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Chapter 2 System Design and Installation

1. Noise filter E NE Main circuit g 4 power supply ON Main circuit connector OFF 2s Class 3 ground e S ime to 100 Q or less MC X Surge killer a x E oe PL Servo error displa e par imc Of 2 R88D CAU S 9 S OMNUC U series CAU B OMNUC U series AC Servo Driver Power Cable AC Servomotor mm E E IMMET L ira a T24VDC 7 7 Q e l aoe OT UC v CN1 i M 34 ALM w 24VDC LL 5 85 ALMCOM 10 i X to 100 Q or less d 2e O R88A CRU C Incremental ES CN1 CN2 R88A CSU C Absolute 9 Encoder Cable 2 Ld E o E pu D e 2 CN1 R88A CPU S BKIR 7 08 General purpose 24 VDC Control Cable OGND 10 0 2 38 System Design and Installation Chapter2 Connecting a Regeneration Unit Note Note Note Note Single phase 200 230 VAC 50 60 Hz R88D UA H A or 100 115 VAC 50 60 Hz R88D UALILIL A R T OMNUC U series Servo Driver IMC O 0 i S I a SBO Eu 034 ALM 035 ALMCOM LOS 12 to 24 VDC OFF External regeneration IMC x i resistor O C O O ON L O O R88A RG08UA Regeneration Unit Remove the short bar from between the RG and JP ter
2. Note Refer to Chapter 5 Specifications for connector and cable specifications 2 40 System Design and Installation Chapter2 m Connecting to a Servo Controller Servo Controller General purpose Control Cable R88A CPU S OMNUC U series AC Servo Driver Model conforming to EC Directives Power Cable R88A CAU001 R88A CAU01B OMNUC U series AC Servomotor Encoder Cable Model conforming R88A CRUD C to EC Directives Incremental ES Incremental B E Note Refer to Chapter 5 Specifications for connector and cable specifications 2 41 System Design and Installation Chapter2 2 3 2 Wiring Terminal Blocks Provide proper wire diameters ground systems and noise resistance when wiring terminal blocks Wiring Terminal Blocks o rA D n Ko E LL 27 2 iS N SS To Motor E Power Cable R88A CAU001 R88A CAUO B with brake The broken lines indicate signal lines for the brake There is no polarity on these lines Terminal Name Function label L1 Power supply The commercial power supply input terminals for the main circuit and the input control circuitry L2 R88D UALILIV Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UALILIV Single phase 100 115 VAC 85 to 127 V 50 60 Hz Main circuit DC When th
3. Encoder adapter Motor plug Four 7 dia 90 dia 4 70h7 dia 2105 40 250 5 2 14 System Design and Installation Chapter m AC Servomotors EC Directives with Incremental Encoders e 30 W 50 W 100 W Standard Models R88M U03030VA S1 R88M U05030VA S1 R88M U10030VA S1 R88M U03030WA S1 R88M U05030WA S1 R88M U10030WA S1 300 30 wo 30h7 dia e 30 W 50 W 100 W Models with Brake R88M U03030VA BS1 R88M U05030VA BS1 R88M U10030VA BS1 R88M U03030WA BS1 R88M U05030WA BS1 R88M U10030WA BS1 00530 Four R3 7 46 dia 4 L 30h7 dia OST L Model R88M U03030VA S1 94 5 69 5 6 R88M U03030VA BS1 126 101 31 5 6 R88M U03030WAS1 R88M U03030WA BS1 R88M U05030VA S1 102 0 77 0 6 R88M U05030VA BS1 133 5 108 5 31 5 6 R88M U05030WA S1 R88M U05030WA BS1 R88M U10030VA S1 119 5 94 5 8 R88M U10030VA BS1 160 135 40 5 8 R88M U10030WA S1 R88M U10030WA BS1 System Design and Installation Chapter m AC Servomotors EC Directives with Incremental Encoders Contd e 200 W 300 W 400 W Standard Models R88M U20030VA S1 R88M U40030VA S1 R88M U20030WA S1 R88M U30030WA S1 300230
4. e 200 W 300 W 400 W Models with Brake R88M U20030HA B R88M U40030HA B R88M U20030LA B R88M U30030LA B 300 30 Encoder adapter Motor plug Four R5 3 Models with Brake Model L R88M U20030HA 126 5 96 5 R88M U20030HA B R88M U20030LA R88M U20030LA B R88M U40030HA 154 5 124 5 R88M U40030HA B R88M U30030LA R88M U30030LA B 2 10 Chapter System Design and Installation AC Servomotors with Incremental Encoders Conforming to UL cUL Standards and Not Conforming to Any Standards Contd e 750 W Standard Models R88M U75030HA 300430 Encoder adapter Motor plug 21 f 300 30 15 Four R8 2 j 16h6 di 90 dia 70h7 dia Encoder adapter Motor plug Four R8 2 16h6 T 70h7 dia 2 11 System Design and Installation Chapter AC Servomotors with Absolute Encoders Conforming to UL cUL Standards and Not Conforming to Any Standards e 30 W 50 W 100 W Standard Models R88M U03030TA R88M U05030TA R88M U10030TA R88M U03030SA R88M U05030SA R88M U10030SA Encoder adapter Motor plug 46 dia 53 dia e 30 W 50 W 100 W Models with Brake R88M U03030TA B R88M U05030TA B R88M U10030TA B R88M U03030SA B R88M U0503
5. Four 5 5 dia Four R5 3 14h6 dia e 50h7 dia F LL 30 L Standard Models Models with Brake Model L LL Model L R88M U20030XA S1 R88M U20030XA BS1 R88M U20030YA S1 R88M U20030YA BS1 R88M U40030XA S1 R88M U40030XA BS1 R88M U30030YA S1 R88M U30030YA BS1 2 19 System Design and Installation Chapter2 m AC Servomotors EC Directives with Absolute Encoders Contd e 750 W Standard Models R88M U75030XA S1 300 30 Four R8 2 Four 7 dia 16h6 dia Bt s i z 70h7 dia i 55 166 40 Four R8 2 Four 7 oia 16h6 dia 90 dia e 70h7 dia 80 210 5 40 ate L 2905 2 20 System Design and Installation Chapter2 m Shaft Dimensions of Motors With Keys Incremental and Absolute Standard U series AC Servomotors do not have keys on the shafts The dimensions of motors with keys produced on order are shown below Motors with keys are indicated by adding S1 to the end of the model number Key slots are based on JIS B1301 1976 e 30 W 50 W Models Standard R88M U03030 S1 R88M U05030 S1 With Brake R88M U03030 BS1 R88M U05030 BS1 14 Dia 6h6 12 Standard R88M U10030 S1 air With Brake R88M U10030
6. 14h6 dia Four 5 5 dia x N Four R5 3 Red C i S m L 507 dia po 3 b Li ES 4 E 19 lli hI Exc SN RRS SSE LL 30 e 200 W 300 W 400 W Models with Brake R88M U20030VA BS1 R88M U40030VA BS1 R88M U20030WA BS1 U30030WA BS1 300 30 Four R5 3 BSE D SSS SSS SASS SSS Model R88M U20030VA S1 R88M U20030WA S1 R88M U20030VA BS1 R88M U20030WA BS1 R88M U40030VA S1 R88M U30030WA S1 2 16 R88M U40030VA BS1 R88M U30030WA BS1 Chapter Four R8 2 Four R8 2 Four 7 dia th Incremental Encoders Contd 40 ives WI 300 30 145 185 S o N a 2 o ra 70h7 dia RONAN SSS ee URS AEN 77 L NNNNNNSNS INNNNNNNNNNNNNNNN GAARA g 7 System Design and Installation e 750 W Standard Models R88M U75030VA S1 e 750 W Models with Brake R88M U75030VA BS1 m AC Servomotors EC Direct NSSSESSSESSNSSTS ANSANS RRS RAV SEG aay PERRY 2 17 40 189 5 229 5 System Design and Installation Chapter2 m AC Servomotors EC Directives with Absolute Encoders e 30 W 50 W 100 W Standard Models R88M U03030XA S1 R88M U050
7. Chapter 2 System Design and Installation 2 1 2 2 2 3 Installation Wiring Products Conforming to UL cUL and Wiring Products Not Confrorming to Any Standards Wiring Products Conforming to EC Directives System Design and Installation Chapter2 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 caution N Caution 2 2 Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Doing so may result in fire Be sure to install the product in the correct direction Not doing so may result in mal function Provide the specified clearances between the Servo Driver and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply any strong impact Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure that all the mounting screws terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to termi nals Connection of bare stranded wir
8. 24 VDC G7L 2A BUBJ 25A 24 VDC 200 to 240 VAC J7AN E3 15A 120A 24 VDC LC1 D093A60 11A 200 A 24 VDC 200 220 VAC 200 to 240 VAC e Leakage Breakers e Select leakage breakers designed for inverters e Since switching operations take place inside the Servo Driver high frequency current leaks from the armature of the Servomotor With inverter leakage breakers high frequency current is not detected preventing the breaker from operating due to leakage current e When selecting leakage breakers also remember to add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on e For detailed information about the selection methods of leakage breakers refer to catalogs provided by manufacturers 2 35 System Design and Installation Chapter2 e The following table shows the Servomotor leakage currents for each Servo Driver Driver Leakage current direct Leakage current resistor capacitor including high frequency current in commercial power supply fre quency range R88D UAO2H to UAO8H 80 mA 3 mA R88D UA12H 60 mA 4 mA R88D UA20H 110 mA 5 mA Note 1 Leakage current values shown above are for motor power lines of 10 m or less The values will change depending on the length of power cables and the insulation Note 2 Leakage current values shown above are for normal temperatures and humidity The values w
9. case 2 000 V rms 50 60 Hz 60 s Insulation resistance Between terminals and case 6 000 MQ min at 500 VDC Leakage current Attenuation characteristi c max 0 6 mA at 250 V rms 60 Hz Normal Com MHz 0 5 to 30 mon MHz 0 2 to 30 0 6 to 30 0 3 to 30 0 7 to 30 0 4 to 30 The appearance of the noise filters is shown below Screw terminals are used 100 2 8441 74 7 0 5 63 531 50 81 Five M4 2 47 System Design and Installation Chapter2 e Surge Killers Install surge killers for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows types of surge killers and recommended products Features Recommended products Diode Diodes are relatively small devices such as relays used Use a fast recovery diode with a for loads when reset time is not an issue The reset time short reverse recovery time is increased because the surge voltage is the lowest Fuii Electric Co ERB44 06 or eauiv when power is cut off Used for 24 48 VDC systems SIE q Thyristor Thyristor and varistor are used for loads when induction Select varistor voltage as follows or coils are large as in electromagnetic brakes solenoids 24 VDC system varistor 39 V Varistor etc and when reset time is an issue The surge voltage 100 VDC system vari tor 200 V when power is
10. Controller power supply Controller oogooooQQeQ Grounding plate Note 1 The cable winding for the ferrite core must be 1 5 turns Note 2 Remove the sheath from the cable and ground it directly to the metal plate at the clamps e Ground the motor s frame to the machine ground when the motor is on a movable shaft e Use the grounding plate for the protective earth for each Unit as shown in the illustration and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible e f no fuse breakers MCCB are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring 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 2 44 System Design and Installation Chapter2 e No fuse breakers MCCB surge absorbers and noise filters NF should be positioned near the input terminal block ground plate and I O lines should be isolated and wired using the shortest means possible e Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control panel whenever possible Good Separate input and output NO Noise not fi
11. Installation dimensions gt Two M4 2 7 System Design and Installation Chapter Parameter Units e R88A PRO2U Two 4 5 dia e R88A PROSU 2 8 System Design and Installation Chapter AC Servomotors with Incremental Encoders Conforming to UL cUL Standards and AC Servomotors Not Conforming to Any Standards e 30 W 50 W 100 W Standard Models R88M U03030HA R88M U05030HA R88M U10030HA R88M U03030LA R88M U05030LA R88M U10030LA 300 30 Encoder adapter Motor plug Four R3 7 Two 4 3 dia 46 dia 4 e 30 W 50 W 100 W Models with Brake R88M U03030HA B R88M U05030HA B R88M U10030HA B R88M U03030LA B R88M U05030LA B R88M U10030LA B 30 Four R3 7 Models with Brake L L LL R88M U03030HA R88M U03030HA B R88M U03030LA R88M U03030LA B R88M U05030HA R88M U05030HA B R88M U05030LA R88M U05030LA B R88M U10030HA R88M U10030HA B R88M U10030LA R88M U10030LA B 2 9 System Design and Installation Chapter AC Servomotors with Incremental Encoders Conforming to UL cUL Standards and Not Conforming to Any Standards Contd e 200 W 300 W 400 W Standard Models R88M U20030HA R88M U40030HA R88M U20030LA R88M U30030LA 300 730 EM Encoder adapter e Motor plug Four 5 5 dia Four R5 3
12. e Oil Seals If the motor shaft is exposed to oil or grease use a Servomotor with oil seals Contact your OMRON representative for details 2 24 System Design and Installation Chapter2 e Other Precautions e Do not apply commercial power directly to the Servomotor The Servomotors run on synchronous AC and use permanent magnets Applying 3 phase power will burn out the motor coils e Do not carry the Servomotor by its cable otherwise the cable may become disconnected or the cable clamp may become damaged e Take measures to prevent the shaft from rusting The shafts are coated with anti rust oil when shipped but anti rust oil or grease should also be applied when connecting the shaft to a load e Absolutely do not remove the encoder cover or take the motor apart The magnet and the encoder are aligned in the Servomotor If they become misaligned the motor will not operate 2 25 System Design and Installation Chapter2 2 2 Wiring Products Conforming to UL cUL and Wiring Products Not Confrorming to Any Standards 2 2 1 Wiring to an OMRON Controller Use the dedicated control cables and a general purpose control cable purchased separately to con nect U series AC Servomotors and Servo Drivers to Position Control Units SYSMAC C CV series Position Control Units Position Control Unit for SYSMAC C series Programmable Controllers C500 NC222 E SYSMAC C series Programmable Controller General purpose Control
13. shaft When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity and Sh A Motor shaft center line Shaft core variation displacement Recommended Coupling Oldham coupling Myghty Co Ltd e For spur gears an extremely large radial load may Ball screw center line Adjust backlash be applied depending on the gear precision Use by adjusting the spur gears with a high degree of accuracy for exam distance between ple JIS class 2 normal line pitch error of 6 um max Backlash ibi n for a pitch circle diameter of 50 mm If the gear preci c sion is not adequate allow backlash to ensure that no radial load is placed on the motor shaft 2 23 System Design and Installation Chapter2 e Bevel gears will cause a load to be applied in the thrust direction depending on the structural preci sion the gear precision and temperature changes Provide appropriate backlash or take other mea sures to ensure that no thrust load is applied which exceeds specifications Make moveable 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 e When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifi
14. 0SA B R88M U10030SA B Encoder adapter Motor plug Four R3 7 Sh6 dia Two 4 3 dia x 46 dia 7 53 dia 30h7 dia Standard Models Models with Brake Model L LL S Model L LL LB S R88M U03030TA 117 5 92 5 6 R88M U03030TA B 149 124 31 5 6 R88M U03030SA R88M U03030SA B R88M U05030TA 125 100 6 R88M U05030TA B 156 5 131 5 31 5 6 R88M U05030SA R88M U05030SA B R88M U10030TA 142 5 117 5 8 R88M U10030TA B 183 158 405 8 R88M U10030SA R88M U10030SA B 2 12 System Design and Installation Chapter AC Servomotors with Absolute Encoders Conforming to UL cUL Standards and Not Conforming to Any Standards Contd e 200 W 300 W 400 W Standard Models R88M U20030TA R88M U40030TA R88M U20030SA R88M U30030SA Encoder adapter Motor plug e 200 W 300 W 400 W Models with Brake R88M U20030TA B R88M U40030TA B R88M U20030SA B U30030SA B Encoder adapter Motor plug Model R88M U20030TA R88M U20030TA B R88M U20030SA R88M U20030SA B R88M U40030TA R88M U40030TA B R88M U30030SA R88M U30030 SA B System Design and Installation Chapter2 AC Servomotors with Absolute Encoders Conforming to UL cUL Standards and Not Conforming to Any Standards Contd e 750 W Standard Models R88M U75030TA Encoder adapter Motor plug
15. 2 0 mm external ground wires Use the same wire as used for the motor output Note If the cable length is 15 meters or longer for a 750 W Servomotor the momentary maximum torque at rota tion speeds of 2 500 r min or higher may drop by approximately 7 e Servo Drivers with 100 VAC Input R88D UA W Driver model R88D UA03W R88D UA04W R88D UA10W R88D UA12W R88D UA15W Watts 30 W 50 W 100 W 200 W 300 W Power supply input cur 2 0A 2 6A 4 5 A 8 0A 10 0A rent L1 L2 Motor output current U 0 63A 0 7A 22A 2 7 A 3 7 A V W Power supply input ter 0 75 mm or AWG 18 min 1 25 mm 2 mm minal wire size Motor output terminal wire size 0 5 mm or AWG 20 AWG 20 to AWG 18 AWG22 to AWG18 Use OMRON standard cable AWG20 The applicable wire size for motor connectors is Protective earth termi nal wire size Wire Sizes and Allowable Current The following table shows allowable currents when there are three electrical wires Use values equal to or lower than the specified values Use 2 0 mm external ground wires Use the same wire as used for the motor output e Heat resistant Vinyl Wiring UL1007 Rated Temperature 80 C Reference Value AWG size Nominal cross Configuration Conductive Allowable current A for sectional area wires mm resistance ambient temperature mm Q km 40 C 50 C 60 C 20 0 5 19 0 18 39
16. 30XA S1 R88M U10030XA S1 R88M U03030YA S1 R88M U05030YA S1 R88M U10030YA S1 E 300x 30 p P M Y N E Mrz d 300 30 1 EX mE Sh6 dia Four R3 7 RET Two 4 3 dia ht 4i i 46 dia 53 dia LE 30h7 dia 56 10 LL 25 L e 30 W 50 W 100 W Models with Brake R88M U03030XA BS1 R88M U05030XA BS1 R88M U10030XA BS1 R88M U03030YA BS1 R88M U05030YA BS1 R88M U10030YA BS1 300480 21 Four R3 7 46 dia f i A 53 dia f Wi 30h7 dia A A Models with Brake Model L LL R88M U03030XA S1 R88M U03030XA BS1 R88M U03030YAS1 R88M U03030YA BS1 R88M U05030XA S1 R88M U05030XA BS1 R88M U05030YA S1 R88M U05030YA BS1 R88M U10030XA S1 R88M U10030XA BS1 R88M U10030YA S1 R88M U10030YA BS1 2 18 System Design and Installation Chapter AC Servomotors EC Directives with Absolute Encoders Contd e 200 W 300 W 400 W Standard Models R88M U20030XA S1 R88M U40030XA S1 R88M U20030YA S1 R88M U30030YA S1 300 30 g U ya K 7 12 6 14h6 dia Four 5 5 dia Pus R5 3 um SS ISO ASRS NEN RSS SERS e 200 W 300 W 400 W Models with Brake R88M U20030XA BS1 R88M U40030XA BS1 R88M U20030YA BS1 U30030YA BS1 300 30
17. 471 W 470 V 775N 5 000A 150 J Block Ishizuka Z10L471 470 V 773 V 1 000A 15 Wes 3to5A Disk e Z15L471 470 V 738 V 1 250 A 20 Wes 3to5A Z21L471 470 V 733 V 3 000 A 30 Wes 510 10A Z25M471S 470 V 810 V 10 000A 235 J Block Okaya R A V 783 V 1 000 A Block Electric Ind 781BWZ 2A R A V 783 V 1 000 A 781BXZ 2A R A V 620 V 1 000 A 401 621BYR 2 Note 1 The W Matsushita models are UL and CSA certified Note 2 Refer to manufacturers documentation for operating details 2 33 System Design and Installation Chapter2 Note 3 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber Note 4 The energy resistance is the value for 2 ms It may not be possible to retard high energy pulses at less than 700 V In that case absorb surges with an insulated transformer or reactor e Noise Filters for Power Supply Input Use a noise filter to attenuate extraneous noise and to diminish noise radiation from the Servo Driver Select a noise filter with a load current of at least twice the rated current The following table shows noise filters that reduce by 40 dB noise between 200 kHz and 30 MHz Maker Model Rated current Remarks Tokin LF 210N 10A For single phase LF 215N 15A LF 220N 20A To attenuate noise at frequencies of 200 kH or less use an insulated transformer and a noise filter For high frequencies of 30 MHz or
18. 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 2 43 System Design and Installation Chapter2 2 3 3 Wiring Products Conforming to EMC Directives Model conforming to EC Directive will meet the requirements of the EMC Directives EN55011 Class A Group 1 EMI and EN50082 2 EMS if they are wired under the conditions described in this section If the connected devices wiring and other conditions cannot be made to fulfill the installation and wiring conditions when the product is incorporated into a machine the compliance of the overall machine must be confirmed The following conditions must be met to conform to EMC Directives e The Servo Driver must be installed in a metal case control panel Noise filters and surge absorbers must be installed on all power supply lines e Shielded cables must be used for all I O signal lines and encoder lines Use tin plated soft copper wires for the shield weaving e All cables leaving the control panel must be wired in metal ducts or conduits with blades e Ferrite cores must be attached to the shielded cable and the shield must be clamped directly to the ground plate to ground it Wiring Methods Control panel i Metal plate i Brake pow er supply Metal AC power ductor supply conduit Metal duct or conduit Surge NFB absorber Ground 100 Q max
19. BS1 14 Dia 8h6 1 8 i T e 100 W Models e 200 W 300 W 400 W Models Standard R88M U20030 81 R88M U40030 S1 R88M U30030 1 S1 With Brake R88M U20030 BS1 R88M U40030 BS1 R88M U30030 i BS1 20 Dia 14h6 e 750 W Models Standard R88M U75030 S1 With Brake R88M U75030 BS1 Dia 16h6 2 21 System Design and Installation Chapter2 2 1 2 Installation Conditions AC Servo Drivers e 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 Mount the Servo Drivers vertically so that the model number and writing can be read ua 7 Fan Fan 50 mm min 7 h 7 A E E E Side of Unit 7 2 8 2 7 W D D D h W Ww i y 30 mm min f W 10 mm min SOUPE 7 ZUM e Operating Environment Be sure that the environment in which Servo Drivers are operated meets the following conditions e Ambient oper
20. Cable R88A CPU S OMNUC U series AC Servo Driver Power Cable R88A CAU R88A CAU Uc Encoder Cable R88A CRU Incremental OMNUC U series AC Servomotor ma incremental Note Refer to Chapter 5 Specifications for connector and cable specifications 2 26 System Design and Installation Chapter SYSMAC CV series Motion Control Units CV500 MC221 CV500 MC421 C200H MC221 Motion Control Unit SYSMAC C CV series Programmable Controller Special Cables R88A CPU M1 for one axis control R88A CPU M1 for two axis control OMNUC U series AC Servo Driver Encoder Cable Power Cable R88A CRU C R88A CAU S OMNUC U series Incremental R88A CAU B AC Servomotor R88A CSU C Incremental or Absolute Absolute Note Refer to Chapter 5 Specifications for connector and cable specifications 2 27 System Design and Installation Chapter2 OMNUC N115 N116 U43 and U45 U43 U45 Controller ae R88A CPU for N115 N116 He and U45 OMNUC U series AC Servo Driver Encoder Cable Power Cable R88A CRU C R88A CAU Incremental R88A CAU OMNUC U series AC Servomotor Incremental Note Refer to Chapter 5 Spec
21. H A UA03H A UA04H A UA08H A 200 VAC 30 to 200 W R88D UA03L A UA04L A UA10L A 100 VAC 30 to 100 W 5 rt Installation dimensions sH y 4q a m 00008000000000 i R Three M4 li Installation dimensions pus 1 9 Three M4 2 3 System Design and Installation Chapter e R88D UA20H A 200 VAC 750 W and R88D UA15LA 100 VAC 300 W LLLI a DD DIU sim c UNNI RA 35 130 90 8 m e A BH me 149 ll i em 165 4 if 6 J e System Design and Installation Chapter2 AC Servo Drivers Conforming to EC Directives e R88D UA02V UA03V UA04V UA08V 200 VAC 30 to 200 W R88D UA03W UA04W UA10W 100 VAC 30 to 100W E io 9 i dp i 165 e R88D UA12V 200 VAC 400 W and R88D UA12W 100 VAC 200W 2 5 System Design and Installation C hapter e R88D UA20V 200 VAC 750 W and R88D UA15W 100 VAC 300W rti B 160 149 System Design and Installation Chapter Regeneration Unit e R88A RG08UA 160 130
22. Hz R88D UALILIL A Single phase 100 115 VAC 85 to 127 V 50 60 Hz P Main circuit DC The terminals for connecting Regeneration Units R88A RGO8UA Connect N output these terminals when there is a high level of regenerative energy U Motor connection Red These are the output terminals to the Servomotor Be careful to wire V terminals White them correctly WwW Blue l Frame ground Green The ground terminal for both the motor output and power supply in put Ground to a class 3 ground to 100 Q or less or better Note Refer tq 3 8 Regenerative Energy Absorption for the methods to calculate regenerative energy 2 30 System Design and Installation Chapter2 Terminal Block Current and Wire Sizes The following table shows the rated effective currents flowing to the Servo Driver and the sizes of the electrical wires e Servo Drivers with 200 VAC Input R88D UA R88D UA03H A 50 W Driver R88D UA02H A H A R88D UA04H A 100 W R88D UA08H A 200 W R88D UA12H A 400 W R88D UA20H A 750 W Watts 30 W Power supply in 1 3A 1 5A 2 5A 4 0A 6 0A 11 0A put current R T Motor output cur 0 42A 0 6A 0 87 A 2 0A 2 6A 44A rent U V W 0 75 mm or AWG 18 min 1 25 mm 2 0 mm Power supply in put terminal wire size Motor output terminal wire size 0 5 mm or AWG 20 AWG 20 see note to AWG 18 Use OMRON standard cable The app
23. Incremental 2 R88A CSU C Absolute Encoder Cable R88A CPU S CN1 gt i General purpose Control Cable DIE L 24 VDC OGND 10 0 2 50
24. ating temperature 0 C to 55 C e Ambient operating humidity 35 to 85 RH with no condensation e Atmosphere No corrosive gases e Ambient Temperature e Servo Drivers should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability e Temperature rise in any Unit installed in a closed space such as a control box will cause the ambient temperature to rise inside the entire closed space Use a fan or a air conditioner to prevent the ambi ent temperature of the Servo Driver from exceeding 55 C Unit surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and keep separate any devices or wiring that are sensitive to heat 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 maxi mum ambient temperature of 55 C then a service life of approximately 50 000 hours can be ex pected A drop of 10 C in the ambient temperature will double the expected service life 2 22 System Design and Installation Chapter2 e Keeping Foreign Objects Out of Units e Place a cover over the Unit
25. cations to be placed on the motor shaft due to belt tension If an excessive radial load is ap plied the motor shaft may be damaged Set up the structure so that the radial load can be adjusted A large radial load may also be applied as a result of belt vibration Attach a brace and adjust Servo Driver gain so that belt vibration is minimized Pulle Make adjustable Tension Motor shaft Load shaft e Water and Drip Resistance e The Servomotor does not have a water proof structure Except for the connector areas the protec tive structure is covered by the following JEM The Japan Electrical Manufacturers Association standards Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards IP 42 EC Directive Models IP 44 except shaft penetration point e f the Servomotor is used in an environment in which condensation occurs water may enter inside of the encoder from the end surfaces of cables due to motor temperature changes Either take mea sures to ensure that water cannot penetrate in this way or use water proof connectors Even when machinery is not in use water penetration can be avoided by taking measures such as keeping the motor in servo lock status to minimize temperature changes e f machining oil with surfactants e g coolant fluids or their spray penetrate inside of the motor in sulation defects or short circuiting may occur Take measures to prevent machining oil penetration
26. cut off is approximately 1 5 times that of 100 VAC system varistor 270 V the varistor 200 VAC system varistor 470 V Capacitor Use capacitors and resistors for vibration absorption of Okaya Electric Ind resistor surge when power is cut off The reset time can be CR 50500 0 5 uF 50 Q shortened by proper selection of the capacitor or resis CBE 59500 0 5 uF 50 Q tor S2 A 0 0 2 uF 500 Q Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Parts e Contactors When selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Servo Driver inrush current is 50 A and the momentary maximum current is approxi mately twice the rated current The following table shows the recommended contactors Rated current Momentary maxi Coil voltage mum current e Leakage Breakers e Select leakage breakers designed for inverters e Since switching operations take place inside the Servo Driver high frequency current leaks from the armature of the Servomotor With inverter leakage breakers high frequency current is not detected preventing the breaker from operating due to leakage current e When selecting leakage breakers also remember to add the leakage current from devices other than the Servomotor such as mach
27. ere is a high level of regenerative energy in a multi axis system the output terminals can be connected together and the terminals can be connected together to increase the ability to absorb regenerative energy U Motor connection Red These are the output terminals to the Servomotor Be careful to wire V terminals White them correctly Ww Blue Frame ground Green Ground to a class 3 ground to 100 Q or less or better Note Refer tq 3 8 Regenerative Energy Absorption for the methods to calculate regenerative energy 2 42 System Design and Installation Chapter2 Terminal Block Current and Wire Sizes The following table shows the rated effective currents flowing to the Servo Driver and the sizes of the electrical wires e Servo Drivers with 200 VAC Input R88D UA V Driver R88D UAO2V R88D UA03V R88D UA04V R88D UA08V R88D UA12V R88D UA20V Watts 30 W 50 W 100 W 200 W 400 W 750 W Power supply input 1 3A 1 5A 25A 4 0A 6 0A 11 0A current L1 L2 Motor output current 0 42A 0 6A 0 87 A 2 0A 2 6A 44A U V W Power supply input 0 75 mm or AWG 18 min 1 25 mm terminal wire size Motor output terminal wire size 0 5 mm or AWG 20 AWG 20 see note to AWG 18 Use OMRON standard cable The applicable wire size for motor connectors is AWG22 to AWG18 2 0 mm2 Protective earth ter minal wire size Use
28. es 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 voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning Provide an appropriate stopping device on the machine side to secure safety A holding brake is not a stopping device for securing safety Not doing so may result in injury Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption Not doing so may result in injury Take appropriate and sufficient countermeasures when installing systems in the fol lowing locations e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies System Design and Installation Chapter 2 1 Installation 2 1 1 External Dimensions Unit mm m AC Servo Drivers Conforming to UL cUL Standards and AC Servomotors Not Conforming to Any Standards e R88D UA02
29. he rated output and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 300 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable Refer to the table ir 4 2 3 Terminal Block Wiring for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers etc to make the selection The Servo Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take into consideration the entire inrush current for the system e Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting surge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance For 200 VAC systems use a varistor voltage of 470 V The surge absorbers shown in the following table are recommended Maker Model Varistor Max limit Surge Energy Fuse Type voltage voltage immunity resistance capacity Matsushita ERZV10D471 W 470 V 775N 1 250A 45 J 3105A Disk cid ERZV14D471 W 470V 775N 2 500 A 80 J 310 10A ERZV20D471 W 470 V 775V 4 000 A 150J 5to15A ERZC20EK
30. ifications for connector and cable specifications 2 28 System Design and Installation Chapter2 2 2 2 Connector Terminal Conversion Unit The AC Servo Driver can be easily connected to the Connector Terminal Conversion Unit through a special cable without soldering Controllers XW2B 40F5 P a Connector Terminal yy Conversion Unit i Connector Cable for Connector Terminal Conversion Unit R88A CTU N OMNUC U series AC Servo Driver Encoder Cable R88A CRU C Incremental Power Cable R88A CAU R88A CAU ODM OMNUC U series AC Servomotor Incremental Note Refer to Chapter 5 Specifications for connector and cable specifications 2 29 System Design and Installation Chapter2 2 2 3 Wiring Terminal Blocks Provide proper wire diameters ground systems and noise resistance when wiring terminal blocks Wiring Terminal Blocks To Motor A Power Cable R88A CAU R88A CAU S polarity on these lines B with brake The broken lines indicate signal lines for the brake There is no p M OE ES usd ll Black Nooo LIKU Terminal Name Function label R Power supply The commercial power supply input terminals for the main circuit and the input control circuitry T R88D UALILIH A Single phase 200 230 VAC 170 to 253 V 50 60
31. ill change depending on the temperature and humidity Note 3 Leakage current for 100 VAC input Servomotors is approximately half that of the values shown above Improving Encoder Cable Noise Resistance The following encoder signals are used Incremental Encoders A B and S phase The frequency for A or B phase signals is 154 kHz max the transmission speed for S phase signals is 616 kbps Absolute Encoders A B and Z phase plus the absolute encoder signal The frequency for A or B phase signals is 76 8 kHz max the transmission speed for absolute encoder signals is 9 6 kbps Follow the wiring methods outlined below to improve encoder noise resistance e Be sure to use dedicated encoder cables e f lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition be sure to use shielded wire e Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Be sure to use cables fully extended e When installing noise filters for encoder cables use ferrite cores The following table shows the rec ommended ferrite core models Maker Name Model Tokin EMI core ESD QR 25 1 TDK Clamp filter ZCAT2032 0930 ZCAT3035 1330 ZCAT2035 0930A e Do not wire the encoder cable in the same duct as power cables and control cables for brakes sole noid
32. ines using a switching power supply noise filters inverters and so on e For detailed information about the selection methods of leakage breakers refer to catalogs provided by manufacturers e The following table shows the Servomotor leakage currents for each Servo Driver Driver Leakage current direct Leakage current resistor capacitor including high frequency current in commercial power supply fre quency range R88D UAO2V to UA08V 80 mA 3 mA R88D UA12V 60 mA 4 mA R88D UA20V 110 mA 5 mA Note 1 Leakage current values shown above are for motor power lines of 10 m or less The values will change depending on the length of power cables and the insulation 2 48 System Design and Installation Chapter2 Note 2 Leakage current values shown above are for normal temperatures and humidity The values will change depending on the temperature and humidity Note 3 Leakage current for 100 VAC input Servomotors is approximately half that of the values shown above a Improving Encoder Cable Noise Resistance Incremental Encoders A B and S phase The frequency for A or B phase signals is 154 kHz max the transmission speed for S phase signals is 616 kbps Absolute Encoders A B and Z phase plus the absolute encoder signal The frequency for A or B phase signals is 76 8 kHz max the transmission speed for absolute encoder signals is 9 6 kbps Follow the wiring methods outlined below to improve encoder n
33. lection take into consideration the entire inrush current for the system e Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting surge absorbers take into account the varistor voltage the amount of surge 2 46 System Design and Installation Chapter2 immunity and the amount of energy resistance For 200 VAC systems use a varistor voltage of 470 V The surge absorbers shown in the following table are recommended Okaya R A V 781 BYZ 2 Max limit voltage 783 V 1 000 A Electric Ind Note R A V 781BXZ 4 783 V 1 Refer to manufacturers documentation for operating details 1 000A Surge Type immunity For power supply line For power supply line grou nd 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 e Noise Filters Use the following noise filters on the power supplies for the Servo Driver and brake These filters are manufactured by Okaya Electric Ind Application 200 V 30 to 100 W 100 V 30 or 50 W Brake power supply SUP P5H EPR 4 Rated current 200 V 200 or 400 W 100 V 100 W SUP P8H EPR 4 200 V 750 W 100 V 200 or 300W SUP P10H EPR 4 Test voltage Between terminals 1 250 V rms 50 60 Hz 60 s Between terminals and
34. licable wire size for motor connectors is AWG22 to AWG18 Ground terminal wire size Use 2 0 mm external ground wires Use the same wire as used for the motor output Note If the cable length is 15 meters or longer for a 750 W Servomotor the momentary maximum torque at rota tion speeds of 2 500 r min or higher may drop by approximately 796 e Servo Drivers with 100 VAC Input R88D UA L A Driver model R88D UAOSL A R88D UAOAL A R88D UA10L A R88D UA12L A R88D UA15LA Watts 30 W 50 W 100 W 200 W 300 W Power supply input cur 2 0A 2 6A 4 5 A 8 0A 10 0A rent R T Motor output current U 0 63A 0 7A 22A 2 7A 3 7A V W Power supply input ter 0 75 mm or AWG 18 min 1 25 mm 2 mm minal wire size Motor output terminal 0 5 mm or AWG 20 AWG 20 to AWG 18 wire size Use OMRON standard cable AWG20 The applicable wire size for motor connectors is AWG22 to AWG18 Ground terminal wire size Use 2 0 mm external ground wires Use the same wire as used for the motor output Wire Sizes and Allowable Current The following table shows allowable currents when there are three electrical wires Use values equal to or lower than the specified values e Heat resistant Vinyl Wiring UL1007 Rated Temperature 80 C Reference Value AWG size Nominal cross Configuration Conductive Allowable current A for sectional area wires
35. ltered effectively 1 3 1 3 AC input NF E AC output ACinput NF E 2 4 M 2 4 Ground Ground AC output Use twisted pair cables for the power supply cables whenever possible or bind the cables L1 L1 Driver or XB Mes Driver L2 L2 Binding e Separate power supply cables and signal cables when wiring Control Panel Structure Any gaps in the cable entrances mounting screws cover or other parts of a control panel can allow electric waves to leak from or enter the control panel The items described in this section must be abided by in panel design and selection to ensure that electric waves cannot leak or enter the control panel e Case Structure Use a metal control panel with welded joints on the top bottom and all sides The case must be electri cally conductive e When assembling the control panel remove the coating from all joints or mask the joints when coat ing to ensure electrical conductivity e Be sure that no gaps are created when installing the control panel as gaps can be caused by distortion when tightening screws e Be sure there are not any electrically conductive parts that are not in electrical contact e Ground all Units mounted in the control panel to the panel case e Cover Structure e Use a metal cover Use a water proof structure as shown in the following diagram and be sure there are no gaps 2 45 System Desig
36. minals when connecting external re generation resistor If the external regeneration resistor is connected without removing the short bar the internal circuitry will be damaged Connect the external regeneration resistor to between the P and RG terminals 3 The Regeneration Unit does not conform to EC Directives Connect the ALM output so that the power supply will be interrupted when the contacts are opened The Regeneration Unit may be damaged if it is used without including a power inter ruption sequence using the ALM output 2 39 System Design and Installation Chapter2 2 3 Wiring Products Conforming to EC Directives 2 3 1 Wiring to an OMRON Controller Use general purpose control cable purchased separately to connect U series AC Servomotors and Servo Drivers models conforming to EC Directives to Motion Control Units SYSMAC C CV series Motion Control Units SYSMAC C CV series Moti Uni Programmable Controller bien conor Unt CV500 MC221 MC421 C200H MC221 Dedicated Control Cables R88A CPU M1 for 1 axis R88A CPU M2 for 2 axes ee gs shoe OMNUC U series AC Servo Driver Model conforming to i EC Directives Bem Power Cable R88A CAUOO1 R88A CAU01B OMNUC U series o AC Servomotor Model conforming to EC Directives Incremental Absolute Encoder Cable R88A CRUD C Incremental R88A CSUD Absolute
37. mm resistance ambient temperature mm Q km 40 C 50 C 60 C 20 0 5 19 0 18 39 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 2 31 System Design and Installation Chapter2 2 2 4 Wiring for Noise Resistance m Wiring Method Noise resistance will vary greatly depending on the wiring method used Resistance to noise can be increased by paying attention to the items described below Servo Driver Servomotor R88D R88M Surge Noise filter Contactor MCCB absorber X TB TB Metal duct Cy 60 e e e 1 3 OO R U i DEMNM M AC power supply Z NF Es V v O 6 2 4 O O T WwW Fuse L c ME CN2 mE RE 3 5mm2 2 mm min F 5 0 aL Class 3 ground 9j Ji Thick power line to 100 or less Ground plate l t Control board Controller power supply Z Macte 3 5 mm ground ground e Ground the motor s frame to the machine ground when the motor is on a movable shaft e Use a grounding plate for the frame ground for each Unit as shown in the illustration and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as shor
38. more use a ferrite core and a high frequency noise filter with a through type capacitor e Noise Filters for Motor Output Use noise filters without built in capacitors on the Servomotor output lines The following table shows the noise filters that are recommended for motor output Maker Model Rated Remarks current Tokin LF 310KA 10A Three phase block noise filter LF 320KA 20A ESD R 47B EMI core for radiation noise Fuji Electrochemical Co RN80UD 10 turn for radiation noise Note 1 The Servomotor output lines cannot use the same noise filters used for power supplies Note 2 Typical noise filters are used with power supply frequencies of 50 60 Hz If these noise filters are connected to outputs of 7 8 to 11 KHz the Servo Driver s PWM frequency a very large about 100 times larger leakage current will flow through the noise filter s condenser and the Servo Driver could be damaged 2 34 System Design and Installation Chapter2 e Surge Killers Install surge killers for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows types of surge killers and recommended products Features Diodes are relatively small devices such as relays used for loads when reset time is not an issue The reset time is increased because the surge voltage is the lowest when power is cut off Used for 24 48 VDC systems Recommended products Use a fas
39. n and Installation Chapter Use electrically conductive packing between the cover and the case as shown in the following dia gram Remove the coating the contact points of the packing or mask the contact points when coat ing to ensure electrical conductivity Be sure that no gaps are created when installing the cover as gaps can be caused by distortion when tightening screws Case AS Control panel Oil proof Conductive packing packing Oil proof packing Conductive packing CL Case inside m Selecting Components e No fuse Breakers MCCB When selecting no fuse breakers take into consideration the maximum output current and the inrush current The momentary maximum output for a servo system is approximately three times that of the rated output and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 300 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable Refer to the table in4 2 3 Terminal Block Wiring for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers etc to make the selection The Servo Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the se
40. oise resistance Be sure to use dedicated encoder cables e f lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition be sure to use shielded wire e Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Be sure to use cables fully extended e When installing noise filters for encoder cables use ferrite cores The following table shows the rec ommended ferrite core models Maker Name Model Tokin EMI core ESD QR 25 1 TDK Clamp filter ZCAT2032 0930 ZCAT3035 1330 ZCAT2035 0930A e Do not wire the encoder cable in the same duct as power cables and control cables for brakes sole noids clutches and valves Improving Control I O Signal Noise Resistance Position can be affected if control I O signals are influenced by noise Follow the methods outlined be low for the power supply and wiring Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular be careful not to connect two power supply ground wires Install a noise filter on the primary side of the control power supply e For speed and torque command input lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground e f the control power supply
41. s clutches and valves Improving Control I O Signal Noise Resistance Position can be affected if control I O signals are influenced by noise Follow the methods outlined be low for the power supply and wiring e Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular be careful not to connect two power supply ground wires Install a noise filter on the primary side of the control power supply 2 36 System Design and Installation Chapter2 e For speed and torque command input lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground e f the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the Servo Driver input section and the controller output section e For encoder output lines A B and Z phases plus the absolute encoder signal be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground 2 37 System Design and Installation Chapter2 2 2 5 Peripheral Device Connection Examples Connecting to Peripheral Devices R T Single phase 200 230 VAC 50 60 Hz R88D U H Single phase 100 115 VAC 50 60 Hz R88D U L A __ 0 1 2 MCCB
42. s 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 e Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of Servo Drivers m AC Servomotors e Operating Environment Be sure that the environment in which the Servomotor is operated meets the following conditions e Ambient operating temperature 0 C to 40 C e Ambient operating humidity 20 to 80 RH with no condensation e Atmosphere No corrosive gases e Impact and Load e The Servomotor is resistant to impacts of up to 10 G 98 m s2 Do not subject it to heavy impacts or loads during transport installation or positioning In addi tion do not hold onto the encoder cable or connec tor areas when transporting it e Always use a pulley remover to remove pulleys couplings or other objects from the shaft e Secure cables so that there is no impact or load placed on the cable connector areas e Connecting to Mechanical Systems e The axial loads for Servomotors are specified in sec tion 5 2 4 If an axial load greater than that specified is applied to a Servomotor it will reduce the service life of the motor bearings and may damage the motor
43. t as possible e f no fuse breakers MCCB are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring 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 MCCB surge absorbers and noise filters NF should be positioned near the input terminal block ground plate and I O lines should be isolated and wired using the shortest means possible e Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control panel whenever possible Good Separate input and output NO Noise not filtered effectively d 3 1 3 AC input NF E AC output ACinput NF 2 4 i 2 4 Ground Ground AC output 2 32 System Design and Installation Chapter2 Use twisted pair cables for the power supply cables whenever possible or bind the cables Driver or Driver TIT SE Binding e Separate power supply cables and signal cables when wiring m Selecting Components e No fuse Breakers MCCB When selecting no fuse breakers take into consideration the maximum output current and the inrush current The momentary maximum output for a servo system is approximately three times that of t
44. t recovery diode with a short reverse recovery time Fuji Electric Co ERB44 06 or equiv alent Thyristor and varistor are used for loads when induction Select varistor voltage as follows coils are large as in electromagnetic brakes solenoids etc and when reset time is an issue The surge voltage when power is cut off is approximately 1 5 times that of the varistor 39 V 200 V 270 V 470 V 24 VDC system varistor 100 VDC system varistor 100 VAC system varistor 200 VAC system varistor Okaya Electric Ind CR 50500 0 5 uF 50 Q CRE 50500 0 5 uF 50 Q S2 A 0 0 2 uF 500 Q Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Parts Use capacitors and resistors for vibration absorption of surge when power is cut off The reset time can be shortened by proper selection of the capacitor or resis tor resistor e Contactors When selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Servo Driver inrush current is 50 A and the momentary maximum current is approxi mately twice the rated current The following table shows the recommended contactors Maker Model Rated current Momentary maxi Coil voltage mum current OMRON G6C 2BND 10A 24 VDC LY2 D 10A
45. wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the Servo Driver input section and the controller output section e For encoder output A B and Z phase plus the absolute encoder signal lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground 2 49 System Design and Installation Chapter2 2 3 4 Peripheral Device Connection Examples Connecting to Peripheral Devices R T Single phase 200 230 VAC 50 60 Hz R88D U V Single phase 100 115 VAC 50 60 Hz R88D U W i Ed MCCB 1 2 Noise filter p WE Main circuit 3 4 power supply ON Main circuit connector OFF ae Class 3 ground ele 9o we to 100 Q or less 1MC X Surge killer o0 o0 X ee PL Servo error display 1MC M R88D CAUO01 el e OMNUC U series CAU001B OMNUC U series AC Servo Driver XB Power Cable AC Servomotor Soe is Ll ame iB T24VDC 4 B O e r Q L2 U CN1 vo 34 ALM w l 24VDC t i L A35 ALMCOM X On 2s ON 9 Class 3 ground 8 CN1 CN2 to100 Q or less 2 E E 8 ur o o R88A CRU C

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