns ON with position deviation accumulated Operation Ch
236. ed loop feedback due to mechanical system vibration etc m Parameters Requiring Settings Parameter Parameter name Explanation Reference No Pn308 Speed feedback filter Setthe filter time constant for the speed feed 4 3 3 Parameter time constant back Setting range 0 to 65535 x 0 01 ms Details 4 111 Operation Chapter 4 Set the primary delay filter for the speed loop speed feedback The feedback speed will be evened out and vibration will be reduced If a large value is entered it will contribute to delay and response will be reduced m Setting Procedure Measure the machinery vibration cycle and set Pn508 speed feedback filter time constant to that value 4 7 7 P Control Switching Position Speed m Functions For speed control to suppress overshooting during acceleration and deceleration For position control to suppress undershooting during positioning operations and shorten the set ding time m Operation Examples i Command Speed Actual Servomotor movement Time Undershooting Settling time e The P control switching function automatically switches the control mode from control to P con trol with the status amount in the Servo Driver above or below the detection point set by the user constant Note 1 The P control switching function is used when it is necessary to push Servo Driver perfor mance to it s limits in order to obtain especially high speed positi
237. ed while the notch filter frequency Pn409 Pn40C is being changed The Servomotor will vibrate if the frequency is changed during operation 4 125 Operation Chapter 4 value 20 7 value 2 1 0 Notch filter Notch filter 10 10 10 10 10 10 Frequency Hz Frequency Hz Notch filter Notch filter 0 C 3o 0 ME an ne deg deg PoP bitin ae EU cla Ei A 400 400 102 103 104 10 10 10 Frequency Hz Frequency Hz e Setting Procedure Raise the value of Pn100 speed loop gain and measure the torque vibration frequency with the machinery barely vibrating Either monitor the analog monitor output torque command monitor or use Computer Monitor S oftware Set the measured frequency in P n409 or Pn40C Minutely adjust Pn409 or Pn40C in order to minimize output vibration Gradually increase the value Pn40A or Pn40C in a range where vibration does become too great e Again adjust Pn100 Speed loop gain Pn101 Speed loop integration constant Pn102 Position loop gain and Pn401 1st step 1st torque command filter time constant according to the procedure described in 4 6 4 Manual Tuning 4 126 Operation Chapter 4 4 7 11 Vibration Suppression when Stopping Position m Functions When the Servo gain is increased there may be v
238. edback com Adjusts the speed loop feedback gain 4 3 3 Parameter pensating gain Setting range 1 to 500 96 Details Reduce the setting value for Pn111 speed feedback compensating gain to increase the speed loop gain and position loop gain If the value is too small the response may vibrate For this function to be used it is a prerequisite that the inertia ratio Pn103 value be correctly set Make sure that the inertia ratio is set correctly m Setting Procedure To perform adjustment monitor position deviation and torque commands Either monitor the analog monitor output or use Computer Monitor Software Follow 4 6 4 Manual Tuning to adjust Pn100 speed loop gain Pn101 speed loop integration con stant Pn102 position loop gain and Pn401 1ststep 1st torque command filter time constant to quickly set the position deviation to zero without the torque command vibrating e After completing tuning lower Pn111 to 10 and adjust Pn100 Pn101 Pn102 and Pn401 in the same way e Repeat this adjustment procedure and perform optional adjustment m Adjustment Example Position S peed loop gain 15 step 1st tor deviation output Position loop ae i speed loop integra que command gain Pn102 tion constant filter time con Pn100 Pn101 stant P n401 Speed feedback Speed feedback compensation function selection Pn110 1 S peed feedback compensation function Speed feedback comp
239. ee items are required A Windows 95 98 compatible computer Computer Monitor Software and R88A CCWO002PL Connecting Cable Refer to the Computer Monitor Software for operation details 5 1 2 Precautions When checking and verifying I O after trouble has occurred the Servo Driver may suddenly start to operate or suddenly stop so take precautions Also do not attempt operations not specified in this manual m Precautions Disconnect any cables before checking if they have burned out Even if you have checked the con duction of the wiring there is a risk of conduction due to the return circuit f the encoder signal is lost the Servomotor may run away or an error may be generated Make sure the Servomotor is disconnected from the mechanical system before checking the encoder sig nal e When measuring the encoder output measure using the ground CN1 16 pin as standard If mea suring using an oscilloscope measure using the differential between CH1 and CH2 to reduce inter ference from noise e When performing tests first check that there are no personnel inside the machine facilities and that the facilities will not be damaged even if the Servomotor runs away Also check that even if the Ser vomotor runs away you can immediately stop the machine using an emergency stop before per forming the tests m Checking Alarm Codes at the Controller e The alarm codes that occur at the Servo Driver with regard to
240. eed feedback filter time constant Position Setting 30 to 3200 Unit x0 01ms Default Restart range setting power 1 S peed feedback filter time constant 2 Position Setting 30 to 3200 Unit x0 01ms Default Restart range setting power 1 4 Torque command filter time constant 2 Position Setting 0 to 2500 Unit x0 01ms Default Restart range setting power For details on the less deviation control function refer to 4 7 9 Less deviation Control Position 1 7 0 Utility control switches Integral compensation processing i Position S etting 0 to 3 Unit Default Restart range setting power Setting Explanation Setting Explanation 0 Integral compensation processing is not executed Integral compensation processing is executed Integral compensation is executed for No 1 gain and not for No 2 gain for less deviation gain switching Integral compensation is executed for No 2 gain and not for No 1 gain for less deviation gain switching 4 49 Operation Chapter 4 1 7 1 Utility control switches Not used Unit Default 2 Restart setting power Note Do not change setting 1 7 2 Utility control switches Not used Setting Unit Default 1 Restart range setting power Note Do not change setting Pn1A7 3 Utility control switches Not used Setting Unit Default 1 Restart range setting power Note Do not change setting 1 9 Utility integral gain Foston S etting 0
241. efective Occurs without S ervomotor rota tion when there is a position com mand Occurs when oper Servo Motor gain is ation is normal but poorly adjusted a long command is sent The position command pulse frequency is too high e The deviation counter overflow level Pn520 is not suitable e The load conditions torque inertia do not conform to the Servomo tor specifications Position deviation pulses have accumulated exces sively with the Servo OFF e The Servomotor was operated form outside when the Servo was OFF Occurs when the control circuit power supply is turned ON Replace the Servo Driver Correct the Servomotor and W wiring is incorrect wiring Correct the encoder wir Ing Replace the Servo Driver e The Servomotors U V Correct Servomotor and W wiring is faulty wiring e The Servo Driver board is Replace the Servo defective Increase the speed loop Driver gain Pn100 and the position loop gain Pn102 e Increase decrease the position command pulse frequency slowly Use the smoothing func tion e Check the electronic gear ratio e Correct the setting for Pn520 e Check the load and the Servomotor capacity e Setso that the Servomo tor does not operate with the Servo OFF e Correct the detection level Troubleshooting Chapter 5 Display Status when Cause of error Counterme
242. en W30010H W60010H W1K210H W2K010H min tal W90010H Absolute W30010T W60010T W1K210T W2K010T W90010T 1 500 r Absolute W45015T W85015T W1K315T W1K815T min Control method All digital S ervo Inverter method PWM method based on IGBT Perfor Speed control range 1 5 000 mance Load fluctuation rate 0 01 max at 096 to 100 at rated rotation speed Voltage fluctuation rate 0 at rated voltage 10 at rated rotation speed Temperature fluctua 0 1 max at 0 to 50 at rated rotation speed tion rate Frequency characteris 600 Hz See note 400 Hz See note tics Torque control repeat 1 ability Note Ata load inertia equivalent to the Servomotor rotor inertia 2 5 Standard Models and Specifications Chapter 2 m Protective and Diagnostic Functions Error detection function Parameter checksum error1 The Servo Driver s internal parameter data is abnormal Parameter format error 1 The Servo Driver s internal parameter data is abnormal System parameter checksum The Servo Driver s internal parameter data is abnormal error 1 Parameter password error 1 The Servo Driver s internal parameter data is abnormal Parameter checksum error2 The Servo Driver s internal parameter data is abnormal System parameter checksum The Servo Driver s internal parameter data is abnormal error 2 Main circuit detection error There is an error in the detection data for the power supply circuit Parameter se
243. eneration resis tance is disconnected Is the regenerative energy increasing Servo Driver is defective The regeneration tran sistor or the voltage detection component is defective Replace the Servo Replace the Servo Driver e Connect regeneration resistance or set Pn600 to zero if regeneration resistance is not required Correct the wiring for the external regeneration resistance Correct the wiring for the external regeneration resistance e Correct the wiring for the external regeneration resistance Correct the wiring Replace the regenera tion resistance or replace the Servo Driver Recheck the load and operating conditions Driver 5 17 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Regeneration Occurs when the The Servo Driver board is Replace the Servo overload control circuit defective Driver power supply is turned ON Occurs when the The powersupply voltage Correct the voltage main circuit power is 270 V or higher supply is turned ON Occurs during nor Regenerative energy 15 Reselectthe regenera mal operation excessive tion resistance amount Large an Regeneration is continu of recheck the load con CE id 515 Gus ditions and operating or temperature conditions Occurs during nor The capacity set in Correct the setting for mal operat
244. energy absorption capacity The capacity varies depending on the model For details refer to 3 3 2 Servo Driver Regenerative Energy Absorption Capacily The average amount of regeneration Pr is the power consumed by regeneration resistance in one cycle of operation Eg Eg3 T IW T Operation cycle S 3 3 2 Servo Driver Regenerative Energy Absorption Capacity m Amount of Internal Regeneration Resistance in Servo Drivers W series Servo Drivers absorb regenerative energy by means of internal capacitors or resistors If the regenerative energy is more than can be processed internally an overvoltage error is generated and operation cannot continue The following table shows the regenerative energy and amount of regeneration that the individual Servo Drivers themselves can absorb If these values are exceeded take the following measures Connect external regeneration resistance to improve the regeneration processing capacity e Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time to decrease the regenerative energy produced per time unit 3 34 System Design and Installation Chapter 3 Lengthen the operation cycle i e the cycle time to decrease the average regenerative power Servo Driver Regenerative energy J that can be absorbed by Average amount of Resistance Q internal capacitor regene
245. ensation Pn111 This section describes the adjustment method for when speed loop gain cannot be raised due to vibration in the mechanical system If speed loop feedback compensation is added be sure to moni tor position deviation and torque commands with the analog monitor while adjusting the Servo gain Refer to 4 9 Using Monitor Output 1 5 user constant Pn110 to 0002 e Speed feedback compensation will be used 4 110 Operation Chapter 4 2 Gradually raise the speed loop gain Pn100 with control while lowering the speed loop inte gration constant Pn101 Atthis time equalize the set values for the speed loop gain Pn100 and the position loop gain Pn102 The relationship between the speed loop gain and the integral time constant is shown in the equation below Take the value derived from this equation as the criterion for the integration constant Pn101 set value Speed loop integration constant Pn101 4000 27 x 100 set value Speed loop gain setting unit x 0 1 Hz When setting the speed loop integration constant Pn101 confirm the unit The setting unit for 101 is x 0 01ms This differs from the setting units for speed loop gain x 0 1 Hz and position loop gain 0 1 5 but the numbers set are the same 3 Repeat step 2 and raise the gain while monitoring the settling time conditions with an analog mon itor position deviation and the vibration conditions with a torque command If oscillati
246. ensions Mounted dimensions Mounting Holes 21 5 36 7 5 6 22 5 7 105 5 Two M 4 holes A lt lt gt c Jla lia adil i 20 0004 0 o o o 156 min Terminal Block J N 170 0 5 Mounting pitch T A I nra did N lt E 1 Ground terminals TwoM4 14 Screws 75 m Single phase 200 VAC R88D WNO8HML2 750 W Three phase 200 VAC R88D WNO5H ML 2 WN10H ML2 500 W to 1 kW e Wall Mounting External dimensions Mounted dimensions Mounting Holes Air flow Three M 4 holes Block at Air flow N 1 1 150 139 5 0 5 Mounting pitch Ground terminals Two 4 screws Air flow Mounting pitch 70 i 70 i 2 21 Standard Models and Specifications Chapter 2 e Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions 6 222 Mounting Holes Two M 4 holes N 0 000 DUBIO iG Oo Oo Oo dio o o il 180 m Three phase 200 V R88D WN15H ML2 1 5 kW e Wall Mounting External dimensions Mounted dimensions Mounting Holes Three M 4 holes Terminal Block 139 5 0 5 Mounting pitch Ground terminals Two M4 screws Mounting pitch 90 Standard Models and Specifications Chapter 2 e Front Panel Mounting Using Mounting Brackets External Dimensions Mounted Dimensions
247. ent detection error 3 The current detector is in error DB stop Current detection error 1 The phase U current detector is DB stop error MECHATROLINK commu The MECHATROLINK communica DB stop nications ASIC error 1 tions ASIC is in error MECHATROLINK commu A fatal error occurred in the nications ASIC error 2 MECHATROLINK communications ASIC System alarm 0 Servo Driver internal program error DB stop 0 occurred System alarm 1 Servo Driver internal program error DB stop occurred System alarm 2 Servo Driver internal program error DB stop 2 occurred System alarm 3 Servo Driver internal program error DB stop 3 occurred System alarm 4 Servo Driver internal program error DB stop 4 occurred Runaway detected Servomotor runaway occurred DB stop Multi turn data error Absolute encoder multi turn data DB stop was cleared or could not be set correctly Encoder communications No communication possible DB stop error between the encoder and Servo Driver Encoder communications error occurred in the encoder s DB stop position data error position data calculations Encoder communications error occurred in the timerfor DB stop timer error communications between the encoder and Servo Driver Encoder parameter error Encoder parameters are corrupted DB stop No Encoder echo back error The contents of communications DB stop with the encoder are wrong n c Troubleshooting Chapter
248. er Note Do not change setting e Unused Parameters Pn004 Pn004 Not used Setting Unit Default 0110 Restart Yes range setting power Note Do not change setting e Function Selection Application Switches 6 Pn0006 Default 0002 MO CADE Function selection application switches 6 Analog monitor 1 signal selection All operation modes Setting 00 to 1F Unit Default Restart range setting power Setting Explanation Setting o Explanation Cis 00 Servomotor rotation speed 1 V 1000 r min S peed command 1 V 1000 r min Torque command gravity compensation torque Pn422 1 V per 100 Position deviation 0 05 V 1 command unit 04 amp error after electronic gear 0 05 V per encoder pulse unit Position command speed 1 V 1 000 r min 06 Nous SSS 08 Positioning completed command Positioning completed 5 V positioning not completed 0 V Torque feed forward 1 V per 10096 Note 1 The value derived from subtracting the P n422 gravity compensation torque from the torque command value output from the Servopack is output for monitoring Note 2 For speed control the position deviation monitor signal is 0 4 35 Operation Chapter 4 006 2 Function selection application switches 6 Analog monitor 1 signal multiplier selection operation modes S etting 0 to 4 Unit Default Restart range setting power Setting Explanation Setting Explanati
249. er 4 Setting Explanation Explanation 0 software limit check using reference Software limit check using reference e Sets whether not the software limit check will be in effect when position commands are input If the software limit is reached or exceeded when the target position is input the specified target value is decelerated to a stop at the software limit s set position e When connecting to the CJ IW NCF71 or CS1W NCF 71 always use the default setting 0 No soft ware limit check using reference Pn801 3 Function selection application 6 software LS Not used Setting Unit Default Restart range setting power Note Do not change setting P n802 Not used Setting Unit Default 0000 Restart range setting power Note Do not change setting P n803 Zero point width Position Setting 0 to 250 Unit Command Default Restart range unit setting power Note This parameter sets origin position detection ZP OINT Forward software limit All operation modes 1073741823 Unit Command Default 819191808 Restart to unit setting power 1073741823 806 Reverse software limit All operation modes Setting Unit Command Default 819191808 Restart range unit setting power 1073741823 e This parameter sets the software limits in the and directions The area is set to match the direction so be sure to set the direction limit lower than the direc tion limit Pn
250. er parameters are set automatically by advanced auto tuning 100 Speed loop gain 101 Speed loop integration constant 102 Position loop gain Pn103 Inertia ratio Pn401 Iststep 1st torque command filter time constant The following parameters are also set automatically as required Pn408 0 Torque command setting Notch filter selection 1 Pn409 Notch filter 1 frequency Pn408 2 Torque command setting Notch filter selection 2 Pn40C Notch filter 2 frequency e the electronic gear ratio is not set within the following range an A042 error parameter combina tion error will occur Always setthe electronic gear ratio within the following range Electronic gear ratio Pn20E P n210 lt 218 4 6 3 One parameter Tuning m Whatis One parameter Tuning One parameter tuning is a function that smoothly changes the status of four gain parameters Pn100 Pn101 Pn102 Pn401 during operation by changing just one tuning level One parameter tuning is used to adjust the Servo gain at the user s discretion while checking Servo and machinery responses m Parameters Related to One parameter Tuning e The following user parameters are set automatically by one parameter tuning 100 Speed loop gain 101 Speed loop integration constant 102 Position loop gain Pn401 Iststep 1st torque command filter time constant 4 99 Operation Chapter 4 4 6 4 Manual Tuning m Rigidity Settings During Tuning e f the ga
251. eration terminal e There is a short between Correct or replace the the ground and the U Servomotor s main cir V or W phase wire in cuit cable the Servomotor s main circuit cable e There is a short between Correct or replace the the U V and W phase Servomotor s main cir wires in the Servomo cuit cable tors main circuit cable The wiring for the regen Correct the wiring eration resistance is incorrect e There is a short between Replace the Servo the Servo Driver U V Driver and W phase wires and the ground e Servo Driver is defective Replace the Servo The current feedback Driver circuit power transistor or board is defective There is a short between Replace the Servomotor the Servomotor U V and W phase wires and the ground There is a short between Replace the Servomotor the Servomotor U V and W phase wires e The DB circuit is defec Replace the Servo tive Driver Lighten the load or lower the rotation speed used 5 15 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs O vercurrent or Occurs when main The DB has frequentuse Replace the Servo overheating of circuit power sup A DB overload alarm Driver radiation shield ply is turned ON occurred Reduce the frequency of or when an over DB use current occurs dur ing Servomotor An overload alarm has e Change the
252. erature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomo tors momentary maximum torque increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 and 10 C are compared the momentary maximum torque increases by approximately 496 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 2 76 Standard Models and Specifications Chapter 2 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 particular 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 overloading is occurring at low temperatures and how much the load torque is Likewise check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Servo Driver parameters are adjusted at a normal temperature there may not be optimal operation at low tem peratures Check to see whether there is optimal operation at low temperatures too N Caution Do not use 2 kW Servomotors within the sha
253. erse movement Pn531 x Number of movement operations Pn536 Waiting time Pn535 gt Forward movement Pn531 x Number of movement operations Pn536 Waiting time Pn535 gt Reverse movement Pn531 x Number of movement operations Pn536 Waiting time Pn535 gt Reverse movement Pn531 x Number of movement operations Pn536 Waiting time Pn535 gt Forward movement Pn531 x Number of movement operations Pn536 Waiting time Pn535 gt Forward movement Pn531 Waiting time Pn535 5 Reverse movement P n531 x Number of movement operations Pn536 Waiting time Pn535 gt Reverse movement Pn531 Waiting time Pn535 5 Forward movement P n531 x Number of movement operations Pn536 Do not change setting Do not change setting Do not change setting Program Sets the program J OG operation movement speed JOG move ment Speed Program Sets the acceleration deceleration time for program J OG JOG operation accelera tion decel eration time Default Setting Restart setting range power 32768 Command 1 to unit 1073741823 i BB 00 B NE 6 17 Appendix Chapter 6 Param Parame Explanation Setting Restart eter No ter name Explanation range power Pn535 Sets the delay time from the program J OG operation start 100 to 10000 OG wait input until operation starts ing time Pn536 Sets the number of repetitions of
254. ervice life of 20 000 hours at normal operating temperatures 2 74 Standard Models and Specifications Chapter 2 Note 5 The value indicated for the allowable radial load is for the positions shown in the following diagrams load load lt Thrust load lt gt Thrust load dL mm em of Servomotor shaft Models of 750 W or less Models of 1 kW or more Note 6 Applicable Load Inertia 1 The drivable load inertia ratio load inertia rotor inertia changes depending on the me chanical configuration being driven and its rigidity Highly rigid machines can operate with a large load inertia Select a Servomotor and verify operation 2 Ifthe dynamic brake is used frequently with a large load inertia it may lead to burnout of the dynamic brake resistor Do not repeatedly turn the Servo ON and OFF with the dy namic brake enabled e Torque and Rotation Speed Characteristics 3 000 r min Servomotors With a 100 VAC Servo Driver The following graphs show the characteristics with a 3 m standard cable and 100 V AC input R88M W05030H T 50 W R88M W10030H T 100 W R88M W20030H T 200 W Nem Nem Nem 0 5 0 477 047 10949955 095 2 04191 Repeated usage Repeated usage Repeated usage Jl 0 39 Continuous usage Continuous usage es Continuous usage r min 0 r min 0 r min 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 R88M W40030H T 400 W Nem 4 0 13 82 3 0 Repeated usage
255. es Setting 0 to F Unit Default Restart range setting power 4 27 Operation Chapter 4 Setting Explanation Setting Explanation Allocated to CN1 13 pin enabled using L input Allocated to CN1 7 pin enabled using L input S 2 oOo o o Allocated to CNI 9 pin enabledusingL 4 MoctedioCNilOpimenbledusplinut O o o oS 5 Allocated to CNi 11 pin enabled using Lint O O o Ooo 6 Allocated to CNI 12 pin enabledusingL input O O O O oS 5 AlaedioCNIi3pivendedusgH put A Allocated to CNI T pin enabled using B MowedioCNISpivenaledusngH imu OoOo C MocsedioCNISpivemabedusngH inu O O O O OoOo Allocated to CN1 10 pin enabled using H input SSS E Alocated to CN1 12 pin enabled using H put O o f setto 7 always ON the Servo is in always overtravel status i e forward rotation is always drive prohibited e f setto 8 always OFF the Servo drive prohibition is OFF 1 the forward rotation drive is permit ted e The POT signal permits forward rotation drive upon input Pn50B 0 Input signal selections 2 NOT reverse drive prohibited signal input terminal allocation All operation modes S etting 0 to F Unit Default Restart range setting power e Settings are the same as for Pn50A 3 f set to 7 always ON the Servo is in always in overtravel status i e reverse rotation is always drive prohibited e f setto 8 always OFF the
256. es of the encoder signal output from the Servo Driver are as shown below when divider ratio Pn212 encoder resolution Forward rotation side Reverse rotation side Phase A Phase A PhaseB PhaseB PhaseZ PhaseZ 4 80 Operation Chapter 4 When the encoder divider rate is set to other than 2 16 384 8 192 4 096 2 048 1 024 etc the phase difference for phases A and B is not 90 but scatters for time T See the diagram below Phase A Phase B tl2nI t2 n 1 T uic utu uititm In this diagram T represents the processing circuit output between phase A and phase B and n is an integer that satisfies the following formula with digits below the decimal point discarded n resolution encoder divider rate Input to frequency divider Phase a Lf LJ processing circuit output Phase l 4 4 6 Brake Interlock All Operating Modes m Precautions for Using Electromagnetic Brake e The electromagnetic brake S ervomotor with a brake is non excitation brake especially for holding First stop the Servomotor then turn OFF the power supply to the brake before setting the parame ters If the brake is applied while the S ervomotor is operating the brake disk may become damaged or malfunction due to friction causing damage to the Servomotor m Function You can setthe BKIR brake interlock signal output timing to turn ON and OFF the electromagnet
257. eting required standards m High frequency Current Countermeasures On Servo Drivers of 1 kW and above a current reactor connection terminal is provided to assist the user in controlling high frequency current Introduction Chapter 1 1 2 System Configuration Controller MECHATROLINK II Type CJ 1W NCF71 Position Control Unit SYSMAC CJ1 Programmable Controller CJ 1W MCH71 Motion Control Unit Controller MECHATROLINK II Type SYSMAC CS1 CS1W MCH71 Programmable Controller Motion Control Unit 1 4 MECHATRO LINK II R88D WN ML2 OMNUC W series AC Servo Driver with built in MECHATROLINK II Communications MECHATRO LINK II R88M W OMNUC W series AC Servomotor Introduction Chapter 1 1 3 Servo Driver Nomenclature With Top Cover Open Analog Monitor Connector CN5 Motor rotation speeds torque command values etc can be monitored using a special cable Panel Displa Displays Servomotor status with a 7 segment
258. etting 1 to 1000 Unit Times Default Restart range setting power Note For details on the program J OG function refer to 4 4 13 Program JOG Operation Pn540 Gain limit Position speed S etting 10 to 2000 Unit x 0 1 Hz Default 2000 Restart range setting power As the value is increased response improves but vibration becomes easier Likewise as the value is decreased operation becomes more stable but response declines 550 jue pe pes pO _ range 10000 setting power Pn551 ze jam _ range 10000 setting power e When Pn006 is set to 0102 Pn422 9o to 10 0 and Pn550 to 3 0 V Analog monitor 1 Torque command 1 x Torque command 96 1096 x 10 3 V If the torque here is 52 1 x 52 96 10 96 x 11V 1 100 3 V 7 2 Analog monitor 1 output voltage m Other Parameters from Pn600 Pn600 Regeneration resistor capacity All operation modes S etting 0 to varies Unit x 10 W Default Restart range by model setting power 4 66 Operation Chapter 4 f using an External Regeneration Resistor or External Regeneration Resistance Unit set the regeneration absorption amount Setthe regeneration absorption amount for when the temperature rises above 120 C not the nominal amount Refer to 3 3 3 Regenerative Energy Absorption by External Regeneration Resistance for details e A 920 Regenerative overload warning and A 320 Regenerative
259. fective Driver Occurs during operation Occurs during Encoder is defective Replace the Servomotor operation The Servo Driver board is Replace the Servo defective Driver Encoder overheat Occurs when the Encoder is defective Replace the Servomotor control circuit The Servo Driver boardis Replace the Servo power supply 15 defective Driver turned ON e The Servomotors ambi Lower the Servomotor s ent temperature is too ambient temperature to high 40 C or less e The Servomotor load 15 Operate the Servomotor greater than the rated with a load that is no load more than the rated load Encoder is defective Replace the Servomotor e The Servo Driver board is Replace the Servo defective Driver Current detection Occurs when The phase U current Replace the Servo error 1 control circuit detection circuitis defec Driver power supply is tive turned ON or dur ing operation Occurs during operation e The phase V current detection circuit is defec tive Current detection error 2 5 26 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Current detection error 3 Occurs when The current detection cir Replace the Servo Servo is turned cuit is defective Driver ON e The Servomotor s main e Correct the Servomotor circuit cable is broken wiring The MECHATROLINK Re
260. g 0000 mM t cations error A E60 if they occur consecu count at sin tively for the set value plus two gle trans times mission Do not change setting Pn801 Function Software 0003 ion 6 2 disabled Do not change setting 2 S oftware limit check No software limit check using reference using refer ence Communi OtoF Detects communications errors Pn803 Zero point Sets the origin position detection range 10 Command 0 to 250 width unit Pn804 Forward Sets the software limit for the positive direction 8191 Command 1073741823 software Note t tl than P n804 91808 unit O limit ote Pn806 must be set lower than P n8 1073741823 Pn806 j Reverse Sets the software limit for the negative direction 8191 Command 1073741823 software Note Pn806 must be set lower than P n804 91808 unit to limit 1073741823 Pn808 Absolute Sets the encoder position and machine coordinate system offsets Command 1073741823 encoder for when an absolute encoder is used unit to zero point 1073741823 position offset T N N Operation O IL Param Parame eter No ter name Pn811 Pn812 Pn814 Pn816 Pn817 Pn818 step linear accelera tion parameter S econd step lin ear accel eration parameter Accelera tion parame ter switch ing speed First step linear decelera tion parameter S econd step li
261. g Backlash compen 207 2 an Vibration detection Pr310 0 No o o oihfiteri Pn408 0 Notch filter 2 408 2 2 Damping for vibra Am tion suppression Pn421 on stopping OK Can be used together No Cannot be used together Not used together 6 21 Appendix Chapter 6 6 22 A Absolute Encoder Backup Battery dimensions 2 122 replacing 5 47 specifications 2 122 Absolute Encoder Battery Cable specifications 2 102 2 112 absolute encoders setup 4 6 specifications 2 92 acceleration 4 89 adjustment precautions 1 3 advanced auto tuning 4 98 alarm codes checking 5 3 Alarm Output ALM 2 66 Alarm Output Ground ALMCOM 2 66 alarms 5 6 table 5 6 troubleshooting 5 12 ALM Alarm Output 2 66 ALMCOM Alarm Output Ground 2 66 Analog Monitor Cables 2 118 3 11 4 133 analog monitor output connector CN5 4 132 specifications 2 69 automatic gain switching 4 106 auto tuning 4 98 backlash compensation 4 128 Backup Battery Input BATGND 2 64 Backup Battery Input BAT 2 64 BAT Backup Battery Input 2 64 BATGND Backup Battery Input 2 64 battery replacing 5 47 bias function 4 103 bit data display 4 131 BKIR Brake Interlock Output 2 68 BKIRCOM Brake Interlock Output Common 2 68 Index brake interlock 4 81 Brake Interlock Output BKIR 2 68 Brake Interlock Output Common BKIRCOM 2 68 C cables Analog Monitor Cable 2 118 Compute
262. g Function All Operating Modes 5 Function settings By means of the user parameters set the functions according to the operating conditions Refer to 4 4 3 Torque Control Torque and 4 4 4 Forward and Reverse Drive Prohibit All Operating Modes 6 Trial operation Turn the power OFF then ON again to enable the parameter settings If using a Servomotor with an absolute encoder set up the absolute encoder and set the Motion Control Unit s initial param eters Turn ON the power and check to see whether protective functions such as emergency stop and operational limits are working reliably Check operation at both low speed and high speed us ing instructions from the Host Controller Refer to 4 4 5 Encoder Dividing Function All Operating Modes 7 Adjustments Manually adjust the gain as required Further adjust the various functions to further improve the control performance as required Refer to 4 4 6 Brake Interlock All Operating Modes and 4 4 7 Torque Limit Function All Operating Modes 8 0 peration Operation can now begin If any trouble should occur refer to Chapter 5 Troubleshooting Operation Chapter 4 4 2 Preparing for Operation This section explains the procedure following installation and wiring of the Servomotor and Servo Driver to prepare the mechanical system for operation It explains what you need to check both before and after turning ON the power It also explains the setup procedure required if usin
263. g a Servomotor with an absolute encoder 4 2 1 Turning Power ON and Checking Indicators m items to Check Before Turning ON the Power e Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below R88D WNLIL ML2 Single phase 100 V AC input Main circuit power supply Single phase 100 115 V AC 85 to 127 V 50 60 Hz Control circuit power supply Single phase 100 115 V AC 85 to 127 V 50 60 Hz R 88D WNA5H ML2 01H ML2 02H ML2 04H ML2 08H ML2 Single phase 200 V AC input Main circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WNO05H ML2 10H ML2 15H ML2 20H ML2 30H ML2 Three phase 200 V AC input Main circuit power supply Three phase 200 230 V AC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz e Checking Terminal Block Wiring e The main circuit power supply inputs L1 L2 or L1 L2 L3 and the control circuit power supply inputs L1C L2C must be properly connected to the terminal block e The Servomotor s red U white V and blue W power lines and the yellow green ground wire must be properly connected to the terminal block e Checking the Servomotor e There should be no load on the Servomotor Do not connect to the mechanical system e The power lines at the Servomotor must be securely connected e Che
264. g settings are therefore recommended for P n600 Regeneration Resistor Capacity Servo Driver model External Absorption Regeneration Recommended regeneration capacity of resistance built setting for Pn600 resistance external into Servo Driver regeneration resistor W RESD WNOSH OSH TOR ML2 oo li ap w l6 go jm p p ao w i5 bo kw e R 8D WN20H 30H ML2 us Mo i2 i 3 38 System Design and Installation Chapter 3 3 4 Adjustments and Dynamic Braking When Load Inertia Is Large The value that is given for the Servomotor s applicable load inertia is the value that will not damage the Servo Driver s internal circuits dynamic brake circuit regenerative circuit etc when control is basically stable and the operating status is normal When the Servomotor is used at the applicable load inertia or below there are certain operating conditions and precautions that mustbe observed when making adjustments and using the dynamic brake For details on regenerative energy processing refer to 3 3 Hegenerative Energy Absorption 3 4 1 Adjustments When Load Inertia Is Large Operation is possible with a large load inertia as long as the load torque is within a range that allows Servo Driver control i e no larger than the rated torque and within the electronic thermal range these depend on the motor speed and acceleration deceleration If the load inertia
265. gaps Refer to the diagrams below Use conductive packing between the door and the case as shown in the diagrams below Strip the paint off of the sections of the door and case that will be in contact with the conductive packing or mask them during painting so that they will be electrically conductive 3 25 System Design and Installation Chapter 3 Be careful not to let gaps be opened in the control box while tightening down screws Case Door B Door Oil proof packing Conductive packing Control box Cross sectional view of A B Oil proof packing Conductive packing Door interior view m Selecting Components This section explains the criteria for selecting the connection components required for improving noise resistance These criteria include capacity performance applicable range and so on For more details contact the manufacturers directly e No fuse Breakers NFB When selecting no fuse breakers take into consideration the maximum output current and the inrush current Maximum Input Current The momentary maximum output for a Servo Driver is approximately three times that of the rated output and a maximum output of three seconds can be executed Therefore select no fuse break ers 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 e g Mitsubishi S Series e The table in 3
266. gency Deceleration torque when an error occurs rated torque ratio 350 0 to 800 stop torque 6 10 Appendix Chapter 6 Param Parameter eter No name Explanation Default Setting Restart j Pn407 Speed limit Sets the limit in torque control mode 3000 UAE CIEN 10000 Torque com mand set ting Pn408 Selects notch ee Notch filter 1 not used 0000 w 1 func Notch filter 1 used for torque commands 2 o po not change sting Selects notch DE Notch filter 2 not used T 2 func 1 PUDE filter 2 used for PUDE commands Notused 0 Donotchange setting Pn409 Notch filter Sets notch filter 1 frequency for torque command 2000 50 to 1 frequency 2000 Pn40A Notch filter Sets Q value of notch filter 1 x 0 01 50 to 10 value 1000 40 filter Sets the notch filter 2 frequency for torque commands 2000 50 to 2 frequency 2000 400 Notch filter Sets Q value of notch filter 2 x 0 01 50 to 2 Q value 1000 Pn40F Pn410 Pn411 Pn412 Pn420 Pn421 Pn422 Pn456 2nd step 2nd torque command filter fre quency 2nd step 2nd torque command filter Q value 3rd step torque com mand filter time con stant Iststep 2nd torque com mand filter time con Stant Notused ee Damping Lr vibration suppres sion on stopping Vibration suppres sion start ing time Gravity compensa tion torque Sweep torque com mand
267. hangeover related switches 1 Gain switching condition B Poston Setting 0 to 5 Unit Default Restart range setting power e Settings are the same as for Pn139 1 Pn139 3 Automatic gain changeover related switches 1 Not used Setting Unit Default Restart Yes range setting power Note Do not change setting Pn144 Setting Unit Default 1000 Restart range setting power Note Do not change setting e Predictive Control Pn150 to Pn152 150 0 Predictive control selection switches Predictive control selection Position Setting 0 to 2 Unit Default Restart range setting power Setting Explanation Seng SSS planation SSCS 150 1 Predictive control selection switches P redictive conte type Position Setting 0 1 Unit Default Restart range setting power Setting Explanation Explanation 0 Predictive control for tracking P redictive control for positioning 4 47 Operation Chapter 4 Pn150 2 Predictive control selection switches Not used Unit Default 2 Restart setting power Note Do not change setting Pn150 3 Predictive control selection switches Not used S etting Unit Default Restart Yes range setting power Note Do not change setting Pn151 P redictive control gain Poston S etting 0 to 300 Unit Default Restart range setting power e f the value is increased the settling time will be shortened but the maximu
268. hapter 6 Param Parameter Explanation See note 1 Setting Restart 151 Predictive Adjusts acceleration and deceleration response for predic 100 0 to 300 control tive control accelera tion deceler ation gain 152 Predictive Adjusts position deviation for predictive control 0 to 300 control weighting ratio 1 0 Adjusts the Servo rigidity for the No 1 gain 1 to 500 nae ity 1 1 Adjusts the Servo rigidity for the No 2 gain HN 9 1 to 500 a ity 2 100 1 2 Speed feed Sets the filter time constant for No 1 gain speed feedback 72 0 01 30 to back filter 3200 time con Stant 1 Speed feed Sets the filter time constant for No 2 gain speed feedback 72 0 01 ms_ 30 to back filter 3200 time con stant 2 PnlA4 Torque com Sets the filter time constant for the torque command 36 x0 01ms 0to mand filter 2500 time con stant 2 1 7 Utility con Integral com Integral compensation pro 1121 trol switches pensation cessing not executed 1 Integral compensation cessing executed 2 Integral compensation is executed for No 1 gain and not for No 2 gain for less deviation gain switch ing 3 Integral compensation is executed for No 2 gain and not for No 1 gain for less deviation gain switch ing HN 1 Do not change setting Do not change setting Do not change setting 0 to 500 0 to 500 0 to 500 1 9 Utility inte
269. hat is when the default settings are changed i e Pn205 65535 the Servomotor multi turn data will be only in the positive direction If you want to set the multi turn limit as high as possible with the entire operating area positive set a number such as 65534 To return multi turn data to 0 at every m turns of the motor e g turn tables set Pn205 to m 1 Note If Pn205 is changed the limit to the number of rotations in the encoder memory and the limit to the number of rotations in the Servo Driver memory will no longer agree so an A CCO alarm multi turn limit nonconformity will be generated To cancel this alarm the setting for the num ber of multi turns must be changed in the System Check Mode e Position Control Settings 2 Pn207 Default Setting 0010 207 0 Position control settings 2 Not used Setting Unit Default Restart Yes range setting power Note Do not change setting Pn207 1 Position control settings 2 Not used Setting Unit Default 1 Restart Yes range setting power 4 51 Operation Chapter 4 Note Do not change setting 207 2 Position control function 2 Backlash compensation selection Position 0 to 2 Unit Default Restart setting power Setting Explanation Seng Explamon _ mo For details refer to 4 7 12 Backlash Compensation Position Pn207 3 Position control function 2 INP 1 output timing Position S etting 0 to 2 Unit Default Restar
270. he power is next turned ON 5 40 Noise is carried because the encoder cable specifi cations are incorrect The encoder cable is car rying noise because the distance exceeds the oper ating range Noise interference 15 occurring because of dam age to the encoder cable There is excessive noise interference to the encoder cable The electric potential of the FG is fluctuated due to noise from machinery such as welders in the vicinity of the S ervomotor The Servo Driver pulse count is incorrect due to noise There is interference due to the encoder being sub jected to excessive vibra tion and shock Encoder is defective e Check whether the cable is twisted pair wire or twisted pair bound shielded core wire of 0 12 mm min made of tin coated soft Copper Use a maximum wiring dis tance of 50 m e The encoder cable is crimped or deterioration of the insulation is allowing noise to affect the signal line 5 the encoder cable bun dled with or close to lines carrying a large current e Whatis the grounding sta tus of equipment such as welding machines near the 5 ervomotor e g imper fectly grounded not grounded at all s noise being carried to the line for signals coming from the encoder e Check for machine vibra tion or faulty Servomotor mounting mounting sur face precision secure fas tening centering etc e Encoder is defective e Make sure th
271. he following table shows the transmission times that can be used with the Servo Driver and the number of nodes that can be connected 2 58 Standard Models and Specifications Chapter 2 Transmission time and number of connectable devices Number of Transmission time connectable 0 25 ms devices See Note 1 When the transmission time is 0 25 ms set a communications time that is a multiple of 0 5 ms Note 2 If the actual number of connected devices is less than the possible number the extra words can be used as communications retry words The number of communication retries equals the number of connectable devices minus the number of devices actually connected plus 1 Note 3 When there are no communications retries the number of connectable devices equals the normal number of connectable devices plus 1 Note 4 When a C2 Master is connected the number of connectable devices equals the normal number of connectable devices minus 1 The node address is set as shown in the following table using the rotary switch SW 1 and the DIP switch bit 3 of SW2 Changes in settings go into effect when the power is turned ON again The default setting for the node address is 41H bit 3 of SW2 OFF SW1 1 Node address settings SW2bit3 Nodeaddress SWibi3 SWI Nodeaddress OFF _ 9H _ i28 BH OFF OFF 5 2 59 Standard Models and Specifications Chapter 2 2 4 5 1 0 Signal Specif
272. hen the Servomotor rotation speed is between 2 950 and 3 050 r min Note This output is always OFF when the control mode is any mode other than speed control Servomotor Rotation Detection Output TGON Note As the default setting the TGON signal is not allocated It is allocated in P n5OE 2 The TGON signal turns ON when the Servomotor rotation speed exceeds the value set for P n502 Rotation speed for motor rotation detection Note TGON is always ON when the encoder of the Servo Driver is not connected m Servo Ready Output READY Note As the default setting the READY signal is not allocated It is allocated in Pn50E 3 The READY signal turns ON if no errors are detected after the main circuits are powered up m Current Limit Detection Output CLIMT Note As the default setting the CLIMT signal is not allocated It is allocated in P n50F 0 The CLIMT signal is turned ON in any of the following four cases e The output torque reaches the limit value set in Pn402 Forward torque limit or Pn403 Re verse torque limit e With the CJ 1W NCF 71 the output torque reaches the limit value set in Pn404 Forward rota tion external current limit or Pn405 Reverse rotation external current limit while the torque limit forward reverse rotation current limit designation is ON e With the CJ 1W NCF 71 the output torque reaches the torque limit value specified by option command value 1 when Pn002 0 Torque command input
273. hibit All Operat ing Modes Soft start deceleration Set the deceleration time from maximum rota 4 4 4 Forward and time tion speed to 0 r min Setting range 0 to Reverse Drive Pro 10 000 ms hibit All Operat ing Modes Note 1 If not using the soft start function set this parameter to 0 default setting Note 2 The actual acceleration and deceleration time is as follows ae speed command r min Actual acceleration deceleration time soft Start acceleration deceleration time maximum No rotations r min S ervomotor speed r min Max No rotations See note j Speed command 0 Time Actual acceleration time Actual deceleration time Note The maximum rotation speeds are as follows 3 000 r min S ervomotor 5 000 r min 3 000 r min Flat style S ervomotor 5 000 r min 1 000 r min S ervomotor 2 000 r min 1 500 r min S ervomotor 450 W to 1 8 kW 3 000 r min 4 86 Operation Chapter 4 4 4 9 Electronic Gear Function Position m Functions e This function rotates the Servomotor for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio e This function is enabled under the following conditions When fine tuning the position and speed of two lines that are to be synchronous When using a position controller with a low command pulse frequency When you want
274. hout Straight shaft with key key ey e 3 000 r min Servomotors Without 200 V R88M W05030H R88M W05030H S1 R88M W05030T R88M W05030T S1 ete 100 W R88M W10030H R 88M W 10030H 51 R 88M W 10030T R 88M W10030T S1 400 W R88M W40030H R 88M W 40030H 51 R 88M W 40030T R 88M W40030T S 1 Wi 200v m R88M W2K030H B R88M W2K030H BS2 R88M W2K030T B R88M W2K030T BS2 R88M W3K030H B R88M W3K030H BS2 R88M W3KO030T B R88M W3K030T BS2 e 3 000 r min Flat style Servomotors Without 200V e 1 000 r min Servomotors Wihout 200V Wi 200v m 2 7 Standard Models and Specifications Chapter 2 e 1 500 r min Servomotors Wihout zov SOW prake mwe o RBBH WIKGISTS2 new R amp BH WIKEITS2 Wi 200v asow REM ASOISTB ReBM WASOISTBS2 _ e mow RBBM WBSDISFB RBBM NBSOISTBS2 RBBM NIKSISTES2 naw i REM WIKSISTB RSBM WIKSISTES2 m IP67 Waterproof Servomotors Specifications 1 1 With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight M without Straight shaft with key key ey e 3 000 r min Servomotors Without 200 V 1KW R88M W1K030H O R88M W1K030H 0S2 R88M W1KO030T O R88M W1K030T 052 brake Wa 200v in e 3 000 r min Flat styl
275. ible alarm Dividing pulse outputset The encoder divider rate setting 15 DB stop ting error out of range or the set conditions are not satisfied Parameter combination A combination of multiple parame DB stop error ters is set out of range Combination error The combined capacity of the Ser DB stop Yes vomotor and the Servo Driver is unsuitable Servo ON command invalid alarm After a function for executing Servo DB stop Yes ON by means of Computer Monitor S oftware was used an attempt was made to execute Servo ON using a host command Overcurrent or overheat Anovercurrenthas occurred or the DB stop ing of radiation shield Servo Driver s radiation shield has overheated Regeneration error The regeneration resistance is dis DB stop Yes connected or the regeneration tran sistor is faulty Regeneration overload The regenerative energy exceeds Zero speed Yes the regeneration resistance stop Main circuit power supply The method for providing powerto DB stop Yes setting error the main circuit does not match the Pn001 setting O vervoltage The main circuit DC voltage is DB stop Yes abnormally high Low voltage The main circuit DC voltage is low Zero speed Yes Stop O verspeed The Servomotor s rotation speed is DB stop Yes abnormally high DB stop Dividing pulse output over The Servomotor rotation speed spee upper limit set for the encoder divider rate setting Pn212 was exceeded Yes Vibration
276. ibration such as the limit cycle while stopped even though there is no vibration while moving It was previously necessary to lower the response to a gain where vibration while stopped subsided sacrificing response during movement To suppress the vibration while movement is stopped this function lowers the internal Servo gain only while movement is stopped Use this function by adjusting the parameters given below After the vibration suppression starting time Pn421 has elapsed from the point where the position command is 0 the internal Servo gain will change to the percentage set for the damping for vibration suppression on stopping Pn420 Position command Position command 0 Servo gain K x Pn420 100 m Parameters Requiring Settings No Pn420 Damping for vibration Sets the gain reduction rate for when the Servo 4 3 3 Parameter suppression on stop motor is stopped Details ping Setting range 10 to 10096 Pn421 Vibration suppression Setthe time for Pn420 to be enabled after the 4 3 3 Parameter starting time motor stops Details Setting range 0 to 65 535 ms Note Use when the damping for vibration suppression on stopping P n420 is 50 or higher and the vibration suppression starting time Pn421 is 10 ms or longer If a low value is set the response characteristics may be lowered and vibration may occur 4 127 Operation Chapter 4 4 7 12 Backlash Compensation Position m Parameters Requiring Setti
277. ic brake m Parameters Requiring 1 esi No Pn50F 2 Output signal selec Be sure to BKIR See note 4 4 3 Torque tions 2 BKIR signal trol Torque selection Pn506 Brake timing 1 This parameter sets the BKIR output timing 4 4 4 Forward and Pn507 Brake command speed Pn506 Sets lag time from BKIR OFF to Servo Reverse Drive Pro Pn507 hibit All Operat Brake timing 2 Pn507 Sets the rotation speed for turning BKIR ing Modes OFF Pn508 Sets the standby time from Servo OFF to BKIR OFF Note As the default setting BKIR is allocated to CN1 pins 1 and 2 4 81 Operation Chapter 4 m Operation e RUN Timing When Servomotor Is Stopped ON RUN op 0 to 35 ms Approx 2 ms ON BKIR brake interlock OFF rake power su Pply OFF 200 ms max lt 100 ms max ON OFF S peed command V See note 1 or pulse command us V gt Pn506 See note 2 Servomotor Energized energizin ii Deenergized Note 1 The time from turning ON the brake power supply to the brake being released is 200 ms max Set the speed command pulse command to be given after the brake has been re leased taking this delay into account Note 2 The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis set Pn506 brake timing 1 so that the Servomotor deenergize
278. ic 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 in operation Doing so may result in injury Do not modify the product Doing so may result in injury or damage to the product Provide an appropriate stopping device on the machine side to secure safety A holding brake is nota 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 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 Use the Servomotors and Servo Drivers in a specified combination Using them incorrectly may result in fire or damage to the products N Caution N Caution Do not store or install the product in the following places Doing so may result in fire electric shock or damage to the product e Locations subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifi cations Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject
279. ications CN1 m External Signal Processing Servo Driver 3 ALM 24 VDC yavin 6 23K PN TAlarm output D TALMCOM O NO Forward rotation Y Mi See note 4 drive prohibit 7 ME 11501 G Maximum 3 3k E TB rake interlock operating s b voltage GNO 0S01 R t ti 1 30 V DC Een LY EY See note 4 Maximum drive prohibit NOT bow MEME ir 23 6 S024 output current a MM E OO LL LL x 50 mA 3 3k YN LLL ONO Q 502 See note 4 e 1 prp duet See note 4 Origin return deceleration switch D External latch signal 1 EXT1 10 C J WW gt KK gt Encoder A phase outputs Line driver ORE n a on conforming 19 phase outputs Load resistance 220 min lt Encoder Z PH phase outputs 3 3k General purpose EY Signal terminal S10 w Ac o ER 16 AGN Ground common J J j E External latch signal 3 EXT3 12 Q LN J ev KK NO 14 C Shell FG BATGND 12 Frame ground Backup battery 2 8 V to 4 5 V i Note 1 The inputs at pins 7 to 12 and the outputs at pins 1 2 and 23 to 26 can be changed by pa rameter settings The settings in the diagram are the defaults Note 2 Connect pin Nos 14 and 15 when providing an external backup power supply for the abso
280. ications Chapter 2 e Wiring R88A CRWAI Cable Servo Driver AWG22 x 2C AWG24 x2P 0120276 3 to 20 m S ervomotor Cable Connector socket 54280 0609 Molex J apan Servomotor Connector plug 55102 0600 Molex J apan Connector plug 3 to 20 m 55101 0600 Molex J apan 30 to 50 m 55100 0670 Molex J Crimp terminal 50639 8091 Molex J apan R88A CRWB IN Cable Servo Driver AWG22 2 AWG24 x2P 0120276 3 to 20 m S eryomotor Std ac Straight plug N MS3106B20 29S J AE Ltd EE Orange White 7 EN H N MS 3057 12 J AE Ltd U Receptacle O pen White OQ MS3102A20 29P DDK Ltd Connector plug 3 to 20 55101 0600 Molex J 30 to 50 m 55100 0670 Molex J apan Crimp terminal 50639 8091 Molex J apan Absolute Encoder Battery Cable Specifications ABS e Cable Models Lengih U R88A CRWCOR 3C 0 3m e Connection Configuration and External Dimensions R88A CRWCOR3C 43 5 Servomotor L oT t 12 Battery holder 212 provided with battery Servo Driver R88D WNLI ML2 2 102 Standard Models and Specifications Chapter 2 e Wiring R88A CRWCOR3C Servo Driver S ervomotor sr 4 22 15 83 St Shel shei Battery holder Connector plug 3 to 20 55101 0600 Molex J 30 to 50 m 55100 0670 Molex J apan
281. ient countermeasures when installing systems in the following locations Locations subject to static electricity or other sources of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subjectto possible exposure to radiation Locations close to power supply lines When connecting the battery be careful to connect the polarity correctly Incorrect polarity connections can damage the battery or cause itto explode System Design and Installation Chapter 3 3 1 Installation Conditions 3 1 1 Servo Drivers m Space Around Drivers e 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 Take the control cable s connector direction into account when installing the Servo Drivers Side panel Servo Driver Servo Driver Servo Driver w os mm min 30 mm min 10 mm min m Mounting Direction Mount the Servo Drivers in a direction perpendicular such that the lettering for the model number and so on can be seen Operating Environment The environment in which Servo Drivers are operated must meet the following conditions e Ambient operating temperature 0 to 55 C Take into account temperature rises in the individual Ser
282. ifications If an axial load greater than that specified is applied to a Servomotor it will reduce the service life of the motor bearings and may damage the motor shaft e When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity and varia tion 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 example 15 class 2 normal line pitch error of 6 um max for a pitch circle diameter of 50 mm If the gear precision is not adequate allow backlash to ensure that no radial load is placed on the motor shaft Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision the gear precision and temperature changes Pro vide appropriate backlash or take other measures to ensure that no thrust load is applied which exceeds specifications e Do not put rubber packing on the flange surface If the flange is mounted with rubber packing the motor flange may separate due to the tightening strength Ball screw center line PT S ervomotor shaft Shaft core displacement center line Backlash T Adjust backlash by adjusting the distance between shafts e When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial
283. ight R88A CAWBO003SR 9 5 dia R88A CAWBO05SR R88A CAWBO10SR 2 113 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Length L Outer diameter ofsheath Weight _ I15 dia Note Use these cables if a 750 W Servomotor is to be wired ata distance of 30 meters or more e Connection Configuration and External Dimensions For Servomotors without Brakes 50 Servo Driver R88D WNC ML2 E _ Qo For Servomotors with Brakes S ervomotor gums N p Crema N S ervomotor Cena t 228 4 R88D WNI e Wiring For Servomotors without Brakes Servo Driver S ervomotor ed S ymbol Cable Connector cap 350780 1 Tyco Electronics AMP KK Connector socket White Phase V Pins 1 to 3 350550 6 Tyco Electronics AMP KK Phase W Pin 4 350551 3 Tyco Electronics AMP KK Servomotor 7 4 Cable AWG15 x4C 012586 RN Connector plug 350779 1 Tyco Electronics AMP KK M4 crimp Connector pins 1 to 3 350547 6 Tyco Electronics AMP KK terminal Connector pin 4 350669 1 Tyco Electronics AMP KK 2 114 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Servo Drivers Servomotors Symbol Cable nm Connector plug 350781 1 Tyco Electronics AMP KK Connector socket Blue Pins 1 to 3 350550 6 Tyco Electronics AMP KK Green Y ellow Pins 4 to 6 350550 3 Tyco Electronics AMP KK Do Servom
284. in is adjusted as an initial setting using manual tuning tuning can be performed compara tively quickly Therefore it is recommended that the rigidity be set first e Select the rigidity setting to suit the mechanical system from the following 10 levels speed loop handles both PI and I P control Switching between PI and I P control is performed by means of the Pn10B 1 setting Setting Pn10B 1 to 0 switches to PI control and setting it to 1 switches to I P control The new setting is enabled by turning the power OFF and back ON after the setting has been made 1 Speed Loop PI Control Response Rigidity Position Speedloop Speed loop 1ststep 1st Representative setting loop gain i integration torque applications mechanical 1 constant command system Pn102 ms filter time Low 01 101 constant ms Pn401 60 00 2 50 Articulated robots har 0 0 45 00 00 monic drives chain drives 300 em 206 nae 300 00 130 drives et Medium 00 1 00 XY tables Cartesian coor dinate robots general pur pose machinery etc High LONE 0 70 Ball screws direct cou 06 80 Do uns 89 he ES go coro 00 mo 700 09 i00 60 030 60 0 Note Make sure that the location of the decimal point is correct when setting the parameters 4 2 Speed Loop I P Control Response Rigidity Position Speedloop Speed loop 1ststep 1st Representati
285. ing saturated during acceleration and deceleration set speed control to 1 switching by speed command or 3 switch ing by deviation pulse value 4 41 Operation Chapter 4 f the setting is made from 0 to 3 1 if P control switching is used set the switching condition to 10 to Pn1OF Note Setting Pn10B 1 speed control loop switching to 1 IP control changes the parameter to switch from IP control to P control Pn10B 1 Speed control setting Speed control loop switching Position speed S etting 0 1 Unit Default Restart range setting power Setting Explanation Setting Explanation 0 PI control IP control e Set the speed control loop to either PI control or IP control e There is normally no need to change the setting f you cannot shorten positioning time in PI control change the setting to 1 IP control Pn10B 2 Speed control setting Position loop control method Position S etting 0 to 3 Unit Default Restart range setting power Setting Explanation sem o Swdedposoncomgl Pn10B 3 Speed control setting Not used S etting Unit Default Restart range setting power Note Do not change setting 10 P control switching torque commang Position peed S etting to 800 Unit Default Restart range setting power e You must set 10 if you set Pn10B 0 P control switching condition to 0 switching by internal torque command e Set the co
286. ion 1 0 speed calculations Status indicator UF MECHATROLINK II CN3 CNOB Personal computer 1 9 Introduction Chapter 1 1 10 LA TI Chapter 2 Standard Models and Specifications 2 Standard Models 2 2 Servo Driver and Servomotor Combinations 2 3 External and Mounted Dimensions 2 4 Servo Driver Specifications 2 5 Servomotor Specifications 2 6 Cable and Connector Specifications 2 7 External Regeneration Resistor Specifications 2 8 Absolute Encoder Backup Battery Specifications 2 9 Reactor Specifications 2 10 MECHATROLINK II Repeater Specifications Standard Models and Specifications Chapter 2 2 1 Standard Models m Servo Drivers Specifications Mode _ Single phase 100 V AC m Peripheral Cables and Connectors Specifications Model _ Analog Monitor Cable m R88A CMWO001S CN5 Computer Moni DOS V 2 m R88A CCW002P2 tor Cable CN3 Control I O Connector CN 1 R88A CNWO1C Single phase 200 V AC Three phase 200 V AC Encoder Connector CN2 R88A CNWOI1R Encoder Connector for Motor R88A CNWO2R End Absolute Encoder Battery R88A CRWCOR3C Cable with Battery Note In order to use a personal computer to monitor a Servo Driver and set its parame ters Computer Monitor Cable and Com puter Monitor Software are required Please ask an OMRON representative for details m Absolute Encoder Backup Battery Specifications Modi _ 1 000 mA h 3 6 V R88A
287. ion Pn600 is smallerthan the Pn600 Small increase in external regeneration regeneration resiS resistance capacity tor temperature ERU P Servo Driver is defective Replace the Servo Driver Occurs during Ser Regenerative energy is Reselectthe regenera vomotor decelera excessive tion resistance amount tion or recheck the load con ditions and operating conditions Main circuit power Occurs when the TheServo Driver board is Replace the Servo supply setting control circuit defective Driver error power supply is turned ON Occurs when the While in DC power sup ForAC power supply main circuit power plyinputmode AC power input set Pn001 2 to 0 supply is turned was supplied via L1 and For DC power supply ON L2 or L1 L2 and L3 input set Pn001 2 to 1 While in AC power supply input mode DC power was supplied via B1 and O terminals e Pn600 is not set to 0 even though no regener ation resistance is con nected 5 18 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs AHOL Overvoltage Occurs when the The Servo Driver board is Replace the Servo control circuit defective Driver power supply is turned ON Occurs when the The AC power supply Set the AC power supply main circuit power voltage is 290 V or voltage in the correct supply is turned higher range ON e Servo Driver is defective
288. ion not used Notch filter 1 used in torque commands Set the frequency using Pn409 and set the Q value using P n40A e Set whether or not to use notch filter 1 for internal torque commands current loop commands Use the notch filter to prevent mechanical resonance This function can be used to raise the speed loop gain and to shorten positioning time Note 1 With W series AC Servo Drivers two notch filters can be set notch filter 1 and notch filter 2 Note 2 For details on notch filters refer to 4 7 10 Torque Command Filter All Operating Modes 408 1 Torque command settings Not used Unit Default Restart setting power Note Do not change setting Pn408 2 Torque command Settings Selects notch filter 2 function All operation modes S etting 0 1 Unit Default Restart range setting power 4 58 Operation Chapter 4 Setting Explanation Setting Explanation gc Notch filter 2 function not used Pn40C Notch filter 2 used in torque commands Set the frequency using Pn40B and set the Q value in Set whether or not to use notch filter 2 for internal torque commands current loop commands Use the notch filter to prevent mechanical resonance This function can be used to increase the speed loop gain and to shorten positioning time Note 1 With W series AC Servo Drivers two notch filters can be set notch filter 1 and notch filter 2 Note 2 For details on notch filters refer
289. ion shield must be installed according to the radiation conditions Note 2 For external dimensions refer to 2 7 External Regeneration Resistor Specifications 3 3 Un System Design and Installation Chapter 3 m External Regeneration Resistors e Specifications Resistance Nominal Regeneration Heat Thermal switch capacity absorption at 120 radiation output R88A RR22047S 47 0 596 220W 70 W 1 0 x11350 O perating temper External Regener SPCC ature 170 ation Resistor NC contact Note The following external regeneration resistors are recommended products from another manu facturer lwaki Musen Kenkyusho Co Ltd For details refer to the manufacturers documenta tion RH120N50 500 5 30W Amount of regeneration at 120 C e RH300N509J 50 9 5 75W Amount of regeneration at 120 C e RH500N500J 50 9 5 100 W Amount of regeneration at 120 C e Combining External Regeneration Resistors R88D RR22047S 70 W 47 Q 280 W 47 Q 630 W 47 Q Note A combination cannot be used if the resistance is less than the minimum connection resistance for any given Servo Driver Refer to the following table for the minimum connection resistance values for each Servo Driver and select a suitable combination 3 36 System Design and Installation Chapter 3 m Servo Driver Minimum Connection Resistance and External Regeneration Resistor Combinations Servo Driver Minimum Connection External Regeneration Re
290. ions mm w opes pps ps e 89 Te T5 2 T 165 58 109 88 130 145 110 12 25 M5 12 pue e uo s uo o us sg 5 os Note The external dimensions are the same for IP 67 waterproof models 00 2 34 Standard Models and Specifications Chapter 2 1 500 r min Servomotors with a Brake e 200 V AC 450 W 850 W 1 3 kW 1 8 kW R88M W45015T B S 2 W85015T B 5 2 W1K315T B S2 W1K815T B S 2 Absolute Dimensions of output section of 450 W to 1 3 kW Servomotors LL LR G F C gt g 24 IN 1 Ta OL EN p EE ds ASIA S uuo usus of shaft end with ir x N AO 3 M Effective depth e BEN Four Z dia LJ QK Dimensions 5 w s s 23 eps as semen 27 vo pue s se 36 mida 32 36 os ss 8 wa 5 Note The external dimensions the same for IP 67 waterproof m BOL 2 35 Standard Models and Specifications Chapter 2 2 3 3 AC Servomotors with Gears m AC Servomotors with Standard Gears e 3 000 r min Servomotors 30 to 750 W with Standard Gears Dimensions mm LM LR
291. is OFF the Servo Driver detects that the power supply is OFF and turns OFF the Servo The 20 ms default setting means that if the power supply voltage is recovered within 20 ms operation will continue without the Servo being turned OFF n the following cases the Servo is turned OFF regardless of the P n509 setting load is too great and A 410 insufficient voltage occurs during a momentary power stop page f the control power supply falls during a momentary power stoppage and cannot be con trolled Pn50A Input signal selection 1 All operation Default set 1881 Restart Yes modes ting power Input signal selection 2 All operation Default set 8882 Restart Yes modes ting power Note Refer to 4 3 2 Important Parameters Pn50C Input signal selection 3 All operation Default set 8888 Restart Yes modes ting power Input signal selection 4 All operation Default set 8888 Restart Yes modes ting power Note Do not change setting Pn50E Output signal selection 1 All operation Defaultset 0000 Restart modes ting power 4 62 Operation Chapter 4 Pn50F Output signal selection 2 All operation Defaultset 0100 Restart modes ting power Pn510 Output signal selection All operation Defaultset 0000 Restart Yes modes ting power Input signal selection 5 All operation Default set 6543 Restart Yes modes ting power Pn512 Output signal reverse All operation Default
292. is is data transmitted to a personal computer This is data received from a personal computer faxo recepton dats Line receiver input 5 fermu Te te rari Termination resistance ter This is the termination resistance terminal for the line minal receiver 6 pin connection for RS 422 communications final e Driver p men ooo ooo The is the 5 power supply output omi e CN3 Connectors Used 14P Receptacle at Servo Driver 10214 52AJ L Sumitomo Cable plug with solder 10114 3000VE Sumitomo 3M Cable case 10314 50A0 008 Sumitomo 3M 2 4 8 Analog mm Output Connector SDRODERNORS CN5 DNE a Analog Monitor 2 Default setting Servomotor rotation speed 1 V per 1 000 r min Can be changed by P n007 Analog Monitor 1 Default setting Torque command gravity compensation torque 1 V per 10096 of rated torque Can be changed by 006 Analog Monitor Ground Grounds for analog monitors 1 and 2 4 6 0 Analog Monitor Ground e CN5 Connectors Used 4 Pin header at Servo Driver DF11 4DP 2DS Hirose Electric Cable connector socket DF11 4DS 2C Hirose Electric Cable connector contact DF11 2428SCF Hirose Electric 2 69 Standard Models and Specifications Chapter 2 e Monitored Items and Scaling Changes Monitored item Monitor output specifications Pn006 Pn007 setting Servomotor rotation 1 V per 1 000 r min forward rotation
293. is the mode in which the Servo Driver starts when the power supply is first turned ON Status Display Mode Normal Bit display Error Symbol display Example 020 Status Notlit Not lite MI Not lit display m Bit Data Display Contents Rotation detected Servo ON OFF CONNECT Detection during command input Bit data Servomotor rotation detection during Servomotor rotation Servo ON OFF Lit when Servo is OFF Not lit while Servo is ON Command input detection Lit during command input CONNECT Lit when MECHATROLINK II communications begin Symbol Display Contents AOOO Alarm display Refer to alarm table 4 131 Operation Chapter 4 4 9 Using Monitor Output OMNUC AC Servo Drivers output in analog form the Servomotor rotation speed torque command position difference and other proportional voltage amounts from the Analog Monitor Output Connector CN5 This function can be used in situations such as making fine gain adjustments or when a meter is attached to the control panel Select the monitor items using parameters Pn006 0 to Pn006 1 and Pn007 0 to Pn007 1 Also use parameters 006 2 and Pn007 2 to change scaling and Pn550 and Pn551 to adjust the offset m Analog Monitor Output Connector CN5 e The Analog Monitor Output Connector CN5 is located inside the top cover of the Servo Driver Analog Monitor Output Connector CN5
294. ith battery but not to both Note 4 Secure the backup battery for an absolute encoder with cable clips with double sided tape or a similar means Note 5 The XB contact is used to turn the electromagnetic brake ON and OFF Note 6 Do not wire unused terminals Note 7 Allocate BKIR brake interlock to CN1 1 2 6 2 Motor Cable Specifications The motor cable is used to connect the Servo Driver and Servomotor Select the appropriate cable for the Servomotor The maximum distance between Servo Driver and Servomotor is 50 m Note Use a Robot Cable if the cable needs to bend e Bend Resistance of Robot Cables Robot Cables use wire that has a bending life of 20 million times when used atthe minimum bending radius R or greater under the following conditions Note 1 The bending resistance data was compiled under test conditions and must be used as a guide only An extra margin must always be allowed Note 2 The life expectancy is the number of uses without cracks or damage to the sheath that would affect performance while current is applied to the wire conductor This value does not apply to cut shield strands Note 3 Note If Robot Cables are used at a bending radius smaller than the minimum bending radi us mechanical malfunctions ground faults and other problems may occur due to insulation breakdown Contact your OMRON representative if you need to use a Robot Cable with a bending radius smaller than the minimum bending radius
295. larity of the battery when connecting it Reversing the polar ity may damage the battery or cause itto explode Operation and Adjustment Precautions N Caution N Caution N Caution N Caution Confirm that no adverse effects will occur in the system before performing the test operation Not doing so may result in equipment damage Check 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 N Caution When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury N Caution Do notuse the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Maintenance and Inspection Precautions 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 N Caution Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock Warning Labels Warning labels are pasted on the product as shown in the following illustration Be sure to follow th
296. larm 1 control circuit Driver power supply is DRV alarm 2 turned ON or dur ing operation e Parameters were edited Do not edit parameters at a personal computer during MECHATROLINK during MECHATROLINK II communications communications e Servo Driver is defective Replace the Servo Driver Occurs when Servo Driver is defective Replace the Servo control circuit Driver power supply is turned ON Occurs when The three phase power Correct the power supply main circuit power supply is faulty wiring supply is turned The three phase power Correct the power supply ON supply is unbalanced unbalance S witch the phase e Servo Driver is defective Replace the Servo Driver Occurs during Ser There are faulty contacts Correct the power supply vomotor drive in the three phase power Internal command Occurs when MECHATROLINK communications are started or dur ing operation Hn ni Missing phase detected wiring supply wiring e The three phase power Correct the power supply Supply is unbalanced imbalance e Servo Driver is defective Replace the Servo Driver 5 32 Troubleshooting Chapter 5 5 3 2 Error Diagnosis Using Warning Indicators Display Status when Cause of error Countermeasures error occurs Deviation counter Occurs during nor The Servo Driver board is Replace the Ser
297. lection Parameters from 000 Param Explanation Default Setting Restart eter No setting range power ine 000 Func Reverse rota CCW direction is taken for positive com 0000 tion tion mand EE CW direction is taken for positive com basic mand switches 1 wnser o not change setting Unit No set Servo Driver communications unit num ting ber setting necessary for multiple Servo Driver connections when using personal computer monitoring software Wetused 8 not change setting Stop selec oO Servomotor stopped by dynamic brake 0002 Yes E cce Dynamic brake OFF after Servomotor topped when Servo motor is OFF Servomotor stopped with free run 1 Stop selec Stop according to Pn001 0 setting tion when release Servomotor after stopping 1 Stop Servomotor using torque set in Pn406 and lock Servomotor after stop ping Stop Servomotor using torque set in Pn406 and release S ervomotor after stopping 2 AC DC T i power supply AC power supplied power input L1 L2 L3 terminals selection DC Ms supply DC power from terminals INotused 0 Do not change setting 4 8 Operation Chapter 4 Param Parame Explanation Default Setting Restart eter No ter setting range power name Pn002 UnC Torque com 0 Do not use option command value 0000 Yes _ Use option command value 1 as the ion ing speed torque limit value control 2 Use option command
298. llocation low input 3 Allocated to CN1 pin 9 Valid for low input Allocated to CN1 pin 10 Valid for low input 5 Allocated to CN1 pin 11 Valid for low input Allocated to CN1 pin 12 Valid for low input Always enabled 8 disabled Allocated to 1 pin 13 Valid for high input Allocated to pin 7 Valid for high input Allocated to CN1 pin 8 Valid for high input C Allocated to CN1 pin 9 Valid for high input Allocated to CN1 pin 10 Valid for high input E Allocated to CN1 pin 11 Valid for high input signal Input F Allocated to CN1 pin 12 Valid for high input terminal 0 to F Same as Pn50A 3 0882 Yes NOT reverse drive prohibited signal allocation allocation Do not change setting Do not change setting Do not change setting l Do not change setting 8888 Yes Do not change setting Do not change setting Do not change setting 4 17 Operation Chapter 4 Param Parame Explanation Setting Restart es PSOE post 0 Notused 0000 T tioning com pleted 1 Allocated to CN1 pins 1 2 signal out Allocated to CN1 pins 23 24 put terminal allocation Allocated to CN1 pins 25 26 VCMP 0 to 3 Same as Pn50E 0 speed con VCMP speed coincidence sig formity sig nal allocation nal output terminal allocation TGON ser 0 to Same as Pn50E 0 vomotor TGON Servomotor rotation rotation detection signal allocation detecti
299. load This is a warning before the overload alarm A 710 or A 720 Is reached If operation continues at this point an alarm may be gener ated Vibration Faulty oscillation was detected in the Servomotor rotation speed The detection level is the same as for A520 but the difference Is in whether an alarm or warning is to be set by the Pn310 vibration detection switches Regeneration overload This is the warning display before the regenerative overload alarm A 320 is reached If operation continues at this point an alarm may be generated Absolute encoder battery This is the warning display indicating that the absolute encoder bat warning tery voltage is low Parameter change requir A parameter requiring the power to be turned ON again was ing restarting changed Data setting warning 1 There is an error in a command parameter number parameter No Data setting warning 2 out The setting outside of the command data range of range If the Servo Driver is connected to the CJ 1IW MCH71 or CS1W MCH71 the option monitor parameters may not be set correctly Check the setting of Pn813 and change it to 0032 hex if any other value is set Data setting warning 4 A non conforming data size was detected parameter size Command warning 1 com A command was specified even though the command conditions mand conditions not met not completely met Data setting warning 3 A calculation error was detected
300. load exceeding specifications to be placed on the motor shaft due to belt tension If an excessive radial load is applied 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 P ulley Pulley for tension adjustment Make adjustable Tension 3 5 System Design and Installation Chapter 3 m Connectors Conforming to EC Directives The Power Cable and Encoder Cable connectors listed in the following table are recommended for conforming to EC Directives Note The connectors for the Servomotor models not listed below i e 3 000 r min Servomotors 50 to 750 W and all 3 000 r min Flat style Servomotor models already conform to EC Directives and do not need to be changed e Recommended Connectors For Power Cables Servomotor type Servomotor model Connector model Cable clamp model Maker With 3 000 r min R88M W1K0300 O Angled type out brake 1 5kW R88M W1K530L 1 Straight type R88M W2K030LH7 CE06 6A18 10S D B BSS Loon S00 mis 12 KW R M WiKzIG LO4V 8A22 2kW R88M W2KOI0L C L04V 6A22 22SE EB 1 500 r min 1 8 RO8M W 1K815T L Bee eene LO4V 8AQ0 155E EB 15kw nemwwissorrar LO4V 8A20 2kW R88M W2KO3OL BU L04V 6A20 15SE EB 1 000 r min R88M W30010L BL R88M
301. low warning level Pn51E 4 63 momentary hold time Pn509 4 62 positioning completed range 1 Pn522 4 64 positioning completed range 2 Pn524 4 64 program jog settings Pn530 to Pn536 4 65 rotation speed for motor rotation detection Pn502 4 61 speed conformity signal output width Pn503 4 61 speed control parameters soft start acceleration time Pn305 4 54 speed feedback filter time constant Pn308 4 55 torque control parameters emergency stop torque Pn406 4 58 forward rotation external current limit Pn404 4 57 forward torque limit Pn402 4 57 notch filter 1 frequency Pn409 4 59 notch filter 1 Q value Pn40A 4 59 notch filter 2 frequency Pn40C 4 59 notch filter 2 Q value Pn40D 4 59 reverse rotation external current limit Pn405 4 57 reverse torque limit Pn403 4 57 select notch filter 1 function Pn408 0 4 58 select notch filter 2 function Pn408 2 4 58 speed limit Pn407 4 58 zero point width Pn803 4 69 zero point return parameters Pn816 to Pn819 4 71 peripheral devices connection examples 3 12 personal computer monitor connector specifications 2 69 pin arrangement CNI 2 63 position control 4 75 position control parameters from Pn200 4 50 position integration 4 129 Positioning Completed Outputs 1 2 INPI INP2 2 66 POT Forward Drive Prohibit 2 65 Power Cables 2 3 2 5 3 6 3 9 specifications 2 103 2 112 power indicator 4 130 precautions 5 3
302. lowing three cases e The Servomotor output torque effective value exceeds 115 of the rated torque e The regenerative energy exceeds the tolerance of the internal regeneration resistance e When external regeneration resistance is used the regenerative energy exceeds the value set for Pn600 Regeneration resistance capacity 2 4 6 Encoder Input Specifications CN2 PinNo Symbol Signalname Functionlnteface Encoder power supply Power supply outlet for encoder 5 V 180 mA DV Note An automatic reset fuse is provided to protect 2 EOV E ncoder power supply output If the fuse is activated due to overcurrent GND it will automatically reset after a fixed period of time has lapsed without current flowing Battery absolute Backup power output for encoder BAT Battery absolute 3 6 V 20 uA for backup or when stopped 3 uA when __ quee 80800 Serve river is being powered Encoder phase S input _ Line driver input conforming to EIA RS422A 6 S Encoder phase S input Put impedance 120 Q S hell Shielded ground Cable shielded ground 2 68 Standard Models and Specifications Chapter 2 e CN2 Connectors Used 6P Receptacle at Servo Driver 53460 0611 Molex J Co Ltd Cable plug 55100 0670 Molex J Co Ltd 2 4 7 Personal Computer Monitor Connector Specifications CN3 No Symbol Sigeamame Th
303. ltime constant m 1i 12 pe 54 87 m Ms us ur Allowable thrustload IN E M e Weight on m a eee Radiation shield dimensions material t6 0250 mm Al Applicable load inertia See note 6 Applicable Servo Driver 100 V WNASL ML2 WNO1L ML2 WNO2L ML2 WNOAL ML2 4 R 88D 200 V WNASH ML2 WNO1H ML2 WNO2H ML2 WNO4H ML2 WNO8H ML2 Brake Brake inertia kgm 8 5 x 10 8 5 x 107 5 8 10 5 8 x 10 1 4 x 107 specifi GD2 4 cations Excitation voltage 24 V DC 10 Power consump 7 7 tion at 20 C Current consump tion at 20 C Static friction 0 2 min 0 34 min 1 47 min 1 47 min 2 45 min torque Attraction time 30 max 30 max 60 max 60 max 80 max See note 3 note 3 acis BEEN 1 value Insulation grade ma Type F 2 7 W Standard Models and Specifications Chapter 2 200 VAC Model R88M WGKOXH W1K030T W1K530T W2K030T W3K030T Rated output 1 000 1 500 2 000 3 000 Rated torque Wm i e 63 O 198 o _ Rated rotation speed 3 000 Momentary maximum rota r min 5 000 tion speed Momentary maximum N m 9 54 14 7 19 1 29 4 torque Momentary maximum cur A rms 17 28 42 56 rent Rotor inertia kgm 174x10 2 47 x 10 4 3 19 x 104 7 00 x 104 602 4 Torque consan nwa Jo oss oa oo Alwaherdalld _
304. lue Servomotor Green Y ellow Connector plug 350779 1 Tyco Electronics AMP KK Ow Connector pins 1 to 3 350690 3 Tyco Electronics AMP KK M4 crimp Cable AWG20 x 4C UL2464 Connector pin 4 770210 1 Tyco Electronics AMP KK terminal 2 104 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Servo Driver S ervomotor ie Cus White Connector cap 350781 1 Tyco Electronics AMP KK Connector socket 350689 3 Tyco Electronics AMP KK Blue Phase w Servomotor O3 Green Y ellow FG Connector plug 350715 1 Tyco Electronics AMP KK Black Connector pins 1 to 3 5 6 350690 3 Tyco Electronics AMP KK Broin Connector pin 4 770210 1 Tyco Electronics AMP KK Cabe AWG20x6C 002464 106 Brake M4 crimp terminals R88A CAWB The R88A CAWBLI Cables are for 3 000 r min Flat style Servomotors 1 5 kW e Cable Models For Servomotors without Brakes Length L Outer diameter ofsheath Weight _ 104 dis R88A CAWB050S Approx 9 2 kg For Servomotors with Brakes Medel Length 1 Outer diameter ofsheath_ Weight 145 dia Note Use these cables if a 750 W Servomotor is to be wired ata distance of 30 meters or more 2 105 Standard Models and Specifications Chapter 2 e Connection Configuration and External Dimensions For Servomotors without Brakes 50 Servo Driver R88D WNC ML2 M _ Ou For Servomotors with Brakes R88D WNLI ML2 e Wiring S er
305. m position deviation will not significantly change If the set value is too large overshooting will occur The diagram shows an example of position deviation during operation by trapezoidal speed command By increasing the predictive control acceleration deceleration gain the position deviation is changed from the broken line to the solid line i e the settling time is shortened Position error Predictive control acceleration deceleration gain Pn151 increased Pn152 Predictive control Position Setting 0 to 300 Unit Default Restart range setting power f the value is increased tracking deviation will be reduced If the positioning completed range is large the settling time will also be reduced If the set value is too long the torque may oscillate and overshooting may occur The diagram shows an example of position deviation during operation by trapezoidal speed command By increasing the predictive control weighting ratio the position devi ation is changed from the broken line to the solid line and the settling time is shortened 4 48 Operation Chapter 4 Position error Predictive control weighting ratio Pn152 increased Time e Less deviation Control Parameters Pn1A0 to Pn1AC Pn1A0 Servo rigidity Position Setting to 500 Unit Default Restart range setting power 1 1 Servo rigidity 2 Position Setting to 500 Unit Default Restart range setting power 1 2 S p
306. mand S ervomotor speed 4 Time Pcontrol PI control Operation Example Used to shorten the settling time In general the speed loop gain must be raised in order to shorten the settling time but in this case overshooting and undershooting are suppressed S peed Pn10D Without P control switching With P control switching Speed Servomotor command speed Servomotor speed o Long settling time P S peed loop gain ae Overshooting Servomotor U speed Under shooting e P Control Switching Condition Taken as Acceleration Speed Pn10B 0 2 e When the Servomotor acceleration speed is equal to or greater than the acceleration speed set in the user constant Pn10E the speed loop is switched to P control Settling time 4PnlOE F 4 S ervomotor acceleration speed Servomotor Acceleration N speed speed 0 A J 4 Pn10E por Command speed S peed Operation Example When P control switching is not used and PI control is always used the torque during acceleration and deceleration may be saturated and the Servomotor speed may overshoot or undershoot Using P control switching suppresses torque saturation and eliminates Servomotor speed overshooting and undershooting Without P control switching With P control switching Overshooting 4 114 Operation Chapter 4 e P Control Switching Condition Taken as Position Deviation Pulses 10 0 3 e When the Servomotor position
307. mand min s to switch to P control Setting range 0 to 30 000 r min s Pn10F P control switching Set when Pn10B 0 3 switch using deviation 4 3 3 Parameter deviation pulse pulse value Set the deviation pulse value Details command unit to switch to P control Setting range 0 to 10 000 command units e P Control Switching Condition Taken as Internal Torque Command Pn10B 0 0 e When the torque command is equal to or greater than the torque set in the user constant 10 the speed loop is switched to P control For the Servo Driver this mode Is set at the factory as the standard setting The torque command level is set to 200 P n10C f Torque command Servomotor Torque Speed Command speed speed command M P d 10 2 Pl control a P control Operation Example When P control switching is not used and PI control is always used the torque during acceleration and deceleration may be saturated and the S ervomotor speed may overshoot or undershoot Using P control switching suppresses torque saturation and eliminates Servomotor speed overshooting and undershooting Without P control switching With P control switching Overshooting 4 113 Operation Chapter 4 e P Control Switching Condition Taken as Speed Command Pn10B 0 1 e When the speed command is equal to or greater than the speed set in the user constant 100 the speed loop is switched to P control Speed com
308. ment distance 32768 Command 1 to unit 1073741824 i Mii ai a Sets the program J OG operation movement speed Sets the acceleration deceleration time for program J OG opera tion Sets the delay time from the program J OG operation start input until operation starts 540 Sets the gain limit 2000 10 02000 Pn550 Analog Sets the analog monitor 1 offset voltage 0 1 V 10000 to monitor 1 10000 offset volt age 551 Analog 0 1 V 10000 to monitor 2 10000 offset volt age Sets the analog monitor 2 offset voltage 4 21 Operation Chapter 4 Other Parameters from Pn600 Sett Param Parame Explanation ing Restart I S oftware limit check using refer ence Pn600 Setting for regeneration resistance load ratio monitoring calcula x 10W 0 to varies by ation tions model See resistor note 2 capacity See note 1 Do not change setting P5800 Communi O o Noma how EE tions check mask Ignore WDT errors A E5L1 3 Ignore communications errors A E6L1 and WDT errors 5 1 Waring 0 Normal check mask 1 Ignore data setting warning 94 1 2 Ignore command warning A 950 Ignore A 94L1 and A 950 Ignore communications warn ing A 9601 5 Ignore A 94 and A 96L I Ignore A 95 and A 96 7 Ignore A 94 A 95 and A 96L 1 Pn802 Do not change settin
309. motor output torque Note In the output torque graph acceleration in the positive direction rise is shown as positive and acceleration in the negative direction fall is Shown as negative e The regenerative energy values for Eg1 Eg2 Eg3 are derived from the following equations Ego 5 21 1 1 Eg Ae N2 e Tizet XT ar eN2eTp2et3 3 33 System Design and Installation Chapter 3 1 Rotation speed at beginning of deceleration r min Tp1 Deceleration torque N m T2 Torque when falling N m t t3 Deceleration time s t Constant velocity travel time when falling s Note There is some loss due to winding resistance so the actual regenerative energy will be approx imately 90 of the values derived from these equations For Servo Driver models with internal capacitors for absorbing regenerative energy i e models of 400 W or less the values for both E 41 or Eg unit J must be lower than the Servo Driver s regen erative energy absorption capacity The capacity varies depending on the model For details refer to 3 3 2 Servo Driver Regenerative Energy Absorption Capacity For Servo Driver models with internal regeneration resistance for absorbing regenerative energy i e models of 500 W or more the average amount of regeneration P unit W must be calcu lated and this value must be lower than the Servo Driver s regenerative
310. n Setting o Explanation O 0 Stop according to the setting of Pn001 0 Servo released after Servomotor has stopped EE Stop the Servomotor using the torque set in Pn406 emergency stop torque then locks the Servo 1 2 Stop the Servomotor using the torque set Pn406 emergency stop torque then releases the Servo dynamic brake is turned OFF e Select the stopping process for when overtravel occurs Stopping Methods when Forward Reverse Drive Prohibit is OFF Deceleration Method S topped Status Pn001 0 Pn001 1 0 or 1 Dynamic brake Servo unlocked D Pn001 1 1 or 27 7 Servo unlocked Emergency stop torque Pn406 See note 1 WE Servo locked Note 1 The position loop is disabled when the Servo stops in servolock mode during position con trol Note 2 During torque control the stopping process depends on Pn001 0 the Pn001 1 setting does not matter Note 3 With a vertical load the load may fall due to its own weight if itis left ata drive prohibit input We recommend that you set the stop method for the drive prohibit input P n001 1 for decel erating with the emergency stop torque and then set stopping with the servo locked SV 1 to prevent the load from falling 1 0 Signal Allocation Pn50A Pn50B Pn50E to Pn512 e With the OMNUC W Series you can freely change the 1 0 signal allocation f using an OMRON position controller Position Control Unit o
311. n Set the notch filter Measure the frequency and set the notch filter if required Setthe no deviation con trol selection Pn10B 2 1 Turn ON the power Execute less deviation one parameter tuning Increase the value of Pn1A2 Vibration Increase 1 4 to a value where there is no vibration Increase Pn1AA to a value where there is no vibration Increase Pn1A9 to a value where there is no vibration See note Note For Pn1A9 take a fac tor of 0 8 of Pn1AA as the upper limit 4 122 Operation Chapter 4 m Less deviation Gain Switching For details on gain switching when using less deviation control refer to the information on Auto matic Gain Switching Combinations for Less deviation Control in 4 7 4 Automatic Gain Switching Position m Function Limitations when Less deviation Control is Used Auxiliary Functions The following auxiliary functions will not operate effectively even if they are selected Advanced auto tuning One parameter tuning e Control Methods used for Normal Position Control The following control methods will not operate Feed forward P control switching function Speed feedback compensation Predictive control Average movement filter 4 7 10 Torque Command Filter All Operating Modes As shown in the following diagram three torque command filters and two notch filters are wired in series in the torque command filter and they are used independently The n
312. n ear decel eration parameter Decelera tion parame ter switch ing speed Exponen tial accel eration decelera tion bias Exponen tial accel eration decelera tion time constant Moving average time Not used LJ travel dis tance for external position Ing Zero point return mode set tings Zero point return approach speed 1 Zero point return approach speed 2 Restart power Default setting Explanation Sets the step 1 acceleration for when two step acceleration is Setting range x 10000 commana unit s 1 to 65535 x 10000 Sets the step 2 acceleration for when two step acceleration is 1 to 65535 executed or the one step acceleration parameter for when one step acceleration is executed unit s Sets the switching speed for the step 1 and step 2 acceleration 0 to 65535 when two step acceleration is executed Note When used as one step acceleration 0 must be set x 10000 unit s Sets the step 1 deceleration for when two step deceleration is 1 to 65535 used x 10000 commend unit s Command unit s x 0 1 ms unit Sets the step 2 deceleration for when two step deceleration is 1 to 65535 executed or the one step deceleration parameter for when one step deceleration is executed Sets the switching speed for the step 1 and step 2 deceleration 0 to 65535 when two step deceleration is executed No
313. n If the setting is too small however responses may be unstable Note 1 Correctly set Pn103 inertia ratio perform the usual manual adjustment then adjust the speed feedback compensation After manual adjustment manually readjust the setting to approximately 9096 Then readjust repeatedly while gradually reducing the setting to find the optimum setting Note 2 Refer to 4 7 5 Speed Feedback Compensation Position Speed for details S etting Unit Default 500 Restart range setting power Note Do not change setting Pn11A S etting Unit Default 1000 Restart range setting power Note Do not change setting Setting Unit Default 1000 Restart range setting power Note Do not change setting PnllF Position integral time constant Position S etting to 50000 Unit x 0 1 ms Default Restart range setting power e Set the integral time constant for the position loop Note Enabled for synchronous operations such as electronic cam and electronic shaft 4 44 Operation Chapter 4 e Unused Gain Parameters Pn12B to Pn130 Note Do not change the settings of the following parameters Pn12B Setting Unit Default Restart range setting power Setting Unit Default 2000 Restart range setting power Pn12D Unit Default Restart setting power Setting Unit Default Restart range setting power Pn12F Setting Unit Default 2000 Restart range setting power Setti
314. n the opposite direc return to tion from the origin return direction or if the distance is zero point short operation is reversed after decelerating to a stop 900 Notused not change setting to Pn910 Pn920 Notused Do not change setting to Pn95F Note 1 The normal setting is 0 If an external regeneration resistor is used refer to 3 3 3 Hegener ative Energy Absorption by External Regeneration Resistance for recommended setting Note 2 The upper limit is the maximum output capacity W of the Servo Driver Pn819 000 20 Appendix Chapter 6 6 3 Restrictions This section describes the restrictions for the following functions of the Computer Monitor S oftware If these restrictions are violated a COM2 alarm A E02 may occur 1 Advanced auto tuning 2 Online vibration monitor 3 Easy FFT 4 Tracing Functions that cannot be used together with the above functions are listed in the following table Use the default settings for any functions that cannot be used together with the above functions Advanced auto tuning _ Advanced auto tuning _ Online Easy FFT Tracing Mode 0 With Mode 1 vibration inertia Without monitor inertia Commands via MECHATROLINK Jogging S peed feed for mM 1 ward compensa tion me 2 Predictive control Pn150 0 KG gain Pn139 0 OK switchin
315. n torque control is used Set a limit so that the Servomotor rotation speed does not exceed the maximum speed of the mechanical system Outside of the speed limit range a torque in proportion to the difference from the speed limit value is generated to slow down the S ervomotor rotation speed In such cases the number of Servomotor rotations does not necessarily match the speed limit value The number of Servomotor rotations varies depending on the load e The two ways to limit the speed are given in the following table The Controllers that support each method are also shown CJ 1W NCF71 CS1W MCH71 CJ 1W MCH71 Limiting using a constant fixed speed Use Pn407 speed limit limit parameter setting for torque con trol Limiting the speed by means of an Use option command value 1 as the speed control option command value value Note For details on commands and instructions refer to the manual for the specific Unit e When the speed limit is in operation VLIMT speed limit detection is output when the signal has been allocated in 50 1 e When there are multiple speed limit functions in effect Servomotor rotation speed is limited by the smallest value m Parameters Requiring Settings e Limiting Using a Constant Fixed Speed Limit Parameter Setting for Torque Control Parameter Parameter name Explanation Reference No Pn407 Speed limit Set the speed limit for torque control 4 3 3 Parameter Setting
316. nd Specifications Chapter 2 N Caution Do not use 1 3 kW Servomotors within the shaded portions of the following dia grams If used in these regions the Servomotor may overheat causing the encoder to malfunction R88M W1K315T 1 3 kW Effective torque N m 8 34 7 50 10 20 30 40 Ambient temperature 2 5 3 Specifications for Servomotors with Reduction Gears m 3 000 Servomotors with Standard Reduction Gears 50 W to 3 kW Reduction gear inertia 1 11 R88M W100300 11G11B 273 2 80 1 21 R88M W10030L 1621BJ 143 5 34 1 273 2 99 5 96 11 4 17 9 5 40 11 9 22 1 33 5 10 2 22 3 42 7 67 0 1 33 R88M W10030L L1G33BJ 9 8 40 a ms _ 1 21 R88M W20030L L IG 21B 1 33 R88M W20030L FL IG 33B 400W 1 5 R88M W40030L1 LIGO5B 200W 15 R88M W 200301 1 16 05B 111 R88M W20030 1G 11BJ J J J J 143 91 273 143 91 1 33 R88M W40030L FL IG 33B hme er qme pu 657 813 921 1 30 4 67 0 1 m m mm ss qms _ Bs ea 88 750301 L G11BJ 273 2 88 750301 1 16 218 143 1 33 R88M W75030L LIG33B 91 8 8 8 8 8 8 8 8 8 5 5 3 3 5 5 10 B B 5 12 20 8 mM m 593 108 813 263x105 921 85 2 86 Standard Models and Specifications
317. ndicated in this manual Be sure to check the model that is being used and follow the relevant specifications Servomotors with incremental encoders R88M WI H L I e Servomotors with absolute encoders R88M WLIT L Items to Check After Unpacking Check the following items after removing the product from the package e Has the correct product been delivered i e the correct model number and specifications Has the product been damaged in shipping Are any screws or bolts loose OMRON USER S MANUAL OMNUC W MODELS R88M WIl AC Servomotors MODELS R88D WNLI ML2 AC Servo Drivers AC SERVOMOTORS SERVO DRIVERS WITH BUILT IN MECHATROLINK II COMMUNICATIONS 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 Always heed the information provided with them Failure to heed precautions can result in injury to people or dam age to property N DANGER Indicates an imminently hazardous situation which if not avoided will result in death or serious injury Additionally there may be severe property damage N WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage N Caution Indicates a potentially hazardous sit
318. ndition to switch to P control using Servomotor rated torque ratio 96 e The Servo switches to P control if the internal torque command exceeds the setting level 100 P control switching speed command Position speed S etting to 10000 Unit r min Default Restart range setting power 4 42 Operation Chapter 4 e You must set Pn10D if you set Pn10B 0 P control switching condition to 1 switching by speed command e Set the speed to switch to P control e The Servo switches to P control if the speed command exceeds the setting level Pn10E P control switching acceleration command Position speed Setting Oto 30000 Unit r min s Default Restart range setting power e You must set Pn1OE if you set Pn10B 0 P control switching condition to 2 switching by accelera tion command Set the acceleration to switch to P control e The Servo switches to P control if the acceleration command value exceeds the setting level PnlOF P control switching deviation pulse Position S etting to 10000 Unit Command Default Restart range unit setting power e You must set Pn10F if you set Pn10B 0 P control switching condition to switching by deviation pulse e Set the deviation pulse to switch to P control e The Servo switches to P control if the deviation counter residual pulses exceed the setting level Pn110 0 Normal autotuning switches Not used Setting Unit Default 2 Rest
319. ng The Pn001 1 setting is irrelevant Note 3 With a vertical load the load may fall due to its own weight if itis left ata drive prohibit input We recommend that you setthe stop method for the drive prohibit input P n001 1 for decel erating with the emergency stop torque and then set stopping with the servo locked SV 1 to prevent the load from falling m Origin Return Deceleration Switch Signal 9 DEC Note This is the default allocation The DEC signal is allocated in Pn511 0 e This is the deceleration signal for origin search e When DEC is input DEC 1 during an origin search the Servomotor speed is changed according to the origin return approach speed 1 Pn817 Then when the signal is turned OFF DEC 0 the Servo Driver is switched to latch operation 2 65 Standard Models and Specifications Chapter 2 Speed command Origin return approach speed 1 Pn817 Origin return approach speed 2 Pn818 Origin return final travel distance P n819 Latch signal m External latch signal 1 10 1 External latch signal 2 11 EXT2 External latch signal 3 12 EXT3 Note This is the default allocation The EXT1 EXT2 and EXT3 signals are allocated in Pn511 1 Pn511 2 and Pn511 3 respectively e This is the signal for latching the present feedback pulse counter m Encoder Output 17 Phase Encoder Output 18 Phase A Encoder Output 20 Phase B Encoder Output 19 Phase B Encoder
320. ng until switching from the No 1 gain to the No 2 gain begins time 1 136 Gain switch The time from when gain switching condition B is satisfied ing waiting until switching from the No 2 gain to the No 1 gain begins time 2 Pn139 144 Do not change setting 150 ms 0 to 65535 ms 0 to 65535 Automatic Gain switch i Manual gain switching 0000 Yes OL ILE gain ing selection TUE changeover switch 1 switching pat EUM 1 Automatic switching from No 1 gain to No 2 gain when gain switching condi tion A Is satisfied Automatic switching from No 2 gain to No 1 gain when gain switching condi tion B Is satisfied 1 switch Positioning completed out ing condition put 1 INP1 ON Positioning completed out put 1 INP1 OFF Positioning completed out put 2 INP2 ON Positioning completed out put 2 INP2 OFF The position command fil ter output is 0 and also the position command input is 0 5 The position command input is not 0 2 Gain switch 0 to 5 Same as above ing condition B Do not change setting we P redictive P redictive P redictive control not 0210 Yes 020101 control control selec used eee gon 1 P redictive control used 2 Not used Do not change setting 1 P redictive P redictive control for track control type ing 1 P redictive control for posi tioning 2 Do not change setting Do not change setting 6 7 Appendix C
321. ng Unit Default Restart range setting power e Automatic Gain Switching Pn131 to Pn139 Pn131 Gain switching time 1 Position Setting to 65535 Default Restart range setting power Pn132 Gain switching time 2 Position Setting to 65535 Default Restart range setting power Pn135 Gain switching waiting time 1 Position Setting to 65535 Default Restart range setting power Pn136 Gain switching waiting time 2 Position Setting to 65535 Default Restart range setting power 4 45 Operation Chapter 4 The following diagram shows the relation between the gain switching waiting time and the gain switching time constant In this example the gain is switched from position loop gain Pn102 to No 2 position loop gain Pn106 in automatic gain switching pattern 1 in which the turning ON of the positioning completed signal INP 1 is taken as the switching condition From the point at which the INP1 signal turns ON and the switching condition is met operation is paused for the delay time set in Pn135 and then during the switching time set in Pn131 the gain is changed in a straight line from Pn102 to Pn106 S witching Delay Time and Switching Time Delay time Switching time Pn135 Pn131 Pn102 Position loop gain 106 No 2 position loop gain INP1 S witching condition A met n addition to the standard and 1 control automatic gain switchi
322. ng completed output 2 INP2 OFF The position command filter out putis 0 and also the position com mand input is 0 5 The position command input is not 0 2 switch 0 0 5 Same as above ing condition B Do not change setting P redictive P redictive 0210 Yes E a switches 2 1 P redictive De n Predictive control for tracking EE pe P redictive control for positioning Notused 0 not change setting caer Adjusts acceleration and deceleration response for predictive control 100 0 to 300 contro accelera tion deceler ation gain Predictive Adjusts position deviation for predictive control 100 0 to 300 control weighting ratio 1 0 Adjusts the Servo rigidity for the No 1 gain uM NN 1 to 500 ED Ity Operation Chapter 4 Param Parameter Explanation See note 1 Default Setting Restart j eter No name EAT we pe Explanation See note 2 setting range power 1 1 Adjusts the Servo rigidity for the No 2 gain uM MN 1 to 500 p ity 2 1 2 Speed feed Sets the filter time constant for No 1 gain speed feedback 12 x0 01ms 30to back filter 3200 time con stant Speed feed Sets the filter time constant for No 2 gain speed feedback 12 x0 01ms 30to back filter 3200 time con stant 2 Torque com Sets the filter time constant for the torque command 36 x0 01ms 0 to mand filter 2500 time con stant 2 Utility con Integral com Integral c
323. ng indicators 5 33 tuning 4 98 V VCMP Speed Conformity Output 2 67 vibration suppression when stopping 4 127 VLIMT Speed Limit Detection Output 2 68 W WARN Warning Output 2 68 warning labels 1 5 Warning Output WARN 2 68 warnings table 5 10 troubleshooting 5 33 wiring conforming to EMC Directives 3 23 for noise resistance 3 19 precautions 1 2 3 2 terminal blocks 3 15 Index Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No 1544 1 06 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision Revised content code November 2004 Original production 02 November 2006 Page 2 34 Graphics replaced diagram numbers added and dimensions 01 04 05 D6 E2 and F changed added Pages 2 38 and 2 39 Graphics replaced added diagram numbers added and dimensions LM D1 D4 D6 E2 and F changed added Page 2 44 Dimensions LM changed from 110 to 97 5 for 750 W model Pages 2 45 2 62 3 11 and 3 12 Graphics corrected Pages 2 84 and 2 85 Specifications changed from 50 W through 750 W models Page 2 86 Specifications changed in top table Pages 2 88 and 2 89 Weights and reduction gear inertia changed for 750 W models Page 4 10 Settings changed for Pn110 Page 4 38 Last paragraph deleted from P n103 Pages 4 38 and 4 38 De
324. ng is also possible with less deviation control The gain combinations for less deviation control are provided in 4 7 4 Automatic Gain Switching Position The settings for the switching condition the gain switching waiting time and the switching time are the same as for Pl and I P control For details on adjustment methods for less deviation control refer to 4 7 9 Less deviation Control Position Pn139 0 Automatic gain changeover related switches 1 Gain switching selection switch S etting 0 to 4 Unit Default Restart range setting power Setting Explanation Setting Explanation Manual gain switching Automatic switching pattern 1 Automatic switching from No 1 gain to No 2 gain when gain switching condition A is satisfied Automatic switching from No 2 gain to No 1 gain when gain switching condition B is satisfied 139 1 Automatic gain changeover related switches 1 Gain switching condition A Posten S etting 0 to 5 Unit Default Restart range setting power 4 46 Operation Chapter 4 Setting Explanation Setting Explanation o PosHonngcompletedouputI NPI ON Positioning completed output INPI OFF S B Positioning completed output 2 NP Positioning completed output 2 INP 2 lor 4 The position command filter output is 0 and also the position command input is 0 The position command input is not O 139 2 Automatic gain c
325. ngs Parameter Parameter name Explanation Reference No Pn207 2 Position control set To execute backlash compensation in the for 4 3 3 Parameter tings 2 Backlash ward command direction set Pn207 2 to 1 For Details compensation selec ward compensation To execute backlash tion compensation in the reverse command direc tion set Pn207 2 to 2 Reverse compensation Backlash compensa Set the compensation amount in command 4 3 3 Parameter tion amount units Details Setting range 32 767 to 32 767 command units Pn215 Backlash compensa Setthe time constant for backlash compensa 4 3 3 Parameter tion time constant tion Details Setting range 0 to 65 535 x 0 01 ms When 207 2 1 Executes in the forward direction the amount of backlash compensation set in Pn214 Machinery EM NE S ervomotor axis Forward gt Machinery S ervomotor axis gm When Pn207 22 Executes in the reverse direction the amount of backlash compensation set in Pn214 Machinery e g 4 S ervomotor axis lt Reverse I Machinery S ervomotor axis 4 128 Operation Chapter 4 4 7 13 Position Integration Position m Parameters Requiring Settings Parameter Parameter name Explanation Reference No PnllF Position integral time Setthe integral time constant for the position 4 3 3 Parameter constant loop Details Setting range 0 to 50 000 x 0 1 ms Note Effective fo
326. nic control measures are required connect a DC Reactor monic control between O1 and Q2 B1 Used to connecta DC power supply input posve The R88D WNOH ML2 500 W to 3 0 kW do not have the terminal Main circuit terminal negative Control circuit power R88D WNLIH ML2 L2C supply input Single phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WNLIL ML2 Single phase 100 115 V AC 85 to 127 V 50 60 Hz External regeneration R88D WNIH ML2 50 to 400 W resistance connection R88D WNLJL ML2 50 to 400 W terminal These terminals normally do not need to be connected If there is high regenerative energy connect an External Regeneration Resistor between B1 and B2 There is no B3 terminal R88D WNIJH ML2 500 W to 3 0 kW Normally short between B2 and B3 If there is high regenerative energy remove the short bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 Servomotorconnec Red are the output terminals to the Servomotor Be tion terminals careful to wire them correctly Green Yellow This is the ground terminal Ground to 100 Q or less I A NO C Connect the O2 terminal 1 NO i Ty 3 3 15 System Design and Installation Chapter 3 Terminal Block Wire Sizes e 100 V AC Input R88D WNI L ML2 Model R88D WNAO5BL ML2 WNOIL ML2 WNO2L ML2 WNO4L ML2 A owe supp I input L1 L2 mw TE See note 1
327. ning time by automatically in the Servo Driver adding the position command value differential to the speed loop Perform feed forward compensation to increase Servo gain efficiency thus improving response There is very little effect however on systems with sufficiently high position loop gain m Parameters Requiring Settings Parameter Parameter name Explanation Reference No 109 Feed forward amount 5 feed forward gain setting rage 0 100 4 3 3 Parameter 96 Details 10 Feed forward com Set the feed forward command filter primary 4 3 3 Parameter mand filter lag Setting range 0 to 6400 x 0 01 ms Details Note When not using the feed forward function set Pn10A to 0 m Setting Procedure e Finish adjusting the gain before adjusting the feed forward e Increase the Pn109 feed forward amount setting until positioning time is minimal At this point if there are no problems with using overshoot adjustments are complete A high setting may cause the machinery to vibrate With ordinary machinery set the gain to 80 maximum Adjust the gain while checking the machine response f the overshoot is too large increase Pn10A feed forward command filter to reduce the it e n the Servo Driver feed forward compensation is applied to position control This function is used to shorten positioning time If the value is set too high the machinery may vibrate Set it to 8096 or less 4 10
328. not be used while the predictive control function is in use 150 0 1 4 119 Operation Chapter 4 4 7 9 Less deviation Control Position Less deviation control is a method for shortening the settling time and lowering tracking deviation by reducing as much as possible the deviation during movement in position control mode Using less deviation one parameter tuning makes it easy to perform adjustments Also when even higher per formance is required user adjustment constants for less deviation control can be used to make minute adjustments Position Position command host command No deviation control used conualnocuced Time Position deviation No deviation No deviation control used control not used Time No deviation control response waveform examples m Parameters Requiring Settings No PnlOB 2 Speed control setting To execute less deviation control set Pn10B 2 4 3 3 Parameter Position loop control to 1 Details method 1 Servo rigidity Setthe Servo rigidity for the No 1 gain 4 3 3 Parameter Setting range 1 to 500 96 Details 1 1 Servo rigidity 2 Set the Servo rigidity for the No 2 gain 4 3 3 Parameter Setting range 1 to 500 Details Pn1A2 Speed feedback filter Setthe speed feedback filter time constantfor 4 3 3 Parameter time constant the No 1 gain Details Setting range 30 to 3 200 x 0 01 ms 1 Speed feedback filter speed
329. nsions mm Basic servomotor dimensions With key shaft Waterproof type Cable lead in section Tap end dimensions flange dimensions Pit ik orp S Z OK amp Wi w2 W1 DW2 Ai A2 A3 A4 45 M 7 RSSM WPI0030Li 62 25 60 70 507 3 6 55 8 R88M WP 200300 7 18 21 14 we fell m tla RBSN WP 750302 REBM WPIK530 01 1145 2 Bs YP J J i Dimensions of shaft end with Dimensions of shaft end with ke key LIS 1 and tap L1S 2 h lt h M TE effective depth Y _ 1 i A IP67 WLI flange dimensions Four Z dia W2 2 30 Standard Models and Specifications Chapter 2 m 3 000 r min Flat style Servomotors with a Brake e 200 V AC 100 W 200 W 400 W 750 W 1 5 kW R88M WP 10030H B S 1 WP20030H B S 1 WP40030H B S 1 WP75030H B S 1 WP1K530H B S1 Incremental R88M WP 10030T B S 1 WP20030T B S 1 WP40030T B S 1 WP 75030T B S 1 WP1K530T B S 1 Absolute Dimensions mm end dimensions flange dimensions a E R88M WP20030 BL 98 5 5 a Simp x EAE R88M WP75030 BL 120 E RBSN WP IKS30T 5 eps qas 7 7 Dimensions of shaftend with Dimensions of shaft end wi
330. o Driver s ambi Reduce the Servo ent temperature exceeds Driver s ambient temper 556 ature to 55 C or below e Servo Driver is defective Replace the Servo Driver An overload alarm has Change the alarm reset been reset several times method by turning OFF the power e There is faulty connec Replace the Servo tion between the Servo Driver Driver board and the Ser vomotor switch e Was the load excessive Recheck the load and or was the regeneration Operating conditions processing capacity exceeded e The Servo Driver was Reduce the Servo mounted in an unsuit Driver s ambient temper able way direction ature to 55 or below ing Is there heat radiation in the panel or is there a heating effect from the surroundings e The Servo Driver s fan is Replace the Servo stopped Driver Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Encoder backup error Encoder check sum error Encoder battery error e The Servo Driver board is defective When abso lute values are used incrementally Occurs when the control circuit power supply is turned ON Setting Pn002 2 1 Replace the Servo Driver e Execute the encoder s setup operation Occurs when the control circuit power supply is turned ON Used with absolute value setting The power was turned ON for the first time to the ab
331. o the opening for Servo Driver in stallation and press down firmly to open the slot as in Fig B 231 131 Lever i Wago Company of J apan fi 210 120 Driver Wago Company of Japan 4 Insert the wire into the slot With the slot held open insert the end of the wire Then letthe slot close by releasing the pressure from the lever or the screwdriver 5 Mount the Terminal Block to the Servo Driver After all of the terminals have been wired return the Terminal Block to its original position on the Servo Driver 3 18 System Design and Installation Chapter 3 3 2 4 Wiring for Noise Resistance System noise resistance will vary greatly depending on the wiring method used This section explains how to reduce noise through proper wiring m Wiring Method e R88D WNA5L ML2 to R88D WNO4L ML2 R88D WNA5H ML2 to R88D WNO4H ML2 and R88D WNO8H ML2 Servo Drivers Single phase Power Supply Input AC power supply Surge absorber Noise filter 1 NF 3 1 Thick power line 3 5 mm Groundto 100 Q or less Machine ground Ground plate Controller power supply X e R88D WNO5H ML2 to R88D WN30H ML2 Servo Drivers Three phase Power Supply Input R88D WNLJ ontactor NFB Surge absorber Noise filter X1 TB DU 1 NF 4 so l4 so set TTT AC power supply Fuse Ground to 100 O orless E le L 6
332. oad torque at normal temperatures Check with a current monitor to see whether overloading is occurring at low temperatures and how much the load torque is Likewise check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Servo Driver parameters are adjusted at a normal temperature there may not be optimal operation at low tem peratures Check to see whether there is optimal operation at low temperatures too 2 82 Standard Models and Specifications Chapter 2 N Caution Do not use 900 W or 2 kW Servomotors within the shaded portions of the follow ing diagrams If used in these regions the Servomotor may heat causing the encoder to malfunction R88M W90010L 900 W Effective torque N m 8 62 Z3 10 20 30 Ambient temperature C R88M W2K010L 2 kW Effective torque N m 40 10 20 30 40 Ambient temperature C m 1 500 r min Servomotors e Performance Specifications Table Model R88M W45015T W85015T W1K315T Unit Rated output Rated torque Rated rotation speed Momentary maximum rota tion speed Momentary maximum torque R ated current Momentary maximum cur rent Rotor inertia Torque constant Power rate Mechanical time constant Electrical time constant Allowable radial load Allowable thrust load Weight 200 V AC W1K815T
333. odes S etting 0 to 5000 Unit r min Default Restart range setting power Pn312 is set by the vibration detection level initialization by Computer Monitor Software so there is no need for the user to directly adjust this parameter Detection sensitivity is set by Pn311 Vibra tion detection sensitivity Detection level initialization for vibration detection This function detects vibration in machine operation and automatically sets the vibration detection level Pn312 so that the vibration alarm A 520 and vibration warning A 911 can be more accu rately detected Use this function when the vibration alarm A 520 and vibration warning A 911 are not output with the appropriate timing when vibration is detected at the default setting for the vibration detection level P n312 Aside from that situation there is no need to execute this function When the vibration detection function detects a certain level of vibration at the Servomotor rotation speed and the detection level in the equation below is exceeded an alarm or warning is generated according to the vibration detection switches Pn310 setting Depending on the conditions of the machinery being used there may be a difference in detection sensitivity between vibration alarms and warnings If that occurs a minute adjustment in detection sensitivity can be set in Pn311 detection sensitivity in the equation below Vibration detection level Pn312 r min x Pn311 96 Det
334. om the following equations 2T e gt 60 eNieToietif e Eg2 gt e N2 tl Ni Rotation speed at beginning of deceleration r min Tp1 Deceleration torque N m ti t Deceleration time s 3 32 System Design and Installation Chapter 3 Note There is some loss due to winding resistance so the actual regenerative energy will be approx imately 9096 of the values derived from these equations e For Servo Driver models with internal capacitors for absorbing regenerative energy i e models of 400 W orless the values for both E gj or Eg unit J must be lower than the Servo Driver s regen erative energy absorption capacity The capacity varies depending on the model For details refer to 3 3 2 Servo Driver Regenerative Energy Absorption Capacity For Servo Driver models with internal regeneration resistance for absorbing regenerative energy i e models of 500 W or more the average amount of regeneration P unit W must be calcu lated and this value must be lower than the Servo Driver s regenerative energy absorption capacity The capacity varies depending on the model For details refer to 3 3 2 Servo Driver Regenerative Energy Absorption Capacity The average amount of regeneration P is the power consumed by regeneration resistance in one cycle of operation P tEg2 T T Operation cycle s m Vertical Axis Servomotor operation Servo
335. ommand output 509 Sets the time during which alarm detection is disabled 20 to 1000 tary hold when a power failure occurs time Pn50A Inputsig 0 1 Do not change 580007 1881 1881 nalselec 1 Notweed 8 Do not change setting 2 wotused fe ono change seting POT for Allocated to CN1 pin 13 ward drive Valid for low input ue 1 Allocated to CN1 pin 7 nal Input Valid for low input terminal 2 Allocated to CN1 pin 8 allocation Valid for low input 3 Allocated to CN1 pin 9 Valid for low input Allocated to CN1 pin 10 Valid for low input 5 Allocated to CN1 11 Valid for low input Allocated to CN1 pin 12 Valid for low input Always enabled 8 Always disabled Allocated to CN1 pin 13 Valid for high input A Allocated to CN1 pin 7 Valid for high input Allocated to CN1 pin 8 Valid for high input C Allocated to CN1 pin 9 Valid for high input Allocated to CN1 pin 10 Valid for high input E Allocated to CN1 pin 11 Valid for high input F Allocated to CN1 pin 12 Valid for high input 6 12 Appendix Chapter 6 Param Parame eter No ter name Pn50B Pn50C Pn50D Pn50E Pn50F Input sig nal selec tions 2 Input sig nal selec tions 3 Input sig nal selec tions 4 NOT reverse drive prohib ited input signal Input terminal allocation Wotuses 8 not change seting 2 Notused 8 lbo not
336. ompensation processing 1121 trol switches pensation not executed prosessing 1 Integral compensation processing executed 2 Integral compensation is executed for No 1 gain and not for No 2 gain for less deviation gain switch Ing 3 Integral compensation is executed for No 2 gain and notfor No 1 gain for less deviation gain switch Ing Do not change setting Do not change setting Do not change setting Pn1A9 Utility inte Adjusts the auxiliary integral responsive 0 to 500 uM gral gain 1 osition Adjusts the position proportional responsive Hz 0 to 500 portional gain PnlAB Speed inte Adjusts the speed integral responsive 0 to 500 um gral gain PnlAC Speed pro Adjusts the speed proportional responsive portional gain Pn1B5 Do not change setting Note 1 Explanation for parameters set using 5 digits Note 2 Explanation for parameters requiring each digit No to be set separately m Position Control Parameters from Pn200 Param Parame Explanation Default Pn200 Notused 0 Notusd JO Do not change setting 0100 1 Netused 0 Donotchange setting Setting range Do not change seting 3 Notused 0 Donot change seting Absolute Sets the multi turn limit for when a Servomotor with an absolute 65535 Rotation 0 to 65535 encoder encoder is used multi turn limit set ting 4 13 Operation Chapter 4 Param Parame Explanation Setting Res
337. on Signal out put terminal allocation READY 0 to 3 Same as Pn50E 0 Servo READY servo ready signal allo ready sig cation nal output terminal allocation Pn50F CLIMT cur 0 to 3 Same as Pn50E 0 0100 Yes rent limit CLIMT current limit detection detection Signal allocation Signal out put terminal allocation 1 VLIMT 0 to 3 Same as Pn50E 0 speed limit VLIMT speed limit detection detection signal allocation signal out put terminal allocation 2 BKIR brake 0 to 3 Same as Pn50E 0 interlock BKIR brake interlock signal Signal out allocation put terminal allocation 3 WARN 0 to 3 Same as Pn50E 0 warning WARN warning signal alloca signal out tion put terminal allocation INP2 posi 0 0 Same as Pn50E 0 0000 Yes tioning com INP2 positioning completed 2 pleted 2 signal allocation signal out put terminal allocation INotused 0 Do not change setting Notused 0 Do not change setting jo Pn510 Do not change setting 4 18 Operation Chapter 4 Param Default Setting Restart j Pn511 Inputsig DEC signal nal selec tions 5 input termi nal alloca tion Allocated to CN1 pin 13 Valid for low input 1 Allocated to pin 7 Valid for low input 2 Allocated to CN1 pin 8 Valid for low input 3 Allocated to CN1 pin 9 Valid for low input Allocated to CN1 pin 10 Valid for low input 5 Allocated to CN1 pin 11 Valid
338. on 1x 1 100 S etting Unit Default Restart range setting power Note Do not change setting e Function Selection Application Switches 7 Pn007 Default 0000 MIU ATEM Function selection application switches 7 Analog monitor 2 signal selection All operation modes S etting 00 to 1F Unit Default Restart range setting power Setting Explanation Setting Explanation Q0 fsenomotorrotaton Torque command gravity compensation torque Pn422 1 V per 100 o4 amp error electronic gear 0 05 V per encoder pulse Q6 Positioning completed command Positioning completed 5 V positioning not completed 0 V S peed feed forward 1 V 1 000 r min Torque feed forward 1 V per 10096 OB to 1F Not used Note 1 The value derived from subtracting the P n422 gravity compensation torque from the torque command value output from the Servopack is output for monitoring Note 2 For speed control the position deviation monitor signal 1 0 4 36 Operation Chapter 4 007 2 Function selection application switches 7 Analog monitor 2 signal multiplier selection All oper ation modes 0 to 4 Unit Default Restart setting power Setting Explanation Eu Explanation Setting Unit Default Restart range setting power Note Do not change setting e Function Selection Application Switche
339. on can be heard or if vibration increases too much gradually increase the 1st step 1sttorque command filter time constant P n401 4 Raise only the position loop gain little by little When the gain has been raised to approximately the limit go to the next step Lower the speed feedback compensation gain Pn111 from 10096 to 9096 Then repeat steps 2 and 3 above 5 F urther lower the speed feedback compensation gain from 90 and repeatsteps 2 to 4 to shorten the settling time If the speed feedback compensation value is lowered too much however the re sponse waveform will oscillate 6 Seek the lowest settling time in a range where torque command waveforms and position deviation monitored by the analog monitor do not become unstable through oscillation 7 The Servo gain adjustment is complete at the point where the positioning time cannot be short ened any further Note When the speed feedback compensation function is used the speed loop gain and position loop gain can normally be raised However if the compensation value is greatly changed with the speed loop gain and position loop gain raised or if the speed feedback compensation func tion is disabled i e Pn110 1 setto 1 the machinery may strongly vibrate and cause damage to the machinery 4 7 6 Speed Feedback Filter Position Speed m Functions e This function sets the primary filter for the speed feedback gain e Use the filter function when you cannot raise the spe
340. on gear inertia indicates the Servomotor shaft conversion value 2 The enclosure rating for Servomotors with reduction gears is IP 55 3 The maximum momentary rotation speed for the motor shaft of Servomotors with reduction gears is 4 000 r min 4 The maximum momentary torque values marked by asterisks are the maximum allowable torque for the reduction gears Use torque limits so that these values are not exceeded 5 The allowable radial loads are measured at a point 5 mm from the end of the shaft Note Note m 1 000 r min Servomotors with Standard Reduction Gears 300 W to 2 kW Reduction gear inertia Maxi mum momen tary torque X Wm Ws ee 9 ma m mr ms ees me D R 88M W30010L L1G 09BJ pemasa s 5s m e us paene nm qe nin Wm esa Tm e ps 22 m m 1645BJ 2 88 Standard Models and Specifications Chapter 2 Reduction gear inertia ss remmen ii s fo mr ms ooo mw sm pe ie ss pns m ue ms nes n 5 m me mi Spam Du me _ m m m m m 2 1G 458 1G 058 TG 09B iG 900 W R88M W90010L1 LIG05B E J J J J J J J 0 4 2 00 11 0 m 11 0 4 2 00 111 176 i 317 704 414 1
341. oning To perform adjust ments it is necessary to monitor the speed response waveform Note 2 In normal operation sufficient control can be executed by means of the speed loop gain and position loop gain set by auto tuning operations Also even when overshooting or under shooting occurs it can be suppressed by setting the acceleration deceleration time constant for the host device and the soft start time P n305 Pn306 and the position command accel eration deceleration time constant P n216 for the Servo Driver 4 112 Operation Chapter 4 m Parameters Requiring Settings No Pn10B 0 Speed control setting Sets the condition for switching the speed loop 4 3 3 Parameter P control switching from control to P control Use Pn10C to Details condition Pn10F to make the switching level settings 10 P control switching Set when Pn10B 0 0 switch using internal 4 3 3 Parameter torque command torque command value Set the conditions for Details switching to P control using the ratio 96 of the Servomotor rated torque Setting range 0 to 80096 100 P control switching Set when Pn10B 0 1 switch using speed 4 3 3 Parameter speed command command value Set the speed r min to Details switch to P control Setting range 0 to 10 000 r min 10 P control switching Set when Pn10B 0 2 switch using accelera 4 3 3 Parameter acceleration com tion command value Set the acceleration r Details
342. or outputting INP 1 positioning completed 1 during position con trol INP 1 turns ON when the accumulated pulses in the deviation counter fall below the set value Note Related parameters Pn50E 0 INP1 signal output terminal allocation Pn524 Positioning completed range 2 Pn524 Positioning completed range 2 Position S etting 1 to Unit Command Default Restart range 1073741824 unit setting power e Set the deviation counter value for outputting INP2 positioning completed 2 during position con trol NP2 turns ON when the accumulated pulses in the deviation counter fall below the set value For example using INP2 as a near signal output processing time can be shortened by receiving the INP2 signal and preparing the next sequence by the time positioning is completed i e by the time INP 1 turns In that case set a number greater for P n524 that is greater than the setting for Pn522 Note Related parameters Pn510 0 INP2 signal output terminal allocation Pn522 Positioning completed range 1 526 Deviation counter overflow level at Servo ON Position S etting 1 to Unit Command Default 262144 Restart range 1073741823 unit setting power e Setthe deviation counter overflow alarm detection level for Servo ON A Servo alarm occurs when the accumulated pulses in the deviation counter exceed the set value Pn528 Deviation counter overflow D level at Servo ON roston S etting 10 to 100 Unit Def
343. or with an absolute encoder refer to 4 2 2 Absolute Encoder Setup and Battery Changes for the setup procedure After performing a jog operation the amount of multi turn rotation may be too large so when connecting the absolute encoder to the mechanical system be sure to set the rotation speed to zero e Turning OFF the Servomotor Set up the system so that the power and the RUN command can be turned OFF to enable turning OFF Servomotor immediately if an error occurs in the machinery m Trial Operation 1 Turn ON the Power Supply e Turn ON the power supply to the control circuits and main circuits and then turn ON the RUN command e Check that the Servomotor is ON 4 96 Chapter 4 Operation 2 Low speed Operation Send a low speed command from the host controller to rotate the Servomotor The definition of low speed varies depending on the mechanical system but a rough estimate is 1 10 to 1 5 normal operating speed e Check the following items Is the emergency stop operating correctly Are the limit switches operating correctly Is the operating direction of the machinery correct Are the operating sequences correct Are there any abnormal sounds or vibration Is any error or alarm generated Note 1 If anything abnormal occurs refer to Chapter 5 Troubleshooting and apply the appropriate countermeasures Note 2 Ifthe system vibrates due to insufficient gain adjustment making it difficult to check the op eration
344. ositioning completed 1 signal output terminal allocation Position S etting 0 to 3 Unit Default Restart range setting power Setting Explanation o o Pn50E 1 Output signal selections 1 VCMP speed conformity signa output ermina alocaton Speed S etting 0 to 3 Unit Default Restart range setting power Pn50E 2 Output signal selections 1 TGON Servomotor rotation detection signal output terminal allo cation All operation modes 0 to 3 Unit Default Restart setting power Pn50E 3 Output signal selections 1 READY Servo ready signal output terminal allocation All opera tion modes S etting 0 to 3 Unit Default Restart range setting power Pn50F 0 Output signal selections 2 CLIMT current limit detection signal output terminal allocation All operation modes S etting 0 to 3 Unit Default Restart range setting power Pn50F 1 Output signal selections 2 VLIMT speed limit detection signal output terminal allocation Torque S etting 0 to 3 Unit Default Restart range setting power 4 30 Operation Chapter 4 50 2 Output signal selections 2 BKIR brake interlock signal output terminal allocation All opera tion modes 0 to 3 Unit Default Restart setting power Pn50F 3 selections 2 WARN warning signal output terminal allocation All operation modes Setting 0 to 3 Unit Default Restart range setting power Pn510 0 Output signal 3 INP2 positioning
345. otch filters can be enabled or disables by parameter settings Torque related function switch Pn408 Torque Notch Notch Torque command filter 2 filter 1 command fore filter j before filte GANG Pn409 after filter Pn40D Pn40A Secondary Primary 4 123 Operation Chapter 4 m Torque Command Filter e Functions If vibration thought to be caused by the Servo Driver occurs in the machinery adjusting the torque command filter time constant may cause the vibration to subside The lower the value is set the bet ter the response of the control that can be achieved There are limits however depending on the conditions of the machinery e Parameters Requiring Settings No Pn401 lst step 1st torque Set the step 1 torque time constant for the 4 3 3 Parameter command filter time torque command Details constant Setting range 0 to 65 535 x 0 01 ms Pn4OF 2nd step 2nd torque When using the 2nd step 2nd torque command 4 3 3 Parameter command filter fre filter frequency set number other than Details quency 2 000 Hz Setting range 100 to 2 000 Hz Pn410 2nd step 2nd torque Set the 2nd step 2nd torque command filter Q 4 3 3 Parameter command filter Q value value Details Setting range 50 to 1 000 x 0 01 3rd step torque com Setthe 3rd step torque command filter time 4 3 3 Parameter mand filter time con constant Details stant Setting range 0 to 65 535 us Note The unit for the 3rd step torq
346. otor QT Blac Connector plug 350715 1 Tyco Electronics AMP KK Brown Connector pins 1 to 3 350547 6 Tyco Electronics AMP KK OO 6 Brake Cable AWG15 6C 012586 Connector pin 4 350669 1 Tyco Electronics AMP KK M4 CHA Connector pins 5 and 6 350690 3 Tyco Electronics AMP KK terminals m R88A CAWC The R88A CAWCLIR Cables are for 3 000 r min Servomotors 1 to 2 kW 1 000 r min Servomotors 300 to 900 W and 1 500 r min Servomotors 450 W to 1 3 kW e Cable Models For Servomotors without Brakes Model Length L Outer diameter ofsheath Weight _ RBGA CAWCOOBSR 3m 95 dia For Servomotors with Brakes Length L Outerdiameter ofsheath Weight _ RBGA CAWCOOSBR 3m 54 R88A CAWCO20BR Approx 4 6 kg R 88A CAWCO040BR Approx 9 0 kg R88A CAWCO50BR 50m Approx 11 2 kg 0m R88A CAWCO30BR 30 Approx 6 8 kg 50m 2 115 Standard Models and Specifications Chapter 2 e Connection Configuration and External Dimensions For Servomotors without Brakes 70 L 65 9 Servo Driver Qr R88D WNC gt S OX S ervomotor DI For Servomotors with Brakes R88D WNLI ML2 lt e Wiring S ervomotor R88M WI For Servomotors without Brakes Servo Driver S ervomotor B Phase v Dj FG Cable Straight plug N MS3106B 18 105 J AE Ltd Cable clamp N MS3057 10A J AE Ltd Servomotor
347. our OMRON representative if you have any suggestions on improving this manual 3 The product contains dangerous high voltages inside Turn OFF the power and waitfor atleast five minutes to allow power to discharge before handling or working with the product Never attempt to disassemble the product 4 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 5 S pecifications and functions may be changed without notice in order to improve product per formance 6 Positive and negative rotation of AC Servomotors described in this manual are defined as look ing atthe end of the output shaft of the motor as follows counterclockwise rotation is positive and clockwise rotation is negative 7 00 not perform withstand voltage or other megameter tests on the product Doing so may damage internal components 8 Servomotors and Servo Drivers have a finite service life Be sure to keep replacement prod ucts hand and to consider the operating environment and other conditions affecting the ser vice life 9 The OMNUC W Series can control both incremental and absolute encoders Differences in functions or specifications according to the encoder type are i
348. owable radial and thrustloads are the values determined for a service life of 20 000 hours at normal operating temperatures Note 5 The value indicated for the allowable radial load is for the position shown in the following di agram load lt gt Thrust load of Servomotor shaft Note 6 Applicable Load Inertia 1 The drivable load inertia ratio load inertia rotor inertia changes depending on the me chanical configuration being driven and its rigidity Highly rigid machines can operate with a large load inertia Select a Servomotor and verify operation 2 Ifthe dynamic brake is used frequently with a large load inertia it may lead to burnout of the dynamic brake resistor Do not repeatedly turn the Servo ON and OFF with the dy namic brake enabled 2 84 Standard Models and Specifications Chapter 2 e Torque and Rotation Speed Characteristics 1 500 r min Servomotors With a 200 VAC Servo Driver The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M W45015T 450 W R88M W85015T 850 W R88M W1K315T 1 3 kW Nem Nem Nem 30 20 Repeated usage 10 48 83 Continuous usage 4 17 0 in 0 r min min 500 1000 1500 2000 2500 3000 r m min 500 1000 1500 2000 2500 3000 r m 500 1000 1500 2000 2500 3000 R88M W1K815T 1 8 kW N m r min 500 1000 1500 2000 2500 3000 e Servomotor and Mechanical System Temperature Characteristics
349. pends on the type of Servomotor as shown in the following tables Servo motors are available with and without oil seals The oils seals prevent oil and grease from penetrating around the shaft They do not prevent the penetration of water e 3 000 r min Servomotors NENNEN 30 to 750 W oO Without oil seal IP 55 except for through shaft parts IP67 except for through shaft parts With oil seal IP 55 except for through shaft parts IP67 including through shaft parts e 3 000 r min Flat Servomotors Without oil seal IP 55 except for through shaft parts With oil seal IP 55 except for through shaft parts With water resistance processing IP67 except for through shaft parts e 1 000 r min and 1 500 r min Servomotors Without oil seal IP 67 except for through shaft parts With oil seal IP67 including through shaft parts Note The user can attach and remove oil seals for the Servomotors marked with an asterisk Standard Models and Specifications Chapter 2 2 5 2 Performance Specifications m 3 000 r min Servomotors e Performance Specifications Table 200 V AC Model RB8M WOSOSOH Wio0SOH Wzo030M W75030H _ Momentary maximum rota r min 5 000 tion speed Momentary maximum 0 477 0 955 torque Momentary maximum cur s 2 8 6 5 8 5 rent Rotor inertia kgm 2 20 10 6 3 64 x 106 1 06 x 10 1 73 x 10 6 72 x 10 a Electica
350. place the Servo communications ASIC is Driver MECHATROLINK when the communications control circuit ASIC error 1 power supply is MECHATROLINK turned ON or dur communications 9 operation ASIC error 2 System alarm 0 Occurs when the The Servo Driver board is Replace the Servo RbF alarm 1 control circuit defective Driver power supply is Systemalarm2 turmeg ON RbF3 Systemalarm3 RbF4 System alarm 4 Runaway detected when the The Servo Driver board is Replace the Servo control circuit defective Driver power supply is turned ON Occurs when the The V and W phases Correct Servomotor Servo is turned are wired out of order in wiring ON or when a the Servomotor command Is input Encoder is defective Replace the Servomotor e Servo Driver is defective Replace the Servo Driver Multi turn data Occurs when Encoder is defective Replace the Servomotor control mi The Servo Driver board is Replace the Servo pue Dd defective Driver turned ON Occurs when an Encoder is defective Replace the Servomotor encoder alarmis The Servo Driver board is Replace the Servo eee defective Driver Encoder communi Occurs when the The encoder wiring is e Correct the encoder wir cations error control circuit incorrect orthe contactis ing power supply is faulty Ov OP OU The encoder
351. pped operation operation 4 95 Operation Chapter 4 4 5 Trial Operation Procedure When you have finished installation wiring verifying Servomotor and Servo Driver operations i e jog operation and setting the user parameters perform a trial operation The main purpose of a trial operation is to confirm that the Servo S ystem is operating correctly electrically Make sure that the host controller and all the programming devices are connected then turn ON the power First perform a trial operation at low speed to confirm that the system is operating correctly Next perform a normal run pattern to confirm that the system is operating correctly Note 1 If an error occurs during the trial operation refer to Troubleshooting to eliminate the cause Then check for safety and reset the alarm and then retry the trial operation Note 2 If the system vibrates due to insufficient gain adjustment making it difficult to check the op eration refer to 4 6 Making Adjustments and adjust the gain m Preparation for Trial Operation e Turn OFF the Power Some parameters are enabled by turning OFF the Unit then turning it ON again Consequently first turn OFF the power to the control circuits and main circuits e Mechanical System Connection Firmly connect the Servomotor shaft and the load 1 the mechanical system Tighten screws to make sure they are not loose e Absolute Encoder Setup ABS If using Servomot
352. r Cable Select a Power Cable to match the Servomotor that is to be used without Brakes with Brakes 3 000 min Servo 3 000 min Flat siyle Servomotor 1 000 rimin Servo 1 500 rimin Servo Note 1 The empty boxes in the model numbers are for cable length The cables be 3 5 10 15 20 30 40 or 50 meters long For example R88A CAW 0035 is 3 meters long Note 2 For 750 W Servomotors use R88A CAWBL Power Cable if the wiring distance will be 30 meters or more System Design and Installation Chapter 3 e 4 Encoder Cable Select an Encoder Cable to match the Servomotor that is to be used Encoder Cable Remaks 3 000 r min Servomotors 30 to 750 W R88A CRWALILILIC The empty boxes the model numbers 1 to 3 0 kW R88A CRWBLILILUN are for cable length The cables can be 3 1 30 5 10 15 20 30 40 or 50 meters long 3 000 r min Flat style 100 W to 1 5 kW R88A CRWALILILIC For example R88A CRWA003C is 3 5 ervomotors meters long 1 000 r min Servomotors 300 W to 2 0 kW R88A CRWBLILILIN 1 500 r min Servomotors 450 W to 1 8 kW IR88A CRWBL TL TIL TN Use the following cable for an absolute encoder Namejspecifications Model Remaks Absolute Encoder Battery Cable 0 3m R88A CRWCOR3C Only 0 3 meter cables are available e 5 Robot Cables Use a Robot Cable if the encoder or power cables need to bend Encoder Cables Encoder Cable 3 000 r min Servomotors 30 to 750 R88A CAWA
353. r Monitor Cables 2 119 models 2 3 2 5 specifications 2 93 charge indicator 4 130 CLIMT Current Limit Detection Output 2 67 CNI Control I O Connectors 2 120 control inputs 2 61 control outputs 2 62 pin arrangement 2 63 specifications 2 60 CN2 specifications 2 68 CN3 specifications 2 69 CNS 4 132 Analog Monitor Cable 2 118 specifications 2 69 COM indicator 4 130 communications specifications 2 57 Computer Monitor Cables 2 119 3 11 Computer Monitor Software 5 3 connecting cables 3 8 connection examples 6 2 connectors conforming to EC Directives 3 6 Control I O Connectors 2 120 Encoder Connectors 2 120 specifications 2 93 contactors 3 30 Control I O Connectors 2 120 control inputs list 2 61 pin arrangement 2 63 control output circuits 2 64 I 1 Index control outputs pin arrangement 2 63 Current Limit Detection Output CLIMT 2 67 D DEC Origin Return Deceleration Switch Signal 2 65 deceleration 4 89 dimensions Absolute Encoder Backup Battery 2 122 AC Servo Drivers 2 18 AC Servomotors 2 25 with Economy Gears 2 46 with Standard Gears 2 36 Reactors 2 124 displays 4 130 bit data 4 131 status 4 131 symbols 4 131 drive prohibit 4 78 dynamic brake 4 25 EC Directives conforming connectors 3 6 electronic gear 4 87 electronic thermal characteristics 5 43 EMC Directives wiring conditions 3 23 Encoder Cables 2 3 2 4 3 10 noise resistance 3 31
354. r Motion Control Unit you do not need to change the default settings 4 26 Operation Chapter 4 The default allocations are as follows No Input 7 POT Forward drive prohibit input Enabled when the CN1 7 input signal turns ON Signal L level NOT Reverse drive prohibit input Enabled when the CN1 8 input signal turns ON L level 55 DEC Origin return deceleration LS Enabled when the CN1 9 input signal turns ON L level 10 EXT1 External latch signal 1 Enabled when the CN1 10 input signal turns ON L level 11 EXT2 External latch signal 2 Enabled when the CN1 11 input signal turns ON L level EXT3 External latch signal 3 Enabled when the CN1 12 input signal turns ON level Output ax l BKIR Brake interlock output signal 23 24 General purpose output signal ot allocated 25 26 General purpose output signal Not allocated e Input Signal Selections Pn50A Pn50B Pn511 Pn50A 0 Input signal selections 1 Not used Setting Unit Default Restart range setting power Note Do not change setting Pn50A 1 Input signal selections 1 Not used Setting Unit Default Restart Yes range setting power Note Do not change setting Pn50A 2 Input signal selections 1 Not used Setting Unit Default Restart Yes range setting power Note Do not change setting Pn50A 3 Input signal selections 1 POT forward drive prohibited signal input terminal allocation All operation mod
355. r Pn006 2 and Pn007 2 Pn550 Analog monitor 1 offset voltage All operation modes 10000to x0 1V Default Restart 10000 setting power Pn551 Analog monitor 2 offset voltage All operation modes S etting 10000 to Unit 0 1 V Default Restart range 10000 setting power 4 134 Operation Chapter 4 e When Pn006 0102 Pn422 100 96 and Pn550 23 0 V Analog monitor 1 2 Torque command 1 x Torque command 96 10 x 10 4 3 V If the torque here is 5296 1 52 96 1096 x 1 V 100 96 x 10 3 V 7 2 V Analog monitor 1 output voltage Note The analog monitor output voltage is 8 V max If 8 V is exceeded the output is fixed at 8 V 4 135 Operation Chapter 4 4 136 m hil Chapter 5 Troubleshooting 5 1 5 2 5 3 5 4 5 5 5 6 Measures when Trouble Occurs Alarms Troubleshooting Overload Characteristics Electronic Thermal Characteristics Periodic Maintenance Replacing the Absolute Encoder Battery ABS Troubleshooting Chapter 5 5 1 Measures when Trouble Occurs 5 1 1 Preventive Checks Before Trouble Occurs This section explains the preventive checks and analysis tools required to determine the cause of trouble when it occurs m Check the Power Supply Voltage e Check the voltage to the power supply input terminals Main circuit Power Supply Input Terminals L1 L2 L3 R88D WNLIH ML2 50 to 400 W 750W Single phase
356. r request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are notto be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions Table of Contents Chapter 1 L I IS us hiuc eee ben eletti iesus tien bes 1 2 122 SystemC dr uo br ori d dee ba ie ied ed 1 4 259 5 2 Cadre pta eee he dioi 1 5 1 4 Applicable Standards and Models 1 6 1 5 System Block Didas s eo aaa ER P wd a i ACA e Teu 1 7 Chapter 2 Standard Models and Specifications 2 1 2T Standard Mode ead REAM et oia Sides 2 2 2 2 Servo Driver and Servomotor
357. r synchronous operations such as electronic cam and electronic shift 4 129 Operation Chapter 4 4 8 Using Displays OMNUC C series AC Servomotors have unique Servo software that enables quantitative monitoring in real time on digital displays of changes in a variety of characteristics Use these displays for checking the various characteristics during operation 4 8 1 Power Charge and COM Indicators There are three indicators on the Servo Driver itself Power charge and COM With front cover open m DF0300413 PC i Ene pma Il li qux Power supplv indicator COM indicator arr R BSD WNO1H ML2 Charge indicator AC SERVO DRIVER m Indicators POWER Power supply indicator Lit when control power supply is normal CHARGE Charge indicator Lit when main circuit power supply is charging With Servo Drivers of 1 kW or less lights dimly when the control power supply is ON COM COM indicator Green Lights while MECHATROLINK II communications are in progress Note The indicator stays lit while the main circuit capacitor remains charged even after the power is turned OFF Do nottouch the Servo Driver terminal 4 130 Operation Chapter 4 4 8 2 Status Display Mode e The Status Display Mode indicates the internal status of the driver using bit display LED ON OFF and symbol display 7 segment LEDs e Status Display Mode
358. r time constant The relationship between the filter time constant and the cut off frequency can be found by means of the following formula fc Hz 21 2nT T Filter time constant s fc cut off frequency Set the cut off frequency to below the mechanical resonance frequency Pn402 Forward torque limit All _ modes Setting 0 to 800 Unit Default Restart range setting power Pn403 Reverse torque limit All modes to 800 Unit Default R estart setting power e Set Pn402 forward torque limit and Pn403 reverse torque limit using the ratio of the Servo motor rated torque for each Note These following torque limit functions are available Analog torque limit Pn002 0 1 or 3 Pn402 forward torque limit Pn403 reverse torque limit Pn404 forward rotation external cur rent limit and Pn405 reverse rotation external current limit The output torque is limited by the smallest of the enabled limit values Refer to 4 4 7 Torque Limit Function All Operating Modes for details Pn404 Forward rotation external limit All operation me Setting 0 to 800 Unit Default Restart range setting power Pn405 Reverse rotation external limit All operation mees Setting 0 to 800 Unit Default Restart range setting power e Set in P n404 the torque limit for when the forward torque limit is input and set in P n405 the torque limit for when the reverse torque limit is input using the ratio 96 of the
359. rameter Explanation See note 1 Setting Restart range power PIC Donotchangeseting PD Notused Domotchemesetho o e 12 Do not change setting Do not change setting pop ee ee eee n 130 Do not change setting 131 switch Switching time from No 1 gain to No 2 gain ms 0 to ing time 1 65535 Pn132 Gain switch Switching time from No 2 gain to No 1 gain ms 0 to ing time 2 65535 135 Gain switch The time from when gain switching condition A is satisfied until ing waiting switching from the No 1 gain to the No 2 gain begins time 1 136 Gain switch The time from when gain switching condition B is satisfied until ing waiting switching from the No 2 gain to the No 1 gain begins time 2 Pn139 144 Do not change setting 150 151 152 ms 0 to 65535 ms 0 to 65535 Automatic Gain switch Manual gain switching 0000 Yes gain ing selection 1 Automatic switchin g pattern 1 tong over switch Automatic switching from No 1 switches 1 gain to No 2 gain when gain switching condition A is satisfied Automatic switching from No 2 gain to No 1 gain when gain switching condition B is satisfied 1 switch Positioning completed output 1 ing condition INP1 ON A 1 Positioning completed output 1 INP1 OFF 2 Positioning completed output 2 INP2 ON Positioni
360. range setting power Pn508 Brake timing 2 all operation modes Setting 10 to 100 Unit x 10 ms Default Restart range setting power 4 61 Operation Chapter 4 e This parameter sets the BKIR brake interlock output timing to control the electromagnetic brake ON OFF when a Servomotor with a brake is used e This setting prevents damage to the machinery and the Servomotor holding brake e Pn506 brake timing 1 Set the lag time from BKIR OFF to Servo OFF e Pn507 brake command speed Set the rotation speed for turning OFF BKIR Pn508 brake timing 2 Setthe standby time from Servo OFF to BKIR OFF e When RUN is OFF while the Servomotor is stopped first turn OFF BKIR wait for the duration set in Pn506 then turn OFF the Servo When RUN is OFF while the Servomotor is stopped if a Servo alarm occurs and the main circuit power supply is OFF the Servomotor will decelerate and the rotation speed will fall When the rota tion speed falls to below the P n507 setting BKIR will be turned OFF Note 1 Related parameter Pn50F 2 BKIR signal output terminal allocation Note 2 Refer to 4 4 6 Brake Interlock All Operating Modes for details of brake interlock functions Pn509 Momentary hold time All S etting 20 to 1000 Unit Default Restart range setting power e Sets the time during which alarm detection is disabled if a momentary power failure occurs e When the power supply voltage to the Servo Driver
361. ration pauses for the delay time set in Pn135 Then the gain is directly changed from Pn102 to Pn106 during the switching time set in 131 4 107 Operation Chapter 4 Waiting time Switching time Pn135 Pn131 Pn102 Position loop gain 106 No 2 position loop gain INP1 S witching condition A met e Automatic gain switching is also possible with less deviation control in addition to the standard P and I P control The following table shows the gain combinations for less deviation control The method for setting the switching conditions and the settings for the gain switching waiting time and gain switching time are the same as for PI and 1 control For details on adjusting less deviation control refer to 4 7 9 Less deviation Control Position e Automatic Gain Switching Combinations for Less deviation Control Switching Servo rigidity Speed feedback filter EN E m Pn1A7 gain time constant No 1 gain Servo rigidity Speed feedback filter ue Tm mE m 1 time constant 1 2 No 2 gain Servo rigidity 2 Speed feedback filter Disabled Enabled Disabled Enabled 1 1 time constant 2 Pn1A3 Observe the following points when using the gain switching function The control method corresponds to less deviation control as well as to IP and 1 control If automatic switching is interrupted in progress by an event such as Servo OFF or an alarm the No 1 gain is set
362. ration that can be REDWNASLMII S OSS RBDANOILMI2 86 o 6 o RBDANOILMI2 s0 5 E E _ E REDWNORMI2 J 8 80 REBO WNIOH ML2 2 8 RBDAWNISRM A REDANNHMLQ R REBD WN3OH ML2 Note These are the values at 100 V AC for 100 V AC models and at 200 V AC for 200 V AC models 3 3 3 Regenerative Energy Absorption by External Regeneration Resistance If the regenerative energy exceeds the absorption capacity of the S ervo Driver by itself then external regeneration resistance must be connected A Resistor or Unit can be used alone or in combination with other Resistors Units to provide the required regeneration processing capacity N Caution Connect the External Regeneration Resistor or External Regeneration Resistance Unit between the Servo Driver s B1 and B2 terminals Check the terminal names carefully when connecting to the terminals If the Resistor or Unit is connected to the wrong terminals it will damage the S ervomotor Note 1 The External Regeneration Resistor can reach a temperature of approximately 120 C so install it at a distance from heat sensitive devices and wiring In addition a radiat
363. ring MECHATROLINK II commu stop nications MECHATROLINK II syn A synchronization failure occurred Zero speed chronization failure during MECHATROLINK II commu stop nications MECHATROLINK II com Communications errors occurred Zero speed munications error continuously during MECHA Stop TROLINK II communications MECHATROLINK II trans An error occurred in the transmis Zero speed mission cycle error sion cycle during MECHA Stop TROLINK II communications DRV alarm 0 Servo Driver DRV error 0 occurred DB stop DRV alarm 1 Servo Driver DRV error 1 occurred DB stop DRV alarm 2 Servo Driver DRV error 2 occurred Zero speed Stop Y Y Y es es es Yes Yes Yes mo 11 n I n Troubleshooting Chapter 5 Display Error detection function Cause of error Stopping Alarm reset method at possible alarm Internal command error A command error occurred in Zero speed Yes Servo Driver Stop Missing phase detected One phase from the three phase Zero speed main circuit power supply is not Stop connecting m Warning Table Display Warning detection function Deviation counter overflow The accumulated position deviation pulses equaled or exceeded the parameter P n520 x P n51E 100 setting Deviation counter overflow The accumulated position deviation pulses when the Servo turned at Servo ON ON equaled or exceeded the parameter Pn526 x Pn528 100 set ting Over
364. ription and notes below the chart Pages 6 2 Added a power cable model and an encoder model in the figure February 2008 Warning Labels page in front matter R eplaced figure at bottom of page Page 2 72 Removed protective structure from table removed note 2 and added material on protective structure Page 2 95 Changed bottom figure Page 2 99 Reversed X1 and XB in figure Page 2 111 Corrected model number on left of second figure Page 2 123 Added information on manufacturing code Page 2 124 Corrected bottom figure Pages 3 21 to 3 26 Removed material Pages 3 33 and 3 35 Replaced section on leakage breakers Page 4 24 Added notes Page 4 57 Rewrote note Pages 4 63 4 68 4 73 5 10 and 5 35 Added information on using CJ 1W NCF71 and CS1W NCF71 Page 5 43 Changed text below graph 05 March 2009 Added a new section 2 10 on MECHATROLINK II Repeater specifications Corrected mistakes and added information R 2 Revision History Revision Revised content code December 2010 Page 2 62 Description added to the contents for TGONCOM Page 2 67 Description added below the note for Motor Rotation Detection Output Page 3 37 Information on Pn600 settings added below the note Page 4 24 Note 1 modified Pages 5 38 and 5 41 Wiring distance changed from 20 m to 50 m in the items to check col umn Page 6 20 Notes added below the table Revision History Authorized Distributor
365. rload e Servo Driver is defective Replace the Servo NOMEN Occurs during nor The AC power supply e Set Tm AC power supply mal operation voltage is low Check voltage in the correct whether there was a range large voltage drop momentary power Resetthe alarm to interruption occurred restore operation e The Servomotor main cir e Correct or replace the cuit cable is short cir 5 ervomotor main circuit cuited cable e The Servomotor is short Replace the Servomotor circuited Servo Driver is defective Replace the Servo MN 5 20 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs O verspeed Occurs when the The Servo Driver board is Replace the Servo control circuit defective Driver power supply is turned ON Occurs when the The V and W phases Correct the Servomotor Servo is turned are wired out of order in wiring ON the Servomotor e The encoder wiring is e Correct the encoder wir incorrect ing Noise in the encoder wir Implement measures ing is causing malfunc against noise in the tioning encoder wiring e Servo Driver is defective Replace the Servo Driver Occurs atstartof The V and W phases Correct the Servomotor Servomotor are wired out of order in wiring tion or at high the Servomotor The encoder wiring is e Correct the encoder wir incorrect ing
366. roducts e Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations e Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons Itis our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on you
367. rol function P control to lower Servo rigidity you can select the switching Switching Posi conditions tion Speed m Applicable Controller Commands Controller Commands and instructions CJIW NCF71 1W CJIW NCF71 According to speed control instructions CS1W MCH71 According to speed control instructions SPEED SPEEDR CJ 1W MCH71 Note For details on commands and instructions refer to the manual for the specific Unit 4 76 Operation Chapter 4 4 4 3 Torque Control Torque m Function e Torque control is performed according to commands from MECHATROLINK II Controller OMNUC W series Servo Driver MECHATROLINK II Model Motion Control Unit CS1W MCH71 CJ 1W MCH71 Torque Control Mode OMNUC W series Servomotor Torque command Position Control Unit CJ 1W NCF71 m Related Functions e Functions related to torque control that be used during torque control are as follows Function name Explanation Reference Torque limit function This function limits the S ervomotor s torque output 4 4 7 Torque Limit Function All Oper ating Modes Speed limit function This function limits the S ervomotor rotation speed from becom 4 4 10 Speed Limit ing too high Function Torque Note Servomotor rotation speed during torque control changes depending on the Servomotor load conditions friction external force inertia Apply safety measures at the machinery to prevent S ervomotor runaway
368. rom the absolute encoder battery cable s battery holder and discon nect the connector to the battery from the battery connector Place the new battery in the battery holder and insertthe connector correctly into battery con nector 3 Turn the power supply OFF then ON again After correctly connecting the new battery turn OFF the power supply to the Servo Driver then turn it ON again f a Servo Driver alarm is not displayed battery replacement is completed Note f A 810 backup error is displayed you need to set up the absolute encoder Refer to 4 2 2 Absolute Encoder Setup and Battery Changes and perform the setup and make the initial settings for the Motion Control Unit 5 47 Troubleshooting 5 48 Chapter 5 PA i Chapter 6 Appendix 6 1 Connection Examples 6 2 Parameter Setting Tables 6 3 Restrictions Appendix Chapter 6 6 1 Connection Examples m Connection Example Connecting to SYSMAC CS1W MCH71 CJ 1W MCH71 1W NCF71 Position Control Units Main circuit power supply NFB OFF ON R O 0 L EON Main circuit contact 3 phase 200 230 V AC 50 60Hz B 6 00 S urge killer 5 0 6 0 mes EN CJ IW NCF71 NENNEN CJ 1W MCH71 CS1W MCH71 Class 3 ground R88D WNCLML2 100 or less MECHATROLINK II Communications Cable MC FNY W6003 enone MLK E
369. rotate clockwise for a counter clockwise command if the Reverse Rotation Mode Setting is setto 1 m Alarm Stop Selection Pn001 0 Pn001 0 Function selection application switches 1 Stop selection if an alarm occurs when Servomotor is OFF All operation modes Setting 0 to 2 Unit Default Restart range setting power Setting Explanation Setting Explanation 0 Stop Servomotor using dynamic brake dynamic brake stays ON after Servomotor has stopped top Servomotor using dynamic brake dynamic brake released after Servomotor has stopped Stop Servomotor using free run e Select the stopping process for when the Servo is turned OFF or an alarm occurs Note Dynamic Brake Operation when Power Is Turned OFF The dynamic brake will remain ON if the main circuit or control circuit power supplies are turned OFF for Servo Drivers of the capacities listed below This means that it will be slightly more difficult to turn the motor shaft by hand than it is when the dynamic brake is OFF To release the dynamic brake disconnect the Servo Motor wiring U V or W Always confirm that any disconnected wires are connected properly before turning ON the power supplies again m Overtravel Stop Selection Pn001 1 Pn001 1 Function selection application switches 1 Stop selection when drive prohibited is input Posi tion speed 0 to 2 Unit Default Restart setting power 4 25 Operation Chapter 4 Setting Explanatio
370. rque command filter time constant P n401 and set itso there is no vibra tion 3 Repeat steps 1 and 2 and return 1096 to 2096 from the changed values 4 For position control increase the position loop gain Pn102 to the point where the machinery does not vibrate 4 101 Operation Chapter 4 Position control loop Speed control loop S peed Speed pattern noe e c us counter loop gain Speed control unit conver conver im Time Kp com KV Ti Sion unit sion unit Position loop mand Speed loop Encoder Servopack Host device Kp Position loop gain Pn102 provided by user Kv Speed loop gain Pn100 Ti Speed loop integration constant Pn101 Tf Firstlevel No 1 torque command filter time constant P n401 m Procedure for Adjusting Gain e Servo System control block is configured of a position loop a speed loop and a current loop e The current loop is the most interior followed by the speed loop and then the position loop An output from an exterior loop is an input for an interior loop As a condition for the exterior loop to operate properly the interior loop must be able to give a sufficient response to that input In other words high response is required from the interior loop Also when adjusting gain the adjustment proceeds from the interior loop gain e n order for the current loop to have a sufficient response it is adjusted at the time of shipping
371. rred in the Seta value in the setting ing 3 calculation WR or calculation results for the range for the parameter error PPRM WR com set value mand is sent ulli Data setting warn Occurred during The parameter size set Use the correct parame ing 4 parameter MECHATROLINK by the command is not ter size Size Il communications correct Command warning Occurred during e command transmis Satisfy all the command 1 command con MECHATROLINK sion conditions have not transmission conditions ditions not met communications been met before sending the com mand M P DET 2 unsupported MECHATROLINK mand was received commands command communications Command warning Occurred during A MECHATROLINK II e Set the parameters MECHATROLINK command cannot be exe required for command communications cuted according to the execution setting conditions Command warning Occurred during e The transmission condi Satisfy all the latch MECHATROLINK tions for a latch related related command trans communications command have notbeen mission conditions before Satisfied sending the command Command warning Occurred during The sub command trans Satisfy all the sub com MECHATROLINK mission conditions have mand transmission con communications not been satisfied ditions before sending the command rm 1 1 1 ALILI MECH
372. rs 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 and all con nected or peripheral devices 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 N WARNING N WARNING NWARNING N WARNING NWARNING NWARNING N WARNING N WARNING NWARNING N WARNING NWARNING N Caution Always connect the frame ground terminals of the Servo Driver and the Servomo tor to a class 3 ground to 100 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 Installation operation maintenance or inspection must be performed by autho rized personnel Not doing so may result in electric shock or injury Wiring or inspection must not be performed for at least five minutes after turning OFF the power supply Doing so may result in electr
373. ry Cable 2 102 absolute encoders 2 92 cables 2 93 signals 2 60 CN2 encoder input 2 68 CN3 personal computer monitor connector 2 69 5 analog monitor output connector 2 69 communications 2 57 connectors 2 03 DC Reactor 2 124 Encoder Cables 2 101 2 110 External Regeneration Resistor 2 121 incremental encoders 2 91 MECHATROLINK II Cables 2 93 MECHATROLINK II communications 2 57 Power Cables 2 103 2 112 Servo Drivers 2 50 Servomotors 2 71 2 73 Servomotors with Reduction Gears 2 86 terminal blocks 2 56 Speed Conformity Output VCMP 2 67 speed control 4 76 speed control parameters from Pn300 4 54 speed feedback compensation 4 43 4 109 speed feedback filter 4 111 speed limit 4 88 Speed Limit Detection Output VLIMT 2 68 standards 1 6 startup 4 4 status display mode 4 131 surge absorbers 3 27 surge killers 3 29 symbol display 4 131 system block diagrams 1 7 system configuration 1 4 3 8 T terminal blocks names and functions 3 15 specifications 2 56 wire sizes 3 16 wiring 3 15 TGON Servomotor Rotation Detection Output 2 67 torque command filter 4 123 torque control 4 77 torque control parameters from Pn400 4 56 torque feed forward function 4 105 torque limit function 4 83 transmission times 2 58 trial operation procedure 4 96 troubleshooting 5 2 using alarm display 5 12 using operating status 5 37 1 6 using warni
374. s however from when the command is executed so the positioning settling time is longer than the positioning predictive control 4 116 Operation Chapter 4 Predictive control for positioning Pn150 1 1 This function operates by anticipating future position commands It starts operation simultaneous ly with a command and is effective in shortening positioning time The tracking is different from the command tracking shape With machinery that is prone to vibra tion the vibration may increase when stopping In that case even with a positioning application use predictive control for tracking Predictive control for tracking Enables high speed positioning Retains command shape Position Position command Position propor tional control Time m Predictive Control Acceleration Deceleration Gain Pn151 As this value is increased the settling time is shortened without significantly changing the maximum position deviation If the value is set too high overshooting will occur The following diagram shows an example of position deviation during operation by a trapezoidal speed command Raising the pre dictive control acceleration deceleration gain changes the position deviation from the dotted line to the solid line and shortens the settling time Position deviation Predictive control acceleration deceleration gain Pn151 is raised m Predictive Control Weighting Ratio Pn152 As this val
375. s 8 Pn008 Default 4000 Pn008 0 Function selection application switches 8 Lowered battery voltage alarm warning selection All operation modes Setting 0 1 Unit Default Restart range setting power Setting Explanation Setting o o o Explanation Cs Regard battery voltage drop as alarm A 830 Regard battery voltage drop as warning A 930 P n008 1 Unit Default Restart setting power Note Do not change setting Pn008 2 Function selection application switches 8 Warning detection selection All operation modes 0 1 Unit Default Restart setting power Setting Explanation Setting Explanation 0 JWarnings detected Warnings not detected 4 37 Operation Chapter 4 e When 1 warnings not detected is set the following warnings are not detected A 900 A 901 A 910 A 911 A 920 A 930 Unit Default Restart setting power Note Do not change setting m Gain Parameters from Pn100 100 Speed loop gain Position speed S etting 10 to 20000 Unit x 0 1 Hz Default Restart range setting power e This gain adjusts the speed loop response e Increase the setting i e increase the gain to raise Servo rigidity Generally the greater the inertia ratio the higher the setting There is a risk of oscillation however if the gain is too high PAESE when speed loop gain is high 5 ervomotor speed Oscillates when gain is too high speed monitor
376. s after the brake has engaged taking this delay into account e Power Supply Timing when Servomotor Is Stopped Main circuit ain circuit power su p pply OFF 25 to 35 ms ON BKIR brake interlock OFF Pn506 See note S ervomotor Energized energized 9 Deenergized Note The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis set Pn506 brake timing 1 so that the Servomotor deenergizes after the brake has engaged in consideration of this delay 4 82 Operation Chapter 4 e RUN Error and Power Supply Timing When Servomotor Is Stopped Main circuit i ain circuit power su p pply OFF ON RUN OFF mu ON ALM alarm output OFF See note 2 ON OFF energizeg Deenergized Approx 10 ms See note 1 uc Braking using dynamic brake Servomotor rotation speed when 001 0 0 PN507 brake command speed Note 1 During the approximately 10 ms from the S ervomotor deenergizing to dynamic brake being applied the Servomotor will continue to rotate due to its momentum Note 2 Ifthe Servomotor rotation speed falls below the speed set P n507 brake command speed or the time set in Pn508 brake timing 2 after the Servomotor deenergizes is exceeded the BKIR brake interlock signal is turned OFF 4 4 7 Torque Limit Function All Operating Modes m Functions
377. s and command pulses continue to be counted without the deviation counter s residual pulses being reset If the drive prohibit input turns ON in this state 1 drive permitted the position will be shifted by the amount of the resid ual pulses 4 4 5 Encoder Dividing Function All Operating Modes m Functions e 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 number of encoder resolution pulses The upper limit is 1 073 741 824 pulses rotation Use this function for the following applications When using a controller with a low response frequency When it is desirable to set a pulse rate that is easily divisible For example in a mechanical system in which a single Servomotor revolution corresponds to a travel of 10 mm if the resolution is 5 um pulse set the encoder divider rate to 2 000 pulses revolu tion m Parameters Requiring Settings Parameter Parameter name Explanation Reference No Pn212 Encoder divider rate Set the number of encoder pulses to be output 4 3 3 Parameter See notes 1 2 and 3 Details Note 1 The default setting is 1 000 pulses rotation and the setting range is 16 to 1 073 741 824 pulses rotation Note 2 These parameters are enabled when the power is turned ON again after having been turned OFF Check to see that the LED display has gone OFF
378. s defective Replace the Servomotor Servo Driver is defective Servo Driver is defective Replace the Servo Driver There is interference due to the encoder being sub jected to excessive vibra tion and shock The position is dis placed without an alarm being out put The coupling between the machine and the S ervomo tor is faulty Noise is carried because the input signal line specifi cations are incorrect 15 the coupling between the machine and the S ervomo tor displaced e 15 twisted pair wire or twisted pair bound shielded core wire of 0 12 mm min made of tin coated soft copper being used Encoder is defective e Encoder is defective Replace the Servomotor Pulses are not changing Pulses are not changing The ambient temperature Measure the Servomotor s Lower the ambient temper Is too high ambient temperature ature to 40 C or less The Servomotor s surface Visually check the surface Clean off dirt and oil from Is dirty the Servomotor s surface There is an overload e Operate without an over e Recheck the load condi load tions the operating condi tions and the Servomotor capacity e Correct the coupling between the machine and the Servomotor e Make sure that input signal lines conform to the specifi cations Servomotor is overheating 5 42 Troubleshooting Chapter 5 5 4 Overload Characteristics Electronic Thermal Characteristics
379. s required when using a Servomotor with an absolute encoder Install the Battery Unit in the battery holder for the Absolute Encoder Battery Cable R88A CRW COR 3C 0 3 m and connect the provided connector to the connector in the battery holder m R88A BATO1W Absolute Encoder Backup Battery Unit m Specifications Mem Specifications Battery model number ER3V Toshiba Battery voltage Current capacity 1 000 mA h m Connection Configuration and External Dimensions 7 dia R88A BATO1W 4 m Wiring Connector housing DF 3 25 2 Hirose Electric Contact pin DF 3 2428SCFC Hirose Electric Cable AWG24 x 2C UL1007 2 122 Standard Models and Specifications Chapter 2 m installation R88A CRW COR 3C Absolute Encoder Battery Cable Battery holder m Manufacturing Code The manufacturing code gives the manufacturing date as shown below Day of month one alphanumeric character Month one alphanumeric character Year one alphanumeric character The alphanumeric characters have the following meanings Dayo code je P p ki ay 5 p mm Coe N o R s 23 Kod v z 2 J 5 b _ Note Some Servomotors manufactured before 2001 have a two character code Example1 OMR 2003 December 18 Example 2 LU 2 2000 November i i E gt 2 123 Standard
380. s without Brakes Medel Lengih L Outer diameter ofsheath Weight _ 104 dis For Servomotors with Brakes Mode Length L Outerdiameterofsheath Weight _ 14 5 di e Connection Configuration and External Dimensions For Servomotors without Brakes 70 L 65 9 Servo Driver T Servomotor LH J R88D WNO ML2 ee l l R88M W Ox For Servomotors with Brakes Servomotor gt R88M WO R88D WNI 2 107 Standard Models and Specifications Chapter 2 e Wiring For Servomotors without Brakes Servo Driver S ervomotor B Phase V D JJ Cable Straight plug N MS3106B18 10S J AE Ltd Cable clamp N MS3057 10A J AE Ltd Servomotor Receptacle 5 3102 18 10 DDK Ltd Cable AWG14 x 4C 012463 M4 crimp terminals For Servomotors with Brakes Servo Driver Servomotor Symbol Cable QI EN Phase U Straight plug N MS3106B20 15S J Ltd om White B Phase v Cable clamp N MS 3057 12 J AE Ltd Blue Servomotor QI Green Y ellow Receptacle 5 3102 20 15 DDK Ltd OT ck D FG F Brake Cable AWG14 x 6C UL2463 F Brake M4 crimp terminals Note Connector type terminal blocks are used for Servo Drivers of 1 5 kW or less as shown in Ter minal Block Wiring Procedure under 3 2 3 Terminal Block Wiring Remove the crimp terminals from the phase U phase V and phase W wires for these
381. scription of Pn106 changed Pages 4 41 4 43 4 44 4 55 4 56 4 109 and 4 111 Notes deleted Pages 4 42 and 4 43 Material deleted Page 4 46 Paragraph below graphic changed Pages 4 81 and 4 82 Power supply changed to main circuit power supply in timing charts Page 4 90 Last paragraph removed Page 4 97 Section 4 6 1 changed Page 4 98 Second paragraph removed Page 4 110 Item 1 attop of page changed Page 4 118 Parameter numbers removed at top of flowchart Page 4 121 Flowchart changed Page 4 122 Lists changed Page 5 22 Part of description of A S 21 deleted Page 5 30 Part of description of A d01 deleted Page 5 31 Countermeasure for A d02 deleted material added for A E00 and countermea sure for A EdO deleted Page 5 39 When auto tuning is used and when auto tuning is not used deleted in two places each Page 6 6 Description of Pn110 changed R 1 Revision History Revision Revised content code 03 March 2007 Back of front cover Added general precautionary information above NOTICE Under Warning Labels at front of manual Added precautionary information about battery disposal Page 2 3 Changed table titles and modified power cable capacity Page 2 4 Added specifications for robot cables Pages 2 26 and 2 27 Changed Servomotor capacities and added new models to the head ings Pages 2 60 and 2 66 Modified signal name WARN and changed OFF to ON in the descrip tion Page 2 66 Changed ca
382. sed nal reverse for CN1 pins 1 Reversed 23 24 2 Outputsig 0 Notreverse _ nal reverse for CN1 pins 1 Reversed 25 26 Netused 0 Do not change setting om e n B 262144 1 to unit 1073741823 NN NH 262144 Command unit Pec ES Do not change setting Sets the detection level for the deviation counter overflow warning A warning is output for Pn520 x P n51E 100 or higher Sets the deviation counter overflow alarm detection level Pn520 Max feed speed Command unit s P n102 x 2 0 Command Setting range for positioning completed range 1 INP 1 unit 0 to 1073741824 1 to 1073741824 Command Setting range for positioning completed range 2 INP 2 unit 1 to 1073741823 Sets the deviation counter overflow alarm detection level for Servo ON Sets the deviation counter overflow warning detection level for Servo ON Sets the speed limit for when the Servo turns ON with position deviation accumulated r min 0 to 10000 20 TH NO mn Appendix Chapter 6 Param Parame eter No ter name Program J oper ation related switches Pn530 Program JOG move ment dis tance Explanation Program J OG operat ing pattern Waiting time Pn535 gt Forward movement Pn531 x Number of movement operations Pn536 Waiting time Pn535 gt Rev
383. set 0000 Restart Yes modes ting power Note Refer to 4 3 2 Important Parameters Pn513 Not used Default set 0321 Restart Yes ting power Note Do not change setting Pn515 Not used Default set 8888 Restart Yes ting power Note Do not change setting Pn51B Not used Setting Unit Default 1000 Restart range setting power Note Do not change setting Pn51E Deviation counter overflow arning level Position Setting 10 to 100 Unit Default Restart range setting power e Set the deviation counter overflow warning detection level using the ratio for Pn520 deviation counter overflow level e When the deviation counter residual pulses exceed the set value a deviation counter overflow warning A 900 will occur Pn520 Deviation counter overflow level Position Setting to Unit Command Default 262144 Restart range 1073741823 unit setting power e Set the deviation counter overflow alarm detection level for position control Servo alarm occurs when the accumulated pulses in the deviation counter exceed the set value e Set the deviation counter overflow level to the number of command units suitable for the system and operation pattern e g the number of command units required for 2 to 3 rotations 4 63 Operation Chapter 4 Pn522 Positioning completed range 1 Position 0 to Unit Command Default Restart 1073741823 unit setting power e Set the deviation counter value f
384. sistance Resistor Combinations REBD WNASLML2U WNOILMI2 4 RBEDAWNOILML2U WNOdLML2 L3 _ WNOIRML2 0 _ RBGD WNO2H ML2toWNOAH ML2 L2 _ RBBD WNOSH ML2toWNIOH ML2 pes o m Wiring External Regeneration Resistance e R88D WNASL ML2 01L ML2 02L ML2 04L ML2 A5H ML 2 01H ML 2 02H ML 2 04H ML2 Connect an External Regeneration Resistor between the B1 and B2 terminals External Regeneration Resistor Servo Driver Note When using the R88A RR22047S connect the thermal switch output so that the power supply will be shut off when open e R88D WNO5H ML2 08H ML 2 10H ML 2 20H ML 2 30H ML 2 Remove the short circuit wiring between B2 and B3 and then connect an External Regeneration Resistor between the B1 and B2 terminals External Regeneration Resistor Servo Driver B2Q Note 1 The short circuit wiring between B2 must be removed Note 2 When using the 88 220475 connect the thermal switch output so that the power sup ply will be shut off when open 3 37 System Design and Installation Chapter 3 m Setting Pn600 Regeneration Resistor Capacity for an External Regeneration Resistor Pn600 Regeneration Resistor Capacity must be set correctly when using an external regeneration resistor The regenerative energy in the Servo Driver is calculated based on the assumption that the regeneration resistance that is built into the Servo Driver is connected The followin
385. solute encoder e The encoder cable was disconnected e Check the connections and execute the encoder s setup opera tion Restore power to the encoder e g replacing the battery and then execute the encoder s setup operation e f the alarm is still not cleared even after exe cuting the setup opera tion again then replace the encoder e Servo Driver is defective Replace the Servo Driver Encoder is defective f the problem continues Encoder self diagnosis to occur frequently even after the encoder has been set up replace the S ervomotor e Servo Driver is defective Replace the Servo Driver Encoder is defective f the problem continues Encoder self diagnosis to occur frequently even after the encoder has been set up replace the S ervomotor Replace the Servo Driver Pn002 2 0 The encoder power sup ply 45 V from the Servo Driver and the battery power supply are both down e Absolute encoder is defective Occurs when the control circuit power supply is turned ON or dur ing operation Occurs when the SENSOR ON SENS ON com mand is executed e The Servo Driver board is defective When abso lute values are used incrementally Occurs when the control circuit power supply is turned ON Setting Pn002 1 Occurs when the control circuit power supply is turned ON Used with absolute value setting Pn002 2 2 0 e The
386. structions CJ 1W NCF 71 According to option command values during speed control CS1W MCH71 Not available CJ 1W MCH71 Note For details on commands and instructions refer to the manual for the specific Unit 4 7 4 Automatic Gain Switching Position m Functions e This function switches the speed loop and position loop gain e When Pn139 0 Gain switching selection switch is setto 1 and the conditions set Pn139 1 Gain switching condition A and Pn139 2 Gain switching condition B are satisfied the No 1 gain and the No 2 gain are switched alternately S witching from the No 1 gain to the No 2 gain occurs when gain switching condition A is satisfied and switching from the No 2 gain to the No 1 gain occurs when gain switching condition B is satisfied 4 106 Operation Chapter 4 e Gain Switching Combinations S witched S peed loop gain Speed loop integral Position loop gain Torque command gain time constant filter No 1 gain Pn100 Speed loop 101 Speed loop Pn102 Position loop 401 151 1st integration torque com constant mand filter time constant No 2 gain Pn104 Speed loop Speed loop Pn106 Position loop lst step 2nd integration torque com constant 2 mand filter time constant e Automatic Gain Switching Pattern e Automatic Switching Pattern 1 Pn139 0 1 m Waiting time 1 Pn135 Condition A Kap Mee Pn139 1 Switching time 1 Pn131 Waiting time 2 Pn136 Condition B Switching tim
387. switches 4 Oto 1 Analog moni Servomotor rotation speed 1V 0002 OLILIL tor 1 AM 1000 r min ee Speed command 1 V 1000 r min 02 Torque command gravity com pensation torque Pn422 eM ens 1 V per 10096 03 Position deviation 0 05 V 1 com mand unit Position amp error after elec tronic gear 0 05 V per encoder pulse unit 05 Position command speed 1 V 1 000 r min 07 Not used Positioning completed command Positioning completed 5 V positioning not completed 0 V Speed feed forward 1 V 1 000 r min 0A Torque feed forward 1 V per 10096 0B to IF Awbgmo 0 Ix tor 1 signa multiplier selection nox a uox 3 _ Notused 0 not change setting 6 4 Appendix Chapter 6 Param Param Explanation Default Setting Restart eter No eter setting range power name Pn007 Func 0 tol ened t EI rotation 0000 OL IL TL tion tor 2 r min S signal Selec o S peed command 1 V 1000 r min applica 02 Torque command gravity com tion pensation torque Pn422 erence 1 V per 100 03 Position deviation 0 05 V 1 com mand unit Position amp error after elec tronic gear 0 05 V per encoder pulse unit Position command speed 1 V 1 000 r min 06 Positioning completed command Positioning completed 5 V positioning not completed 0 Speed feed forward 1 V 1 000 r min Torque feed forward 1 V per 100 to 1F Analog moni tor 2 signal 1
388. t range setting power Setting Explanation Setting Explanation 0 When the position deviation is below the INP 1 range 1 When the position deviation is below the INP 1 range and also the command after the position command filter is O 2 When the absolute value for the position deviation is below the INP 1 range Pn522 and also the position command input is 0 P n209 S etting Unit Default Restart range setting power Note Do not change setting P n20A S etting Unit Default 32768 Restart Yes range setting power Note Do not change setting 20 Electronic gear ratio G1 numerator Position Setting to Unit Default Restart range 1073741824 setting power Pn210 Electronic 2601 ER G2 denominator Position S etting 1 to Default Restart range setting power Sets the pulse rate for command pulses and the Servomotor travel amount 4 52 Operation Chapter 4 e When G1 G2 is 1 inputting encoder resolution x 4 pulses will rotate the Servomotor once The Servo Driver operates internally at a multiple of 4 e Set within a range of 0 001 lt G1 G2 lt 1 000 Note For details on the electronic gear function refer to 4 4 9 Electronic Gear Function Position Pn212 Encoder divider rate All operation modes Setting 16 to Unit P ulses rota Default 1000 Restart range 1073741824 tion setting power e Sets the number of output pulses from the Servo Driver e The encoder resolution
389. t P n531 x Number of movement operations P n536 Waiting time P n535 Forward movement P n531 x Number of movement operations P n536 ZEE Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reverse movement Pn531 x Number of movement operations P n536 5 Waiting time P n535 Reverse movement P n531 Waiting time Pn535 Forward movement Pn531 x Number of movement operations P n536 Pn530 1 Program J OG operation related switches Not used Setting Unit Default Restart range setting power Note Do not change setting Pn530 2 Program J OG operation related switches Not used Setting Unit Default Restart range setting power Note Do not change setting Pn530 3 Program J OG operation related switches Not used Setting Unit Default Restart range setting power 4 65 Operation Chapter 4 Note Do not change setting Pn531 Program JOG movement distance All operation modes to Unit Command Default 32768 Restart 1073741824 unit setting power Pn533 Program JOG movement speed All operation modes S etting 1 to 10000 Unit r min Default Restart range setting power P n534 Program JOG acce eration n time All opereton modes S etting 2 to 10000 Unit Default Restart range setting power Pn535 Program J OG waiting time All Ar operator modes S etting to 10000 Unit Default Restart range setting power P n536 Number of program J OG movement All operation S
390. t Restart range setting power MOADE Function selection application switches 7 Analog monitor 2 signal selection All operation modes Setting 00 to 1F Unit Default Restart range setting power 4 133 Operation Chapter 4 Setting Explanation Setting O O 00 Servomotor rotation speed 1 V 1000 r min S peed command 1 V 1000 r min Torque command Gravity compensation torque P n422 1 V 100 or rated torque Position deviation See note 0 05 V 1 command Position amp deviation See note 0 05 V encoder pulse unit Positioning completed Positioning completed 5 V positioning not completed 0 V o9 Speedfeedfomard 1V 000nmin SSS OSOS Torque feed forward 1 V 100 of rated torque OB to IF Notused e Set values are the same as for Pn006 0 1 and Pn007 0 1 Note 1 Displays status without offset adjustment and scaling changes Note 2 For speed control the position deviation monitor signal becomes 0 006 2 Function selection application switches 6 Analog monitor 1 signal multiplier selection operation modes S etting 0 to 4 Unit Default Restart range setting power 007 2 Function selection application switches 7 Analog monitor 2 signal multiplier selection All operation modes 0 to 4 Unit Default Restart setting power Setting Explanation Seng INNEN KENN a nox OOS e Set values are the same as fo
391. t gears with a maximum backlash of 45 degrees The shaft is a straight shaft with key Models without keys are not available Note 1 The 1 000 r min and 1 500 r min Servomotors cannot be combined with Economy Gears Note 2 A check mark in a box indicates that the two models can be combined If the box 15 un checked then the models cannot be combined 3 000 r min Servomotors Specifications Basic model ov ow aew o 2w emwwxoxwr kw o 2 10 Standard Models and Specifications Chapter 2 3 000 r min Flat style Servomotors Specifications Basic model 200V 2 11 Standard Models and Specifications Chapter 2 e Servomotors with Standard Gears Straight Shaft with Key 3 000 r min Servomotors Specifications SOS Without brake With brake Wihoutbrake Wihbrake 200 sow ABBM WOSOSOT BGOOE 1 21 R88M W05030H G21BJ R88M W05030H BG21BJ R88M W05030T G21BJ R88M W05030T BG21B 100 ABBM WI0030T BGOSE 1 11 R88M W10030H G118 R88M W10030H BG11BJ R88M W10030T G11B R88M W10030T BG11B 10100307 80218 ABBM WI0030T BG356 200 W R88M W20030H G05B R88M W20030H BG05BJ R88M W20030T G 05B R88M W20030T BG05B 1 21 R88M W20030H G21BJ R88M W20030H BG21BJ R88M W20030T G21BJ R88M W20030T BG21B 1 33 R88M W20030H G338J R88M W20030H BG33BJ R88M W20030T G33BJ R88M W20030T BG33B TET R88M
392. ta within the absolute encoder will be cleared In this case perform the setup once again f the Battery Unit has completely worn down the data within the absolute encoder will be cleared In this case replace the Battery Unit and perform the setup once again Operation Chapter 4 4 3 User Parameters Set and check the user parameters using the Setting Mode Make sure you fully understand the parameter meanings and how to set them before setting user parameters in the system Some parameters are enabled by turning OFF the Unit then turning it ON again When changing these parameters turn OFF the power check that the power lamp is not lit then turn ON the power again 4 3 1 Parameter Tables e Some parameters are enabled by turning OFF the Unit then turning it ON again See the tables below When changing these parameters turn OFF the power check that the power lamp is not lit then turn ON the power again e The specific digit number of a parameter for which each digit number must be set separately is dis played in the table with 0 added to the digit number For example 001 0 1 digit No 0 of parameter No P n001 The default setting for parameters set using 5 digits are displayed in the table with the leftmost dig its not shown if they are 0 e g if the default setting is 00080 80 is entered in the table Do not set parameters or digit numbers shown as Not used m Function Se
393. tart j Pn207 Position 0_ Notused 0 not change setting 0010 Settings 2 Do not change setting Backlash 0 ODE to NN rota tion tion side Compensates to reverse rota tion side INP 1 output When the position deviation is timing below the INP 1 range When the position deviation is below the INP 1 range and also the command after the position command filter is 0 When the absolute value for the position deviation is below the INP1range Pn522 and also the position command input is 0 Pn209 Do not change setting Pn20A Do not change setting Pn20E Electronic Sets the pulse rate for the command pulses and Servomotor gearratio movement distance 61 0 001 lt Pn20E P n210 lt 1000 numera tor Pn210 Electronic gear ratio G2 denomi nator Pn212 Sets the number of output pulses Servomotor rotation 1000 P ulses 16 to divider rotation 1073741824 rate Pn214 Backlash Mechanical system backlash amount the mechanical gap Command 32767 to compen between the drive shaft and the shaft being driven unit 32767 sation amount Pn215 Backlash Sets the backlash compensation time constant compen sation time con stant Pn216 Do not change setting Pn217 Do not change setting Pn281 Do not change setting m Speed Control Parameters from Pn300 Param Parameter Explanation Default Setting Restart j eter No name Explanation setting range po
394. te When used as one step acceleration 0 must be set Sets the bias for when an exponential filter is used for the posi 0 to 32767 tion command filter Sets the time constant for when an exponential filter is used for 0 to 5100 the position command filter Sets the average movement time for when S curve acceleration 0 to 5100 deceleration is used and an average movement filter is used for the position command filter Do not change setting See note 3 Sets the distance from the external signal input position when external positioning is executed Note For a negative direction or if the distance is short opera tion is reversed after decelerating to a stop 1073741823 to 1073741823 Zero point Forward canoe 1 Wotused 0 not change seting o fipo notchange sting Do not change setting Sets the origin search speed after the deceleration limit switch signal turns ON 0 to 65535 0 to 65535 Sets the origin search speed after the deceleration limit switch signal turns ON 4 2 Operation Chapter 4 Param Parame Explanation Default Setting Restart j Sets the distance from the latch signal input position to the origin 100 Command 1073741823 for when origin search is executed unit to Note If the final travel distance is in the opposite direction from 1073741823 the origin return direction or if the distance is short operation is reversed after
395. ter Setting range 10 to 20 000 x 0 1 Hz Details 105 No 2 speed loop inte Setthe speed loop integral time constantforthe 4 3 3 Parameter gration constant No 2 gain Details Setting range 15 to 51 200 x 0 01 ms 106 No 2 position loop Setthe position loop gain for the No 2 gain 4 3 3 Parameter gain Setting range 10 to 20 000 x 0 01 s Details 4 7 5 Speed Feedback Compensation Position Speed m Functions This function shortens positioning time e This function works to lower the speed loop feedback gain and raise the speed loop gain and posi tion loop gain Consequently response to commands is improved and positioning time can be shortened Noise sensitivity is lowered however so positioning time cannot be shortened where there is external force applied such as with the vertical axis Using speed feedback compensation is effective in suppressing vibration and raising the speed loop gain If the speed loop gain can be raised the position loop gain can be raised as well so this can effectively reduce the settling time for positioning 4 109 Chapter 4 Operation m Parameters Requiring Settings Parameter Parameter name Explanation Reference No Normal autotuning switches Speed 110 1 To use the speed feedback compensation func 4 3 3 Parameter tion set Pn110 1 to 0 speed feedback com Details feedback compensa pensation function ON tion function selection Speed fe
396. th Standard Gears Dimensions mm LM LR c c2 mew tn n m mmm m sow us i ue 1 no mo mo 1 o uo w s 185 223 213 140 130 245 220 190 135 130 1 29 R88M W1K315T LIG29B 185 223 234 160 130 310 280 240 186 182 166 217 230 140 180 245 220 190 135 130 hee mr ms 280 19 1e m MX 1 m Diagram 1 Key dimensions QK Four Z dia La Sh D5 dia D4 dia D3h7 dia 2 44 Standard Models and Specifications Chapter 2 Note WOB and WB mean without brake and with brake respectively Dimensions mm m m s s s m s e a s 55 m m s s s s e s ss neewwasoisrce298 12 E R88M W45015T LIGO5B 1 5 450W 5 R88M W45015T LIG09B 19 m s s se s e s s Jo 55 _ Reew wasoisroease ia 5 Ji m p m s s e a e 5 Rem wesousrreos 1 m s e s m s s s 55 nem wesosrrios m N J m m b s e e o 55 seewwesmsrcgzss 12 m m 5 o fo s e s 14 6 o m m b gt e 55 newwiksisrrcose 18 m m b e e
397. th ke key BLIS 1 and tap BL IS 2 TT h M effective depth a Y QK re 4 IP67 BWI 1 flange dimensions gt re DW2 dia DW1 dia 2 31 Standard Models and Specifications Chapter 2 m 1 000 r min Servomotors without a Brake e 200 V AC 300 W 600 W 900 W 1 2 kW 2 0 kW R88M W30010H S2 W60010H S 2 W90010H S 2 W1K210H S 2 W2K010H S 2 Incremental R88M W30010T S2 W60010T S 2 W90010T S 2 W1K210T S 2 W2K010T S 2 Absolute XE e A TA KL1 s I ee NOS 9579 UO lt Four Z dia Dimensions of output section of 300 W to 900 W Servomotors Dimensions of shaft end with key S2 M Effective depth Model mm Dimensions mm ufo a e por PTS T T Note The external dimensions the same for IP 67 waterproof models 2 32 6 6 35 144 OL Standard Models and Specifications Chapter 2 m 1 000 r min Servomotors with a Brake e 200 V AC 300 W 600 W 900 W 1 2 kW 2 0 kW R88M W 30010H B S 2 W60010H B S 2 W90010H B 5 2 W 1K 210H B S 2 W2K01
398. the encoder are wrong Multi turn limit discrepancy The multi turn limits for the encoder and the Servo Driver do not match Deviation counter overflow Position deviation pulses exceeded the level set for P n520 Deviation counter overflow When Servo ON was executed the accumulated number of position devia alarm at Servo ON tion pulses reached or exceeded the number set for P n526 Deviation counter overflow If Servo ON is executed with position deviation pulses accumulated the alarm by speed limitat Servo speed is limited by the setting in Pn529 A command pulse was input during ON this period without the limit being cleared and the setting in Pn520 was exceeded MECHATROLINK II transmis There is an error in the setting for the MECHATROLINK II communications sion cycle setting error transmission cycle MECHATROLINK II synchroni A synchronization error occurred during MECHATROLINK II communica zation error tions MECHATROLINK II synchroni A synchronization failure occurred during MECHATROLINK II communica zation failure tions MECHATROLINK II communi Communications errors occurred consecutively during MECHATROLINK II cations error communications MECHATROLINK II transmis error occurred in the transmission cycle during MECHATROLINK II com sion cycle error munications 2 55 Standard Models and Specifications Chapter 2 Error detection function DRV alarm 0 Servo Driver DRV error 0 occurred DRV alarm 1 Ser
399. tia ratio Setusing ratio between the machine system inertia and the Ser iili 0 to vomotor rotor inertia 20000 Pn104 NA loop speed loop response enabled by gain switching input Hd SONS d 1 Hz gain 2 OE as 105 Speed loop ED loop integral time constant enabled by gain switching input dii 0 01 ms 15to integration 51200 constant 2 106 Position Adjusts position loop response enabled by gain switching input 0 ae 21 to loop gain 2 oe 107 Bias rota Sets position control bias r min 0 to Tu tional speed 4 10 Operation Chapter 4 Param Parameter eter No name 108 Bias addi tion band 109 Pn10A 10 10 100 10 Pn10F Pn110 111 PnllF Pn12B F eed for ward amount aem for ward com aem filter Speed con trol setting P control switching torque command P control switching speed com mand P control switching accelera tion com mand P control switching deviation pulse Normal autotuning switches S peed feed back com pensating gain Position integral time constant Notused Explanation See note 1 Default Setting Restart j Sets the control bias operation start using deviation counter Command 0 to 250 width unit Position control feed forward compensation value 0 to 100 S ets position control feed forward comman
400. time Position Setting 0 to 5100 Unit x 0 1 ms Default Restart range setting power Sets the average movement time for when and an average movement filter is used for the position command filter Set when using S curve acceleration deceleration 813 Not used Setting Unit Default Restart range setting power e f the Servo Driver is used with the CJ 1W MCH71 or CS1W MCH71 this parameter will be set to 0032 If parameters are edited with the WMON ML2 connected this parameter will set to 0000 If this happens you must reset this parameter to 0032 from the CJ IW MCH71 or CS1W MCH71 Note Do not change setting 814 Final travel distance for external positioning Position Setting Unit Command Default Restart range unit setting power 1073741823 Sets the distance from the external signal input position when external positioning is executed For a negative direction or if the distance Is short operation is reversed after decelerating to a stop e Origin Search Parameters Pn816 to Pn819 816 0 Zero point return mode settings Zero point return direction Position Setting 0 1 Unit Default Restart range setting power 4 71 Operation Chapter 4 Setting Explanation Setting Explanation Sets the direction for executing origin search Pn816 1 Zero point return mode settings Not used S etting Unit Default Restart range setting power Note Do not
401. tio within the following range Electronic gear ratio Pn20E Pn210 lt 218 e Match the Servo Driver Capacity to the capacity of the Servomotor The Servo Driver capac ity and the Servomotor Capacity do not match Servomotor capacity Servo Driver capacity lt 1 4 or Servomotor Capacity Servo Driver capacity gt 4 e There is an error in a parameter written for the encoder e The Servo Driver board is Replace the Servo defective Driver Servo ON command Turn the control circuit was input when a Servo power supply OFF and ON command invalid back ON alarm was in effect e Replace the Servomotor encoder Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs Overcurrent Occurs when the overheating of control circuit radiation shield power supply is turned ON An overload alarm has e Change the alarm reset been reset several times method by turning OFF the power e There is a faulty connec Replace the Servo tion between the Servo Driver Driver board and the thermoswitch e The Servo Driver board is Replace the Servo defective Driver Occurs when main There is a faulty connec Correct the wiring circuit power sup tion between U V W and ply is turned ON the ground or when an over ground wire is mak Correct the wiring current occurs dur ing Servomotor ing contact with another op
402. tion Chapter 4 Param Parameter Explanation Setting Restart Pn40D Notch filter Sets Q value of notch filter 2 70 x 0 01 50 to 2 Q value 1000 2nd step Sets the filter frequency for internal torque commands 2000 Hz 100 to 2nd torque 2000 command filter fre quency 2nd step Sets the torque command filter Q value 0 1000 2nd torque command u 0 to 65535 Pn412 1ststep 2nd Sets the filter time constant for No 2 gain internal torque commands 100 x0 01ms 0to torque com 65535 mand filter time con stant filter Q value S Pna13 Notused Oonotchangeseting Praia Notused Donotchangeseting O M0 00 10 to Pn420 Damping for Sets the vibration suppression value while stopped 1 vibration suppres sion on stopping Pn421 Vibration Sets the time from when the position command becomes 0 until 1000 ms 0 to Suppres damping for vibration Suppression on stopping begins 65535 sion start ing time Pn422 Gravity Sets the gravity compensation torque x 0 01 20000 compensa to tion torque 20000 Pn456 Sweep Sets the sweep torque command amplitude 15 1 to 800 torque com mand ampli tude Sequence Parameters from Pn500 Param Parame Explanation Default Setting Restart j eter No ter name Explanation setting range power Do not change setting qe eec Rotation Sets the number of rotations for the Servomotor rotation detection 20 r min 1 to 1
403. tive Driver load power supply is turned ON Occurs when Servomotor wiring is Correct the Servomotor Servo is turned incorrect faulty wiring or wiring ON connections Overload contin e Encoder wiring is incor Correct the encoder wir ual maximum load rect faulty wiring or con ing nections e Servo Driver is defective Replace the Servo Driver e Servomotor wiring is Correct the Servomotor incorrect faulty wiring or wiring connections Occurs withoutthe S ervomotor rotat ing by command input e Encoder wiring is incor Correct the encoder wir rect faulty wiring or con ing nections e The starting torque e Recheck the load condi exceeds the maximum tions the operating con torque ditions and the 5 ervomotor capacity e Servo Driver is defective Replace the Servo Driver DB overload Occurs when The Servo Driver board is Replace the Servo control circuit defective Driver power supply is turned ON Occurs during Ser The Servo Driver board is Replace the Servo vomotor opera defective Driver tion except with Servo OFF Occurs with Servo The rotation energy dur Check the following OFF during Servo ing DB stops exceeds the items motor operation DB resistance capacity 1 Lower the Servomo tor s operating rotation frequency 2 Reduce the load inertia 3 Reduce the frequency of DB stops Servo Driver is
404. to 4 7 10 Torque Command Filter All Operating Modes Pn408 3 Torque command settings Not used Setting Unit Default Restart range setting power Note Do not change setting Pn409 Notch filter 1 frequency All operation modes Setting 50 to 2000 Unit Default 2000 Restart range setting power e Enabled when 408 0 notch filter 1 function selection is setto 1 e Sets the mechanical resonance frequency Note For details on notch filters refer to 4 7 10 Torque Command Filter All Operating Modes Pn40A Notch filter 1 Q value All operation modes 50 to 1000 Unit x 0 01 Default Restart setting power e Enabled when Pn408 0 notch filter 1 function selection is set to 1 e Sets the Q value for notch filter 1 Note For details on notch filters refer to 4 7 10 Torque Command Filter All Operating Modes Pn40C Notch filter 2 frequency All operation modes Setting 50 to 2000 Unit Default 2000 Restart range setting power e Enabled when 408 2 notch filter 2 function selection is setto 1 e Sets the mechanical resonance frequency Note For details on notch filters refer to 4 7 10 Torque Command Filter All Operating Modes Pn40D Notch filter 2 Q value All operation modes Setting 50 to 1000 Unit x 0 01 Default Restart range setting power 4 59 Operation Chapter 4 e Enabled when Pn408 2 notch filter 2 function selection is set to 1 e Setthe Q value for notch filter 2 Not
405. to 500 Unit Default Restart range setting power PnlAA Position proportional gain oston S etting 0 to 500 Unit Default Restart range setting power Pn1AB Speed integral gain Poston S etting to 500 Unit Default Restart range setting power 1 Speed proportional gain Peston S etting 0 to 2000 Unit Default Restart range setting power Note Do not change setting Position Control Parameters from Pn200 e Position Control Setting 1 Pn200 Default Setting 0100 Pn200 Not used S etting Unit Default 0100 Restart Yes range setting power 4 50 Operation Chapter 4 Note Do not change setting 205 Absolute encoder multi turn limit setting All operation modes absolute Setting to 65535 Unit Rotation Default 65535 Restart range setting power e Sets the amount of multi turn rotation when using a Servomotor with an absolute encoder f using an absolute encoder the counter counts the number of rotations from the setup position and outputs the number of rotations from the Servo Driver e With the default setting Pn205 265535 the Servomotor multi turn data will be as follows 32767 Forward Reverse Multi turn data S ervomotor rotations 32768 e With the default settings changed 1 Pn205 z 65535 the Servomotor multi turn data will be as follows Pn205 set value Reverse 7 Forward A Multi turn data 0 Servomotor rotations T
406. to dust especially iron dust or salts Locations subject to shock or vibration Locations subject to exposure to water oil or chemicals Do not touch the Servo Driver radiator regeneration resistor or Servomotor while the power is being supplied or soon after the power is turned OFF Doing so may result in a skin burn due to the hot surfaces Storage and Transportation Precautions N Caution N Caution N Caution Do not hold the product by the cables or motor shaft while transporting it Doing so may result in injury or malfunction Do not 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 transport ing the machinery may result in injury or malfunction installation and Wiring Precautions 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 malfunction 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 N Ca
407. tors 30 to 3 750 W 5 10 Without brake R88A CAWA003SR R88A CAWAO05SR 88A CAWAO10SR 88A CAWAO15SR R88A CAWA020SR R88A CAWA030SR R88A CAWA040SR R88A CAWA050SR 88A CAWCOO3SR 88A CAWCOO5SR 88A CAWCO10SR 88A CAWCO15SR 88A CAWCO20SR 30 m R88A CAWCO3O0SR 40 m R88A CAWCOA40SR 50 R88A CAWCOSOSR R88A CAWAO003BR R88A CAWAOO5BR R88A CAWAO10BR R88A CAWAOI15BR R88A CAWAO20BR R88A CAWA030BR R88A CAWAOAOBR R88A CAWAO5OBR R88A CAWCOO3BR R88A CAWCOOSBR R88A CAWCO1OBR R88A CAWCOL5BR R88A CAWCO20BR R88A CAWCO3OBR R88A CAWCOAOBR JEEIBIE 20 20 30 40 50 s UJ 3 1 to 2 kW 3 10 15 20 3 3 3313 20 20 Chapter 2 Specifications Mod Without brake With brake _ R88A CAWDO003SR R88A CAWDOO3BR 5 m R88A CAWDOOSSR R88A CAWDOOSBR 10 m R88A CAWDO10SR R88A CAWDOIOBR 3 kW 15 m R88A CAWDO15SR R88A CAWDO15BR 20 m R88A CAWDO20SR R88A CAWDO20BR 30 m R88A CAWDO30SR R88A CAWDO3OBR 40 m R88A CAWDO40SR R88A CAWDO4A0BR 50 m R88A CAWDO50SR R88A CAWDOSOBR e Power Cable for 3 000 r min Flat style Servomotors Specifications Without brake With brake _ 100 to 3 R88A CAWAO03SR HN 88A CAWAOO5SR 10 m R88A CAWAO10SR 15 m R88A CAWAO15SR 0 m R88A CAWAO20SR 0 m R88A CAWAO30SR 0 m R88A CAWAO40SR 0 m R88A CAWAOSOSR R88A CAWAO03BR R88A CAWAOO05BR R88A CAWAO010BR R88A CAWAO15BR R88A CAWAO20BR R88A CAWA030BR R88A CAWA040BR R88A CAWAO050BR R88A CAWBOO3BR R88A
408. tors and generators Introduction Chapter 1 1 5 System Block Diagrams m 100 V AC R88D WNASL ML2 WNOIL ML2 WLO2L ML2 WNO4L ML2 Single phase 100 to 115 V 10 15 50 60 Hz os Analog monitor output Encoder output ASIC PWM meon control etc Power Power Open for OFF servo alarm i 1 0 Control I O m CPU position speed calculations CN6A Status indicator Sieg VF protector MECHATROLINK II CN3 CN6B 1 Personal computer m 200 V AC R88D WNASH ML2 WNO1H ML 2 WLO2H ML2 WNO4H ML2 Single phase 200 to 230 V 10 15 50 60 Hz Noise filter Z all Varistor I 65 CHARGE a io NEM Analog monitor output Encoder output ASIC PWM control etc 5V 12 V Power Power Open for OFF ON servo alarm T 1KM CPU position Control 1 0 3 1Ry o speed calculations CN6A 5 Status indicator UF fe protecion MECHATROLINK II CN3 CN6B _____ Personal computer 1 7 Introduction Chapter 1 m 200 V AC R88D WNO5H ML2 WN10H ML2 Three phase 200 to 230 V oL 0 10 15 C BI JOTBAY filter IKM Varistor i 0 FFL ve LN b MIO MEE 2 91 42 Voltage y Temperature detection detection O 2 N
409. trou ble of manual tuning The results are judged by the user Position loop gain e Speed loop gain e Speed loop integration constant Torque command filter time constant Manual tuning The Servo gain parameters are adjusted Use this method when suitable adjust at the discretion of the user ments cannot be achieved using autotun Ing 4 6 2 Advanced Auto tuning Whatis Advanced Auto tuning e Advanced auto tuning is a control function that estimates the operating inertia increases the Servo gain and automatically seeks a no vibration range that matches the characteristics of the machin ery e Advanced auto tuning is executed from the Computer Monitor Software 4 98 Operation Chapter 4 Note Advanced auto tuning cannot be used in the following cases e When the load inertia fluctuates at 200 ms or less e When the load rigidity is low and mechanisms such as belt drive inputs tends to vibrate or viscosity friction is high e When the range of movement is narrow e g only several rotations e When movement is possible only in a fixed direction e When P proportional control is used Use the following method to make adjustments if any of the above conditions apply or if operation is not satisfactory when normal auto tuning is executed e Set Pn103 Inertia ratio and then execute one parameter tuning or manual adjustment m User Parameters Related to Advanced Auto tuning The following us
410. tting error 1 A parameter value exceeds the setting range Parameter setting error 2 A parameter value exceeds the setting range Dividing pulse output setting The encoder divider rate setting is out of range or the set conditions are not error Satisfied Parameter combination error A combination of multiple parameters is set out of range The combined capacity of the Servomotor and the Servo Driver is unsuit able S ervo ON command invalid After a function for executing Servo ON by means of Computer Monitor S oft alarm ware was used an attempt was made to execute Servo ON using a host command Overcurrent or overheating of overcurrent has occurred or the Servo Driver s radiation shield has over radiation shield heated Regeneration error The regeneration resistor is disconnected or the regeneration transistor is faulty Regeneration overload The regenerative energy exceeds the regeneration resistance Main circuit power supply set The method for providing power to the main circuit does not match the ting error Pn001 setting O vervoltage The main circuit DC voltage is abnormally high Low voltage The main circuit DC voltage is low The Servomotor s rotation speed is abnormally high Dividing pulse output over The Servomotor rotation speed upper limit set for the encoder divider rate speed setting Pn212 was exceeded Vibration alarm Abnormal vibration was detected in the Servomotor rotation speed Auto tuning alarm
411. u 28 Wewemersemg m fo 5 p m qe pone R88M WP 10030L1 L1G 09C 1 15 R88M WP10030C1 LIG 15CJ 1 25 R88M WP10030C1 LIG 25CJ 200 W R88M WP 200300 OG 05C 1 9 R88M WP20030 1 15 R88M WP 20030 1 25 R88M WP 20030 400 W R88M WP 40030 1 9 R88M WP40030 1 15 R88M WP 40030 1 25 R88M WP 40030 750W 1 5 R88M WP 75030 m p p qm pe p pe Yas pa m m Bops pm pw m m e e ms m p m m m s s 55 we m m 6 6 s m m m 6 je ps Ww NI Nd CO WIWINI CO PO P2 mn Ui 1 15 R88M WP75030 a e Note WOB and WB mean without brake and with brake respectively 2 48 Standard Models and Specifications Chapter 2 Diagram Key dimensions O QK Four Z dia Effective depth gt D3h dia a 2 49 Standard Models and Specifications Chapter 2 2 4 Servo Driver Specifications R88D WN ML2 OMNUC W series AC Servo Drivers with Built in MECHATROLINK II Communications Referring to 2 2 Servo Driver and Servomotor Combinations select a Servo Driver to match the Ser vomotor that is being used i y Hem Specifiations
412. uation which if not avoided may result in minor or moderate injury or property damage OMRON Product References AllOMRON 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 often means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product OMRON 2004 rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for erro
413. ue command filter time constant is different from the units for the step 1 and step 2 The 2nd step 2nd torque command filter will be disabled if Pn40F 2nd step 2nd torque command filter frequency is set to 2 000 Hz m Notch Filter e Functions notch filter can be setfor internal torque commands commands to the current loop A notch filter is a function for lowering the response of the frequency that is set The degree to which the response is to be lowered is set by the Q value e f mechanical resonance is occurring a notch filter can be used to prevent it This makes it possible to shorten positioning time by raising the speed loop gain e With W series AC Servo Drivers two notch filters notch filters 1 and 2 can be set Note This is a filter setting for the purpose of preventing machine resonance that cannot be elimi nated by simply adjusting the gain If it not set carefully it may have the unintended effect of making machine operation unstable Adjust the setting while monitoring machine operation by means such as the torque command monitor Also provide an emergency stop switch that can be pressed to immediately stop the machinery 4 124 Operation Chapter 4 e Parameters Requiring Settings No Pn408 0 Torque command set When using notch filter 1 set Pn408 0 to 1 4 3 3 Parameter ting Selects notch fil Notch filter 1 used Details ter 1 function Pn409 Notch filter 1 frequency Setthe machine resonan
414. ue is increased the tracking deviation is reduced If the positioning completed range is large this is also effective in shortening the settling time If the value is set too high torque vibration and overshooting may occur The following diagram shows an example of position deviation during operation by a trapezoidal speed command Raising the predictive control weighting ratio changes the position deviation from the dotted line to the solid line and lowers the tracking deviation 4 117 Operation Chapter 4 Predictive control weighting ratio Pn152 is raised Position deviation m Procedure for Adjusting Predictive Control Use the following procedure for adjusting predictive control 1 Adjust by normal control Functions such as one parameter tuning or auto tuning can be used 2 Change the predictive control selection switches Change the predictive control selection switches to use predictive control After changing the switch the power must be turned OFF and back ON 3 Adjust predictive control parameters Adjust the predictive control parameters as required while checking the response 4 118 Operation Chapter 4 Start operation with the predictive control OFF Pn150 0 0 and adjust Related parameters Pn150 Predictive control selection switch Pn151 Predictive control the parameters such as the Kp and Ky filters One parameter tuning Advanced auto tuning can be used
415. uring parameter setting tialization processing The upper limit for the Replace the Servo number of parameter Driver writes was exceeded Correct the parameter e g parameters were writing method changed by the host device with every scan The Servo Driver Replace the Servo EEPROM and peripheral Driver circuits are defective Parameter format Occurs when The Servo Driver soft Replace the Servo error 1 attempting to ware is too old for the Driver power up again current parameters Write only parameters after a parameter that are supported by the Is written using the parameter copy software version of the Servo Driver function System parameter Occurs when The control voltage drops Correct the power supply checksum error 1 control circuit to a range of 30 to 60 V and initialize the parame power supply is AC ters Replace the Servo Driver Parameter pass Occurs when the TheServo Driver board is Replace the Servo word error 1 control circuit defective Driver power supply is turned ON 5 12 Troubleshooting Main circuit detec tion error Parameter setting error 1 Parameter setting error 2 Dividing pulse out put setting error Occurs when the control circuit power supply is turned ON Occurs when the control circuit power supply is turned ON Occurs when the control circuit power supply is turned ON or dur ing operation
416. us 2 Diagram 1 Key dimensions Four Z dia La Sh6 dia D5 dia D4 dia D3h7 dia 2 38 Standard Models and Specifications Chapter 2 Note WOB and WB mean without brake and with brake respectively Dimensions mm RSSWOWIKONETCGUSS us 5 R88M W 1K030L 1 6 09 m s s ps e s m ps s Jo 55 T 1 20 ue o C m N m m b s s m ur e 55 12 R88M W1K530L LIG45 1 4 15 2 kW mw s se pn pe ps u i R88M W2K030L 7629BJ 1 29 4 8 18 R88M W2K030L CG45BJ 1 45 4 as Ju 7 R88M W3K0300 OG20B 1 20 C N O EN MN e WO dq m N Diagram 2 Key dimensions D4 dia D3h7 dia LE LM LR 2 39 Standard Models and Specifications Chapter 2 e 3 000 r min Flat style Servomotors 100 W to 1 5 kW with Standard Gears Dimensions mm 1
417. us pe me Jom HERI ue uo us uas us s ue uo uo us Note The values in parentheses are reference values 64 LN 88 105 m sa 6 m __ 1o 134 4 16 135 15 m 165 140 134 84 16 156 __ 190 15 163 15 156 __ 190 165 163 135 Diagram 1 Key dimensions M Effective depth QK Four RD6 D4 dia Four Z dia E2 Standard Models and Specifications Chapter 2 Note WOB and WB mean without brake and with brake respectively Dimensions mm 7 pak b a m m par ps Je e s 4 me m nemweanso cissey 153 n R88M WP 40030L1 16 33B R88M WP 75030L LIG05B C 1 33 750 W 1 21 1 33 1 5 kW 1 11 1 21 1 33 v eS ee Key dimensions M Effective depth D4 dia D3 dia E2 LL LM LR 2 41 Standard Models and Specifications Chapter 2 e 1 000 r min Servomotors 300 to 3 kW with Standard Gears Dimensions mm _ us wemcwionozneos i ue 1 uo uo uo us uo uo w m 1 1 9 R88M W30010L CIG09B 138 176 168 100 1
418. ut 4 4 7 Torque Limit Function All Oper ating Modes P control switching Switches the speed control loop automatically from control to 4 7 7 P Control function P control to lower Servo rigidity Switching conditions can be Switching Posi selected tion Speed 4 75 Operation Chapter 4 m Applicable Controller Commands Controller Commands and instructions CJ 1W NCF 71 According to absolute and relative move commands CS1W MCH71 According to axis move instructions MOVE MOVL MOVEC etc CJ 1W MCH71 Note For details on commands and instructions refer to the manual for the specific Unit 4 4 2 Speed Control Speed m Function e Speed control is performed according to commands from MECHATROLINK II Controller OMNUC W series Servo Driver MECHATROLINK II Model Motion Control Unit CS1W MCH71 CJ 1W MCH71 Speed Control Mode OMNUC W series Speed command Servomotor Position Control Unit CJ 1W NCF71 m Related Functions e The main functions related to speed control that can be used during speed control are as follows Function name Explanation Reference S oft start function Sets the soft start for the speed command 4 4 8 Soft Start Function Speed Torque limit function This function limits the S ervomotor s output torque output 4 4 7 Torque Limit Function All Oper ating Modes P control switching Switches the speed control loop automatically from PI control to 4 7 7 P Cont
419. ut F Allocated to CN1 pin 12 Valid for high input 1 sig Always disabled Da puer Allocated to CN1 pin 10 Valid for low input allocation SIDE TOV Tet 5 Allocated to CN1 pin 11 Valid for low input Allocated to CN1 pin 12 Valid for low input Always enabled 8 Always disabled Always disabled Allocated to CN1 pin 10 Valid for high input E Allocated to CN1 pin 11 Valid for high input F Allocated to CN1 pin 12 Valid for high input EXT2 sig 0 to F Same as for Pn511 1 nal input ter EXT2 signal allocation minal allocation EXT3 sig 0 to F Same as for Pn511 1 nal input ter EXT3 signal allocation minal allocation Setting Restart range power 6 15 Appendix Param eter No Pn512 Pn513 Do not change setting Pn515 Pn51B Do not change setting Pn51E Pn520 Pn522 Pn524 Pn526 Pn528 Pn529 Pn52A Do not change setting Pn52F Do not change setting FFF Parame ter name Output signal reverse Deviation counter overflow warning level Deviation counter overflow level Position ing com pleted range 1 Position ing com pleted range 2 Deviation counter overflow level at Servo ON Deviation counter overflow warning level at Servo ON Speed limit level at Servo ON Chapter 6 Explanation Setting Restart Outputsig 0 Notrewersed 0000 Yes onn nal reverse for CN1 pins 1 Reversed 1 2 Outputsig 0 Notrever
420. ute WP10030T WP20030T WP40030T WP75030T 1 000 r Incremen min tal fd 1 500 r Absolute min Control method All digital Servo PWM method based on IGBT Perfor Speed control range 1 5 000 mance Load fluctuation rate 0 01 max at 096 to 100 at rated rotation speed Voltage fluctuation rate 096 at rated voltage 10 at rated rotation speed Temperature fluctua 0 1 max at 0 to 50 C at rated rotation speed tion rate Frequency characteris 600 Hz atthe same load as the rotor inertia tics Torque control repeat 1 ability 2 52 Standard Models and Specifications Chapter 2 e 200 V AC Input Type Three phase Input Model R88D WNO5H ML2 WN10H ML2 WN15H ML2 WN20H ML2 WN30H ML2 Continuous output current rms 11 6A 18 5 A 18 9 Momentary maximum output cur 11 0 17 0 A 28 0A 42 0 A 56 0A rent rms Input Three phase 200 230 V AC 170 to 253 V 50 60 Hz E Control circuits Single phase 200 230 V AC 170 to 253 V 50 60 Hz Heating 20w 15518 val PWM frequency 10 667 kHz 8 000 kHz 4 000 kHz Weight Approx Approx Approx Approx Approx 1 4 kg 1 4 kg 2 1 kg 2 8 kg 2 8 kg Maximum applicable Servomotor 500 W 1 kW 1 5 kW 2 kW 3 kW wattage Applica 3 000 Incremen W1K030H W1K530H W2K030H W 3K030H ble Servo min tal motor Absolut W1K030T W1K530T W2K030T W3K030T Incremen WP1K530H tal Absolute wo 1 000 r Increm
421. ution N Caution N Caution N Caution N Caution N Caution N Caution N Caution 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 ter minals Connection of bare stranded wires may result in burning Always use 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 volt age 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 Take appropriate and sufficient countermeasures when installing systems in the following locations e Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subjectto possible exposure to radioactivity Locations close to power supplies Do not reverse the po
422. value 1 as the to torque feed forward command value switches zu 3 Use option command value 1 or 2 as the torque limit value according to the for ward and reverse torque limits that are specified 1 Speed com E Do not use option command value Oe alate 1 Use option command value 1 as the ing torque Speed limit value control 2 Operation fo j Use as absolute encoder Switch when using abso 1 Use as incremental encoder lute encoder 3 Notused 0 Donotchange setting 004 Func 0 Notused fo Do not change setting 0110 Yes Do not change setting fon Do not change setting HR zs 3 Not used Do not change setting switches 4 Pn006 0tol Analog moni Servomotor rotation speed 0002 tor 1 AM 1V 1000 r min i signa selec Speed command 1 V 1000 r min 02 Torque command gravity compensation i torque Pn422 1 V per 100 03 Position deviation 0 05 V 1 command unit Position amp error after electronic gear 0 05 V per encoder pulse unit 05 Position command speed 1 V 1 000 r min 07 Not used Positioning completed command Positioning completed 5 V positioning not completed 0 V S peed feed forward 1 V 1 000 r min 0A Torque feed forward 1 V per 10096 0B to IF 2 o tor 1 signal multiplier 1 10x 4 1 100 3 Notused 10 Do not change setting 4 9 Operation Chapter 4 Param raame Explanation Default Setting Restart
423. ve setting loop gain i integration torque applications mechanical 5 1 constant command system Pn102 ms filter time 101 constant ms Pn401 n 0 0 0 0 4 00 00 8 iie Re i gi Iuli inv 900 1 rives ete Medium NES 00 XY tables Cartesian coor dinate robots general pur pose machinery etc 4 100 Operation Chapter 4 Response Rigidity Position Speedloop Speed loop 1ststep 1st Representative setting loop gain integration torque applications mechanical 5 1 constant command system Pn102 ms filter time Pn101 constant ms Pn401 Ball screws direct cou pling feeders etc Note 1 Make sure that the location of the decimal point is correct when setting the parameters Note 2 The Servo System loop gain will rise in response to a higher rigidity setting shortening the positioning time If the setting is too large however the machinery may vibrate In that case make the setting smaller m Manual Tuning related User Parameters The following user parameters are set by manual tuning 100 Speed loop gain 101 Speed loop integration constant 102 Position loop gain Pn103 Inertia ratio Pn401 Iststep 1st torque command filter time constant m Manually Adjusting Servo Gain 1 Increase the speed loop gain Pn100 as much as possible without having the machinery vibrate and simultaneously reduce the speed loop integration constant Pn101 2 Adjustthe 1ststep 1st to
424. vo overflow mal operation defective Driver The Servomotors U V Correct the Servomotor and W wiring is incorrect wiring faulty connections Correct the encoder wir ing e Servo Motor gain is Increase the speed loop poorly adjusted gain Pn100 and the position loop gain Pn102 The position command Increase decrease the pulse frequency is too position command pulse high frequency slowly Use the smoothing func tion e Check the electronic gear ratio A parameter setting e Seta value other than Pn520 Deviation zero for Pn520 counter overflow level is incorrect e The load conditions e Check the load and the torque inertia do not Servomotor capacity conform to the Servomo tor specifications 8 90 I Deviation counter Occurs when the e Position deviation pulses Setso that the Servomo overflow atServo Servo is turned have accumulated exces tor does not operate with ON ON sively with the Servo the Servo OFF OFF e Set so that position devi Position deviation pulses ation pulses are cleared were not set to be when the Servo is OFF cleared with the Servo Correct the detection OFF and the Servomo level tor was operated from outside 5 33 Troubleshooting Chapter 5 Display Status when Cause of error Countermeasures error occurs e Servomotor wiring is Correct the Servomotor incorrect faulty wiring or wiring connections Overload
425. vo Driver DRV error 1 occurred DRV alarm 2 Servo Driver DRV error 2 occurred Internal command error A command error occurred in the Servo Driver Missing phase detected One phase from the three phase main circuit power supply is not connect ing 2 4 3 Terminal Block Specifications Symbol Function Main circuits power R88D WNLTH ML2 50 to 400 W L2 supply input Single phase 200 230 VAC 170 to 253 V 50 60 Hz No L3 terminal R88D WNO8H ML2 750 W Single phase 200 230 VAC 170 to 253 V 50 60 Hz Note The L3 terminal is not used so do not connect it R88D WNLIH ML2 500 W to 3 0 kW Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D WNLIL ML2 50 to 400 W Single phase 100 115 VAC 85 to 127 V 50 60 Hz No L3 terminal DC Reactor terminal R88D WNI H ML2 500 W to 3 0 kW for power supply har Normally short circuit between 1 and 2 monic control If harmonic control measures are required connect a DC Reactor between 1 and 2 Main circuit positive Used for DC power supply input terminal The RS8D WNL H ML2 500 W to 3 0 kW does not have a terminal Main circuit negative Use the 2 terminal terminal Control circuits power R88D WNLJH ML2 Single phase 200 230 V AC 170 to 253 V AC L2C supply input 50 60 Hz R88D WNI IL ML2 Single phase 100 115 V AC 85 to 127 V AC 50 60 Hz External regeneration R88D WNI IH ML2 50 to 400 W resistance connection R88D WNLJ
426. vo Drivers themselves e Ambient operating humidity 2096 to 9096 with no condensation e Atmosphere No corrosive gases m Ambient Temperature e 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 ambi ent temperature to rise inside the entire closed space Use a fan or a air conditioner to prevent the ambient temperature of the Servo Driver from exceeding 55 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 System Design and Installation Chapter 3 e The service life of a Servo Driver is largely determined by the temperature around the internal elec trolytic capacitors The service life of an electrolytic capacitor is affected by a drop in electrolytic vol ume and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements If a Servo Driver is always operated at the maximum ambient temperature of 40 and at 80 of the rated torque then a service life of approximately 50 000 hours can be expected A drop of 10 C in the ambient temperature will double the expected service life m Keeping Foreign Objects Out of Units Place
427. vo ready output ON if no errors are discovered after powering All READYCOM the main circuits CLIMT Current limit detec ON if the output current is limited CLIMTCOM tion output VLIMT Speed limit detec N if the speed is limited Torque 5 tion output BKIR WOO Brake interlock Holding brake timing signals are output accord All BKIRCOM output ing to user parameters P n506 P n507 and Pn508 WARN Warning output ON when an overload warning or regeneration All WARNCOM overload warning is detected S oou General purpose Allocations are set by the user parameters All 23 502 outputs Not allocated 24 SO2 5 503 italica 6 SO 3 S hell x Frame ground Connection terminal for cable s shielded wire JA and FG line Note 1 Output signal INP1 INP2 VCMP TGON READY CLIMT VLIMT BKIR and WARN func tions can be allocated to pin Nos 1 to 2 or 23 to 26 501 to S03 by setting parameters Pn50E to Pn510 Note 2 The numbers in parentheses show the default pin number allocations Terminal names are shown in brackets Ww NS TI 2 62 Standard Models and Specifications Chapter 2 CNI Pin Arrangement Brake inter 1 BKIR SO1 4 lock output See note 1 BKIRCOM Brake inter 2 lock output See note 1 SO1 Servo alarm 3 ALM output Servo alarm 4 ALMCOM output Sequence 24V IN Signal control Forward drive P po
428. voltage per 10 m of cable R88D WNA5L ML2 WNA5L ML2 3 0 mA 0 5 mA 10 667 kHz Single phase 5 0 mA R88D WNOA4L ML2 WNOAL ML2 WNA5H ML2 Single phase WNO1H ML2 8 0 mA R88D WNOA4H ML2 WNO4H ML2 WNO5H ML2 Rea WNO8H ML2 IU R88D WN15H ML2 WNI5H ML2 Um Lois ALME WN20H ML2 RESD WN3OH ML2 Note 1 Values indicated with asterisks are measured using the UL J IS methods 3 30 System Design and Installation Chapter 3 Note 2 The installation conditions of the power cable and the measurement methods greatly affect these values Use these values only for reference The values differ by a factor of approxi mately 3 between standard breakers and inverter breakers Leakage Breaker Connection Example AC power Leakage Servo Driver Supply side No fuse breaker Surge absorber breaker Noise filter side m improving Encoder Cable Noise Resistance The OMNUC W Series uses serial encoders with phase S signals from the encoder The phase S communications speed is 4 Mbits s In order to improve the encoder s noise resistance take the following measures for wiring and instal lation e Always use the specified Encoder Cables f lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition always use shielded cable Do not coil cables If cables are long and are coil
429. vomotor N i Cena N 27 4 S ervomotor re Cena t 28 4 For Servomotors without Brakes Servo Driver S ervomotor No Symbol able No Symbol Connector cap 350780 1 Tyco Electronics KK Red White Connector socket mm Pins 1 to 3 350551 6 Tyco Electronics AMP KK Pin 4 350551 3 Tyco Electronics AMP KK Green Y ellow Servomotor aD 4 FG Cable AWG14 x 4C UL2463 4 FG Connector plug 350779 1 Tyco Electronics AMP KK M4 crimp Connector pins 1 to 3 350547 6 Tyco Electronics AMP KK termina Connector pin 4 350669 1 Tyco Electronics AMP KK For Servomotors with Brakes Servo Drivers S ervomotors Red Symbol Cable imm Connector plug 350781 1 Tyco Electronics AMP KK Ite Connector socket Blue Pins 1 to 3 350551 6 Tyco Electronics AMP KK Green Y ellow Pins 4 to 6 350551 3 Tyco Electronics AMP KK E Servomotor poet Connector plug 350715 1 Tyco Electronics AMP KK Brown Connector pins 1 to 3 350547 6 Tyco Electronics AMP KK OO 6 Brake MA cr Cable AWG14 x 6C UL2463 Connector pin 4 350669 1 Tyco Electronics AMP KK Connector pins 5 and 6 350690 3 Tyco Electronics KK 2 106 Standard Models and Specifications Chapter 2 R88A CAWC The R88A CAWCL Cables are for 3 000 r min Servomotors 1 to 2 kW 1 000 r min Servomotors 300 to 900 W and 1 500 r min Servomotors 450 W to 1 3 kW e Cable Models For Servomotor
430. wer Do not change Do not change Be Do rot change sen poo i i Ff Pn304 09 EET rotation TT jog operation r min 0 to 10000 Pn305 Soft start Sets time during speed control soft start 0 to accelera 10000 tion time Pn306 Soft start Sets deceleration time during speed control soft start 0 to decelera 10000 tion time 4 14 Operation Chapter 4 Param Parameter Explanation Default Setting Restart j eter No name EL d Explanation setting range power Do not change seting Speed feed Sets constant during filter of speed feedback x0 01ms 0 to back filter 65535 time con Stant Vibration Vibration m 3 Vibration detection not used 0000 detection detection switches selection AE es nang A 911 when vibra Gives warning A 520 a ee vibra tion is EU Notused o Domotchangeseting 2 o Domotchangesetin 3 Notused Not Notused 0 Do not change setting not change setting not change setting Pn311 Vibration Sets the vibration detection sensitivity 50 to detection 500 sensitivity Vibration Sets the vibration detection level r min 0 to detection 5000 level m Torque Control Parameters from Pn400 Param Parameter Explanation Default Setting Restart i eter No name Explanation setting range power Notusei Donatchangeseting
431. wer supply 7 POT SI1 prohibit input See note 1 BAT absolute Backup bat tery input See note 3 Ground common Encoder phase A output Encoder phase B output Encoder phase Z Backup bat tery input See note 3 Encoder phase A output Encoder phase B output Encoder phase Z output Switch signal See note 1 External latch 11 EXT2 SI5 signal 2 See note 1 General 13 510 purpose input See note 1 Note 1 Function allocations for pin 7 to 13 sequence inputs and pin 1 2 and 23 to 26 sequence outputs can be set by means of user parameters Pn50A Pn50B Pn511 and Pn50E to Pn510 respectively The allocations shown in this table are the defaults Note 2 Do not wire the empty pins Note 3 When using an absolute encoder connect a battery 2 8 to 4 5 V either to the backup bat tery inputs at pin Nos 14 and 15 or to the absolute encoder battery cable Do not connect it to both of these locations General pur pose output See note 1 External latch output 1 514 signal 1 See note 1 General pur pose output E xternal latch See note 1 EXT3 SI6 signal 3 See note 1 General pur pose output See note 1 General pur pose output See note 1 Reverse drive Origin return 512 DEC SI3 deceleration e CN1 Connectors 26P Servo Driver receptacle 10226 52 2 L Sumitomo Cable solder plug 1012
432. when replacing the S ervomotor the absolute data in the absolute encoder will be cleared so you need to resetthe data Also the multi turn data will be different from before the Servo Driver was replaced If the host device is a CS 1W MCH71 or CJ 1W MCH 71 make the initial settings for the host device Note Referto 4 2 2 Absolute Encoder Setup and Battery Changes for details Troubleshooting Chapter 5 5 2 Alarms If the Servo Driver detects an error ALM alarm output and ALO1 to ALO3 alarm codes are output the power drive circuit in the Servo Driver turns OFF and the alarm is displayed If the Servo Driver detects a warning e g overload warning or regenerative overload warning WARN warning output and ALO1 to ALO3 warning codes are output and the warning is displayed Operation continues Note 1 Warning outputs and warning codes are output only if the parameters have been set Pn50F 3 Pn001 1 Note 2 Referto 5 3 1 Error Diagnosis Using Alarm Display for appropriate alarm countermeasures Note 3 Cancelthe alarm using one of the following methods Remove the cause of the alarm first e Turn OFF the power supply then turn it ON again e Inputa RESET signal from the host device The following alarms can only be cancelled by turning OFF the power supply then turning it ON again A 02L I A 04L A 100 A 810 A 820 A 840 A 850 A 860 A bL IL A C8L I A C9L I A CAO A Cb0 A CCO A E02 A E07 A E
433. xceeded even during operation If a Servo motor is used under a shaft load exceeding the allowable limit the Servomotor shaft can break the bearings can burn out and other problems can occur m Servo Drivers Recommended Periodic Maintenance Aluminum analytical capacitors 50 000 hours at an ambient Servo Driver operating temperature of 40 C rated operation rated torque installed as described in operation manual Axle fan 30 000 hours atan ambient Servo Driver operating temperature of 40 and an ambient humidity of 6596 5 45 Troubleshooting Chapter 5 Absolute encoder backup battery 50 000 hours at an ambient Servo Driver operating tempera ture of 20 C e When using the Servo Driver under the continuous operation mode cool the Servo Driver with fans and air conditioners to maintain an ambient operating temperature below 40 C e The life of aluminum analytical capacitors is greatly affected by the ambient operating temperature Generally speaking an increase of 10 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 f the Servomotor or Servo Driver is not to be used for a long time or if they are to be used under conditions worse than those described above a periodic inspection schedule of five years is recom mended Ple
434. y a very large about 100 times larger leakage current will flow through the noise filters condenser and the Servo Driver could be damaged e Harmonic Current Countermeasures Reactor The AC Reactor is used for suppressing harmonic currents It Suppresses sudden and quick changes in electric currents n September 1994 the Ministry of International Trade and Industry established guidelines for the suppression of harmonic waves emitted from home and general electric appliances To comply with the guidelines appropriate measures are required to suppress the influence of harmonic waves on power supply lines e Select the proper AC Reactor or DC Reactor model according to the Servo Driver that is to be used Servo Drive AC Reactor RSSD JWNOILML2 RS8A wXS0SS 20 200 RSSDJWNOZLML2 RSSA PXSOSM 30 50 DC Reactor RSSD JWNOSH MI2 Resa Px5061 20 _ RSSD WNIOH MI2 5061 20 _ RBSD WN2OH ML2 RBSA PXSOG0 88 RSSD WN3OH MI2 REBA PXSOSS 140 i 3 22 System Design and Installation Chapter 3 AC Reactor Connection Example DC Reactor Connection Example Servo Driver Servo Driver Powersupply AC Reactor DC Reactor R88D WNA5LI ML2 to WNOAIL R88D WNO5H ML2 to WN30H ML2 3 2 5 Wiring for Conformity to EMC Directives When the wiring conditions provided in this section are satisfied the wiring will conform to EMC Directives EN55011 Class A Group 1 EMI EN61000 6 2

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