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Omron SmartStep Servo Drive User Manual

1. External dimensions Mounted dimensions mM ss TERR iF Je al 2o 0 a 1 A U4 SS L 75 els 130 55 ml goo Cy i ah e Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions En 52 15 T oa l aa M4 El w PU A s d E ee es 2 4 AAA di E ls oo ES E C4 e Es mM I MI oo a En oo MI MI p m Ep E con 2 6 Standard Models and Specifications Chapter 2 m Single phase 100 V AC R7D APO4L 400 W Single phase 200 V AC R7D AP04H 400 W e Wall Mounting External dimensions Mounted dimensions i Tvvo M4 i ive 1 A78 ea El Te DO E Oe 2 i 3 Ho 0 10 oo A E 38 ae i 8 i DO 1 oo La aol 1 eZ L da rot per El lj Te A a dlls EREK gt 112 L RE 75 e Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions 5 di
2. 13 A i A 300 30 bazo d 4 h Dimensions of shaft end with key BS1 A5 E mie A a Y i TE i D l a G EF m c El Four Z dia ja LL e LR Dimensions mm Basic servomotor dimensions With key shaft Cable outlet dimensions end dimensions LR D2 QK A2 A3 A4 A5 R7M AP10030 B R7M AP20030 B R7M AP40030 B R7M AP75030 B 2 12 Standard Models and Specifications Chapter 2 2 2 4 Reduction Gears m For Cylinder style Servomotors Backlash 3 Max Dimensions mm EB F G S T Key dimensions 0OK b h ti R7G VRSFPBO5B50 R7G VRSFPBO9B50 R7G VRSFPB15B50 R7G VRSFPB25B50 R7G VRSFPB05B100 R7G VRSFPB09B100 R7G VRSFPB15B100 R7G VRSFPB25C100 R7G VRSFPB05B200 R7G VRSFPB09C400 R7G VRSFPB15C400 R7G VRSFPB25C400 R7G VRSFPB05C400 R7G VRSFPB09C400 R7G VRSFPB15C400 R7G VRSFPB25D400 R7G VRSFPB05C750 R7G VRSFPB09D750 R7G VRSFPB15D750 R7G VRSFPB25E750 CO CO CO CO CO WD DMD MD WD MD MD ojo co o o NINI GO NJ OD OD DMD DM QD MO BJ OM BJ BJ BJ BJ BJ AL AR o ajajajaj OT CO CO CO GC caj GC CO GC GC co GC WD cal col
3. Four Z2 dia Four Z1 dia F oti our ia ee effective depth Da 22 dg a i 7 S 52 o y 8 a S O oe1 Oc2 G T LM LR Set bolt AT Key dimensions p Q D I A yp i i J PS O L ae K pt Lai a h 2 15 Standard Models and Specifications Chapter 2 m For Flat style Servomotors Backlash 45 Max Dimensions mm ESJFJ GIS Rey dimensions QRIbJh ti R7G RGSF05B100P R7G RGSF09B100P R7G RGSF15B100P R7G RGSF25B100P R7G RGSF05B200P R7G RGSF09C400P R7G RGSF15C400P R7G RGSF25C400P R7G RGSF05C400P R7G RGSF09C400P R7G RGSF15C400P R7G RGSF25C400P R7G RGSF05C750P R7G RGSF09C750P R7G RGSF15C750P R7G RGSF25C750P OJ OJ OI DH MD HD HD DM OD GJ GI BJ A AJ ALR OJ OJ DD DH DD HD HD MD GJ M A BJ AJ ALA AT in the table refers to the set bolt External Diagrams E3 i F Four Z2 dia Four Z1 dia effective depth 07 dia Ey dia amp g de I 3 D G g 8 a a LIJ Ld Dc2 Gl QT Oct LM ala LR gt Set bolt AT Key dimensions
4. External dimensions Mounted dimensions 5 dia 245 a o F 52 des 2h t9 Two M4 Ti lL ee de E UT aa eae of 50 Oe ESE CES ES is 7 Bo m Mi QUUUUUUUUUUU0 E El a 3 ni no En as go D a ULL es E j A Z2 7 AAA a E E i T at Standard Models and Specifications Chapter 2 2 2 2 Parameter Unit R7A PRO2A Hand held Parameter Unit 70 1 5 E e e e O Oo B B INP TGON REF POWER VCMP SMARTSTEP pee omron o R7A PRO2A PARAMETER UNIT A T3 SCROLL JMODE S Oo O READ WRITE DRIVER gt PR PR mb DRIVER o o o Y i N 13 2 dia 2 9 Standard Models and Specifications Chapter 2 2 2 3 Servomotors m Cylinder style Servomotors without a Brake e 30 W 50 W 100 VV R7M A03030 S1 A05030 S1 A10030 S1 300 30 Dimensions of shaft end with key S1 a Y gt h La AN TA t La Model MAA mm R7M A03030 69 5
5. 01 B1 B2 4 o O2 Ssd i AC Servomotor P1 I L Tl Fuse P2 1 y kK UD o L Zs R H 7 A y V a i i N T VV 9 HT y d Llo L2 I See note 4 R TE E N2 LG Y Gate drive ff pres Rela Voltage R overcurrent protection o t drive detection Gate drive i CN2 ds i TY De j M Voltage gt Interface o detection A as te Es Current L1C a pl 45V M BWM ASIC detection I ti 4 gt pepe gt 4165V generation o conversion L2C Digital Encoder signal CN1 current amp processing A Command A i pulse Command q 5V pulse input Oy rower A TE L A Position y processio I control m vy OV Speed Ll control Alarm code display Serial port agi E VO Control I O C 1 RS 422 CN4 CN3 Analog monitor output Parameter Unit computer Note Only on R7D APO4H APO4L m 200 V AC R7D AP08H AC Servo Driver i 2 A ree E 01 B1 B2 4B3 tO a i 12V 2 a AC Servomotor P Hi 5 L i D R Fuse A CHARGE P si U v o LES i La L V mT a gt TITS VV bo L2 Z i J 4 4 i a o o e T i N i 3 N rr LO Relay Voltage Gate cament protection z CN2 T drive detection drive i nen o 1 1 mistor DB a her Interface me o etection gp a q Lic Current 15V PWM ASIC detection Z 4 FW 7 DC DC 16 5 v generation hi conversion paio ed L2C be 5 V Digtal i Encoder CN1 curr
6. NFB OFF ON R 60 ee i Do _ 40 Main circuit contact i 3 O 00 O suP Surge killer Single phase 200 230 V AC 50 60 Hz x MC X1 pag i Single phase 100 115 V AC 50 60 Hz 2 e o eL Servo error display h Z T T Q gt i 4 Class D ground CPM2C Class 3 ground R7D APLI 100 Q or less Contents R88A CPULIS __ 24 V j 24vDC 7 COM onm 1 6 KQ O OUTO01 CCW pulse output 1 6kQ gt DC reactor OUTOO CW pulse output Servomotor cable ECRST e Integrated ECRST e Separate R7M ALI ZCOM Cot Z A Fn Sey ty INP O i i 24VIN I i 24VDC TT 47 i T1366 6 RUN i i i I RESET i i OGND i H E i r ALMCOM T r rO ALM oar 8 4 BKIR oo die Ti T FG 24 VDC a Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Use the 24 V DC power supply for command pulse signals as a dedicated power supply Note 4 The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent Note 5 Do not use the 24 V DC brake power supply for the 24 V DC control power 6 15 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No 1533 E1 04 Revision code The following table outlines the changes made to the manual during each revi
7. QR tl 2 16 Standard Models and Specifications Chapter 2 2 3 Servo Driver Specifications SMARTSTEP A series R7D APL I Servo Drivers Select a Servo Driver to match the Servomotor to be used 2 3 1 General Specifications Ambient operating temperature 0 to 55 C Ambient operating humidity 90 max with no condensation Ambient storage temperature 20 to 85 C Ambient storage humidity 90 max with no condensation Storage and operating atmo sphere No corrosive gasses Vibration resistance 10 to 55 Hz in X Y and Z directions with 0 1 mm double amplitude accel eration 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 MQ 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 Note 1 conditions Note 2 Built into panel IP 10 The above items reflect individual evaluation testing The results may differ under compound Absolutely do not conduct a withstand voltage test with a Megger tester on the Servo Driver If such tests are conducted internal elements may be damaged Note 3 Depending
8. RESET BKIR ALM ALMCOM RXD RXD TXD TXD Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M Cable AWG28x6P AWG28x9C 2 73 Standard Models and Specifications Chapter 2 m Servo Driver Cables XW2Z _1 1Y B12 These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit Use these cables to con nect to a Customizable Counter Unit CSW HCP22 V1 or Servo Relay Unit XW2B 80J7 1A e Cable Models Length L Outer diameter of sheath Weight XW2Z 100J B12 8 0 dia Approx 0 1 kg XW2Z 200J B12 2m Approx 0 2 kg e Connection Configuration and External Dimensions 6 L Servo Relay Unit XW2B 80J7 1A I 2 Servo Driver D R7D AP 2 74 Standard Models and Specifications Chapter 2 e Wiring Servo Relay Unit N pl l N n 30 Cable AWG28 x 6P AWG28 x 9C m Servo Driver Cables XVV2Z Servo Driver J B10 24VIN OGND CCW CCW CW CW ECRST ECRST ZCOM Z INP RUN RESET ALMCOM BKIR ALM Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit Use these cables to con nect to a Customizable Counter Unit FQM1 MMP21 or Servo Re
9. Note Terminal Block pitch 7 62 mm e Wiring X Y axis emergency stop X axis origin proximity oa X axis axis Lis X axis X axis cae ee Y axis Y axis Y axi limit limit RUN ALM BKIR limit limit RUN ALM BKIR Com Com Com Com IX axis Com Com Com Com Y axis mon RES mon mon mon JRESE TY Y axis external interrupt Y axis origin proximity o te E interrupt See note 1 ic See note 1 lt 24 V DC Note 1 The XB contact is used to turn ON OFF the electromagnetic brake Do not connect unused terminals The O V terminal is internally connected to the common terminals The following crimp terminal is applicable R1 25 3 round with open end SON 2 62 Standard Models and Specifications Chapter 2 m XW2B 20J6 8A This Servo Relay Unit connects to the following OMRON Programmable Controllers Communications are not sup ported e CJ1M CPU21 CPU22 CPU23 e External Dimensions CJ1M CPU connector Servo Driver connector Two 3 5 dia Note Terminal pitch 62 mm e VViring Origin 24 V IN7 INg prox RUN ALM BKIR imity EEES sal El an meni esa sos mon mon mon mon mon Note1 The CW limit input signal and CCW limit input signal can be input through an Input Unit The following flags function as the CW CCW lim
10. See note 3 CQM1 Input Unit See See note 1 note 1 See note 2 lok O Note 1 If these signals are input the CQM1 output pulse can be input into the High speed Counter Input this output signal to the CQM1 Input Unit The XB contact is used to turn ON OFF the electromagnetic brake Phase Z is an open collector output Do not connect unused terminals The 0 V terminal is internally connected to the common terminals The following crimp terminal is applicable R1 25 3 round with open end o me o NO oo ff O N 2 61 Standard Models and Specifications Chapter 2 m XW2B 40J6 4A This Servo Relay Unit connects to the following OMRON Position Control Units Communications are supported e CS1W NC213 NC233 NC413 NC433 e CJ1W NC213 NC233 NC413 NC433 e External Dimensions El X axis Servo Y axis Servo Position Control Unit connector Driver connector Driver connector 3 5 247 5 3 5 Two 3 5 dia
11. e Integrated ECRST e Separate R7M AO Note Note Note Note 6 12 AW ECRST me ZOM Lia Zoo i U ES tad INP O 24VIN VDO LS lisos So 5656 RUN Do todo RESET OO OGND E ee ALMCOM Uli ALM 24 V DC BRIR FG 1 Incorrect signal vviring can cause damage to Units and the Servo Driver 2 Leave unused signal lines open and do not wire them 3 The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent 4 Do not use the 24 V DC brake power supply for the 24 V DC control power Chapter 6 Appendix Chapter 6 m Connection Example 12 Connecting to Melec C 870V1 Main circuit power supply NFB OFF ON R O SO 2e 1 o 0 Main circuit contact i 2 O 00 O suP Surge killer Single phase 200 230 V AC 50 60 Hz xy MC X1 Single phase 100 115 V AC 50 60 Hz E 2 2e pL Servo error display i zZz TOD Class D ground C 870V1 Melec Class 3 ground R7D AP 100 Q or less Contents R88A CPULIS P __ XCCWP
12. Input common SU DE I POE 24VIN X axis external interrupt input T 0 OO O RUN X axis origin proximity input oO 0 4 0 0 RESET X axis CCW limit input a e OGND E X axis CW limit input ee t ALMCOM X axis emerg stop input Ut AM Oe 24 V DC BKIR Note Note Note Note Note Note ou FF WON a que AL FG Incorrect signal vviring can cause damage to Units and the Servo Driver Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 5 V DC power supply for command pulse signals as a dedicated power supply The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent Do not use the 24 V DC brake power supply for the 24 V DC control power 6 3 Appendix Chapter 6 m Connection Example 3 Connecting to SYSMAC CJ1W NC113 213 413 Main circuit power supply NFB OFF ON eee R O 67d ese te O uo Main circuit contact i 2 Mco 90 OG SUP Surge killer Single phase 200 230 V AC 50 60 Hz XI A I Single phase 100 115 V AC 50 60 Hz a 2e PL Servo error disp
13. IOYLNO9 LND Y3009N3 ZNO Rotary switch for unit No selection Rotary switch for gain adjustment Function selection switches e Switch parameter setting enable switch Resolution setting Command pulse input setting Dynamic braking setting Online autotuning switch Alarm display Control circuit power supply indicator Communications connector CN3 Monitor output connector CN4 Control I O connector CN1 Encoder input connector CN2 1 5 Introduction Chapter 1 1 4 Applicable Standards m EC Directives EC Directives Low Voltage Directive Product AC Servo Drivers Applicable standards EN50178 Remarks Safety requirements for electrical devices for measurement control and research facilities AC Servomotors IEC60034 1 5 8 9 EN60034 1 9 Rotating electrical equipment EMC Directives AC Servo Drivers and AC Servomotors EN55011 class A group 1 Wireless interference and measure ment methods for radio frequency devices for industry science and medical application EN61000 6 2 Electromagnetic compatibility and immunity standards for industrial environments Note Installation under the conditions stipulated in 3 2 5 EMC compatible Wiring must be met to ensure conformance to EMC Directives m UL and cUL Standards Standards Product AC Servo Drivers Applicable standards UL508C
14. o Lo LO O N N L 80 e VViring Servo Driver Symbol Sa Servomotor Connector plug i 10114 3000VE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo M AWG20 Red U phase Connector cap 350781 1 Tyco Electronics AMP VV phasel Connector socket 350570 3 Tyco Electronics AMP AWG20 White i i AWG20 Blue i AWG20 Green Yellow M4 crimp terminal QO M4 crimp terminal QO M4 crimp terminal QO 2 49 Standard Models and Specifications Chapter 2 2 6 4 Specifications of Separate Cables m Specifications of Standard Power Cables R88A CAWAL 1 1 11 Select a Power Cable to match the Servomotor being used The cable length is 3 to 20 m The maximum distance between the Servomotor and the Servo Driver is 20 m Power Cables for Servomotors without Brakes Power Cables for Servomotors with Brakes Model Length Outer Weight Model Length Outer Weight L diameter L diameter of sheath of sheath R88A CAWA00O3S 3 m 6 2 dia Approx R88A CAWA003B 3 m 7 4 dia Approx 0 2 kg 0 3 kg R88A CAWA005S 5 m Approx R88A CAWA005B 5 m Approx 0 3 kg 0 5 kg R88A CAWA010S 10 m Approx R88A CAWA010B 10 m Approx 0 6 kg 0 9 kg R88A CAWA015S 15m Approx R88A CAWA015B 15 m Approx 0 9 kg 1 3 kg R88A CAWA020S 20 m Approx R88A CAWA020B 20 m Approx 1 2 kg 1 7 kg e Connection Configuration and Ex
15. 24VIN RUN RESET OGND e Integrated e Separate power and encoder Estas t 1 Main circuit contact SUP Surge killer PU I Servo error display Servomotor cable R7M ALI ALMCOM ALM BKIR FG SES EES E 1 Incorrect signal vviring can cause damage to Units and the Servo Driver 2 Leave unused signal lines open and do not wire them 3 Use the 24 V DC power supply for command pulse signals as a dedicated power supply 4 The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent 5 Do not use the 24 V DC brake power supply for the 24 V DC control power Appendix Chapter 6 m Connection Example 6 Connecting to 3F88M DRT141 Single axis Positioner for DeviceNet Main circuit power supply NFB OFF ON RE dE R O SO 2e 1 o 0 Main circuit contact i 2 O O O O suP Surge killer Single phase 200 230 V AC 50 60 Hz xa MC X1 a Single phase 100 115 V AC 50 60 Hz 2 e o 21 Servo error display i zZ T TO SD Class D ground _ 3F88M DRT141 Class 3 ground R7D APO 100 Q or less Contents R88A CPULIS 24 Vpowersuppy agp T
16. Impact resistance 19 6 m s max acceleration three times each in X Y and Z directions m Performance Specifications Model Standards Type Hand held Cable length 1m Connectors HR212 10P 8P 8 pins Hirose Electric Display 17 digit x 5 segment LCD display External dimensions 70 x 120 x 17 8 mm W x H x D Weight Approx 0 3 kg Communications method Communications using a special protocol baud rate 19 200 bits s 2 111 Standard Models and Specifications Chapter 2 Function Specifications Model Standards Parameter setting Displaying and changing parameter settings Monitor display Displaying all monitor data Function Mode Executing functions Alarm displays Displaying alarms Parameter copying 2 112 Reading and saving parameters from the Servo Driver to the Parameter Unit writing parameters from the Parameter Unit to the Servo Driver and comparing Servo Driver and Parameter Unit parameters Standard Models and Specifications Chapter 2 2 9 External Regeneration Resistor Specifications If the Servomotors regenerative energy is excessive connect an External Regeneration Resistor Note 1 External Regeneration Resistors cannot be connected to Servo Drivers of between 30 to 200 W Connection to a 400 W Servo Driver is usually not required If the Servomotor s regenerative energy is excessive connect an Exter
17. R7D APA3H APA5H AP01H R88A PX5071 Approx R7D AP02H R88A PX5070 Approx R7D AP04H R88A PX5069 Approx R7D APO8H R88A PX5061 i i Approx m External Dimensions S G Q Y Four H dia F y Model A B C D E F G H R88A PX5061 R88A PX5062 R88A PX5063 R88A PX5069 R88A PX5070 R88A PX5071 2 114 Chapter 3 System Design and Installation 3 1 Installation Conditions 3 2 Wiring 3 3 Regenerative Energy Absorption 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 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 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 in
18. El 52 15 o Two M4 E Y Y EI Z m o dj d mai i Y E i Y i i i f Ca es i ORs o 7 57 BA E Q 168 La as lj tC Y A 17 5 a El od E 42 2 7 Standard Models and Specifications Chapter 2 m Single phase Three phase 200 V AC R7D APO8H 750 W External dimensions Mounted dimensions T 5 dia io i wo M4 i s i TIES i T A A e E a gt EE I j INN IN AR i D v i al EA En aN SE e Front Panel Mounting Using Mounting Brackets
19. Ol OOF o ON oof O OR OOF o ON oof O OH COL o O0 oof O Of OOF o OB Of OOF o ON OL OOF o O OL OOF o O Of OOF 0 O oof O Nun A m _O r vee Xa Koa NU E Controller general purpose I O Controller special I O 41 7 WI Y axis Servo Driver o X axis Servo Driver 4 5 dia Servo B phase selectors 30 7 2 66 Chapter 2 Standard Models and Specifications e Terminal Block Connection 1 RS 422 Connector o 2 a o o _ oO D Lo Cc fav Q ob VA mira Al TA el 2 OOOO OOOO 2 o 5 O O 0 0 OOOO o Elr E OOO 00010 S O JO0 JO0 0 J00 10 AIM A A 1SU91 5 3 Ou O Oef Oel OOl D L OAC OAIES 7 5 O DO JO O VOO YO pe 5 Ool O ol D Oo O O L a NAY L Jeg ones o pl Ee OO Oa D Qu OJO Z 8 00010 o 1O0O 1O a 2 Oe O Dell D Oell O
20. Servo Driver B1 Note When using the R88A RR22047S connect the I B2 thermal switch output so that the power supply will be shut off when open e R7D AP08H Remove the short circuit wiring between B2 and B2 and then connect an External Regeneration Resistor between the B1 and B2 terminals External Regeneration Resistor B1 Note 1 The short circuit wiring between B2 and B3 must be removed Servo Driver B2 2 When using the R88A RR22047S connect the thermal switch en output so that the power supply will be shut off when open 3 42 Chapter 4 Operation 4 1 Operational Procedure 4 2 Switch Settings 4 3 Preparing for Operation 4 4 Trial Operation 4 5 Gain Adjustments 4 6 User Parameters 4 7 Operating Functions 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 and switches with their switches for proper exe cution before actually running them Not doing so may result in equipment dam age AN 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 AN Caution When an alarm occurs remove the cau
21. When position loop gain is low Time Note This parameter is enabled only if the gain adjustment rotary switch has been set to 0 Inertia ratio O to 10000 Unit Default Restart e Set the mechanical system inertia load inertia for Servomotor shaft conversion using the ratio of the Servomotor rotor inertia If the inertia ratio is set incorrectly Pn100 speed loop gain will also be incorrect e This parameter is the initial online autotuning value After performing online autotuning the correct value will be written to Pn103 if the tuning results are saved Refer to 4 5 1 Online Autotuning for details 4 19 Operation Chapter 4 Pn109 Feed forward amount Settings Oto100 Unit Default JO Restart e Sets the feed forward compensation value during positioning e When performing feed forward compensation the effective servo gain increases improving respon siveness There is almost no effect however on systems where the position loop gain is sufficiently high e Use this parameter to shorten positioning time Note Setting a high value may result in machine vibration Set the feed forward amount for general machinery to 80 maximum Check and adjust machine response Pni0A Feed forward command filter Settings 0 to 6400 JUnit x0 01ms__ Default 0 Restart e Sets the feed forward primary lag command filter during position control e If the positioning compl
22. 24VIN RUN RESET OGND ALMCOM DC reactor power and encoder poianone Main circuit contact Servomotor cable e Integrated e Separate R7M ALI ALM 24v De Tere COM E T CWLS oe CCWLS oe HOMELS 24 V DC BKIR FG Note Note Note Note 6 10 SE Secs eT 1 Incorrect signal vviring can cause damage to Units and the Servo Driver 2 Leave unused signal lines open and do not wire them 3 The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent 4 Do not use the 24 V DC brake power supply for the 24 V DC control power Chapter 6 Appendix Chapter 6 m Connection Example 10 Connecting to Oriental SG8030J Main circuit power supply NFB OFF ON R SFO ee 1 5o tT 0 Main circuit contact 5 000 6 SUP Surge killer Single phase 200 230 V AC 50 60 Hz x MC lt a Single phase 100 115 V AC 50 60 Hz 2 2 eL Servo error display i zZ TOD Class D ground _ SG8030
23. 300 30 a po a it ToT Ta Model oe on R7M A20030 B 50h7 me R7M A40030 B 164 60 70 50h7 i 14h6 20 R7M A75030 B 189 5 80 90 70h7 16h6 30 2 11 Standard Models and Specifications Chapter 2 m Flat style Servomotors without a Brake e 100 W 200 W 400 W 750 VV R7M AP10030 S1 AP20030 S1 AP40030 S1 AP75030 S1 13 gt 6 dia 300430 EN oi S 5 N Y ll fal a 300 30 tf o lt 0 4 h Dimensions of shaft end with key S1 Es RS a Y fl ik ES PP by ak el GF L C sl Four Z dia L LL mae LR Dimensions mm Basic servomotor dimensions With key shaft Cable outlet dimensions end dimensions LR D1 D2 QK t1 A2 A3 A4 R7M AP10030 R7M AP20030 R7M AP40030 R7M AP75030 m Flat style Servomotors with a Brake e 100 W 200 W 400 W 750 W R7M AP10030 B S1 AP20030 B S1 AP40030 B S1 AP75030 B S1 300 30 gt S S 5
24. Pink Black Shield FG O0 INJO OI BAO ND Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M Cable AWG24 x 18P UL20276 Note Wires with the same wire color and the same number of marks form twisted pairs For example the orange wire with one red mark is twisted together with the orange wire with one black mark Connector Terminal Block Cables R88A CTU IN e Cable Models MITO Outer diameter of sheath Weight R88A CTU001N 1m 9 9 dia Approx 0 3 kg R88A CTU002N 2m Approx 0 6 kg e Connection Configuration and External Dimensions 46 L 39 Connector Terminal Bloc I Servo Driver g D R7D AP 2 44 Standard Models and Specifications Chapter 2 e Wiring Terminal Block Connector COJCOJ NIC AMD CO 00 00 NI DD CIC BJ A co jo IND 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 gt 0 3 gt Ll Servo Driver CW CW CCW CCW
25. 4 3 1 Turning Power ON and Checking Indicators m Items to Check Before Turning ON the Power e Checking Power Supply Voltage e Check to be sure that the power supply voltage is within the ranges shown below R7D APLIL 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 R7D APLJH 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 R7D APO8H Three phase 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 VV 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 The Encoder Cable must be securely connected to the Encoder Connector CN2 at the Servo Driver e The Encoder Cable must
26. Servomotor rotation speed Braking using dynamic brake when Pn001 0 0 100 r min pere ee eeeeeceecs Note 1 During the approximately 10 ms from the Servomotor de energizing to the dynamic brake being applied the Servomotor will continue to rotate due to its momentum Note 2 If the Servomotor rotation speed falls below 100 r min the BKIR brake interlock signal is turned OFF e Power Supply Timing Servomotor Rotating ON Power supply OFF w See note 2 ON BKIR brake interlock i OFF Servomotor Energized I energized Deenergized o Approx 10 ms See note 1 Servomotor Braking using dynamic brake See note 3 rotation speed 100r min Note 1 During the approximately 10 ms from the Servomotor de energizing to the dynamic brake being applied the Servomotor will continue to rotate due to its momentum Note 2 If the Servomotor rotation speed falls below 100 r min the BKIR brake interlock signal is turned OFF Note 3 When the main circuit power supply or control circuit power supply is turned OFF the Ser vomotor will be stopped using dynamic braking regardless of the setting of the parameter 4 28 Operation Chapter 4 4 7 3 Torque Limiting m Functions e 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 m
27. e Noise Filters for Servomotor Output Use noise filters without built in capacitors on the Servomotor output lines Select a noise filter with a rated current at least two times the total rated current of the Servo Driver s continuous output current The following table shows the noise filters that are recommended for Servomotor output Makr modo Rated curon Remarks Tokin LF 310KA 10 A Three phase block noise filter LF 320KA 20 A 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 kHz the Servo Drivers 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 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 Diodes are relatively small devices such as relays used Use a fast recovery diode with a short for loads when reset time is not an issue The reset time reverse recovery time is increased because the surge voltage is the lowest Fuji Electric Co ERB44 06 or equiv when power is cut off Used for 24 48 V DC systems alent Thyristor and varistor are used f
28. 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 breakers with an operating time of at least five seconds at 300 of the rated maximum output General pur pose and low speed no fuse breakers are generally suitable The table in 3 2 3 Terminal Block Wir ing shows the rated power supply input currents for each Servomotor Select a no fuse breaker with a rated current greater than the total effective load current when multiple Servomotors are used When making the selection add in the current consumption of other controllers and so on 3 30 System Design and Installation Chapter 3 Servo Driver inrush current With low speed no fuse breakers an inrush current 10 times the rated current flows for 0 02 sec onds For a simultaneous inrush for multiple Servo Drivers select a no fuse breaker with a 20 ms allowable current greater than the total inrush current shown in the f
29. 2 3 4 Control I O Specifications CN1 m Control I O and External Signals for Position Control Reverse pulse Le Forward pulse Le Deviation counter reset Le 24 V DC 24VIN RUN command RUN O Alarm reset RESET O Note 1 Interface for RS 422 8 INP Positioning completed output KIR Brake interlock OGND Z Phase Z ZCOM ALM Alarm output ALMCOM Terminating FG Frame ground e Applicable line driver T I SN75174 MC3487 or equivalent e Applicable line receiver T I SN75175 MC3486 or equivalent Note 2 Automatic reset fuses are used for output protection If overcurrent causes the fuse to oper ate current will not flow and after a fixed period of time it will automatically reset 2 20 resistance terminal Maximum operating voltage 30V DC Maximum Output Current Phase Z 20 mA DC Other than Phase Z 50 mA DC See note 1 Standard Models and Specifications Chapter 2 m Control I O Signals e CN1 Control Inputs Signal name PULS CW A PULS CW A Function Feed pulses reverse pulses or 90 phase difference pulses phase A SIGN CCW B SIGN CCVV B Direction signal for ward pulses or 90 phase difference pulses phase B Contents Pulse string input terminals for position commands Line driver input 7 m
30. N 68 68 78 392 Allowable thrust load N 54 54 54 74 74 147 Without brake kg Approx 0 3 Approx 0 4 Approx 0 5 Approx 1 1 Approx 1 7 Approx 3 4 With brake kg Approx 0 6 Approx 0 7 Approx 0 8 Approx 1 6 Approx 2 2 Approx 4 3 Radiation shield dim material ensions t6 x 1250 m m Al Applicable Servo Driver R7D 2 32 100 VAC APA3L APA5L APO2L 200 VAC APA3H APA5H AP02H Standard Models and Specifications Chapter 2 R7M R7M R7M R7M R7M R7M A03030 A05030 A10030 A20030 A40030 A75030 Brake inertia 8 5x 107 l85x107 8 5x107 Excitation volt 24 V DC 10 age Power con 6 6 sumption at 20 C Current con sumption at 20 C Static friction 0 2 min 0 2 min 1 47 min 1 47 min 2 45 min torque Attraction time 30 max 30 max 60 max 60 max 60 max See note 3 Release time 60 max 60 max 20 max 20 max 20 max See note 3 Backlash 1 reference value Rating Continuous Insulation grade Type F Brake specifications 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 C 65 The momentary maximum torque shown above indicates th
31. Regeneration error Regeneration circuit damaged due to large amount of regenerative energy Regeneration overload Regenerative energy exceeded the regeneration resistance Overvoltage undervoltage Main circuit DC voltage outside the allowable range Overspeed Servomotor rotation speed exceeded the maximum speed Overload Output torque exceeded 120 of rated torque Dynamic brake overload Regenerative energy exceeded the dynamic brake resistance during dynamic brake operation Inrush resistance over load Inrush current exceeded the inrush resistance during power supply inrush Overheat Abnormal temperature rise detected in radiation shield System error A control circuit system error was detected Runaway detected The Servomotor rotated in the opposite direction from the command Phase error detected The Servomotor s electrical angle was incorrectly detected Encoder disconnection detected Encoder phase A B or S is discon nected or shorted Deviation counter over flow Deviation counter s residual pulses exceeded the deviation counter over flow level set in Pn505 Parameter Unit transmis sion error 1 Data could not be transmitted after the power supply was turned ON See note Parameter Unit transmis sion error 2 Transmission timeout error See note Overload A warning occurs before the overload alarm A 7
32. T T T T 1000 2000 3000 4000 5000 2 34 R7M A05030 50 W N m 0 5 7 0 48 0 48 0 4 4 Repeated usage 0 3 0 2 5 0 159 0 159 0 17 0 107 Continuous usage T T T T T r min 1000 2000 3000 4000 5000 R7M A20030 200 W N m 2 0 7 1 91 1 91 3650 Repeated usage 0 637 0 637 0 5 7 0 452 Continuous usage T T T T T r min 1000 2000 3000 4000 5000 R7M A75030 750 W N m 8 0 5 71 7 1 6 0 4 zod Repeated usage 2 0 5 Continuous usage es T T T T T r min 1000 2000 3000 4000 5000 Standard Models and Specifications Chapter 2 m 3 000 r min Flat style Servomotors Rated output VV R7M AP10030 100 R7M AP20030 R7M AP40030 R7M AP75030 Rated torque N m 0 318 Rated rotation speed r min 3 000 Momentary maximum rotation speed r min 4 500 Momentary maximum torque N m 0 96 1 91 3 82 Rated current A rms 0 89 2 0 2 6 Momentary maximum current A rms 2 8 6 0 8 0 Rotor inertia kg m GD 4 6 5 x 108 2 09 x 105 3 47 x 107 Torque constant N m A 0 392 0 349 0 535 Induced voltage con stant mV r min 13 7 12 2 18 7 Power rate kW s 15 7 19 4 46 8 Mechanical time con stant ms 0 7 0 6 0 4 Winding resistance Q 5 53 1 13 1 04
33. e Separate Cables Power Cables Specifications Cable for Servomotors with out brakes both Cylinder style and Flat style Cable model number R88A CAWA Cable for Servomotors with brakes both Cylinder style and Flat style R88A CAWA Remarks Insert the cable length in the of the model number There are five cable lengths 3 m 5 m 10 m 15 m and 20 m Model number exam ple R88A CAWADOSS for a 3 m cable Robot Cable for Servomotors without brakes both Cylin der style and Flat style R88A CAWA Robot Cable for Servomotors with brakes both Cylinder style and Flat style R88A CAWA of the model Insert the cable length in the number There are five cable lengths 3 m 5 m 10 m 15 m and 20 m Model number exam ple R88A CAVVA003SR for a 3 m cable Use a Robot Cable if cable flexibility is required 3 11 System Design and Installation Chapter 3 Encoder Cables Specifications Cable model number Remarks Cable for Servomotors with R7A CRA C Insert the cable length in the of the or without brakes both Cylin model number There are five cable lengths 3 der style and Flat style m 5m 10 m 15 m and 20 m Model number e
34. m Functions e Perform soft start processing for the command pulses using the selected filter to gently accelerate and decelerate e Select the filter characteristics using Pn207 0 position command filter selection e When Pn204 position command filter time constant 1 is selected acceleration and deceleration are performed using the primary filter exponentiation function e When Pn208 position command filter time constant 2 is selected acceleration and deceleration are linear e This function is effective in the following cases There is no acceleration deceleration function in the command pulse controller The command pulse frequency changes rapidly causing the machinery to vibrate during acceler ation and deceleration The electronic gear setting is high G1 G2 10 Parameters Requiring Settings Parameter No Parameter name Explanation Select position control filter Select either primary filter setting 0 or linear acceleration and deceleration setting 1 Position control filter time Enabled when Pn207 0 O Be sure to set the primary filter constant 1 primary filter time constant setting range O to 6400 x 0 01 ms Position control filter time Enabled when Pn207 0 1 Be sure to set the acceleration and constant 2 linear acceler deceleration times setting range O to 6400 x 0 01 ms ation and deceleration Note If not using the position command filter funct
35. 5 Trial operation Firstly check the Servomotors no load operation Next turn the power OFF then ON again and connect the Servomotor to the mechanical system Turn ON the power and check to see whether protective functions such as emergency stop and operational limits are working reliably Check op eration at both low speed and high speed with either no workpiece or a dummy workpiece Refer to 4 4 Trial Operation 6 Adjustments Manually adjust the gain as required Refer to 4 5 Gain Adjustments 7 Operation Operation can now begin If any trouble should occur refer to 5 Troubleshooting Operation Chapter 4 4 2 Switch Settings With SMARTSTEP A series Servo Drivers operation settings can be performed simply by using the front panel switches Set the switches appropriately according to the system configuration 4 2 1 Switch Nomenclature and Functions Unit No rotary switch Default setting 0 Gain adjustment rotary switch Default setting 4 Function setting switch Default setting all OFF m Unit No Rotary Switch UNIT No RS 422 485 ON Use this switch to set the communications unit number for CN1 and CN3 UNIT No SR When performing multiple axis communications with multiple Servo Drivers lasidec a 8a 950 from CN1 using for example a personal computer set the rotary switch to a setting other than 0 i e
36. 54280 0800 Molex Japan Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo 3M 2 53 Standard Models and Specifications Chapter 2 2 6 5 Peripheral Cables and Connector Specifications m Analog Monitor Cable R88A CMW001S This is cable for connecting to the Servo Driver s Monitor Output Connector CN4 It is required for connecting monitor outputs to external devices such as measuring instruments e Cable Model AS R88A CMWO001S Approx 0 1 kg e Connection Configuration and External Dimensions 7 3 L Servo Driver ii 1 External device R7D AP a o D e Wiring Servo Driver Cable AW24 x 4C UL1007 Connector socket DF11 4DS 2C Hirose Electric Connector contacts DF11 2428SCF Hirose Electric 2 54 Standard Models and Specifications Chapter 2 Computer Monitor Cables R7A CCA002P _ Computer Monitor Cable and Computer Monitoring Software run on Windows Cat No SBCE 011 for Servo Drivers are required to use a personal computer for monitoring and setting parameters for a Servo Driver There are two kinds of cable one for DOS personal computers and the other for NEC PC98 notebook computers but not for PC98 desktop computers e Cable Models For DOS Computers mod Length L Outer diameter of sheath Weight R7A CCAQ02P2 m z2aa ApprOX 0 1 kg For NEC PC98 Notebook Computers i moa Length L Outer diameter of sh
37. AWG28 x 19C 2 80 Standard Models and Specifications Chapter 2 m Position Control Unit Cables XW2Z L J A8 These Position Control Unit Cables connect a CS1W NC113 or C200HW NC113 Position Control Unit and an XW2B 20J6 1B Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A8 50 cm 8 0 dia Approx 0 1 kg XW2Z 100J A8 1m Approx 0 1 kg e Connection Configuration and External Dimensions i 47 L 6 tao i O Position Control Unit o CS1W NC113 2 E Servo Relay Unit C200HW NC113 ol XVV2B 20J6 1B O t 11 Y e Wiring Position Control Unit Servo Relay Unit No 2 81 Standard Models and Specifications Chapter 2 m Position Control Unit Cables XW2Z J A9 These Position Control Unit Cables connect a CS1W NC213 CS1W NC413 C200HW NC213 or C200HW NC413 Position Control Unit and an XW2B 40J6 2B or XW2B 40J6 4A Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A9 10 0 dia Approx 0 1 kg XW2Z 100J A9 Approx 0 2 kg Servo Relay Unit o D XW2B 40J6 2B XW2B 40J6 4A Position Control Unit CS1W NC213 CS1W NC413 C200HW NC213 C200HW NC413 J 2 82 Standard Models and Specifications Chapter 2 e Wiring Position Control Unit Servo Relay Unit 2 83 Stand
38. Troubleshooting Display Overspeed Status when error occurs Occurs when the servo is ON Cause of error Encoder signal between controllers is wired incor rectly Chapter 5 Countermeasures Rewire correctly Servomotor power line is wired incorrectly Rewire correctly Occurs along with high speed rota tion when a com mand is input Position command input exceeds 4 500 r min Input command values cor rectly Pn202 and Pn203 elec tronic gear ratio setting is too large Set the parameters correctly Resolution setting switch switches 4 and 5 setting is too low Reset the switches correctly Rotation limit has been exceeded due to over shooting Adjust the gain Lower the maximum specified speed Overload Occurs during operation Running at over 120 of rated torque effective torque Repair the Servomotor shaft if it is locked If the Servomotor power line is wired incorrectly rewire it cor rectly Lighten the load Lengthen the acceleration and deceleration times Adjust the gain Power supply voltage has fallen Check the power supply volt age and lower to within toler ance range Servomotor winding is burned out Check the winding resistance Replace the Servomotor if the winding is burned out Servo Driver is burned out Replace the Servo Driver Dynamic brake over load Occurs when the s
39. Winding inductance 20 7 8 4 8 9 7 7 Electrical time con stant 3 7 74 8 5 18 Allovvable radial load N 78 245 245 392 Allowable thrust load N 49 68 68 147 Without brake kg Approx 0 7 Approx 1 4 Approx 2 1 Approx 4 2 With brake kg Approx 0 9 Approx 1 9 Approx 2 6 Approx 5 7 Radiation shield dimensions mate rial t6 x LJ250 mm A l t12 x Al 300 mm Applicable Servo Driver R7D 100 VAC APO1L APO2L 200 VAC APO1H APO2H AP08H Brake inertia kg m GD 4 2 9x 10 1 09 x 102 8 75 x 107 Excitation voltage V 24 V DC 10 Power consump tion at 20 C VV 6 5 7 5 Current consump tion at 20 C Brake specifications A 0 25 0 21 Static friction torque 0 4 min 0 9 min Attraction time See note 3 40 max 40 max Release time See note 3 20 max 20 max Backlash 1 reference value Rating Continuous Insulation grade Type F 2 35 Standard Models and Specifications Chapter 2 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 C 65 The momentary maximum torque shown above indi
40. 4 Insert the wire into the slot With the slot held open insert the end of the wire Then let the 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 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 Single phase Power Supply Input AC power l Noise filt i Metal duct supply Surge absorber OIE Mie X1 E gt 1 NF 3 Z NFB co ODO O O 35mm2 i ole Thick power line 3 5 mm2 Class D grourid Class 3 ground TY 100 Q or less Ground plate i Ground control box Controller power supply Machine ground 3 19 System Design and Installation Chapter 3 e Three phase Power Supply Input R7D AP08H AC power NFB supply i Surge absorber 23 Fuse O O i 000 3 5mm EO od i Class D ground Class 3 ground 100 Q or lesb round plate Y Ground control box Controller power supply e
41. ECRST ECRST BKIR INP OO NIC AMD OGND 24VIN RUN Servo Driver connector Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M Terminal block connector Connector plug FCN 361J040 AU Fujitsu Connector case FCN 360C040 B Fujitsu Cable AWG24 x 18P UL20276 2 45 Standard Models and Specifications Chapter 2 2 6 2 Servomotor Cables A Servomotor Cable connects a Servomotor to the Servo Driver and is available in either of two types Separate Cables and Integrated Cables The Integrated Cables include the encoder cable and power cable Select a Cable to match the Servomotor being used The maximum distance between the Servomotor and the Servo Driver is 20 meters Note Use a robot cable if cable flexibility is required Integrated Separate cables cables Model Standard cable Robot cable models models For Servomotors R7A CEA S Power cable R88A CAVVA S R88A CAWA SR without brakes Encoder cable R7A CRALILILIC R7A CRACILILICR For Servomotors R7A CEA B Power cable R88A CAWA B R88A CAWA BR with brakes Encoder cable R7A CRA C R7A CRA CR e Robot Cable Bending Durabi
42. J A16 XW2B 20J6 1B CJ1W NC213 CJ1W NC413 J A17 XW2B 40J6 2B CJ1W NC133 J A20 XW2B 20J6 1B CJ1W NC233 CJ1W NC433 J A21 XW2B 40J6 2B CS1W HCP22 J A22 single axis J A23 two axis XW2B 20J6 3B 3F88M DRT141 J A25 XW2B 20J6 1B CJ1M CPU21 CJ1M CPU22 CJ1M CPU23 J A26 XW2B 20J6 8A 1 axis XW2B 40J6 9A 2 axes Note 1 The empty boxes in the model numbers are for cable length The Position Control Unit Cable length can be 0 5 or 1 meter long For example XW2Z 050J A3 is 0 5 meters long The Servo Driver cable length can be 1 or 2 meters long For example XW2Z 100J B5 is 1 meter long Note 2 When 2 axis control is used with one Position Control Unit two cables are required to the Servo Driver 3 9 System Design and Installation Chapter 3 e Selecting Connecting Cables with Communications Support Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Driver Cable CS1W NC213 XW2B 40J6 4A CS1W NC413 CS1W NC233 CS1W NC433 CJ1VV NC213 CJ1VV NC413 CJ1VV NC233 CJ1VV NC433 C200HW NC213 C200HW NC413 CS1W HCP22 V1 XVV2B 80J7 1A FQM1 MMP21 Note 1 The empty boxes in
43. R7D APO2L R7D APO4L R7D APA3H R7D APA5H R7D APO01H R7D AP02H R7D AP04H R7D AP08H 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 For 400 to 750 W Servo Drivers if the regenerative energy exceeds the absorption capacity of the Servo Driver by itself then external regeneration resistance can 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 Servomotor 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 radiation shield must be installed according to the radiation conditions Note 2 For external dimensions refer to 2 9 External Regeneration Resistor Specifications 3 40 System Design and Installation Chapter 3 m External Regeneration Resistors e Specifications Resistance Nominal Regeneration Heat radiation Thermal switch capacit
44. R7M A20030 BS1 R7M A40030 BS1 R7M A75030 BS1 e 3 000 r min Flat style Servomotors Specifications Model Straight shaft without key R7M AP10030 R7M AP20030 R7M AP40030 R7M AP75030 Straight shaft with key R7M AP10030 S1 R7M AP20030 S1 R7M AP40030 S1 R7M AP75030 S1 2 2 Straight shaft without key R7M AP10030 B R7M AP20030 B R7M AP40030 B R7M AP75030 B Straight shaft with key R7M AP10030 BS1 R7M AP20030 BS1 R7M AP40030 BS1 R7M AP75030 BS1 m Servo Drivers Single phase 100 V AC R7D APA3L R7D APA5L R7D APO1L R7D AP02L R7D APO4L Single phase 200 V AC R7D APA3H R7D APASH R7D AP0O1H R7D AP02H R7D AP04H R7D AP08H Chapter 2 Standard Models and Specifications m Reduction Gears Straight Shaft with Rey e For Cylinder style Servomotors Backlash 3 Max Specifications Servomotor capacity Reduction gears deceleration ratio R7G VRSFPB05B50 R7G VRSFPBO9B50 R7G VRSFPB15B50 R7G VRSFPB25B50 Chapter 2 e For Cylinder style Servomotors Backlash 45 Max Specifications Servomotor capacity Reduction gears deceleration ratio R7G RGSF05B50 R7G RGSFO9B50 R7G RGSF15B50 R7G RGSF25B50 R7G VRSFPB05B100 R7G VRSFPB09B100 R7G VRSFPB15B100 R7G VRSFPB25B10
45. Remove the sheath from the cable and ground it directly to the metal plate at the clamps 3 27 System Design and Installation Chapter 3 e Three phase Power Supply Input R7D AP08H Control panel Installation incorporating Metal plate Servo Motor power i supply i R7M ALI T I Metal E ite ductor absorber Contactor core conduit a core i i U gt T Noise M 4 I P2 filter i C i Class D Em a Ferrite ground Oe Class 3 i ground filter less i D 100 Q or E o Clamp iC Ll Ferrite core i O 3 Ground Controller ZD Clamp plate power supply Ferrite core Controller Note 1 The cable wiring 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 a grounding plate for the frame ground for each Unit as shown in the above diagrams and ground to a single point e Use ground lines with a mi
46. Turn OFF the power supply then ON again Internal element is faulty Replace the Servo Driver Replace the Parameter Unit Parameter Unit transmis sion error 2 Occurs when Parameter Unit is in use Faulty Connector contact Plug the Connector in securely Internal element malfunc tion Turn OFF the power supply then ON again Internal element is faulty Replace the Servo Driver Replace the Parameter Unit 5 11 Troubleshooting Parameter Unit Alarms Display Error Status when error occurs Cause of error Chapter 5 Countermeasures OPERATOR ERR ROM CHECK ERR ROM error Occurs when power supply is turned Internal element mal function ON Turn OFF the power supply then ON again Internal element is faulty Replace the Parameter Unit OPERATOR ERR RAM CHECK ERR RAM error Occurs during Parameter Unit use Internal element mal function Turn OFF the power supply then ON again Internal element is faulty Replace the Parameter Unit OPERATOR ERR DATA SEND ERR Send oper ation error Occurs during Parameter Unit use Internal element mal function Turn OFF the power supply then ON again Internal element is faulty Replace the Parameter Unit 5 3 2 Troubleshooting by Means of Operating Status Symptom Probable cause Items to check Countermeasures The power
47. 0 0 0 TO oO JO 2 000 oO TO O MO0O0 10 OOO MO Ox J Ox NO 0 J00 I0110 J00 10 CIC 0M1 LE 5V re Lis 24V 19 Upper Terminal Block Pin Arrangement 1Syg93 LH JOAUIG OMBS 8 Sano 13538 L JSAUQ e NNH Li JSAQ OMBS gt gt o A 0 uowwog A0 uowwog GNI g A0 uowwog 2 YNI g A0 uowwog 8 eee Ne 0 uowwog TV Li aaua ones L 19ALIJ ONES saa o 67 66 indino q7 seyd Z A0 a1 eseudz L J9AUIQ OM S L J9AUQ OAI8S 65 ndu st 0 1 glaseydglino eseud g LINO indu 0 1 63 a eseyd y LINO 2 aseyd Y LINO a A 0 uowwos al z yndul jeuBis yoyeq y 2 Pup UIA A 0 uowwoo Ll 1ndui pufis yoye7 eubis yore o o AG E AO ee lo 2 70 Chapter 2 Standard Models and Specifications Lower Terminal Block Pin Arrangement 17 1SHO3 Z lona TA RR 91N0 13838 2 J0A1Q TARI sino NOY Z Janug amie A 0 uowwog A 0 uowwog A 0 uowwog A 0 uowwog 2 A 0 uowwog WV 24 JSAUQ ONES n d i z 1ang ones To A 0 uowwog lt A 0 uowwog PA A 0 uowwog a A 0 uowwog r AO AO gt A 2
48. 0 dia Approx 0 1 kg XW2Z 100J A30 1m Approx 0 2 kg e Connection Configuration and External Dimensions Servo Relay Unit 8 B XW2B 80J7 1A Motion Control Module FQM1 MMP21 3 12 2 106 Standard Models and Specifications Chapter 2 e Wiring Motion Control Module Servo Relay Unit No QQC i ii Q Q i FG y 20 Crimp terminals 2 107 Standard Models and Specifications Chapter 2 Motion Controller Cable for General purpose I O These Motion Controller Cables connect a Motion Control Module FQM1 MMP21 and the general purpose I O of a Servo Relay Unit XVV2B 80J7 1A e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A28 10 0 dia Approx 0 1 kg XW2Z 100J A28 1m Approx 0 2 kg e Connection Configuration and External Dimensions Servo Relay Unit D XW2B 80J7 1A Motion Control Module FQM1 MMP21 g 2 108 Standard Models and Specifications Chapter 2 e Wiring Motion Control Module Servo Relay Unit No No No 9 gt o 6 a aa 24 Crimp terminals 34 2 109 Standard Models and Specifications Chapter 2 Communications Cables XW2Z J C1 These Communications Cables connect the communications port of an
49. 1m XW2Z 100J A20 For CJ1W NC233 433 0 5m XW2Z 050J A21 1m XVV2Z 100J A21 For CS1VV HCP22 0 5m XVV2Z 050J A22 1 axis 1m XW2Z 100J A22 For CS1W HCP22 0 5m XVV2Z 050J A23 2 axes 1m XW2Z 100J A23 For 3F88M DRT141 0 5m XW2Z 050J A25 im XW2Z 100J A25 For Servomotors with R7A CEA003B brakes both Cylinder and Flat style R7A CEA005B R7A CEA010B R7A CEA015B R7A CEA020B m Separate Servomotor Cables e Power Cables Specifications Standard cable model For Servo R88A CAVVA003S Robot cable model R88A CAWA003SR motors with R88A CAVVA005S out brakes R88A CAVVA005SR both Cylin R88A CAWA010S R88A CAWA010SR der and R88A CAWA015S R88A CAWA015SR Flat style R88A CAWA020S R88A CAWA020SR For Servo R88A CAVVA003B R88A CAVVA003BR motors vvith brakes both R88A CAWAO05B R88A CAVVA005BR Cylinder R88A CAWA010B R88A CAWA010BR and Flat R88A CAWA015B R88A CAWA015BR style R88A CAWA020B e Encoder Cables Standard cable model R7A CRA003C Specifications For Servo R88A CAWA020BR Robot cable model R7A CRA003CR motors Cyl R7A CRA005C inder style or R7A CRA005CR Flat style R7A CRA010C R7A CRA010CR R7A CRA015C R7A CRA015CR R7A CRA020C R7A CRA020CR Note Use a robot cable
50. 200 230 V AC 50 60 Hz x MC o ass Single phase 100 115 V AC 50 60 Hz 2 se 21 Servo error display l 2 4 TOD Class D ground 7 C200H NC112 Class 3 ground R7D APLI 100 Q or less Contents R88A CPUDS gt 24 V DC input for output 24V DC L 5 V DC input for output CCW with a resistor Pulse ccw without a resistor output CW with a resistor CW without a resistor DC reactor Servomotor cable i i Integrated 2 0 RQ r ECRST e Separate R7M AO _ECRST power and encoder opta ca ov Deviation counter reset output Origin input zou Ww Positioning completed input 24 V Di INP Origin proximity input ER i 24VIN gin p y inp foro Es LE i RUN EE i i RESET pm CCW limit input eae I OGND i i r ALMCOM CW limit input i Ce ves O la Al a minar ades imit inpu ALM o External interrupt input io o4 it BKIR Emergency stop input w FG Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Use mode 2 for origin search Note 4 Use the 24 V DC power supply for command pulse signals as a dedicated power supply Note 5 The diode recommended for surge
51. A AWG20 Black Ho Do ara O A ae 2 e as 4 4 A e a a ees me 6 at DO A10 O 8 A 9 10 HA Cesa 2 ee AS ru VNS e EE E EEE AAA UE y ue a me t E a e 7 A20 B20 18 eS UE AE e us oe asl a A SA ss A Q 20 pb 5 o Q 24 ee 25 A 26 ee l 1 gt ae A e e a A A a pm E E lt EOS A15 B15 34 N 86 Standard Models and Specifications Chapter 2 m Position Control Unit Cables XW2ZL J A16 These Position Control Unit Cables connect a CJ1W NC113 Position Control Unit and an XW2B 20J6 1B Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A16 50 cm 10 0 dia Approx 0 1 kg XVV2Z 100J A16 1m Position Control Unit CJ1W NC113 Approx 0 2 kg Servo Relay Unit XW2B 20J6 1B 2 87 Standard Models and Specifications Chapter 2 e Wiring Position Control Unit Servo Relay Unit No 2 88 Standard Models and Specifications Chapter 2 m Position Control Unit Cables XW2Z _1J A17 These Position Control Unit Cables connect a CJ 1W NC213 or CJ1W NC413 Position Control Unit and an XW2B 40J6 2B or XW2B 40J6 4A Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A17 50 cm 10 0 XW2Z 100J A17 1m Position Control Unit CJ1W NC213 I CJ1VV NC413 dia Approx 0 1 Rg Approx 0
52. AC 50 60 Hz R7D APLILIH Noise filter See note 1 Main circuit power supply ae OFF ON Main circuit contactor See note 1 E AA Class D ground oie O o Class 3 ground 100 Q or less aca a o O O O Surge hiller See note 1 Servo error display SMARTSTEP A series Servo Driver SMARTSTEP A series Servomotor 1M XB ONG ap wd RE i DC Reactor Class D ground Class 3 ground 100 Q or External Regeneration Resistor See note 3 See note 4 i Recommended relay MY Relay 24 V by OMRON For 400 W and 750 W Servo Drivers an R88A RR22047S External Regeneration Resistor may be connected Connect if the regenerative energy exceeds the individual Servo Driver s regenerative capacity Also connect a thermal switch output so that the power supply will be turned OFF when open If an External Regeneration Resistor is to be connected to a 750 W Servo Driver remove the short bar between B2 and B3 When either the main circuit power supply or the control circuit power supply is OFF the dynamic brake will operate iq xB Note 1 Recommended product in 3 2 4 Wiring for Noise Resistance 24 V DC User control device Control cable 3 13 System Design and I
53. C 30 0 18 37 0 18 50 0 18 7 0 6 7 0 8 7 1 0 711 2 7 1 6 3 17 System Design and Installation Chapter 3 m Terminal Block Wiring Procedure Connector type Terminal Blocks are used for SMARTSTEP A series Servo Drivers The procedure for wiring these Terminal Blocks is explained below L1 2 cna MONITOR el e2 e Connector type Terminal Block Example R7D APO1L 1 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 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 8 to 9 mm 3 Open the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots as follows e Pry the slot open using the lever that comes with the Servo Driver as in Fig A e Insert a flat blade screwdriver end width 3 0 to 3 5 mm into the opening for Servo Driver in stallation and press down firmly to open the slot as in Fig B 210 120J Screwdriver 231 131 Lever I Wago Company of Japan Wago Company of Japan 3 18 System Design and Installation Chapter 3
54. CCW X axis XX ies XCCWP CCW XCWP 7 7 CW DC reactor tput xx P CWP i CW i i Servomotor cable XDRSTCOM H XX ECRST Integrated XDRST i i E e Separate R7M AO XDRST h ECRST barana XZORG XX i ZCOM encoder XZORG Z N eee XDEND i i INP i g22ko i J i i O EXTV 24VIN i 24 V DC we be i i EXTVGND O 60 64 i RUN XCWLM XCCWLM XNORG oo RESET FSSTOP ul OGND 7 H ALMCOM i H op AM En KB BKIR t Note Note Note Note Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver 2 Leave unused signal lines open and do not wire them 3 The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent 4 Do not use the 24 V DC brake power supply for the 24 V DC control power 5 Do not use XDRST as a general purpose output 6 13 Appendix Chapter 6 m Connection Example 13 Connecting to SYSMAC CQM1H PLB21 Main circuit power supply NFB OFF ON R O lt S 0 N o O 1 Main circuit contact 2 MC O O Oxa SUP Surge killer Single phase 200 230 V AC 50 60 Hz a X1 EN Single phase 100 115 V AC 50 60 Hz 2 e C T Servo error display i z T TOD Class D ground A CQMIH PLB21 Class 3 ground R7D APLI 100 Q or less Contents R88A
55. Control Cable and Control I O Connector o o CN3 Communications Connector a Analog Monitor Cable CN1 Control I O Connector Servomotor Power Terminal Integrated Cables Es E CN2 R7D AP Encoder Input Connector i Servomotor Cables Separate Cables ja e o Encoder cable Note Use a robot cable if flexibility is required when using separate cables Refer to pages 2 51 and Servomotor R7M Al System Design and Installation Chapter 3 m Selecting Connecting Cables 1 Servo Relay Unit Cables Select a Servo Relay Unit and Cable to match the Position Control Unit that is to be used e Selecting Connecting Cables without Communications Support Position Control Unit CQM1 CPU43 V1 CQM1H PLB21 Position Control Unit Cable Servo Relay Unit Servo Driver Cable XW2B 20J6 3B C200H NC112 XW2B 20J6 1B C200H NC211 C500 NC113 C500 NC211 XVV2B 40J6 2B CS1VV NC113 C200HW NC113 XW2B 20J6 1B CS1W NC213 CS1W NC413 C200HW NC213 C200HW NC413 XW2B 40J6 2B CS1W NC133 J 412 XVV2B 20J6 1B CS1VV NC233 CS1VV NC433 J A13 XW2B 40J6 2B CJ1W NC113
56. File No E179149 Remarks Power conversion devices AC Servomotors UL1004 E179189 Electric motors AC Servo Drivers CUL C22 2 No 14 E179149 Industrial control devices AC Servomotors 1 6 CUL C22 2 No 100 E179189 Motors and generators Introduction Chapter 1 1 5 System Block Diagrams m 100 V AC R7D APA3L APA5L AP01L AP02L AP04L AC Servo Driver 01 B1 B2 4 62 i AC Servomotor j P1 i 4 Fuse al i P2 U U 4 7 a oo R E CHARGE i J A V El D 4 V o W o _4 T VV t L2 Le da N1 de 4 Ral V ii Gate drive puisses ci cs ces elay oltage A overcurrent protection i D drive detection Gate drive i CN2 Voltage Interface detection o NE ee pea a ces Te al RE a Lic i Current 1 a 5 V ET ASIC detection a i Ne Generation T Demo gt 16 5 V T a yi conversion CTE UT L2C gt 5
57. R7D APLIL Single phase 100 115 V AC 85 to 127 V AC 50 60 Hz Note Only the R7D AP08H 750 W has an L3 terminal enabling three phase input Three phase 200 230 V AC 170 to 253 V AC 50 60 Hz DC Reactor termi Normally short circuit between 1 and 2 nal for power sup if harmonic control measures are required connect a DC Reactor between 1 ply harmonic and 2 control Main circuit DC out Do not connect anything put Reverse Control circuits R7D APLIH Single phase 200 230 V AC 170 to 253 V AC 50 60 Hz power supply input R7D APOL Single phase 100 115 V AC 85 to 127 V AC 50 60 Hz External regenera 30 to 200 VV No External Regeneration Resistor can be connected tion resistance con 499 W This terminal does not normally need to be connected If regenerative nection terminals energy is high connect an External Regeneration Resistor between B1 and B2 750 VV Normally shorted 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 Servomotor con Red These are the terminals for outputs to the Servomotor Be sure to nection terminals White Wire these terminals correctly Blue Green Yellow Frame ground This is the ground terminal Ground to a minimum of 100 Q class D class 3 2 19 Standard Models and Specifications Chapter 2
58. Seenote1 See note 1 CIO 2960 06 CIO an o 9 Y axis VDC OWimit CCW imit Seenote1 See note 1 I ClO 2960 08 cia 0 Q je 1 24V DC Note1 The CW limit input signal and CCW limit input signal can be input through an Input Unit The follow ing flags function as the CW CCW limit input signals in the CJ1M Pulse Output 0 CW A540 08 CCW A540 09 Pulse Output 1 CW A541 08 CCW A541 09 Program the actual inputs from the Input Unit to control these flags as ladder program outputs as shown below Example 2960 06 A540 08 Note2 The XB contacts are used to turn ON OFF the electromagnetic brake a Do not connect anything to unused terminals b The O V terminal is internally connected to the common terminals c The following crimp terminal is applicable R1 25 3 round with open end m XW2B 80J7 1A This Servo Relay Unit connects to the following OMRON Programmable Controllers e CS1W HCP22 V1 e FQM1 MMP21 2 65 Standard Models and Specifications Chapter 2 e External Dimensions Signal selectors 160 Terminating resistance selector Communications support connectors 5 RS422 5 PORT2 SERA SERB SRZ Wa VOL CNTI CNT CNT DA AD 100 90 TE po po po po fo no no oof o oof o 8 oof o E 00H O
59. V Digital Encoder signal CN1 i current amp processing gt 15V T commend c d wen eee nee eee ee ee nee eee eee nee eee ne nenne nne nennen mnene nenne nnee pulse pa omman 5 V pulse input El A I nar i Position voltage processing control a 0 V conversion S Y 7 l pee A control Alarm code display Serial port eau lt gt _ VO Control O E i RS 422 CN4 CN3 a Analog monitor output Parameter Unit computer Note Only on R7D APO4H APOAL 1 7 Introduction m 200 V AC R7D APA3H APA5H AP01H AP02H AP04H AC Servo Driver Chapter 1
60. XW2B 40J6 4A Servo Relay Unit that supports communications and a Programmable Controller Serial Communications Unit or Board e Cable Models moa Longhi Outer diameter of sheath Weit XW2Z 100J C1 1m 10 0 dia Approx 0 1 kg XW2Z 200J C1 2m Approx 0 2 kg e Connection Configuration and External Dimensions e Wiring Symbol Cable AWG28x2P UL2464 Connector Connector XM2A 0901 OMRON XM2A 0901 OMRON Connector Hood Connector Hood XM2S 0911 OMRON XM2S 0911 OMRON 2 110 Standard Models and Specifications Chapter 2 2 8 Parameter Unit Specifications R7A PRO2A Hand held Parameter Unit A Parameter Unit is required for setting parameters to operate and control the Servo Driver for copying Servo Driver parameters and for other func tions A 1 meter cable is provided with the Parameter Unit General Specifications Standards Operating ambient temperature 0 to 55 C Storage ambient temperature 20 to 85 C Operating ambient humidity 90 max with no condensation Storage ambient humidity 90 max with no condensation Storage and operating atmo No corrosive gasses sphere Vibration resistance 10 to 55 Hz 0 1 mm double amplitude or 9 8 m s max acceleration whichever is smallest in X Y and Z directions
61. a switch turned ON y oz Switch turned OFF oz Switch turned ON 4 2 2 Setting Function Switches Switch Parameter Switch Switch 6 Switch 6 sets whether the Servo Driver is to be operated using the function switches or using the parameter settings Switch 6 Switch parameter switch OFF Function switches are enabled Enables switches 1 to 5 ON Parameter settings are enabled Note Here settings will be performed using the function switches so turn OFF switch 6 m Resolution Setting Switches 4 and 5 Switches 4 and 5 set the positioning resolution When they are set to 1 000 the default setting the Servomotor will rotate once for every 1 000 pulses that are input Switch 5 Switch 4 Resolution setting OFF OFF 1 000 pulses rotation 0 36 step OFF ON 10 000 pulses rotation 0 036 step ON OFF 500 pulses rotation 0 72 step ON ON 5 000 pulses rotation 0 072 step Note At 5 000 pulses rotation 3 000 r min at 250 kpps command pulses At 10 000 pulses rotation 1 500 r min at 250 kpps command pulses m Command Pulse Input Setting Switch 3 Switch 3 sets whether the command pulse input uses 2 pulses forward CCW and reverse CW pulses or a 1 pulse feed pulse PULS and a forward reverse signal SIGN Switch 3 Command pulse input setting OFF Forward pulse CCW reverse pulse CW input Positive logic ON
62. be securely connected to the Encoder Connector at the Servomotor e Checking the Control Connectors e The Control Cable must be securely connected to the I O Control Connector CN1 e The RUN command RUN must be OFF Operation Chapter 4 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 appear on the alarm display Normal with cylinder style Servomotor Error when Error A C2 occurs connection Approx 2s C Approx Approx 1s 1s Approx Approx 1s 1s L A A ma R Note 1 When connecting a flat style Servomotor when the power is turned on P will be displayed and after approximately two seconds will be displayed shows that the servo is OFF When the RUN command is input and the servo turns ON the display will disappear Note 2 The alarm code the number displayed when an error occurs changes
63. capacity Also connect the thermal switch output so that the power supply will be turned OFF when open 4 If an External Regeneration Resistor is to be connected remove the short bar between B2 and B3 5 When either the main circuit power supply or the control circuit power supply is OFF the dynamic brake will operate 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 Main circuit power supply input Function R7D APUIH Single phase 200 230 V AC 170 to 253 V 50 60 Hz R7D APULL Single phase 100 115 V AC 85 to 127 V 50 60 Hz Note Only the R7D AP08H 750 W has an L3 terminal enabling three phase input Three phase 200 230 V AC 170 to 253 V AC 50 60 Hz Connection ter minals for DC Reactor for power supply harmonic control Normally short between 1 and 2 When harmonic control is required connect a DC Reactor between 1 and 2 Main circuit DC output negative Do not connect anything to this terminal Control circuit power supply input R7D APUIH Single phase 200 230 V AC 170 to 253 V 50 60 Hz R7D APUIL Single phase 100 115 V AC 85 to 127 V 50 60 Hz External regener ation resistance connection termi nals 30 to 200 VV An External Rege
64. class 2 normal line pitch error of 6 um max for a pitch circle diameter of 50 mm If Shaft core displacement the gear precision is not adequate allow backlash Backlash to ensure that no radial load is placed on the Adjust backlash by motor shaft adjusting the distance between shafts 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 measures to ensure that no thrust load is applied which exceeds specifications 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 When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to be placed on the motor shaft due to belt tension If an excessive radial load is 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 Pulley for tension adjustment Pulley Make adjustable Belt SET Tension m VVater and Drip Resistance The enclosure ratings for the Servomotors
65. 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 N Caution N Caution N Caution N Caution N Caution N Caution 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 Failure to do so may result in damage to the product e Locations subject t
66. co CO CO MD CO MD MD MD MD HM MO HJ OM A BJ BJ BJ BJ ALAR o co AT in the table refers to the set bolt External Diagrams E3 E a Four Z2 dia gt a effective depth Four Z1 dia Do da a d I Do a 5 Q Ei a 8 G L T OC1 LM LR Set bolt AT gt i Rey dimensions QR ti pe h 2 13 Standard Models and Specifications Chapter 2 m For Cylinder style Servomotors Backlash 45 Max Dimensions mm D4 E3B F G S Key dimensions QK b hj ti R7G RGSFO5B50 R7G RGSFO9B50 R7G RGSF15B50 R7G RGSF25B50 R7G RGSF05B100 R7G RGSF09B100 R7G RGSF15B100 R7G RGSF25B100 R7G RGSF05B200 R7G RGSF09C400 R7G RGSF15C400 R7G RGSF25C400 R7G RGSF05C400 R7G RGSF09C400 R7G RGSF15C400 R7G RGSF25C400 R7G RGSF05C750 R7G RGSF09C750 R7G RGSF15C750 R7G RGSF25C750 CO CO CO CO CO 9 MD ajal alojoj co _ o o o wj Gol jjj jajajaj jajajajajajaj coj coj col co D H OI HD DD HD HD oa OD GI BJ BJ BJ BI BJ BJ AJ BI RE OJ DID DH OGJ GJ GI HD OD GJj GI A A B
67. consumed by regeneration resistance in one cycle of operation P Egi Egot Ega T W T Operation cycle s 3 3 2 Servo Driver Regenerative Energy Absorption Capacity Amount of Internal Regeneration Resistance in Servo Drivers SMARTSTEP A 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 e 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 e Lengthen the deceleration time to decrease the regenerative energy produced per time unit e Lengthen the operation cycle i e the cycle time to decrease the average regenerative power 3 39 System Design and Installation Chapter 3 Note External Regeneration Resistors cannot be connected to 30 to 200 W Servo Drivers Servo Driver Regenerative energy J Internal regeneration resistance that can be absorbed by Ayerage amount of Resistance Q internal capacitor See regeneration that can note 1 be absorbed W R7D APA3L R7D APA5L R7D APO1L
68. 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 e Take the control cable s connector direction into account when installing the Servo Drivers gt a gt Ean Fan 50 mm min Air 8 S 2 S Q a Side Q gt panel D B D w PA 50 mm min Air W 10 mm min Mounting Direction Mount the Servo Drivers in a direction perpendicular such that the lettering for the model number and so on can be seen m Operating Environment The environment in which Servo Drivers are operated must meet the following conditions e Ambient operating temperature O to 55 C Take into account temperature rises in the individual Servo Drivers themselves e Ambient operating humidity 90 max 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 e Temperature rise in any Unit installed in a closed space such as a control box will cause the Servo Driver s ambient temperature to rise Use a fan or air conditioner to prevent the Servo Driver s ambi ent temperature from exceeding 55 C e Servo Driver surface temperatures may
69. displayed If the Servo Driver detects a warning e g overload warning or regenerative overload warning a warning code will be displayed but operation will continue Note 1 Refer to 5 3 1 Error Diagnosis Using Alarm Display for appropriate alarm countermeasures Note 2 Cancel the alarm using one of the following methods e Input a RESET alarm reset signal e Turn OFF the power supply then turn it ON again e Reset the alarm using the Parameter Unit keys The following alarms can only be cancelled by turning OFF and ON the power supply A 04 A 10 A bF A C2 and A C3 Note 3 If an alarm is canceled while RUN is turned ON the Servo Driver will start as soon as the alarm is cleared which is dangerous Be sure to turn OFF the RUN command before can celing the alarm m Servo Driver Alarm Display If an error is detected an alarm code will be displayed one segment at a time on the Servo Driver s front panel alarm display as shown in the following example Example Alarm Code A C2 After After After After approx 1s approx 1s approx 1s approx 1s a H i TIC a a Y Y Troubleshooting Chapter 5 m Alarm Table Error detection function Cause of error Parameter setting error The Servomotor does not match the Servo Driver Overcurrent Overcurrent detected or improper radi ation shield temperature rise detected
70. i 1 Main circuit contact Q O O O Q SUP Surge killer x4 MC X1 lt 3 ee eL Servo error display o z Y TOD Class D ground R7D APO Class 3 ground 100 Q orl or less eB A CPULIS __ 24V DC X axis CCW without a resistor pulse I CW with a resistor output gt 3 CW without a resistor X axis dev cntr reset output X axis origin input 24 V X axis origin common X axis positioning completed input Input common X axis external interrupt input X axis origin proximity input X axis CCW limit input ECRST ECRST ZCOM Z INP 24VIN RUN RESET DC reactor e Integrated e Separate power and encoder faa Servomotor cable R7M ALI X axis CW limit input OGND X axis emerg stop input Note Note Note Note Note Note our WON 6 2 ALMCOM ALM BKIR FG Incorrect signal wiring can cause damage to Units and the Servo Driver Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 24 V DC power supply for command pulse si
71. if cable flexibility is required Standard Models and Specifications Chapter 2 m Peripheral Cable Connectors Analog Monitor Cable CN4 R88A CMW001S Computer Monitor Cable CN3 R7A CCA002P2 R7A CCA002P3 Control I O Connector CN1 R88A CNU01C Encoder Connector CN2 R7A CNAO1R Encoder Connector Servomotor end R7A CNA02R Communications Cable XW2Z 100J C1 XW2Z 200J C1 Parameter Units Hand held with 1 m cable R7A PRO2A m External Regeneration Resistors 220 VV 47 Q R88A RR22047S m DC Reactors Specifications For R7D APA3L APA5L APA01L R88A PX5063 For R7D AP02L R88A PX5062 For R7D APO4L R88A PX5061 For R7D APA3H APA5H AP01H R88A PX5071 For R7D AP02H R88A PX5070 For R7D AP04H R88A PX5069 For R7D AP08H R88A PX5061 m Front panel Brackets For the SMARTSTEP A Series R88A TKO1W 2 5 Standard Models and Specifications Chapter 2 2 2 External and Mounted Dimensions 2 2 1 Servo Drivers m Single phase 100 V AC R7D APA3L APA5L AP01L AP02L 30 W to 200 W Single phase 200 V AC R7D APA3H APA5H AP01H AP02H 30 W to 200 W e Wall Mounting
72. in param eter Pn103 inertia ratio Operation from this point will run according to the value stored in Pn103 Note 2 If the online autotuning switch is set to always ON the Servomotor may become unstable due to extreme vibration when the load fluctuates It is recommended that you perform on line autotuning once write the results inertia ratio to the user parameter then operate with the online autotuning turned OFF 4 12 Operation Chapter 4 m Setting the Gain Adjustment Rotary Switch during Online Autotuning e Setting the gain adjustment rotary switch during online autotuning sets the servo system s target speed loop gain and position loop gain e Select a switch setting from the following 10 levels switches A to F are the same setting to suit the mechanical system Response Switch Position Speed Speed loop integral Torque command Typical applications setting loop gain loop gain time constant filter time constant mechanical system s7 Hz x0 01 ms x0 01 ms Low 1 15 15 4 000 250 Articulated robots harmonic drives 2 20 20 3 500 200 RA PS I rack and 3 30 30 3 000 150 Medium 4 40 40 2 000 100 XY tables orthogonal robots gen eral purpose mechanical systems etc High 5 60 60 1 500 70 Ball screws direct couplings feed 6 85 85 1 000 50 ers Ole 7 120 120 800 30 8 160 160 600 20 9 200 200 500 15 A 250 250 400 10 B 250 250 400 10 C 250 250 400 10 D 25
73. maintenance or inspection must be performed by autho rized personnel Not doing so may result in electric shock or injury N WARNING Wiring or inspection must not be performed for at least five minutes after turning OFF the power supply Doing so may result in electric shock N WARNING Do not damage press or put excessive stress or heavy objects on the cables Doing so may result in electric shock N WARNING Do not touch the rotating parts of the Servomotor in operation Doing so may result in injury N WARNING Do not modify the product Doing so may result in injury or damage to the product N WARNING Provide a stopping mechanism on the machine to ensure safety The holding brake is not designed as a stopping mechanism for safety purposes N WARNING Provide an external emergency stopping mechanism that can stop operation and shutting off the power supply immediately Not doing so may result in injury N WARNING 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 N Caution 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 damag
74. 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 errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication General Warnings Observe the following warnings when using the SMARTSTEP Servomotor and Servo Driver and all connected 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 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 A WARNING Do not touch the inside of the Servo Driver Doing so may result in electric shock N WARNING Do not remove the front cover terminal covers cables or optional items while the power is being supplied Doing so may result in electric shock N WARNING Installation operation
75. provided for configuring a servo system using a Position Control Unit makes wiring simple System Configuration Parameter Unit Computer Monitor Software DOS personal computers NEC PC98 notebook computer Controller R7A PRO2A Note A 1 meter cable is provided with the Parameter Unit 5 Computer Monitor Cable 3 ME ale Position Control Unit Servo Relay Unit Cable Position Control Unit with a pulse string output CJ1W NC113 133 CJ1W NC213 233 CJ1W NC413 433 CS1W NC113 133 CS1W NC213 233 CS1W NC413 433 C200HW NC113 C200HW NC213 C200HW NC413 C500 NC113 C500 NC211 C200H NC112 C200H NC211 SYSMAC PLC with pulse string output CQM1 CPU43 V1 CQM1H PLB21 CS1VV HCP22 CJ1M CPU21 22 23 Single axis Positioner vvith pulse string output 3F88M DRT141 Flexible Motion Controller FQM1 MMP21 22 Other Controllers Position Control Unit Cable Pas Servo Driver Cable DI Servo Relay Unit Note If using a Servo Relay Unit that supports communications a communications cable is required to connect the Servo Relay Unit s communications port and the Programmable Controller s Serial Communications Unit or Board El Terminal Block Cable Terminal Block Cable Connector Terminal Block General
76. r min r min N m kg m R7G RGSF05B100P 1 19 3 60 1 60 x 105 R7G RGSF09B100P 2 29 6 91 1 37 x 10 gt R7G RGSF15B100P 3 82 11 5 3 38 x 106 R7G RGSF25B100P 4 02 See note 4 12 0 3 78 x 108 See note 4 R7G RGSF05B200P 2 71 8 10 1 53 x 10 R7G RGSF09C400P 3 78 11 3 2 56 x 102 R7G RGSF15C400P 6 31 18 9 2 71 x10 R7G RGSF25C400P 11 1 33 4 2 67x 10 R7G RGSF05C400P 5 40 16 2 3 23 x 105 R7G RGSF09C400P 9 49 28 5 2 56 x 102 R7G RGSF15C400P 15 8 47 6 2 71 x 10 R7G RGSF25C400P 21 7 See note 4 65 1 See note 12 67 x 105 4 R7G RGSF05C750P 10 8 32 0 7 17x 105 R7G RGSF09C750P 9 7 See note 4 29 1 See note 6 00 x 105 4 R7G RGSF15C750P 16 2 See note 4 48 6 See note 7 65x 10 4 R7G RGSF25C750P 21 7 See note 4 65 1 See note 17 22 x 105 4 Note 1 The reduction gear inertia indicates the Servomotor shaft conversion value Note 2 The enclosure rating for Servomotors with reduction gears is IP44 Note 3 The allowable radial torque is the value for the center of the shaft Note 4 These are the allowable torque values for the reduction gears Do not exceed these values 2 42 Standard Models and Specifications Chapter 2 2 6 Cable and Connector Specifications 2 6 1 Control Cables m General Control Cables R88A CPUL 1 1 IS A General Control Cable is connected to the Servo Drivers Control I O Connector CN1 There is no conn
77. 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 maxi mum ambient temperature of 40 C and at 80 of the rated torque then a service life of approxi mately 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 e Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the Units during installation Be sure to remove the cover after installa tion is complete If the cover is left on during operation heat buildup may damage the Units 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 3 1 2 Servomotors m Operating Environment The environment in which the Servomotor is operated must meet the
78. series Servomotors R7M AL_ There are two kinds of SMARTSTEP A series Servomotor e 3 000 r min Cylinder style Servomotors e 3 000 r min Flat style Servomotors These Servomotors also have optional specifications such as the shaft type brake etc Select the appropriate Servomotor for your system according to the load conditions and installa tion environment 2 4 1 General Specifications Ambient operating temperature 0 to 40 C Ambient operating humidity 20 to 80 with no condensation Storage ambient temperature 20 to 60 C Ambient storage temperature 20 to 80 with no condensation Storage and operating atmo No corrosive gasses sphere Vibration resistance 10 to 2 500 Hz 0 2 mm double amplitude or 24 5 m s max acceleration See note 1 whichever is smallest in X Y and Z directions Impact resistance Acceleration 98 m s max in X Y and Z directions two times Insulation resistance Between power line terminals and FG 10 MQ min via 500 V DC Megger Tester Dielectric strength Between power line terminals and FG 1 500 V AC for 1 min at 50 60 Hz Run position All directions Insulation grade Type B Structure Totally enclosed self cooling Protective structure IP55 Excluding through shaft portion Vibration grade V 15 Mounting method Flange mounting Note 1 Vibration may be amplified due to sympathetic resonance of machinery so use the Servo
79. shaft 2 39 Standard Models and Specifications Chapter 2 e Backlash 45 Max Rated Rated torque Maximum Maximum Reduction rotation momentary momentary gear inertia speed rotation speed torque r min f r min N m kg m R7G RGSF05B50 0 517 1 56 4 13 x 10 6 R7G RGSF09B50 0 93 2 81 3 53 x 105 R7G RGSF15B50 1 67 5 04 3 67 x 105 R7G RGSF25B50 2 78 8 40 3 59 x 105 R7G RGSF05B100 1 19 3 60 4 08 x 105 R7G RGSF09B100 2 29 6 91 3 43 x 105 R7G RGSF15B100 3 82 115 3 62x 105 R7G RGSF25B100 4 02 See note 4 12 0 See note 4 3 54 x 108 R7G RGSF05B200 2 71 8 10 153x105 R7G RGSF09C400 3 78 11 3 2 68 x 105 R7G RGSF15C400 6 31 18 9 2 71 x 10 gt R7G RGSF25C400 11 1 33 4 2 67 x 10 R7G RGSF05C400 5 40 16 2 3 22 x 10 R7G RGSF09C400 9 49 28 5 2 68 x 105 R7G RGSF15C400 15 8 47 6 2 71 x 10 gt R7G RGSF25C400 21 7 See note 4 65 1 See note 4 2 67 x 10 R7G RGSF05C750 10 8 32 0 7 17 x 105 R7G RGSF09C750 9 7 See note 4 29 1 See note 4 6 46 x 105 R7G RGSF15C750 16 2 See note 4 48 6 See note 4 7 53 x 105 R7G RGSF25C750 21 7 See note 4 65 1 See note 4 7 22 x 1052 Note 1 The reduction gear inertia indicates the Servomotor shaft conversion value Note 2 The enclosure rating for Servomotors with reduction gears is IP44 Note 3 The allowable radial torque is the value for the center of the shaft Note 4 These are the allowable
80. temperatures and how much the load torque is Likewise check to see whether there 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 4 3 Encoder Specifications Specification Cylinder style Servomotors Flat style Servomotors Encoder method Optical encoder incremental Magnetic encoder incremental Number of output pulses Phase A B 2 000 pulses revolution Phase Z 1 pulse revolution Power supply voltage 5 V DC 5 Power supply current 150 mA max Maximum rotation speed 4 500 r min Output signals A A B B S S Output interface Conforming to EIA RS 422A Output based on AM26LS31CN or equivalent Serial communications data Phase Z poll sensor phases U V W Serial communications method Combined communications method using phases A B and S 2 38 Standard Models and Specifications Chapter 2 2 5 Reduction Gear Specifications m Reduction Gears for SMARTSTEP A series Servomotors R7G L_ There are tvvo Rinds of reduction gears for SMARTSTEP A series Servomotors e Reduction gears for 3 000 r min Cylinder style Servomotors Backlash 3 max an
81. this manual Operating errors may result Consult your OMRON representative if you have questions 12 Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems railroad systems aviation systems vehicles combustion systems medical equipment amusement machines safety equipment and other systems machines and equipment that may have a serious influence on lives and property if used improperly consult your OMRON represen tative Items to Check Before Unpacking 1 Check the following items before removing the product from the package e Has the correct product been delivered i e the correct model number and specifications e Has the product been damaged in shipping 2 Check that the following accessories have been delivered e Safety Precautions No connectors or mounting screws are provided Obtain these separately OMRON M USER S MANUAL SMARTSTEP Asas MODELS R7M ALI Servomotors R7D APL Servo Drivers Servomotors Servo Drivers 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 I
82. time the primary filter constant 1 pri mary filter Position control Selects position Primary filter Pn204 setting 2 command filter Linear acceleration and decel eration Pn208 1to3 Not used 0 Position com Soft start setting for command pulses Soft start characteristics are for x0 01 ms 0 to 6400 mand filter time the linear acceleration and deceleration constant 2 Linear accelera tion and deceler ation Jog speed Rotation speed during jog operation r min 0 to 10000 Torque com The constant when filtering the internal torque command x0 01 ms 0 to 65535 mand filter time constant 4 16 Operation Chapter 4 Parameter Parameter name Description for parameters set with 5 digits Default i Setting Restart No range Digit Name Setting Description for parameters No with individually set digits Forward torque Forward rotation output torque limit rated torque ratio Jo 0 to 800 limit Reverse torque Reverse rotation output torque limit rated torque ratio 0 to 800 limit Positioning com The range of positioning completed output INP Command 0 to 250 pleted range units Deviation counter The detection level for a deviation counter overflow alarm x256 com 1 to 32767 overflow level mand units Regeneration Setting for regeneration resistance load ratio monitoring calculations x10 W From 0 resistor capacity Note
83. 0 R7G RGSF05B100 R7G RGSF09B100 R7G RGSF15B100 R7G RGSF25B100 R7G VRSFPB05B200 R7G VRSFPB09C400 R7G VRSFPB15C400 R7G VRSFPB25C200 R7G RGSF05B200 R7G RGSF09C400 R7G RGSF15C400 R7G RGSF25C400 R7G VRSFPB05C400 R7G VRSFPB09C400 R7G VRSFPB15C400 R7G VRSFPB25D400 R7G RGSF05C400 R7G RGSF09C400 R7G RGSF15C400 R7G RGSF25C400 R7G VRSFPB05C750 R7G VRSFPB09D750 R7G VRSFPB15D750 Note There are no reduction gears for 30 W Servo motors R7G VRSFPB25E750 e For Flat style Servomotors Backlash 3 Max Specifications Servomotor capacity Reduction gears deceleration ratio R7G VRSFPB05B100P R7G VRSFPB09B100P R7G VRSFPB15B100P R7G VRSFPB25C100P Note There are no reduction gears for 30 W Servo R7G RGSF05C750 R7G RGSF09C750 R7G RGSF15C750 motors R7G RGSF25C750 e For Flat style Servomotors Backlash 45 Max Specifications Servomotor capacity Reduction gears deceleration ratio R7G RGSF05B100P R7G RGSF09B100P R7G RGSF15B100P R7G RGSF25B100P R7G VRSFPBO5B200P R7G VRSFPBO9C400P R7G VRSFPB15C400P R7G VRSFPB25C200P R7G RGSF05B200P R7G RGSF09C400P R7G RGSF15C400P R7G RGSF25C400P R7G VRSFPB05C400P R7G VRSFPBO9C400P R7G VRSFPB15C400P R7G VRSFPB25D400P R7G RGSF05C4
84. 0 is reached An alarm may be generated if the Servomotor contin ues to operate Regeneration overload A warning occurs before the regenera tion overload alarm A 32 is reached An alarm may be generated if the Ser vomotor continues to operate Note These alarms are not displayed on the alarm indicator on the front of the Servo Driver They appears on the display of the Parameter Unit 5 6 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 Parameter setting error Status when error occurs Occurs when con trol circuit power supply is turned ON Cause of error A value outside of the set ting range was previously set in the parameters Countermeasures Reset the parameters within the setting range Control panel error Replace the Servo Driver Overcurrent Occurs when power supply is turned ON Control panel error Main circuit transistor mod ule error Replace the Servo Driver Occurs when servo is turned ON Current feedback circuit error Main circuit transistor mod ule error Replace the Servo Driver Servomotor power line is short circuited or grounded between phases Repair the short circuited or groun
85. 0 250 400 10 E 250 250 400 10 F 250 250 400 10 Note The servo system loop gain will increase in response to a higher switch setting value shorten ing positioning time If the setting is too large however the machinery may vibrate Reduce the setting if vibration is a problem 4 5 2 Manual Tuning m Manually Tuning e If online autotuning operations are not effective tune the system using only the gain adjustment rotary switch e When the load inertia fluctuates below 200 ms or less e When the rotation speed does not exceed 500 r min or when the output torque does not ex ceed 50 of the rated torque e When an external force is always imposed such as with a vertical axis e When the load rigidity is low or when the adhesive friction is high 4 13 Operation Chapter 4 m Manual Tuning Procedure Start Y Turn OFF the power Y Do not perform extreme adjustment Set the gain adjustment rotary switch and setting changes as they may Refer to the previous page for setting the gain adjustment rotary switch destablize the operation Adjust the Y gain a little at a time while checking 7 7 the Servomotor operation Turn OFF the online autotuning switch Y Turn ON the power Y Run the operation with a normal operating pattern and load Y Y lt Operating properly gt N pat If an error occurs reset the gain adjustment rot
86. 00P R7G RGSFO9C400P R7G RGSF15C400P R7G RGSF25C400P R7G VRSFPB05C750P R7G VRSFPB09D750P R7G VRSFPB15D750P R7G VRSFPB25E750P R7G RGSF05C750P R7G RGSF09C750P R7G RGSF15C750P R7G RGSF25C750P 2 3 Standard Models and Specifications Chapter 2 m Servo Relay Units for CN1 Servo Relay Unit Specifications For CS1W NC113 133 CJ1W NC113 133 C200HW NC113 C200H NC112 3F88M DRT141 No communications supported XW2B 20J6 1B For CS1W NC213 233 41 3 433 CJ1W NC213 233 41 3 433 C200HW NC213 413 C500 NC113 211 C200H NC211 No communications supported XVV2B 40J6 2B For CS1VV HCP22 CQM1H PLB21 CQM1 CPU43 V1 No communications supported XW2B 20J6 3B For CS1W NC213 233 41 3 433 CJ1W NC213 233 41 3 433 Communications supported XW2B 40J6 4A For CJ1M CPU21 CPU22 CPU23 XW2B 20J6 8A XW2B 40J6 9A For CS1W HCP22 V1 and FQM1 MMP21 XW2B 80J57 1A No communications 1m XVV2Z 100J B5 supported am XW2Z 200J B5 Communications sup im XW2Z 100J B7 ported 2m XW2Z 200J B7 For FQM1 MMP21 1m XVV2Z 100J B10 Specifications Model For CJ1M CPU21 CPU22 CPU23 Position Control XW2Z 100J A26 Unit Cable For FQM1 MMP21 for XVV2Z 050J A28 general purpose I O XW2Z 100J A28 For CS1W HCP22 V1 XW2Z 050J A29 for general purpose I O XW2Z 100J A29 F
87. 2 kg Servo Relay Unit XW2B 40J6 2B XW2B 40J6 4A 2 89 Standard Models and Specifications Chapter 2 e Wiring Position Control Unit Servo Relay Unit EA Hl Q E E o E E SS SS 2 E 12 AAA EE a A a A ee _ Eg A AAA EA EXA 18 A TOO A S eo z 21 e H OO s ST a pO e eee a E A o e ee AE 27 gt is a 31 32 34 33 2 90 Standard Models and Specifications Chapter 2 m Position Control Unit Cables XW2Z _ J A20 These Position Control Unit Cables connect a CJ1W NC133 Position Control Unit and an XW2B 20J6 1B Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A20 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A20 1m Position Control Unit CJ1W NC133 Approx 0 2 kg Servo Relay Unit XW2B 20J6 1B 2 91 Standard Models and Specifications Chapter 2 e Wiring Position Control Unit Servo Relay Unit 2 92 Standard Models and Specifications Chapter 2 m Position Control Unit Cables XW2Z _ J A21 These Position Control Unit Cables connect a CJ1W NC233 or CJ1W NC433 Position Control Unit and an XW2B 40J6 2B or XW2B 40J6 4A Servo Relay Unit e Cable Models Length L Outer diameter of sheath We
88. 3 Note If function switch 6 is OFF to enable the function switch settings this parameter is ignored and the setting on function switches 4 and 5 resolution setting is used Controller with pulse train output SMARTSTEP A series Servo Driver Position Control Unit Position Control Mode Electronic gear ratio SMARTSTEP A series Pn202 Pn203 Servomotor Pulse train 10 CW G1 G2 m Settings e Using Function Switches Function Switch 6 Turned OFF Function switch Explanation Command pulse input setting switch 3 Set to match the Controller command pulse type Resolution setting switches 4 and 5 Set to 500 1 000 5 000 or 10 000 e Using Parameters Function Switch 6 Turned ON Parameter No Parameter name Explanation Pn200 0 Position control setting 1 Set to match the controller command pulse status Command pulse mode Pn202 Electronic gear ratio G1 numerator Set the pulse routes for the command pulse and Pn203 Electronic gear ratio G2 denominator Servomotor travel amount 0 01 lt G1 G2 lt 100 4 26 Operation Chapter 4 4 7 2 Brake Interlock m Precautions for Using Electromagnetic Brake e The electromagnetic brake Servomotor with a brake is a non excitation brake especially for holding If the brake is applied while the Servomotor is operating the brake disk may become damaged or malfunction due to friction causing
89. 4a au ela ea ea ad ea a al a La 2 17 2 4 Servomotor Specifications uv LL ea aa ea La ea da ades es ala La 2 31 2 5 Reduction Gear Specifications Lu eect eee 2 39 2 6 Cable and Connector Specifications u e ua aus ia aa eee La 2 43 2 7 Servo Relay Units and Cable Specifications 4 u e eu ea sea 2 58 2 8 Parameter Unit Specifications u e cee La La 2 111 2 9 External Regeneration Resistor Specifications 0 00 00 cece ee eee ee 2 113 2210 DC Reactors ise ci ii LG ee eed he EE Es oe ea 2 114 Chapter 3 System Design and Installation 3 1 3 1 Installation Conditions Lu cece eens 3 3 SD VINS ei Bo Raed Es NS at begs EES neo RE ES gH eae 3 8 3 3 Regenerative Energy Absorption 0 02 3 37 Chapter 4 Op ralioticiii sta mesodsoescistcieememtststess Mel 4 1 Operational Procedure ue cence eee nee 4 3 A De SWIA SCN ES a i Vannes he RE ET Mig ache AES Sra Bion ate A E TE a anv heen 4 4 4 3 Preparing for Operation 0 0 cece ades 4 7 4 4 Trial Operation deien a A ES teca sete os 4 9 4 5 Gain Adjustment Louis hea ese ae es idee De Es ea de eee ae ae 4 11 4 6 User Parameters deis et is Gey si eo da ee sedan Uae batir ha 4 15 4 1 Operating PUNCHONS 0 556361 eae eee tebe A eee hk gee ate Se 4 26 Chapter 5 Troubleshooting oooooooooooooooooo
90. 7 os 2 t OGND ee t ALMCOMI eo ltd 34 arm o dp ALM KB BKIR FG Incorrect signal wiring can cause damage to Units and the Servo Driver Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the 5 V DC power supply for command pulse signals as a dedicated power supply The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent Do not use the 24 V DC brake power supply for the 24 V DC control power Chapter 6 m Connection Example 4 Connecting to SYSMAC CJ1W NC133 233 433 6 5 Appendix Chapter 6 m Connection Example 5 Connecting to SYSMAC CS1W HCP22 Main circuit power supply Single phase 200 230 V AC 50 60 Hz Single phase 100 115 V AC 50 60 Hz CS1W HCP22 Contents 24 V input for output Common CCW 1 6 kQ NFB OFF ON R Q 6I0 00 i 5 Gp x4 MC xy 7 se ED i E Zz TOD Class D ground R7D APLI Class 3 ground 100 Q or less R88A CPULIS ppt od a eee 24V DC Pulse output 1 CW 1 6 kQ DC reactor Note Note Note Note Note 6 6 ECRST ECRST ZCOM Z INP
91. 71 Standard Models and Specifications Chapter 2 2 7 2 Cables for Servo Relay Units m Servo Driver Cables XW2Z J B5 These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit These Cables are used vvhen connecting a Servo Relay e Cable Models Unit that does not support communications Moe Ten A Outer diameter of sheath Weight Length L m XW2Z 100J B5 1 8 0 dia Approx 0 1 kg XW2Z 200J B5 2m Approx 0 2 kg e Connection Configuration and External Dimensions Servo Relay Unit XW2B 20J6 1B XW2B 40J6 2B XW2B 20J6 3B e Wiring Servo Relay Unit e Servo Driver D R7D AP Symbol Connector plug 10136 3000VE Sumitomo 3M ALMCOM Connector case 10336 52A0 008 Sumitomo 3M Cable AWG28 x 4P AWG28 x 9C 2 72 Standard Models and Specifications Chapter 2 m Servo Driver Cables XW2Z _ J B7 These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit These Cables are used when connecting a Servo Relay Unit that supports communications XVV2B 40J6 4A e Cable Models Length L Outer diameter of sheath Weight XW2Z 100J B7 im 8 0 dia Approx 0 1 kg XW2Z 200J B7 2m Approx 0 2 kg e Connection Configuration and External Dimensions 6 L Servo Relay Unit XVV2B 40J60 4A J 8 e Wiring Servo Relay Unit Servo Driver Servo Driver D R7D AP
92. 8 Sumitomo 3M 2 3 6 Communications Connector Specifications CN3 Signal name Function Interface Transmission data Transmission data RS 232C output Reception data Reception data RS 232C input Unit switching This is the switching terminal for a Parameter Unit or personal computer 5 V output This is the 5 V power supply output to the Ground Parameter Unit Shield ground Cable shield ground e CN3 Connectors Used 8P Servo Driver receptacle HR12 10R 8 SDL Hirose Electric Cable connector HR212 10P 8P Hirose Electric 2 29 Standard Models and Specifications 2 3 7 Monitor Output Connector Specifications CN4 e CN4 Connectors Used 4P DF11 4DP 2DSA 01 Hirose Electric DF11 4DS 2C Hirose Electric DF11 2428SCF Hirose Electric Servo Driver receptacle Cable connector socket Cable connector contact 2 30 Symbol Signal name Function Interface NM Speed monitor Speed monitor output 1 V per 1 000 r min Forward rotation voltage reverse rotation voltage The output accuracy is approximately 15 AM Current monitor Current monitor output 1 V rated torque Forward rotation voltage reverse rotation voltage The output accuracy is approximately 15 GND Monitor ground Grounds for monitor output GND Monitor ground Chapter 2 Standard Models and Specifications Chapter 2 2 4 Servomotor Specifications m SMARTSTEP A
93. 930 ZCAT3035 1330 ZCAT2035 0930A e Do not place the Encoder Cable in the same duct as Control Cables for brakes solenoids clutches and valves m Improving Control I O Signal Noise Resistance Positioning can be affected and I O signals can error if control I O is influenced by noise Follow the methods outlined below for the power supply and wiring e Use completely separate power supplies for the control power supply especially 24 V DC and the external operation power supply In particular be careful not to connect the two power supply ground wires Install a noise filter on the primary side of the control power supply 3 35 System Design and Installation Chapter 3 e If Servomotors with brakes are used do not share the 24 V DC power supply for brakes with the 24 V DC power supply for control I O Additionally do not connect ground wires Connecting ground wires may cause I O signal errors e As much as possible keep the power supply for pulse command and deviation counter reset input lines separate from the control power supply Be particularly careful not to connect the two power supply ground lines e It is recommended that a line driver be used for pulse command and deviation counter reset out puts e Always use twisted pair shielded cable for pulse command and deviation counter reset signal lines and connect both ends of the shield to frame grounds e If the control power supply wiring is long noise re
94. A at 3 V Maximum response frequency 250 kpps Open collector input 7 to 15 mA Maximum response frequency 250 kpps Any of the following can be selected by means of a Pn200 0 setting feed pulses or direction signals PULS SIGN forward or reverse pulses CW CCW 90 phase difference phase A B signals A B ECRST ECRST Deviation counter reset Line driver input 7 mA at 3 V Open collector input 7 to 15 mA ON Pulse commands prohibited and deviation counter cleared Note Input for at least 20 us 24VIN 24 V power supply input for control DC Power supply input terminal 24 V DC for sequence inputs pins 14 and 18 RUN RUN command input ON Servo ON Starts power to Servomotor RESET ZCOM Z Phase Z output Alarm reset input Function ON Servo alarm status is reset Contents Outputs the Encoder s phase Z 1 pulse revolution Open collector output maximum output voltage 30 V DC max maximum output current 20 mA ALM ALMCOM Alarm output When the Servo Driver generates an alarm the output turns OFF Open collector output maximum operating voltage 30 V DC maximum output current 50 mA BKIR Brake interlock output Outputs the holding brake timing signals INP Positioning completed output ON when the position error is within the positioning completed range Pn500 OGND Output ground common G
95. CPULS 24 V input for output i put put 24V DC 0 V input for output CCW with a resistor CCW without a resistor CW with a resistor CW without a resistor DC reactor Servomotor cable ECRST e Integrated ECRST e Separate R7M ALI povver and ZCOM encoder Z F eae INP i 24VIN hs i RUN RESET OGND ALMCOMI oo BKIR FG Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Use the 24 V DC power supply for command pulse signals as a dedicated power supply Note 4 The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent Note 5 Do not use the 24 V DC brake power supply for the 24 V DC control power 6 14 Appendix Chapter 6 m Connection Example 14 Connecting to SYSMAC CPM2C This diagram shows an example using a 10 point CPU Unit with transistor outputs sinking Main circuit power supply
96. Cables for Servomotors without Brakes R7A CEAL 1 1 IS e Cable Models Length L Outer diameter of sheath Weight R7A CEA003S 12 4 dia Approx R7A CEA005S Approx R7A CEA010S Approx R7A CEA015S Approx R7A CEA020S Approx e Connection Configuration and External Dimensions Servo Driver Servomotor R7D AP I i 39 i 50 a L ES 50 a 437 pe 2 47 Standard Models and Specifications Chapter 2 e Wiring Servo Driver Symbol perenne Servomotor Connector hit 54280 0800 Molex Japan Connector plug 10114 3000VE Sumitomo SW Connector case 10314 52A0 008 Sumitomo Y AWG20 Red U phase Connector cap 350780 1 Tyco Electronics AMP W phase Connector socket 350570 3 Tyco Electronics AMP AWG20 White AWG20 Blue AWG20 Green Yellow M4 crimp terminal QO m Integrated Cables for Servomotors with Brakes R7A CEAL 1 1 1B e Cable Models Length L Outer diameter of sheath Weight R7A CEA003B 12 4 dia Approx 0 8 kg R7A CEA005B Approx 1 2 kg R7A CEA010B Approx 2 1 kg R7A CEA015B Approx 3 1 kg R7A CEA020B Approx 4 0 kg 2 48 Standard Models and Specifications Chapter 2 e Connection Configuration and External Dimensions Servo Driver Servomotor R7D AP or 39 1 50 L 80 43 7 D R7M A
97. Cat No 1533 E1 04 Servomotors Servo Drivers USER S MANUAL Thank you for choosing this SMARTSTEP A series product Proper use and handling of the product will ensure proper product performance will lengthen product life and may prevent possible accidents Please read this manual thoroughly and handle and operate the product with care Please keep this manual handy for reference after reading it 1 To ensure safe and proper use of the OMRON Inverters please read this USER S MANUAL Cat No 1533 E1 to gain sufficient knowledge of the devices safety information and precautions before actual use 2 The products are illustrated without covers and shieldings for closer look in this USER S MANUAL For actual use of the products make sure to use the covers and shieldings as specified 3 This USER S MANUAL and other related user s manuals are to be delivered to the actual end users of the products 4 Please keep this manual close at hand for future reference 5 If the product has been left unused for a long time please inquire at our sales representative NOTICE 1 This manual describes information about installation wiring switch setting and troubleshooting of the SMARTSTEP A series Servomotors and Servo Drivers For information about actual operating proce dures using a Parameter Unit refer to the SMARTSTEP A Series Operation Manual 1534 2 Be sure that this manual accompanies the product to its final user 3 A
98. De O A 0 uowwog Or DOel O Oe DO U A 0 UOLULIOS el Ou Oo O Oo OOL O A 0 uowwog x amp o 001001000 O O OIDO TO OdI00 JC A 0 uowwogo Te ol o col S q O JO0 JO O OoO 10 wounseo O c E e EE O 100 10 010010 2 8 ww rena ones E ea D S E oa Ov U Oo O Ov DO U indur beyon 3 indu eBeyon gt Q Onl O Oa O Onl DO O c indino q7q aseyd Z q1 8seyd Z lt O O ou On DO O O O A 14 JOAUQ ONES L JSAUQ OM8S a Els et d 9 3 E a 8 IOJOC IOI O IOO O e 3 an eseud 8 LINO an oseud g LINO O a o Y O D ES a a Sly lio q7 eseyd y LINO jam o x si Oo So o 9 S D E 2 2 z Indui eubis yoyeq ar O T 2 z n D E Indu euBis yoye7 a Tren o GU o LV E E L 2 o o g 2 5 4 ajou 8958 AS AO o S O ve a gt 2 O YO 2 9 o aweu eubis weu eubis N DOO 2 gt 2 67 Standard Models and Specifications Chapter 2 Lower Terminal Block Pin Arrangement wo oO 24 V See note 3 N Servo Driver 2 ALM Servo Driver 2 TGON Servo Driver 2 RUN Servo Driver 2 RESET Servo Driver 2 ECRST Servo Driver 2 MING a o Signal name Common 0 V Common 0 V Common 0 V Common 0 V Servo Driver 2 INP Common 0 V Common 0 V Common 0 V Common 0 V Common 0 V Note 1 Used for the pulse output power supply for the FQM1 MMP21 Note 2 IN4 to IN11 and OUTO
99. Feed pulse PULS forward reverse signal SIGN input Note Set according to the pulse output form of the Position Controller Operation Chapter 4 m Dynamic Brake Setting Switch 2 Switch 2 sets dynamic brake operation When dynamic braking is enabled the Servomotor is stopped rapidly when the RUN command is turned OFF or when an alarm occurs Switch 2 Dynamic brake setting OFF Dynamic braking is disabled When the RUN command is turned OFF or when an alarm occurs the Servomotor will coast to a stop ON Dynamic braking is enabled Note Regardless of the setting when the main circuit power supply or control circuit power supply is turned OFF dynamic braking will operate m Online Autotuning Switch The online autotuning switch function adjusts the gain automatically during operation Switch 1 Online autotuning switch OFF Ends online autotuning and stores the tuning results to the Servo Driver s internal inertia ratio parameter Pn103 ON Executes online autotuning Note Operation of the online autotuning switch is described in 4 5 Gain Adjustments 4 6 Operation Chapter 4 4 3 Preparing for Operation This section explains the procedure following installation wiring and switch setting of the Servomotor and Servo Driver to prepare the mechanical system for trial operation It explains what you need to check both before and after turning ON the power
100. 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 above diagrams and ground to a single point e 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 If 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 NF should be positioned near the input termi nal block ground plate and I O lines should be isolated and wired using the shortest distance pos sible e Insert a fuse for short circuit failure protection if a surge absorber is installed As a guideline select a fuse with three times the maximum instantaneous current 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 box whenever possible Correct Separate input and output Wrong Noise not filtered effectively AC input AC output AC input Ground Ground AC output l e Use twisted pair cables for the power supply cables whenever possible or bind the cables 3 20 System Design and Instal
101. If using an External Regeneration Resistor set the regeneration Varies by capacity for when the temperature rises above 120 C If not using an Unit External Regeneration Resistor set Pn600 to 0 4 6 2 Parameter Details Pn000 0 Basic switches 1 Reverse rotation mode Settings i Default Restart Setting Explanation Setting Explanation CCW direction is taken for positive command counterclockwise seen from the Servomotor output 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 Pn001 0 Basic switches 2 Stop selection for alarm and servo OFF Settings i Default Restart Setting Explanation Setting Explanation Stop Servomotor using dynamic brake dynamic brake stays ON after Servomotor has stopped Stop Servomotor using dynamic brake dynamic brake released after Servomotor has stopped Stop Servomotor using free run e Select the stopping method for when the servo is turned OFF or an alarm occurs Note 1 If function switch 6 is OFF to enable the function switch settings this parameter is ignored and the setting on function switch 2 dynamic brake setting is used Note 2 Ifthe parameter is set to O or 1 and the Servomotor is turned by an external force to 20 r min or faster after the dynamic brake has stopped the Servomotor the Servo ON status will not be
102. J Oriental Class 3 ground R7D APO 100 Q or less CN1 Contents R88A CPULIS 24V 24VIN 24V DC GND OGND e gt CCW CCW pulse rotation direction CCW CW DC reactor CW pulse pulse CW Servomotor cable ECRST e Integrated FORST Gomer dE ZCOM encoder z uU Ra OO eren INP O Operation mode switching Oo OF 1 HOMELS O 0 0000 RUN Start O 0 l RESET MO CW scan Do I i E M1 CCW scan o r ALMCOM Emergency stop ib i am EPS KB i BRIR ds IL FG Note Note Note Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver 2 Leave unused signal lines open and do not wire them 3 The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent 4 Do not use the 24 V DC brake power supply for the 24 V DC control power 6 11 Appendix m Connection Example 11 Connecting to Keyence HC 50 Main circuit power supply NFB OFF ON REe ee 1 oo fo Main circuit contact I I 2 moe 90 O SUP Surge killer Single phase 200 230 V AC 50 60 Hz 5 XI I Single phase 100 115 V AC 50 60 Hz a D Servo error display z t TOSD Class D ground HC 50 Keyence Class 3 ground R7D APLI 100 Q or less Contents R88A CPULIS __ i o O XX CCW CCW XX CW DC reactor CW Servomotor cable
103. J BJ BJ BJ AJ ALA o AT in the table refers to the set bolt External Diagrams E3 Four Z2 dia EL effective depth Four Z1 dia Do dia B S E D 5 a po LJ U a a Hic2 G L T Eci LM sell LR Set bolt AT Rey dimensions IT QR t 2 14 Standard Models and Specifications Chapter 2 m For Flat style Servomotors Backlash 3 Max Dimensions mm EB F G S T Key dimensions QK b h t1 R7G VRSFPB05B100P R7G VRSFPB09B100P R7G VRSFPB15B100P R7G VRSFPB25C100P R7G VRSFPBO5B200P R7G VRSFPBO9C400P R7G VRSFPB15C400P R7G VRSFPB25C200P R7G VRSFPB05C400P R7G VRSFPB09C400P R7G VRSFPB15C400P R7G VRSFPB25D400P R7G VRSFPB05C750P R7G VRSFPB09D750P R7G VRSFPB15D750P R7G VRSFPB25E750P Or Or Or CG oO GC co j oO co J co j wo co j co j ow w w j ajo D H DI DIDI DIA D A ALA CNI NI OI NJ DI DID DID D A ODA ALA AT in the table refers to the set bolt External Diagrams
104. OFF during parameter operations or the Parame ter Unit was disconnected Initialize user parameters Fn005 to reset the parame ters Automatic Servomotor cur rent detection offset was adjusted FnOOE during pulse input Turn OFF the power supply then ON again Internal memory error Replace the Servo Driver Runaway detected Occurs when there is a slight movement upon startup Encoder is wired incor rectly Servomotor power line is wired incorrectly Correct the wiring Servo turned ON when the Servomotor was rotated from the outside Adjust servo ON timing Servo Driver is burned out Replace the Servo Driver Phase error detected Occurs when there is a slight movement upon startup Encoder is wired incor rectly Faulty Connector contact Rewire correctly Plug the Connector in securely Occurs when the power supply is turned ON Encoder is burned out Replace the Servomotor Servo Driver is burned out Replace the Servo Driver Encoder dis connection detected 5 10 Occurs when there is a slight movement upon startup Encoder wiring is discon nected or shorted Faulty Connector contact Correct the disconnected or shorted part Plug the Connector in securely Encoder is wired incor rectly Rewire correctly Encoder is burned out Replace the Servomotor Servo Driver is burned out Re
105. P22 Position Control Unit and an XW2B 20J6 3B Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A23 50 cm 10 0 dia Approx 0 1 kg XVV2Z 100J A23 1m Approx 0 2 kg e Connection Configuration and External Dimensions Position Control Unit CS1W HCP22 Servo Relay Unit XW2B 20J6 3B 8 90Z 2 96 Standard Models and Specifications Chapter 2 e Wiring Position Control Unit Servo Relay Unit No Cable AWG28 x 4P AWG28 x 4C Servo Relay Unit 12 13 2 97 Standard Models and Specifications Chapter 2 m Position Control Unit Cables XW2Z These Position Control Unit Cables connect a DeviceNet and an XW2B 20J6 1B Servo Relay Unit e Cable Models J A25 3F88M DRT141 Single shaft Positioner for Length L Outer diameter of sheath Weight XW2Z 050J A25 50 cm 10 0 dia Approx 0 1 kg XVV2Z 100J A25 1m Approx 0 2 kg e Connection Configuration and External Dimensions Position Control Unit a 3F88M DRT141 2 98 Servo Relay Unit XW2B 20J6 1B Standard Models and Specifications Chapter 2 e Wiring Position Control Unit Servo Relay Unit camina deu AWG28 x 8P AWG28 x16C Crimp
106. P40030 e 200 V AC Input Type Single phase Input Item R7D R7D R7D R7D R7D R7D APA3H APA5H AP01H AP02H AP04H AP08H Continuous output cur 10 42 A 0 6A 0 89 A 2 0A 2 6A 44A rent rms Momentary maximum 11 3 A 1 9 A 2 8 A 6 0A 8 0 A 13 9 A output current rms Input power Main cir Single phase 200 230 V AC 170 to 253 V 50 60 Hz for R7D APO08H only three supply cuits phase input possible Control Single phase 200 230 V AC 170 to 253 V 50 60 Hz circuits Heating Main cir 3 1 W 4 6 VV 6 7 W 13 3 VV value cuits Control 20 W 20 W 20 W 20 VV Circuits Control method All digital servo 2 18 Standard Models and Specifications Chapter 2 Item Speed feedback 2 000 pulses revolution incremental encoder Inverter method PWM method based on IGBT PWM frequency 11 7 kHz Maximum applicable 250 kpps frequency command pulse application Weight Approx Approx Approx Approx Approx Approx 0 8 kg 0 8 kg 0 8 kg 0 8 kg 1 1 kg 1 7 kg Applicable Servomotor 30 W 50 VV 100 VV 200 W 400 VV 750 W wattage Applicable Cylinder A03030 A05030 A10030 A20030 A40030 A75030 Servomotor type R7M Flat type AP10030 AP20030 AP40030 AP75030 2 3 3 Terminal Block Specifications Function Condition Main circuits power R7D APUH Single phase 200 230 V AC 170 to 253 V AC 50 60 Hz supply input
107. R7M A05030 77 she 1 2 R7M A10030 94 5 8h6 m Cylinder style Servomotors with a Brake e 30 VV 50 W 100 VV R7M A03030 B S1 A05030 B S1 A10030 B S1 300430 300 30 215 5 TE ae Two 4 3 dia ia WS 1 8 Dimensions of shaft end with key BS1 2 Y Model mm R7M A03030 B 101 R7M A05030 B 108 5 one 1 2 R7M A10030 B 135 8h6 1 8 Standard Models and Specifications Chapter 2 m Cylinder style Servomotors without a Brake e 200 W 400 W 750 VV R7M A20030 S1 A40030 S1 A75030 S1 300430 ae 1 Dimensions of output section of 750 W Servomotors sl Dimensions of shaft end with key S1 PO 5 aj 0 SM 1 TS PI Model oe on R7M A20030 96 5 50h7 mi R7M A40030 124 5 30 60 70 50h7 y 14h6 20 R7M A75030 145 40 80 90 70h7 16h6 30 m Cylinder style Servomotors with a Brake e 200 W 400 W 750 W R7M A20030 B S1 A40030 B S1 A75030 B S1 300 30 Es 1 Dimensions of output section of 750 W Servomotors 2 Dimensions of shaft end with key BS1
108. T power supply for Unit power supply for Unit O CCW pulse CCW pulse XX CW pulse y O 4 DC reactor CW pulse Servomotor cable Deviation counter reset XX ECRST e Integrated Deviation counter reset ECRST e Separate R7M ALI Power supply for origin 24V XX ZCOM P P Origin sensor input Z roe cel Driver in position INP i DO 24 V power supply for general input A1 77 24VIN i i x1 om i RUN i RESET Origin proximity Limit input Limit input Ka BKIR i oe ee ee ee aa OGND i H E ALMCOM h i H EEE E Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent Note 4 Do not use the 24 V DC brake power supply for the 24 V DC control power Note 5 General purpose I O is one allocation example The emergency stop and limit input contacts are NC and the driver in position and origin proximity contacts are NO 6 7 Appendix Chapter 6 m Connection Example 7 Connecting to SYSMAC C200H NC112 Main circuit power supply NFB OFF ON R O 6P 2 DO 19 Main circuit contact i 3 0 0 O SUP Surge Killer Single phase
109. The following three items are required A Windows compatible computer the Computer Monitor Software and a Connecting Cable R7A CCA002PL e Refer to the SMARTSTEP A series Servo Driver Computer Monitor Software for operation de tails 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 e 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 e If 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 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 Troubleshooting Chapter 5 5 1 3 Replacing the Servomotor and Servo Driver Perform the following procedure to replace the Servomotor or Servo Driver Replacing the Servomotor Replace the Servomotor Perform origin teaching ND e W
110. WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR 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 products e Outdoor use uses involving potential chemical conta
111. absorption is the ERB44 02 Fuji Electric or equivalent Note 6 Do not use the 24 V DC brake power supply for the 24 V DC control power 6 8 Appendix Chapter 6 m Connection Example 8 Connecting to SYSMAC C500 NC113 211 or C200H NC211 Main circuit power supply NFB OFF ON ne R O SO 2e 1 o 0 Main circuit contact i 2 O O O O suP Surge killer Single phase 200 230 V AC 50 60 Hz xa MC X1 a Single phase 100 115 V AC 50 60 Hz 2 e o 21 Servo error display i zZ T TO SD C500 NC113 211 Class D ground C200H NC211 Class 3 ground R7D APO 100 Q or less Contents R88A CPULIS __ 24 V DC input for output i O V input for output Oo _ _ CCW with a resistor Q X axis CCW without a resistor DC reactor pulse A CW with a resistor output M i CW without a resistor i Servomotor cable O L ECRST e Integrated X axis dev entr reset output r ECRST hi re a R7M ALI X axis origin input 24 V XX ZCOM encoder X axis origin common Z cae coi X axis positioning completed input INP O X Y axis input common 24VIN i X axis external interrupt input OO O i RUN X axis origin proximity input yo o i i RESET CAPA qi de a X axis CCW limit
112. age Breakers Select leakage breakers designed for inverters Since switching takes place inside the Servo Drivers harmonic current leaks from the armature of the motor With inverter leakage breakers harmonic current is not detected preventing the breaker from operating due to leakage current When selecting leakage breakers remember to also add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on For details on leakage breakers refer to the manufacturer s catalog The following table shows the Servomotor leakage current for each Servo Driver model Driver Leakage current direct measurement including high frequency current R7D APA3L to APO4L R7D APASH to AP04H R7D AP08H Note 1 The above leakage current is for cases where Servomotor power line length is less than 5 meters It varies depending on the Servomotor cable length and the insulation Note 2 The above leakage current is for normal temperature and humidity It varies depending on the temperature and humidity Leakage Breaker Connection Example AC power supply side Surge absorber Noise filter Servo Driver side ae 1 070 1NF4 so so 3E6 No fuse breaker Leakage breaker 3 24 System Design and Installation Chapter 3 e Harmonic Current Countermeasures DC Reactor The DC Reactor is used for suppressing harmonic currents It suppresses sud
113. ard Models and Specifications Chapter 2 m Position Control Unit Cables XW2Z IJ A12 These Position Control Unit Cables connect a CS1VV NC133 Position Control Unit and an XVV2B 20J6 1B Servo Relay Unit e Cable Models Model __Length L Outer diameter ofsheath Wei XW2Z 050J A12 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A12 1m Approx 0 2 kg e Connection Configuration and External Dimensions 47 L 6 E Position Control Unit O CS1W NC133 3 O t 11 1000 e Wiring Position Control Unit E Servo Relay Unit XW2B 20J6 1B Servo Relay Unit 2 84 Standard Models and Specifications Chapter 2 m Position Control Unit Cables XW2Z J A13 These Position Control Unit Cables connect a CS1W NC233 or CS1W NC433 Position Control Unit and an XW2B 40J6 2B or XW2B 40J6 4A Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A13 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A13 1m Approx 0 2 kg e Connection Configuration and External Dimensions 47 L 6 Pa O Position Control Unit o CS1W NC233 fel CS1W NC433 P El Servo Relay Unit Y XW2B 40J6 2B XW2B 40J6 4A 2 85 Standard Models and Specifications Chapter 2 e Wiring Position Control Unit Servo Relay Unit
114. are as follows 3 000 r min Cylinder style Servomotors 30 to 750 W IP55 except for through shaft parts 3 000 r min Flat style Servomotors 100 W to 750 kW IP55 except for through shaft parts System Design and Installation Chapter 3 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 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 AC Servomotor If they become misaligned the motor will not operate 3 1 3 Reduction Gears Installation e Use only the specified combinations of Servomotors and reduction gears Using a combination that is not specified or using in combination with another company s reductions gears or Servomotor may result in a reduction in the service life of the motor bearings e The dimensions of the Servomotor mounting flange on the reduction gears differ for each Servomo tor Do not install reduction gears on a Servomotor other than the one specified e Use a Servomotor with a straight shaft and without a key when installing reduction gears e Install reduction gears on the Servomotor usi
115. arts Power Cables for Servomotors without Brakes Power Cables for Servomotors with Brakes Model Length Outer Weight Model Length Outer Weight L diameter L diameter of sheath of sheath R88A 3m 7 4 dia Approx R88A 3m 7 0 dia Approx CAWAO003SR 0 2 kg CAWAO03BR 0 3 kg R88A 5m Approx R88A 5m Approx CAWAO005SR 0 3 kg CAWAOO05BR 0 4 kg R88A 10m Approx R88A 10m Approx CAWA010SR 0 7 kg CAWA010BR 0 9 kg R88A 15m Approx R88A 15m Approx CAWA015SR 1 0 kg CANVA015BR 1 3 Rg R88A 20m Approx R88A 20m Approx CAWA020SR 1 3 kg CANVA020BR 1 7 kg e Connection Configuration and External Dimensions Power Cables for Servomotors without Brakes 50 27 4 Servo Driver j i T 7 TA R7D APO q oe gt IAH i al E R7M AC t 15 7 Power Cables for Servomotors with Brakes i 50 L 27 4 Servo Driver 8 Servomotor t 28 4 Servomotor 2 51 Standard Models and Specifications Chapter 2 e Wiring Power Cables for Servomotors without Brakes Servomotor Cable side Servo Driver Symbol Connector cap 350780 1 Tyco Electronics AMP Connector socket 350689 3 Tyco Electronics AMP Blue Vphase Servomotor side Green Yellow Connector plug 350779 1 Tyco Electronics AMP pie Contact pin E Cable AWG21 x 4C UL2464 dia diia 350690 3 Pin No 1 to 3 Tyco Electronics AMP 770210 1 Pin No 4 Tyc
116. ary switch and perform the operation again Y Operating properly Y past Y If no errors occur stop operation End 4 14 Operation Chapter 4 4 6 User Parameters This section describes the Servo Driver internal user parameters Even if operating using the Servo Driver s front panel switch settings be sure to understand the kinds of functions that are set with the parameters Note R7A PRO2A Parameter Unit is required to change user parameters Refer to Operation Manual 1534 for detailed operation procedures 4 6 1 Parameter Tables e The parameters for which each digit number must be set separately are given with the digit number added to the parameter number For example Pn001 0 i e digit O of parameter Pn001 e The default setting for parameters set using 5 digits are given in the table without leading zeros e g if the default setting is 00080 80 is given in the table Parameter Parameter name Description for parameters set with 5 digits Default Setting Restart No range Name Setting Description for parameters with individually set digits Basic switches 1 Reverse rotation 0 CCW direction is taken for posi mode tive command 1 CW direction is taken for posi tive command Control mode Position control by pulse train selection command Not used Not used 0 Basic switches 2 Stop selection if 0 Servomotor stopp
117. between 1 and F Be sure not to use the same unit number more than once when performing multiple axis communications Attempting communications with duplicated unit numbers may result in dam age to communications connectors m Gain Adjustment Rotary Switch GAIN The gain adjustment rotary switch adjusts the response of the Servomotor To ses reduce slow down the Servomotor s response set the gain adjustment rotary oye switch to a low value To increase speed up the Servomotors response set the gain adjustment rotary switch to a high value GAIN Note If the gain adjustment rotary switch is set to 0 the Servomotor will operate according to the Servo Driver s internal parameter m Function Switches Tec The function switches set Servo Driver functions Switch 6 Switches between switch and parameter settings Mal a De s Switches 5 and 4 Set the resolution AUTO TUNING ono 9 Switch 3 Sets the command pulse input Oz Switch 2 Sets the dynamic brake Switch 1 Switch to online autotuning Note Turn the power supply OFF before using switches 2 to 6 4 4 Operation Chapter 4 m Turning Function Switches ON and OFF The default setting for all function switches is OFF Use a thin blade non conductive ceramic screw driver or equivalent to turn the switches ON and OFF In the following diagrams the left diagram shows a switch turned OFF and the right diagram
118. cates 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 Radial load _ Thrust load 5mm 2 36 Standard Models and Specifications Chapter 2 3 000 r min Flat style Servomotors Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3 m standard cable and a 100 V AC input for R7D APLIL Servo Drivers or a 200 V AC input for R7D AP R7M AP10030 100 W N m 1 0 7 0 96 0 96 3725 0 8 0 800 0 6 Repeated usage 0 4 4 0 318 0 318 0 2 4 0 222 Continuous usage 1 r min T T T T 1000 2000 3000 4000 5000 R7M AP40030 400 W N m 4 0 4 3 82 2350 100 V AC ON 3 0 4 3 82 Repeated usage 2 0 1 27 1 27 Continuous usage r r min T T T T 1000 2000 3000 4000 5000 H Servo Drivers R7M AP20030 200 W N m 2 0 5 1 91 1 91 3600 1 54 1 40 Repeated usage 1 0 4 0 637 0 637 0 55 0 452 Co
119. compensation and rated torque when adhesive friction for rated rota tion speed is 10 to 30 of rated torque Large ratio between friction compensation and rated torque when adhesive friction for rated rota tion speed is 30 to 50 of rated torque e When calculating load inertia using online autotuning set whether the effects of adhesive friction load torque proportional to rotation speed on the servo system should be considered e If adhesive friction is to be considered set whether the adhesive friction is large or small to improve the accuracy of the load inertia calculations Note If the adhesive friction on the rated rotation speed is 10 max of the rated torque set this parameter to 0 no friction compensation Restart Setting Explanation Setting Explanation Feed pulse forward signal positive logic Forward pulse reverse pulse positive logic 90 phase difference phase A B signal x1 positive logic 90 phase difference phase A B signal x2 positive logic 90 phase difference phase A B signal x4 positive logic Feed pulses Forward reverse signal negative logic Forward pulse reverse pulse negative logic 90 phase difference phase A B signal x1 negative logic 90 phase difference phase A B signal x2 negative logic 90 phase difference phase A B signal x4 negative logic 0 1 2 3 4 5 6 7 8 9 e If using position control se
120. control I O connector is prepared by the user Remarks The cable is attached to a connector that con nects to the Control I O Connector CN1 The empty boxes in the model numbers are for cable length The cables can be 1 or 2 meters long For example R88A CPU001S is 1 meter long This is the connector for connecting to the Con trol I O Connector CN1 This item is a con nector only R88A CPU General Control Cable Control I O Connector R88A CNU01C 4 Servomotor Cables Servomotor Cables come in two types Cables for Servomotors without brakes and Cables for Servo motors with brakes Select the Cable to match the Servomotor being used Integrated Cables com bine an encoder cable and power cable or separate Power Cables and Encoder Cables are available One Power Cable and one Encoder Cable are required if separate cables are used Separate cables are also available with robot cables Use a robot cable if cable flexibility is required e Integrated Cables Specifications Cable model number Remarks Cable for Servomotors with R7A CEA Insert the cable length in the of the model out brakes both Cylinder number There are five cable lengths 3 m 5 m style and Flat style 10 m 15 m and 20 m Model number exam Cable for Servomotors with R7A CEA ple R7A CEADOOSS for a 3 m cable brakes both Cylinder style and Flat style
121. d backlash 45 max e Reduction gears for 3 000 r min Flat style Servomotors Backlash 3 max and backlash 45 max There are four reduction ratios 1 5 1 9 1 15 and 1 25 Select a reduction ratio to match the ca pacity of the Servomotor Note There are no 30 W reduction gears for Cylinder style Servomotors m Reduction Gears for Cylinder style Servomotors e Backlash 3 Max Rated Maximum Maximum Reduction Allowable Allowable rotation momentary momentary gear inertia radial torque thrust torque speed rotation speed torque r min r min N m kg m N N R7G VRSFPB05B50 4 13x 10 R7G VRSFPB09B50 3 53 x 105 R7G VRSFPB15B50 3 67 x 105 R7G VRSFPB25B50 3 59 x 105 R7G VRSFPB05B100 i 4 08x 105 R7G VRSFPB09B100 3 43 x 105 R7G VRSFPB15B100 3 62 x 106 R7G VRSFPB25C100 3 92 x 105 R7G VRSFPB05B200 1 53x 10 R7G VRSFPB09C400 2 68 x 105 R7G VRSFPB15C400 2 71 x10 R7G VRSFPB25C200 2 67 x 108 R7G VRSFPB05C400 3 22 x 105 R7G VRSFPB09C400 2 68 x 105 R7G VRSFPB15C400 2 71x 10 R7G VRSFPB25D400 2 79 x 105 R7G VRSFPB05C750 7 17 x 10 R7G VRSFPB09D750 6 50 x 105 R7G VRSFPB15D750 7 09 x 105 R7G VRSFPB25E750 7 05 x 105 Note 1 The reduction gear inertia indicates the Servomotor shaft conversion value Note 2 The enclosure rating for Servomotors with reduction gears is IP44 Note 3 The allowable radial torque is the value for the center of the
122. d output ON INP OFF Brake interlock output ON BKIR OFF RUN command input ON RUN OFF Alarm reset input ON RESET OFF e Alarm Output 34 ALM Alarm Output Ground 35 ALMCOM When the Servo Driver detects an error outputs are turned OFF This output is OFF at the time of powering up and turns ON when the initial processing is completed 2 28 Standard Models and Specifications Chapter 2 e Positioning Completed Output 8 INP The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than Pn500 positioning completed range e Brake Interlock Output 7 BKIR External brake timing signals are output 2 3 5 Encoder Input Connector Specifications CN2 Signal name Function Interface Encoder power supply GND Power supply outlet for encoder 5 V 180 mA Encoder power supply 5 V Encoder phase S input Line driver input conforming to EIARS 422A Encoder phase S input Input impedance 300 Q 5 Encoder phase A input Line driver input conforming to EIARS 422A Encoder phase A input Input impedance 300 Q 5 Encoder phase B input Line driver input conforming to EIARS 422A Encoder phase B input Input impedance 300 Q 5 Shield ground Cable shield ground e CN2 Connectors Used 14P Servo Driver receptacle 10214 52A2JL Sumitomo 3M Cable solder plug 10114 3000VE Sumitomo 3M Cable case 10314 52A0 00
123. d pulse input setting is incorrect When func tion switches are being used Check the Controllers command pulse type and the Servo Drivers command pulse mode Set the mode to match the Controller s command pulse type Pn200 0 command pulse mode setting is incorrect When param eter setting is being used Check the Controllers command pulse type and the Servo Drivers command pulse mode Set the mode to match the Controller s command pulse type Servomotor power lines are incorrectly wired Check Servomotor power lines Rewire correctly Command pulse is incor rectly wired Check the command pulse wiring Rewire correctly Check the command pulse volt age Connect a resistor match ing the voltage The Servomotor operates momentarily but then it does not operate The Servomotor power lines or encoder lines are wired incorrectly Check the Servomotor power line U V and W phases and the encoder line wiring Correct the wiring The command pulse is more than 250 kpps Check the Controller s command pulse frequency Reset the command pulse to 250 kpps max Servomotor operation is unstable The Servomotor power lines or encoder lines are wired incorrectly Check the Servomotor power line U V and W phases and the encoder line wiring Correct the wiring There are eccentricities or looseness in the cou pling connecting the Se
124. damage to the Servomotor m Function e Outputs the BKIR brake interlock signal to turn ON and OFF the electromagnetic brake m Operation e RUN Timing Servomotor Stopped ON A RUN OFF ere 0 to 35 ms ee Approx 2 ms BKIR brake interlock ON OFF ON Brake power suppl p pply OFF I re 200 ms max gt ers 100 ms max l ON Brake operation OFF A EL ES Speed See note 1 Pulse command MERO Speed Em LE 200 ms Servomotor Energized I energizing 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 e Power Supply Timing Servomotor Stopped ON Power supply I OFF de 25 to 35 ms BKIR brake interlock ON OFF A 200 ms Servomotor Energized E energized Deenergized Note The time from turning OFF the brake power supply to the brake engaging is 100 ms max 4 27 Operation Chapter 4 e RUN Error and Power Supply Timing Servomotor Rotating RUN co a rrt COC C CSSC CCR OFF ON ALM alarm output OFF a ee ee gt See note 2 ON BKIR brake interlock OFF Energized Servomotor I Deenergized energized Approx 10 ms See note 1
125. ded wire Measure the insulation resis tance at the Servomotor and if there is a short circuit replace the Servomotor Miswiring between U phase V phase W phase and ground Correct the wiring Servomotor winding is burned out Measure the winding resis tance and if the winding is burned out replace the Servo motor Operating above rated out put Lighten the load Regeneration error Occurs during operation Error in the regenerative circuit parts Replace the Servo Driver External Regeneration Resistor is disconnected Replace the External Regener ation Resistor There is a short circuit missing between B2 and B3 but the external circuit resistor is not connected Correctly connect the external circuit resistor between B1 and B2 Setting error in Pn600 regeneration resistor capacity Set Pn600 correctly 5 7 Troubleshooting Display Regeneration overload Status when error occurs Occurs during operation Cause of error Regenerative energy exceeds tolerance Chapter 5 Countermeasures Calculate the regenerative energy and connect an exter nal Regeneration Resistor with the required regeneration absorption capacity Setting error in Pn600 regeneration resistor capacity Set Pn600 correctly Main circuit power supply voltage is outside toler ance range Change the main circuit power supply vo
126. den and quick changes in electric currents In 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 Select the proper DC Reactor model according to the Servo Driver that is to be used Servo Driver DC Reactor Model number Rated current A Inductance mH Weight kg 100 V R7D APASL APAS5L APO1L R88A PX5063 11 8 10 0 Approx 0 6 R7D APO2L R88A PX5062 3 5 4 7 Approx 0 9 R7D APO4L R88A PX5061 4 8 2 0 Approx 0 5 200 V R7D APA3H APA5H AP01H R88A PX5071 0 85 40 0 Approx 0 5 R7D AP02H R88A PX5070 1 65 20 0 Approx 0 8 R7D AP04H R88A PX5069 3 3 10 0 Approx 1 0 R7D AP08H R88A PX5061 4 8 2 0 Approx 0 5 DC Reactor Connection Example Servo Driver DC Reactor m Improving Encoder Cable Noise Resistance 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 e If lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition always use shielded cable e Do not coil cables If cables are long and are coiled mutual induction and i
127. depending on the contents of the error e If an error A E IL is displayed when the power supply is turned ON refer to 5 Troubleshooting and apply the appropriate countermeasures Operation Chapter 4 4 4 Trial Operation Once mounting wiring switch setting and connecting a power supply have been finished and normal status has been confirmed perform trial operation The main purpose of trial operation is to confirm that the servo system is operating correctly electrically First no load operation and then loaded operation is checked Note 1 If an error occurs during the trial operation refer to 5 Troubleshooting to eliminate the cause Then check for safety reset the alarm and then retry the trial operation Note 2 Ifthe system vibrates due to improper gain adjustment making it difficult to check operation refer to 4 5 Gain Adjustments and adjust the gain m Preparing for Trial Operation e Switch Settings After turning OFF the power supply set the following switches Gain adjustment rotary switch Set to 1 to prevent Servomotor vibration Online autotuning switch function switch 6 Set to OFF e Turning OFF the Servomotor Set up the system so that the povver and the RUN command can be turned OFF so that the Ser vomotor can be immediately turned OFF if an abnormality occurs in the system m Trial Operation 1 No load Operation e Turn ON the power supply to the control circu
128. diodes Note Automatic reset fuses are used for output protection If overcurrent causes the fuse to operate current will not flow and after a fixed period of time it will automatically reset e Phase Z Output Servo Driver Controller Maximum operating voltage 30 V DC 33 ZCOM Maximum output current 20 mA ONO See note FG Note Automatic reset fuses are used for output protection If overcurrent causes the fuse to operate current will not flow and after a fixed period of time it will automatically reset 2 24 Standard Models and Specifications Chapter 2 m Control Input Details e Feed Pulse Direction Signal Reverse Pulse Forward Pulse 90 Phase Difference Signals Phase A Phase B CN1 Pin Numbers Feed Pulse PULS Reverse Pulse CW 90 Phase Difference Signals Phase A A Feed Pulse PULS Reverse Pulse CW 90 Phase Difference Signals Phase A A Direction Signa SIGN Forward Pulse CCW 90 Phase Difference Signals Phase B B DO ciel SIGN Forward Pulse CCW 90 Phase Difference Signals Phase B B Functions The function of these signals depends on the setting of Pn200 0 command pulse mode position control setting 1 Logic Pn200 0 Co
129. e Counter Unit CS1W HCP22 V1 a S U 2 102 Standard Models and Specifications Chapter 2 e Wiring Customizable Counter Unit Servo Relay Unit No 40 Cable AWG28 x 6P AWG28 x17C Crimp terminals 2 103 Standard Models and Specifications Chapter 2 m Customizable Counter Unit Cables for General purpose I O These Customizable Counter Unit Cables a Customizable Counter Unit CS1W HCP22 V1 and the general purpose I O of a Servo Relay Unit XW2B 80J7 1A e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A29 10 0 dia Approx 0 1 kg XW2Z 100J A29 Approx 0 2 kg Customizable Counter Unit CS1VV HCP22 V1 Y Servo Relay Unit 8 Dames ara A 2 104 Standard Models and Specifications Chapter 2 e Wiring Customizable Counter Unit Servo Relay Unit No GN 0 20 22 2 27 Crimp terminals 33 Cable AWG28 x 6P AWG28 x17C No 6 e 20 a p pF o9 ar sa 2 105 Standard Models and Specifications Chapter 2 m Motion Controller Cables for Special I O These Motion Controller Cables connect a Motion Control Module FQM1 MMP21 and the special O of a Servo Relay Unit XVV2B 80J7 1A e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A30 10
130. e Wiring Emergency stop Origin proximity mon mon mon mon External interrupt Note 1 The XB contact is used to turn ON OFF the electromagnetic brake Senatet 2 Do not connect unused terminals 3 The O V terminal is internally connected to la haved the common terminals 4 The following crimp terminal is applicable R1 25 3 round with open end This Servo Relay Unit connects to the following OMRON Position Control Units Communications are not supported e CS1W NC213 NC233 NC413 NC433 e CJ1VV NC213 NC233 NC413 NC433 e C200HW NC213 NC413 e C500 NC113 NC211 e C200H NC211 e External Dimensions X axis Servo Position Control Unit connector Driver connector Y axis Servo Driver connector 3 5 180 3 5 Two 3 5 dia Note Terminal Block pitch 7 62 mm 2 59 Standard Models and Specifications Chapter 2 e Wiring X Y axis emergency stop X axis origin proximity ov Com Com Com mon mon mon be Q X axis ALMCOM X axis external inter
131. e 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 positions shown in the diagrams following the next table Radial load Thrust load He nm 2 33 Standard Models and Specifications Chapter 2 e 3 000 r min Cylinder style Servomotors Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3 m standard cable and a 100 V AC input for R7D APLIL Servo Drivers or a 200 V AC input for R7D APLIH Servo Drivers R7M A03030 30 W N m 0 8 7 0 29 0 29 0 2 4 Repeated usage 0 1 10 095 0 095 0 069 Continuous usage r min T T T T 1000 2000 3000 4000 5000 R7M A10030 100 W N m 1 0 10 96 0 96 8600 77730 91 0 8 0 6 4 Repeated usage 0 4 4 0 318 0 318 0 2 4 0 222 Continuous usage 0 r min T T T T 1000 2000 3000 4000 5000 R7M A40030 400 W N m 4 0 7 3 82 2000 3 82 A er 100 V AC 5 input Repeated usage 2 0 4 1 27 1 27 1 0 Continuous usage 0 r min
132. e to the product e Locations subject to direct sunlight e Locations subject to temperatures or humidity outside the range specified in the specifications e Locations subject to condensation as the result of severe changes in tempera ture e Locations subject to corrosive or flammable gases e Locations subject to dust especially iron dust or salts e Locations subject to shock or vibration e Locations subject to exposure to water oil or chemicals Do not touch the Servo Driver radiator Servo Driver regeneration resistor or Ser vomotor 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 surface Storage and Transportation Precautions 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 Installation and Wiring Precautions N Caution N Caution N Caution N Caution N Caution N Caution Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Doing so may result in fire Be sure to install the product in the correct direction Not doing so may result in malfunction Provide the specified
133. eath Weight RTA GOAOO2PS Approx 0 1 Kg e Connection Configuration and External Dimensions For DOS Personal Computers i a Personal computer N DOS e For NEC PC98 Notebook Computers Servo Driver D R7D AP 39 L 42 o T H soo D ervo Driver Notebook computer o vere ne iL G oe t 12 7 2 55 Standard Models and Specifications Chapter 2 e Wiring For DOS Personal Computers Computer Servo Driver Symbol Connector HR212 10P 8P Hirose Electric Cable AWG28 x 3C UL246 Connector 17JE 13090 02 D8A DDK Ltd For NEC PC98 Notebook Computers Computer Servo Driver Connector HR212 10P 8P Hirose Electric I Cable AVVG28 x 3C UL2464 Connector plug g 10114 3000VE Sumitomo 3M Connector case 10314 52F0 008 Sumitomo 3M m Control I O Connector R88A CNU01C This is the connector for connecting to the Servo Driver s Control I O Connector CN1 This connec tor is used when the cable is prepared by the user e External Dimensions Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M 2 56 Standard Models and Specifications Chapter 2 m Encoder Connector R7A CNAOL IR This is the connector for the Encoder Cable This connector is used when the cable is prepared by the user It is a soldered type connector and the applicable cable is a
134. echanical system when the machine moving part pushes against the workpiece with a steady force such as in a bending machine e The steady force applied during normal operation is limited with user parameters Pn402 forward torque limit and Pn403 reverse torque limit Parameters Requiring Settings e Limiting the Steady Force Applied during Normal Operation Parameter No Parameter name Explanation Forward torque Set the output torque limit for the forward direction as a percentage of limit the rated torque setting range 0 to 800 Reverse torque Set the output torque limit for the reverse direction as a percentage of limit the rated torque setting range 0 to 800 Note 1 Set these parameters to 350 the default setting when the torque limit function is not being used Note 2 If the connected Servomotor is set to a value greater than the maximum momentary torque the maximum momentary torque will become the set limit 4 7 4 Electronic Gear Function 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 to set the travel distance for machinery per pulse to 0 01 mm for example Note If f
135. ected when wiring the Servo Driver and the control signal The following ferrules are applicable Manufacturer Applicable wire Phoenix Contact Al 0 5 10 0 5 mm 20 AWG Al 0 75 10 0 75 mm 18 AWG Al 1 5 10 1 25 mm 16 AWG Nihon Weidmuller H 0 5 16 D 0 5 mm 20 AWG H 0 75 16 D 0 75 mm 18 AWG H 1 5 16 D 1 25 mm 16 AWG e Wiring Procedure Inserting a Wire Fully insert the ferrule all the way into the desired terminal hole Releasing a Wire Insert a small flathead screwdriver into the release button above the terminal hole and pull out the wire while pressing the button I Small flathead screwdriver L Release button 2 69 Chapter 2 Standard Models and Specifications The following screwdriver can be used to release wires Recommended Screwdriver Phoenix Contact SZF1 Front view Side view m Servo Relay Unit Wiring Example I O power is supplied from terminals 20 0 21 1 and 60 40 when a Servo Relay Unit is used As shown in the following example wiring can be performed by simply connecting the signals 79 60 3 8 3 Upper terminal block O Lower terminal block ee Oe TO Cel JO Oel WO OL WO Ol TO ol JO GCS Oo I GSoge 01068891 OCE Je oles C NOC IOL0 00 10 ofe 0 0010 o 1OO0 O o 100 1O oLD DeO IQTO HIRIO LODO AIOOGO On BE Ox RD ODO C JOCJOL OOOO o 0
136. ector on the Controller end When connecting it to a Position Control Unit with no special cable provided or to a controller manufactured by another company wire a connector to match the control ler Note There is one method for connecting to a Controller with no special cable provided and another method for using connector Terminal Block cable and a connector Terminal Block e Cable Models moa rengn Outer diameter of sheath Weit R88A CPU001S 1m 9 9 dia Approx 0 3 kg R88A CPU002S 2m Approx 0 6 kg e Connection Configuration and External Dimensions Servo Driver D R7D AP Controller 2 43 Standard Models and Specifications Chapter 2 e Wiring Wire Mark color Wire Mark color Orange Black Pink Red Connector Pin Arrangement Orange Red Orange Black Gray Black Orange Red Gray Red Gray Black White Black Gray Red White Red White Black Yellow Black White Red Yellow Red Yellow Black Pink Black Yellow Red Pink Red Pink Black Gray Black Pink Red Gray Red Orange Black Orange Black 24VIN Orange Red Orange Red 24VIN Gray Black Z White Black RUN Gray Red ZCOM White Red White Black ALM Yellow Black White Red ALMCOM Yellow Red
137. ed at beginning of deceleration r min To1 Toz Deceleration torque N m ti te Deceleration time s 3 37 System Design and Installation Chapter 3 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 e For Servo Driver models with internal capacitors for absorbing regenerative energy i e models of 400 W or less the values for both Egi or Eg2 unit J must be lower than the Servo Drivers regenerative energy absorption capacity The capacity varies depending on the model For details refer to 3 3 2 Servo Driver Regenerative Energy Absorption Capacity e For Servo Driver models with internal regeneration resistance for absorbing regenerative energy i e models of 750 VV the average amount of regeneration P unit VV must be calculated and this value must be lower than the Servo Driver s regenerative energy absorption capacity 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 Egy Ego T W T Operation cycle s m Vertical Axis Servomotor operation Servomotor 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 show
138. ed by an alarm occurs dynamic brake Oe Seen Servomotor stopped by dynamic brake Dynamic brake released after Servomotor stops Servomotor stopped with free run 1 Not used 0 2 Not used 0 3 Not used 1 Speed loop gain Speed loop response adjustment Hz 1 to 2000 Speed loop inte Speed loop integral time constant x0 01 ms 15 to 51200 gral time constant Position loop gain Adjusts position loop responsiveness 1 s 1 to 2000 Inertia ratio The ratio between the machine system inertia and the Servomotor rotor 0 to 10000 inertia Feed forward Position control feed forward compensation Jo 0 to 100 amount Feed forward The position control feed forward command filter x0 01 ms 0 to 6400 command filter 4 15 Operation Chapter 4 Parameter Parameter name Description for parameters set with 5 digits Default Setting Restart No o Name Setting Description for parameters range with individually set digits Online autotuning Online autotun 0 Autotunes initial operations only Yes setting ing selection after power is turned ON The Always autotunes power supply No autotuning does not Not used nood t Adhesive friction Friction compensation OFF restarted compensation 7 for aion Friction compensation Rated Pn110 2 torque ratio small Friction compensation Rated torque ratio large Not used P
139. el design and selection to ensure that electromagnetic waves cannot leak from or enter the control panel e Case Structure e Use a metal control panel with welded joints on the top bottom and all sides The case must be electrically conductive e When assembling the control panel remove the coating from all joints or mask the joints when coating to ensure electrical conductivity e Be sure that no gaps are created when installing the control panel as gaps can be caused by dis tortion 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 e Use a vvater proof structure as shovvn in the follovving diagram and be sure there are no gaps e Use electrically conductive packing between the cover and the case as shown in the following dia gram Remove the coating from the contact points of the packing or mask the contact points when coating to ensure electrical conductivity 3 29 System Design and Installation Chapter 3 e Be sure that no gaps are created when installing the cover as gaps can be caused by distortion when tightening screws Case A Cover B Cover Oil proof packing Conductive packing Control Panel A B Cross section Oil proof packing Conductive packing Case Inside
140. ent amp processing i dd 1 Command E EES i o pe Command 5 V pulse input 7 y PONER Y Current A Position 624 volage procesin control conversion L processing I control Alarm code display Serial port CPU VO Control O a L RS 422 CN4 CN3 1 8 Analog monitor output Parameter Unit computer ut MT Chapter 2 Standard Models and Specifications 2 1 Standard Models 2 2 External and Mounted Dimensions 2 3 Servo Driver Specifications 2 4 Servomotor Specifications 2 5 Reduction Gear Specifications 2 6 Cable and Connector Specifications 2 7 Servo Relay Units and Cable Specifications 2 8 Parameter Unit Specifications 2 9 External Regeneration Resistor Specifications 2 10 DC Reactors Standard Models and Specifications 2 1 Standard Models m Servomotors e 3 000 r min Cylinder style Servomotors Specifications Model Straight shaft without key R7M A03030 R7M A05030 R7M A10030 R7M A20030 R7M A40030 R7M A75030 Straight shaft with key R7M A03030 S1 R7M A05030 S1 R7M A10030 S1 R7M A20030 S1 R7M A40030 S1 R7M A75030 S1 Straight shaft without key R7M A03030 B R7M A05030 B R7M A10030 B R7M A20030 B R7M A40030 B R7M A75030 B Straight shaft with key R7M A03030 BS1 R7M A05030 BS1 R7M A10030 BS1
141. entered even if the RUN signal turns ON Note 3 The dynamic brake will operate when the main circuit power supply or the control power sup ply is OFF regardless of the setting of this parameter 4 17 Operation Chapter 4 Pn100 Speed loop gain Settings 1to2000 Unit Hz Default 80 Restart e This gain adjusts the speed loop response e Increase the setting i e increase the gain to increase servo rigidity Generally the greater the inertia ratio the higher the setting There is a risk of vibration however if the gain is too high When the speed loop gain is manipulated the response will change as shown in the following dia gram Overshoots when speed loop gain is high Vibrates when gain is too high Servomotor speed 4 KA Time Note This parameter is enabled only if the gain adjustment rotary switch is set to 0 Speed loop integral time constant Settings 15 to 51200 Unit Default Restart e Sets the speed loop integral time constant e The higher the setting the lower the response and the lower the resilience to external force There is a risk of vibration if the setting is too low When the speed loop integral time constant is manipulated the response changes as shown in the following diagram Overshoots when speed loop integration constant is short Servomotor speed ye When speed loop integration constant is long Time Note This parameter i
142. ervo is turned OFF after operat ing Energy required for stop ping exceeds the dynamic brake resistor tolerance Lower the rotation speed Reduce the load inertia Reduce the frequency of dynamic brake use Occurs when the power supply is turned ON Control panel error Replace the Servo Driver Inrush resis tance overload Occurs when the main circuit power supply is turned ON The frequency by which main circuit power supply is turned ON and OFF exceeds 5 times min Reduce the frequency by which the main circuit power supply is turned ON and OFF Occurs when the control circuit power supply only is turned ON Control panel error Replace the Servo Driver 5 9 Troubleshooting Display Overheat Status when error occurs Occurs when the control circuit power supply only is turned ON Cause of error Control panel error Chapter 5 Countermeasures Replace the Servo Driver Occurs during operation Ambient Servo Driver tem perature exceeds 55 C Lower the Servo Driver s ambi ent temperature to 55 C or less Radiation shield sink air convection is poor Mount according to mounting conditions The fan has stopped Replace the Servo Driver Operating above rated out put Lighten the load System error Occurs during operation Control panel error Replace the Servo Driver Power supply was turned
143. eted signal is interrupted i e repeatedly turns ON and OFF because of performing feed forward compensation and speed overshooting is generated solve the problem by setting the primary lag filter Pn110 0 Online autotuning setting Online autotuning selection After the povver is turned ON autotuning is only performed for the initial operation Autotuning is alvvays performed Autotuning is not used e Select the autotuning function you vvant to use e 0 After the power is turned ON execute autotuning and when the load inertia calculations are complete use the data for control Thereafter do not perform autotuning again whenever the power is turned ON Make this setting if load inertia fluctuation is small e 1 Constantly refresh the load inertia calculation data and constantly store the responses Make this setting if load inertia fluctuates constantly e 2 Do not execute autotuning This setting is recommended for general operation Note If function switch 6 is OFF to enable the function switch settings this parameter is ignored and the setting on function switch 1 online autotuning setting is used 4 20 Operation Chapter 4 Pn110 2 Online autotuning function Adhesive friction compensation selection Default Restart2 Setting Explanation Setting Explanation No friction compensation when adhesive friction for rated revolutions is 10 max of rated torque Small ratio between friction
144. following conditions Operating the Servomotor outside of the following ranges may result in malfunction of the Servomotor e Ambient operating temperature 0 to 40 C e Ambient operating humidity 20 to 80 with no condensation e Atmosphere No corrosive gases Impact and Load e The Servomotor is resistant to impacts of up to 98 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 areas Holding onto weaker areas such as these can damage the Servomotor 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 System Design and Installation Chapter 3 m Connecting to Mechanical Systems e The axial loads for Servomotors are specified in 2 4 2 Performance Specifications If an axial load greater than that specified is applied to a Servo Ball screw center line motor it will reduce the service life of the motor bearings and may damage the motor shaft When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity Servomotor shaft and variation center line 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 JIS
145. gnals as a dedicated power supply The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent Do not use the 24 V DC brake power supply for the 24 V DC control power Chapter 6 Appendix Chapter 6 m Connection Example 2 Connecting to SYSMAC CS1W NC133 233 433 Main circuit power supply NFB OFF ON ae R O SO 2e 1 o o Main circuit contact 2 Oo 00 O suP Surge killer Single phase 200 230 V AC 50 60 Hz xy MC X1 Single phase 100 115 V AC 50 60 Hz E 2 2e pL Servo error display i T Q I Class D ground _ CS1W NC133 233 433 Class 3 ground R7D APL 100 Q or less Contents R88A CPULIS ___ 5 V ly for pul tput i power supply for pulse output SVDC al 5 V ground for pulse output O ay ic LOW output X 4 FS CW output CCW output DC reactor output SCW gt output DOR Servomotor cable ECRST e Integrated gt X axis dev cntr reset output ECRST Separate d R7M ALI X axis origin input 24 V ZCOM DL X axis origin common X axis positioning completed input Z 24 V power supply for output 0 V power supply for output Pon INP
146. h for multiple Servo Drivers select a no fuse breaker with a 20 ms allowable current greater than the total inrush current shown in the following table for the applicable Servomotor models Smart Power Servo Capacity Rated Inrush 125 of NFB model Servo supply Driver current current rated Driver voltage model A rms circuit current V R7D A 0 p NF30 SW 10A NF30 SW 10A NF30 SW 10A NF30 SW 10A NF30 SW 15A 3 21 System Design and Installation Chapter 3 Smart Power Servo Capacity Rated Inrush 125 of NFB model Servo supply Driver current current rated Driver voltage model A rms circuit current v R7D A 0 p NF30 SW 10A NF30 SW 10A NF30 SW 10A NF30 SW 10A NF30 SW 10A NF30 SW 15A 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 The surge absorbers shown in the following table are recommended Varistor Max limit Surge Energy voltage voltage immunity resistance Matsushita Electric ERZC20EK471 W 5 000 A ERZC25EK471 W 10 000 A ERZC32EK471 W 20 000 A Ishizuka Electronics Z25M471S 10 000A Co Z33M471S 20 000 A Note 1 The W for the Matsushita models indicates that they are UL and CSA certif
147. he following table shows the Servomotor leakage current for each Servo Driver model Driver Leakage current direct measurement including high frequency current R7D APASL to APO4L R7D APASH to AP04H R7D AP08H Note 1 The above leakage current is for cases where Servomotor power line length is less than 5 meters It varies depending on the Servomotor cable length and the insulation Note 2 The above leakage current is for normal temperature and humidity It varies depending on the temperature and humidity Leakage Breaker Connection Example AC power supply side Surge absorber Noise filter Servo Driver side OO i cio 1NFE 4 so E oo 3E6 No fuse breaker Leakage breaker m Improving Encoder Cable Noise Resistance 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 e If lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition always use shielded cable e Do not coil cables If cables are long and are coiled 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 EMI core ESD SR 25 Clamp filter ZCAT2032 0
148. he maximum Ser vomotor rotation speed will be used Note 2 Refer to the Operation Manual Cat No 1534 for details on the jog operations 4 23 Operation Chapter 4 Pn401 Torque command filter time constant Settings 0 to 65535 Unit x0 01ms Default 40 Restart e Sets the primary filter time constant for the internal torque command e When the mechanical resonance frequency is within the response frequency of the servo loop Ser vomotor vibration will occur To prevent this from occurring set the torque command filter time con stant The relationship between the filter time constant and the cut off frequency can be found by means of the following formula fc Hz 1 2nT T Filter time constant s fc cut off frequency e Set the cut off frequency to below the mechanical resonance frequency Pn402 Forward torque limit Settings Oto800 Unit Default 350 Restart Pn403 Reverse torque limit Settings Oto800 JUnit Default 350 Restart e Set Pn402 forward torque limit and Pn403 reverse torque limit as a percentage of the Servo motor rated torque Note Refer to 4 7 3 Torque Limiting for details Positioning completed range Command _ Default Restart units e Set the deviation counter to output INP positioning completed output during position control e INP turns ON when the deviation counter residual pulses reaches Pn500 or less Deviation counter overfl
149. hen replacing the Servomotor the Servomotor s specific origin position Z phase may slip so be sure to perform origin teaching e Refer to the manual for the position controller you use for how to perform origin teaching Replacing the Servo Driver 1 Make a note of the parameters e If using a Parameter Unit transfer all of the parameter settings to the Parameter Unit using the Parameter Unit s copy function You can also use the Parameter Unit and write down all of the parameter settings e If using Computer Monitor Software start the program and transfer and save all the parame ters in the Servo Driver to the computer 2 Replace the Servo Driver Match the switch settings e Set the new Servo Drivers switches Unit No selection rotary switch gain adjustment rotary switch and function switches to match the old Servo Drivers switch settings 4 Set the parameters e If using a Parameter Unit either use the Parameter Unit copy function to transfer the stored parameters to the Servo Driver and then confirm that the parameters have been transferred or use the Parameter Unit to set all the parameters e If not using Computer Monitor Software set all the parameters using a Parameter Unit or Ser vo Driver operation keys Troubleshooting Chapter 5 5 2 Alarms If the Servo Driver detects an error ALM alarm output will be output the power drive circuit in the Servo Driver will turn OFF and the alarm will be
150. ied Note 2 Refer to the manufacturers documentation for operating details Note 3 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber Note 4 The energy resistance is the value for 2 ms It may not be possible to retard high energy pulses at less than 700 V In that case absorb surges with an insulated transformer or reac tor 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 Rated current Single phase GT 2050 LF 210N LF 215N LF 220N 3 22 System Design and Installation Chapter 3 Rated current Three phase LF 315K LF 325K LF 335K ZCW2210 01 ZCW2220 01 ZCW2230 01 ZCW2240 01 Note 1 To attenuate noise at frequencies of 200 kHz or less use an insulated transformer and a noise filter Note 2 For high frequencies of 30 MHz or more use a ferrite core and a high frequency noise filter with a through type capacitor Note 3 If multiple Servo Drivers are to be connected to a single noise filter select a noise filter with a rated current at least two times the total rated current of all the Servo Drivers
151. ight XW2Z 050J A21 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A21 1m Position Control Unit CJ1W NC233 a CJ1W NC433 Approx 0 2 kg Servo Relay Unit XW2B 40J6 2B XW2B 40J6 4A 2 93 Standard Models and Specifications Chapter 2 e Wiring Position Control Unit Servo Relay Unit No 33 B16 e Crimp terminal D e AWG28 x 6P AWG28 x 17C 2 94 OTT pp AAA ps ene AA A PE A e mes ars DAD PIM AA CE a a ee 2 AAA EY E a a OLE NS a ee EE Se 2 gt X HH YE e AA ss A ae I as Y ee EY NU DE ANN E ar Standard Models and Specifications Chapter 2 m Position Control Unit Cable XW2Z _ JJ A22 These Position Control Unit Cables connect a CS1W HCP22 Position Control Unit and an XW2B 20J6 3B Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A22 50 cm 10 0 XW2Z 100J A22 1m Position Control Unit CS1W HCP22 dia Approx 0 1 kg Approx 0 2 kg Servo Relay Unit S XW2B 20J6 3B ge 9r oz 5 e Wiring Position Control Unit 16 2 95 Standard Models and Specifications Chapter 2 m Position Control Unit Cables XW2Z _ J A23 These Position Control Unit Cables connect a CS1W HC
152. input OGND i i H E X axis CW limit input ALMCOM ZA X Y axis emerg stop input Ut S E ALM n H BKIR i i re HE Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Use mode 2 for origin search Note 4 Use the 24 V DC power supply for command pulse signals as a dedicated power supply Note 5 The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent Note 6 Do not use the 24 V DC brake power supply for the 24 V DC control power 6 9 Appendix m Connection Example 9 Connecting to Oriental XG8200S Main circuit power supply OFF NFB ON R O d ee 00 1 i g MC O O ONY SUP Surge killer Single phase 200 230 V AC 50 60 Hz T x1 FR I Single phase 100 115 V AC 50 60 Hz i 2 PL Servo error display i z TOD Class D ground _ XG8200S Oriental Class 3 ground R7D APL 100 Q or less Contents R88A CPULIS Gomes Step eren 50UT CCW PULSE Pulse CW PULSE output 50UT ECRST CCR ECRST COM ZCOM ZSG Z END INP
153. ion set each to O i e the default setting m Operation e The characteristics for each filter are shown below e Servomotor acceleration and deceleration are delayed further than the characteristics shown below due to position loop gain delay Acceleration 2 Kp s Deceleration 3 Kp s Kp Position loop gain Pn102 e Primary Filter Speed n Command pulse input frequency Input frequency x 0 63 Input frequency x 0 37 Time 4 31 Operation Chapter 4 e Linear Acceleration and Deceleration Speed 4 Command pulse input frequency gt Time Pn208 Pn208 4 32 Ll Im Chapter 5 Troubleshooting 5 1 Measures when Trouble Occurs 5 2 Alarms 5 3 Troubleshooting 5 4 Overload Characteristics Electron Thermal Char acteristics 5 5 Periodic Maintenance 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 troubles if they 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 R7D APUIH Single phase 200 230 V AC 170 to 253 V 50 60 Hz Using R7D APO8H with three phase input Three phase 200 230 V AC 170 to 253 V 50 60 Hz R7D APL IL Single phase 100 115 V AC 85 to 127 V 50 60 Hz Control circu
154. ion time s 100 150 200 250 300 Load ratio A Cylinder style Servomotors 30 to 400 W Flat style Servomotors 100 to 400 W B Cylinder style Servomotors 750 W Flat style Servomotors 750 W Note 1 The load ratio is the ratio of the motor current to the rated motor current as a percentage ia 0 Motor current 1 Load ratio o Rated motor current gt 99 Note 2 For example if a current of three times the rated motor current flows continuously an over load will be detected after approximately 5 seconds 5 15 Troubleshooting Chapter 5 5 5 Periodic Maintenance Maintenance and Inspection Precautions N WARNING Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock N Caution Resume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in an unexpected operation 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 ins
155. it Power Supply Input Terminals L1C L2C R7D APL JH Single phase 200 230 V AC 170 to 253 V 50 60 Hz R7D AP L JL 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 e Make sure that the voltage of the sequence input power supply 24 VIN Terminal pin CN1 13 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 e If an alarm has occurred check the alarm code A LIL and perform analysis depending on the alarm code e If 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 e Perform analysis using the display 7 segment LED on the front panel of the Servo Driver Analysis can also be performed using the R7A PRO2A Parameter Units alarm history display function This manual explains analysis using these methods Troubleshooting Chapter 5 Computer Monitor Software e Install and use the SMARTSTEP A series Servo Driver Computer Monitor Software for Win dows version 2 0 WMON Win Ver 2 0 Cat No SBCE 011
156. it input signals in the CJ1M Pulse Output 0 CW A540 08 CCW A540 09 Pulse Output 1 CW A541 08 CCW A541 09 Program the actual inputs from the Input Unit to control these y flags as ladder program outputs as shown below See note 2 Example 2960 06 O A540 08 CW limit CCW limit See note 1 See note 1 CIO 2960 06 CIO 2960 07 Note2 The XB contacts are used to turn ON OFF the electromag j l 11 netic brake 24V DC a Do not connect anything to unused terminals b The 0 V terminal is internally connected to the common terminals c The following crimp terminal is applicable R1 25 3 round with open end 2 63 Standard Models and Specifications Chapter 2 m XVV2B 40J6 9A This Servo Relay Unit connects to the follovving OMRON Programmable Controllers Communications are not sup ported e CJ1M CPU21 CPU22 CPU23 e External Dimensions CJ1M CPU connector X axis Servo Driver connector Y axis Servo Driver connector Note Terminal pitch 7 62 mm 2 64 Standard Models and Specifications Chapter 2 e Wiring X axis Y axis i i i i i i Y axis Y axis N6 origin xe X axis X axis origin Y axis a ime de pag A e NO est e zom Com Com Com Gom X axisl_ X axis Com Com Com y axi axi mony mon mon mon mon RESET ALMCOM mon mon ol 20 Xais Xais CWimit CCW imit
157. its main circuits and peripheral devices e Turn ON the RUN command e Check that Servomotor is ON e Send a command from the Host Controller to rotate the Servomotor and confirm that Servomotor rotation direction is correct and that the rotation speed and rotation amount match the command that was sent 2 Power OFF Mechanical Device Connection Power ON e Turn OFF the power supply e Connect the mechanical device to the Servomotor shaft e Turn ON the power supply Operation Chapter 4 3 Loaded Low speed Operation e 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 of the 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 5 Troubleshooting and apply the appropriate counter measures Note 2 If the system vibrates due to insufficient gain adjustment making it difficult to check the op eration refer to 4 5 Gain Adjustments and adjust the gain 4 Operation under Actual Conditions e Operate the Servomotor in a regular pattern and check the following items Is the operating speed cor
158. jury 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 sufficient countermeasures when installing systems in the following locations e Locations subject to static electricity or other sources of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radiation e Locations close to power supply lines 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
159. lation Chapter 3 Correct Properly twisted Correct Cables are bound Driver Driver I OLI Que 7 0 L3 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 directiy 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 breakers with an operating time of at least five seconds at 300 of the rated maximum output General pur pose and low speed no fuse breakers are generally suitable The table in 3 2 3 Terminal Block Wir ing shows the rated power supply input currents for each Servomotor Select a no fuse breaker with a rated current greater than the total effective load current when multiple Servomotors are used When making the selection add in the current consumption of other controllers and so on Servo Driver inrush current With low speed no fuse breakers an inrush current 10 times the rated current flows for 0 02 sec onds For a simultaneous inrus
160. lay Zz TOS Class D ground _ CJ1W NC113 213 413 Class 3 ground R7D APLI 100 Q or less Contents R88A CPULIS 24 V input for output i 24 V DC i 5O 0 V input for output o G MC __ CCW with a resistor X axis l CCW without a resistor DC reactor Pu CW with a resistor output oa a o without airesiston Servomotor cable ECRST e Integrated X axis dev cntr reset output H 7 ECRST a A R7M ALI Casc Gran gel j power an X axis origin input 24 V i XX ZCOM Red encoder X axis origin common Z A eS Se X axis positioni leted input INP White axis positioning completed input Blue ren Yellow Input common 24VIN 24V DC TT ma aS X axis external interrupt input OO Tl o 00 i RUN X axis origin proximity input Oo O O i RESET pq dt X axis CCW limit input 2 e a OGND X axis CW limit input ea e t 7 ALMCOMI foot X axis emerg stop input Up 1 ALM hos By i BKIR O O i de pe ie ES 24VDC Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Use mode 2 for origin search Note 4 Use the 24 V DC power supply for command pulse signals as a dedicated power supply Note 5 The diode recommended for surge absorption is the ERB44 02 Fuji Electric or equivalent Note 6 Do not use the 24 V DC brake power supply for the 24 V DC control power 6 4 Appendix Main circuit powe
161. lay Unit XW2B 80J7 1A 2 75 Standard Models and Specifications Chapter 2 e Cable Models moa Length L Outer diameter of sheath Weit XW2Z 100J B10 1m 8 0 dia Approx 0 1 kg XW2Z 200J B10 2m Approx 0 2 kg e Connection Configuration and External Dimensions 6 Les ij L Servo Relay Unit Servo Driver o XW2B 80J7 1A a g g D R7D AP e Wiring Servo Relay Unit Servo Driver Symbol 24VIN OGND CCW CCW CW CW ECRST ECRST ZCOM Z INP RUN i RESET ALMCOM BKIR ALM Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M Cable AWG28 x 6P AWG28 x 9C 2 76 Standard Models and Specifications Chapter 2 m Position Control Unit Cables XW2Z L J A3 These Position Control Unit Cables connect a CQM1 CPU43 V1 or CQM1H PLB21 Programma ble Controller and an XW2B 20J6 3B Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A3 50 cm 7 5 dia XW2Z 100J A3 1m Approx 0 1 kg Approx 0 1 kg e Connection Configuration and External Dimensions 39 L 6 al CQM1 CPU43 V1 PN CQM1H PLB21 2 t 15 e Wiring CQM1 Hood cover Servo Relay Unit o D XW2B 20J6 3B Servo Relay Unit 2 77 Standard Models and Specifications Cha
162. le phase FN2070 16 07 0 4 mA phase Schaffner Three phase FN258L 16 07 2 5 mA at 250 Vrms 50 Hz Note The last 2 digits in the noise filters model number indicate the type of connection terminals used 07 indicates lead wire terminals There are also models with soldered faston terminals 06 and screw terminals 08 Use the appropriate noise filter for the application For details contact the manufacturer 3 31 System Design and Installation Chapter 3 Dimensions The dimensions given below are for noise filters with lead wire terminals For the dimensions of noise filters with different types of terminals contact the manufacturer For single phase input FN2070 6 07 FN2070 10 07 140 8 Ll A 140 Es EE e gt AAA or 0 9 el 84 L B J C Modi A B C FN2070 6 07 94 mm 103 mm 113 6 mm FN2070 10 07 130 5 mm 143 mm 156 mm For single phase input FN2070 16 07 57 6 140 3 98 5 140 3 3 32 System Design and Installation Chapter 3 For three phase input FN258L 16 07 _ 300 10 e Noise filter for brake power supply Use the following noise filter for the brake power supply Model Rated current Rated voltage Leakage current Manufacturer SUP P5H EPR 250 V 0 6
163. lect the command pulse mode to suit the Host Controllers command pulse format e If inputting 90 phase difference signals select either x1 x2 or x4 If you select x4 the input pulse will be multiplied by 4 so the number of Servomotor rotations speed and angle will be four times that of the x1 selection Note If function switch 6 is OFF to enable the function switch settings this parameter is ignored and the setting on function switch 3 command pulse input setting is used 4 21 Operation Chapter 4 Pn200 1 Position control setting 1 Deviation counter reset Restart Setting Explanation Setting Explanation Reset deviation counter on signal high level status signal Reset deviation counter on rising edge Low to High Reset deviation counter on signal low level status signal Reset deviation counter on falling signal High to Low e Sets input conditions under which ECRST deviation counter reset input CN1 5 ECRST CN1 6 ECRST is effective e If using an OMRON Position Control Unit do not change the default setting Pn200 2 Position control setting 1 Deviation counter reset for servo OFF and alarms Restart Setting Explanation Setting Explanation Reset deviation counter when servo goes OFF and when an alarm occurs Do not reset deviation counter when servo goes OFF and when an alarm occurs Reset deviation counter only when alarm occurs e Sets whethe
164. lity A Robot Cable uses materials that enable a service life of 20 million bendings minimum under the fol lowing conditions for the minimum bending radius R or larger Note 1 The service life data on bending durability consists of test values Use this data only as ref erence values and allow margin in actual application Note 2 The bending durability is the number of times that the Cable can be bent without breaking or other damage occurring that affects the sheath functionality when the conductors inside the cable are conducting electricity The bending durability does not apply to the shield breaking Note 3 Mechanical failure ground faults or other problems may occur due to damaged insulation if the Cable is used with a radius smaller than the minimum bending radius Contact your OMRON representative if the Cable will be used with a radius smaller than the minimum bending radius e Power Cables Minimum bending radius R For Servomotors R88A CAWA without brakes For Servomotors R88A CAWA with brakes 003 to 020 e Encoder Cables Lee Minimum bending radius R R7A CRA 003 to 020 2 46 Standard Models and Specifications Chapter 2 e Bending Test Stroke 320 mm ALLL ALLL D Es Bending Ley radius R gt Es 100 times minute 2 6 3 Specifications of Integrated Cables m Integrated
165. ltage to within toler ance range Overvoltage Occurs when power supply is turned ON Main circuit power supply voltage is outside toler ance range Change the main circuit power supply voltage to within toler ance range Main circuit power supply is damaged Replace the Servo Driver Occurs when Ser vomotor is decel erating Load inertia is too great Deceleration time is too long Calculate the regenerative energy and connect an exter nal Regeneration Resistor with the required regeneration absorption capacity Main circuit power supply voltage exceeds tolerance range Reduce main circuit power supply voltage to within toler ance range Occurs during descent vertical axis Gravitational torque is too large Add a counterbalance to the machinery to lower gravita tional torque Slow the descent speed Calculate the regenerative energy and connect and exter nal Regeneration Resistor with the required regeneration absorption capacity Low voltage 5 8 Occurs when the control circuit power supply only is turned ON Control panel error Replace the Servo Driver Occurs when the main circuit power supply is turned ON Main circuit power supply voltage is outside toler ance range Change the main circuit power supply voltage to within toler ance range Main circuit power supply is damaged Replace the Servo Driver
166. lthough care has been given in documenting the product please contact your OMRON representative if you have any suggestions on improving this manual 4 Assume that anything not specifically described in this manual is not possible 5 Do not allow the Servomotor or Servo Driver to be wired set or operated from a Parameter Unit by anyone that is not a profession electrical engineer or the equivalent 6 We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed e Precautions on the dangers of high voltage equipment e 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 7 Specifications and functions may be changed without notice in order to improve product performance 8 Positive and negative rotation of AC Servomotors described in this manual are defined as looking at the end of the output shaft of the motor as follows Counterclockwise rotation is positive and clockwise rota tion is negative 9 Do not perform withstand voltage or other megameter tests on the product Doing so may damage inter nal components 10 Servomotors and Servo Drivers have a finite service life Be sure to keep replacement products on hand and to consider the operating environment and other conditions affecting the service life 11 Do not set values for any parameters not described in
167. mA at 250 Vrms 60 Hz Okaya Electric Industries Co Ltd Dimensions Noise filter for brake power supply SUP P5H EPR 100 2 84 1 50 8 1 Two 4 8 dia Five M4 3 33 System Design and Installation Chapter 3 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 short for loads when reset time is not an issue The reset time reverse recovery time is increased because the surge voltage is the lowest Fuji Electric Co ERB44 06 or equiv when power is cut off Used for 24 48 V DC systems alent 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 V DC system 39 V Varistor etc and when reset time is an issue The surge voltage 100 V DC system 200 V when power is cut off is approximately 1 5 times that of 1400 V AC system 270 V the varistor 200 V AC system 470 V Capacitor Use capacitors and resistors for vibration absorption of Okaya Electric Industries Co Ltd resistor surge when power is cut off The reset time can be short CR 50500 0 5 uF 50 Q ened by proper selection of the capaci
168. minals 3 16 System Design and Installation Chapter 3 e 200V AC Input R7D APL JH Item Model R7D R7D R7D R7D R7D R7D Unit APA3H APA5H APO1H APO2H APO4H APO8H Power supply capacity kVA 0 2 0 25 0 4 0 75 1 2 2 1 Main circuit Effective A rms 0 82 1 1 2 0 3 4 5 5 9 4 power supply current input L1 L2 Wire size 2 1 25 1 25 1 25 1 25 2 2 See note 1 mm Control circuit Effective A rms 10 1 0 1 0 1 0 1 0 1 0 1 power supply current input L1C L2C Wire size mm 1 25 1 25 1 25 1 25 1 25 1 25 Servomotor Effective A rms 0 42 0 6 0 89 2 0 2 6 4 4 connection ter current D U V W Wire size mm 1 25 1 25 1 25 1 25 1 25 2 See note 2 Frame ground Wire size mm2 2 2 2 2 2 2 D Screw size M4 M4 M4 M4 M4 M4 Torque N m 1 2 1 2 1 2 1 2 1 2 1 2 No fuse breaker or fuse A rms 14 4 4 4 8 11 capacity Note 1 Use the same wire sizes and tightening torques for 1 492 B1 and B2 Note 2 Connect an OMRON Servomotor 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 AWG size Nominal cross sectional area mm Configuration 19 0 18 Conductive wires mm resistance Q km Allowable current A for ambient temperature 30 C 40 C 50
169. mination or electrical interference or conditions or uses not described in this manual e 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 It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON rep
170. mmand pulse Input pins Servomotor forward Servomotor reverse setting mode command command 0 Feed pulse and 1 PULS direction signal 2 PULS I 3 SIGN a 4 SIGN H L 1 Reverse pulse 1 CW d and forward 2 CVV L pulse 3 CCW o E 4 cou AN enoe signals a 2 7 LJ 3 90 phase differ 3 B ence signals x2 4 B l 4 90 phase differ ence signals x4 2 25 Standard Models and Specifications Chapter 2 Pn200 0 Command pulse Input pins Servomotor forward Servomotor reverse setting mode command command Feed pulse and 1 PULS direction signal 2 PULS JUUUUUU WUUUUUL 3 SIGN 4 SIGN L Reverse pulse 1 CW and forward 2 CW a pulse 3 CCW 4 CCW Z o o zZ 90 phase differ ence signals x1 2 90 phase differ ence signals x2 4 B 90 phase differ ence signals x4 2 26 Standard Models and Specifications Chapter 2 Command Pulse Timing The following wave forms are for positive logic Conditions are the same for negative logic Command pulse Timing mode Feed pulse and direc tion signal Maximum input fre quency 250 kpps Direction signals Forward rotation command Reverse rotation command Feed pulses Reverse pulse and for
171. motor Driver under conditions that will not exceed 80 of the specification values over a long period of time Note 2 The above items reflect individual evaluation testing The results may differ under compound conditions Note 3 The Servomotors cannot be used in misty environments 2 31 Standard Models and Specifications 2 4 2 Performance Specifications m 3 000 r min Cylinder style Servomotors Rated output VV R7M A03030 30 R7M A05030 R7M A10030 R7M A20030 Chapter 2 R7M A40030 R7M A75030 Rated torque N m 0 095 Rated rotation speed r min 3 000 Momentary maxi mum rotation speed r min 4 500 Momentary maxi mum torque N m 0 29 1 91 3 82 7 1 Rated current A rms 0 42 2 0 2 6 4 4 Momentary maxi mum current A rms 1 3 6 0 8 0 13 9 Rotor inertia kg m GD 4 1 7x10 1 19x 10 1 87 x 10 6 67 x 107 Torque constant N m A 0 255 0 355 0 533 0 590 Induced voltage constant mV r min 8 89 12 4 18 6 20 6 Power rate kW s 5 31 34 1 86 3 85 6 Mechanical time constant ms 1 2 0 4 0 2 0 3 Winding resistance Q 1 34 1 23 0 45 Winding inductance mH 7 2 7 9 5 7 Electrical time con stant 1 5 1 8 1 9 5 4 6 4 13 Allowable radial load
172. n as negative e The regenerative energy values for Egy Ego and Egg are derived from the following equations 3 38 System Design and Installation Chapter 3 1 2n e Egi D 60 Nie Tore ti J 0 0524e Nie Toieti J e Eg2 one N2e TL26 ta J 0 105e N2e Tizet2 J Eg de ot e N20 Toze ta J 0 05240 NoeTosets J Ni N2 Rotation speed at beginning of deceleration r min To1 To2 Deceleration torque N m Tia Torque when falling N m tr ts Deceleration time s ta 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 e For Servo Driver models with internal capacitors for absorbing regenerative energy i e models of 400 W or less the values for both Eg1 or Eyo Egg unit J must be lower than the Servo Driver s regenerative energy absorption capacity For details refer to 3 3 2 Servo Driver Regenerative Energy Absorption Capacity e For Servo Driver models with internal regeneration resistance for absorbing regenerative energy i e models of 750 VV the average amount of regeneration P unit VV must be calculated and this value must be lower than the Servo Driver s regenerative energy absorption capacity For details refer to 3 3 2 Servo Driver Regenerative Energy Absorption Capacity The average amount of regeneration P is the power
173. n the movable parts or whether there is any damage deformation or looseness Fix any problems causing vibration Pn100 speed loop gain is insufficient Use online autotuning Adjust the gain manually speed loop gain Vibration is occurring at the same frequency as the applica ble power sup ply 5 14 Inductive noise is occur ring Check to see whether the Servo Driver control signal lines are too long Shorten the control signal lines Check to see whether control sig nal lines and power supply lines are too close to each other Separate control signal lines from power supply lines Use a low impedance power supply for control signals Troubleshooting Chapter 5 5 4 Overload Characteristics Electron Thermal Characteristics An overload protection electron thermal function is built into the Servo Driver to protect against Servo Driver or Servomotor overload If an overload A 70 does occur first clear the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning on the power again If the power is turned on again too soon the Servomotor coil may be damaged Overload characteristics are shown in the following table If for example a current of three times the Servomotor s rated current flows continuously it will be detected after approximately five seconds 10000 1000 100 Operat
174. n207 0 position com mand filter selection Note 2 Refer to 4 7 5 Position Command Filter Function for details Pn207 0 Position control setting 2 Position command filter selection Default Restart Setting Explanation Setting Explanation 0 Primary filter Sets Pn204 properties 1 Linear acceleration and deceleration Sets Pn208 properties e Select the soft start for the command pulses properties e Select 0 to allocate the properties to Pn204 position command filter time constant 1 and select 1 to allocate the properties to Pn208 position command filter time constant 2 e If not using the soft start function set the property for the selected filter to O Note Refer to 4 7 5 Position Command Filter Function for details Position command filter time constant 2 trapezoidal acceleration and deceleration Default Restart e Sets the soft start for the command pulses The soft start characteristic is for linear acceleration and deceleration Note 1 The soft start characteristics also include the primary filter the time constant set by Pn204 Select the filter you want to use using Pn207 0 position command filter selection Note 2 Refer to 4 7 5 Position Command Filter Function for details Pn304 Jog speed Settings Oto 10000 Unit r min Default 1500 Restart e Sets the speed for jogging Note 1 If a value that exceeds the maximum Servomotor rotation speed is set t
175. nal Regeneration Resistor between B1 and B2 For a 750 W Servo Driver B2 and B3 are normally short circuited If the Servomotor s re generative energy is excessive remove the short bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 Note 2 Refer to Surge Absorbers for External Regeneration Resistor selection details m R88A RR22047S External Regeneration Resistor m Specifications Resistance Nominal Regeneration Heat radiation Thermal switch capacity absorption for 120 C condition output temperature rise specifications R88A RR22047S 47 Q 5 Operating tem perature 170 C 3 NC contact Rated output 3 A m External Dimensions All dimensions are in millimeters e R88A RR22047S External Regeneration Resistor Thermal switch output T T E alo QO GN e me 2 113 Standard Models and Specifications Chapter 2 2 10 DC Reactors Connect a DC Reactor to the Servo Drivers DC Reactor connection terminal as a harmonic current control measure Select a model to match the Servo Driver being used R88A PXi DC Reactors m Specifications Servo Driver model DC Reactor Rated current A Inductance mH Weight kg R7D APAS3L APA5L APO1L R88A PX5063 Approx R7D APO2L R88A PX5062 i Approx R7D APO4L R88A PX5061 i Approx
176. ndicates 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 situation which if not avoided may result in minor or moderate injury or property damage OMRON Product References All OMRON products are capitalized in this manual The word Unit is also capitalized when it refers to an OMRON product regardless of whether or not it appears in the proper name of the product The abbreviation Ch which appears in some displays and on some OMRON products 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 2001 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission
177. nductance 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 EMI core ESD QR 25 1 Clamp filter ZCAT2032 0930 ZCAT3035 1330 ZCAT2035 0930A e Do not place the Encoder Cable in the same duct as Control Cables for brakes solenoids clutches and valves 3 25 System Design and Installation Chapter 3 m Improving Control I O Signal Noise Resistance Positioning can be affected and I O signals can error if control I O is influenced by noise Follow the methods outlined below for the power supply and wiring e Use completely separate power supplies for the control power supply especially 24 V DC and the external operation power supply In particular be careful not to connect the two power supply ground wires Install a noise filter on the primary side of the control power supply e If Servomotors with brakes are used do not share the 24 V DC power supply for brakes with the 24 V DC power supply for control I O Additionally do not connect ground wires Connecting ground wires may cause I O signal errors e As much as possible keep the power supply for pulse command and deviation counter reset input lines separate from the control power supply Be particularly careful not to connect the two power supply ground lines e It is recommended that a line driver be
178. neration Resistor cannot be connected to these terminals 400 VV These terminals normally do not need to be connected If there is high regenerative energy connect an External Regeneration Resistor between B1 and B2 750 W Normally shorted 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 Servomotor con nection terminals Red These are the output terminals to the Servomotor Be careful to wire White them correctly Blue Green Yellow Frame ground This is the ground terminal Ground to a minimum of Class D ground Class 3 ground 100 Q or less 3 15 System Design and Installation Chapter 3 m Terminal Block Wire Sizes e 100 V AC Input R7D API IL R7D APA3L R7D APASL R7D AP01L R7D APO2L R7D AP04L Power supply capacity Main circuit Effective power supply current input L1 L2 Wire size See note 1 Control circuit Effective power supply current input L1C Wire size L2C Servomotor Effective connection ter Current minal U V W Wire size See note 2 Wire size Frame ground Y Screw size Torque No fuse breaker or fuse capacity Note 1 Use the same wire sizes for 91 2 B1 and B2 Note 2 Connect an OMRON Servomotor Cable to the Servomotor connection ter
179. ng the following procedure Rubber cap Input shaft Set bolt Servomotor installation bolt 1 Remove the rubber cap and check that the set bolt is loose 2 Insert the Servomotor shaft into the input shaft 3 Tighten the Servomotor installation bolt according to the tightening torque specified in the follow ing table Servomotor installation bolt Tightening torque N m Tightening torque N m 1 0 to 1 5 2 9 to 3 5 5 After tightening the set bolt replace the rubber cap System Design and Installation Chapter 3 m Using Reduction Gears from Other Companies Reference Information If the system configuration requires that a SMARTSTEP A series Motor be used in combination with a reduction gear from another company select the reduction gear so that the loads on the motor shaft i e both the radial and thrust loads are with the allowable values Refer to 2 4 2 Performance Specifications for details on the allowable loads for motors Also control the motor speed and output torque so that the allowable input speed and allowable input torque of the reduction gear is not exceeded System Design and Installation Chapter 3 3 2 Wiring 3 2 1 Connecting Cable This section shows the types of connecting cable used in a SMARTSTEP A series system The wide selection of cables
180. nimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible e If 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 NF should be positioned near the input termi nal block ground plate and I O lines should be isolated and wired using the shortest distance pos sible 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 box whenever possible Correct Separate input and output Wrong Noise not filtered effectively AC input AC output AC input Ground AC output 3 28 System Design and Installation Chapter 3 e Use twisted pair cables for the power supply cables whenever possible or bind the cables Correct Properly twisted Correct Cables are bound Driver Driver O L1C os r A Binding e Separate power supply cables and signal cables when wiring m Control Panel Structure Any gaps in the cable entrances mounting holes covers or other parts of a control panel can allow electromagnetic waves to leak from or enter the control panel Observe the following items for pan
181. nstallation Chapter 3 Three phase Input R7D AP08H RST Three phase 200 230 V AC 50 60 Hz NFB 1 2 3 Noise filter See note 1 E NF Main circuit power supply Main circuit contactor See note 2 4 5 6 OFF ON 3 sts Aue Class D ground ee O O Me Class 3 ground 100 Q or less ING X o OO 0 Surge killer See note 2 x los o e VPE Servo error display SMARTSTEP A series Servo Driver SMARTSTEP A series Servomotor 1M XB Servomotor cable Oi o Q Li O O E i PB to o O L2 I 24 V DC 0 O O L3 U vo Ll M LIC wo O L2 i DC Reactor A i Class D ground 9 1 L Class 3 ground Go CN2 100 Q or less External Regeneration Resistor Bi See note 3 9 B2 See note 4 O B3 4 CN1 Hx 34 ALM 24 V DC 7 BKIR 24 V DC G User 35 ALMCOM See note 2 e CN1 10 OGND CN1 control device 3 14 Control cable Note 1 Recommended product in 3 2 4 Wiring for Noise Resistance 2 Recommended relay MY Relay 24 V by OMRON 3 An R88A RR22047S External Regeneration Resistor may be connected Connect if the regenerative energy exceeds the individual Servo Driver s regenerative
182. ntinuous usage 0 T T T T T r min 1000 2000 3000 4000 5000 R7M AP75030 750 W N m 8 0 4 7 1 7 1 2500 x 6 0 4 Single phase 200 V AC input Three phase NY 200 V AC input Repeated usage P 4 0 2 39 2 39 2 45 2 0 4 1 64 Continuous usage 1 54 0 T T T T 1000 2000 3000 4000 r r min 5000 2 37 Standard Models and Specifications Chapter 2 e Servomotor and Mechanical System Temperature Characteristics e SMARTSTEP A series Servomotors use rare earth magnets neodymium iron magnets The tem perature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomotor s momentary maximum torque increases and as the temperature rises the Servomo tors momentary maximum torque decreases When the normal temperature of 20 C and 10 C are compared the momentary maximum torque increases by approximately 4 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 e 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 reduction gear 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
183. o Sel 5 1 Measures when Trouble Occurs 0 0 0 cee LL LL La 5 2 S22 Ad arm a ie eo ei teues Luri Seat aie eld ale er Sabet oes alerts 5 5 93 Troubleshooting 2 ls aah ates eevee whee babe CES EU Reis 5 7 5 4 Overload Characteristics Electron Thermal Characteristics 5 15 5 5 Periodic Maintenance 5 16 Chapter 6 Appendix o oooooooooooooooomooooonorooo 6 1 6 1 Connection Examples iS E A AAA ees 6 2 Revision History ovocitos REL Introduction 1 1 1 2 1 3 1 4 1 5 Features System Configuration Servo Driver Nomenclature Applicable Standards System Block Diagrams Chapter 1 Introduction Chapter 1 1 1 Features The SMARTSTEP A series Servomotors and Servo Drivers have been developed as pulse string input type Position Controllers to replace stepping motors in simple positioning systems The SMARTSTEP A series Servomotors and Servo Drivers combine the stepping motor s ease of use with faster positioning resulting from high speed and high torque higher reliability with no loss of positioning accuracy even during sudden load changes and other advanced features m Faster Response and Rotation Speed SMARTSTEP A series Servomotors and Servo Drivers incorporate the same high speed and high torque features unachievable with stepping motors as the OMNUC W Series The SMARTSTEP A series Servomotors provide faster rotation speeds of up to 4 500 r min
184. o Electronics AMP Power Cables for Servomotors with Brakes Servomotor Cable side Servo Driver Symbol Connector cap 350781 1 Tyco Electronics AMP 1 U phase Connector socket 350689 3 Tyco Electronics AMP 2 V phase Servomotor side 3 W phase Connector plug 350715 1 Tyco Electronics AMP 4 FG Contact pin 5 iake 350690 3 Pin No 1 to 3 5 and 6 Cable AWG21 x 6C UL2464 pista Tyco Electronics AMP me crimp terminal 770210 1 Pin No 4 Tyco Electronics AMP m Specifications of Standard Encoder Cables R7A CRAI LIC Length L Outer diameter of sheath R7A CRA003C Approx 0 2 kg R7A CRA005C Approx 0 3 kg R7A CRA010C Approx 0 7 kg R7A CRA015C Approx 1 0 kg R7A CRA020C Approx 1 3 kg m Specifications of Robot Encoder Cables R7A CRAL _ LICR Length L Outer diameter of sheath R7A CRA003CR Approx 0 3 kg R7A CRADO5CR Approx 0 4 kg R7A CRA010CR Approx 0 9 kg R7A CRA015CR Approx 1 3 kg R7A CRA020CR Approx 1 7 kg Note The connection configuration external dimensions and wiring are the same for both Standard Cables and Robot Cables 2 52 Standard Models and Specifications Chapter 2 e Connection Configuration and External Dimensions L 43 7 Servo Driver l o R7D APO CJ o N e Wiring Servomotor 2 D R7M AD N Servo Driver pe Servomotor
185. o 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 Operation and Adjustment Precautions N Caution N Caution 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 and switches for proper execution before actually running them Not doing so may result in equipment damage Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Maintenance and Inspection Precautions N WARNING Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock N Caution Resume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in an unexpected o
186. ollowing table for the applicable Servomotor models Servo Driver Inrush current A0 p Control circuit power supply Main circuit power supply R7D APASL to APO2L R7D APO4L R7D APASH to AP04H R7D AP08H 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 The surge absorbers shown in the following table are recommended Max limit Surge Remarks voltage immunity Okaya Electric Indus R A V 781BYZ 2 1 000 A For power supply tries Co Ltd line R A V 781BXZ 4 1 000 A For power supply line ground 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 e Noise Filters for Power Supply Input Use the appropriate noise filter from among those in the following table for the Servo Driver power supply Servo Driver Noise filter for power supply input Rated Rated Leakage current Manufacturer current voltage R7D APASL to APO1L FN2070 10 07 0 4 mA phase Schaffner R7D APO2L to APO4L FN2070 16 07 R7D APASH to APO2H FN2070 6 07 0 4 mA phase Schaffner R7D AP04H FN2070 10 07 R7D APO8H Sing
187. 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 17 Standard Models and Specifications Chapter 2 2 3 2 Performance Specifications m Control Specifications e 100 V AC Input Type Item R7D APA3L R7D APA5L R7D APO1L R7D APO2L R7D APO4L Continuous output cur 0 42A 0 6A 0 89 A 2 0A 2 6A rent rms Momentary maximum out 1 3 A 19A 28A 6 0A 8 0A put current rms Input power Main cir Single phase 100 115 V AC 85 to 127 V 50 60 Hz double voltage method supply cuits Control Single phase 100 115 V AC 85 to 127 V 50 60 Hz circuits Heating value Main cir 3 1 W 4 6 W 6 7 W 13 3 VV 20 0 VV cuits Control 13 VV 13 VV 13 VV 13 VV 13 VV circuits Control method All digital servo Speed feedback 2 000 pulses revolution incremental encoder Inverter method PWM method based on IGBT PWM frequency 11 7 kHz Maximum applicable fre 250 kpps quency command pulse application Weight Approx 0 8 kg Approx 0 8 kg Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Applicable Servomotor 30 VV 50 VV 100 VV 200 W 400 W wattage Applicable Cylinder A03030 A05030 A10030 A20030 A40030 Servomotor style R7M Flat style AP10030 AP20030 A
188. or FQM1 MMP21 for XW2Z 050J A30 special I O XW2Z 100J A30 For CS1W HCP22 V1 XW2Z 050J A32 for special I O XW2Z 100J A32 Control Cables for CN1 General purpose Control Cable R88A CPU001S with Connector on one end R88A CPU002S Connector Terminal Block Cable R88A CTU001N R88A CTU002N Connector Terminal Blocks XW2B 40F5 P m Integrated Servomotor Cables For Servomotors without R7A CEA003S brakes both Cylinder and R7A CEA005S Flat style R7A CEA010S R7A CEA015S R7A CEA020S 2m XW2Z 200J B10 For CS1W HCP22 V1 im XW2Z 100J B12 2m XW2Z 200J B12 Position Control Unit Cable 2 4 For CQM1H PLB21 0 5m XW2Z 050J A3 CQM1 CPU43 V1 im XW2Z 100J A3 For C200H NC112 0 5m XW2Z 050J A4 1m XVV2Z 100J A4 For C200H NC211 0 5m XW2Z 050J A5 C500 NC113 211 1m XVV2Z 100J A5 For CS1VV NC113 0 5m XVV2Z 050J A8 C200HW NC113 Tm XVV2Z 100J A8 For CS1VV NC213 413 10 5 m XVV2Z 050J A9 C200HW NC213 413 Hm XVV2Z 100J A9 For CS1VV NC133 0 5m XVV2Z 050J A12 1m XW2Z 100J A12 For CS1W NC233 433 0 5m XW2Z 050J A13 1m XW2Z 100J A13 For CJ1W NC113 0 5m XW2Z 050J A16 1m XW2Z 100J A16 For CJ1W NC213 413 0 5m XW2Z 050J A17 im XW2Z 100J A17 For CJ1W NC133 0 5 m XW2Z 050J A20
189. or loads when induction Select varistor voltage as follows coils are large as in electromagnetic brakes solenoids 24 V DC system 39 V etc and when reset time is an issue The surge voltage 400 V DC system 200 V when power is cut off is approximately 1 5 times that of 400 V AC system 270 V the varistor 200 V AC system 470 V Use capacitors and resistors for vibration absorption of Okaya Electric Industries Co Ltd resistor surge when power is cut off The reset time can be short CR 50500 0 5 uF 50 Q ened by proper selection of the capacitor or resistor CRE 50500 0 5 uF 50 Q S2 A 0 0 2 uF 500 Q 3 23 System Design and Installation Chapter 3 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 e Contactors When selecting contactors take into consideration the circuit s inrush current and the maximum momentary current The Servo Driver inrush current is covered in the preceding explanation of no fuse breaker selection and the maximum momentary current is approximately twice the rated cur rent The following table shows the recommended contactors Rated current Coil voltage LC1 D093A60 200 V AC LC1D25106 LC1D40116 LC1D50116 LC1 D093A60 LP1D25106 LP1D40116 LP1D50116 e Leak
190. osition control Command pulse Feed pulse forward and reverse setting 1 mode signal positive logic Forward pulse and reverse pulse positive logic 90 phase difference phase A B signal x1 positive logic 90 phase difference phase A B signal x2 positive logic 90 phase difference phase A B signal x4 positive logic Feed pulses forward and reverse signal negative logic Forward pulse and reverse pulse negative logic 90 phase difference phase A B signal x1 negative logic 90 phase difference phase A B signal x2 negative logic 90 phase difference phase A B signal x4 negative logic Deviation counter Signal high level reset Rising edge low to high Signal low level Falling signal high to low Deviation counter Deviation counter reset when reset for alarms an alarm occurs and when Ser and when servo is vomotor is OFF turned OFF Deviation counter not reset when an alarm occurs nor when Servomotor is OFF Deviation counter reset only when an alarm occurs 3 Not used 1 Electronic gear The pulse rate for the command pulses and Servo Servomotor travel dis 1 to 65535 ratio G1 numera tance tor 0 01 lt G1 G2 lt 100 Electronic gear 1 to 65535 ratio G2 denomi nator Position com Soft start setting for command pulses Soft start characteristics are for x0 01 ms 0 to 6400 mand filter
191. ot operating properly during autotuning procedures do not use online autotuning but adjust using only the gain adjustment rotary switch Refer to 4 5 2 Manual Tuning e When the load inertia fluctuates below 200 ms e When the rotation speed does not exceed 500 r min or when the output torque does not ex ceed 50 of the rated torque e When an external force is always imposed such as with a vertical axis e When the load rigidity is low or when the adhesive friction is high 4 11 Operation Chapter 4 m Online Autotuning Procedure Start Y Turn OFF the power Set the gain adjustment rotary switch Refer to the next page for setting the gain adjustment rotary switch Y Turn ON the online autotuning switch destablize the operation Adjust the gain a little at a time while checking the Servomotor operation Do not perform extreme adjustment A and setting changes as they may Y Turn ON the power Y Run the operation with a normal operating pattern and load Y Operating properly N Y If an error occurs reset the gain adjustment rotary switch and perform the operation again Y Operating properly Y past If no errors occur turn OFF the online autotuning switch See note 1 and note 2 Y Stop operation End Note 1 When the online autotuning switch is turned OFF the tuning results will be stored
192. otor Cable section rewritten Pages 3 12 and 3 13 Parts of diagrams including L1 L2 L3 L1C and L2C cor rected Page 3 17 Callout added to bottom diagram Page 3 19 Bulleted paragraph added Page 3 20 Bottom table replaced Page 3 30 Sentence starting for 200 VAC systems deleted Page 4 24 Bulleted paragraph added at bottom of page Page 4 27 Sentence starting first stop the Servomotor deleted Page 5 15 Text beneath diagram changed Pages 6 2 to 6 15 Information on Servomotor cables changed in diagram June 2008 Page 2 52 Changed diameter in top table Page 2 114 Changed right side of figure Page 5 15 Changed text under graph R 1
193. ow level 1 to 32767 Unit x256 com Default Restart mand units e Set the deviation counter overload alarm detection level during position control e The servo alarm is turned ON when the deviation counter residual pulse setting is exceeded e Set the deviation counter overflow level to the number of command units 2 to 3 revolutions appro priate for the system and operating pattern 4 24 Operation Chapter 4 Pn600 Regeneration resistor capacity Settings 0 to max for Unit Default Restart elf using an External Regeneration Resistor or External Regeneration Resistance Unit set the regeneration absorption capacity Set the regeneration absorption capacity for when the tempera ture rises above 120 C not the nominal capacity Refer to 3 3 3 Regenerative Energy Absorption by External Regeneration Resistance for details e UnOOA regeneration load monitor calculations and detection of A 92 regeneration overload warn ing and A 32 regeneration overload alarm are based on Pn600 Note If an External Regeneration Resistor or External Regeneration Resistance Unit is not con nected set Pn600 to O 4 25 Operation Chapter 4 4 7 Operating Functions 4 7 1 Position Control m Functions e Perform position control using the pulse train input from CN1 1 2 for CW and CN1 3 4 for CCW e The Servomotor rotates using the value of the pulse train input multiplied by the electronic gear ratio Pn202 Pn20
194. peration Warning Labels Warning labels are pasted on the product as shown in the following illustration Be sure to follow the instructions given there Warning label Example from R7D AP01L fE BR BRPSLURRA7A SMT BMT BBORHS WARNING Disconnect all power and wait 5 min before servicing May cause electric shock E ARPES MSE ORNS Do not touch heatsink when power is ON CAUTION May cause burn DEP ABM LS I Use proper grounding techniques Example from R7D AP01L Read and Understand this Manual Please read and understand this manual before using the product Please consult your 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 INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY
195. place the Servo Driver Locked mechanically Repair the Servomotor shaft if it is locked Troubleshooting Display Deviation counter over flow Status when error occurs Servomotor will not rotate even when command pulses are input Cause of error Servomotor power or encoder line is wired incor rectly Chapter 5 Countermeasures Rewire correctly Locked mechanically Repair if the Servomotor shaft is locked Control panel error Replace the Servo Driver Occurs when rotating at high speed Servomotor power or encoder line is miswired Rewire correctly Occurs when long command pulses are sent Gain adjustment is insuffi cient Adjust the gain Acceleration and decelera tion is too violent Lengthen acceleration and deceleration time Use position command filter Pn207 0 Pn204 and Pn208 Load is too large Lighten the load Reselect the Servomotor Pn505 deviation counter overflow level setting is too large Reset the parameter correctly Resolution setting switch switches 4 and 5 setting is too low Reset the switches correctly Pn202 and Pn203 elec tronic gear ratio setting is too large Reset the parameters correctly Parameter Unit transmis sion error 1 Occurs when power supply is turned ON Faulty Connector contact Plug the Connector in securely Internal element malfunc tion
196. pter 2 m Position Control Unit Cables XW2Z J A4 These Position Control Unit Cables connect a C200H NC112 Position Control Unit and an XW2B 20J6 1B Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A1 50 cm 8 0 dia XW2Z 100J A1 1m Approx 0 1 kg Approx 0 1 kg e Connection Configuration and External Dimensions Position Control Unit S 3 00 ervo Relay Unit C200H NC112 ___ ds El e Wiring Position Control Unit No Servo Relay Unit Cable AWG28 x 4P AWG28 x15C 2 78 Standard Models and Specifications Chapter 2 m Position Control Unit Cable XW2Z J A5 These Position Control Unit Cables connect a C200H NC211 C500 NC113 or C500 NC211 Posi tion Control Unit and an XW2B 40J6 2B Servo Relay Unit e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A5 50 cm 10 0 XW2Z 100J A5 1m dia Approx 0 1 kg Approx 0 2 kg Position Control Unit C200H NC211 C500 NC113 C500 NC211 Servo Relay Unit XVV2B 40J6 2B 2 79 Standard Models and Specifications Chapter 2 e Wiring Position Control Unit Servo Relay Unit N 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 34 33 Ll Cable AWG28 x 6P
197. r vomotor shaft and the mechanical system or there are load torque fluctuations according to how the pulley gears are engaging Check the machinery Try operating the Servomotor with out a load Adjust the machinery Gain is wrong Use autotuning Adjust the gain manually 5 13 Troubleshooting Symptom Probable cause Items to check Chapter 5 Countermeasures Servomotor is overheating The ambient temperature is too high Check to be sure that the ambient temperature around the Servomo tor is no higher than 40 C Lower the ambient temper ature to 40 C or less Use a cooler or fan Servomotor installation area temperature is too high Check to be sure that the Servo motor installation area tempera ture is no higher than 40 C Lower the Servomotor installation area tempera ture Ventilation is obstructed Check to see whether anything is blocking ventilation Ensure adequate ventila tion There is an overload Check the torque command value by means of monitor mode Un002 Lighten the load Change to a larger capacity Servomotor and Servo Driver The correspondence betvveen the Servo Driver and the Servomotor is incorrect Check the models Combine models that corre spond correctly There are unusual noises The machinery is vibrat ing Inspect the machinery to see whether there are any foreign objects i
198. r supply Single phase 200 230 V AC 50 60 Hz Single phase 100 115 V AC 50 60 Hz CJ1W NC133 233 433 Contents 5 V power supply for pulse output 5 V ground for pulse output CW output X axis CW output pulse CCW output output CCW output X axis dev cntr reset output X axis origin input 24 V X axis origin common X axis positioning completed input 24 V power supply for output 0 V power supply for output Input common X axis external interrupt input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emerg stop input Note Note Note Note Note Note ou FF WON a NFB OFF ON SR REO P 2e 1 o o Main circuit contact 2 O 00 O suP Surge killer E xi MC X1 i o 2 eL Servo error display 2 TOD Class D ground _ g Class 3 ground R7D APL 100 Q or less R88A CPULIS ___ 5vpc i 7 o J XX DC reactor Servomotor cable ECRST e Integrated ECRST e Separate R7M ALI povver and ZCOM encoder z dio uU RR OO eren E BO 24VIN 24VDC pa CORRO 47 So H 3500 0 RUN O O O RESET J p7
199. r the deviation counter will be reset when the servo goes OFF and when an alarm occurs e If the deviation counter is not reset setting 1 or 2 the Servomotor will rotate only to the number of deviation counter residual pulses the next time the servo is turned ON Be careful because the servo begins to operate as soon as the power is turned ON Electronic gear ratio G1 ea Settings 1 to 65535 Unit Default Restart Electronic gear ratio G2 denominator Settings 1 to 65535 Unit Restart e Sets the command pulses and Servomotor travel distance pulse rate e When G1 G2 1 if an encoder resolution x 4 pulse is input the Servomotor will rotate once the internal Servo Driver will operate at x4 e Set within the range 0 01 lt G1 G2 lt 100 Note 1 Refer to 4 7 4 Electronic Gear Function for details Note 2 If function switch 6 is OFF to enable the function switch settings this parameter is ignored and the setting on function switches 4 and 5 resolution setting is used 4 22 Operation Chapter 4 Position command filter time constant 1 primary filter Settings JO to 6400 x0 01ms Default Restart e Sets the soft start for the command pulses The soft start characteristic is for a primary filter expo nentiation function Note 1 The soft start characteristics also includes linear acceleration and deceleration Set the time constant using Pn208 Select the filter you want to use using P
200. rature of 40 C and an ambient humidity of 65 5 16 Troubleshooting Chapter 5 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 C in the ambient operating temperature will reduce capacitor life by 50 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 e If 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 Please consult with OMRON to determine whether or not components need to be replaced 5 17 111 pr I mu Chapter 6 Appendix 6 1 Connection Examples Appendix 6 1 Connection Examples m Connection Example 1 Connecting to SYSMAC CS1W NC113 213 413 or C200HW NC113 213 413 Position Control Units Main circuit power supply Single phase 200 230 V AC 50 60 Hz Single phase 100 115 V AC 50 60 Hz CS1VV NC113 213 413 C200HW NC113 213 413 Contents 24 V input for output 0 V input for output CCW with a resistor NFB OFF ON RO S ee
201. rect 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 If anything abnormal occurs refer to 5 Troubleshooting and apply the appropriate counter measures Note 2 Ifthe system vibrates due to improper gain adjustment making it difficult to check operation refer to 4 5 Gain Adjustments and adjust the gain 5 Completing the Trial Operation e Performing the above procedures completes the trial operation Next adjust the gain to improve command efficiency Refer to 4 5 Gain Adjustments for details 4 10 Operation Chapter 4 4 5 Gain Adjustments The SMARTSTEP A series Servo Driver is equipped with an online autotuning function Use this function to easily adjust the gain even if using a servo system for the first time 4 5 1 Online Autotuning m What Is Online Autotuning e Online autotuning is a control function that measures the drivers load inertia during operation and attempts to maintain the target speed loop gain and position loop gain Note Autotuning is disabled in the following cases In these cases or if online autotuning does n
202. resentative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions Table of Contents Chapter 1 Introducti0N ooooooooooooooooooooooo L 1 Tln Features La A A A A A A a a 1 2 1 2 System Configuration o 1 4 1 3 Servo Driver Nomenclature 2 2 0 0 ea eee eee ete tenn ee ntnsenees 1 5 1 4 Applicable Standards coear e iaa u a e a ee eee een bere a a 1 6 1 5 System Block Diagrams enh naa seda danse e AEREA s 1 7 Chapter 2 Standard Models and Specifications 2 1 2 1 Standard Models esa a E a ii 2 2 2 2 External and Mounted Dimensions 0 00 rrur r runer eee eens 2 6 2 3 Servo Driver Specifications
203. round common for sequence outputs pins 7 and 8 Note An open collector output interface is used for pin 7 and 8 sequence outputs Maximum operating volt age 30 V DC maximum output current 50 mA 2 21 Standard Models and Specifications Chapter 2 e Interface for RS 422 Signal name Function Contents Reception data Interface for RS 422A transmission and reception Transmission data Terminating resistance terminal Connect to pin 21 RXD on the end Unit RS 422A ground Ground for RS 422A m CN1 Pin Arrangement feed pulse 1 Es reverse pulse 19 GND ead PULS edule vphesen Reception 2 CW A A direction 20 RADI data SIGN signal Reception sien 7 girection 3 cowie ee 21 RXD data Ll signal Pess Transmission 4 ed jade pulsa 22 TXD data phase deviation Transmission 5 ECRST counter reset Lomas 23 TXD data Deviation resistance 6 ECRST counter reset 24 RT terminal 7 BRIR Brake interlock 25 tput Positioning een 8 INP completed 26 output 9 27 10 OGND Output ground 28 common 11 29 12 30 13 24VIN SA DC 31 RUN command TeeV input Encoder 14 RUN input 32 Z phase Z output Phase Z 15 33 ZCOM output ground 16 34 ALM Alarm output Alarm output 17 35 ALMCOM ground 18 Alarm re
204. rupt Y axis origin proximity 24V DC See note 1 X axis X axi E Vaxi Gai I 7 424 V cw Can X axis X axis X axis cw cans Y axis Yax limit limit RUN ALM BKIR limit limit RUN ALM Com Com X axig Comj Com mon mon RES mon mon Y Com om Com Y axis NX Y axis external interrupt o wx Se D Y axis ALMCOM _ See note 1 24VDC Note 1 m XW2B 20J6 3B BON e External Dimensions CQM1 connector 3 5 135 The XB contact is used to turn ON OFF the electromagnetic brake Do not connect unused terminals The 0 V terminal is internally connected to the common terminals The following crimp terminal is applicable R1 25 3 round with open end This Servo Relay Unit connects to the following OMRON Pro grammable Controllers Communications are not supported e CQM1 CPU43 V1 e CQM1H PLB21 Pulse I O Board for CQM1H CPU51 CPU61 e CS1VV HCP22 Servo Driver connector 35 to LO 2 N LO vt Two 3 5 dia gt o Q vt vt I I o 2 60 46 Note Terminal Block pitch 7 62 mm Standard Models and Specifications Chapter 2 e Wiring mon mon
205. s enabled only if the gain adjustment rotary switch has been set to 0 4 18 Operation Chapter 4 Position loop gain Settings 1 to 2000 Default Restart e Adjust the position loop response to suit the mechanical rigidity of the system 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 increase the position loop gain you must improve mechanical rigidity and increase the specific oscillation This should be 50 to 70 1 s for ordinary machine tools 30 to 50 1 s for general use and assembly machines and 10 to 30 1 s for production robots The default position loop gain is 40 1 s so be sure to lower the setting for machines with low rigidity e Raising the position loop gain in systems with low mechanical rigidity or systems with low specific oscillation may result in machine resonance causing an overload alarm to occur e If 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 e Position loop gain is generally expressed as follows Command pulse frequency pulses s Deviation counter residual pulses pulses Position loop gain Kp 1 s When the position loop gain is manipulated the response is as shown in the following diagram When position loop gain is high Servomotor speed 4 Pd A
206. s follows e Applicable cable AWG16 max e Outer diameter of coating 2 1 mm dia max e Outer diameter of sheath 6 7 0 5 mm dia e External Dimensions R7A CNAO1R Servo Driver CN2 39 Rel O E R7A CNA02R Servomotor Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo 3M 29 5 t 12 7 43 7 Connector kit 54280 0800 Molex Japan 21 5 t 12 2 57 Standard Models and Specifications Chapter 2 2 7 Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Units and cables used for connecting to OMRON Position Control Units Select the models that match the Position Control Unit being used For details refer to 3 2 1 Connecting Cable All dimensions are in millimeters unless otherwise specified 2 7 1 Servo Relay Units m XW2B 20J6 1B This Servo Relay Unit connects to the following OMRON Position Control Units Communications are not supported e CS1W NC113 NC133 e CJ1W NC113 NC133 e C200HW NC113 e C200H NC112 e 3F88M DRT 141 e External Dimensions Position Control Unit connector Servo Driver connector 3 5 135 85 Two 3 5 dia Note Terminal Block pitch 7 62 mm 2 58 Standard Models and Specifications Chapter 2
207. se reset the alarm after confirming safety and then resume operation Not doing so may result in injury AN Caution Do not use the built 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 This section describes operating methods using the Servo Driver s front panel switches only Note For operating and adjustment methods using an R7A PRO2A Parameter Unit refer to the Parameter Unit Operation Manual Cat No 1534 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 Refer to 3 1 In 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 Switch settings Make sure that the power supply is turned OFF and set the Servo Drivers front panel switches Refer to 4 2 Switch Settings 4 Preparing for operation After checking the necessary items turn ON the Units power supply Check to see whether there are any internal errors in the Servo Driver Refer to 4 3 Preparing for Operation
208. set RESET input 36 Note Do not wire the empty pins e CN1 Connectors 36P Servo Driver receptacle 10236 52A2JL Sumitomo 3M Cable solder plug 10136 3000VE Sumitomo 3M Cable case 10336 52A0 008 Sumitomo 3M 2 22 Standard Models and Specifications Chapter 2 m Control Input Circuits e Position Command Pulse Inputs and Deviation Counter Reset Inputs Line Driver Input Controller Servo Driver Input current 7 mA 3 V Applicable line driver AM26LS31A or equivalent Open Collector Input Using External Power Supply Controller Servo Driver Input current 7 to 15 mA Note Select a value for resistance R so that the input current will be from 7 to 15 mA 1 6 to 2 4 KQ 750 to 1 1 kQ None e Sequence Inputs Servo Driver 24VIN 113 External power supply 24V 1VDC Power supply capacity i i 14 50 mA min per Unit oo ANY Minimum ON time 2 ms Y To other input circuit GNDs To other input circuits Signal Levels ON level Minimum 24VIN 11 V OFF level Maximum 24VIN 1 V 2 23 Standard Models and Specifications Chapter 2 m Control Output Circuits e Sequence and Alarm Outputs Servo Driver To other output circuits is X cS _ External power supply Maximum operating voltage 30 V DC Di 24VDC L1V Maximum output current 50 mA See note I Di Diode for preventing surge voltage Use speed
209. 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 The 30 cm power cable encoder cable and connector do not have to be inserted in metal ducts or con duits e Ferrite cores must be attached to the shielded cable and the shield must be clamped directly to the ground plate to ground it 3 26 System Design and Installation Chapter 3 m Wiring Method e Single phase Power Supply Input Control panel Installation incorporating Servo Motor filter power supply s it Metal urge m duct or i Ferrite Ferrite absorber Contactor core conduit core i Noise filter NS i Ferrite Ferrite ground i core N core Class 3 ground U less 100 Qor Clamp V Ferrite core y T Ground Controller Clamp plate power supply Ferrite core Controller Note 1 The cable wiring for the ferrite core must be 1 5 turns Note 2
210. sion Page numbers refer to the previous version Revision code November 2001 Revised content Original production July 2005 Following changes made to front matter General precautionary notes added to the first page Items to Check Before Unpacking Moved to the first page Notice Information on general precautions notation added Read and Understand this Manual Information on liability and warranty added Page 3 40 Wattage values corrected in note changed 70 W to 30 W 200 W to 75 VV and 300 W to 100 VV October 2007 Pages 1 7 and 1 8 Diagrams changed Page 2 4 Following models added XW2B 20J6 8A XW2B 40J6 9A XW2B 80J7 1A XW2Z 100J B10 XW2Z 200J B10 XW2Z 100J B12 XW2Z 200J B12 XW2Z 100J A26 XW2Z 050J A28 XVV2Z 100J A28 XW2Z 050J A29 XW2Z 100J A29 XW2Z 050J A30 XW2Z 100J A30 XW2Z 050J A32 XW2Z 100J A32 and Separate Servomotor Cables Pages 2 12 to 2 15 Diagrams corrected including adding set bolt diagrams dimensions corrected and set bolt AT dimensions added Pages 2 31 and 2 34 Applicable load inertia row deleted Pages 2 38 to 2 41 Reduction gear inertias corrected Page 2 45 First paragraph replaced and expanded Following heading changed Page 2 47 Section added Page 2 56 2 58 and 2 81 Sections added Page 3 6 CJ1M CPU21 22 23 and FQM1 MMP21 22 added and motor cable part of diagram changed Pages 3 9 and 3 10 Models added to ends of table Page 3 11 Servom
211. sistance can be improved by adding 1 uF lami nated ceramic capacitors between the control power supply and ground at the Servo Driver input section or the controller output section e For open collector specifications keep the length of wires to within two meters 3 36 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 overvoltage 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 N1 Servomotor operation N2 Servomotor 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 Eg and Ego are derived from the following equations Ene L Er e Nie Toieti J 0 0524eNieToreti J Eo de r e N20 Toze tz J 0 0524e N2e Toze tz J N1 Nz Rotation spe
212. sup Power supply lines are Check whether the control circuit Correct the power supply ply indicator incorrectly wired power supply input and main cir POWER does cuit power supply input are within not light even when the power supply is turned ON the power supply voltage ranges Check whether the control circuit power supply input and main cir cuit power supply input are wired correctly Rewire correctly 5 12 Troubleshooting Chapter 5 Symptom Probable cause Items to check Countermeasures The Servomotor does not oper ate even when a command is given The RUN signal is OFF Check the RUN signal s ON and OFF operation Input the RUN signal Correct the wiring The deviation counter reset input ECRST is ON Check the ON OFF status of the ECRST signal Turn OFF the ECRST sig nal Correct the wiring Pn200 1 deviation counter reset setting is incorrect Reset Pn200 1 to match the Controller An error occurred with the RESET alarm reset signal ON Check the ON OFF status of the RESET signal Turn the RESET signal OFF and take measures accord ing to the alarm display Function switch settings are incorrect Check function switch 6 switch parameter setting If using function switch 3 command pulse input set ting turn OFF switch 6 If using parameter Pn200 0 turn ON switch 6 Function switch 3 com man
213. tallation environment and application conditions of the Servomotor or Servo Driver Recommended maintenance times are listed below for Servomo tors and Servo Drivers Use these for reference in determining actual maintenance schedules m Servomotors e Recommended Periodic Maintenance Bearings 20 000 hours Reduction gear 20 000 hours Oil seal 5 000 hours Application Conditions Ambient Servomotor operating temperature of 40 C within allowable shaft load rated operation rated torque and r min installed as described in operation 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 exceeded 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 e When requesting repairs or investigations separate them into Servomotors and reduction gears and make separate requests for each product Servo Drivers e Recommended Periodic Maintenance Aluminum analytical capacitors 50 000 hours at an ambient Servo Driver operating temperature of 40 C 80 output of the rated operation rated torque installed as described in operation man ual Axle fan 30 000 hours at an ambient Servo Driver operating tempe
214. terminal Round Y type 2 99 Standard Models and Specifications Chapter 2 m CJ1M CPU Unit Cables XW2Z 100J A26 These CJ1M CPU Unit Cables connect a CJ1M Unit vvith built in pulse I O CJ1M CPU21 CPU22 CPU23 and a Servo Relay Unit XVV2B 20J6 8A and XVV2B 40J6 9A e Cable Models Model tength i Outer diameter of sheath Weight XW2Z 100J A26 10 0 dia Approx 0 1 kg e Connection Configuration and External Dimensions Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A CJ1M CPU Unit CJ1M CPU21 CJ1M CPU22 B CJ1M CPU23 2 100 Standard Models and Specifications Chapter 2 e Wiring ae Unit Servo Relay Unit No DO DO IO TI ID IPO PO ININ IN J Ja a fa a ar aa EN ee EG E gt A A a AAA ji E ee OOOO KE E EEN EE gt gt O XX i qLh eo A AAA OOOO A o AA 30 z FG Cable AWG28 x 6P AWG28 x17C 2 101 Standard Models and Specifications Chapter 2 m Customizable Counter Unit Cables for Special I O These Customizable Counter Unit Cables connect a Customizable Counter Unit CS1W HCP22 V1 and a Servo Relay Unit XW2B 80J7 1A e Cable Models Length L Outer diameter of sheath Weight XW2Z 050J A32 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A32 1m Approx 0 2 kg e Connection Configuration and External Dimensions Servo Relay Unit D XW2B 80J7 1A Customizabl
215. ternal Dimensions Power Cables for Servomotors without Brakes 50 27 4 Servo Driver l i if 1 a P t 15 7 Power Cables for Servomotors with Brakes i 50 L 27 4 Servo Driver 7 i Servomotor Servomotor e Wiring Power Cables for Servomotors without Brakes Servomotor Cable side ae a No Symbol Connector cap 350780 1 Tyco Electronics AMP uiie 1 U phase Connector socket 350689 3 Tyco Electronics AMP lie E ae Servomotor side Green Yellow Connector plug 350779 1 Tyco Electronics AMP Cable AWG20 x 4C UL2464 Contact pin M4 crimp terminal 350690 3 Pin No 1 to 3 Tyco Electronics AMP 770210 1 Pin No 4 Tyco Electronics AMP 2 50 Standard Models and Specifications Chapter 2 Power Cables for Servomotors with Brakes Servomotor Cable side Connector cap 350781 1 Tyco Electronics AMP U phase Connector socket 350689 3 Tyco Electronics AMP V phase Servomotor side Connector plug 350715 1 Tyco Electronics AMP Contact pin 350690 3 Pin No 1 to 3 5 and 6 Tyco Electronics AMP 770210 1 Pin No 4 Tyco Electronics AMP S Dri ervo Driver Symbol Cable AWG20 x 6C UL2464 M4 crimp terminal m Specifications of Robot Power Cables R88A CAWA 1 JR Use one of the following Robot Power Cables if the cable will be used in an environment that requires cable flexibility or if it will be used with moving p
216. the model numbers are for cable length The Position Control Unit cable length can be 0 5 or 1 meter long For example XW2Z 050J A9 is 0 5 meters long The Servo Driver cable length can be 1 or 2 meters long For example XW2Z 100J B7 is 1 meter long Note 2 When 2 axis control is used with one Position Control Unit two cables are required to the Servo Driver Note 3 When using the communications an XW2Z J C1 communications cable is required to connect the Servo Relay Unit s communications port and the Programmable Controller Se rial Communications Unit or Board The communications cable length can be 1 or 2 meters long For example XW2Z 100J C1 is 1 meter long 2 Connector Terminal Block and Cables These cables are used for connecting to Controllers for which no special cable is provided The cables and terminal block convert the Servo Driver s Control I O Connector CN1 signals to terminal block connections Connector Terminal Block Cable oma e XW2B 40F5 P R88A CTU The empty boxes in the model numbers are for cable length The cables can be 1 or 2 meters long For example R88A CTUOO2N is 2 meters long 3 10 System Design and Installation Chapter 3 3 General Control Cables and Control I O Connector These cables and connector are used for connecting to Controllers for which no special cable is pro vided and when the cable for the Servo Driver s
217. to OUT7 are used for the Servo control power supply Note 3 INO to IN3 are used for the latch input power supply 3 Signal Selectors TER A TERB TERZ Xaxis 85688 SERA SER_B SER Z Yaxis voL CNT1 CNT1 CNT1 DA2 Selector Setting description CNT1 SER A E Not used Connects phase A of an external encoder to the CNT1 phase A of the controller CNT1 SER_B a Not used Connects phase A of an external encoder to the CNT1 phase B of the controller CNT1 SER_Z ha Connects phase Z of Servo Driver 1 to the CNT1 phase Z of the control ler Outputs the phase Z output of Servo Driver 1 from the terminals Not used Always set to the Y axis Not used 4 Terminating Resistance Selector Set this selector to ON if there is no wiring from port 2 of the Servo Relay Unit to port 1 of another Servo Relay Unit when the Servo Relay Unit is positioned at the end of an RS 422 line TERM ON z OFF SW6 2 68 Standard Models and Specifications Chapter 2 5 Servo Phase B Selectors Not Used Leave these selectors set to INC mode Servo 2 phase B Servo 1 phase B selector servo2 selector servo1 A A INC INC SW7 SW8 m Wiring to Screwless Clamp Terminal Blocks Screwless clamp terminal blocks enable wiring without securing the wires with screws Special fer rules must be attached to the cables for sensors or external devices if sensors or external devices are also to be conn
218. tor or resistor CRE 50500 0 5 uF 50 Q S2 A 0 0 2 UF 500 Q Note Thyristors and varistors are made by the follovving companies Refer to manufacturers docu mentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Industrial Co e Contactors When selecting contactors take into consideration the circuit s inrush current and the maximum momentary current The Servo Driver inrush current is covered in the preceding explanation of no fuse breaker selection and the maximum momentary current is approximately twice the rated cur rent The following table shows the recommended contactors Rated current Coil voltage LC1 D093A60 200 V AC LC1D25106 LC1D40116 LC1D50116 LC1 D093A60 LP1D25106 LP1D40116 LP1D50116 e Leakage Breakers Select leakage breakers designed for inverters Since switching takes place inside the Servo Drivers harmonic current leaks from the armature of the motor With inverter leakage breakers harmonic current is not detected preventing the breaker from operating due to leakage current When selecting leakage breakers remember to also add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on For details on leakage breakers refer to the manufacturer s catalog 3 34 System Design and Installation Chapter 3 T
219. torque values for the reduction gears Do not exceed these values 2 40 Standard Models and Specifications Chapter 2 Reduction Gears for Flat style Servomotors e Backlash 3 Max R7G VRSFPB05B100P Rated rotation speed Maximum momentary rotation speed Maximum momentary torque Reduction gear inertia Allowable radial torque Allowable thrust torque r min r min N m kg m 1 60 x 10 N N R7G VRSFPB09B100P 1 37 x 10 R7G VRSFPB15B100P 3 38 x 10 R7G VRSFPB25C100P 3 68 x 108 R7G VRSFPBO5B200P 1 53 x 10 R7G VRSFPBO9C400P 2 56 x 105 R7G VRSFPB15C400P 2 71x 10 R7G VRSFPB25C200P 2 67 x 105 R7G VRSFPB05C400P 3 23 x 10 R7G VRSFPBO9C400P 2 56 x 105 R7G VRSFPB15C400P 2 71x 10 R7G VRSFPB25D400P 2 79 x 105 R7G VRSFPB05C750P 7 17 x 107 R7G VRSFPB09D750P 6 50 x 105 R7G VRSFPB15D750P 6 86 x 105 R7G VRSFPB25E750P 7 05 x 10 1 The reduction gear inertia indicates the Servomotor shaft conversion value 2 The enclosure rating for Servomotors with reduction gears is IP44 3 The allowable radial torque is the value for the center of the shaft 2 41 Standard Models and Specifications Chapter 2 e Backlash 45 Max Rated Rated torque Maximum Maximum Reduction rotation momentary momentary gear inertia speed rotation speed torque
220. tring SYSMAC CJ CS C CV Position Control Units Programmable Controller CJ1W NC113 213 413 CJ1W NC133 233 433 CS1W NC113 213 413 CS1W NC133 233 433 R7A PRO2A Parameter Parameter Unit C200HW NC113 213 413 Hand held C500 NC113 211 SYSMAC Programmable Controllers with pulse outputs SMARTSTEP A series R7D APU Servo Driver SMARTSTEP A series R7M ALI Servomotor 3F88M DRT141 Single shaft Positioner for DeviceNet 1 4 Introduction Chapter 1 1 3 Servo Driver Nomenclature Main circuit power supply indicator Main circuit power______ supply input terminals DC reactor connection terminals gt A04 ALARM CODE PRMTR SET ERR A10 OVER CURRENT A30 REGEN ERR A32 REGEN OL A40 OVER VOLTAGE A51 OVER SPEED AJO OVER LOAD ATS DE OVER LOAD ATA INRUSH OL ATA OVER HEAT ADE SYSTEM ERR ACI RUNAWAY ACZ PHASE ERR AC3 ENCDR DISCONN Ado COUNTER OVER AST OL WARNING A32 REGEN OL WARN CHARGE Control circuit power supply gt input terminals External regeneration gt resistance terminals Servomotor power terminals gt servomotor power L2 1 2 UNIT No aN RS 422 485 MONITOR 4 1001 END
221. unction switch 6 is OFF to enable the function switch settings this parameter is ignored and the setting on function switches 4 and 5 resolution setting is used 4 29 Operation Chapter 4 Parameters Requiring Settings Parameter No Parameter name Explanation Electronic gear ratio Set the pulse rate for the command pulse and Servomotor travel dis G1 numerator tance When G1 G2 1 if the pulse encoder resolution x 4 is Electronic gear ratio input the Servomotor will rotate once i e the internal driver will G2 denominator rotate x 4 See note 1 Note 1 Set within the range 0 01 lt G1 G2 lt 100 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 G1 G2 4 the Servomotor will rotate once when 2 000 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 When set to G1 G2 8 000 1 000 operation is the same as for a 1 000 pulses rotation Servomotor Servomotor Servo Driver Encoder resolution 2 000 pulses rotation Electronic 1 000 pulses gear 8 000 pulses T LT Lees e M NN 8000 1000 1 rotation 2 000 pulses 4 30 Operation Chapter 4 4 7 5 Position Command Filter Function
222. used for pulse command and deviation counter reset out puts e Always use twisted pair shielded cable for pulse command and deviation counter reset signal lines and connect both ends of the shield to frame grounds e If the control power supply wiring is long noise resistance can be improved by adding 1 uF lami nated ceramic capacitors between the control power supply and ground at the Servo Driver input section or the controller output section e For open collector specifications keep the length of wires to within two meters 3 2 5 Conforming to EMC Directives Conformance to EMC Directives EN55011 class A group 1 EMI and EN61000 6 2 EMS can be ensured by wiring under the conditions described below These conditions are for conformance of SMARTSTEP A series products to EMC Directives EMC related performance of these products however will vary depending on the configuration wiring and other conditions of the equipment in which the products are installed The customer must therefore perform final checks to confirm that devices and the overall installation conform to EMC Directives The following conditions must be met to conform to EMC Directives e The Servo Driver must be installed in a metal case control panel The Servo Motor does not however have to be covered with a metal plate e Noise filters and surge absorbers must be installed on all power supply lines e Shielded cables must be used for all I O
223. ward pulse Maximum input fre quency 250 kpps Reverse pulses Forward rotation command Reverse rotation command Forward pulses 90 phase difference signals Maximum input fre a quency Phase A pulses x1 Line driver 250 kpps Line driver 250 kpps Phase B pulses x4 Line driver 187 5 kpps Forward rotation command Reverse rotation command 2 27 Standard Models and Specifications Chapter 2 e Deviation Counter Reset 5 ECRST Deviation Counter Reset 6 ECRST The content of the deviation counter will be reset when the deviation counter reset signal turns ON and the position loop will be disabled Input the reset signal for 20 us minimum The counter will not be reset if the signal is too short e RUN Command Input 14 RUN This is the input that turns ON the power drive circuit for the main circuit of the Servo Driver If this signal is not input i e servo OFF status the Servomotor cannot operate except for JOG opera tions e Alarm Reset 18 RESET This is the external reset signal input for the alarm Remove the cause of the alarm and then restart operation Turn OFF the RUN command before inputting the reset signal It can be dangerous to input the reset signal while the RUN command is ON m Control Output Details e Control Output Sequence Power supply input ON L1C LC2 L1 L2 L3 OFF Approx 2 s o 300ms Alarm output ON ALM OFF Positioning complete
224. with constant operation pos sible at this speed Faster output torque of up to 1 s can output up to approximately 300 of the rated torque providing even faster middle and long stroke positioning Constant Accuracy The A series product line s higher encoder resolution of 2 000 pulses rotation provides feedback control enabling continuous operation without loss of positioning accuracy even with sudden load changes or sudden acceleration or deceleration m Minimal Setting with Servo Driver Front Panel Switches The SMARTSTEP A Series can be operated immediately without time consuming parameter setting The A series Servo Drivers front panel switches enable easier alteration of function or positioning resolution settings e Resolution Settings SMARTSTEP A series Servomotor resolution can be selected from the following four levels 500 pulses rotation 0 72 step 1 000 pulses rotation 0 36 step default setting 5 000 pulses rotation 0 072 step or 10 000 pulses rotation 0 036 step e Command Pulse Input Setting SMARTSTEP A series command pulse input setting can be switched between CW CCW 2 pulse and SIGN PULS single pulse methods to easily adapt to Position Controller output specifica tions e Dynamic Brake Setting SMARTSTEP A series Servomotors can be forcibly decelerated to a stop at RUN OFF or when an alarm occurs e Gain Setting A special rotary switch on SMARSTEP A series Servo Drivers enables eas
225. xample R7A CRA003C for a 3 m cable Robot Cable for Servomotors R7A CRA CR Insert the cable length in the of the with or without brakes both model number There are four cable lengths 3 Cylinder style and Flat style m 5m 15 m and 20 m Model number exam ple R7A CRA003CR for a 3 m cable Use a Robot Cable if cable flexibility is required 5 Computer Monitor Cable A Computer Monitor Cable and the Computer Monitor Software for Servo Drivers run on Windows are required to make Servo Driver parameter settings and perform monitoring from a personal com puter Name specifications Modd Computer Monitor For DOS personal 2 m R7A CCA002P2 Only 2 meter cables are available Cable computers NEC PC98 note J2m R7A CCA002P3 Only 2 meter cables are available book computer 6 Analog Monitor Cable This is the cable for connecting to the Servo Drivers analog monitor connector CN4 It is required for connecting analog monitor outputs to an external device Such as a measuring instrument Namerapecifications Model Rama Analog Monitor Cable R88A CMW001S Only 1 meter cables are available 3 12 System Design and Installation Chapter 3 3 2 2 Peripheral Device Connection Examples m Single phase Input R7D APA3L R7D APA5L R7D AP01L R7D AP02L R7D AP04L R7D APA3H R7D APA5H R7D AP01H R7D AP02H R7D AP04H and R7D AP08H Single phase 100 115 V AC 50 60 Hz R7D APLILIL Single phase 200 230 V
226. y absorption at output 120 C R88D RR22047S 147 Q 5 Operating tem External Regen perature 170 C eration Resistor NC contact Note The following external regeneration resistors are recommended products from another manu facturer Iwaki Musen Kenkyujo For details refer to the manufacturer s documentation RH120N50QJ 50Q 5 30 VV Amount of regeneration at 120 C RH300N500J 50 9 5 75 VV Amount of regeneration at 120 C RH500N50QJ 50 Q 59o 100 W Amount of regeneration at 120 C e Combining External Regeneration Resistors 70W 47 Q 280W 47 Q 630W 47 Q R R R 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 m Servo Driver Minimum Connection Resistance and External Regeneration Resistor Combinations Servo Driver Minimum Connection External Regeneration Resistor Combinations Resistance Q R7D APO4L R7D AP04H R7D AP08H 3 41 System Design and Installation Chapter 3 m Wiring External Regeneration Resistance e R7D APO4L and R7D AP04H Connect an External Regeneration Resistor between the B1 and B2 terminals External Regeneration Resistor
227. y gain setting Online autotuning can also be activated with the flick of a switch and responsiveness can be easily matched to the machinery to be used Introduction Chapter 1 Note Using a Parameter Unit or personal computer enables operation with parameter settings m Cylinder style and Flat style Servomotors The SMARTSTEP A Series offers Flanged Cylinder style Servomotors with a smaller mounting area and Flat style Servomotors with a shorter overall length The Flat Servomotor depth dimen sions are approximately the same as those of stepping motors of the same output capacity Servo motors can be selected by size thereby making equipment more compact m A Wider Selection of Programming Devices Special SMARTSTEP A series Parameter Units and personal computer monitoring software are available The special monitoring software enables performing parameter setting speed and current monitoring speed and current waveform displays I O monitoring autotuning jogging and other operations from a computer It is also possible to perform multiple axis communications that set the parameters and monitor operations for multiple Servo Drivers For details refer to the Servo Driver Personal Computer Monitor Software CD ROM for Windows 95 98 Version 2 0 WMON Win Ver 2 0 Catalog No SBCE 011 Introduction Chapter 1 1 2 System Configuration SYSMAC Position Control Unit with pulse string output p Pulse S

Omron SmartStep Servo Drive User Manual

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