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1. o oD Rectangular hole o 42 Rectangular hole dimensions are reference values OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 22 SUOISUDWIG JEuJ9 X3 pue sjepolNy Models and External Dimensions 2 4 External and Mounting Dimensions Single phase 3 phase 100 VAC R88D KNO2L ECT R 200 W Single phase 3 phase 200 VAC R88D KNO4H ECT R 400 W Wall Mounting External dimensions Mounting dimensions 5 2 O O Y le 4 if Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions Rectangular hole 170 158 d 57 l 7 Rectangular hole dimensions are reference values 2 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions Single phase 3 phase 100 VAC R88D KNO4L ECT R 400 W Single phase 3 phase 200 VAC R88D KNO8H ECT R 750 W Wall Mounting External dimensions Mounting dimensions 65 70 172 i EEF 150 140 ne IT G j DO LIO h OO pm y T Fr
2. 1 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Features and System Configuration 1 1 Outline 1 4 Outline Outline of the OMNUC G5 Series The OMNUC G5 series Servo Drives with Built in EtherCAT Communications support 100 Mbps EtherCAT When you use the Servo Drive with a Position Control Unit with EtherCAT interface CJ1W NCI J8l you can create a sophisticated positioning control system Also you need only one communications cable to connect the Servo Drive and the Controller Therefore you can realize a position control system easily with reduced wiring effort With real time autotuning adaptive filter notch filter and damping control you can set up a system that provides stable operation by suppressing vibration in low rigidity machines Features of OMNUC G5 series Servo Drives OMNUC G65 series Servo Drives have the following features i Data Transmission Using EtherCAT Communications When you use it with a Position Control Unit with EtherCAT interface CJ1W NCI 18l you can exchange all control data between the Servo Drive and the Controller through high speed data communications Since the various control commands are transmitted via data communications Servomotor s operational performance is maximized without being limited by interface specifications such as the response frequency of the encoder feedback pulses
3. 12 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Troubleshooting and Maintenance 12 1 Troubleshooting 12 1 Troubleshooting Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical software required to determine the cause of a problem if one occurs Checking the Power Supply Voltage Check the voltage at the power supply input terminals Main Circuit Power Supply Input Terminals L1 L2 L3 R88D KNLJL ECT R 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz R88D KNL_JH ECT R 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz R88D KNL JH ECT R 750 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 kW to 5 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KNL F ECT R 750 W to 5 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz Control Circuit Power Supply Input Terminals L1C L2C R88D KNI IL ECT R 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz R88D KNLI IH ECT R 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 kW to 5 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KNLIF ECT R 750 W to 5 kW 24 VDC 21 6 to 26 4 V If the voltage is out of range there is a risk of operation failure Be sure that the power supply is within the specified range Check the voltage of the seq
4. 3 21 brake power supply eese 4 31 C CAN application protocol over EtherCAT 5 3 clamp COl th RE 4 31 communication objects eeseeseeeeeess 6 21 Backup parameter mode 10F0 hex 6 26 Device type 1000 hex sees 6 21 Diagnosis history 10F3 hex 6 26 Error register 1001 hex esee 6 22 Identity object 1018 hex 6 25 Manufacturer device name 1008 hex 6 22 Manufacturer hardware version 1009 hex 6 22 Manufacturer software version 100A hex 6 23 Restore default parameters 1011 hex 6 24 Store parameters 1010 hex 6 23 Connector terminal Block uusuess 2 19 Connector terminal Block Cables 2 19 Connector Terminal Block Conversion Unit 3 76 connectors Inodel TS Us s ie doeet Ev eoe ER roO EUER ME OUR ER DUE PES EE 2 19 COMI COS dtc notice a tuoi ied cxt poU 4 34 control cables Inodeb SE i aaro ure tints xci ds Dn loko adt ae 2 19 control circuit connector specifications CNC 4 15 control circuit connector specifications CND 3 10 control I O connector specifications 3 67 control I O signal connections and external signal processing
5. eeseeuuueeueses 11 29 fed PDO MAPPING esiin vee ue SE DEDE numb DE edam 5 6 forward drive prohibition function 7 6 Forward Drive Prohibition Input POT 3 18 Forward External Torque Limit Input PCL 3 19 friction torque compensation function 11 26 fullysclosed GControl ws esse wi sites i ne dien rane repens 6 12 supported external encoders 6 14 fully closed mode adjustment 11 14 G dain adiBStTlellE 25 3 22 5 dita er OS ite T 11 4 gain settings Gain Switching Delay Time in Position Control ONG OK Pvt MM Vr Mc UNE NR OR 9 12 Gain Switching Hysteresis in Position Control S115 9X ecscstioasas euet iesus aa MED EE 9 13 Gain Switching Input Operating Mode Selection STT4 NOX coii Suec c bec oves ess roa rad ao Qe scores EONA 9 10 Gain Switching Level in Position Control EINE ERE 9 13 Position Gain Switching Time 3119 hex 9 13 Position Loop Gain 1 3100 hex 9 6 Position Loop Gain 2 3105 hex 9 8 Speed Feed forward Command Filter 3111 hex 9 10 Speed Feed forward Gain 3110 hex 9 9 Speed Feedback Filter Time Constant 1 3103 hex 9 8 Speed Feedback Filter Time Constant 2 3108 hex 9 9 Speed Loop Gain 1 3101 hex 9 7 Speed Loop Gain 2 3106 hex
6. 6 42 Modes of operation display 6061 hex 6 42 Motor type 6402 hex Leeeeeeeeeesse 6 51 Negative torque limit value GOE1 hex 6 48 Position actual internal value 6063 hex 6 42 Position actual value 6064 hex 6 42 Position demand value 6062 hex 6 42 Position offset 60BO hex 6 45 Positive torque limit value GOEO hex 6 48 Shutdown option code 605B hex 6 39 Software position limit 607D hex 6 44 Statusword 6041 hex seeseeseeess 6 37 Supported drive modes 6502 hex 6 52 Target position 607A hex s 6 43 Torque actual value 6077 hex 6 43 Torque demand 6074 hex 6 43 Torque offset 60B2 hex esee 6 46 Touch probe function 60B8 hex 6 46 Touch probe pos1 pos value 60BA hex 6 47 Touch probe pos2 pos value 60BC hex 6 47 Touch probe status 60B9 hex 6 47 Velocity actual value 606C hex 6 43 Velocity offset 60B1 hex 6 45 Servo Ready Completed Output READY 3 21 Servomotor characteristics 1 000 r min Servomotors
7. 9 9 Speed Loop Integral Time Constant 1 3102 hex 9 8 Speed Loop Integral Time Constant 2 3107 hex 9 9 Switching Mode in Position Control 3115 hex 9 11 Torque Command Filter Time Constant 1 3104 DEX e ees 9 8 Torque Command Filter Time Constant 2 3109 OX 3 secte sede cen EEY E caa E Dra Od Ede ea 9 9 Torque Feed forward Amount 3112 hex 9 10 Torque Feed forward Command Filter 3113 hex 9 10 gain switching 3 function sseuuuuesuusse 7 30 gain switching function Lseeueueeuueeusss 1 23 general purpose inputs ceeseeeeeeeeeees 3 17 General purpose Outputs OUTM1 and OUTM2 3 21 H harmonic current measures eeeseeeeees 4 36 hybrid vibration suppression function 11 28 immediate stop operation at errors 12 11 improving control I O signal noise resistance 4 36 incremental encoder Specifications ooir i a A 3 56 instantaneous speed observer function 11 32 interface monitor settings Analog Monitor 1 Scale Setting 3417 hex 9 26 Analog Monitor 1 Selection 3416 hex 9 26 Analog Monitor 2 Scale Setting 3419 hex 9 27 Analog Monitor 2 Selection 3418 hex 9 27 Analog Monitor Output Selection 3421 hex 9 27 Brake Threshold Speed During Operation 9499 eX xistossmetuScrma
8. e OMNUC G5 series Servomotor R88M K 3000 r min 2000 r min INC 1000 r min ABS Absolute Encoder Battery Cable R88A CRGDOR3C BS A battery is included with model numbers ending in BS qr i5 Not required if a battery is connected to the control connector CN1 q 1 u13 x4 pue sjopoy SUOISU9UII Models and External Dimensions 2 2 How to Read Model Numbers 2 2 How to Read Model Numbers This section describes how to read and understand the model numbers of Servo Drives and Servomotors Servo Drive The Servo Drive model number tells the Servo Drive type applicable Servomotor capacity power supply voltage etc R88D KNO1H ECT R OMNUC G5 series Servo Drive Drive Type N Network Maximum Applicable Servomotor Capacity Ad 50 W 01 100 W 02 200 W 04 400 W 06 600 W 08 750 W 10 1 kW 15 1 5 kW 20 2 kW 30 3 kW 50 5 kW Power Supply Voltage L 100 VAC H 200 VAC F 400 VAC Communications Type ECT EtherCAT Model R Model limited to connection to CJ1W NC 8 J 2 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Servomotors 2 2 How to Read Model Numbers The model number provides information such as the Servomotor type motor capacity rated rotation speed and power supply voltage R88M KP10030H BOS2 OMNUC G5 series Servomotor ee ee Motor Type Blank Cylinder type Servomotor Capaci
9. 9 38 Hybrid Vibration Suppression Filter 3635 hex 9 43 Hybrid Vibration Suppression Gain 3634 hex 9 43 Origin Range 3803 hex esee 9 49 Overspeed Detection Level Setting at Immediate Stop 3015 TIBX curisus c Unio Eumenis eid utres 9 40 Power ON Address Display Duration Setting 3701 FiGX ostende uso ou On Eo ton eed eda oon ec de 9 45 Power Supply ON Initialization Time 3618 hex 9 40 Realtime Autotuning Estimated Speed Selection 369 T 8X aina atus csboa UE a aa 9 41 Reverse Direction Torque Offset 3609 hex 9 38 Torque Command Value Offset 3607 hex 9 38 Vibration Detection Threshold 3637 hex 9 43 Warning Hold Selection 3759 hex 9 47 Warning Mask Setting 3638 hex 9 43 status IndiGatoLs ssec edes tea reeset erecta 5 2 surge ADS OID OR eet RE D senmner 4 27 Surge sHuppressoF 5 ocdduen eso sx xeu E Exc vus Din ected 4 34 oyhc Manager cd dou Dessus sete sva uer te EACE 5 6 Sync manager communication objects 6 29 SM2 synchronization 1C32 hex 6 31 SM3 synchronization 1C33 hex 6 32 Sync manager 0 PDO assignment 1C 10 hex 6 29 Sync manager 1 PDO assignment 1C 11 hex 6 30 Sync manager 2 PDO assignment 1C 12 hex 6 30 Sync manager 3 PDO assignment 1C 13 hex 6 30 X Sync manager communication type 1C00 hex
10. lI Motor Speed disturbance Setting with 3623 hex Pd Disturbance observer Disturbance torque Estimation value Operating Conditions You can use the disturbance observer in the following situations Conditions Operating mode Position control semi closed control When Servo is ON When there is no trouble with the motor s normal rotation When realtime autotuning function is disabled Others i When instantaneous speed observer function is disabled la Precautions for Correct Use If there is a resonance point below the cut off frequency estimated by the disturbance observer or if a large amount of high frequency elements is found in the disturbance torque the disturbance observer may not be effective OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 24 suomnounJ jueunsn py Adjustment Functions 11 8 Disturbance Observer Function Objects Requiring Settings Index 3610 hex Function Expansion Settings Set the bits related to the disturbance observer page 9 38 3623 hex Disturbance Torque Set the compensation gain for disturbance page 9 40 Compensation Gain torque 3624 hex Disturbance Observer Filter Set the filter time constant for disturbance torque page 9 40 Setting compensation Operating Procedure 11 25 1 Set the Function Expansion Setting 3610 hex Set whether to enable or disable the disturbance obse
11. Encoder Connectors These connectors are used for encoder cables Use them when preparing an encoder cable by yourself Dimensions R88A CNWOT1R Drive s CN2 side This connector is soldered Use the following cable Applicable wire AWG16 max Insulating cover outer diameter 2 1 mm dia max Outer diameter of sheath 6 7 0 5 mm dia Connector plug model 55100 0670 Molex Japan 3 67 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications R88A CNKO2R Servomotor side Applicable motors Use the following cable 100 V 3 000 r min Servomotors of 50 to 400 W Applicable wire AWG22 max 200 V 3 000 r min Servomotors of 50 to 750 W Insulating cover outer diameter 1 3 mm dia max Outer diameter of sheath 5 0 5 mm dia Angle plug direction can be reversed Angle plug model JNGFRO7SM1 Japan Aviation Electronics Connector pin model LY10 C1 A1 10000 Japan Aviation Electronics R88A CNKO4R Servomotor side Applicable motors Use the following cable 200 V 3 000 r min Servomotors of 1 0 to 5 0 kW 200 V 2 000 r min Servomotors of all capacities 200 V 1 000 r min Servomotors of all capacities 400 V 3 000 r min Servomotors of all capacities 400 V 2 000 r min Servomotors of all capacities 400 V 1 000 r min Servomotors of all capacities Applicable wire AWG20 max Outer diameter of sh
12. In the output torque graph acceleration in the forward direction rising is shown as positive and acceleration in the reverse direction falling is shown as negative The regenerative energy values in each region can be derived from the following equations Esq SN Tor t J FE o 20 N Eg2 60 N2 Tie te J Ep gt Se No Tpz ts J N1 N2 Rotation speed at start of deceleration r min Tp1 T02 Deceleration torque N m TL2 Torque during downward movement N m t1 t3 Deceleration time s t2 Constant speed driving time during downward movement s Note Due to the loss of winding resistance the actual regenerative energy will be approx 90 of the values derived from these equations For Servo Drive models with internal capacitors used for absorbing regenerative energy i e Servo Drive models of 400 W or less the values Eg and Eg Eg unit J must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative energy i e Servo Drive models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section The average regeneration power Pr is t
13. Review the load inertia Replace the Servomotor and Servo Drive with proper ones 12 30 ooueuojure y pue Burjioouso qnou S C amd E TS c O C i O O X Qo 2 Q O im I 12 5 Periodic Maintenance 12 5 Periodic Maintenance PAN Caution After replacing the unit transfer to the new unit all data needed to resume operation before restarting the operation Equipment damage may result Never repair the product by disassembling it Electric shock or injury may result oervomotors and Servo Drives 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 Periodic inspection and replacement are necessary to ensure proper long term operation of Servomotors and Servo Drives Quoted from The Recommendation for Periodic Maintenance of a General purpose Inverter published by JEMA The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotors and Servo Drives Recommended maintenance times are given below for Servomotors and Servo Drives Use these for reference in periodic maintenance Servomotor Life Expectancy 12 31 The lifetimes for the different motor parts are listed below Bearings 20 000 hours Decelerator 20 000 hours Oil seal 5
14. Adjustment Functions 11 6 Adaptive Filter Objects Requiring Settings Index 3200 hex Set the number of resonance frequencies to be estimated by the adaptive filter and the operation to be performed after estimation 0 Adaptive filter disabled 1 One adaptive filter enabled The objects related to notch Adaptive Filter filter 3 are automatically updated Selection 2 Two adaptive filters enabled The objects related to notch filters 3 and 4 are automatically updated 3 For use by manufacturer Do not use this setting 4 Adaptive result is cleared Objects related to notch filters 3 and 4 are disabled and the adaptive result is cleared page 9 15 la Precautions for Correct Use 11 19 Adaptive filter may not operate correctly under the following conditions Item Conditions that interfere with the adaptive filter e f the resonance frequency is 300 Hz or lower meson pas e If the resonance peak or control gain is too low to affect the motor speed points e f there are three or more resonance points ena e f the motor speed with high frequency components changes due to backlash or other non linear elements pua e f the acceleration deceleration is 3 000 r min s or higher If the adaptive filter does not operate properly use Notch 1 3201 to 3203 hex or Notch 2 3204 to 3206 hex to reduce resonance according to the manual adjustment procedure Refer to 11 7 Notch Filters on page 11 21 for information o
15. Following error The Following error Error counter overflow is indicated in Cyclic synchronous position mode Position Error Counter Overflow is setto 1 when the Position actual value 6064 hex exceeds the Following error window 6065 hex that is set based on Position demand value 6062 hex 14 and 15 Manufacturer specific These are manufacturer specific bits This bit is not used by OMNUC G5 series Servo Drives 1 The Voltage enabled bit indicates that the main circuit power supply is ON when it is 1 2 Not applicable in Quick stop active state This bit is O in a Not ready to switch ON state only It is always 1 in all other cases 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 38 Drive Profile 6 7 Object Dictionary 605B hex Shutdown option code All Size 2 bytes INT16 PDO map Not possible This object sets the operation enable ready to switch on operation during shutdown Description of Set Values Set Decelerating After stopping value Deceleration method Operation after stopping Error Immediate Stop 4 Free m Immediate Stop 3 Dynamic brake operation 3 I c I gt 3 Dynamic brake operation Clear T rl di 1 Dynamic brake operation Clear I Nicos al 1 Decelerating is the time between when the motor is running and when the motor speed reaches 30 r min or less Once the motor reaches 30 r min or less and moves to
16. N m Power supply voltage N m Power supply voltage N m dropped by 1096 dropped by 10 Power supply voltage 0 5 10 48 0 48 4000 1 0 10 95 0 95 3700 20411 91 1 91 2600 dropped by 10 n m 1 Momentary operation range Momentary operation enden 0 56 Momentary operation B Ne k 0 16 0 5 9 39 0 32 04 151964 0 64 0 8 0 64 Continuous operation range 0 16 0 32 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 r min r min r min e R88M K40030L S 400 W N m Power supply voltage 4 0 13 8 3 8 2600 dropped by 10 2 0 0 s A Momentary operation range 1 3 1 3 lr D Continuous operation range 4 00 0 32 1000 2000 3000 4000 5000 6000 r min Note The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 40 suoneoyioodg N c O O D Q o 3 3 Servomotor Specifications 3 000 r min Servomotors 200 VAC The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input e R88M K05030H T 50 W Power supply voltage dropped by 1096 0 48 4000 Momentary operation range gt lt 10 3 Continuou
17. 120 C tempera condition ture rise ue pacity R88A Aluminum 350 x 350 RR2204781 Thickness 3 0 R88A RR50020S Resis Regeneration absorption for Heat radiation Model tance val 120 C tempera condition ue ture rise R88A Aluminum 600 x 600 RR50020S Thickness 3 0 Thermal switch output specifications Operating temperature 150 C 5 NC contact Rated output resistive load 250 VAC 0 2 A max 42 VDC 0 2 A max minimum current 1 mA Thermal switch output specifications Operating temperature 200 C 7 C NC contact Rated output resistive load 250 VAC 0 2 A max 42 VDC 0 2 A max minimum current 1 mA OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 6 EMC Filter Specifications 3 6 EMC Filter Specifications Specifications BC eios Filter model Rated current Rated voltage drive rent R88D KNO1H ECT R R88A FIK102 RE 2 4 R88D KNO2H ECT R R88D KNO4H ECT R R88A FIK104 RE 250 VAC single R88D KNO8H ECT R R88A FIK107 RE phase R88D KN10H ECT R R88A FIK114 RE 14 2 A R88D KN15H ECT R 3 5 mA R88D KNOGF ECT R R88A FIK304 RE R88D KN10F ECT R 4A R88D KN15F ECT R 400 VAC single R88D KN20F ECT R R88A FIK306 RE phase RH88D KN3OF ECT R R88A FIK312 RE R88D KN50F ECT R 12A OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 82
18. 3 13 COMMOGGCIONS mo Lm 3 15 control input table cero roit enr aete TUS 3 14 control output table 3 14 pin arrangement 5 ei ooi Een e vae breed 3 15 COHLFOL IDDUD GIL GUITS usage rS o ege uoc pe epoca ear 3 16 COHtrol output CIRCUITS usi rco aaa sop m aiana 3 19 control output sequence eeeseeeeeeeene 3 20 control panel structure eseueeeeeeees 4 25 Cyclic synchronous position mode 6 4 D damping CODUO ms ice ete n acutu isse anced eee 11 15 decelerator installation conditions seesueeeese 4 5 disttibuled clock DG kiirni aa cet a eee 5 8 disturbance observer function 11 24 E EG Directivos c n 1 7 EDM OUTS Wl cre seus dni e ER axe ovp rV EMO D a ih 8 3 EDM OUtDUt GIL CUL arasen cau rade oie dr xia Dr sce ca 3 30 electronic gear function eee eee seres 7 18 EMC filter specifications ueeeseeese 3 82 emergency messages ce eee eeeeeeeeeeeeeeeeeeeeeeeeeeaes 5 9 encoder SHECIIICAUONS exisse Expos Hp IB Sota EAN 3 56 encoder cable 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications noise resistance ccc ea e RE 4 35 encoder cable specifications 3 57 encoder cables European flexible cables 2 12 3 57 encoder
19. 400 VAC Rated rotation speed 3 000 Maximum rotation speed 5 000 Momentary Paeximutm Nem 7 16 9 55 14 3 19 1 torque current Applicable load inertia 30 times the rotor inertia max OweTiate SIEHE kWls 35 5 49 8 80 1 110 brake With brake kW s 29 6 Mechanica Without 0 67 time brake constant With brake Electrical time constant ms Allowable radial load Allowable thrust load 71 8 101 ag IN Ol C2 0 49 0 45 u Weig Without brake Approx 3 1 Approx 3 5 Approx 4 4 Approx 5 3 i With brake Approx 4 1 Approx 4 5 Approx 5 4 Approx 6 3 Radiator plate dimensions material 320 x 300 x t20 Al Applicable Servo Drives R88D KN10F ECT R KN15F ECT R KN15F ECT R KN20F ECT R 3 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 400 VAC Model R88M Item Unit K75030C K2K030C Power consumption at 20 C Current consumption A 0 70 10 0 81410 0 81410 0 81410 at 20 C Backlash 1 reference value acceleration i Brake limit 10 million times min Insulation class a Type F 400 VAC Brake specifications Model R88M Item Unit K3K030C K4K030C K5K030C Rated output 3000 4000 5000 Rated rotation speed 3 000 Maximum rotation speed 5 000 4 500 Momentary maximum NS 28 6 38 2 A7 7 torque s l l l Momentary maximum A rms 39 42 54 current Poor vatnoui kg
20. 6 29 System block diagram udis icu ie hera rte bea turn Ere ta2 1 6 system configuration eeseeseessss 1 3 2 1 T terminal block wiring procedure ooo eene xr oe mex eens 4 20 Terminal block specifications 4 14 4 16 terminal block wire sizes ssussses 4 17 torque lit iei a A beo pe bere seP IS 6 8 Torque Limit Output TLIMT eseesse 3 21 torque limit switching seeseeseeeee eese 1 21 Touch probe function 2 cocer rtr nere renes 6 9 tab operation oon cto entities dite a 10 7 troubleshooting tueri ddp s d tem ka ap aide 12 1 12 13 troubleshooting using the operation state 12 25 troubleshooting with error displays 12 13 U UL and cUL standards iei eta voe ve Sep Rd raa ben 1 7 USB connector specifications CN7 3 28 V vibration suppression settings Index Adaptive Filter Selection 3200 hex 9 15 Damping Filter 1 Setting 3215 hex 9 18 Damping Filter 2 Setting 3217 hex 9 18 Damping Filter 3 Setting 3219 hex 9 19 Damping Filter 4 Setting 3221 hex 9 19 Damping Filter Selection 3213 hex 9 17 Damping Frequency 1 3214 hex 9 18 Damping Frequency 2 3216 hex 9 18 Damping Frequency 3
21. A link in the EtherCAT physical communications layer has not been established yet Read the error number and the error log The power cable is not connected correctly The Servomotor power supply is not ON The Forward or Reverse Drive Prohibition Input POT or NOT is OFF The torque limit is set to O allowed power supply voltage range Measures Supply the correct power supply voltage Check to see if the power Wire correctly supply input is wired correctly Refer to Troubleshooting Errors Related to EtherCAT Communications on page 12 24 Check to see if the communications cable is connected correctly Check to see if the host controller has started Check the cause listed in Troubleshooting with Error Displays on page 12 13 Check to see if the Servomotor power cable is connected properly Check the main circuit wiring and power voltage Check to see if the input for Forward or Reverse Drive Prohibition Input POT or NOT is OFF Check the input of 24 VIN to CN1 Check to see if the torque limits in the Positive torque limit value GOEO hex and the Negative torque limit value 60E1 hex are set to 0 The Servo Drive has broken down Connect the communications cable correctly Start the host controller Take appropriate measures against the cause of the error that are listed in Troubleshooting with Error Displays on page 12 13 Wire the Servomotor
22. Index Name Explanation Reference Set the IN1 input function allocation This 3400 hex Input Signal Selection 1 object is based on hexadecimal The display page 9 24 on the front panel is based on decimal Input Signal Allocation Method Input the setting for each control mode to any of the objects from 3400 to 3407 hex to allocate the signals oet the objects using hexadecimal Set the set value of the function for each control mode in below Refer to the function number table provided later for the set value of each function The logic setting is included in the function numbers 00 P hex Position control fully closed control Reserved Example Position control or fully closed control Monitor Input O with NO normally open contacts 2E hex suonoun J paddy x 002C002E hex Position control fully closed control OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 71 2 Applied Functions 7 1 Sequence I O Signals 7 3 Function Number Table The set values to be used for allocations are as follows Set value Forward Drive Prohibition Input POT Ohex POT Reverse Drive Prohibition Input 02 hex Immediate Stop Input STOP 14 hex External Latch Input 1 EXT1 External Latch Input 2 EXT2 External Latch Input 3 EXT3 CL Forward External Torque Limit p 2C hex Input la Precautions for Correct Use Do not use any settings o
23. The polarity of an incremental command is set incorrect Check to see if power is supplied to the holding brake Check the wiring of the Servomotor power cable s phases U V and W and check the encoder cable s wiring Measure the vibration frequency of the load Calculate the load inertia Check the joint with the machine Check the response waveforms for speed and torque Check to see if the ambient temperature around the Servomotor is over 40 C Check to see if the specified radiation conditions are observed For a Servomotor with a brake check the load ratio Measure the torque on the analog monitor on the front panel or from the CX Drive Check to see if the coupling of the Servomotor and the machine is misaligned Measures Change the set value of object 3000 hex Check the actual and target values Check the rotation direction Check the brake interlock output BKIR signal and the relay circuit Check to see if the holding brake is worn down Wire correctly Enable the damping control Set the damping filter frequency e Check if manual tuning can achieve proper adjustment Increase the Servomotor capacity Remove the joint looseness with the machine Adjust the speed loop gain to stabilize the rotation Lower the ambient temperature around the Servomotor to 40 C or less Use a fan or air conditioner Lower the load ratio Improve the
24. This object sets the operation during Disable operation operation enable switched on Description of Set Values Set Decelerating After stopping value Deceleration method Error Operation after stopping Error I io I IA Immediate Stop Immediate Stop Immediate Stop Torque 3511 hex Dynamic brake operation Clear 3 3 i 2 Free run Dynamic brake operation Clear 1 Dynamic brake operation Dynamic brake operation Clear 1 Decelerating is the time between when the motor is running and when the motor speed reaches 30 r min or less Once the motor reaches 30 r min or less and moves to the after stop status subsequent operation is based on the after stop status regardless of the motor speed 2 Immediate Stop means that the Servomotor stops immediately by using controls while the servo is kept ON The torque command value at this time is restricted by the Immediate Stop Torque 3511 hex 3 When the error is cleared a process which makes the Position demand value follow the Position actual value comes into effect To execute interpolation feeding commands after the servo turns ON reset the command coordinates in the host controller before executing them The motor may move suddenly la Precautions for Correct Use Position control is forced into operation during deceleration and after the motor has stopped during servo OFF The internal position command generation process is also forced to stop
25. cccccccscccecccescecseecececeueecueecacecseeceusceueesaeessueseaeenas 6 33 Servo Drive Profile ODIeGl tios qoos too Sammeln cended bun Doa qtelmd ecu Eo bU ni sr calm Ne bU RUE 6 36 Reserved ODICC tS ashes M 6 52 6 8 Connecting with OMRON Controllers eeeeeeeeeeeeeeese 6 53 Related ODI CCIS austin dasesxati ctii eise em A eres E tese eee eee aero 6 53 18 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Table Of Contents Chapter 7 Applied Functions 1 Seguente VO SONAS suco tide e Peoto totae dte veieaetncaeetedaddntecadonndeleuseas 1 1 CMU SNA ac Hc EET ed 1 1 CES NVI Sesteisatetbun a ig ertet dtes f acpr iacu lad eost atacado iu tul EP toL OR L A IURE EIS 1 4 7 2 Forward and Reverse Drive Prohibition Functions 7 6 ODIECIS Requiring Settings rianne ed dentis Pa dior aeu uenia ug ludas Dax bed iei s 7 6 55 OVEN UN Proteclloni asset ena pO Eo UR UR CUBREAG a b ate o Qe Gane V e ERR 7 9 Oberauhnga COMGINONS x5 sss ueri seda oce at Ame tus s aa daa n ina a Mn a cxx amu A 1 9 ODIJects REQUIFING Settings esner sin i racuee dec A voe MM Euge UE LU A UP KR RUE 7 9 Operation XA DLC savescdtanvtrsth ne tuk co a e a O 7 10 7 4 Backlash Compensation ccccecccecceeeeeeceeeteeeeeeteeeeseeeeeeeeeteeeeseenaes 7 11 Objects Requiring Settings wit ssvettee visui ucn diei Eas nde ame ctuieeanialehbiaiieeietarnend SUP a ds 7 11
26. 1 EtherCAT communications warning detection can be masked by using the setting of the Communications Control 3800 hex The corresponding bits are shown in the table Warning detection is masked if the corresponding bit is set to 1 Warning setting To mask a warning set the corresponding bit to 1 The warning detection is disabled Refer to Warnings Related to EtherCAT Communications on page 12 6 Warnin Communications beat Warning name Warning condition Control 3800 hex 1 Data setting The set value in the command argument is BO hex Warning out of the specified range Bit 4 Object write processing failed The command set value is incorrect Command The command transmission conditions are warning not met The sub command transmission conditions B1 hex eee See Bit 5 An operation command is given in the prohibited direction after the motor made an emergency stop due to a drive prohibition input EtherCAT EtherCAT communications errors occurred B2 hex communications one or more times Bit 6 warning 1 EtherCAT communications warning detection can be masked by using the setting of the Communications Control 3800 hex The table above shows the corresponding bits The warning detection is masked when you set the corresponding bit to 1 3801 hex Software Position Limit Function All Size 2 bytes INT16 PDO map Not possible Select whether to enable or disable the software position limit function When it is ena
27. 9 Brake Interlo6K vascciosorsweaehivosarevtedarduntadecabtuntesernuidacidadboatereveminatueetannnaye 7 13 Objects Requiring Settings ccc cecseccceeceeceseeeeeteeeceeceneceeceeeeeeeceeetseeseeseeeeeeeeeees 7 13 CODES ATION O mo EE EE muU UM Pu EDU LE E LU PELLE 7 14 1 0 Electronic Gear EUNCUON seoser sentaron ud ber YO edet v eds 7 18 Objects Requiring Setthigs eene eee at eee eee es eee ede 7 18 Operation EXalllpleudsdssnsins xoci oU ise AUD De mice den danse en Aue dean dS utut Vai Mel su an anon 7 20 f f Lorque Limit SWIICMING seioici ideo tin itte hr qua iot tenneosededtiedoveindaioiaucsieeiets 1 271 ior irzuiaeeelnfeiio Qe e m 7 21 Objects Requiring Settings cece ccc ceccseeceeceeeeseeceeececseeceeceneceeeceeeceeeeeeteeeeeeeaeenes 7 21 l0 Gali SWICAINO FUNGUO M s sena 7 23 Objects Requiring Settings cccccsccceecceseceececeeeceeeceucecseecseeceusceseecueeseeeseesseeeenes 7 24 GAM SWKCAIN G E 7 25 Diagrams of Gain Switching Setting ec eeccceeeeeeeeseeeseeeseeeeseeeseeeseeeeseeeseeesaeess 1 27 7 9 Calm owtching 9 FUlCcllOn ss eed st toads toacken sie douebicat eaten edi S aimes ORAS 7 30 Operating Conditions amikas m 7 30 Objects Requiring Settings ccc secs eccseeceeeeseeseeseeeseeeseeceeceeeesuecseeteeeeueseeeeeeeaeeees 7 30 Oberaluon Exemple eue ieu teratute ptu NoD buses testate o bu ect ebat ont Ead tus Ee Rua 7 31 Chapte
28. Control cables 4 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring I R88D KN20H ECT R S I 3 phase 200 to 240 VAC 50 60 Hz R88D KNLILIH ECT R E Ne Ns NFB Main circuit contactor 1 Qao Main circuit power supply enc OFF ON 1MC 2MC 4 MN SEMEN 4 ee n Surge suppressor 1 X MC 2MC X Servo alarm display OMNUC G5 series AC Servo Drive L1C OMNUC G5 series o BB AC Servomotor lt Lec Power cables o wii I B 0 Noise filter 1 E C 4 2 3 Co E NF 4 5 6 Ground to 100 Q EB or less ED e 4 Resistor E a O LA X 37 ALM 24 VDC 636 ALMCOM 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 A 24 VDC FO VDC 3 There is no polarity on the brakes E 4 The Regeneration Resistor built in type BKIRCOM 10 2 KN20H ECT R shorts B2 and B3 When the amount of regeneration is large remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2 BKIR 11 User side control device Control cables OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 8 System Design 4 2 Wiring
29. Drive Prohibitio n Input Explanation Selection 3504 hex Forward drive prohibition input and reverse drive prohibition input enabled The operation when a signal is input is as follows Forward drive prohibition input closed Forward limit switch not operating and status normal Forward drive prohibition input open Forward direction prohibited and reverse direction permitted 0 Reverse drive prohibition input closed Reverse limit switch not operating and status normal Reverse drive prohibition input open Reverse direction prohibited and forward direction permitted The Servomotor decelerates and stops according to the sequence set in Stop Selection for Drive Prohibition Input 3505 hex If the forward and the reverse prohibition inputs are both open a Drive Prohibition Input Error 1 Error No 38 0 will occur because it is taken that Servo Drive is in error condition 1 Forward and reverse drive prohibition input disabled Forward and reverse drive prohibition input enabled 2 If either the forward or the reverse prohibition input is open a Drive Prohibition Input Error 1 Error No 38 0 will occur 1 For details refer to explanation for Stop Selection for Drive Prohibition Input 3505 hex la Precautions for Correct Use Both signals are disabled in a state in which drive prohibition will not operation in the default settings If prohibiting the drive input is required set the Drive Prohibit Input Selection 3504 hex t
30. If an error occurs while the servo is OFF operation will follow the Fault reaction option code 605E hex If the main power supply turns OFF while the servo is OFF the Shutdown option code 605B hex Will be followed OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 40 Old eAug Drive Profile 6 7 Object Dictionary 605E hex Fault reaction option code All Range 7 to 0 Unit Default Attribute B Size 2 bytes INT16 Access PDO map Not possible This object sets the behavior when an error occurs Description of Set Values Set Decelerating After stopping value Deceleration method Operation after stopping Error Immediate Stop Operation A Immediate Stop Torque T 3511 hex Clear Free Clear Immediate Stop Clear Free Clear Immediate Stop Torque Clear Operation A 3511 hex Operation B Dynamic brake operation Immediate Stop Immediate Stop Torque 3511 hex Immediate Stop 2 Immediate Stop Torque Operation A Dynamic brake operation Clear Operation A 4 Clear Dynamic brake operation Clear 3511 hex E DT ia cil ac 0 Free run Clear Clear 1 Decelerating is the time between when the motor is running and when the motor speed reaches 30 r min or less Once the motor reaches 30 r min or less and moves to the after stop status subsequent operation is based
31. You can use the Servo Drive s various control parameters and monitor data on a host controller and unify the system data for management j Achievement of Accurate Positioning by Fully closed Control Feedback from the external encoder connected to the motor is used to accurately control positioning Position control is not affected by deviations caused by ball screws or temperature changes I Wide Range of Power Supplies to Meet Any Need The OMNUC G5 Series now has models supporting 400 V for use with large equipment at overseas facilities and in wide ranging applications and environment Since the utilization ratio of facility equipment also increases the TCO total cost of ownership will come down i Safe Torque OFF STO Function to Ensure Safety You can cut off the motor current to stop the motor based on a signal from an emergency stop button or other safety equipment This can be used for an emergency stop circuit that is compliant with safety standards without using an external contactor Even during the torque OFF status the present position of the motor is monitored by the control circuits to eliminate the need to perform an origin search when restarting OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 1 Outline Suppressing Vibration of Low rigidity Mechanisms during Acceleration Deceleration The damping control function suppresses vibration of low rigidity mec
32. eB Not possible Possible Reverse Direction Torque Offset 2 bytes o Function Expansion Setting 2 bytes INT16 OB Not possible EX Electric Current Response Setting 2 bytes Not possible usd SO On IERI 2 bytes INT16 Not possible Possible Setting Overspeed Pete clion Devel eng opiate A gt Notposeible Possible at Immediate Stop ble l INT16 3614 hex 3615 hex 3618 hex Budd Supply ON Initialization 2 bytes INT16 Not possible a Torque Compensation 2 bytes INT16 EE Not possible l o Disturbance Observer Filter Setting 2 bytes INT16 EN IN Realtime Autotuning Estimated Speed Selection 2 bytes INT16 3623 hex 3624 hex Not possible Not possible Not possible 3631 hex 3632 hex Realtime Autotuning Customization Mode Setting 2 bytes INT16 Hybrid Vibration Suppression Gain 2 bytes INT16 3634 hex 3635 hex 3637 hex Not possible Not possible o o Not possible o INT16 INT16 Vibration Detection Threshold 2 byte 3638 hex Warning Mask Setting 2 byte Not possible 3700 hex LED Display Selection 2 bytes INT16 Not possible EN EN EE 3 NL 3 3 mene baton Supression Ft zeves NT 8 EN 8 wes o rans e Xn EN 8 Wes p T MCN EE e EN A LONE EN NON EN NN I NON EN NN EN KE 3705 hex Backlash Compensation Amount 2 bytes INT16 Not possible 3 06 hex Backlash Compensation Time 2 bytes INT16 Not
33. 2 4 External and Mounting Dimensions 1 000 r min Servomotors 400 V 900 W without Brake R88M K90010F S2 R88M K90010C S2 S2 900 W with Brake R88M K90010F B S2 R88M K90010C B S2 EES Motor and brake connector Encoder connector 130x130 Shaft end specifications with key and tap 70 45 M3 through 116 without brake 118 with brake 922h6 110h7 8 _18 Y Ro uL 7 Bra i M5 depth 12 Dimensions mm R88M K90010 7 133 5 R88M K90010L1 BL 158 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Model OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 48 suoisueuliq EUuJ9 X3 pue sjepolNy Models and External Dimensions 2 4 External and Mounting Dimensions 2 kW 3 kW without Brake R88M K2K010F S2 K3K010F S2 IIs R88M K2K010C S2 K3K010C S2 RES 2 kW 3 kW with Brake R88M K2K010F B S2y K3K010F B S2 Ife R88M K2K010C B S2y K3K010C B S2 WYS Motor and brake connector Encoder connector 176x176 Shaft end specifications with key and tap 2 49 55 M3 through lt I Y Edra C L1 e js 8S e M12 depth 25 50 Dimensions mm Model R88M K2K
34. 3110 hex Setting range Size 9 9 Set the second torque filter time constant The objects from 3105 to 3109 hex are the gain and time constants to be selected when the Gain Switching Input Operating Mode Selection 3114 hex is enabled The gain is switched according to the condition set in the Switching Mode 3115 hex 3120 hex and 3124 hex If the mechanical system inertia changes greatly or if you want to change the responsiveness depending on whether the motor is rotating or being stopped you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions and switching them according to the condition This object is automatically changed by executing realtime autotuning function To set it manually set the Realtime Autotuning Mode Selection 3002 hex to O Speed Feed forward Gain Default Data 06 2 bytes INT16 1 PDO map Not possible Set the feed forward gain Increasing the set value decreases the position error and increases the responsiveness Overshooting however will occur more easily Refer to 11 11 Feed forward Function on page 11 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3111 hex Setting range Size 3112 hex Setting range Size 3113 hex Setting range Size 3114 hex Setting range Size 9 2 Gain Settings Speed Feed forward Command Filter
35. 607A 0020 hex EE SNB NK a SENE S S a ee 09m 0 07 WWW 000 00 soar coroner 0 0 a 0 0 SmWS 0 0 SWR 0 0 0 sono anion 0 0 WER E 0000 0000 Wem 00 0 WFOWEN 7 0 00 MEE NNNM OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Relevant control modes All All All All All All All csp csp csp csp csp csp csp csp csp csp csp csp csp csp csp All All All All All All All A 4 xipueddy Appendix A 1 Object List Data Saving to m Sync manager 2 PDO assignment Index 1C12 hex 1C13 hex 1C32 hex 1C33 hex Number of assigned RxPDOs 1 byte U8 RO Not possible Not possible Assigned PDO 1 2 bytes U16 RO Not possible Not possible EZ Number of assigned TxPDOs 1 byte U8 RO Not possible Not possible Assigned PDO 1 2 bytes U16 SM2 synchronization o Number of synchronization parameters 1 byte 2 Cycle time 4 bytes U32 A i NND 5s ES 5 EX Minimum cycle time 4 bytes U32 B Calc and copy time 4 bytes Not possible Not possible RO Not possible Not possible RO Not possible Not possible RO Not possible Not possible U8 U16 Synchronization type 2 bytes U16 Synchronization types supported 2 bytes A X A Not possible Not possible Not possible Not possible Not possible Not pos
36. Applicable Servo Drives Model R88D KNASL ECT R KNO1L ECT R KN01H ECT R KNO2H ECT R R88A TKO1K R88D KNO2L ECT R KNO4H ECT R R88A TKO2K R88D KNO4L ECT R KNO8H ECT R R88A TKO3K R88D KN10H ECT R KN15H ECT R KNO6F ECT R KN10F ECT R R88A TKO4K KN15F ECT R OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 20 SUOISUDWIG JEUuJ9 X3 pue s epolNy Models and External Dimensions 2 4 External and Mounting Dimensions 2 4 External and Mounting Dimensions This section describes the external dimensions and the mounting dimensions of Servo Drives Servomotors and peripheral devices Servo Drive Dimensions The dimensional description starts with a Servo Drive of the smallest motor capacity which is followed by the next smallest and so on Single phase 100 VAC R88D KNASL ECT R KNO1L ECT R 50 to 100 W Single phase 3 phase 200 VAC R88D KNO1H ECT R KNO2H ECT R 100 to 200 W Wall Mounting External dimensions Mounting dimensions 5 2 E ud Icd e e 0 19 6 28 i 40 8 M 2 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 132 5 2 n2
37. Momentary maximum A rms current Rotor Without kg m 4 60x107 6 70x107 8 72x107 inertia brake vm gt N constant With brake 0 80 0 76 Electrical time constant ms ms 1 02 ENS O With brake kg m 5 90x10 7 99x10 10 0x107 Applicable load inertia 10 times the rotor inertia max o Torque constant s N m A 0 64 Power rate Without KWis 49 5 76 5 105 M moo 3 wiv rake iws es 42 dE 7 time brake With brake 102 O S 490 196 196 Z AB co AB co Allowable radial load Allowable thrust load co O Weig Without brake kg Approx 5 2 Approx 6 7 Approx 8 0 ht With brake kg Approx 6 7 Approx 8 2 Approx 9 5 Radiator plate dimensions 275 x 260 x t15 Al material Applicable Servo Drives R88D KN10H ECT R KN15H ECT R KN20H ECT R Brake inertia kgem 1 35x107 1 35x10 1 35x10 Excitation voltage V 24 VDC 10 Power consumption W 14 19 19 at 20 C Current consumption A 0 59 10 0 79 10 0 79 10 at 20 C Backlash 1 reference value Allowable work per J 588 1 176 1 176 braking Brake specifications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 44 Specifications 3 3 Servomotor Specifications 200 VAC aimee EN OMEN ee Item Unit K1K020T K1K520T K2K020T Allowable total work J 7 8x10 1 5x108 1 5x108 O Allowable angular rad s 10 000 amp acceleration
38. Note 1 Quick stop active state is not supported Even if a Quick stop command is received it will be ignored Note 2 The operation to perform when the main circuit power is turned OFF while the Servo is ON can be set using 6 1 the Undervoltage Error Selection 3508 hex 3508h 0 Moves to a state where the main circuit power supply is turned OFF and stops according to the setting of the Shutdown option code 605B hex 3508h 1 Moves to an error processing state and stops according to the setting of the Fault reaction option code 605E hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 1 Controlling the State Machine of the Servo Drive i State Descriptions States Description Not ready to switch on The control circuit power supply is turned ON and initialization is being executed Switch on disabled Initialization has been completed Servo Drive parameters can be set Ready to switch on The main circuit power supply can be turned ON Servo Drive parameters can be set Switched on The main circuit power supply is ON Servo Drive parameters can be set Operation enabled The Servo is ON Servo Drive parameters can be set Fault reaction active There was an error in the Servo Drive and the cause is being determined Servo Drive parameters can be set Fault There is an error in the Servo Drive Servo Drive parameters can be set i Command Coding ES otate is co
39. O O E 1 mm E 1 Brake limit e 10 million times min g Rating ed co Insulation class E 1 Type F 200 VAC Model R88M K5K020H KSKOPOH KAKO20H Rated output W 3 000 4 000 5 000 Rated torque Nem 14 3 19 1 23 9 Rated rotation speed r min 2 000 Maximum rotation speed r min 3 000 Momentary maximum Nem 43 0 57 3 71 6 torque i Rated current A rms 21 0 25 9 Momentary maximum A rms 74 110 current Rotor Without kg m 12 9x10 37 6x107 48 0x10 inertia brake With brake 14 2x104 38 6x104 48 8x107 Applicable load inertia 10 times the rotor inertia max Powerrate Without kW s 159 97 1 119 i brake Mechanica Without ms 0 57 0 65 0 63 time brake Allowable radial load 784 784 784 Allowable thrust load 343 343 343 Weig Without brake Approx 11 0 Approx 15 5 Approx 18 6 hi With brake Approx 12 6 Approx 18 7 Approx 21 8 Radiator plate dimensions 380 x 350 x t30 Al 470 x 440 x t30 Al material Applicable Servo Drives R88D KN30H ECT R KN50H ECT R KN50H ECT R 3 45 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 200 VAC Power consumption W 22 31 31 at 20 C Current consumption A 1 3 10 at 20 C Static friction torque 24 5 min Backlash 1 reference value Allowable work per J 1470 1372 1372 braking Allowable total work 2 2x108 2 9x108 2 9x108 Allowable an
40. R88M K3K020T R88M K4K020T R88M K5K020T R88M K40020C R88M K60020C LI d Fo Ga Uo Servo Drive R88D KN10H ECT R R88D KN15H ECT R R88D KN20H ECT R R88D KN30H ECT R R88D KN50H ECT R R88D KN50H ECT R R88D KNOGF ECT R R88D KNOGF ECT R Models and External Dimensions 1 kW 1 5 kW 2 kW 3 kW 4 kW o kW 1 000 r min Servomotors and Servo Drives Servomotor With incremental encoder R88M K90010H L1 R88M K2K010H L R88M K3K010H L E R88M K1K020F R88M K1K520F R88M K2K020F R88M K3K020F R88M K4K020F R88M K5K020F R88M K1K020C R88M K1K520C R88M K2K020C R88M K3K020C R88M K4K020C R88M K5K020C R88D KN10F ECT R R88D KN15F ECT R R88D KN20F ECT R R88D KN30F ECT R R88D KN50F ECT R R88D KN50F ECT R LI EEA Ege LI L LI E Voltage Servo Drive Rated output With absolute encoder Single phase 3 phase 200 V 3 phase 200 V 900 W R88M K90010T L R88D KN15H ECT R 2 kW 3 kW 900 W 2 kW 3 kW R88M K2K010T R88M K3K010T R88M K90010C R88M K2K010C R88M K3K010C L L R88D KN30H ECT R R88D KN50H ECT R R88D KN15F ECT R R88D KN30F ECT R R88D KN50F ECT R L L 3 phase 400 V R88M K90010F L R88M K2K010F R88M K3K010F Use these combination with caution because the Servo Drive and Servomotor have different capacities L OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Commu
41. Servo Drive side SS Servomotor side R88D Kl J R88M K oT Wiring Servo Drive side Servomotor side ds Symbol EE oes B Phase v_ QS Areen Yelow D FG M4 crimp terminal j Servomotor side connector Right angle plug model N MS3108B20 4S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics Cable 2 5 mm x 4C or AWG14 x 4C 3 61 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications R88A CAGDLISR E Cable types 3 4 Cable and Connector Specifications For 3 000 r min Servomotors of 3 to 5 KW 2 000 r min Servomotors of 3 to 5 kW 1 000 r min servomotors of 2 to 3 kW Model R88A CAGDO001 5SR E 1 5m R88A CAGDOOSSR E 3m R88A CAGDO05SR E om R88A CAGD010SR E 10m R88A CAGDO15SR E 15m R88A CAGDO20SR E 20m Length L Outer diameter of sheath 13 2 dia Connection configuration and external dimensions Servo Drive side R88D KO Gi Wiring Servo Drive side 3 L EFI M5 crimp terminal Greeni Yellow Cable 4 mm x 4C or ANG11 x 4C OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Servomotor side S R88M KL Servomotor side Dj FG Servomotor side connector Right angle plug model N MS3108B22 22S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics 3 62 suoneoy
42. Sub index 0 Number of assigned PDOs Size 1 byte U8 Aces RO PDO map Not possible The PDO mapping used by this sync manager is given Mailbox reception sync manager does not have PDOs 6 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 1C11 hex Sync manager 1 PDO assignment All Sub index 0 Number of assigned PDOs Size 1 byte U8 Aces RO PDO map Not possible The PDO mapping used by this sync manager is given Mailbox reception sync manager does not have PDOs 1C12 hex Sync manager 2 PDO assignment All Sub index 0 Number of assigned RxPDOs Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Assigned PDO 1 Size 2 bytes U16 Aces RO PDO map Not possible The reception PDOs used by this sync manager are given Use the default value of 1701 hex 1C13 hex Sync manager 3 PDO assignment All Sub index 0 Number of assigned TxPDOs Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Assigned PDO 1 Size 2 bytes U16 Aces RO PDO map Not possible The transmission PDOs used by this sync manager are given Use the default value of 1B01 hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 30 Old eAug Drive Profile 6 7 Object Dictionary 1C32 hex SM2 synchronization All Sub index 0 Number of synchronization par
43. suoneoyioodg System Design po This chapter explains the installation conditions wiring methods including wiring conforming to EMC Directives and regenerative energy calculation methods for the Servo Drive and Servomotor It also explains the performance of External Regeneration Resistors ES 4 1 Installation Conditions 4 1 452 AVIEID iunii iiieEoo a cose toute sauna ncos icis suu DUE ave Go eder oue vc to 4 6 4 3 Wiring Conforming to EMC Directives 4 21 4 4 Regenerative Energy Absorption 4 40 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 1 Installation Conditions 4 1 Installation Conditions Servo Drive Installation Conditions Space Conditions around Servo Drives Install the Servo Drives according to the dimensions shown in the following illustration to ensure proper dispersion of heat from inside the drives and convection inside the panel If the drives are installed side by side install a fan for air circulation to prevent uneven temperatures inside the panel Drive Drive Drive A B C 40 mm min W 10 mm min Mounting Direction System Design Mount the drive perpendicular on the panel so that the model number reads normally Environment Operating Conditions The environment in which drives are operated must meet the following con
44. 1 27 Ni To J 2 60 Ea 1 e Ne To2 te J N1 N2 Rotation speed at start of deceleration r min Tp1 Tb2 Deceleration torque N m t1 t2 Deceleration time s Note Due to the loss of motor winding resistance and PWM the actual regenerative energy will be approx 9096 of the values derived from these equations For Servo Drive models with internal capacitors used for absorbing regenerative energy i e Servo Drive models of 400 W or less the values Eg4 and Eg unit J must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative energy i e Servo Drive models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section The average regeneration power Pr is the regeneration power produced in 1 cycle of operation W Pr Egt Eg2 T W T Operation cycle s OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 40 uDisoq uiejs g System Design 4 4 Regenerative Energy Absorption I Vertical Axis N1 Downward movement Motor operation Upward movement N2 Motor output torque
45. 11 9 Friction Torque Compensation Function 11 9 Friction Torque Compensation Function Two types of friction torque compensations can be set to reduce the influence of mechanical frictions One is the unbalanced load compensation that offsets the constantly applied unbalance torque The other is the dynamic friction compensation that changes the offset direction in accordance with the operating direction Operating Conditions You can use the function under the following conditions Conditions When Servo is ON When there is no trouble with the motor s normal rotation When realtime autotuning function is disabled When instantaneous speed observer function is disabled gt 9 9 9 Objects Requiring Settings The torque compensation function needs the combined settings of following three objects 3607 hex Torque Command Value Set the unbalanced load compensation value to age 9 38 Offset always add to the internal torque command pag Set the dynamic friction compensation value to add to the internal torque command for forward page 9 38 operation Forward Direction Torque 3608 hex Offset Set the dynamic friction compensation value to add to the internal torque command for reverse page 9 38 operation Reverse Direction Torque 3609 hex Offset OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 26 suoioun jueunsn py Adjustment Functions 11 9 Friction To
46. 3 52 2 000 r min Servomotors 3 44 3 000 r min Servomotors 3 33 dimensions 1 000 r min Servomotors 2 46 2 000 r min Servomotors 2 41 3 000 r min Servomotors 2 31 general specifications susuesusss 3 32 installation conditions useusueesues 4 2 IE GX DECIAN CY pc PIC 12 31 model TillTibel ninesini REEN 2 4 triodel T8bles arses n Ea NE 2 6 PEDIACIN eem PU 12 2 Servo Drive and Servomotor combination tables 2 10 special objects Backlash Compensation Amount 3705 hex 9 46 Backlash Compensation Selection 3704 hex 9 46 Backlash Compensation Time Constant 9700 TeX 2s oie a e ed buda meg deu Es 9 46 OMNUC G65 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Communications Control 3800 hex 9 47 Disturbance Observer Filter Setting 3624 hex 9 40 Disturbance Torque Compensation Gain 3029 I8 X are tens cect disci scere ri o uivdo DEEP D uS 9 40 Electric Current Response Setting 3611 hex 9 39 Error Detection Allowable Time Setting 3614 hex 9 39 Forward Direction Torque Offset 3608 hex 9 38 Function Expansion Setting 3610 hex 9 38 Gain 3 Effective Time 3605 hex 9 38 Gain 3 Ratio Setting 3606 hex
47. 55 Phase B Connection Error EE EMEN Phase Z Connection Error Cr EtherCAT State Change Error EtherCAT Illegal State Change Error 83 Communications Synchronization Error 87 EE Immediate Stop Input Error eS OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 3 Errors Error No hex Attribute me L3 Error detection function pers Node stress soning Enor v c 3 enone Y Encoder DataResratontror 1 s meswue 0 35 1 M 2 pasene Y Other numbers Other errors 1 An immediate stop error is displayed if an immediate stop is performed when 4 to 7 is set for the Fault reaction option code 605E hex Refer to the description of object 605E hex on page 6 41 2 This error cannot be reset for 10 seconds after it occurs 3 he error cannot be reset unless the absolute value is cleared Note 1 If an error that cannot be reset occurs remove the error factor and turn OFF the control power to reset the error 2 lfaresettable error occurs reset the error via EtherCAT communications or on the CX Drive 3 If hh FF or HH is displayed as the error number the internal MPU has malfunctioned Turn OFF the power immediately if one of these error numbers is displayed ooueuojure y pue Burjoousoe qnou OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Com
48. 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 representative 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 4 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Precautions Safety Precautio
49. In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 6461 GF6C hex Writing when there is a Control Power Supply Undervoltage Error error 11 0 Writing in operation enabled state Writing to the EEPROM may take up to 10 seconds This is when all objects are changed There is a limit to the number of times you can write to the EEPROM OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 24 9 JOJd N Drive Profile 6 7 Object Dictionary 1018 hex Identity object All Sub index 0 Number of entries Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Vender ID Range pF Unit Default 0000 0083 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 2 Product code Range pF Unit Default Refer to the table Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 Revision number Range o 0 7 qUit Default Refer to the table Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 4 Serial number Range pF Unit Default 0000 0000 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible This object contains device information Sub index 1 Vendor ID gives the manufacturer identifier Sub index 2 Product code gives the value assigned to each device Specifications Product code Single
50. Input Not used Omer Peteawe goma e Input ER LL NN LONE L4 Jw E C E INNEN m p ae eo 3 12 suoneoyioodg Specifications 3 1 Servo Drive Specifications Control I O Connector Specifications CN1 Control I O Signal Connections and External Signal Processing 12 to 24 VDC 24 VIN16 General purpose input 1 General purpose input 2 4 7 KO General purpose input 3 General purpose input 4 General purpose input 5 General purpose input 6 General purpose input 7 General purpose input 8 INST BAT D Backup battery BATGND 15 eene 100 3l ALM i Error output 4 ALMCOM 100 1 OUTM1 Yu T General purpose output 1 4 OUTM1COM E 10 Q 25 OUTM2 BAWD Y General purpose output 2 OUTM2COM 16 GND Shell FG Frame ground 1 A cable equipped with a battery is not required if a backup battery is connected Note 1 The input function of pins 5 and 7 to 13 are determined by object settings Note 2 The output function of pins 1 2 25 and 26 are determined by object settings Note 3 It is not necessary to wire input pins that are not being used 3 13 Maximum service voltage 30 VDC Maximum output current 50 mADC OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications p Control I O Signal Tables CN1 Control Inputs Pin Symbol Signal
51. LI M fT OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Relevant Correspond All All All All csp All All All All All A 18 xipueddy Appendix A 19 A 2 EtherCAT Terminology A 2 EtherCAT Terminology Use the following list of EtherCAT terms for reference Term object object dictionary service data object index subindex process data process data object Receive PDO Transmit PDO sync manager distributed clock device profile fieldbus memory management unit physical device internal interface CAN in Automation CAN application protocol over EtherCAT EEPROM EtherCAT Technology Group EtherCAT slave controller EtherCAT state machine EtherCAT slave information Abbrevia tion SDO RxPDO TxPDO J op FMMU CiA CoE EEPROM ETG ESC ESM ESI Description Abstract representation of a particular component within a device which consists of data parameters and methods Data structure addressed by Index and Subindex that contains description of data type objects communication objects and application objects CoE asynchronous mailbox communications where all objects in the object dictionary can be read and written Address of an object within an application process Sub address of an object within the object dictionary Collection of application objects designated to be transferred cycl
52. Position Setting Unit Selection 3520 hex 9 36 Reverse External Torque Limit 3526 hex 9 37 Stop Selection for Drive Prohibition Input 39905 DX aoar a ota uis E adc deinen cdeatise 9 33 Torque Limit Selection 3521 hex 9 36 Undervoltage Error Selection 3508 hex 9 34 external device monitor EDM output signal 8 3 external encoder connection of external encoder input signals 3 24 example of connection ueesuees 3 25 INPUE smhalteble s ariana oae eati d Recte 3 24 External Encoder Connector 3 74 external encoder connector specifications CN4 3 23 External Feedback Pulse Dividing Ratio Setting 6 16 External Latch Input Signals EXTT EXT2 and EXT3 idus sue iussis ted pde xc 3 18 External Regeneration Resistor 4 43 COMBINING eid ette dete sectio pieuato ted desea ue aid 4 45 CODO CUP seudesuasenusobdtut bane usc ous R dod dod us 4 44 GIMGNSIONS ze de pote our lenc ona esr koc ese 2 50 rode NSU eda ooc odia teach aiio oos ie Pies ete uod 2 19 SDECIIGAUOMS asic e NC S 3 80 External Regeneration Resistor connector specifications CNC eeeeeeeeeses 3 10 4 13 External Regeneration Resistor connector specifications OIND uiuo oa Dee iuec Eoi tees 4 15 External Torque Limit Input NCL 3 19 F feed forward function
53. R88D KLI a D R88M Kl Wiring Servo Drive side Servomotor side sees Symbol e a a 2 gt B Brake NC Beka es ee oR San Ed D Phase U_ gt Backs 25 _ mra LLL 6 8 M4 crimp terminal Lee pas m 2 2 a mm x 4C 0 5mm x2C fServomotor side connector AWG14 x 4C AWG20 x 2C Right angle plug model N MS3108B24 115 Japan Aviation Electronics Cable clamp model N MS3057 16A Japan Aviation Electronics OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 64 suoneoyioodg Specifications 3 4 Cable and Connector Specifications 3 65 R88A CAGDL IBR E Cable types For 3 000 r min Servomotors of 3 to 5 kW 2 000 r min Servomotors of 3 to 5 kW 1 000 r min servomotors of 2 to 3 kW Outer diameter of Model Length L ERAIN R88A CAGD001 5BR E 1 5m R88A CAGD003BR E 3m R88A CAGDOO5BR E 5m 13 5 dia R88A CAGDO10BR E 10m R88A CAGDO15BR E 15m R88A CAGDO20BR E 20m Connection configuration and external dimensions 150 L Servo Drive side R88D KO lt Servomotor side R88M KL Wiring Servo Drive side Servomotor side ys a ge ee coe Cee Black 6 0 5 B Brake Baa enjoy NC Black2 4 D Phase U_ oe 3 21m So Green Yellow 4 NE M4 crimp terminal 4 mm x 4C 0 5 mm x 2C Or AWG11 x 4C AWG20 x2C Right angle plug model N MS3108B24 115 Japan Aviatio
54. R88D KN30H ECT R KN50H ECT R Ground to 100 Q NN O or less Regeneration Resistor PNE X 37 ALM 24 VDC User side control device Control cables RST 3 phase 200 to 230 VAC 50 60 Hz NFB Main circuit contactor 1 Main circuit power supply anc OFF ON 1MC 2MC 4 EF Imp E eec oe Surge suppressor 1 X 1MC 2MC X Servo alarm display OMNUC G5 series AC Servo Drive Quo OMNUC G5 series NB AC Servomotor L2C Power cables 4 d 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 O36 ALMCOM A 24 VDC Pu 3 There is no polarity on the brakes BKIR 11 0 XB 2 t7 4 The Regeneration Resistor built in type 2 KN30H ECT R and KN50H ECT R BKIRCOM 10 connects B2 and B3 When the amount of regeneration is large remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2 4 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring R88D KNO6F ECT R KN10F ECT R KN15F ECT R KN20F ECT R RST 3 phase 380 to 480 VAC 50 60Hz Ns Ned NFB Main circuit contactor 1 gga Main circuit power supply anc OFF ON 1MC 2MC p aie RO uc Sur
55. S E OMNUC G5 Series Servo Drives provide a realtime autotuning function With this function gain adjustments can be made easily even by those using a servo system for the first time If you cannot obtain the desired responsiveness with autotuning use manual tuning Purpose of the Gain Adjustment The Servo Drive must operate the motor in response to commands from the host system with minimal time delay and maximum reliability The gain is adjusted to bring the actual operation of the motor as close as possible to the operation specified by the commands and to maximize the performance of the machine Example Ball screw Gain setting Low Gain setting High Gain setting High feed forward setting r min 2000 2000 0 0 125 250 375 0 0 125 250 375 0 0 125 250 375 Position loop gain 3 0 Position loop gain 251 0 Position loop gain 251 0 Speed loop gain 2 5 Speed loop gain 140 0 Speed loop gain 180 0 Speed loop integral time constant 190 0 Speed loop integral time constant 6 0 Speed loop integral time constant 6 0 Speed feed forward 30 Speed feed forward 30 Speed feed forward 100 Inertia ratio 300 Inertia ratio 300 Inertia ratio 300 Gain Adjustment Methods page Realtime autotuning Realtime autotuning estimates the load inertia of the machine in AUOmaNG realtime and automatically sets the optimal gain according to the page 11 6 adjustment i nM estimated load inertia Manual tuning Manual adjustment is perform
56. Sank 100 W 100 V 10 S 100 W 200 V gt eus E JS 200 W el TRE 400 W IT 750W 1 0 1 115 100 150 200 250 300 Torque 96 Time s 200 V 3 000 r min Servomotors 1 0 kW to 1 5 kW 2 000 r min Servomotors 1 000 r min Servomotors 400 V 3 000 r min Servomotors 2 000 r min Servomotors 1 000 r min Servomotors 100 150 200 250 300 Torque 96 When the torque command 0 and a constant torque command is continuously applied after 3 or more times the overload time constant has elapsed the overload time t s is t s Overload time constant s x log amp 1 Overload level 7o Torque command 2 The overload time constant s depends on the motor The standard overload level is 115 3 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 3 3 Servomotor Specifications The following OMNUC G5 Series AC Servomotors are available 3 000 r min Servomotors 2 000 r min Servomotors 1 000 r min Servomotors There are various options available such as models with brakes or different shaft types oelect a Servomotor based on the mechanical system s load conditions and the installation environment General Specifications 3 1 000 r min Servomotors 3 000 r min Servomotors Item 2 000 r min Servomotors
57. Servo ON OFF Error status Normal Error ON gt lt 0 5 to 5 ms ON Motor power supply Power sup supply No power supply OFF Dynamic brake relay DB engaged DB Released ON OFF Servo ready ON output READY SEE READY ON OFF Normal Error When object 3438 hex set value comes earlier Motor rotation speed A Error Output ALM i ec ea a a ea aac hme acannon Eu Iun ec a e rerit Iove Value set in 3439 hex gt _ lt 3438 hex Brake interlock ON est Brake held 9 requ When object 3439 hex set value comes earlier Motor rotation speed B ia em uten ed s ues tuens e eon en a un ee cin Starnes epee e Nune Moana Geant a even ena rc editae fee iE eni Value set on 3439 hex BKIR lt Brake interlock output BKIR 2 Release request Brake held 1 The operation of the dynamic brake when there is an error depends on the setting of the Fault reaction option code 605E hex 2 The Brake Interlock Output BKIR signal is output either when a release request command is received via Servo controls or when a release request command is received via EtherCAT communications The above example shows when there is no brake release request from EtherCAT communications The BKIR signal is assigned to the general purpose output CN1 3 t1 is the period until the value becomes lower than the set value on the Brake Timing During Operation 3438 hex or the Brake Threshol
58. Set the Speed Feed forward Command Filter 3111 hex oet it to approx 50 0 5 ms 2 Adjust the Speed Feed forward Gain 3110 hex Gradually increase the value of the Speed Feed forward Gain 3110 hex and finely adjust it to avoid overshooting during acceleration deceleration If the speed feed forward gain is set to 100 the position error is calculated at 0 However large overshooting will occur during acceleration deceleration The position error during an operation at a certain speed will decrease based on the following formula according to the speed feed forward gain value Position error command units Command speed command units s Position loop gain 1 s x 100 Speed feed forward gain 100 Position error Speed FF gain 50 ASOS S x Motor speed The position error in the range of constant speed becomes smaller as the speed feed forward gain increases la Precautions for Correct Use If the updating cycle of the position command input is longer than the Servo Drive control cycle or if the input command frequency is not uniform the operating noise may increase while the speed feed forward is enabled Apply the position command filter first order lag or FIR smoothing or increase the speed feed forward filter setting OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 30 suornounJ jueunsn py Adjustment Functions 11 11 F
59. V Wow eme Tightening N m 20 torque l Frame ground Wiresize AWG14 AWG12 FG Eig M torque 1 The first value is for single phase input power and the second value is for 3 phase input power 2 Connect an OMRON power cable to the motor connection terminals 3 Use the same wire size for B1 and B2 4 18 uDisoq uiejs g System Design 4 2 Wiring 400 VAC Input Drive Wire Sizes R88D KN_ L F ECT R Model R88D KNOGF KN10F KN15F KN20F KN30F KN5OF Tes Unit ECT R ECT R ECT R ECT R ECT R ECT R Main circuit Rated power current inou Supply npt Wiresize Sion AWG14 AWG12 L1 and L3 or L1 L2 E size M5 and L3 torque Control Wire size size AWG20 to 24 AWG18 circuit S M5 m ee L I supply input Tightening L1 G and torque N m 2 0 L2C Motor Rated connection current t Wire size AWG14 AWG12 ma gene PLN Screw size M5 mE 20 torque 1 Use the same wire sizes for B1 and B2 2 Connect an OMRON power cable to the motor connection terminals f Wire Sizes and Allowable Current Reference The following table shows the allowable current when there are 3 power supply wires Use a current below these specified values 600 V Heat resistant Vinyl Wire HIV Conductive Allowable current A for ambient resistance temperature on src s z I s 4 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in Ethe
60. a logic setting error was detected There is an undefined number specification in the input signal IN5 ING IN7 and IN8 function allocations Alternatively a logic setting error was detected There is an undefined number specification in the output signal OUTM1 function allocation There is an undefined number specification in the output signal OUTM2 function allocation There is an error in the latch input function allocation e The function was allocated to input signals other than IN5 IN6 or IN7 he function was allocated to NC The function was not allocated for all control modes The Servomotor exceeded the allowable operating range set in the Overrun Limit Setting 3514 hex with respect to the position command input range The gain is not appropriate The set value of object 3514 hex is too small Data in the Object Save Area was corrupted when the power supply was turned ON and data was read from the EEPROM EEPROM write verification data was corrupted when the power supply was turned ON and data was read from the EEPROM Measures Allocate the functions to the connector pins correctly Check the gains the balance between position loop gain and speed loop gain and the inertia ratio Increase the set value of object 3514 hex Alternatively set object 3514 hex to 0 to disable the protection function Reset all of the objects If this error occurs repeatedly the Serv
61. malfunctions Vibration occurs due to low Check to see if the vibration If the frequency is 100 Hz mechanical rigidity frequency is 100 Hz or lower or lower set the correct damping frequency for the damping filter to eliminate the vibration Vibration occurs due to Check to see if the resonance If the resonance machine resonance frequency is high or low frequency is high set the adaptive filter to eliminate the resonance Alternatively measure the resonance frequency and set Notch Filter 1 and 2 There is a problem with the Check for noise or vibration Check to see if the bearings around the bearings bearings are mounted properly and adjust them if necessary The gain is wrong Check if manual tuning can achieve proper adjustment The Speed Feedback Filter Check the set value of object Return the setting to the Time Constant 1 3103 hex 3103 hex Normally set O default value of O is wrong Alternatively set a large value and operate the Servomotor The Torque Command Filter Review the set value of object Set a larger value for Time Constant 1 3104 hex 3104 hex object 3104 hex to does not match the load eliminate the vibration OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 28 ooueuoj ure y pue Burjioousoe qnou Troubleshooting and Maintenance 12 4 Troubleshooting Symptom The Servomotor or the load generates abnorm
62. power cable correctly Input the correct power and voltage for the main circuit e Turn ON POT and NOT Input 24 VIN to CN1 Set the maximum torque to be used for each of these objects Replace the Servo Drive OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 4 Troubleshooting Symptom Probable cause Itemstocheck Measures The servo locks but the The host controller does not For a position command Enter position and speed Servomotor does not give a command check to see if the speed and data Start the rotate position are set to O Servomotor It is hard to determine if the Check to see it the speed Check the speed Servomotor is rotating command given by the host command from the host controller is too small controller The holding brake is Check the brake interlock Check to see if the operating output BKIR signal and the holding brake on a 24 VDC power supply Servomotor with brake is released when the servo is locked The torque limits setin the Check to see if the torque Set the maximum torque Positive torque limit value limits in objects GOEO hex and to be used for each of 60E0 hex and the Negative 60E1 hex are set to a value these objects torque limit value GOE1 hex close to O are too small The Servo Drive has broken ERN Replace the Servo Drive down The Forward or Reverse Check the ON OFF state of e Turn ON the POT and
63. setting attribute 4 bytes INT32 Aces RW PDO map Not possible Set the positioning completion range to output Positioning Completion Output 2 INP2 The Positioning Completion Output 2 INP2 is not affected by the position commands It is ON as long as the position error is below the set value The setting unit is command units It can be changed to encoder units by the Position Setting Unit Selection 3520 hex However note that the unit for the Following error window 6065 hex will change as well OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 6 Extended Objects 9 6 Extended Objects 3504 hex Drive Prohibition Input Selection Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO map map Not possible Set the operation of the Forward Drive Prohibition Input POT and the Reverse Drive Prohibition Input NOT Refer to 7 2 Forward and Reverse Drive Prohibition Functions on page 7 6 Explanation of Set Values Su Explanation value 0 An error will occur if both the forward and reverse drive prohibition inputs are open at the same time 1 Forward drive prohibition input and reverse drive prohibition input disabled 2 An error will occur if either the forward or the reverse drive prohibition input is open Install limit switches at both ends of the axis to prohibit the motor from traveling in the direction where one of the swit
64. soo7sw mesw wowor Ambient operating 0 to 40 C 20 to 85 with no condensation o temperature and operating m humidity Storage ambient 20 to 65 C 20 to 85 with no condensation temperature and humidity Maximum temperature 80 C for 72 hours 0 r Operating and storage No corrosive gases Oo atmosphere 1 Acceleration of 49 m s 24 5 m s max in X Y and Z directions when the motor is stopped Vibration resistance Impact resistance Acceleration of 98 m s max 3 times each in X Y and Z directions Insulation resistance Between power terminal and FG terminal 20 MQ min at 500 VDC Dielectric strength 1 500 VAC between power terminal and FG terminal for 1 min voltage 100 V 200 V 1 800 VAC between power terminal and FG terminal for 1 min voltage 400 V 1 000 VAC between brake terminal and FG terminal for 1 min Protective structure IP67 except for through shaft parts and motor and encoder connector pins EC EMC EN 55011 class A group 1 Directives Directive TEN 61000 6 2 IEC 61800 3 and IEC 61326 3 1 Low EN 60034 1 5 Voltage Directive UL standards UL1004 1 CSA standards CSA22 2 No 100 1 The amplitude may be increased by machine resonance As a guideline do not exceed 80 of the specified value Note 1 Do not use the cable when it is laying in oil or water Note 2 Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself Internati
65. varistor voltage 270 V The surge voltage at power shutoff is 200 VAC systems varistor voltage 470 V approx 1 5 times the varistor voltage ES Capacitor The capacitor plus resistor combination is Okaya Electric Industries Co Ltd resistor used to absorb vibration in the surge at XEB12002 0 2 uF 120 power supply shutoff XEB12003 0 3 uF 120 Q The reset time can be shortened by selecting the appropriate capacitance and resistance Thyristors and varistors are made by the following manufacturers Refer to manufacturer s documentation for details on these components Thyristors Ishizuka Electronics Co Varistor Ishizuka Electronics Co Panasonic Corporation i Contactors Select contactors based on the circuit s inrush current and the maximum momentary phase current The drive inrush current is covered in the preceding explanation of no fuse breaker selection And the maximum momentary phase current is approx twice the rated current uDisoq uiejs g OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 34 System Design 4 3 Wiring Conforming to EMC Directives 4 35 I Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder s noise resistance Always use the specified encoder cables If cables are joined midway be sure to use connectors And do not remove more than 50 mm of the cable ins
66. while driving with fully closed control and check the changes in the response If the response improves find the combination of 3634 hex and 3635 hex that result in the optimal response by adjusting them la Precautions for Correct Use This function is effective when the amount of torsion between the motor shaft and the load is large It may be less effective when the amount of torsion is small OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 28 suonounJ 1ueuunsn py Adjustment Functions 11 11 Feed forward Function 11 11 Feed forward Function The feed forward function come in 2 types speed feed forward and torque feed forward The speed feed forward can minimize the position error and increase the responsiveness during position or fully closed control Responsiveness is improved by adding the speed feed forward value calculated from the internal position command and related objects 3110 hex and 3111 hex to the speed command calculated by comparing the internal position command and the position feedback If the Velocity offset 60B1 hex is set both the set value and the speed feed forward valued are added to the Control effort GOFA hex The torque feed forward can increase the responsiveness of the speed control system Responsiveness is improved by adding the torque feed forward value calculated from the Control effort GOFA hex and related objects 3112 hex and
67. 0 to 6400 Unit 0 01 ms Default ale setting attribute 2 bytes INT16 Access RW PDO map Not possible Set the time constant for the first order lag filter inserted into the feed forward Setting the filter may improve operation if soeed overshooting occurs or the noise during operation is large when the feed forward is set high Refer to 11 11 Feed forward Function on page 11 29 Torque Feed forward Gain 0 to 1000 Unit 0 1 Peau Data setting attribute Set the feed forward gain in torque control Increasing the set a decreases the position error Not possible and increases the responsiveness Overshooting however will occur more easily Refer to 11 11 Feed forward Function on page 11 29 Torque Feed forward Command Filter 0 to 6400 Unit 0 01 ms Default Data setting attribute Access 2 bytes INT16 is large when the feed forward is set high Refer to 11 11 Feed forward Function on page 11 29 Gain Switching Input Operating Mode Selection Aces RW PDO map Not possible Set the time constant for the first order lag filter inserted into the feed forward Setting the filter may improve operation if speed overshooting occurs or the noise during operation Default Data Access 2 bytes INT16 Select either PI P operation switching or gain 1 gain 2 switching The PI P operation switching is performed with the Speed Loop PI P Control command in EtherCAT communications Ace
68. 1 a momentary power interruption occurred between L1 and L3 for longer than the value specified for the Momentary Hold Time 3509 hex Alternatively the voltage between the positive and negative terminals in the main power supply converter dropped below the specified value while the servo was ON The power supply voltage is low A momentary power interruption occurred A momentary power interruption occurred Insufficient power supply capacity the power supply voltage dropped because there was inrush current when the main power supply was turned ON Phase failure a Servo Drive with 3 phase input specifications was operated with single phase power supply The Servo Drive is faulty circuit fault 12 4 Troubleshooting Measures Measure the voltage between the connector L1 L2 and L3 lines Increase the power supply voltage Change the power supply Eliminate the cause of the failure of the electromagnetic contactor on the main circuit power supply and then turn ON the power again Check the setting of the Momentary Hold Time 3509 hex Set each phase of the power supply correctly Increase the power supply capacity Refer to Servo Drive Model Table on page 2 5 for information on the power supply capacity Connect each phase L1 L2 and L3 of the power supply correctly Use L1 and L3 for single phase 100 V and single phase 200 V Replace the Servo Drive 12 14 ooueuojure y pue Bur
69. 1 6 Nem M5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications R88D KNO6F ECT R KN10F ECT R KN15F ECT R KN20F ECT R Main Circuit Connector Specifications CNA Main circuit power supply R88D KNL F ECT R 600 W to 1 5 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz L2 L3 Motor Connector Specifications CNB Motor connection Phase U These are the output terminals to the Servomotor Be sure to wire them correctly Phase V Phase W terminals Control Circuit Connector Specifications CNC 24V Control circuit power 24 VDC 15 OV supply input External Regeneration Resistor Connector Specifications CND B1 External Regeneration Normally B2 and B3 are connected B2 Resistor connection If there is high regenerative energy remove the short circuit bar terminals between B2 and B3 and connect an External Regeneration B3 Resistor between B1 and B2 NC Do not connect 3 10 suoneoyioodg Specifications 3 1 Servo Drive Specifications R88D KN30F ECT R R88D KN50F ECT R Main Circuit Terminal Block Specifications TB1 24V Control circuit power 24 VDC 15 OV supply input Main Circuit Terminal Block Specifications TB2 L1 Main circuit power supply R88D KNLIF ECT R 3 to 5 kW
70. 1 A max 30 VDC 0 1 A max minimum current 1 mA Operating temperature 150 C 5 NC contact Rated output resistive load 125 VAC 0 1 A max 30 VDC 0 1 A max minimum current 1 mA Operating temperature 170 C 7 C NC contact Rated output 250 VAC 3 A max Operating temperature 150 C 5 NC contact Rated output resistive load 250 VAC 0 2 A max 42 VDC 0 2 A max minimum current 1 mA Operating temperature 200 C 7 C NC contact Rated output 250 VAC 0 2 A max 42 VDC 0 2 A max minimum current 1 mA OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 4 Regenerative Energy Absorption Connecting an External Regeneration Resistor R88D KNASL ECT R KNO1L ECT R KNO2L ECT R KN01H ECT R R88D KNO2H ECT R KNOAH ECT R Normally B2 and B3 are open If an External Regeneration Resistor is necessary connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below servo Drive Seer Thermal switch output External Regeneration Resistor la Precautions for Correct Use Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence usi
71. 1372 1372 braking Allowable total work 1 5x108 2 9x108 2 9x108 Allowable angular rad s 10 000 acceleration Brake limit mM 10 million times min Insulation class EE Type F 1 These are the values when the motor is combined with a drive at normal temperature 20 C 6596 The momentary maximum torque indicates the standard value 2 Applicable load inertia The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible f the dynamic brake is activated frequently with high load inertia the Dynamic Brake Resistor may burn Do not repeatedly turn the servo ON OFF while the dynamic brake is enabled 3 The allowable radial and thrust loads are the values determined for a limit of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Model R88M Brake specifications Rada load Thrust load hole Shaft center LR 2 4 This is a non excitation brake It is released when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd 6 Direct current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation T Direct current s
72. 20 bits rotation T irotan Phi p Ball screw Ball screw pitch 10 mm Encoder Output Pulses per Motor Rotation 3324 hex ye encoder 20 bits 1 048 576 resolution 0 1 jum External Encoder Output Pulse per Motor Rotation 3325 hex 10 mm 0 1 um pulse 100 000 pulses Object 3324 hex Encoder resolution per motor rotation pulses _ 1048576 Object 3325 hex External encoder resolution per motor rotation pulses 100000 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 16 Old eAug Drive Profile 6 6 Fully closed Control Hybrid Error Setting 3328 Hex 3329 Hex The difference between the encoder position and external encoder position is detected and if the difference exceeds the value of Hybrid Following Error Counter Overflow Level 3328 hex an error occurs Hybrid Following Set the allowable difference 1 to 227 Command Error Counter hybrid error between the units 3328 hex Overflow Level encoder detected position and external encoder detected position in command units Hybrid Following The hybrid error becomes 0 every 0 to 100 Rotations Error Counter Reset time the motor rotates by the set 3329 hex value If the set value is 0 the hybrid error is not cleared 3329 Hex Hybrid Following Error Counter Reset The hybrid error is cleared every time the motor rotates by the amount set in object 3329 hex This func
73. 200 W T 200 W Included ingle phase 3 400 W phase 750 W 200 VAC 1 kW 1 5 kW 3 phase 3 kW 200 VAC Included 5 kW Included 3 phase 1 5 kW Included 12 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Revision History Revision History The manual revision code is a number appended to the end of the catalog number found in the bottom left hand corner of the front or back cover Example Cat No 1573 E1 02 7 Revision code Revision Revised content code 01 March 2010 Original production 02 October 2010 Added models and made corrections OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 13 Structure of This Document Structure of This Document This manual consists of the following chapters Read the necessary chapter or chapters referring the following table Chapter1 Features and System Configuration Chapter 2 Standard Models and External Dimensions Chapter 3 Specifications Chapter4 System Design Chapter 5 EtherCAT Communications Chapter 6 CiA 402 Drive Profile Chapter 7 Applied Functions Chapter 8 Safety Function Chapter 9 Details on Servo Parameters and Objects Chapter 10 Operation Chapter 11 Adjustment Functions Chapter 12 Troubleshooting and Maintenance Appendix Outline This chapter explains the features of the Servo Drive name of each pa
74. 25 0 The recommended divider setting is 1 40 x External Feedback Pulse Ratio x 160 If the ratio is set too small control to the unit of 1 external feedback pulse may be disabled On the other hand if the external feedback pulse ratio is increased operating noise may increase EN Reference In the example below ball screw pitch is 10 mm encoder is 0 1 um pulse and encoder resolution is 20 bits or 1 048 576 pulses 3324 hex Encoder resolution per motor rotation pulses 1 048 576 3325 hex External encoder resolution per motor rotation pulses 100 000 3326 hex External Feedback Pulse Direction Switching csp full Setting Default Data Size 2 bytes INT16 Aces RW PDOmap PDO map _ map Not possible The direction of external encoder feedback count can be reversed Refer to 6 6 Fully closed Control on page 6 12 Explanation of Set Values Sex Description value 0 External encoder feedback pulse count direction not reversed 1 External encoder feedback pulse count direction reversed OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 22 sjoe qo 1ojeuieJeg oAJ8eG uo s rejeg Details on Servo Parameter Objects 9 4 Analog Control Objects 3327 hex External Feedback Pulse Phase Z Setting esp full esp full Setting Default Data Size 2 bytes INT16 Access RW PDO map_ PDO map map Not possible Set to enable or disable phase Z discon
75. 3 000 r min Servomotors of 50 to 750 W Model Length L guter diameter of R88A CAKA001 5SR E 1 5m R88A CAKA003SR E R88A CAKAO05SR E R88A CAKA010SR E 10m R88A CAKA015SR E 15m R88A CAKA020SR E 20m 6 7 dia suoneoyioodg a o zi Connection configuration and external dimensions 50 L Servo Drive side e Servomotor side R88D KO EN do R88M KO iim d Wiring Servo Drive side Servomotor side T Servomotor side connector Angle plug model Cable JN8FT04SJ1 Japan Aviation Electronics 0 5 mm x 4C or AWG20 x 4C M4 crimp terminal Connector pin model ST TMH S C1B 3500 A534G Japan Aviation Electronics Note For servomotors with brake a separate cable R88A CAKAL I II IBR E is needed OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 60 Specifications 3 4 Cable and Connector Specifications R88A CAGBI SR E Cable types 200 V For 3 000 r min Servomotors of 1 to 2 kW 2 000 r min Servomotors of 1 to 2 kW 1 000 r min Servomotors of 900 W 400 V For 3 000 r min Servomotors of 750W to 2 kW 2 000 r min Servomotors of 400 W to 2 kW 1 000 r min Servomotors of 900 W Outer diameter of Model Length L sheath R88A CAGB001 5SR E 1 5 m R88A CAGB003SR E 3m R88A CAGBO05SR E 5m 12 7 dia R88A CAGB010SR E 10m R88A CAGB015SR E 15m R88A CAGBO20SR E 20m Connection configuration and external dimensions 70 L
76. 3101 hex 3102 hex 3103 hex 3104 hex 3105 hex 3106 hex 3107 hex 3108 hex 3109 hex 3110 hex 3111 hex 3112 hex 3113 hex 3114 hex 3115 hex 3116 hex 3117 hex 3118 hex 3119 hex 3607 hex 3608 hex 3609 hex 3610 hex 0 3610 hex 1 3623 hex 3624 hex 11 3 Realtime Autotuning AT Machine Rigidity Setting 3003 hex 24 25 26 27 28 29 30 31 Estimated load inertia ratio ntl n Speed Feedback Filter Time 0 Constant 1 Torque Pormang Filter Time 7 7 5 5 Constant 1 xe Loop Integral Time Constant 49 99149900 10000110000 10000110000 10000 10000 Speed Feedback Filter Time 0 Constant 2 Torque Command Filter Time Speed Feed f dC d EASENXESZEBEEESE Torque Feed forward Gain Torque Feed forward Command 0 Filter Gain Switching Input Operating Mode Selection Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 Switching mode in Position Control Gain Switching Delay Time in 30 30 30 30 30 30 30 30 Position Control Gain Switching Level in Position 50 50 50 50 50 50 50 50 Control Gain Switching Hysteresis in 33 33 33 33 33 33 33 33 Position Control 33 Torque Command Value Offset Estimated if object 3002 hex 3 Forward Direction Torque Offset Estimated if object 3002 hex 4 Reverse Direction Torque Offset Estimated if object 3002 hex 4 Function Expansion Setting Disturbance Torque Compensation Gain Disturbance Obser
77. 3113 hex to the torque command calculated by comparing the Control effort GOFA hex and the speed feedback If the Torque offset 60B2 hex is set both the set value and the torque feed forward valued are added to the torque command Objects Requiring Settings Index 3110 hex 3111 hex 3112 hex 3113 hex 60B1 hex 60B2 hex 11 29 The speed command from position control processing is added to the product of the Control effort GOFA hex that is calculated from the internal position command times the ratio in this object Speed Feed forward Set the time constant for the first order lag filter that age 9 10 Command Filter is applied to speed feed forward input pag The torque command from speed control Torque Feed forward Gain processing is added to the product of the Control page 9 10 Speed Feed forward Gain page 9 9 effort GOFA hex times the ratio in this object Torque Feed forward Set the time constant for the first order lag filter that aae 9 10 Command Filter is applied to torque feed forward input pag Set the offset for the speed command dadi i It will be added to the Control effort 60FA hex Page ore Set the offset for the torque command ed It will be added to the torque command value page peto OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 11 Feed forward Function Operating Procedure Speed Feed forward Operating Method 1
78. 5 External Regeneration Resistor Specifications 3 80 External Regeneration Resistor Specifications essen 3 80 3 6 EMC Filter Specifications svaine car ccc ice ice ic caes 3 82 Chapter 4 System Design 4 r ANSTANAUOM SON GIONS cedem ct cod elei n eren pce edu fer odd e n be ater 4 1 Servo Drive Installation CONCILIONS ccccccccececeeeceeeceeeseeeceeeeaeeeseeeseeeeseeeseeeseeeeaees 4 1 Servomotor Installation Conditions eeessessseeseesseeneeennnne nnne 4 2 Decelerator Installation Conditions sees 4 5 S MM iig eR TU 4 6 Peripheral Equipment Connection Examples cccccccceecceeeeeeeseeeeeeseeeseeeeseeeseeees 4 6 Main Circuit and Motor Connections cccccccceccceeceeeeeeeeecaeeeaeeeseeseeeeaeeeseeeseeeseeees 4 12 4 3 Wiring Conforming to EMC Directives eeeeeeeeeeeeeeeseee 4 21 baden 4 21 Selecting Connection Component cccccscccsseceeeceeeeceeeceeeceeeecueecueeseeeeseeesaeenaeeess 4 26 4 4 Regenerative Energy ADSOPption ccccccccecceeeseeeceeeeeeeeeeeeeeaeeeeeeees 4 40 Calculating the Regenerative Energy ccccscccscccssecssceceeecseeceueceusecseeseeeceesssaeeaas 4 40 servo Drive Regeneration Absorption Capacity ccccccccecccseeeeeeeeeeeseeeeeeeseeeseeeees 4 42 Regenerative Energy Absorption with an External Regenera
79. 5 Interface Monitor Settings 3406 hex Setting range Size 3407 hex Setting range Size 3410 hex Setting range Size 3411 hex Setting range Size 9 25 Sequence I O Signals on page 7 1 Input Signal Selection 7 0 to OOFF FFFF hex Unit eeu i dia C setting hex attribute 4 bytes INT32 PDO map Not possible Set the function and logic for general purpose input 7 IN7 Refer to the Details of Control Inputs in Control Input Details on page 3 17 as well as 7 1 Sequence I O Signals on page 7 1 Input Signal Selection 8 0 to OOFF FFFF hex Unit Default 002E 2E2E Data setting hex attribute 4 bytes INT32 Access RW PDO map Not possible Set the function and logic for general purpose input 8 IN8 Refer to the Details of Control Inputs in Control Input Details on page 3 17 as well as 7 1 Sequence I O Signals on page 7 1 Output Signal Selection 1 Al 0 to OOFE FFFF hex Unit Default 0003 0303 Data setting hex attribute 4 bytes INT32 Access RW PDO map Not possible Set the function assignment for general purpose output 1 OUTM1 Refer to the Details of Control Inputs in Control Output Details on page 3 20 as well as 7 1 Sequence I O Signals on page 7 1 Output Signal Selection 2 0 to OOFF FFFF hex Unit Default 0002 0202 Data setting hex attribute 4 bytes INT32 Access RW PDO map Not possible Set the function assignment for general purpose output 2 OUTM2 R
80. 70 195 Mounting dimensions Oc 3U0 ado 00 5 2 25 6 c Rectangular 2 hole g lene R2 6 5 2 17 5 50 o o0 265 50 96 Rectangular hole dimensions are reference values 2 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 3 phase 400 VAC R88D KN30F ECT R KN50F ECT R 3 to 5 kW Wall Mounting External dimensions Mounting dimensions 240 q 1 u13 x4 pue sjopo w Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 130 100 SUOISU9UII 214 50_ s Rectangular hole 228 240 250 Rectangular hole dimensions are reference values OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 30 Models and External Dimensions 2 4 External and Mounting Dimensions Servomotor Dimensions In this description the Servomotors are grouped by
81. Access Access RW PDO map Not possible Set the notch frequency of resonance suppression notch filter 2 The notch filter function is disabled if this object is set to 5000 Refer to 11 7 Notch Filters on page 11 21 3205 hex Notch 2 Width Setting Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO map map Not possible Select the notch width of resonance suppression notch filter 2 Increasing the setting value widens the notch width Normally use the default set value Refer to 11 7 Notch Filters on page 11 21 3206 hex Notch 2 Depth Setting Setting Default Data Size 2 bytes INT16 Access Aces RW PDO map Not possible Set the notch depth of resonance suppression notch filter 2 Increasing the setting value shortens the notch depth and the phase lag Refer to 11 7 Notch Filters on page 11 21 3207 hex Notch 3 Frequency Setting seni 50 to 5000 Unit peau 5000 eee range setting attribute Size 2 bytes INT16 Access PDO map Not possible Set the notch frequency of resonance suppression Lm filter 3 The notch filter function is disabled if this object is set to 5000 While the adaptive filter is enabled the resonance frequency 1 that is assumed by the adaptive filter is automatically set If no resonance point is found the value 5000 is set Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3208 hex Notch 3 Width Se
82. Approx 8 0 Approx 11 0 Approx 15 5 Approx 18 6 ht With brake kg Approx 9 5 Approx 12 6 Approx 18 7 Approx 21 8 Radiator plate dimensions 275x260 xt15 380 x350 xt30 470 x 440 x t30 Al material Al Al Applicable Servo Drives R88D KN20F ECT R KN30F ECT R KNSOF ECT R KN5OF ECT R 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 48 suoneoyioodg 3 3 Servomotor Specifications 400 VAC Model R88M Power consumption W 19 22 31 31 at 20 C Current consumption 0 791096 0 90 10 1 34 10 1 3410 at 20 C Static friction torque Nem i37min 7 min 24 5 min Backlash reference value D NN work per ae 1470 1372 1372 braking Allowable total work Jo 1 5x108 2 2x108 2 9x108 2 9x108 Allowable angular rad s 10 000 acceleration Brake limit mM 10 million times min Insulation class Type F These are the values when the motor is combined with a drive at normal temperature 20 C 6596 The momentary maximum torque indicates the standard value Applicable load inertia The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible If the dynamic brake is activated frequently with high load inertia the Dynamic Brake Res
83. BS2 R88M KAK030H B R88M K4K030H BS2 R88M K4K030T B R88M K4K030T BS2 R88M K5K030H B R88M K5K030H BS2 R88M K5K030T B R88M K5K030T BS2 R88M K75030F B R88M K75030F BS2 R88M K75030C B R88M K75030C BS2 R88M K1KO030F B R88M K1K030F BS2 R88M K1K030C B R88M K1K030C BS2 R88M K1K530F B R88M K1K530F BS2 R88M K1K530C B R88M K1K530C BS2 R88M K2K030F B R88M K2K030F BS2 R88M K2K030C B R88M K2K030C BS2 R88M K3K030F B R88M K3K030F BS2 R88M K3K030C B R88M K3K030C BS2 R88M K4K030F B R88M K4K030F BS2 R88M K4K030C B R88M K4K030C BS2 R88M K5KO030F B R88M K5K030F BS2 R88M K5K030C B R88M K5K030C BS2 Specifications 50 W 100 W 200 W 400 W 50 W 100 W 200 W 400 W 750 W 200 V 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW 750 W 1 kW 1 5 kW 400 V 2 kW 3 kW 4 kW 5 kW Note Models with oil seals are also available O O With brakes 2 7 OMNUC Gs5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Model 2 3 Model Tables 2 000 r min Servomotors ee With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft without key with key and tap without key 400 V Note Models with oil seals are also available OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Straight shaft with key and tap R88M K1K020T S2 R88M K1K520T S2 R88M K2K020T S2 R88M K3K020T S2 R88M K4K020T S2 R88M K5K020T
84. Control mode biu UL e Power supply input 12 to 24 VDC The positive input terminal of the external 6 24 VIN power supply 12 to 24 VDC for sequence inputs 5 IN4 General Immediate These are general purpose inputs The input purpose Input 1 Stop Input functions can be selected with objects External Latch Signals 1 to 3 can be 7 IN2 nili T Aia Drive allocated only to IN5 to IN7 or pins 10 to 12 Benger ee be aaa respectively Refer to 7 1 Sequence I O Input Signals on page 7 1 for the allocations General Reverse Drive 8 IN3 purpose Input 3 Prohibition Input 9 INA General Origin purpose Input 4 Proximity Input c 10 INS General External Latch h purpose Input 5 Signal 3 Q General External Latch e 11 IN6 Oo purpose Input 6 Signal 2 E General External Latch o 12 IN7 purpose Input 7 Signal 1 13 IN8 General Monitor Input 0 purpose Input 8 14 Backup battery input ABS Backup battery connection terminals when the absolute encoder power is interrupted Connection to this terminal is not necessary 15 BATGND if you use the absolute encoder battery cable for backup CN1 Control Outputs num Symbol Control mode 3 ALM Error Output The output turns OFF when an error occurs in the 4 Servo Drive 1 OUTM1 Brake These are general purpose outputs The output Interlock functions can be selected with objects Refer to 7 1 Output Sequence I O Signals on page 7 1 for the allocations
85. Do not use this setting Adaptive result is cleared Objects related to notch filters 3 and 4 are disabled and the E adaptive result is cleared 3201 hex Notch 1 Frequency Setting Setting 50 to 5000 Unit Default 5000 Data range setting attribute Size 2 bytes INT16 Access Aces RW PDO map Not possible Set the frequency of resonance suppression notch filter 1 The notch filter function is disabled if this object is set to 5000 Refer to 11 7 Notch Filters on page 11 21 3202 hex Notch 1 Width Setting Setting Default Data Size 2 bytes INT16 Access RW PDO map Not possible Set the width of resonance suppression notch filter 1 to one of 20 levels Increasing the setting value widens the notch width Normally use the default set value Refer to 11 7 Notch Filters on page 11 21 3203 hex Notch 1 Depth Setting Setting 0 to 99 Unit Default Data range setting attribute Size 2 bytes INT16 Access RW PDOmap PDO map map Not possible Set the notch depth of resonance suppression notch filter 1 Increasing the setting value shortens the notch depth and the phase lag Refer to 11 7 Notch Filters on page 11 21 9 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 3 Vibration Suppression Settings 3204 hex Notch 2 Frequency Setting Setting 50 to 5000 Unit Default 5000 Data range setting attribute Size 2 bytes INT16
86. EtherCAT Communications 2 4 External and Mounting Dimensions 3 phase 400 VAC R88D KNOGF ECT R KN10F ECT R 600 W to 1 0 kW 3 phase 400 VAC R88D KN15F ECT R 1 5 kW Wall Mounting External dimensions Mounting dimensions 70 172 150 Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 70 172 19 5 4 Rectangular hole 158 170 94 Rectangular hole dimensions are reference values OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 28 q 1 u13 x4 pue sjopoy SUOISU9UII mensions Models and External D 2 4 External and Mounting Dimensions I 3 phase 400 VAC R88D KN20F ECT R 2 kW Wall Mounting External dimensions Mounting dimensions 94 4 T0 195 1 8 r F x Ac Em a of vid z P E l Fa Em oh if j E J Ja i r c EE r rs 2cm jd d gt v ESI E E l EN 1 T ER Nu 7 i Y Peo R26 h 9 2 95 2 Front Mounting Using Front Mounting Brackets External dimensions 94 85 50
87. Gain Switching Level in Position i Gain Switching Hysteresis in 33 33 33 33 33 Position Control Torque Command Value Offset Estimated if object 3002 hex 3 Estimated if object 3002 hex 4 Estimated if object 3002 hex 4 Forward Direction Torque Offset Reverse Direction Torque Offset Function Expansion Setting Disturbance Torque Compensation Gain Disturbance Observer Filter Setting hhh 0 1 This is limited to a minimum value of 10 if a 17 bit absolute encoder is used OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Index 3004 hex 3100 hex 3101 hex 3102 hex 3103 hex 3104 hex 3105 hex 3106 hex 3107 hex 3108 hex 3109 hex 3110 hex 3111 hex 3112 hex 3113 hex 3114 hex 3115 hex 3116 hex 3117 hex 3118 hex 3119 hex 3607 hex 3608 hex 3609 hex 3610 hex 0 3610 hex 1 3623 hex 3624 hex 11 3 Realtime Autotuning AT Machine Rigidity Setting 3003 hex Poe je pe pe pe Pee Estimated load inertia ratio Iii mM F 31635 2 3E JE Speed Feedback Filter Time 0 Constant 1 Torque CIMA Filter Time 300 200 200 126 103 84 65 7 Constant 1 SpeedLoop Gain 90 i0 140 180 220 270 350 no Speed Loop Integral Time Constant 2 Loop Integral Time Constant 2 10000 Feedback Filter Time Constant 2 Torque Sommang Filter Time 300 200 200 57 Constant 2 1 Speed Feed forward Command Filter 50 5
88. K2K010C S2 R88M K3K010C S2 R88M K90010T BS2 R88M K2K010T BS2 R88M K3K010T BS2 R88M K90010C BS2 R88M K2K010C BS2 R88M K3K010C BS2 2 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Servo Drive and Servomotor Combination Tables 2 3 Model Tables The tables in this section show the possible combinations of OMNUC G5 series Servo Drives and Servomotors The Servomotors and Servo Drives can only be used in the listed combinations at the end of the motor model number is for options such as the shaft type brake oil seal and key i 3 000 r min Servomotors and Servo Drives Servomotor Voltage Rated output Single phase 50 W 100 V 100 W 200 W 400 W 50 W 100 W 200 W 400 W 750 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW 750 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW Single phase 3 phase 100 V Single phase 3 phase 200 V 3 phase 200 V 3 phase 400 V different capacities OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications With incremental encoder R88M K05030H R88M K10030L R88M K20030L R88M K40030L R88M K05030H R88M K10030H R88M K20030H R88M K40030H R88M K75030H R88M K1K030H R88M K1K530H R88M K2K030H R88M K3K030H R88M K4K030H R88M K5K030H R88M K75030F R88M K1K030F R88M K1K530F R88M K2K030F R88M K3K030F R88M K4K030F R88M K5K030F L1 Ey EL E E
89. Manual with Built in EtherCAT Communications 11 32 suoioun jueunsn py Adjustment Functions 11 12 Instantaneous Speed Observer Function Operating Procedure 11 33 1 Set the Inertia Ratio 3004 hex Set the inertia ratio as correctly as possible If the Inertia Ratio 3004 hex is obtained in realtime auto gain tuning use the set value f the inertia ratio is calculated for the selected motor input the calculated value If the inertia ratio is not known perform autotuning and set the inertia ratio Adjust the position loop gain and speed loop gain Adjust Position Loop Gain 1 3100 hex Speed Loop Gain 1 3101 hex Speed Loop Integral Time Constant 1 3102 hex and Torque Command Filter Time Constant 1 3104 hex If no problem occurs in realtime autotuning you can continue to use the settings Set the Function Expansion Setting 3610 hex oet whether to enable or disable the instantaneous speed observer function in bit O If you set this to 1 enabled the speed detection method switches to instantaneous speed observer f the machine operation noise or vibration increases or fluctuations in the torque monitor waveform increase significant enough to cause a problem return the setting to O and make sure that the inertia ratio or the adjustment objects are correct f the machine operation noise or vibration decreases or fluctuations in the torque monitor waveform decrease make small adjustmen
90. OMNUC G5 series Servo Drive with built in EtherCAT communications is described in this section Servo Drive Application layer Servo drive application Object dictionary Communica SDO mailbox PDO mapping tions status transitions PDO cyclic SyncManager l FMMU EtherCAT data link layer EtherCAT physical layer Normally multiple protocols can be transmitted using EtherCAT The IEC 61800 7 CiA 402 drive profile is used for OMNUC G5 series Servo Drives with Built in EtherCAT Communications The object dictionary in the application layer contains parameters and application data as well as information on the PDO mapping between the process data servo interface and Servo Drive application The process data object PDO consists of objects in the object dictionary that can be mapped to the PDO The contents of the process data are defined by the PDO mapping Process data communications cyclically reads and writes the PDO Mailbox communications SDO uses asynchronous message communications where all objects in the object dictionary can be read and written 5 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 3 EtherCAT State Machine 5 3 EtherCAT State Machine The EtherCAT State Machine ESM of the EtherCAT slave is controlled by the EtherCAT Master Safe Operational Operational J munica ception tions Not Not possible possible Possible mot
91. Prohibition Input 3505 hex to 2 or perform limit processing using the host controller OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 32 sjoe qo JojeuieJeg OMS uo s rejeg Details on Servo Parameter Objects 9 6 Extended Objects 3505 hex Stop Selection for Drive Prohibition Input All Setting 0 to 2 Unit Default Data C range setting attribute Size 2 bytes INT16 Access PDO map Not possible Set the drive conditions during deceleration and after stopping when the Forward or Reverse Drive Prohibition Input is enabled Refer to 7 2 Forward and Reverse Drive Prohibition Functions on page 7 6 Explanation of Set Values Decelerating After stopping Set value of Set value of 3504 hex 3505 hex Deceleration method Operation after stopping Cleared Torque command in drive prohibited direction O Dynamic brake Cleared Torque command in drive prohibited direction O Cleared The torque command and torque limits will be as specified Immediate stop 1 If the Drive Prohibition Input Selection 3504 hex is set to 2 a Drive Prohibition Input Error Error No 38 0 will occur as soon as either the Forward or Reverse Drive Prohibition Input turns ON The subsequent operation conforms not to the set value but to the setting of the Fault reaction option code 605E hex In the same way the Fault reaction option code 605E hex takes priority when
92. Servomotor and the Servo Drive on the nameplates Replace the Servomotor with a Servomotor that matches the Servo Drive e The pulse input timing is the same as or Wait at least 100 ms after the servo has earlier than the servo ON timing been turned ON then input pulses Servo Drive The temperature of the Servo Drive radiator or power elements exceeded the specified value The ambient temperature of the Servo Improve the ambient temperature and Drive exceeded the specified value the cooling conditions of the Servo Drive Increase the capacities of the Servo Drive and the Servomotor Set longer acceleration and deceleration times Reduce the load Troubleshooting and Maintenance Overheat Overload 12 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex T ause The regenerative energy exceeds the processing capacity of the Regeneration Resistor The regenerative energy during deceleration caused by a large load inertia increased the converter voltage and then insufficient energy absorption by the Regeneration Resistor further increased the voltage The Servomotor rotation speed is too high to absorb the regenerative energy within the specified deceleration time The operating limit of the external resistor is limited to a 1096 duty Precautions for Correct Use Overload When the feedback value for torque command exc
93. V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 568 13 00 Fax 31 0 23 568 13 88 www industrial omron eu Cat No 1573 E 1 02 10 10 Note Specifications are subject to change 2010 Omron Electronics LLC
94. Value Cleared ABS 4 2 5 Command Generation Error Operation Command Duplicated Position Data Initialized Error Counter Overflow 1 ABS Y 2 Error Counter Overflow 2 Y Safety Input Error OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 1 1 1 1 7 1 29 30 st 33 12 3 Errors Immediate stop 12 8 ooueuojure y pue Burjioousoe qnou Troubleshooting and Maintenance 12 3 Errors 12 9 gt o o Error No hex l Error detection function Canbe Immediate Main History esel stop pO Drive Prohibition Input Error 1 2 38 Drive Prohibition Input Error 2 T 40 E Pati Encoder System Down ABS E rror Absolute Encoder Counter 42 E c e Encoder Overspeed ABS _ B rror 43 EN Encoder Initialization Error EMEN B Absolute Encoder 1 rotation Absolute Encoder Multi rotation 47 EN Absolute Encoder Status Error ABS pvp 48 eE Encoder Phase Z Error LOW 49 0 Encoder CS Signal Error LX O0 External Encoder Connection Error 50 1 External Encoder Communications Data J B Error O0 External Encoder Status Error 0 83 xw External Encoder Status Error 1 UE MEELIES External Encoder Status Error 2 a ELE External Encoder Status Error 3 ss f External Encoder Status Error 4 X191 External Encoder Status Error 5 2s 0 Phase A Connection Error o4
95. W With oil seal Rated torque ratio With brake Rated torque ratio With brake 90 75 Ambient Ambient temperature temperature 0 10 20 30 40 C 0 10 20 30 40f C e R88M K3K030H T F C 3 kW e R88M K2K030H T F C 2 kW Without brake With brake Without brake With brake Rated torque ratio 96 10096 Rated torque ratio 96 100 f Ambient Ambient 0 10 20 30 Eo een 0 temperature C C e R88M K5K030H T F C B kW Rated torque ratio 96 100 With brake 10 Ambient temperature C 3 43 e R88M K20030L SH T 200 W With oil seal Without brake With brake Rated torque ratio 70 Ambient temperature 0 10 20 30 40 C e R88M K1K530H T F C 1 5 kW Without brake Rated torque ratio 96 With brake 100 85 Ambient temperature 0 10 20 30 401 e R88M K4K030H T F C 4 kW Without brake With brake Rated torque ratio 96 10096 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications I 2 000 r min Servomotors 200 VAC Model R88M K2K020H Item Unit K1K020T K1K520T K2K020T Rated output W 1 000 1 500 2 000 Rated torque Nem 4 77 7 16 9 55 Rated rotation speed r min 2 000 A N Oj pR on I o Maximum rotation speed r min 3 000 Momentary maximum Nem 14 3 28 6 torque 11 5 Rated current rms
96. and Servo Drives User s Manual with Built in EtherCAT Communications 7 26 Applied Functions 7 8 Gain Switching Function Diagrams of Gain Switching Setting 1 27 Switching between Gain 1 3100 to 3104 hex and Gain 2 3105 to 3109 hex occurs at the following timing For the position loop gain switching occurs based on the setting of 3119 hex The details of the gain switching settings vary depending on the control mode used For the details of settings available in each mode refer to Gain Switching on page 7 25 Gain Switching Mode z 2 Gain Switching GSEL Instant switching occurs when a gain switching command is issued from the network Position command GSEL l ee Gain switching instruction Gain 1 Gain 2 Gain 1 Gain Switching Mode z 3 Switching by Command Torque Value If the absolute value of the command torque exceeds the sum of the Gain Switching Level in Position Control 3117 hex plus the Gain Switching Hysteresis in Position Control 3118 hex the gain switches to gain 2 If the absolute value of the command torque exceeds the difference of the Gain Switching Level in Position Control 3117 hex minus the Gain Switching Hysteresis in Position Control 3118 hex for the time specified in the Gain Switching Delay Time in Position Control 3116 hex the gain switches back to gain 1 opeed command Torque command 3116 hex 3116 hex Gain 1 Gain 2 Gain 1 Gain 2 Gain 1 OMNU
97. and items to note regarding various gain adjustments This chapter explains the items to check when problems occur error diagnosis using the error display and measures error diagnosis based on the operating condition and measures and periodic maintenance The appendix provides a list of objects and EtherCAT terminology 14 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Table Of Contents IMEFOGU CON Moe 1 Read and Understand this Manual ccccecceceeeeceeceeeceeeeeeeeeeneeees 2 odiety Precaution ausu sr gender ceo AD Io E a Eben dde DU o MM oeesedans 5 Items to Check after UNDaCkKiING ccccsccseeceeeceseceeecueecuesauecaeesaees 12 FRE VISION uito cT C I 13 structure or This DOoGUiells i icon vade EIE T pui TORO LIN C Ix ov E ea SES 14 Chapter 1 Features and System Configuration Wd SUR RET 1 1 Outline of the OMNUC G5 Series csssssssssse IH HIR Rm emere erre rem eren er iin 1 1 Features of OMNUC G5 series Servo DIivVeS c ccccccccecceceeeeeeeeecececececeaeaeaeaeaeeeeeees 1 1 MARIS IB eia in ACE RR TT E E E EE TAEA AA ET 1 2 ODJECEDICION TRE REESE 1 2 1 2 System Configuration sesseessesssesssesseeenenenen nennen nnne nnns 1 3 1 3 Names and FuncllOlis eie oc exo vacuae eee de uve ELeEa wr Cre Lee cce 1 4 Servo Drive Part NaSITIeS uctor neon dier ore oc ere iv brotes eco tex ocn euet e bevo
98. at 20 C Current consumption at 20 C 2 5 min 4 9 min 80 max x6 Static friction torque Attraction time x5 3 Release time 70 max Backlash 3 o Z a c TE E lt 3 Brake specifications Allowable work per braking Allowable total work Allowable angular rad s acceleration Brake limit 10 million times min Insulation class Type F 3 47 K1K520F K1K520C 1 500 7 16 21 5 4 7 20 6 70x10 4 7 99x10 4 1 16 76 5 64 2 0 66 0 79 10 490 196 Approx 6 7 Approx 8 2 275 x 260 x t15 Al KN15F ECT R 1 35x104 19 0 79 10 13 7 min 100 max 50 max 1176 1 5x108 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 400 VAC Model R88M Item Unit K2K020C K3K020C K4K020C K5K020C Rated output 1 2 000 3 000 4 000 5 000 Rated rotation speed 2 000 Maximum rotation speed 3 000 Momentary maximum N m 28 7 43 0 57 3 71 6 torque Momentary maximum A rms 25 37 45 55 current Rotor Without kgem 8 72x10 12 9x104 37 6x107 48 0x10 inertia brake With brake 10 0x1074 14 2104 38 6x104 48 8x104 Applicable load inertia o 10 times the rotor inertia max Powerrate Without kW s 105 159 97 1 119 i brake Mechanica Without ms 0 68 0 56 0 60 time brake Allowable radial load 490 784 784 784 Allowable thrust load 9 343 343 343 Weig Without brake kg
99. attention must be given i Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this document ii Use in consumer products or any use in significant quantities iii Energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equip ment and installations subject to separate industry or government regulations iv Systems machines and equipment that could present a risk to life or prop erty Please know and observe all prohibitions of use applicable to this Prod uct NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON S PRODUCT IS PROP ERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM Programmable Products Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Performance Data Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitabil ity and does not constitute a warranty It may represent the result of Omron s test conditions and the user must correlate it to actual application require ments Actual performance is subject to the Omron s Warranty and L
100. between B1 and B2 User side control device Control cables OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 6 q waishs uDiso System Design 4 2 Wiring R88D KN0O1H ECT R KNO2H ECT R KNO4H ECT R KNO8H ECT R KN10H ECT R KN15H ECT R 3 phase Input A e p 3 phase 100 to 120 VAC 50 60 Hz R88D KNLILIL ECT R 3 phase 200 to 240 VAC 50 60 Hz R88D KNLILIH ECT R sue ences NFB Main circuit contactor 1 Main circuit power supply wc OFF ON 1MC 2MC 5 4 nu Lm L1 NM RE Em Surge suppressor 1 X 1MC 2MC X Servo error display OMNUC G5 Series AC Servo Drive OMNUC G5 Series AC Servomotor Power cables _ Ground to 100 O or less EB Regeneration 4 6 Resistor EI ae O i ss 24 VDC by OMRON can be used with all O4 ALMCOM G5 series motors with brakes because its pag rated inductive load is 2 A 24 VDC BKIR 10 XB E There is no polarity on the brakes 2 4 Models with a built in Regeneration BKIRCOM 2C Resistor KNO8H ECT R to KN15H ECT R have B2 and B3 connected When the amount of regeneration is large remove the connection between B2 and B3 and connect a Regeneration Resistor between B1 and B2 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay User side control device
101. brake interlock output BKIR turns ON after the set time set value x 1 ms has elapsed Servo ON OFF Brake interlock Released Held BKIR Te a No power Motor power Power supply is supplied supply mene SESS Max 3438 hex or Y 3439 hex set value The time TB in above drawing is either the brake timing during operation i e the set value x 1 ms or the time taken until it goes below the value set in the Brake Threshold Speed During Operation 3439 hex whichever is shorter 9 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 5 Interface Monitor Settings For the operation time refer to 7 5 Brake Interlock on page 7 13 3439 hex Brake Threshold Speed During Operation Seung 30 to 3000 Unit r min ici Paa range setting attribute Size 2 2bytes INT16 INT16 Access Access RW PDO map Not possible the required rotation speed for the Brake Interlock Output BKIR to turn OFF after the servo OFF command is detected while the Servomotor is operating For the operation time refer to 7 5 Brake Interlock on page 7 13 When the 3438 hex set value comes earlier Motor rotation speed 3439 hex set value obw ey 3438 hex set value Brake Release ON Brake Engage OFF b the 3439 hex set value comes earlier 3438 hex set value Motor rotation speed 3439 hex set value j 3439 hex Brake Release
102. cables global flexible cables 2 16 encoder cables global non flexible cables 2 14 encoder connector specifications CN2 3 23 encoder connectors eese 3 67 Error Clear Attribute Output ALM ATB 3 22 GNOES a PEE 12 8 Eror Outout GALM s 205 pian v EE 3 21 hen G AT oco vocmtunc daa ee o E Oca RIOT dd LIIS toC 1 2 command Coding sasedane aa REA MA aho 6 2 communications cable sess 2 18 communications cycle eseesseeeeeesees 5 8 communications specifications 3 6 Cyclic synchronous position mode 6 5 state COCING enc Rt ender ieee eantaktes 6 3 state descriptions ode noted Ee ur oto R DE pesce e bi 6 2 terrulhology ssa esae ctt ete hn pestto ade da DECUS rsen A 19 EtherCAT Slave Information file 5 1 EtherCAT State Machine eeueeesees 5 4 extended objects Control Input Signal Read Setting 3515 hex 9 35 Drive Prohibition Input Selection 3504 hex 9 32 Forward External Torque Limit 3525 hex 9 37 Immediate Stop Torque 3511 hex 9 34 Momentary Hold Time 3509 hex 9 34 Overload Detection Level Setting 3512 hex 9 34 Overrun Limit Setting 3514 hex 9 35 Overspeed Detection Level Setting 3513 hex 9 35
103. dropped 15 5 0 1000 2000 3000 r min 0 1000 2000 3000 r min 0 1000 2000 3000 r min e R88M K3K020H T 3 kW e R88M K4K020H T 4 kW e Re8M K5K020H T 5 kW Ne N m Power supply voltage m N m EB dropped by 10 1900 57 3 2100 1900 71 6 2100 Power supply voltage dropped Power supply 70 voltage dropped 50 743 0 50 y by 10 N NV Momentary operation range N Momentary operation range 14 3 Continuous operation range 0 1000 2000 3000 r min 0 1000 2000 3000 r min 0 1000 2000 3000 r min Note The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque suoneoyioodg OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 50 Specifications 3 3 Servomotor Specifications 2 000 r min Servomotors 400 VAC The following graphs show the characteristics with a 3 m standard cable and a 400 VAC input e R88M K40020F C 400 W e R88M K60020F C 600 W e R88M K1K020F C 1 kW Power supply voltage N m dropped by 10 N m del ie N m 1018 59 8 59 2400 1543 ee in voltage dropped Momentary operation range s Noy 10 4 71 4 71 Momentary operation range 2 86 Continuous operation range 0 1000 2000 3000 r min 0 1000 2000 3000 r min 0 1000 2000 3000 r mi
104. encoders MUN Las edo 10m R88A CRKAO10C 15m R88A CRKAO15C 20m R88A CRKAO20C 30m R88A CRKA030C 40m R88A CRKA040C 50m R88A CRKA050C 100 V and 200 V 3m R88A CRKCOOS3N 3 000 r min Servomotors of 1 0 kW or more 5m R88A CRKCOOBN For 2 000 r min Servomotors For 1 000 r min Servomotors 10m R88A CRKCO10N 400 V 15m R88A CRKCO15N For 3 000 r min Servomotors 20m R88A CRKCO20N For 2 000 r min Servomotors For 1 000 r min Servomotors 30 m R88A CRKCOSON 40m R88A CRKCO40N 50m R88A CRKCO50N OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 14 suoisueuiiq EUuJ9 X3 pue sjepolNy Models and External Dimensions 2 3 Model Tables f Motor Power Cables Global Non flexible Cables 20m R88A CAGBO20S R88A CAGBO20B 30m R88A CAGB030S R88A CAGBO30B 40 m R88A CAGB040S R88A CAGB040B 50m R88A CAGB050S R88A CAGB050B 400 V R88A CAGBO03S R88A CAKF003B For 3 000 r min Servomotors of 750 W to e R88A CAGBOO5S R88A CAKF005B For 2 000 r min Servomotors of 400 W to R88A CAGBO10S R88A CAKF010B 2 kW For 1 000 r min Servomotors of 900 W R88A CAGBO15S R88A CAKF015B R88A CAGB020S R88A CAKF020B Model Specifications For motor without For motor with brake brake 100 V and 200 V R88A CAKA003S See note 1 For 3 000 r min Servomotors of 50 to E R88A CAKA005S R88A CAKA010S R88A CAKA015S R88A CAKA020S R88A CAKA030S R88A CAKA040S R88A CAKA050S 2
105. error in command units exceeded Check on the torque monitor to see if the 290 1 073 741 824 output torque is saturated Adjust the gain Maximize the set values on the Positive torque limit value GOEO hex and the Negative torque limit value 60E1 hex e Wire the encoder as shown in the wiring diagram 30 Safety Input Atleast one of the input photocouplers for Check the input wiring of safety inputs 1 st Error safety inputs 1 and 2 turned OFF and 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 18 ooueuojure y pue Burjioousoe qnou Q cC 4 C jd E O C O O O C N OD Q O im 12 4 Troubleshooting Error No hex Interface Input Duplicate Allocation Error 1 Interface Input Duplicate Allocation Error 2 Interface Input Function Number Error 1 Interface Input Function Number Error 2 Interface Output Function Number Error 1 Interface Output Function Number Error 2 External Latch Input Allocation Error Overrun Limit Error Object Error Corrupted There is a duplicate setting in the input signal IN1 IN2 IN3 and IN4 function allocations There is a duplicate setting in the input signal IN5 IN6 IN7 and IN8 function allocations There is an undefined number specification in the input signal IN1 IN2 IN3 and IN4 function allocations Alternatively
106. for ground problems loss of ground or incomplete ground at equipment such as welding machines near the Servomotor Errors are being caused by excessive vibration or shock on the encoder There are problems with mechanical vibration or Servomotor installation such as the precision of the mounting surface attachment or axial offset Review the setting of object 3100 hex Review the set values of objects 3101 hex and 3102 hex The Position Loop Gain 1 3100 hex is too large The Speed Loop Gain 1 3101 hex and the Speed Loop Integral Time Constant 1 3102 hex are balanced incorrectly The machine rigidity set by Review the setting of the machine rigidity realtime autotuning is incorrect Review the set value of the Inertial Ratio 3004 hex The set inertia ratio differs from the load Measures Use the CX Drive or the analog monitor to measure the response and adjust the gain Use a control I O signal cable that meets specifications Shorten the control I O signal cable to 3 m or less Use an encoder cable that meets specifications Shorten the encoder cable to less than 50 m Correct the encoder cable s pathway Install the encoder cable where it won t be subjected to surges Ground the equipment properly and prevent current from flowing to the encoder FG Reduce the mechanical vibration or correct the Servomotor installation Adjust the gain to prevent
107. hex 3526 hex N o1 A W N m Applicable Maximum torque limit Servomotor 96 R88D KN15I ECT R R88M K90010 225 Servo Drive suonoun J paddy OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 22 Applied Functions 7 8 Gain Switching Function 7 8 Gain Switching Function This function switches the position loop and speed loop gain Select enable or disable using Gain Switching Input Operating Mode Selection 3114 hex Set the switching condition using the gain switching setting If the load inertia changes or you want to change the responsiveness depending on whether the motor is stopping or operating you can perform optimal control by using gain switching The function is used when the realtime autotuning does not work effectively such as e When the load inertia fluctuates in 200 ms or less e When the motor rotation speed does not exceed 500 r min or load torque does not exceed 50 of the rated torque When an external force is constantly applied as with a vertical axis la Precautions for Correct Use When Gain 2 has been selected realtime autotuning does not operate normally If using the gain switching set the Realtime Autotuning to Disabled 3002 hex 0 1 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 8 Gain Switching Function Objects Requiring Settings Realtime A
108. injuries or damages to the machine and devices 3 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Forward Drive Prohibition Input POT and Reverse Drive Prohibition Input NOT These two signals are the inputs to prohibit forward and reverse rotation over travel inputs When these terminals are shorted factory setting the Servo Drive can rotate in the specified direction In the drive prohibition state Servomotor switches to servo lock state after a deceleration stop The maximum torque for a deceleration stop is the same as the maximum Servomotor torque In the drive prohibition state the Servo Drive does not switch to an error state When the Drive Prohibition Input Selection 3504 hex is set to 1 the operation at a drive prohibit input can be selected in the Stop Selection for Drive Prohibition Input 3505 hex If the Drive Prohibition Input Selection 3504 hex is set to 2 a Drive Prohibition Input Error Error No 38 0 will occur when there is a drive prohibition input With the default settings the Forward Drive Prohibition Input POT is allocated to pin 7 and the Reverse Drive Prohibition Input NOT is allocated to pin 8 H Precautions for Correct Use Both signals are disabled in a state in which drive prohibition will not operation in the default settings If prohibiting the drive input is required se
109. is high regenerative energy remove the short circuit bar terminals between B2 and B3 and connect an External Regeneration B3 Resistor between B1 and B2 When using terminal N make sure not to exceed the fuse s rated N voltage 660 VDC 20 A 4 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring I R88D KN30F ECT R KN50F ECT R Terminal Block Specifications TB1 to 528 V 50 60 Hz External Regeneration A Regeneration Resistor is not built in Main circuit power supply R88D KNL F ECT R 3 to 5 kW 3 phase 380 to 480 VAC 323 Resistor connection Connect an External Regeneration Resistor between B1 and B2 terminals if necessary Motor connection Red These are the output terminals to the Servomotor terminals Be sure to wire them correctly Green Yellow This is the ground terminal Ground to 100 Q or less Control circuit power R88D KNLIF ECT R 24 VDC 21 6 to 26 4 V supply input This is the ground terminal Ground to 100 Q or less OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 16 uDisoq uiejs g System Design 4 2 Wiring Terminal Block Wire Sizes 100 VAC Input Drive Wire Sizes RB88D KNULIL ECT R Model R88D KNA5L KNO1L KNO2L KNO4L Item Unt ECT R ECT R ECT R ECT R Power supply capacity kVA a 0 9 Main circuit power Rated curre
110. m2 6 50x104 12 910 17 4x107 inertia brake With brake kg m 7 85x10 14 2x10 18 6x107 Applicable load inertia NENE 30 times the rotor inertia max oe rate Without KWIs 140 126 146 brake With brake 116 114 136 Mechanica Without c 0 40 0 51 0 50 time brake j i l Allowable radial load 490 784 784 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 38 suoneoyioodg Specifications 3 3 Servomotor Specifications 400 VAC Model R88M K5K030F KsKosoF KAKOSOF Allowable thrust load 3 343 Radiator plate dimensions material 380 x 350 x t30 Al Applicable Servo Drives seat KN50F ECT R Excitation Excitation voltage d 24 VDC 10 Ln consumption 22 at 20 C Current consumption 0 81 1095 0 90 10 0 90 10 at 20 C Static friction Static friction torque Serre tox aee 16 1min 1 min 16 1 min Backlash reference value M rz Work per 1470 1470 braking Allowable total work 4 9x10 2 2x108 2 2x108 Allowable angular radie 10 000 acceleration Brake limit EIN 10 million times min Insulation class Los Type F Brake specifications 3 39 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications i 2 s 4 9 6 Uf 3 3 Servomotor Specifications These are the values when the motor is combined with a drive at normal temperature 20
111. not turn ON Either or both safety inputs 1 and 2 are ON but the EDM output circuit signal is ON Signal name Symbol Signal status Safety input 1 SF1 OFF OFF Safety input 2 SF2 OFF OFF EDM output EDM OFF OFF OFF ON The maximum delay time is 6 ms after the safety input signal is input until the EDM output signal is output 8 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 8 2 Operation Example 8 2 Operation Example Operation Timings to a Safety Status Servo ON OFF Servo ON Servo OFF Safety input 1 Normal status STO status Safety input 2 1 PSO Ste max 5 ms i Motor power is Power supply No power supply supplied i max 6 ms EDM output OFF ON 0 5 to 5 ms Fog Dynamic brake DB released DB engaged relay 2 Servo ready completed output READY READY Error Output ALM Normal Error 3438 hex set value Brake interlock Brake released Brake held output BKIR 17 3439 hex set value _________ ZZZ When object 3438 i 3438 hex hex set value comes wet wale earlier Brake released Brake held 3439 hex setvalue_ EE NEST value comes earlier When object 3439 hex set 1 STO status is entered when either safety input 1 or 2 turns OFF 2 The dynamic brake operates according to the setting of the Fault reaction option code 605E hex 3 t1 is the set value of the Bra
112. o O _R 1R O method Regeneration absorption capacity 560 W meee R88A RR22047 S1 R88A RR2204781 R88A RR22047 S1 Resistance value R88A RR22047S R88A RR22047S R88A RR22047S 23 5 Q Connection method Regeneration absorption capacity Model R88A RR50020S R88A RR500208S R88A RR50020S Resistance value 2 20 Q 10 Q 10Q m 7 1 Select a combination that has an absorption capacity greater than the average regeneration power Pr 2 Do not use a combination with resistance values lower than the allowable minimum regeneration resistance of each drive For information on the allowable minimum regeneration resistance refer to Servo Drive Regeneration Absorption Capacity on page 4 42 Precautions for Safe Use Surface temperatures on regeneration resistance can reach 200 C Do not place objects that tend to catch fire nearby To prevent people from touching them install a cover that enables heat dissipation OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications EtherCAT Communications o This chapter describes EtherCAT communications under the assumption that the servo Drive is connected to a CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Unit 5 1 Display Area and Settings 5 1 5 2 Structure of the CAN E Application Protocol over EtherCAT 5 3 5 3 EtherCAT St
113. o ms For self diagnosis L pulse 7 X 7 Z a S YN I I l i l l Safety input signal i 5 ms or more 7 I I Vi 44 Va af iri uL NL Vr Within 1 ms i i Within 5 ms Servo Drive operation Normal operation STO status OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 8 2 uoun Ajaes Safety Function 8 1 Safe Torque OFF Function External Device Monitor EDM Output Signal This is a monitor output signal that is used to monitor the status of safety input signals using an external device Connect a safety device such as a safety controller or a safety sensor Connect the EDM output signal to the monitoring terminal on a safety device Control mode mona Symbol 3 Description name number Posi Fully Speed Torque tion closed EDM output ew E 8 Monitor signal is output to Y detect malfunctioning of the safety function This is not a safety output v Relationship between Safety Input Signals and EDM Output Signal Normally when both safety inputs 1 and 2 are OFF i e when the STO function is activated for both safety input circuits the EDM output is ON You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all of the following 4 signal states using an external device These are the two cases of errors Both safety inputs 1 and 2 are OFF but the EDM output circuit signal does
114. on the after stop status regardless of the motor speed 2 Operation A and B indicate whether or not to stop immediately when an error occurs If this value is set to between 4 and 7 the motor is stopped immediately when a specified error occurs as indicated by operation A If an error occurs that is not subject to this function an immediate stop is not applied and dynamic braking is applied or the motor is left to run free as indicated by operation B For details on errors refer to Troubleshooting on page 12 7 3 When the error is cleared a process which makes the Position demand value follow the Position actual value comes into effect To operate in cyclic sync mode csp after the servo turns ON reset the command coordinates in the host controller and then execute the operation The motor may move suddenly la Precautions for Correct Use Position control is forced into operation during deceleration and after the motor has stopped during an error or when the servo is OFF The internal position command generation process is also forced to stop 6 41 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 6060 hex Modes of operation Range 0 to 10 Unt Default 1000 Attribute Size 1 byte INT8 Access RW PDO map Possible This object sets the operation mode The default value is O Not specified Set the operation mode from the master after the
115. ope Erg epu eO o TEAT 4 31 reactor to reduce harmonic current 4 36 siIeie p e DS 4 36 realtirme autotuning s seni eiae re ea rr te e RR Ere cua 11 6 regeneration absorption capacity 4 42 regenerative energy absorption 4 40 Remote Outputs R OUT1 and R OUT2 3 22 reverse drive prohibition function 7 6 Reverse Drive Prohibition Input NOT 3 18 Reverse External Torque Limit Input NCL 3 19 rotation speed characteristics 1 000 r min Servomotors ee 3 55 2 000 r min Servomotors eee 3 50 3 000 r min Servomotors eese 3 40 S safe torque OFF function eeeuuuss 8 1 safety connector specifications CN8 3 29 Safety I O Signal Connector 3 74 safety I O signal table cccceceeeeeeeeeeeeeeeeeeenees 3 29 Safety VO signals seen ute oer te rae tente uut 3 29 safety input circuit eeseeeeeeeeee eese 3 30 safety input signals 2 oer o eu nter noia Reno NER 8 2 sequence I O signal input SIgDals eic ore E Ee Epor ES tends son sewes 7 1 output Signals P 7 4 sequence outputs eeeseeeeee eene 3 19 service data objects SDOs 5 7 Servo Drive characteristic
116. p A A A 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 Object List Correspond 1 1 Relevant LL 3 mw Zo p o oo o mw 7 LL 3 9ewmmm 7 3 p c0ewmme 0 0 7 1 Encoder units are used for semi closed control and external encoder units are used for fully closed control 2 Command CSP Monitor All OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 16 xipueddy Appendix A 1 Object List Index 60BA hex 60BC hex 60E0 hex 60E1 hex 60F4 hex 60FD hex 60FE hex 6402 hex 6502 hex et A so eer Tous probe post ere byes NTS2 RO TaPDO Netpossbe o Tove prebe posz posvave yes NTa RO MPO Netpossbe o Nesate teraue imit vae genu 87 Nogessbe Posbie o Fotowing eror acuei vane byes NTs RO nPDO Nomi Co peano us RO nPDO Neto mme o p 1 7 X mersrewes TRU RO orp Niposstn 3 perms avea e Nopesiie Noto X Www Tesi RO Not peti Neto LX Svnparedvemoaes ayes U2 RO Noipessbe Neto OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 Object List o ammmon comaa 8 reor omna 5m owesw e 5m wesm 9m 8 oes Cmmewwi a Lo LEG ENIM o RNC NC woo ono pex WSCONSFFEFRENE a o3 o 00
117. possible PDO State transmis sion Not possible Init Pre Operational Pre Op Not possible Safe Operational Safe Op Not possible Operational Op Possible Possible Possible Possible Possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Description Communications are being initialized Communications are not possible Only mailbox communications are possible in this state This state is entered after initialization has been completed It is used to initialize network settings In this state PDO transmissions are possible in addition to mailbox communications DC mode cyclic communications can be used to send information such as status from the Servo Drive This is a normal operating state DC mode cyclic communications can be used to control the motor 5 4 suoineoiunuluo V2349u13 5 4 Process Data Objects PDOs 5 4 Process Data Objects PDOs Se The process data objects PDOs are used to transfer data during cyclic communications in realtime PDOs can be reception PDOs RxPDOs which receive data from the controller or transmission PDOs TxPDOs which send status from the Servo Drive to the host controller RxPDO Liga Operation command target position etc Controller TxPDO Operation status actual position etc The EtherCAT application layer can hold multiple objects to enable transferring Servo D
118. possible Possible Constant 3758 hex 3759 hex 3800 hex 3801 hex 3803 hex 4000 hex 4100 hex Communications Control Absolute Encoder Setup 4 bytes U32 EM 2 bytes U16 TxPDO Not possible Controlword 2 bytes U16 A RxPDO Not possible Statusword 2 bytes U16 RO TxPDO Not possible Shutdown option code 2 bytes INT 16 BO Not possible Possible Not possible Not possible C C C A A 4102 hex 603F hex 6040 hex 6041 hex 605B hex A 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 Object List Caen cm o SR Ls x 1 10 4 100 to 100 BEEN Pn623 csp semi o3 10 to 2500 0 01 ms Pn624 csp semi 32768 to 32767 D Pn632 Al 0 to 1000 100 ms Pn701 All 32768 to 32767 Pn705 csp 0000 0000 hex 0000 0000 to FFFF FFFF hex po All Ed csp ms 0 1s 0 1 OMNUC Gs5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 14 xipueddy Appendix A 1 Object List wer sum Mme se aae POO Eeprom 6060 hex 0 Modes of operation 1 byte INT8 Not possible 6061 hex EX Modes of operation display 1 byte INT8 RO TxPDO Not possible 6062 hex EX Position demand value 4 bytes INT32 RO TxPDO Notpossible 6063 hex E Position actual internal value 4 bytes INT32 EN TxPDO Not possible She 0 Rome feet feet ewm TT 7 mem 0 p o c p c
119. power supply is turned ON Description of Set Values Code Description 0 Not specified 8 Cyclic synchronous position mode csp 6061 hex Modes of operation display All Range 0 to 10 Unt Default 000 Attribute Size 1 byte INT8 Aces RO PDO map Possible This object gives the present operation mode The value definitions are the same as for the Modes of operation 6060 hex 6062 hex Position demand value 2147483648 to Command Size 4 bytes INT32 Aces RO PDO map Possible This object gives the Servo Drive s internal command position O Sp 6063 hex Position actual internal value Size 4 bytes INT32 Aces RO PDO map Possible This object gives the Servo Drive s present internal position The value is in encoder units or external encoder units Other than fully closed control Encoder units Fully closed control External encoder units 6064 hex Position actual value 2147483648 to Command Size 4 bytes INT32 Aces RO PDO map Possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 42 Old eAug Drive Profile 6 7 Object Dictionary 6065 hex Range Size 606C hex Range Size 6072 hex Range Size 6074 hex Range Size 6077 hex Range Size 607A hex Range Size 6 43 This object gives the present position Following error window 0 to 134217728 C
120. power and the second value is for 3 phase input power 2 The heat value is given for rated operation 3 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Item R88D KN20H R88D KN30H R88D KN50H ECT R ECT R ECT R Continuous output current rms 13 4 A 18 7 A 33 0A Power supply Main circuit Input power supply capacity 3 3 KVA 4 5 KVA 7 5 KVA 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz Power supply voltage Rated 11 8A 15 1 A current Heat 139 W 108 W value 21 6 A 328 W Control Power circuit supply Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz voltage value PWM frequency 6 0 kHz Weight Approx 2 7 kg Approx 4 8 kg Approx 4 8 kg Maximum applicable motor capacity 02kNW kW o 08kWW O kW o kW Applicable i 200 r K4K030H GSH Omolor K2K030H K3K030H K5K030H KAKO3OT 2 000 r K4K020H min K2K020H K3K020H K5K020H K4K020T pn K2K020T K3K020T K5K020T 1 000 r min K2K010H K3K010H K3K010T All digital servo IGBT driven PWM Control method Inverter method 1 The heat value is given for rated operation 3 4 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications suoneoyioodg Specifications 3 1 Servo Drive Specifications 400 VAC Input Models R88D ilem KN50F ECT R Continuous output current 16 5A rms Input Main pow
121. power supply is turned ON supply was turned ON A missing serial incremental encoder Replace the Servomotor Phase Z Error phase Z pulse was detected The encoder is faulty OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 20 ooueuojure y pue Burjioouse qnou D Q c c D e O c o c O o lt o Q O I 12 4 Troubleshooting Error No hex Cause Encoder CS Signal Error A logic error was detected in the CS signal for serial incremental encoder The encoder is faulty A disconnection was detected because communications between the external encoder and the Servo Drive were interrupted more than the specified number of times External Encoder Connection Error There was a communications error in data from external encoder There was a data error mainly due to noise The external encoder connection cable is connected but a communications data error occurred External Encoder Communica tions Data Error External Bit O of the external encoder error code Encoder ALMC was set to 1 Status Error 0 Refer to the external encoder specifications Bit 1 of the external encoder error code ALMC was set to 1 Refer to the external encoder specifications External Encoder Status Error 1 External Bit 2 of the external encoder error code Encoder ALMC was set to 1 Status Error 2 Refer t
122. proper operation and performance EN Reference Indicates an item that helps deepen your understanding of the product or other useful tip Explanation of Symbols Example of symbols IN This symbol indicates danger and caution The specific instruction is indicated using an illustration or text inside or near AN The symbol shown to the left indicates beware of electric shock S This symbol indicates a prohibited item an item you must not do The specific instruction is indicated using an illustration or text inside or near S The symbol shown to the left indicates disassembly prohibited This symbol indicates a compulsory item an item that must be done The specific instruction is indicated using an illustration or text inside or near The symbol shown to the left indicates grounding required OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 Safety Precautions Precautions for Safe Use of This Product illustrations contained in this manual sometimes depict conditions without covers and safety shields for the purpose of showing the details When using this product be sure to install the covers and shields as specified and use the product according to this manual mif the product has been stored for an extended period of time contact your OMRON sales representative pDPPPPPPPPP PPO DANGER Be sure to ground the frame ground terminals
123. radiation conditions Reduce the load Improve ventilation Decrease the acceleration and deceleration rates Lower the speed and check the load Tighten the coupling again Replace the coupling with a coupling that has no looseness Review the control in the host controller 12 4 Troubleshooting Symptom Probable cause Itemstocheck Measures The Servomotor does not The load inertia is too large Check the load inertia Review the load inertia stop or is hard to stop Check the Servomotor Replace the even if the servo is turned rotation speed Servomotor and Servo OFF while the e The dynamic brake Drive with proper ones Servomotor is rotating resistance is disconnected The dynamic brake is Check if the dynamic brake is Enable the dynamic disabled disabled or broken brake if it is disabled Replace the brake if itis broken or if the resistor is disconnected The Servomotor or the Vibration occurs due to Check to see if the Retighten the mounting load generates abnormal improper mechanical Servomotor s mounting Screws noise or vibration installation screws are loose Check the load for Eliminate the eccentricity eccentricity It results in torque fluctuation and noise Check to see if the coupling Balance the rotation with the load is unbalanced Check to see if the decelerator Check the decelerator is generating any abnormal specifications Check the noise decelerator for
124. set high for machines with a low resonance frequency low machine rigidity 11 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 3 Realtime Autotuning 11 3 Realtime Autotuning Os Realtime autotuning estimates the load inertia of the machine in realtime and operates the machine by automatically setting the gain according to the estimated load inertia At the same time it can lower the resonance and vibration if the adaptive filter is enabled Refer to 11 6 Adaptive Filter on page 11 18 for details about adaptive filters Realtime autotuning is enabled for any control to adjust the speed loop PI control Position Speed command Torque command Current control Position Speed control Friction torque compensation Estimate load inertia Speed feedback Position feedback la Precautions for Correct Use Realtime autotuning may not function properly under the conditions described in the following table In such cases use manual tuning Conditions under which realtime autotuning does not operate properly e If the load inertia is too small or too large compared with the rotor inertia less than 3 times more than 20 times or more than the applicable load inertia Load inertia ratio e If the load inertia changes quickly Koad e If the machine rigidity is extremely low e If there is a non linear element play
125. sets the number of times communications errors can occur consecutively before being detected as an error t can be set to between 0 and 15 The detection value will be set to one value higher than the set value EN Reference The default setting is 1 i e an error is detected when two communications errors occur consecutively 6 33 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 4000 hex Statusword 1 All Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes U16 Aces RO PDO map Possible This object gives the present state of the Servo Drive Bit Descriptions Outside origin range 0 Origin Position ZPOINT Within origin range Distributing 1 Distribution Completed DEN 1 Distribution Completed Zero speed not detected 2 Zero Speed Detected ZSP Zero speed detected Torque limit not applied 3 Torque Limit Applied TLIMT Torque Limit Applied Speed limit not detected during m torque control 4 Speed Limit VLIMT Speed limit detected during torque control Outside limit range 5 Forward Software Limit PSOT 1 Within limit range Outside limit range 6 Reverse Software Limit NSOT Within limit range No speed agreement during speed control Old eAug 7 Speed Agreement VCMP Speed agreement during speed control Outside positioning proximity range during
126. speed Normally use a setting of O Set value is restricted in the following manner Upper limit Up to Damping Frequency 1 Lower limit Damping frequency damping filter setting 100 Refer to 11 5 Damping Control on page 11 15 for more information on settings Damping Frequency 2 0 to 2000 Unit 0 1 Hz Default Data setting attribute 2 bytes INT16 Access Aces RW PDO map Not possible Set damping frequency 2 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is O to 0 9 Hz Refer to 11 5 Damping Control on page 11 15 for more information on settings Damping Filter 2 Setting csp 0 to 1000 Unit 0 1 Hz mabe ae setting attribute 2 bytes INT16 Access Access RW PDO map Not possible First set Damping Frequency 2 3216 hex Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed Normally use a setting of 0 Set value is restricted in the following manner Upper limit Up to Damping Frequency 2 Lower limit Damping frequency damping filter setting 100 Refer to 11 5 Damping Control on page 11 15 for more information on settings Damping Frequency 3 csp 0 to 2000 Unit 0 1 Hz ue ae setting attribute 2 bytes INT16 Access Aces RW PDO map Not possi
127. the Sync manager PDO assignment table In this table index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs The following table is an example of sync manager PDO mapping Sync Manager PDO Assign objects Object Dictionary index Sub Object contents Sync Manager Entity z 1A00h PDOA Mapping objects Fixed PDO Mapping This section describes the contents of fixed PDO mapping for G5 series Servo Drives This contents cannot be changed PDO Mapping for Position Control RxPDO 1701h TxPDO 1B01h Controlword 6040 hex Target position 607A hex Touch probe function 60B8 hex and Digital outputs GOFE hex Error code 603F hex Statusword 6041 hex Position actual value 6064 hex Torque actual value 6077 hex Following error actual value 60F4 hex Touch probe status 60B9 hex Touch probe pos1 pos value 60BA hex Touch probe pos2 pos value 60BC hex and Digital inputs 60FD hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 6 suoineoiunululo5 LV2349u13 EtherCAT Communications 5 5 Service Data Objects SDOs 5 5 Service Data Objects SDOs OMNUC G5 series Servo Drives support SDO communications SDO communications are used for setting objects and monitoring the status of G5 series Servo Drives Objects can be set and the status monitored by reading and writing data to the entries in the object dictionary of the host contro
128. the after stop status subsequent operation is based on the after stop status regardless of the motor speed 2 Immediate Stop means that the Servomotor stops immediately by using controls while the servo is kept ON The torque command value at this time is restricted by the Immediate Stop Torque 3511 hex 3 When the error is cleared a process which makes the Position demand value follow the Position actual value comes into effect To operate in cyclic sync mode csp after the servo turns ON reset the command coordinates in the host controller and then execute the operation The motor may move suddenly la Precautions for Correct Use Position control is forced into operation during deceleration and after the motor has stopped main power supply OFF The internal position command generation process is also forced to stop If an error occurs while the main power supply is OFF operation will follow the Fault reaction option code 605E hex If the main power supply turns OFF while the Servo is ON and the Undervoltage Error Selection 3508 hex is set to 1 a Main Power Supply Undervoltage Error 13 1 will occur Operation will then follow the Fault reaction option code 605E hex The default value is 1 6 39 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 605C hex Disable operation option code All Size 2 bytes INT16 PDO map Not possible
129. to 0 21 pulses encoder units 110 000 1 The Internal Command Motor Speed is the speed before the command input passes through the command filter the position command filter time constant and the smoothing filter time constant The Filtered Internal Command Motor Speed is the speed after the command input passes through the command filter Internal Command Filtered Internal Command Motor Speed r min Motor Speed r min Position command filter Command Electronic p Position input gear Control i suonpuny jueunsn py Position actual internal value encoder units external encoder units Encoder feedback external encoder feedback 2 The position error is calculated for the command input after processing for the position command filter The pulse position error or fully closed position error is reversely converted to command units for application The pulse position error or fully closed error is the error for the position control input Pulse Position Error encoder units Position Error command units Fully closed Error external encoder units Electronic gear reverse conversion Position command filter Com mand Electronic Input gear Position control Position actual internal value Position actual value Electronic gear encoder units external encoder units command units reverse conversion Encoder feedback external encoder feedback 3 The encoder temperature is indicat
130. transferred or stored to the application Data cannot be transferred or stored to the application because of local control Data cannot be transferred or stored to the application because of the present device state Object dictionary dynamic generation fails or no object dictionary is present OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 6 Synchronization with Distributed Clocks 5 6 Synchronization with Distributed Clocks e A mechanism called a distributed clock DC is used to synchronize EtherCAT communications The DC mode is used for OMNUC G5 series Servo Drives to perform highly accurate control in a multi axis system In DC mode the master and slaves are synchronized by sharing the same clock Interruptions SyncO are generated in the slaves at precise intervals based on this clock servo Drive control is carried out at this precise timing Communications Cycle DC Cycle The communications cycle is determined by setting the SyncO signal output cycle Setting range 250 us 500 us 1 ms 2 ms 4 ms v Precautions for Correct Use Set 6091 hex Gear ratio to 1 1 for 250 us or 500 us If it is not set to 1 1 a Function Setting Error Error 93 4 will occur OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 8 suoineoiunuluo V2349u13 EtherCAT Communications 5 7 Emergency Messages 5 7 Emergency
131. value is 0 the encoder resolution is set automatically External Set the denominator of the external 1 to 1 048 576 Feedback Pulse feedback pulse divider setting Normally set Dividing the number of external encoder output Denominator pulses per motor rotation 3325 hex Check the number of encoder feedback pulses and the number of external encoder output pulses per motor rotation and set the External Feedback Pulse Dividing Numerator 3324 hex and External Feedback Pulse Dividing Denominator 3325 hex the so that the following equation is true Object 3324 hex Encoder resolution per motor rotation pulses Object 3325 hex External encoder resolution per motor rotation pulses Precautions for Correct Use If this divider setting is wrong there will be error between the position calculated from encoder pulses and the position calculated from external encoder pulses If the movement distance is long this error accumulates and causes a Excessive Hybrid Deviation Error error 25 0 The recommended divider setting is 1 40 lt External Feedback Pulse Ratio lt 160 If the ratio is set too small control to the unit of 1 external feedback pulse may be disabled On the other hand if the external feedback pulse ratio is increased operating noise may increase Setting Example Ball screw pitch 10 mm External encoder resolution 0 1 um Encoder resolution 20 bits Servomotor Encoder resolution
132. 0 50 50 50 50 50 50 Torque Feed forward Gain Feed forward Gain 0 0 0 0 0 0 Torque Feed E Command 0 Filter Gain Switching Input Operating Mode l 1 1 1 1 1 1 1 Selection Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 o1 Switching Mode in Position Control Gain Switching Delay Time in 30 30 30 30 30 30 30 30 Position Control Gain Switching Level in Position 50 50 50 50 50 50 50 50 Control Gain Switching Hysteresis in Position 33 33 33 33 Control Position Gain Switching Time i Torque Command Value Offset Estimated if object 3002 hex 3 Forward Direction Torque Offset Estimated if object 3002 hex 4 Reverse Direction Torque Offset Estimated if object 3002 hex 4 Disturbance Torque Compensation Gain Disursence ObsenerFiterseting 0 0 o 9 8 9 9 9 1 This is limited to a minimum value of 10 if a 17 bit absolute encoder is used OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 10 suomnounJ jueunsn py Adjustment Functions 11 3 Realtime Autotuning 11 11 Index 3004 hex 3100 hex 3101 hex 3102 hex 3103 hex 3104 hex 3105 hex 3106 hex 3107 hex 3108 hex 3109 hex 3110 hex 3111 hex 3112 hex 3113 hex 3114 hex 3115 hex 3116 hex 3117 hex 3118 hex 3119 hex 3607 hex 3608 hex 3609 hex 3610 hex 0 3610 hex 1 3623 hex 36
133. 0 2 5 EMC Filter Dimensions ccc cc cccececcccececcccccccceccucecsceaeeceneaeeneaeass 2 51 16 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Table Of Contents Chapter 3 Specifications 3 1 Servo Drive SpeEcifiCations cccccecccecceseeeeeceeeseeesueceeeseeceseeeeeeneeneeeas 3 1 General SDCCINCAVOMNS m tpm 3 1 Character SUCS i ET vcr T 3 2 EtherCAT Communications Specifications cccccceccceeeceeeeceeeceeeeeeeeseeeseeesaeeeaeeeaes 3 6 Main Circuit and Motor Connections cccccccceccseeceeeeeeeeeaeeeeeeeseeeseeesaeeseeeseeeseeeeaees 3 7 EtherCAT Communications Connector Specifications RJ45 3 12 Control I O Connector Specifications CN1 cccccseecesseeceeeeeeeeeseeeeseeeeseeeesaeeeaeaes 3 13 CONTONDPU pesi cer TERT 3 16 Control dnpit De alls s tested couse e base due cambium ente d cesa neo ais tele nP LO se Els cT TOES LI LIE 3 17 Control QUIDUT CICUS o5 oso utu eeb esie dde cei cted ceo A ceto EU Loc Ue 3 19 en vo EG Wire BI Es T ERN 3 20 Encoder Connector Specifications CN2 cccccccseceeeeeeseeeeneeeeseeeeseeeeseeeeseeeesneees 3 23 External Encoder Connector Specifications CNA4 seeeeeeeeeeeeeeeeeeeee 3 23 Analog Monitor Connector Specifications CN5 esesseeeeeeeeeenreennene 3 27 USB Connector Specifications CN7
134. 0 for a Drive with 200 V and 1 kW or greater or with 400 V O Sp Set the responsiveness of the position control system for the second position loop OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 8 g D D oO o 3 U D lt U Y 9 3 O O emj T Details on Servo Parameter Objects 9 2 Gain Settings 3106 hex Setting range Size Speed Loop Gain 2 1 to 32767 Unit 0 1 Hz Mein 270 Data setting attribute 2 bytes INT16 Access RW PDO map Not possible 1 The default setting is 180 for a Drive with 200 V and 1 kW or greater or with 400 V 3107 hex Setting range Size 3108 hex Setting range Size 3109 hex Setting range Size Set the responsiveness of the second speed loop Speed Loop Integral Time Constant 2 Default Data 2 bytes INT16 NE EE PDO map Not possible Set the second speed loop integral time constant 1 to 10000 Speed Feedback Filter Time Constant 2 Unit Default Data setting attribute 2 bytes INT16 Access RW PDO map Not possible Set the second speed feedback filter 0 to 5 Torque Command Filter Time Constant 2 0 to 2500 Unit 0 01 ms Default 3471 Dale setting attribute 2 bytes INT16 Aces RW PDOmap PDO map map Not possible 1 The default setting is 126 for a Drive with 200 V and 1 kW or greater or with 400 V
135. 0 to 400 Mpps Incremental encoder specifications 2 Serial communications type 0 to 400 Mpps Absolute encoder specifications 1 The maximum input frequency is the feedback speed pps of the external encoder that can be processed by the Drive Check the instruction manual of the external encoder for the maximum output frequency of the external encoder 2 These are the directions that the Drive counts a 90 phase difference output Count down direction Count up direction P ui CEEE 4 EXA i1 n EXA EXB _ t2 5 ERE t2 lt lt lt lt EXB is 90 ahead of EXA EXB is 90 behind EXA t1 0 25 us t1 0 25 us t2 gt 1 0 us t2 gt 1 0 us 3 For the external encoder connection direction set the direction so that count up occurs when the motor shaft is rotating in the CCW direction and count down occurs when the motor shaft is rotating in the CW direction If the connection direction cannot be selected due to installation conditions the count direction can be reversed using External Feedback Pulse Direction Switching 3326 hex la Precautions for Correct Use lf 3000 hex 1 the encoder count direction will be opposite to the count direction used for monitoring the total external encoder feedback pulses If 3000 hex 0 the count direction matches the count direction for monitoring Even when the speed command is within the Drive s speed command range an acceleration error will occur
136. 00 V R88A CAGB003S R88A CAGBOO3B For 3 000 r min Servomotors of 1 to ZU R88A CAGBO005S R88A CAGBO05B For 2 000 r min Servomotors of 1 to 10m R88A CAGBO10S R88A CAGBO10B 2 kW For 1 000 r min Servomotors of 900 W 15 m R88A CAGBO15S R88A CAGBOTSB R88A CAKF030B R88A CAKF040B R88A CAKF050B For 3 000 r min Servomotors of 3to5kW 3m R88A CAGD003B ae Coen S GBA CASDOOSS R88A CAGD010B R88A CAGD015B R88A CAGD020B R88A CAGD030B R88A CAGD040B R88A CAGD050B Note It requires both the power cable R88A CAKALILILIS and the separate brake cable R88A CAKAL ILILIB For the separate brake cable selection see brake cables table in page 2 16 2 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 3 Model Tables I Brake Cables Global Non flexible Cables Specifications Model 100 V and 200 V 3m R88A CAKAO03B For 3 000 r min Servomotors of 50 to 750 W 5m R88A CAKAO05B 10m R88A CAKA010B 15m R88A CAKA015B 20m R88A CAKA020B 30m R88A CAKA030B 40m R88A CAKA040B 50m R88A CAKA050B i Encoder Cables Global Flexible Cables Specifications Model 100 V and 200 V 3m R88A CRKAOO3CR For 3 000 r min Servomotors of 50 to 750 W for both absolute encoders and incremental encoders Delle ROSA BRROISER 10m R88A CRKAO10CR 15m R88A CRKAO15CR 20m R88A CRKAO20CR 30m R88A CRKA030CR 40m R88A CRKA040CR 50m R88A CRKA050CR 100 V and 200 V 3m R88A CRKCOOS3NR 3 000 r m
137. 000 hours Encoder 30 000 hours These values assume an ambient motor operating temperature of 40 C a shaft load within the specified value operation within the rated values rated torque and rated rotation speed and proper installation as described in this manual The oil seal can be replaced The radial load during Servomotor operation on timing pulleys and other components contacting belts is two or more times the static load or more Consult with the belt and pulley manufacturers and adjust designs and system settings so that the motor allowable axial load is not exceeded even during operation If a motor is used under a shaft load exceeding the allowable limit the motor shaft can break and the bearings can be damaged OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 5 Periodic Maintenance Servo Drive Life Expectancy The lifetimes for the different drive parts are given below Aluminum electrolytic capacitors 28 000 hours at an ambient drive operating temperature of 55 C constant output at rated torque constant output at rated rotation speed and installation as described in this manual Axial flow fan 10 000 to 30 000 hours The limit depends on the operating conditions Inrush current prevention relay Approx 20 000 operations The limit depends on the operation conditions When using the Servo Drive in continuous operation use fans or air conditioners to ma
138. 010L1 141 5 R88M K3K010 7 187 5 R88M K2K0100 BC 166 5 R88M K3K0100 BC 212 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions External Regeneration Resistor Dimensions External Regeneration Resistor R88A RRO08050S RR080100S Thermal switch output CN NEN Y T o 7 8 T H R88A RR22047S RR22047S1 D Thermal switch output A 3 o a i RENE R88A RR50020S H ee 360 386 402 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 50 SUOISUDWIG u1 3 x34 pue sSj poN Models and External Dimensions 2 5 EMC Filter Dimensions 2 5 EMC Filter Dimensions 2 51 mounts H M1 M Output Jh f AS flexes f KN External dimensions Mount dimensions Filter model ow em w R88A FIK306 RE 245 235 60 R88A FIK312 RE 290 280 100 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Specifications Po This chapter provides the general specifications characteristics connector specifications an
139. 0L1 S2 IITs R88M K20030 1 S2 K40030L1 S2 Encoder connector 4h9 200 W Sg 5h9 400 W 00 M4 depth 8 200 W ae M5 depth 10 400 W R88M K20030 R88M K40030 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 200 W 400 W with Brake R88M K20030L1 B S2 K40030L1 B S2 Te R88M K20030L1 B S2 K40030L1 B S2 WJJ Encoder connector Brake connector Motor connector 60x60 Shaft end specifications with key and tap 30 20 200 W 9000W ZZ 4n9 200 W 18 200W 28 sh9 400W 225 400W S Sr LO i m M4 depth 8 200 W M5 depth 10 400 W 8 5 11 R88M K20030l B R88M K40030L B Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 33 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 750 W without Brake R88M K75030H S2 R88M K75030T S2 RSH Encoder connector Motor connector 35 A 25 E 69 N E z i 2l depth 10 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 750 W with Brake R
140. 100 m max Fixed PDO mapping Emergency messages SDO requests SDO responses and SDO information Synchronization in DC mode DC cycle 250 us 500 us 1 ms 2 ms 4 ms L A IN Link Activity IN x 1 L A OUT Link Activity OUT x 1 RUN x 1 ERR x 1 Cyclic synchronous position mode Touch probe function Latch function Torque limit function OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 6 suoneoyioodg Specifications 3 1 Servo Drive Specifications Main Circuit and Motor Connections 3 7 When wiring the main circuit use proper wire sizes grounding systems and noise resistance R88D KNASL ECT R KNO1L ECT R KNO2L ECT R KNOAL ECT R KN01H ECT R KNO2H ECT R KNOA4H ECT R KNOS8H ECT R KN10H ECT R KN15H ECT R Main Circuit Connector Specifications CNA L1 L2 L3 L1C L2C Main circuit power supply input Control circuit power supply input Function R88D KNI IL ECT R 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz 200 to 400 W 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz R88D KNI IH ECT R 50 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 100 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz Note Single phase should connect to L1 and L3 R88D KNI IL ECT R Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz R88D KNL H ECT R Single phase 200 to 240 VAC 170 to 26
141. 124 hex p ow Switching Mode in Torque Control 3125 hex EE Gain Switching Delay Time in Torque Control 3126 hex 00 Gain Switching Level in Torque Control 3127 hex 00 Gain Switching Hysteresis in Torque Control 3312 hex o Soft Start Acceleration Time 3313 hex Soft Start Deceleration Time 3314 hex pO S curve Acceleration Deceleration Time Setting 3317 hex EE NE Speed Limit Selection 3321 hex 00 Speed Limit Value Setting 3432 hex 00 Positioning Completion Condition Selection 3433 hex 00 Positioning Completed Hold Time 3435 hex ed Speed Conformity Detection Range 3436 hex 00 Rotation Speed for Motor Rotation Detection 3703 hex oj Torque Limit Flag Output Setting 3818 hex EE Position Command FIR Filter Time Constant 3822 hex 00 Origin Return Mode Setting OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 50 sjoe qo 1ojeuieJeg oAJeg uo s rejeg Operation Po This chapter explains the operating procedures and how to operate in each mode 10 1 Operational Procedure 10 1 10 2 Preparing for Operation 10 2 10 3 Trial Operation eese 10 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 1 Operational Procedure 10 1 Operational Procedure Turn ON the power supply after the
142. 16 hex 9117 hex 272 S AD NEE 0 I I Gain 1 Gain2 Gain1 a yi 3116 hex If object 3117 hex is less than object 3118 hex object 3117 hex will automatically be set to the same value as object 3118 hex 3 When the Gain Switching command of EtherCAT communications G SEL is 0 the gain switches to gain 1 When the command is 1 the gain switches to gain 2 4 Set the percentage of the rated torque Example To set 1096 of the rated torque set the set value would be 10 5 The position error is set according to the encoder resolution i e pulses for position control and according to the external encoder resolution i e pulses for fully closed control 71 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 8 Gain Switching Function 6 When the set value is 10 the meanings of the Gain Switching Delay Time in Position Control the Gain Switching Level in Position Control and the Gain Switching Hysteresis in Position Control differ from the normal case Refer to Figure E Rotation Figure A l otation Figure C l speed V speed V Command torque A l l Pulse position error l l l l 7 NN Level FA l l H i f l l i Gain 1 I j 1 D Gain 1 Gain2 Gain1 Gain 2 Gain 1 B eee a Position Figure D p B speed V 7 _ Q4 command speed S EN suonoun J paddy x OMNUC G5 series AC Servomotors
143. 1824 Motor revolutions 6091 01 hex Position command gt Position command gt Shaft revolutions 6091 02 hex Position command Motor revolutions 6091 01 hex Shaft revolutions 6091 02 hex 1 The encoder resolution is set as the numerator for fully closed control la Precautions for Correct Use To make the position command smoother after the electronic gear setting adjust it by using the Position Command Filter Time Constant 3222 hex or by the Position Command FIR Filter Time Constant 3818 hex 7 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 6 Electronic Gear Function Operation Example The example uses a motor with a 20 bit encoder 1 048 576 pulses per rotation I When the Motor Revolutions 6091 01 Hex Is Set to 0 f you set 6091 02 hex to 2 000 the operation is the same as the 2 000 pulses rotation Servomotor Servo Drive Servomotor encoder resolution 20 bits 2 000 pulses Encoder resolution 1 048 576 pulses Shaft revolutions 6091 02 hex 1 048 576 2000 1 rotation 1 048 576 pulses i When the Motor Revolutions 6091 01 Hex Is Set to a Value Other Than 0 If you set 6091 01 hex and 6091 02 hex to 1 048 576 and 2 048 respectively the operation is the same as a 2 048 pulses rotation Servomotor m Servo Drive Servomotor encoder resolution 20 bits 2 048 pulses Motor revolut
144. 1K530C R88M K1K530C S2 R88M K2K030F R88M K2K030C R88M K2K030C S2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 6 Without brakes R88M K3K030F R88M K3K030F S2 R88M K3K030C R88M K3K030C S2 R88M K4K030F R88M KAKOS3OF S2 R88M K4K030C R88M K4K030C S2 R88M K5K030F R88M K5K030F S2 R88M K5K030C R88M K5K030C S2 SUOISUDWIG JEUuJ9 X3 pue sJepolNy lt Models and External Dimensions 2 3 Model Tables Model With incremental encoder With absolute encoder Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap R88M K05030H B R88M K05030H BS2 R88M K05030T B R88M K05030T BS2 R88M K10030L B R88M K10030L BS2 R88M K10030S B R88M K10030S BS2 R88M K20030L B R88M K20030L BS2 R88M K20030S B R88M K20030S BS2 R88M K40030L B R88M K40030L BS2 R88M K40030S B R88M K40030S BS2 R88M K05030H B R88M K05030H BS2 R88M K05030T B R88M K05030T BS2 R88M K10030H B R88M K10030H BS2 R88M K10030T B R88M K10030T BS2 R88M K20030H B R88M K20030H BS2 R88M K20030T B R88M K20030T BS2 R88M K40030H B R88M K40030H BS2 R88M K40030T B R88M K40030T BS2 R88M K75030H B R88M K75030H BS2 R88M K75030T B R88M K75030T BS2 R88M K1K030H B R88M K1K030H BS2 R88M K1K030T B R88M K1K030T BS2 R88M K1K530H B R88M K1K530H BS2 R88M K1K530T B R88M K1K530T BS2 R88M K2K030H B R88M K2K030H BS2 R88M K2K030T B R88M K2K030T BS2 R88M K3K030H B R88M K3K030H BS2 R88M K3K030T B R88M K3K030T
145. 2 WARN2 8A hex Positioning Completion Output 2 INP2 8C hex Error Clear Attribute Output ALM ATB 8E hex Remote Output 1 R OUT1 Setting not available Remote Output 2 R OUT2 Setting not available la Precautions for Correct Use Do not use any settings other than the settings listed You can allocate the same function to more than one output signal When you disable the control output pin the output transistor always stays OFF f you use the Brake Interlock Output BKIR you must set the function in all control modes Otherwise an Interface Output Function Number Error 1 Error No 33 4 or an Interface Output Function Number Error 2 Error No 33 5 will occur The Brake Interlock Output BKIR can be set only to NO normally open contacts OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 2 Forward and Reverse Drive Prohibition Functions 1 2 Forward and Reverse Drive Prohibition Functions If the Forward Drive Prohibition Input POT or the Reverse Drive Prohibition Input NOT is turned OFF the motor will stop rotating You can thus prevent the motor from rotation outside of the movement range of the device by using limit inputs from the device connected to the Servo Drive Objects Requiring Settings Index Explanation Reference 3400 hexto Input n ee Selection 1 ERES A the input signal allocations and logic Qu 3407 hex to 8 Pad 3504 hex Dr
146. 24 hex AT Machine Rigidity Setting 3003 hex 1e 17 18 19 20 21 22 23 Estimated load inertia ratio Pesos WS ORD 380 0 2060 2510 3050 7m Speedo Gant 800 600 780 900 55 00 1700 270 a Co IE 45 38 30 25 20 16 13 11 Constant 1 Torque Command Filter Time Constant 1 Position Loop Gain 2 1050 1260 1570 1880 2410 2930 3560 4400 Speed Loop Gain 2 500 750 900 1150 1400 1700 2100 500 600 emana e Jeje eeje ole e Constant 2 Torque Command Filter Time 11 Constant 2 1 50 Speed Feed f dC d aa Taala a fefee Le Mee ae Torque Feed forward Gain EX 0 0 Torque Feed forward Command 0 Filter Gain Switching Input Operating 1 1 1 1 1 1 1 Mode Selection Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 C1 Switching mode in Position Control Gain Switching Delay Time in Gain Switching Level in Position i Gain Switching Hysteresis in Torque Command Value Offset Estimated if object 3002 hex 3 Estimated if object 3002 hex 4 Estimated if object 3002 hex 4 Forward Direction Torque Offset Reverse Direction Torque Offset Function Expansion Setting Disturbance Observer Filter Setting G A 1 This is limited to a minimum value of 10 if a 17 bit absolute encoder is used OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Index 3004 hex 3100 hex
147. 3 C2 Co C1 N C2 C NO co Oo Oo Oj O O gt NO i NO N Cc Co co NO i NO N NO O C2 Cc a lt co Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 44 suoisueuliq JEuJ9 X3 pue sjepolNy Models and External Dimensions 2 4 External and Mounting Dimensions 4 kW 5 kW without Brake R88M K4K020F S2y K5K020F S2 R88M K4K020C S2 K5K020C S2 FREES 4 kW 5 kW with Brake R88M K4K020F B S2 K5K020F B S2 IINE R88M K4K020C B S2 K5K020C B S2 WES Motor and brake connector Encoder connector 176x176 Shaft end specifications with key and tap 4956 6114 3h7 Model R88M K4K0201 177 133 96 155 R88M K5K020 174 R88M K4K020L1 BL 200 158 180 R88M K5K020 BI 221 177 115 199 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 45 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 1 000 r min Servomotors 200 V 900 W without Brake R88M K90010H S R88M K90010T S 2
148. 32 Aces RO PDO map Not possible This object gives the mapping for an application that uses only cyclic synchronous position control Touch probe status is available The following objects are mapped Error code 603F hex Statusword 6041 hex Position actual value 6064 hex Torque actual value 6077 hex Following error actual value 60F4 hex Touch probe status 60B9 hex Touch probe pos1 pos value 60BA hex Touch probe pos2 pos value 60BC hex and Digital inputs GOFD hex g Z lt D U O h D OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 28 Drive Profile 6 7 Object Dictionary Sync Manager Communication Objects Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory 1C00 hex Sync manager communication type All Sub index 0 Number of used sync manager channels Size 1 byte U8 Aces RO PDOma Not possible Sub index 1 Communication type SMO Size 1 byte U8 Aces RO PDOma Not possible Sub index 2 Communication type SM1 Size 1 byte U8 Aces RO PDOma Not possible Sub index 3 Communication type SM2 Sub index 4 Communication type SM3 The sync manager has the following settings SMO Mailbox receive Master to Slave SM1 Mailbox send Slave to Master SM2 Process data output Master to Slave SM3 Process data input Slave to Master 1010 hex Sync manager 0 PDO assignment All
149. 3218 hex 9 18 Damping Frequency 4 3220 hex 9 19 Notch 1 Depth Setting 3203 hex 9 15 Notch 1 Frequency Setting 3201 hex 9 15 Notch 1 Width Setting 3202 hex 9 15 Notch 2 Depth Setting 3206 hex 9 16 Notch 2 Frequency Setting 3204 hex 9 16 Notch 2 Width Setting 3205 hex 9 16 Notch 3 Depth Setting 3209 hex 9 16 Notch 3 Frequency Setting 3207 hex 9 16 Notch 3 Width Setting 3208 hex 9 16 Notch 4 Depth Setting 3212 hex 9 17 Notch 4 Frequency Setting 3210 hex 9 17 Notch 4 Width Setting 3211 hex 9 17 Position Command Filter Time Constant 9222 AGN rac cece ais omuium DR DUM ERE EAE M E 9 20 W Wal MAG NS Pe p 12 5 Warning Outputs WARN1 and WARN2 3 22 wiring conforming to EMC Directives 4 21 Z Zero Speed Detection Output ZSP 3 22 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Terms and Conditions of Sale OMRON 5 7 10 11 12 13 Offer Acceptance These terms and conditions these Terms are deemed part of all quotes agreements purchase orders acknowledgments price lists catalogs m
150. 3440 hex 3638 hex 3441 hex m WahEx Overload The load ratio is 85 or more of the 1 Bit 7 Warning protection level Excessive The regeneration load ratio is 8596 or A1 hex Regeneration more of the level 2 Bit 5 Warning A2 hex Battery Warning The battery voltage is 3 2 V or less Bit O A3 hex The fan stop state continues for 1 Bit 6 second Encoder Com The encoder communications errors A4 hex munications occurred in series more frequently 5 Bit 4 Warning than the specified value Encoder The encoder detects the overheat A5 hex Overheating warning Bit 3 Warning Vibration Vibrating is detected A6 hex Detection T Bit 9 Warning Life Expectancy The life expectancy of the capacitor A7 hex Warning or the fan is shorter than the Bit 2 specified value External The external encoder detects a A8 hex Encoder Error warning Bit 8 Warning External The external encoder has A9 hex Encoder Com communications errors in series 10 Bit 10 munications more than the specified value Warning 1 Set the Warning Output Selection 1 3440 hex to the warning type to output to Warning Output 1 WARN 1 and set the Warning Output Selection 2 3441 hex to the warning type to output to the Warning Output 2 WARN2 If you set these objects to 0 all warning types are output 2 Detection of general warnings can be masked with the Warning Mask Setting 3638 hex and detection of EtherCAT communications related warnings can be maske
151. 4 V 50 60 Hz Motor Connector Specifications CNB B1 B2 B3 lt External Regeneration Resistor connection terminals Motor connection terminals Function Normally B2 and B3 are connected If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 R88D KNO8H ECT R KN10H ECT R KN15H ECT R Phase U These are the output terminals to the Servomotor Be sure to wire them correctly Phase V Phase W OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications R88D KN20H ECT R Main Circuit Connector Specifications CNA L1 Main circuit power R88D KNI IH ECT R 2 kW L2 supply input 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L3 L1C Control circuit power R88D KNLIH ECT R Single phase 200 to 230 VAC 170 to 253 L2C supply input V 50 60 Hz Motor Connector Specifications CNB U Motor connection PhaseU These are the output terminals to the Servomotor terminals Phase V Be sure to wire them correctly Phase W External Regeneration Resistor Connector Specifications CNC B1 External Regeneration Normally B2 and B3 are connected B2 Resistor connection If there is high regenerative energy remove the short circuit b
152. 4 ee 1 sod switch on disabled 2 qs quick stop 3 ve voltage enabled 4 f fault 5 oe operation enabled 6 so switched on T rtso ready to switch on 6 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 2 Modes of Operation 6 2 Modes of Operation ee OMNUC G5 series Servo Drives with built in EtherCAT communications support the following Modes of operation csp Cyclic synchronous position mode The operation mode is set in Modes of operation 6060 hex It is also given in Modes of operation display 6061 hex The operation modes supported by the Servo Drive can be checked in Supported drive modes 6502 hex If an unsupported operation mode is specified a Function Setting Error Error 93 4 will occur OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 4 Old eAug Drive Profile 6 3 Cyclic Synchronous Position Mode 6 3 Cyclic Synchronous Position Mode In this mode of operation the controller has a path generation function an operation profile calculation function and it gives the target position to the Servo Drive using cyclic synchronization Position control soeed control and torque control are performed by the Servo Drive The Velocity offset 60B1 hex and Torque offset 60B2 hex can be used as speed feed forward and torque feed forward amounts Cyclic Synchronous Positio
153. 5K030H T 5 W N m 40 438 2 2800 38 2 3100 Power supply voltage dropped Momentary operation range Y by 1096 12 7 12 7 20 0 1000 2000 3000 4000 5000 r min Note The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque 3 41 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 3 000 r min Servomotors 400 VAC The following graphs show the characteristics with a 3 m standard cable and a 400 VAC input e R88M K75030F C 750 W Power supply voltage N m dropped by 1096 0 1000 2000 3000 4000 5000 r min e R88M K2K030F C 2 kW Power supply voltage N m dropped by 1096 Momentary operation range i 6 37 0 1000 2000 3000 4000 5000 r min e R88M K5KO30F C 5 kW N m 50 147 7 2800 _47 7 3200 Power supply a voltage dropped Momentary operation range py 10 15 9 15 9 gt Continuous operation range 25 0 1000 2000 3000 4000 5000 r min e R88M K1K030F C 1 kW Power supply voltage dropped by 1096 3800 49 55 4200 N m 1049 55 Momentary operation range EC 3 18 3 18 Continuous operation range 0 1000 2000 3000 4000 5000 r min e R88M K3KO030F C 3 kW Power supply voltage
154. 5V 1 ESV O External encoder power supply output 52 V 25 EOV 250 mA max V GND pom T EXS 3 E LOO ELS Serial number EXA A kQ 20 kQ i gres PULS 120 Q pase x Doq up EB 20kQ EXB 2 kQ 20kQ PULS 120 Q o men POs gt 20 kQ d EXZ m 20kQ 7 PULS zi 120 Q pase XX Lek lt gt 3 20 KC LO EMEN O BEECCTTITTDITIPSTT FG Shell o FG External Encoder Input Signal Table External Encoder I O CN4 Pin No Name Function and interface 1 External encoder power External encoder power supply 5 2 VDC 5 250 supply output mA max 2 If the above capacity is exceeded provide a separate power supply 3 External encoder signal This Is an external encoder serial bi directional serial interface signal Conforms to EIA485 4 Maximum response frequency 400 Mpps 5 External encoder signal This is an external encoder 90 phase input signal 90 phase difference input Maximum response frequency 4 Mpps quadruple 6 Phases A B and Z multiplier EXB NE 9 e j i iUi i t1 gt 0 25 us 10 __ 4 t2 gt 1 0us 1 Connect external encoder signals to the serial interface EXS EXS or 90 phase difference inputs according to the encoder type OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 24 Specifications 3 1 Servo Drive Specifications Example of Connection with External Encoder m 90 Phase D
155. 6062 hex NC A A018 hex Ss ZU 4016 hex 7 X Target position E Position demand Velocity Demand Motor Velocity command units Lx value command iy Value command X Demand vaus E WERKEN ME NE units r ss r min Damping Control T AME a sekcion 3213 i Sou A Gear ratio forward Smoothing I t conversion I filter Frequency Filter Generate I Positi Command Numerator 6091 011 FIR 3818 ML Noon Denominator 6091 02 First order 3222 6081 hex 7 E i PEN Lag Profile velocity SV 60FC hex command 7 Position demand Uhits s puer eRe ee v internal value E BOBA or 60BC hex s encoder pulses Touch probe pos 77000077 1 2 pos value IMMUNE V s gommand units 60F hex pure ete wos d a Following error NERA 606C hex SN f ii actual value Molle pR v te a 4018 hex 3 wale Command BH 5 G06 hex SS vs deommand units 2 Position Demand X s 3s units SL 0 we d v Position actual value 77777 i Value After Filtering ad LU vun best Nas command units i zy command units y Electronic e p MEE L ear reverser E b I so es x 60FA hex ooo Sos nas I mm poco o Speed Control effort Torque a jon Feed forward Sn bs Feed forward 0 1 i i m ona M Gain 3110 Gain 3112 i Filler 3111 Filter 3113 I Speed FF ent X conversion Sp
156. 767 Unit eae ae eB range setting attribute Size 2 bytes INT16 Access PDO map Not possible Set the details of the autotuning function when the Realtime Autotuning Mode Selection 3002 hex is set to 6 Refer to 11 3 Realtime Autotuning on page 11 6 Explanation of Set Values cus Select to enable or disable load characteristic estimation Load characteristic ae 0 to 1 1 0 Disable estimation 1 Enable Select whether to update the present set value of the Inertial Ratio 3004 hex with the load characteristic estimation result 0 Use the present set value 1 Update with the estimation result 2to3 Inertia ratio updating 9 41 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects Bit Description Select whether to update three objects Torque Command Value Offset 3607 hex Forward Direction Torque Offset 3608 hex and Reverse Direction Torque Offset 3609 hex with the load characteristic estimation result 0 Use the present set value 1 Disable the torque compensation Clear the above three objects to zero 4 to 6 Torque compensation 2 Vertical mode Update 3607 hex Clear 3608 hex and 3609 hex to zero 3 Friction compensation small Update 3607 hex Set a small compensation to 3608 hex and 3609 hex 4 Friction compensation intermediate Update 3607 hex Set an intermediate compensation in 3608 hex and 3609 hex 5 Friction
157. 8 Pin 9 Pin 10 Pin 11 Pin 12 Pin 13 General purpose Input 1 IN1 General purpose Input 2 IN2 General purpose Input 3 IN3 General purpose Input 4 IN4 General purpose Input 5 IN5 General purpose Input 6 ING General purpose Input 7 IN7 IN8 General purpose Input 8 IN8 Immediate Stop Input STOP Forward Drive Prohibition Input POT Reverse Drive Prohibition Input NOT Origin Proximity Input DEC External Latch Input 3 EXT3 External Latch Input 2 EXT2 External Latch Input 1 EXT1 Monitor Input 0 MONO Note The functions that are allocated by default are given in brackets Refer to 7 1 Sequence I O Signals on page 7 1 for the allocation procedures Immediate Stop Input STOP STOP is used when an external sequence such as the host forcibly turns OFF the servo If the input is turned OFF during the Servomotor rotation the dynamic brake makes a deceleration stop After the motor stops it remains in servo free state If the Immediate Stop Input STOP turns ON when the motor is energized an Immediate Stop Input Error Error No 87 0 will occur This input is allocated to the pin 5 with the default setting Precautions for Safe Use Turn OFF the Immediate Stop Input STOP at the same time when you turn OFF the main power When the main power turns OFF due to an external immediate stop the motor will continues to rotate due to residual voltage This may cause human
158. 88M K75030H B S2 R88M K75030T B S2 ENJ Encoder connector Brake connector Motor connector Shaft end specifications with key and tap 4 l 35 25 25 6h8 rears co Oi N C cC 3E HE i M5 depth 10 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 34 suoisueuiiq EUuJ9 X3 pue s epoly Models and External Dimensions 2 4 External and Mounting Dimensions 1 kW 1 5 kW 2 kW without Brake R88M K1K030H S2 K1K530H S2 K2K030H S2 BITTE R88M K1K030T S2 K1K530T S2 K2K030T S2 EES 1 kW 1 5 kW 2 kW with Brake R88M K1K030H B S2 K1K530H B S2 K2K030H B S2 IITs R88M K1K030T B S2 K1K530T B S2 K2K030T B S2 WEJ Motor and brake connector aes Shaft end specifications with key and tap U an A vant M5 depth 12 95h7 i Dimensions mm R88M K1K0300 wi g 66 119 R88M K1K530 7 137 5 R88M K2K030L 156 5 R88M K1K0300 BC 168 124 66 146 R88M K1K530 B J 164 5 R88M K2K030 B J 183 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 35 OMNUC G5 series AC Servomotors and Servo Drives User s Manu
159. 9 hex before you use the feedback pulse error counter reset When the set value is extremely small the protective function may not work to prevent any erroneous operation due to improper connection of the external encoder la Precautions for Correct Use Provide sufficient safety measures This includes mounting limit sensors 9 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 5 9 5 Interface Monitor Settings Interface Monitor Settings 3400 hex Setting range Size 3401 hex Setting range Size 3402 hex Setting range Size 3403 hex Setting range Size 3404 hex Setting range Size 3405 hex Setting range Size OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Input Signal Selection 1 0 to OOFF FFFF hex Unit Default 0094 9494 Data setting hex attribute 4 bytes INT32 Access RW PDO map Not possible Set the function and logic for general purpose input 1 IN1 Refer to the Details of Control Inputs in Control Input Details on page 3 17 as well as 7 1 Sequence I O Signals on page 7 1 Unit Default 0081 8181 Data C setting hex attribute 4 bytes INT32 PDO map Not possible Set the function and logic for general purpose input 2 IN2 Refer to the Details of Control Inputs in Control Input Details on page 3 17 as well as 7 1 Sequence I O Signals on
160. A Displays the Z phase count value read from the external encoder when an 7 incremental external encoder is used during fully closed control The value between 0 an FF hex is displayed 8 or over Do not set anything 1 The cumulative count of communication errors is cleared when the control power is cut OFF 2 The value read from the encoder is indicated directly regardless of the External Feedback Pulse Direction Switching 3326 hex 3701 hex Power ON Address Display Duration Setting All Setting range O to 1000 Default setting 090 Data Attribute R Size 2 bytes INT16 PDO map Not possible Set the time to indicate the node address when the control power is turned ON 9 45 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects 3704 hex Backlash Compensation Selection csp Size 2 bytes INT16 PDO map Not possible Select to enable or disable the backlash compensation during position control Set the compensation direction when compensation is enabled Refer to 7 4 Backlash Compensation on page 7 11 Explanation of Set Value Set value Description 0 Disable backlash compensation 1 Compensate for backlash at first forward operation after the servo turns ON 2 Compensate for backlash at first reverse operation after the servo turns ON 3705 hex Backlash Compensation Amount Setting range 32768 to 32767 Default setting mM Data Attribute Si
161. Access Aces RW PDO map Not possible the compensation gain for the disturbance torque Refer to 11 8 Disturbance Observer Function on page 11 24 Disturbance Observer Filter Setting csp semi 10 to 2500 Unit 0 01 ms pii aids setting attribute 2 bytes INT16 INT16 Access Access RW PDO map Not possible EE the filter time constant for disturbance torque compensation Refer to 11 8 Disturbance Observer Function on page 11 24 9 40 sjoe qo JejeuieJeg oAJeg uo s rejeg Details on Servo Parameter Objects 9 7 Special Objects 3631 hex Realtime Autotuning Estimated Speed Selection Setting 0 to3 Unit Default Data B range setting attribute Size 2 bytes INT16 PDO map Not possible Set the speed to estimate the load characteristic while the realtime autotuning is enabled The higher the set value is the earlier the load characteristic change is followed but the estimated variation against the disturbance becomes greater The estimated results is updated in every 30 minutes and saved in EEPEOM Refer to 17 3 Realtime Autotuning on page 11 6 Explanation of Set Values oe EE Description 0 Stops load estimation 1 Estimates every minute from the load characteristic changes 2 Estimates every second from the load characteristic changes 3 Estimates the optimum from the load characteristic changes 3632 hex Realtime Autotuning Customization Mode Setting eng 32768 to 32
162. BR E AE DL Servomotors of 1 to 3m R88A CAGB003BR E For 2 000 r min Servomotors of 1 to R88A CAGBOOSBR E zu 000 r min Servomotors of 900 W R88A CAGBOTOBR E R88A CAGBO15BR E R88A CAGBO20BR E 400 V R88A CAKF001 5BR E dpi M Servomotors of 750 W Lm RSACAGBDUSRE R88A CAKFOO3BR E For 2 000 r min Servomotors of 400 W R88A CAKFOO5BR E E i Gobet Servomotors of 900 W R88A CAKFO10BR E R88A CAKF015BR E R88A CAKF020BR E For 3 000 r min Servomotors of 3 to R88A CAGDO001 5BR E ES es Servomotors of 3 to opem DOMINE 5 kW R88A CAGDO05BR E For 1 000 r min Servomotors of 2 to 3 kW R88A CAGDO10BR E R88A CAGDO015BR E R88A CAGD020BR E Specifications Note It requires both the power cable R88A CAKAL IL IL ISR E and the separate brake cable R88A CAKAL IL IL IBR E For the separate brake cable selection see brake cables table in page 2 14 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 3 Model Tables I Brake Cables European Flexible Cables Specifications Model 100 V and 200 V For 3 000 r min Servomotors of 50 to 750 W 1 5 m R88A CAKA001 5BR E 3m R88A CAKAOO3BR E om R88A CAKAOO5BR E 10m R88A CAKAO10BR E 15m R88A CAKAO15BR E 20 m R88A CAKAO20BR E i Encoder Cables Global Non flexible Cables Specifications Model 100 V and 200 V 3m R88A CRKA003C For 3 000 r min Servomotors of 50 to 750 W for both absolute encoders and incremental
163. Basic Settings 9 1 Basic Settings Some objects are enabled by turning the power supply OFF and then ON again After changing these objects turn OFF the power supply confirm that the power supply indicator has gone OFF and then turn ON the power supply again Do not change the objects marked reserved Also do not change the set values that are indicted as being unused or reserved for the system See below for the data attributes Always enabled B Prohibited to change during motor rotation or commands If itis changed during motor rotation or commands the update timing will be unknown C Updated after the control power is reset or after a Config command is executed via EtherCAT communications R Updated when the control power supply is reset It is not updated for a Config command via EtherCAT communications Write prohibited The operation modes are shown as follows Cyclic synchronous position mode Only objects related to semi closed control csp full Only objects related to fully closed control All operation modes 3000 hex Rotation Direction Switching All Setting 0 to 1 Unit Default 4 Data C range setting attribute Size 2 bytes INT16 PDO map Not possible This object switches the motor rotation direction for a position speed or torque command Explanation of Set Values Set Description value 0 A forward direction command sets the motor rotation direction to clockwis
164. Built in EtherCAT Communications 6 4 Torque Limit 6 4 Torque Limit a OMNUC G5 series Servo Drives can limit the torque using various methods The following objects are used to limit the torque using EtherCAT communications For details refer to Torque Limit Switching on page 7 21 Related Objects Index Description 6072 hex Max torque Torque limit for forward and reverse rotation 60E0 hex Positive torque limit value Torque limit for forward rotation Negative torque limit Torque limit for reverse rotation 60E1 hex value Note 1 The smaller of the two limits is applied Note 2 The torque limit state is given in Internal Limit Active bit 11 in the Statusword 6041 hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 8 Old eAug Drive Profile 6 5 Touch Probe Function Latch Function 6 5 Touch Probe Function Latch Function A a The latch function latches the position actual value when an external latch input signal or the encoder s phase Z signal turns ON OMNUC G65 series Servo Drives can latch two positions Related Objects Index Description 60B8 hex Touch probe function Controls the latch function 60B9 hex Touch probe status Gives the state of latches 1 and 2 60BA hex Touch probe pos1 pos Latch position of latch 1 value 60BC hex Touch probe pos2 pos Latch position of latch 2 value 3404 hex Input Signal Selection 5 Set the funct
165. C 6596 The momentary maximum torque indicates the standard value Applicable load inertia The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible f the dynamic brake is activated frequently with high load inertia the Dynamic Brake Resistor may burn Do not repeatedly turn the servo ON OFF while the dynamic brake is enabled The allowable radial and thrust loads are the values determined for a limit of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Rada load Thrust load ALL Shaft center LR 2 This is a non excitation brake It is released when excitation voltage is applied The operation time is the value reference value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co Direct current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation Torque Rotation Speed Characteristics for 3 000 r min Servomotors 3 000 r min Servomotors 100 VAC The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input e R88M K05030H T 50 W e R88M K10030L S 100 W e R88M K20030L S 200 W
166. C G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 8 Gain Switching Function Gain Switching Mode 5 or 9 Switching by Speed Command or Actual Motor Speed Speed command or actual motor speed 3118 hex 3116 hex _ _ Gain 1 Gain 2 Gain 1 Note The speed command is the Motor Control Effort 401A hex r min Gain Switching Mode 6 Switching by Pulse Position Error The gain is switched according to the pulse position error encoder pulses external encoder pulses Pulse position error 3118 hex 3116 hex pe Gain 1 Gain 2 Gain 1 Gain Switching Mode 7 Switching by Whether There Is a Position Command The gain is switched according to whether there is a position command Position command 3116h T Gain Gain 2 Gain 1 Note Whether there is a position command is determined by changes in the Target position 607A hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 28 suoioun paddy x Applied Functions 7 8 Gain Switching Function Gain Switching Mode 10 Switching by Combination of Whether There Is a Position Command and Actual Motor Speed Switching to the gain 2 occurs when a position command is received If there is no position command but the absolute value of the actual motor speed remains less than the difference of the Gain Switching Leve
167. C Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications mensions Models and External D 2 1 Servo System Configuration 2 1 Servo System Configuration Programmable Controller SYSMAC CJ2 Support Software Support Software e CX One FA Integrated e CX One FA Integrated zi Le Tool Package Tool Package SYSMAC PLC Position Control Unit with EtherCAT Interface CX Programmer d Including CX Drive e CX Drive WS02 DRVC1 CX Position and CX Motion Position Control Unit NC CJ1W NCI 8L OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications AC Servo Drive USB communications Su EtherCAT a NN communications e OMNUC G5 series Servo Drive R88D KNL ECT R 100 VAC 200 VAC 400 VAC Peripheral Devices e External Regeneration Resistors External R88A RR encoder OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 1 Servo System Configuration AC Servomotors Motor power signals Power Cables e Flexible Cables Without Brake R88A CA e With Brake R88A CA Brake Cables 50 to 750 W max e Flexible Cable R88A CAKA BR E Feedback Signals Encoder Cables e Flexible Cables 750 W or less R88A CRKA 1 kW or more R88A CRKC
168. CT R KNOAH ECT R KNO8H ECT R KN10H ECT R KN15H ECT R KN20H ECT R KN30H ECT R KN50H ECT R Single phase 100 Wc 2 3 phase 200 VAC FC2 FC1 L1 ziz e E LT B Single m 100 VAC ey Controller 1 Not required for single phase models with a 100 VAC input Note For models with a single phase power supply input R88D KNASL ECT R KNO1L ECT R KNO2L ECT R KNO4L ECT R KNO1H ECT R KNO2H ECT R KNO4H ECT R KNO8H ECT R the main circuit power supply input terminals are L1 and L3 Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a ground plate for the frame ground for each unit as shown in the above diagrams and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible A no fuse breaker surge absorber and noise filter should be positioned near the input terminal block ground plate and I O lines should be separated and wired at the shortest distance OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives R88D KNO6F ECT R KN10F ECT R KN15F ECT R KN20F ECT R KN30F ECT R KN50F ECT R zw f 9 rrr uDisoq uiejs g Unit Details m Surge absorber Okaya Electric RAV781BWZ 4 Single phase 100 VAC optional Industries Co Ltd RAV781BXZ 4 3 phase 200 VAC SUP EK5
169. CT R R88D KNO8H ECT R R88D KN10H ECT R R88D KN15H ECT R R88D KN20H ECT R R88D KN30H ECT R R88D KN50H ECT R R88D KNO6F ECT R R88D KN10F ECT R R88D KN15F ECT R R88D KN20F ECT R R88D KN30F ECT R R88D KN50F ECT R 2 3 Model Tables Servomotor Model Tables The following tables list the Servomotor models by the rated motor speed p 3 000 r min Servomotors Model D With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 50 W 100 W 100 V 200 W 400 W R88M K05030H R88M K05030T R88M K05030T S2 50 W 100 W 200 W 400 W 750 W 200 V 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW R88M K10030L R88M K10030S R88M K10030S S2 750 W 1 kW 1 5 kW 400 V 2kW 3 kW 4 kW 5 kW R88M K20030L R88M K20030S R88M K20030S S2 R88M K40030L R88M K40030S R88M K40030S S2 R88M K05030H R88M K05030T R88M K05030T S2 R88M K10030H R88M K10030T R88M K10030T S2 R88M K20030H R88M K20030T R88M K20030T S2 R88M K40030H R88M K40030T R88M K40030T S2 R88M K75030H R88M K75030T R88M K75030T S2 R88M K1K030H R88M K1K030T R88M K1K030T S2 R88M K1K530H R88M K1K530T R88M K1K530T S2 R88M K2K030H R88M K2K030T R88M K2K030T S2 R88M K3K030H R88M K3K030T R88M K3K030T S2 R88M K4K030H R88M K4K030T R88M K4K030T S2 R88M K5K030H R88M K5K030T R88M K5K030T S2 R88M K75030F R88M K75030C R88M K75030C S2 R88M K1K030F R88M K1K030C R88M K1K030C S2 R88M K1K530F R88M K
170. CT R KNO1H ECT R KNO2H ECT R KNO4H ECT R Excitation voltage is 24 VDC 10 Power consumption at Current consumption at s id i o Oo 9 Backlash D 1 reference value a Allowable work per J 39 2 39 2 137 137 braking Allowable total work 4 9x10 4 9103 44 1x102 44 1x102 Allowable angular Pee 30 000 max acceleration Speed of 2 800 r min or more must not be changed in less than 10 ms Brake limit Pe 10 million times min Insulation class x 4 Type B OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 34 Specifications 3 3 Servomotor Specifications Model R88M K75030H Item Unit K75030T N c e Rated output i Rated torque si Nem Rated rotation speed r min Maximum rotation speed r min 6 000 Momentary maximum 1 B z 3 N N 3 on C1 torque Rated current A rms 4 1 Momentary maximum A rms 174 current Rotor inertia Without kg aa 0 87x10 4 brake With brake kg m 0 97x10 4 Applicable load inertia 20 times the rotor inertia max Torque constant N m A 0 45 10 FOWER rate Without KW s 654 brake With brake kW s 58 7 Mechanical Without time brake constant With brake ms 0 42 Electrical time constant o o v A co O Allowable radial load Allowable thrust load Weight Without brake With brake 196 k Approx 2 3 Approx 3 1 170 x 160 x t12 Al C2 N A Radiator plate dimensions
171. Cat No 1573 E1 02 OMRON USER S MANUAL oes 9p T OMNUC G5 R88M K AC Servomotors R88D KNLI ECT R AC Servo Drives AC SERVOMOTORS SERVO DRIVES WITH BUILT IN EtherCAT COMMUNICATIONS Trademarks and Copyrights EtherCAT is a registered trademark of Beckhoff Automation Gmbh Germany EtherCAT technology is protected by patents Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies OMRON 2010 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 permis sion of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the informa tion contained in this publication Introduction Introduction Thank you for purchasing an OMNUC G5 series Servo Drive This manual explains how to install and wire the Servo Drive set par
172. Clamp Core Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal clock circuit Manufacturer Okaya Electric Industries Co Ltd Model Application 3G3AX ZCL1 1 OMRON For Drive output and power cable 3G3AX ZCL2 7 OMRON For Drive output and power cable ESD R 47B NEC TOKIN For Drive output and power cable ZCAT3035 1330 4 For Encoder cable and I O cable 1 Generally used for 1 5 kW or higher 2 Generally used for 1 5 kW or lower The maximum number of windings is 3 turns 3 Generally used for 50 100 W The maximum number of windings is 2 turns 4 Also used on the Drive output power lines to comply with the EMC Directives Only a clamp is used This clamp can also be used to reduce noise current on a FG line 4 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives External Dimensions 3G3AX ZCL1 3G3AX ZCL2 130 7x14 Long hole ESD R 47B ZCAT3035 1330 uDisoq uiejs g OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 32 System Design 4 3 Wiring Conforming to EMC Directives Impedance Characteristics 3G3AX ZCL1 Impedance Q Frequency kHz ESD R 47B 10000 1000 Impeda
173. Cyclic synchronous position mode 607C hex Home offset 1073741823 to Command Size 4 bytes INT32 Access RW PDOmap PDO map map Not possible This object sets the amount of offset from the origin of the absolute encoder or absolute external encoder to the zero position of the Position actual value 6064 hex 607D hex Software position limit All Sub index 0 Number of entries Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Min position limit 1073741823 to Command Range 1073741823 LIE Default 500000 Attribute Size 4 bytes INT32 Aces RW PDOmap PDOmap map Not possible Sub index 2 Max position limit 1073741823 to Command Range 1073741823 Default 500000 Attribute Size 4 bytes INT32 Aces RW PDOmap PDOmap map Not possible This object sets the software limit Ranges for the Position demand value and Position actual value are restricted New target positions are checked against these ranges The software limit is always relative to the mechanical origin The Min position limit is the limiting value for reverse rotation and the Max position limit is the limiting value for forward rotation la Precautions for Correct Use Make sure that the Max position limit is larger than the Min position limit The software position limit is disabled when an origin return has not been completed 6091 hex Gear ratio All Sub index 0 Number of entri
174. D KN50H ECT R at 500 VAC R88D KNO6E ECT R 3 5 mA R88D KN10F ECT R 3SUP HQ10 ER 6 10A S phase soo VAC R88D KN15F ECT R R88D KN20F ECT R 8 0 mA R88D KN30F ECT R 3SUP HL50 ER 6B 50A 3 phase coo VAC R88D KN50F ECT R 4 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives External Dimensions SUP EK5 ER 6 3SUP HQ10 ER 6 100 2 0 53 142 0 115 Ground terminal M4 k T 2 TUVVT C I rapla Senet ee Dnm om 1 1 L Attachment screw for cover M3 Cover Noise filter unit 3SUP HU30 ER 6 115 105 Ground terminal M4 70 43 Attachment screw for cover M3 Cover Noise filter unit Circuit Diagram SUP EK5 ER 6 3SUP HQ10 ER 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 30 uDisoq uiejs g System Design 4 3 Wiring Conforming to EMC Directives 3SUP HUS30 ER 6 Noise Filter for the Brake Power Supply Use the following noise filter for the brake power supply Model acc atis Leakage current current voltage SUP EK5 ER 6 250 V 1 0 mA at 250 Vrms 60 Hz TDK Note Noise can also be reduced by 1 5 turns with the ZCAT3035 1330 TDK Radio Noise Filter Radio Noise Filter and Emission Noise Prevention
175. Drive Prohibition Input POT the POT and NOT signals NOT signals or NOT is OFF from the CX Drive Disable them in the settings when the POT and NOT signals are not used The control mode does not Check the set value of the Set the control mode conform to the command Control Mode Selection 3001 according to the hex command The Servomotor power Check the wiring Wire correctly cable is wired incorrectly The encoder cable is wired incorrectly Power is not supplied Check the power supply and Turn ON the power the 7 segment display Check the voltage between Wire the power ON the power terminals circuit correctly The Servo Drive has broken Replace the Servo Drive down The Servomotor operates The position commands Check the position data and Set the correct data momentarily but then it given are too little the electronic gear ratio at the does not operate after host controller mak The Servomotor power Check the wiring of the Wire correctly cable is wired incorrectly Servomotor power cable s phases U V and W The encoder cable is wired Check the encoder cable s Wire correctly incorrectly wiring The Servomotor rotates There are inputs of small Check if there is an input in Set the speed command without a command values in speed control speed control mode to 0 Alternatively mode change the mode to position control mode The Servo Drive has broken ERN Replace the Servo Drive d
176. ER 6 Single phase 100 200 VAC 5 A NF Noise filter Okaya Electric 3SUP HQ10 ER 6 3 phase 200 VAC 10 A Industries Co Ltd 3SUP HU30 ER 6 3 phase 200 VAC 30 A 3SUP HL50 ER 6B 3 phase 200 VAC 50 A SD Servo Drive OMRON F 1 SM Servomotor OMRON 4 FC1 Clamp core ZACT305 1330 FC2 Clamp core Schaffner RJ8035 Clamp core NEC TOKIN ESD SR 250 FC3 Corporation Controller 1 A specified combination of Servo Drive and Servomotor must be used OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 22 System Design 4 3 Wiring Conforming to EMC Directives Noise Filter for Power Supply Input We recommend using a noise filter for the Servo Drive Noise filter for power supply input Drive model Rated Leakage current Manufac current 60 Hz max turer R88D KNA5L ECT R Single 1 0 mA R88D KNO1L ECT R SUP EK5 ER 6 5A Blase at 250 VAC R88D KNO2L ECT R R88D KNOAL ECT R 3 5 mA R88D KNO1H ECT R Single 1 0 mA R88D KNO2H ECT R SUP EK5 ER 6 5A shinee at 250 VAC R88D KNO4H ECT R R88D KNO8H ECT R 3SUP HQ10 ER 6 10A 3 phase alle at 500 VAC Okaya R88D KN10H ECT R Electric 3 5 MA Industries R88D KN15H ECT R 3SUP HU30 ER 6 30 A 3 phase at 500 VAC Co Ltd R88D KN20H ECT R OBL HRNSUFHEU TS SSUP HLEO ER 6B 3 ph ALLE ER 50A phase R88D KN50H ECT R at 500 VAC R88D KNOGF ECT R 3 5 mA R88D KN10F ECT R 3SUP HQ10 ER 6 10A 3 phas
177. EXE 5 ok BS Nalin TICS ae BURDETT DSA 38S BERE imf aba AAE EXARE Hazardous Do not touch terminals within 15 minutes after Voltage disconnect the power Risk of electric shock NER PUTCO ORNS MER Camo ih Seite ERATE BN WER jussu High Do not touch heatsink when power is ON Temperature Risk of burn Disposal When disposing of the battery insulate it using tape and dispose of it by following the applicable ordinances of your local government Dispose of the Servo Drive as industrial waste OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 Items to Check after Unpacking Items to Check after Unpacking After unpacking check the following items Is this the model you ordered Was there any damage sustained during shipment Accessories Safety Precautions document x 1 copy e Connectors mounting screws mounting brackets and other accessories other than those in the table below are not supplied They must be prepared by the customer e If any item is missing or a problem is found such as Servo Drive damage contact the OMRON dealer or sales office where you purchased your product Connector for main circuit Connector for External power supply terminals and Regeneration Resistor Safety bypass control circuit power supply connection terminals and connector terminals Motor connection terminals Specifications Single 100 W phase 100 VAC
178. EtherCAT Communications 9 6 sjoe qo JojeuieJeg oAJeg uo s rejeg Details on Servo Parameter Objects 9 2 Gain Settings If the speed loop gain and position loop gain are optimally set the motor operation for the command delays 2 Kp at acceleration and delays 3 Kp at deceleration 2 Motor speed 4 Position E Motor SONN Time 3 Kp 3101 hex Speed Loop Gain 1 Al pound 1 to 32767 Unit 0 1 Hz Dera 270 nala B range setting attribute Size 2 bytes INT16 PDO map Not possible 1 The default setting is 180 for a Drive with 200 V and 1 kW or greater or with 400 V This object determines speed loop responsiveness The setting for the speed loop gain must be increased to increase the position loop gain and improve the responsiveness of the entire servo system Setting too high however may result in vibration The setting unit for 3101 hex is Hz if the Inertia Ratio 3004 hex is set correctly When the speed loop gain is changed the response is as shown in the following diagram Overshooting occurs if the speed loop gain is high Motor speed S Vibration occurs if the gain is too high T 4 Speed loop gain is low Time 9 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 Gain Settings 3102 hex Speed Loop Integral Time Constant 1 1 The default setting is 310 for a Drive with 200 V and 1 kW or great
179. F K3K010F Item i K90010C K2K010C K3K010C Rated output 1 W 2 000 3 000 Rated torque Nem 19 1 28 7 Rated rotation speed r min 1 000 Maximum rotation speed r min 2 000 Momentary maximum Nem 19 3 47 7 torque i Rated current A rms 11 3 Momentary maximum A rms 12 30 current Rotor Without kg m 6 70x10 30 3x107 48 4x10 inertia brake kg With brake m 7 99x104 31 4x10 49 2x104 Applicable load inertia 10 times the rotor inertia max Torque constant s N m A 1 76 1 92 Powerrate Without kW s 110 120 170 x1 brake 4 With brake kW s 92 116 167 Mechanica Without 0 76 0 61 time brake D gt O gue Co C N EN N N ms ms S constant With brake 0 62 22 Electrical time constant m 1 Allowable radial load 9 N 1176 1470 Allowable thrust load N 490 490 Weig kg Approx 14 0 Approx 20 0 i kg Approx 17 5 Approx 23 5 Radiator plate dimensions 270 x 260 x t15 Al 470 x 440 x t30 Al material Applicable Servo Drives R88D KN15F ECT R KN30F ECT R KN50F ECT R N co e Coy vy 3 53 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 400 VAC Item Unit K90010C K2K010C K3K010C Excitation Excitation voltage 4 Vo 24 VDC 10 a al Ld at 20 C Current ani 0 79 10 1 3 10 1 41096 ina 20 C Backlash DEM 1 reference value Allowable work per J 1176
180. F020BR R88A CAKF030BR R88A CAKF040BR R88A CAKFOBOBR For 3 000 r min Servomotors of 3to5kW 3m R88A CAGD003BR koe iul coun A RGBACAGDDDSER R88A CAGD010BR R88A CAGD015BR R88A CAGD020BR R88A CAGD030BR R88A CAGD040BR R88A CAGD050BR Note It requires both the power cable R88A CAKAL ILILISR and the separate brake cable R88A CAKALILILIBR For the separate brake cable selection see brake cables table in page 2 18 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 3 Model Tables I Brake Cables Global Flexible Cables Specifications Model 100 V and 200 V R88A CAKA003BR For 3 000 r min Servomotors of 50 to 750 W R88A CAKAO05BR R88A CAKA010BR R88A CAKA015BR R88A CAKA020BR R88A CAKA030BR R88A CAKA040BR R88A CAKA050BR i EtherCAT Communications Cable Recommended Category 5 or higher cable with double aluminum tape and braided shielding is recommended I Absolute Encoder Battery Cables Name Model Absolute Encoder Battery Cable battery not supplied 0 3m R88A CRGDOR3C Absolute Encoder Battery Cable R88A BAT01G battery x 1 supplied 0 3 m R88A CRGDOR3C BS i Absolute Encoder Backup Battery Name Model Absolute Encoder Backup Battery R88A BAT01G I Analog Monitor Cable Name Model Analog Monitor Cable R88A CMK001S OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 18 suoisuauiiq JEUuJ9 X3 pue
181. G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Occurs during operation Occurs during operation Occurs during operation Occurs during operation Occurs during operation Occurs when the power supply is turned ON Occurs when the power supply is turned ON Occurs when the power supply is turned ON Occurs when the power supply is turned ON Occurs during operation A communications state change command was received for which the current communications state could not be changed An undefined communications state change command was received The number of consecutive errors in receiving data during the communication sync time exceeded the value specified for the Communications Control Setting Control PCB error PDO communications were stopped for more than the specified period of time The node address that was read from the rotary switches was not between 00 and 99 Control PCB error Control PCB error An out of range value was set from the host controller e A command that changes the communications state to an unsupported state was received When bit 9 Remote of the Statusword 6041 hex was set to 1 remote and the Servo Drive was in operation enabled state Servo ON a command that changes the communications state from Operational to another state Init Pre Operational Safe Operational was r
182. GEAUOD scassttithnonisici AE ideato rna C Ule tes 6 4 6 3 Cyclic Synchronous Position Mode eeeeeeeeeeeeeeeeeeee 6 5 Relato ODI SCS eH N 6 6 Block Diagram for Position Control MOde cccccccceccceececeeeeeeeseeeeaeeseeseeesseeeaeeeaees 6 7 6 4 Torque IE AW sss sats sacacabade te tsrasadeasnaaneaetaeaaneteesacatsootaieeaamiageaiGeseriasaas einen 6 8 ailleurs DILE 6 8 6 5 Touch Probe Function Latch Function esseeeeeseesse 6 9 SSI SCC OCS m PES 6 9 Trlgger SIG al SOUINGS sic usturbiine ot eite e E eeencass scot he Cose cei DP anui e Rue Uis 6 9 Obpetrallob Sedueli66S aciei emet te cou ie E o era snae ia esca octo Na 6 10 0 5 jFullysclosed CORUM OL uio temen oa rei Eee aeu de Qa uad ees ecotiies 6 12 OUTING OF Bler ir iroom Tm 6 12 Objects Requiring Settlh S sso ooo eese Sons eoe en px DhnnO In URS sn ce dopa cnn Ro PROC ARO URS DER Suae aces 6 13 Parameter Block Diagram for Fully closed Control Mode 6 18 B ODiECHIDICUONANY DRE TUE 6 19 S eziediBieilesinEl mre M 6 19 BricERU c DT 6 19 Object Description OMIA gcc uio semota Poet tete qubup euet Utama eo ste UU 6 20 Communication OD CCS susto eset ac ah a Labs eee Sce e emE Uns 6 21 PO OIA DING OD CCS c E E LET 6 27 Sync Manager Communication Objects ccccccceeceseeeseeeeeeeeaeeeeeeeseeeseeeeaeeeseeeseees 6 29 Manufacturer Specific ODJ CtS
183. General purpose 25 OUTM2 General purpose 26 OUTM2COM Output 2 GND Signal Ground This is the signal ground Servo Ready Output gt lt Q O z O OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 14 Specifications 3 1 Servo Drive Specifications I CN1 Pin Arrangement Absolute General purpose OUTM1 Output 1 Brake Encoder Backup BKIR Interlock Output General purpose Battery Input Absolute OUTM1COM output 1 Common BATGND Encoder Backup Battery Input ALM Error Output Signal Ground ALMCOM Error Output General purpose Common IN Input 1 Immediate x re NE Input 2 Forward Drive Prohibition Input General purpose uon Input 3 Reverse Drive INA General purpose E tion Input Input 4 Origin DEC Proximity Input General purpose Input 5 External EXT3 Latch Input 3 x General mn General purpose IN7 Input 7 External OUTM2 Output 2 Servo NB General purpose EXT1 Latch Input 2 READY Ready Output MON Input 8 Monitor 26 OUTM2COM Output 2 Common Input O Note Do not connect anything to unused pins those marked with The input functions for general purpose inputs 1 to 8 or IN1 to and the output functions for general purpose and objects 3410 and 3411 hex Output Signal Selection 1 and 2 The functions that are allocated by default are given in parentheses Refer to 7 1 Sequence
184. HI 2 900 W with Brake R88M K90010H B S2 ITs R88M K90010T B S2 IK EI Motor and brake connector Encoder connector 130x130 Shaft end specifications with key and tap M3 through 8h9 ce A gt gU q o e or i A M5 depth 12 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number R88M K90010 R88M K90010Ll BL OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 46 SUOISUDWIG EuJ9 X3 pue s epolNy Models and External Dimensions 2 4 External and Mounting Dimensions 2 kW 3 kW without Brake R88M K2K010H S2 K3K010H S2 R88M K2K010T S2 K3K010T S2 IE SCENE 2 kW 3 kW with Brake R88M K2K010H B S2 K3K010H B S2 Ie R88M K2K010T B S2 K3KO10T B S2 Basi Motor and brake connector Encoder connector 176x176 Shaft end specifications with key and tap M3 through jgg5he Model B2 R88M K2K010L7 141 5 R88M K3K010 7 187 5 R88M K2K010L1 BL 166 5 R88M K3K0100 BC 212 5 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 47 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications
185. Hesistor AN NN Bt Encoder cables Xe Regeneration i 1 Recommended products are listed in 4 3 Wiring Conforming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 Series motors with brakes because its rated induction load is 2 A P EE X 637 ALM 24 VDC O36 ALMCOM pu 24 VDC 3 There is no polarity on the brakes BKIR 110 XB eee nas 4 The Regeneration Resistor built in type SCO KN30F ECT R and KN50F ECT R connects B2 and B3 When the amount of regeneration is large remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2 User side control device Control cables 4 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring Main Circuit and Motor Connections When wiring the main circuit use proper wire sizes grounding systems and noise resistance R88D KNA5L ECT R KN01L ECT R KNO2L ECT R KNO4L ECT R R88D KN0O1H ECT R KNO2H ECT R KNO4H ECT R KNO8H ECT R R88 KN10H ECT R KN15H ECT R Main Circuit Connector Specifications CNA Sym bol L1 L2 L3 L1C L2C R88D KNI IL ECT R Main circuit power supply R88D KNL IH ECT R 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz 200 to 400 W 3 phase 100 to 120 VAC 85 to 132 V 50 60 Hz pur 100 W to 1 5 kW Single phase 200 to 240
186. I O Signals on page 7 1 for the allocation To use an absolute encoder connect a battery to pin 14 and 15 which is the backup battery input or connect I Connectors for CN1 Pin 26 Mod Manufacturer C number Name number Plug 10126 3000PE 3000PE A 24 VIN Power re General purpose Supply Input g POT E EN General purpose ING Input 6 External EXT2 Latch us 2 outputs OUTM1 and OUTM2 are determined by the objects 3400 to 3407 hex Input Signal Selection 1 to 8 the battery to the holder of the absolute encoder cable Never connect to both Sumitomo 3M R88A CNWO1C Cable Case E 52A0 008 3 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Control Input Circuits External power supply 12 VDC 5 to menos 24 VDC 5 e 24VIN 6 47 kQ O 1 0 kQ NS SIZ Photocouple input 5 4 7 kQ ESI 1 0 kQ Na SIZ Photocoupler input T O To another input circuit GND common _ To other input circuit 50 mA or more per unit Signal level ON level 10 V or more OFF level 3 V or less ect OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 16 suoneoyioodg Specifications 3 1 Servo Drive Specifications Control Input Details This is the detailed information about the CN1 connector input pins General purpose Inputs IN1 to IN8 Pin 5 Pin 7 Pin
187. If the Servomotor cable and the external encoder connection cable are bundled together separate them Connect the shield to FG Refer to the external encoder connection diagram Check the object settings The electronic gear ratio must be set between 1 1000 and 1000 Object Setting Error 2 External Encoder Connection Error Function Setting Error Check the object settings The external encoder ratio must be set between 1 40 and 160 External encoder ratio exceeded the allowable range The set value of the External Feedback Pulse Type Selection 3323 hex differs from the external encoder type that is actually connected for serial communications Electronic gear ratio exceeded the allowable range Set object 3323 hex to conform with the external encoder type that is actually connected Check the communications cycle settings or the electronic gear object The function that was set does not support the communications cycle The electronic gear object ratio was not 1 1 when the communications cycle was set to 250 500 us Replace the Servomotor with a Servomotor that matches the Servo Drive Error reset is executed when safety input 1 or safety input 2 is still in OFF status OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Be sure to clear the error when both safety input 1 and 2 have returned to ON status Turn OFF the power once and t
188. Interface Input Function Number Error 1 Error No 33 2 or an Interface Input Function Number Error 2 Error No 33 3 will occur OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 1 Sequence I O Signals Output Signals You can allocate output signal functions to the output pins for the control I O connector CN1 If a G series Servo Drive is being replaced with a G5 series Servo Drive use the G5 series servo Drive to with the default settings Output Signal Default Setting The allocations of the default output signals are as follows Refer to Output Signal Allocation Method on page 7 4 to change the allocations Default setting state Index ot E ee Ue Saunt Position control or fully closed control signal hex 3410 hex OUTM1 0003 0303 hex BKIR NO 3411 hex OUTM2 0002 0202 hex READY NO 1 NO normally open and NC normally close refer to the following states NO When the function is disabled OFF state output transistor is OFF When the function is enabled ON state output transistor is ON NC When the function is disabled output transistor is ON When the function is enabled output transistor is OFF Objects That Can Be Assigned Use the following objects when changing the output signal allocations For the setting method refer to Output Signal Allocation Method on page 7 4 Index Object name Explanation Reference Set the OUTM 1 output functio
189. K2K010T K3K010T Rated rotation speed 1 000 Maximum rotation speed 2 000 Momentary maximum N m 19 3 47 7 71 7 torque n Rated current A rms 17 0 22 6 EB Momentary maximum A rms 24 80 current Rotor Without kg m 6 70x107 30 3x107 48 4x104 o inertia brake UO D With brake 7 99x107 31 4x104 49 2x10 O Applicable load inertia e 10 times the rotor inertia max Power rate Without kW s 110 120 170 d brake o Mechanica Without ms 0 75 0 63 time brake Allowable radial load 3 686 1176 1470 Allowable thrust load 490 490 Weig Without brake Approx 6 7 Approx 14 0 Approx 20 0 i With brake Approx 8 2 Approx 17 5 Approx 23 5 Radiator plate dimensions 270 x 260 x t15 Al material Applicable Servo Drives R88D KN15H ECT R KN30H ECT R KN50H ECT R Excitation voltage 24 VDC 10 Power consumption W 19 31 34 at 20 C a Current consumption A 0 79 10 1 3410 1 4 10 Cc at 20 C m Backlash ee 1 reference value OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 52 Specifications 3 3 Servomotor Specifications 200 VAC Model R88M Item Unit K90010T K2K010T K3K010T Allowable work per J 1176 1372 1372 braking J Allowable total work Jo 1 5x108 2 9x108 2 9x108 Allowable angular rad s 10 000 acceleration Brake limit LERNEN 10 million times min Insulation class Type F Brake specifications 400 VAC Model R88M K90010
190. L2 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz L3 B1 External Regeneration Normally B2 and B3 are connected B2 Resistor connection If there is high regenerative energy remove the short circuit bar terminals between B2 and B3 and connect an External Regeneration B3 Resistor between B1 and B2 NC Do not connect U Motor connection Phase U These are the output terminals to the Servomotor terminals Be sure to wire them correctly V Phase V Phase W l Precautions for Correct Use Tighten the terminal block screws to the torque of 0 75 Nem M4 or 1 5 Nem M5 If the torque for terminal block screws exceeds 1 2 Nem M4 or 2 0 Nem M5 the terminal block may be damaged Tighten the fixing screw of the terminal block cover to the torque of 0 2 Nem M3 Tighten the ground screws to the torque of 0 7 to 0 8 Nem M4 or 1 4 to 1 6 Nem M5 3 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications EtherCAT Communications Connector Specifications RJ45 The EtherCAT twisted pair cable is connected to a shielded connector Electrical characteristics Confirm to IEEE 802 3 Connector structure RJ45 8 pin modular connector conforms to ISO 8877 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Abbreviation Direction Send data Output Send data Output D D FG T T
191. LLLLLLLAT LLL L TATE LAAT LAA A Entered position 3514 hex command range 3514 hex Error range Error range Error No 34 0 Servomotor s allowable operating range Error No 34 0 gt o ao OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 10 suonounJ paddy x Applied Functions 7 4 Backlash Compensation 7 4 Backlash Compensation i The function compensates for backlash for position control and fully closed control Objects Requiring Settings Backlash Select whether to enable or disable backlash 3704 hex Compensation compensation during position control page 9 46 Selection Set the compensation direction Backlash T 3 05 hex Compensation Amount Set the compensation amount during position control page 9 46 Backlash er 3706 hex Compensation Time Set the backlash compensation time constant during page 9 46 position control Constant Backlash Compensation Selection 3704 Hex This object is used to select whether to enable or disable backlash compensation during position control and to set the compensation direction Set value Description 0 Disable backlash compensation 1 Compensate for backlash at the first forward operation after the servo is turned ON 2 Compensate for backlash at the first reverse operation after the servo is turned ON f Setting Method The backlash compensation works in different directions depending on the setting
192. Manual with Built in EtherCAT Communications 3 28 suoneoyioodg Specifications 3 1 Servo Drive Specifications Safety Connector Specifications CN8 Connection of Safety I O Signals and Processing of External Signals 12 to 24 VDC o EDM Maximum service voltage 30 VDC or less Maximum output current 50 mADC Leakage current 0 1 mA max Residual voltage 1 7 V max 12 to 24 VDC Safety I O Signal Table Safety I O CN8 ZEE Function and interface No bol 1 E Reserved Do not connect SF1 Safety input 1 Inputs 1 and 2 for operating the STO function which are SF 2 independent circuits This input turns OFF the power transistor drive signals in the Servo Drive to cut off the Safety input 2 current output to the motor SF2 EDM output A monitor signal is output to detect a safety function N O o1 A O N 8 EDM failure Shell Connected to the ground terminal inside the Servo Drive Connector for CN8 8 pins Name number Industrial Mini I O Connector 2013595 1 Tyco Electronics AMP KK R88A CNK81S D SHAPE1 3 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications I Safety Input Circuits Servo Drive SF1 4 4 7 KQ External power supply ease e L a aes 12 VDC 5 to nin ake UL et 24 VDC 5 I se 3 7 LEE inpu SF2 6 4 7 KQ Signal level ON level 10 V min OFF lev
193. Messages sam When an error or warning occurs in a OMNUC G95 series Servo Drive an emergency message is sent to the master using mailbox communications An emergency message is not sent for a communications error You can select whether to send emergency messages setting Diagnosis history 10F3 hex The default setting is to not send emergency messages 10F3 hex Sub 05 hex Flags 0 oet the sub index 05 hex Flags in object 10F3 hex to 1 every time the power is turned ON to send emergency messages Emergency messages consist of 8 bytes of data Manufacturer Specific Error Field reserved Contents einai gency emer Error register 1001 hex Code 1 Error codes FFOO hex to FFFF hex in the manufacturer specific area are used Note For details on errors and warnings of the Servo Drive refer to Chapter 12 Troubleshooting and Maintenance 5 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Drive Profile This chapter describes the profile that is used to control the Servo Drive 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 Controlling the State Machine of the Servo Drive 6 1 Modes of Operation 6 4 Cyclic Synchronous Position Mode 6 5 TOFGUG LIM pee 6 8 Touch Probe Function Latch Function 6 9 Fully closed Control niii oiii enero coe te oet ne eto se
194. Motor connection Red These are the output terminals to the Servomotor terminals Whit Be sure to wire them correctly V W This is the ground terminal Ground to 100 Q or less External Regeneration Resistor Connector Specifications CNC C 9o T Q e E 2 gt U B1 External Regeneration Normally B2 and B3 are connected B2 Resistor connection If there is high regenerative energy remove the short circuit bar terminals between B2 and B3 and connect an External Regeneration B3 Resistor between B1 and B2 When using terminal N make sure not to exceed the fuse s rated N voltage 360 VDC 60 A 4 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring I R88D KN30H ECT R KN50H ECT R Terminal Block Specifications L1 Main circuit power supply R88D KNLJH ECT R 3 to 5 kW 3 phase 200 to 230 VAC 170 i to 253 V 50 60 Hz L2 L3 L1C Control circuit power R88D KNLIH ECT R Single phase 200 to 230 VAC 170 to 253 L2C supply input V 50 60 Hz B1 External Regeneration Normally B2 and B3 are connected If there is high regenerative B2 Resistor connection energy remove the short circuit bar between B2 and B3 and terminals connect an External Regeneration Resistor between B1 and B2 B3 U Motor connection These are the output terminals to the Servomotor V terminals Be sure to wire them correctly W This is the ground terminal Ground to 100 Q or l
195. N m dropped by 1096 Momentary operation range 9 55 0 1000 2000 3000 4000 5000 r min e R88M K1K530F C 1 5 kW Power supply voltage Ne ove dropped by 10 Momentary operation range 4 77 4 77 Continuous operation range Y 0 1000 2000 3000 4000 5000 r min e R88M K4KO30F C 4 kW Power supply voltage dropped by 1096 Momentary operation range 12 7 12 7 0 1000 2000 3000 4000 5000 r min U O O e ct O 5 o Note The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 42 Specifications 3 3 Servomotor Specifications Precautions for Correct Use Use the following Servomotors in the ranges shown in the graphs below Usage outside of these ranges may cause the motor to generate heat which could result in encoder malfunction e R88M K10030L S H T 100 W With oil seal e R88M K05030L S H T 50 W With oil seal Without brake With brake Without brake With brake Rated torque ratio 76 Rated torque ratio te ee ee oem fem mni es eo Ambient temperature 0 10 20 30 40 C 0 10 20 30 40 C e R88M K40030L S H T e R88M K40030L S H T 400 W Without oil seal 400
196. NO8H ECT R KN10H ECT R KN15H ECT R Single phase or single phase 3 phase 200 VAC input Main circuit power supply Single phase or single phase 3 phase 200 to 240 VAC 170 to 264 50 60 Hz Control circuit power supply Single phase 200 to 240 VAC 170 to 264 50 60 Hz R88D KN20H ECT R KN30H ECT R KN50H ECT R KN75H ECT R KN150H ECT R 3 phase 200 VAC input Main circuit power supply 3 phase 200 to 230 VAC 170 to 253 50 60 Hz Control circuit power supply Single phase 200 to 230 VAC 170 to 253 50 60 Hz R88D KNO6F ECT R KN10F ECT R KN15F ECT R KN20F ECT R KN30F ECT R KN50F ECT R KN75F ECT R KN150F ECT R 3 phase 400 VAC input Main circuit power supply 3 phase 380 to 480 VAC 323 to 528 50 60 Hz Control circuit power supply 24 VDC 15 Checking Terminal Block Wiring The main circuit power supply inputs L1 L3 or L1 L2 L3 must be properly connected to the terminal block The control circuit power supply inputs L1C L2C must be properly connected to the terminal block The motor s red U write V and blue W power lines and the green yellow must be properly connected to the terminal block i Checking the Motor There should be no load on the motor Do not connect the mechanical system The motor side power lines and the power cables must be securely connected Checking the Encoder Wiring The encoder cable must be securely connected to the encoder connector CN2 at the drive
197. O O O o O O OO OO OO imm ES ean d lailia uM 2200000090020000 E OO K KORORORA Model Pee e Lele ape e ele 3G3AX NF003 160 145 130 80 112 120 M 154 3G3AX NF004 200 180 160 100 162 150 120 M5 M5 210 3G3AX NF005 220 200 180 100 182 170 140 M6 M6 230 3G3AX NF006 220 200 180 100 182 170 140 M8 Ms 237 4 39 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 4 Regenerative Energy Absorption 4 4 Regenerative Energy Absorption eee The Servo Drives have internal regeneration process circuitry which absorbs the regenerative energy produced during motor deceleration and prevents the DC voltage from increasing An overvoltage error occurs however if the amount of regenerative energy from the motor is too large If this occurs remedies must be taken to reduce the regenerative energy by changing operating patterns or to increase the regeneration process capacity by connecting an External Regeneration Unit Calculating the Regenerative Energy Horizontal Axis N1 Motor operation N2 Motor output torque TD1 t1 In the output torque graph acceleration in the forward direction is shown as positive and acceleration in the reverse direction is shown as negative The regenerative energy values in each region can be derived from the following equations T Eg
198. OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 2 Preparing for Operation Checking the Displays 7 Segment Display The 7 segment display is on the front panel When the power is turned ON it shows the node address that is set by the rotary switches Then the display changes according to the setting of the LED Display Selection 3700 hex An error code is displayed if an error occurs A warning code is displayed if a warning occurs Control power ON Fully OFF Node Address Display nA node address approx 0 6 s Rotary switch setting upper digit x10 0 lower digit x1 3 It lasts for the period set in the Power ON Address Display Duration Setting 3701 hex To A on the next page O O D fo E O OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 4 10 2 Preparing for Operation Normal Display LED Display Selection 3700 hex set to 0 I I I I I I I I I I I I 1 Main power supply 4 Main power supply i turned ON and EtherCAT wy 4 interrupted and EtherCAT Communications 7 communications not established established Dot on right lights I I E a Servo ON Wy A Servo OFF 1 i v l 00 Dot on right lights I i i e a fe a a a se eee a a a a a a suey es eens Error occurs Wy 4 Error cleared Warning occurs x4 ho Wa
199. Position Control Mode Fully closed Control Mode Servo ON state Others The factors other than control objects must be set correctly This includes the torque limit The motor must operate normally without any failures Conditions for Clearing the Position Command Input Range The position command input range will be cleared to zero under any of the following conditions When the power supply is turned ON While the position error is cleared This includes when the servo is OFF and when the error counter is cleared due to a deceleration stop for the drive prohibit input When a trial operation via USB communications starts and when it ends When the position data is initialized This includes at a component setup request at an origin return when setting the coordinate system at an adjustment command and when clearing a multi rotation data via USB la Precautions for Correct Use This function is not intended to protect against incorrect position commands When this function works the Servomotor decelerates and stops according to the Fault reaction option code 605E hex Take this deceleration operation into account when you set the Overrun Limit Setting 3514 hex Otherwise the load during deceleration may hit and cause damage to the machine edges The overrun limit function is disabled for FFT analysis from the CX Drive Objects Requiring Settings 3514 hex Overrun Limit Setting Sets the Servomotor s al
200. RE 11 23 O object description format cccsceeeeeeeeeeeeeeeeeees 6 20 object dictionary aon oet doen rta Rx Conn vag VUA Riva Rc 1 2 i i MEE EE ER e ATT 6 19 data lV DSS C 6 19 eje se M dmm A 1 operational procedure eeeeeseeeeeeeeee 10 1 Origin Proximity Input DEC Lussussse 3 18 overload characteristics electronic thermal function 3 31 overrun protection 2 cccecee eect eee e eee eeeeeneeeeeeenaees 1 9 P PDO Map DING usos ica setuauteesc tercie Dade sau pat ubrC dus 5 5 PDO mapping for position control 5 6 PDO mapping objects eeeeeee eere 6 27 258th RxPDO mapping parameter 1701 hex 6 27 258th TxPDO mapping parameter 1B01 hex 6 28 periodic maintenance ccececeeeeeeeeeeeeeeeeeaeeees 12 31 peripheral equipment connection examples 4 6 position control mode adjustment 11 14 Positioning Completion Output 2 INP2 3 21 Power Cable Connector leeseeeeeeees 3 69 power cables with brakes European flexible cables 3 63 power cables without brakes European flexible cables 3 60 preparing for operation seseeeeeeeeeesee 10 2 process data objects PDOs 5 5 H radio Noise Mer susci eene ox Eon agen
201. S2 R88M K40020C BS2 R88M K60020C BS2 R88M K1K020C S2 R88M K1K520C S2 R88M K2K020C S2 R88M K3K020C S2 R88M K4K020C S2 R88M K5K020C 82 R88M K1K020T BS2 R88M K1K520T BS2 R88M K2K020T BS2 R88M K3K020T BS2 R88M K4K020T BS2 R88M K5K020T BS2 R88M K40020C BS2 R88M K60020C BS2 R88M K1K020C BS2 R88M K1K520C BS2 R88M K2K020C BS2 R88M K3K020C BS2 R88M K4K020C BS2 R88M K5K020C BS2 2 8 SUOISUDWIG EUuJ9 X3 pue s epolNy Without brakes CO O O E Models and External Dimensions 2 3 Model Tables 1 000 r min Servomotors Model NM With incremental encoder Specifications Straight shaft Straight shaft without key with key and tap 900 kW R88M K90010H R88M K90010H S2 200V 2kW R88M K2KO0 10H R88M K2K010H S2 3 R88M K3K010H R88M K3K010H S2 kW W eer ROBIERGIOTORS2 W kW 900 k R88M K90010H B R88M K90010H BS2 200V 2kW R88M K2K010H B R88M K2K010H BS2 3 R88M K3K010H B R88M K3K010H BS2 900 kW R88M K90010F B R88M K90010F BS2 400 V With brakes 2kW R88M K2K010F B R88M K2K010F BS2 3 kW R88M K3K010F B R88M K3K010F BS2 Note Models with oil seals are also available With absolute encoder Straight shaft without key R88M K90010T R88M K2K010T R88M K3K010T R88M K90010C R88M K2K010C R88M K3K010C R88M K90010T B R88M K2K010T B R88M K3K010T B R88M K90010C B R88M K2K010C B R88M K3K010C B Straight shaft with key and tap R88M K90010T S2 R88M K2K010T S2 R88M K3K010T S2 R88M K90010C S2 R88M
202. SUOISUDWIG JEUuJ9 X3 pue sjepolNy Models and External Dimensions 2 4 External and Mounting Dimensions 3 kW without Brake R88M K3K030F S2 R88M K3K030C S2 IEEE 3 kW with Brake R88M K3K030F B S2 IIe R88M K3K030C B S2 Motor and brake connector R88M K3K030 R88M K3K030 120x120 Shaft end specifications with key and tap M5 depth 12 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 39 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 4 kW 5 kW without Brake R88M K4K030F S2 K5KO30F S2 IINE R88M K4K030C S2 K5KO30C S2 IKE 4 kW 5 kW with Brake R88M K4K030F B S2 K5K030F B S2 R88M K4K030C B S2 K5K030C B S2 II Motor and brake m connector mMm of Shaft end specifications with key and tap 130x130 Encoder connector S 1 A i M8 depth 20 Dimensions mm Model R88M K4K0300 186 R88M K5K030L 21 La z 2 R88M K4K030L1 BLJ 127 2 R88M K5K030L1 BL 2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 11 46 OMNUC G5 series AC Servomotors and Servo Drives User s Manual wi
203. Systems 0 to 400 Mpps 1 with serial Corporation communications SR75 SR85 Absolute encoder Mitutoyo Corporation 0 to 400 Mpps with serial AT573 ST771A ST773A 2 communications Sony Manufacturing Systems Corporation SR77 SR87 1 These are the feedback speeds from the external encoder at which Servo Drive can respond Check the external encoder operation manual for its maximum output frequency OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 14 g Z lt D U O h D Drive Profile 6 6 Fully closed Control 2 These are the directions in which the Servo Drive counts the pulses from an external encoder with a 90 phase difference outputs Count down direction Count up direction t t s wae EXA EXA EXB yan a oe AM SS EXB is 90 ahead of EXA EXB is 90 behind EXA t1 0 25 us t1 0 25 us 2 10us t2 gt 1 0 us 3 For the external encoder connection direction set the direction so that count up occurs when the motor shaft is rotating counterclockwise and count down occurs when the motor shaft is rotating clockwise If the connection direction cannot be selected due to installation conditions or any other reason the count direction can be reversed using External Feedback Pulse Direction Switching 3326 hex Lal Precautions for Correct Use If 3000 hex 1 the encoder count direction becomes opposite
204. T16 Aces RW PDO map Not possible 1 It is limited by the maximum torque of the connected motor Set the reverse external torque limit for the torque limit switching input This object is set in units of 0 1 of the rated torque Details on Servo Parameter Objects 9 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 9 7 Special Objects Special Objects as 3605 hex Gain 3 Effective Time Une 0 to 10 000 Unit 0 1 ms siii ae range setting attribute Size 2 bytes INT16 PDO map Not possible Set effective time of gain 3 of 3 step gain switching Refer to 7 9 Gain Switching 3 Function on page 7 30 3606 hex Gain 3 Ratio Setting eeu 50 to 1 000 Unit pela 100 oe range setting attribute Size 2 bytes INT16 PDO map Not possible Set gain 3 as a multiple of gain 1 Refer to 7 9 Gain Switching 3 Function on page 7 30 3607 hex Torque Command Value Offset Setting 400 to 100 Unit Default Data range setting attribute Size 2 bytes INT16 Bm 1 X PDO map Not possible Set the offset torque to add to torque commands Refer to 11 9 Friction Torque Compensation Function on page 11 26 This object is set as a percentage of the rated torque 3608 hex Forward Direction Torque Offset Setting 400 to 100 Unit Default Data range setting attribute Size 2 bytes INT16 a 2 PDO map Not possible Set the value to add to a torque command for fo
205. 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 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 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Read and Understand this Manual 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
206. The encoder cable must be securely connected to the encoder connector at the motor OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 2 uonejJodo Operation 10 2 Preparing for Operation I Checking the EtherCAT Communications Connectors The EtherCAT Communications Cables must be connected securely to the EtherCAT Communications Connectors ECAT IN and ECAT OUT Checking the Node Address Setting Make sure that the node address is correctly set on the node address rotary switches Status indicators RUN Rotary switches for ERR node address setting L L A IN L A OUT Contents Connection to CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 Rotary switch setting 00 The Position Control Unit sets the node address 01 to 99 The rotary switch setting is used as the node address la Precautions for Correct Use Do not change the setting on the rotary switches after the power supply has been turned ON The node address rotary switches can be set to between 00 and 99 The node address used over the network is determined by the value set on the rotary switches If the node address is not between 00 and 99 a Node Address Setting Error Error 88 0 will occur Turning ON the Power Supply Turn ON the control circuit power after you conduct the pre power ON checking You may turn ON the main circuit power but it is not a required 10 3
207. UC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3615 hex Setting range Size 3618 hex Setting range Size 3623 hex Setting range Size 3624 hex Setting range Size OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects Overspeed Detection Level Setting at Immediate Stop 0 to 20 000 Unit r min siiis ae setting attribute 2 bytes INT16 INT 16 Access Aces RW PDO map Not possible the motor speed exceeds the set value during an immediate stop resulting from an error an Overspeed 2 Error Error No 26 1 will occur The overspeed detection level setting is 1 2 times the maximum motor rotation speed if this object is set to O This object should normally be set to 0 The setting should be changed only when it is necessary to lower the overspeed detection level Refer to Immediate Stop Operation on page 12 12 in 12 3 Errors on page 12 7 Power Supply ON Initialization Time R Default Data 2 2byes INTO INT16 ee PDO map Not possible LI the initialization time after turning ON the power supply to the standard 1 5 seconds plus the specified value Refer to the Control Output Sequence in 3 7 Servo Drive Specifications on page 3 1 for the details at power ON Disturbance Torque Compensation Gain Default Data 2 2byes INTIO INT16
208. UC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 42 uDisoq uiejs g System Design 4 4 Regenerative Energy Absorption Regenerative Energy Absorption with an External Regeneration Resistor 4 43 If the regenerative energy exceeds the regeneration absorption capacity of the Servo Drive connect an External Regeneration Resistor Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive Double check the terminal names when connecting the resistor because the drive may be damaged if connected to the wrong terminals The surface of the External Regeneration Resistor will heat up to approx 200 C Do not place it near equipment and wiring that is easily affected by heat Attach radiator plates suitable for the heat radiation conditions External Regeneration Resistor Characteristics Resistance Nominal value capacity Model R88A RRO8050S R88A RR0801008S R88A RR22047S R88A RR22047S1 R88A RR50020S The amount of regen eration absorption for 120 C temperature rise Heat radiation condition Aluminum 350 x 350 Thickness 3 0 Aluminum 350 x 350 Thickness 3 0 Aluminum 350 x 350 Thickness 3 0 Aluminum 350 x 350 Thickness 3 0 Aluminum 600 x 600 Thickness 3 0 Thermal switch output specifications Operating temperature 150 C 5 NC contact Rated output resistive load 125 VAC 0
209. VAC 170 to 264 V 50 60 Hz R88D KNLIL ECT R Control circuit power Single phase 100 to 120 VAC 85 to 132 V 50 60Hz supply input R88D KNL IH ECT R Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Motor Connector Specifications CNB Sym bol B1 B2 If there is high regenerative energy connect an External External Regeneration Regeneration Resistor between B1 and B2 100 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz 50 to 400 W These terminals normally do not need to be connected Resistor connection 750 W to 1 5 kW Normally B2 and B3 are connected If there is high terminals regenerative energy remove the short circuit bar between B2 and B2 Red These are the output terminals to the Servomotor White Be sure to wire them correctly Motor connection terminals Blue Green Yellow This is the ground terminal Ground to 100 Q or less OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications B3 and connect an External Regeneration Resistor between B1 and 4 12 uDisoq uiejs g 4 2 Wiring R88D KN20H ECT R Main Circuit Connector Specifications CNA L1 Main circuit power supply R88D KNLIH ECT R 2 kW L2 input 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L3 L1C Control circuit power R88D KNLIH ECT R Single phase 200 to 230 VAC 170 to 253 L2C supply input V 50 60 Hz Motor Connector Specifications CNB U
210. W PDOmap PDO map map Not possible Set the hybrid vibration suppression filter Refer to 11 10 Hybrid Vibration Suppression Function on page 11 28 Vibration Detection Threshold Default Data o 2 bytes INT16 Access O RW PDO map Not possible Set the vibration detection threshold If torque vibration that exceeds this setting is detected a vibration detection warning occurs Refer to 12 2 Warnings on page 12 4 This object is set in units of 0 196 of the rated torque Warning Mask Setting 32 768 to 32 767 Unit Default Data setting attribute 2 bytes INT16 Access RW PDO map Not possible Set the warning detection mask setting If you set the corresponding bit to 1 the corresponding warning detection is disabled Refer to the General Errors in 12 2 Warnings on page 12 4 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects Warning number Warning condition Warning name AO Overload warning The load ratio is 85 or more of the protection level M Excessive regeneration The regeneration load ratio is 8596 or more of the warning level A2 Battery warning Battery voltage is 3 2 V or less A3 Fan warning The fan stops for 1 second Encoder Encoder communications errors occurred in A4 communications series more than the specified value warning A5 Encoder overheating The encoder temperature exceeded the warni
211. Wsteresis Im Kosten lorie INTO EM Not possible 3119 hex E Position Gain Switching Time 2 bytes INT16 OBO Not possible 3200 hex ex Adaptive Filter Selection 2 bytes INT16 Not possible Possible 3201 hex EN Notch 1 Frequency Setting 2 bytes INT16 Bo Not possible Possible 3202 hex NS Notch 1 Width Setting 2 bytes INT16 NN Not possible Possible 3203 hex EX Notch 1 Depth Setting 2 bytes INT16 Bo Not possible A 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 Object List eect eee oc S E 380 570 4 0 to 30000 180 270 1 to 32767 Pn106 All eo sp Pn105 10000 1 to 10000 Pn107 Al 84 1268 0 to 2500 Pn109 All 2 50 O to 10000 0 1 ms Pn116 csp 5000 50 to 5000 Pn201 All The default setting is 180 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 270 for other Drives 2 3 4 Oi 6 The default setting is 310 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 210 for other Drives The default setting is 126 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 84 for other Drives The default setting is 380 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 570 for other Drives The default setting is 180 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 270 for
212. X Value command command units y m M kr units Pas aue S nds a i Electronic Ul sn UIT ota ceca a 4 Electronic gear reverse p Pp 14 gear reverse vci conversion conversion I I Sap aig T E os ie i X 60FA hex 7 Friction poi d i Speed ii Control effort i Torque Compensatio 60B2 hex Feed forward deonimand umsr sp Feed forward Offset Value 3607 orque offse oo m 0 196 i Gain 3110 Gain 3112 C Forward 3608 WII DeeII Ifi Filter 3111 Filter 3113 Reverse 3609 Speed FF unit 7 conversion 7v Speed Control Notch Filter g go _ i Integra Frequency Width Depth ex Position s Velocity offset NE Control lt command units s i Ono irn A i gt 1 13100 C 9 D ou i 2 3105 Inertia Ratio 300 n D Y 4010 hex 7 a os sige o 1 Fully closed Following Vade Detection Filter Error external encoder V Effort Ir H 1 3103 a ee d uie SN S pulses s Ort proin Pd D 6063 hex E aia cal ail Un xci 2 3108 Position actual lt E LE C n ps m on Expansion 3610 internal value 1E VU 401Ehex N E NM i 3610 external encoder Hybrid Following i Motor Velocity Actual Selig Disturbance Torque pulses ae 3 Error oe ff Sx Value min 7 Observer Filter Se eee Seu units ott ree UNINIMMMINZM Gain 3623 3104 ere External Encoder pit s ae conversion reverse dividing Denominator 3325 Q Num
213. a E E 9 23 External Feedback Pulse Type Selection 3323 HEX eraki a ioa nsa ao dud 9 21 Hybrid Following Error Counter Overflow Level 3926 NEX a aaa a a ai 9 23 Hybrid Following Error Counter Reset 3329 hex 9 23 analog MONIO soiien AA 11 1 Analog Monitor Cable 2 18 3 73 analog monitor connector specifications CN5 3 27 applicable standards occi er 1 7 B backlash compensation Lusueesuss 7 11 Backup Battery Inputs BAT 3 19 basic settings Control Mode Selection 3001 hex 9 2 External Regeneration Resistor Setting 3017 hex 9 4 Inertia Ratio 3004 hex eeseeeeessse 9 3 Operation Switch when Using Absolute Encoder 3015 NOX oiii test tate E edo a acoso cem ee eae ee 9 3 Realtime Autotuning Machine Rigidity Setting SOO S NEN ect Tc Ad 9 2 Realtime Autotuning Mode Selection 3002 hex 9 2 Regeneration Resistor Selection 3016 hex 9 4 Rotation Direction Switching 3000 hex 9 1 Brake Cable Connector eeseeeeeess 3 69 brake cables European flexible cables 2 14 brake cables global flexible cables 2 18 brake cables global non flexible cables 2 16 brake InterlOCK i rcnu idR Ee Dr xo uURa Qux acE UU RR FUR OPER devs 7 13 Brake Interlock Output BKIR
214. a a 12 4 Warning EISi rasna e A E E E 12 5 UZ EO a E E A E areal 12 7 Immediate Stop Operation at ErrOrs ccccccccccccsececeeeeeeeeeeeeeeeseeeeeeeseueeeeeeaeeeseeenes 12 11 124 STEOUDIeESDOONHLG socre a Ei 12 13 Troubleshooting with Error DiSplayS ccccceeceeeeceeeeeeceeeeeeeeeeeeeseeeeeeeseeseeeeeeeaeees 12 13 Troubleshooting Using the Operation State eeeeeseeeseeeeeeeeeeeeereenee 12 25 12 5 Periodic Maintenance eseesessssssesseeneenre nennen nennen 12 31 Servomotor Life Expectangcy cielo cee is A el 12 31 Servo Drive Life Expectancy ze ooi mbar pota n botes tescdun 12 32 Replacing the Absolute Encoder Battery eeeeseeseeeeeeeeeeenee 12 33 Appendices ME SI r4s u em A 1 A 2 EtherCAT Terminology cccccccccecccecceeeeeeeeeeeeceeeeueesueeseeesseeseueeaes A 19 Index OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 21 Features and System Configuration EE Po This chapter explains the features of the Servo Drive name of each part and applicable EC Directives and UL standards 1 1 Outline DNUS TOUR TOR T 1 1 1 2 System Configuration 1 3 1 3 Names and Functions 1 4 1 4 System Block Diagram 1 6 1 5 Applicable Standards
215. age i value Control method All digital servo Inverter method IGBT driven PWM PWM frequency 12 0 kHz 6 0 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 1 0 kg Approx 1 6 kg Maximum applicable motor capacity 100 W 200W W 400 W Applicable 5 000 K05030H K10030L K20030L K40030L Servomotor r min K05030T K10030S K20030S K40030S 1 The heat value is given for rated operation OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 2 suoneoyioodg Specifications 3 1 Servo Drive Specifications 200 VAC Input Models R88D KN15H ECT R Input power Main Power supply circuit supply 0 5 KVA 0 5 KVA 0 9 KVA 1 3 KVA 1 8 KVA 2 3KVA Capacity Power supply Single phase or 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz voltage 1 6 0 9A 2 4 1 3 A 4 1 2 4 A 6 6 3 6 A 9 1 5 2 A 14 2 8 1 A current Power supply Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Item voltage value PWM frequency 12 0 kHz 6 0 kHz Weight Approx Approx Approx Approx Approx Approx 0 8 kg 0 8 kg 1 0 kg 1 6 kg 1 8 kg 1 8 kg RTT a 100 W 200 W 400 W 750 W 1 5 kW capacity Applicable 3 000 K05030H K1K030H Servomotor r min K10030H Pee EER EN K1K530H K05030T K1K030T K10030T K20030T K40030T K75030T EN K1K530T r min r min Control method All digital servo Inverter method IGBT driven PWM 1 The first value is for single phase input
216. al noise or vibration Overshooting at startup or when stopping 12 29 The Position Loop Gain 1 Review the setting of object 3100 hex 3100 hex is too large Review the set values of objects 3101 hex and 3102 hex The Speed Loop Gain 1 3101 hex and the Speed Loop Integral Time Constant 1 3102 hex are balanced incorrectly Check to see if the cable is a twisted pair cable or shielded twisted pair cable with core wires that are at least 0 08 mm dia Noise is entering into the control I O signal cable because the cable does not meet specifications Noise is entering into the control I O signal cable because the cable is longer than the specified length Check the length of the control I O signal cable Check to see if it is a shielded twisted pair cable with core wires that are atleast 0 12 mm dia Check the length of the encoder cable Noise is entering into the cable because the encoder cable does not meet specifications Noise is entering into the encoder cable because the cable is longer than the specified length Check the encoder cable for damage Noise is entering into the signal lines because the encoder cable is stuck or the sheath is damaged Check to see if the encoder cable is bound together with or too close to high current lines Excessive noise on encoder cable The FG s potential is fluctuating due to devices near the Servomotor such as welding machines Check
217. al with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 3 kW without Brake R88M K3K030H S2 HEINe _ INC _ R88M K3KO030T S2 ICE 3 kW with Brake R88M K3K030H B S2 IS R88M K3K030T B S2 ICI Motor and brake connector Encoderconmedior 120x120 Shaft end specifications with key and tap A z n c a mM A Mus 5 m t M5 depth 12 110h7 R88M K38K030 R88M K3K030 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 36 SUOISUDWIG JEUuJ9 X3 pue sjapory Models and External Dimensions 2 4 External and Mounting Dimensions 4 kW 5 kW without Brake R88M K4K030H S2 K5K030H S2 BITS R88M K4K030T S2 K5KO30T S2 EES 4 kW 5 kW with Brake R88M K4K030H B S2 K5K030H B S2 R88M K4K030T B S2 K5K030T B S2 ICE Motor and brake connector m AM Fr Shaft end specifications with key and tap 130x130 Encoder connector M3 through g 8h9 E os amp e SN IN Eza N C E 4 um l M8 depth 20 Dimensions mm Model LM KB2 127 186 24 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at t
218. alculated from the internal position command and related objects 3110 hex and 3111 hex is used as a speed feed forward input value for the speed command which is calculated by comparing the internal position command and the position feedback The Block Diagram for Position Control Mode on page 6 7 shows the relationship of above description Refer to 11 11 Feed forward Function on page 11 29 for details OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 60B2 hex Torque offset Range 5000 to 5000 Default 1000 Attribute Size 2 bytes INT16 IE A35 A PDO map Possible The value obtained by adding the value of this object 60B2 hex and the torque feed forward value calculated from the Control effort GOFA hex and related objects 3112 hex and 3113 hex is used as a torque feed forward input value for the torque command which is calculated by comparing the Control effort GOFA hex and the speed feedback The Block Diagram for Position Control Mode on page 6 7 shows the relationship of above description Refer to 11 11 Feed forward Function on page 11 29 for details 60B8 hex Touch probe function Latch function Size 2 bytes U16 lt a PDO map Possible This object sets and controls the latch function There are two channels Latch 1 bits 1 to 7 and Latch 2 bits 8 to 15 Bits O and 8 execute latching when changed from 0 to 1 To change the setti
219. also calculated 4 compensation and Used for a belt driving shaft with large friction Variations in finalizing vertical axis the positioning are suppressed Load characteristic Used only for estimating load characteristics estimation ior Customization This mode is used for customizing the realtime autotuning function 6 by using the Realtime Autotuning Customization Mode Setting 3632 hex 3003 hex Realtime Autotuning Machine Rigidity Setting ll Setting 0 to 31 Unit Default 13 Data B range setting attribute Size 2 bytes INT16 PDO map Not possible 1 The default setting is 11 for a Drive with 200 V and 1 kW or greater or for a Drive with 400 V Set the machine rigidity to one of 32 levels when realtime autotuning is enabled The higher the machine rigidity set value is the higher the responsiveness is however the more vibration occurs OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 sjoe qo 1ojeuieJeg oAJ8eG uo s rejeg Details on Servo Parameter Objects 9 1 Basic Settings Low Machine rigidity High Low Servo gaino High Low Responsiveness High Refer to 11 3 Realtime Autotuning on page 11 6 l Precautions for Correct Use If the set value is changed suddenly by a large amount the gain may change rapidly subjecting the machine to shock Always start with a small setting and gradually increase the setting while monito
220. alue set on the Overspeed Detection commands Level Setting 3513 hex Check the input frequency dividing ratio and multiplication ratio of the command pulse Overspeed 2 The Servomotor rotation speed exceeded If overshooting occurred due to faulty the value set for the Overspeed Detection gain adjustment adjust the gain Level Setting at Immediate Stop 3615 n the wiri e Wire the encoder as shown in the wiring diagram hex 12 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex Absolute Value Cleared Command Error Command Generation Error Operation Command Duplicated Position Data Initialized Error Counter Overflow 1 Error Counter Overflow 2 12 4 Troubleshooting Cause Measures The multi rotation counter for the absolute Check to see if the multi rotation counter encoder was cleared during USB for the absolute encoder was cleared communications by the CX Drive during USB communications by the CX Drive Note This operation is performed for safety and is not an error The position command variation after the Check to see if the position command electronic gear is higher than the specified variation is large value Check the electronic gear ratio Check to see if the backlash compensation amount is too large During position command processing an Check to see if the electronic gear ratio error such
221. am for Fully closed Control Mode The following is a block diagram for fully closed control using an R88D KNL IL IL ECT Series servo Drive ee eee pecmrcsseseserssten CILLUM 5 f ee So ee ee ee ee er rer 607A hex 6062 hex 4015 hex 4016 hex ps Target position T Position demand Velocity Demand d Motor Velocity 5i i CEN E command units ane ee P oe command A Bemane value Demand Value After pogasagceauccogasses Saag units Le i zsa EMi Damping Control p x Filtering r min _ Switch 3213 Gear ratio forward Smoothing Selection Gain Switching ae ee filter Frequency Fille Setting 2 3114 Setting 3 3605 Jot Numerator 6091 01 3818 Mode 3115 Ratio 3606 Delay Time PPP Denominat repre yore s First order enominator 6091 02 60FC hex Sc Lag 3222 6081 hex Profile Velocity 5 r rlemahaue Level 3117 No HU gc e n encoder pulses 7j i I un its s ji ne r E Pu xd SII Hysteresis 3118 ee v 1 2 A e a D UP LT Switching Time 13119 eee command units Vs ie E 606 hex F4 orang MR ae 4 Following error Mm Velocity Demand n a M 1 dei cS actual value 9 DEI E UM i Value After mie i Velocity actual S wr 6064 hex xS command units ir peton Denan aS command units s value EON d T I JN Position actual mmm i Value After Filtering nran E Mhils s 77 S
222. ameters Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Synchronization type Size 2 bytes U16 Aces RO PDO map Not possible Sub index 2 Cycle time Range 7 Uit ns Default 0000 0000 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 4 Synchronization types supported Size 2 bytes U16 Aces RO PDO map Not possible Sub index 5 Minimum cycle time Range p Unit fs Default 0003 2C8 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 6 Calc and copy time Range 7 Uit ns Default 0007 A120 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 9 Delay time Range p Unit n Default 0000 0000 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 32 Sync error Size 1 bit BOOL Aces RO PDO map Not possible The Synchronization type indicates the synchronization mode of Sync Manager 2 0002 hex DC mode 0 The Cycle time indicates the sync 0 event cycle in nanoseconds The Synchronization types supported indicates the types of synchronization supported 0004 hex DC mode 0 The Sync error is 1 when there is a synchronization error 6 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 1C33 hex SM3 synchronization All Sub index 0 Number of synchronization paramete
223. ameters needed to operate the Servo Drive and remedies to be taken and inspection methods to be used should problems occur Intended Readers This manual is intended for the following individuals Those having electrical knowledge certified electricians or individuals having equivalent knowledge and also being qualified for one of the following e Introducing FA equipment Designing FA systems Managing FA sites Notice This manual contains information you need to know to correctly use the Servo Drive and peripheral equipment Before using the Servo Drive read this manual and gain a full understanding of the information provided herein After you finished reading this manual keep it in a convenient place so that it can be referenced at any time Make sure this manual is delivered to the end user OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 Read and Understand this Manual Read and Understand this Manual 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 NONINFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED
224. and B 262 144 pulses rotation Phase Z 1 pulse rotation 5 VDC t 596 180 mA max S S RS485 compliant Absolute Encoder Specifications Item Encoder system Number of output pulses Maximum rotations Power supply voltage Power supply current Applicable battery voltage Current consumption of battery Output signal Output interface Specifications Optical encoder 17 bits Phases A and B 32 768 pulses rotation Phase Z 1 pulse rotation 92 68 to 32 767 rotations or 0 to 65 535 rotations 5 VDC x 596 110 mA max 3 6 VDC 265 uA for a maximum of 5 s right after power interruption 100 uA for operation during power interruption 3 6 uA when power is supplied to the drive S S RS485 compliant Note Multi rotation Data Backup The multi rotation data will be lost if the battery cable connector is disconnected at the motor when connecting the battery cable for the absolute encoder and battery The multi rotation data will be lost if CN2 is disconnected when connecting the battery to CN1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 56 suoneoyioodg Specifications 3 4 Cable and Connector Specifications 3 4 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the encoder between the Servo Drive and the Servomotor Select the cable matching the Servomotor The cables li
225. and MON2 These are the general purpose monitor inputs The general purpose monitor inputs do not affect operation and can be monitored from the host controller With the default settings MONO is allocated to pin 13 Forward External Torque Limit Input PCL and Reverse External Torque Limit Input NCL Turn ON these inputs to limit the torque to the value set in the Forward External Torque Limit 3525 hex and the Reverse External Torque Limit 3526 hex While the input is ON operation continues within the torque limit With the default settings the inputs are not allocated Backup Battery Inputs BAT Pin 14 Backup Battery Input BAT Pin 15 Backup Battery Input BATGND Function These are the backup battery connection terminals used when the absolute encoder power is interrupted f a battery is connected to the battery holder for the absolute encoder battery cable do not connect anything to these terminals la Precautions for Correct Use Be sure not to connect to both of the absolute encoder battery cable and the backup battery inputs at the same time Such connection may result in malfunction Control Output Circuits I Sequence Outputs Servo Drive External power supply 12 to 24 VDC Maximum service voltage 30 VDC or less Maximum output current 50 mA max Di Surge voltage prevention diode 1 When driving a relay directly with an output signal always insert a diode as show
226. and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 4 kW 5 kW without Brake R88M K4K020H S2 K5K020H S2 R88M K4K020T S2 K5K020T S2 4 kW 5 kW with Brake R88M K4K020H B S2y K5K020H B S2 R88M K4K020T B S2 K5K020T B S2 IEEE Motor and brake connector Encoder connector gt 176x176 Shaft end specifications with key and tap 10h9 P Ae M12 depth 25 R88M K4K0200 177 133 96 155 R88M K5K02001 196 152 115 174 R88M K4K02001 BL 202 158 96 180 R88M K5K0200 BO 221 177 115 199 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 42 SUOISUDWIG EUuJ9 X3 pue sjapory 2 4 External and Mounting Dimensions 2 000 r min Servomotors 400 V 400 W 600 W without Brake R88M K40020F S2 K60020F S2 Te R88M K40020C S2 K60020C S2 IEEE 400 W 600 W with Brake R88M K40020F B S2 K60020F B S2 IIIS R88M K40020C B S2 K60020C B S2 IEEE Motor and brake connector LL 55 Encoder connector T 1003100 Shaft end specifications with key and tap c g 2 E M3 through 22 6h9 5 E ze E L a A p d M5 dep
227. and Servo Drives User s Manual with Built in EtherCAT Communications 3 22 suoneoyioodg Specifications 3 1 Servo Drive Specifications Encoder Connector Specifications CN2 Pin No Symbol Function and interface E5V Encoder power supply 5 V Power supply output for the encoder Backup power supply output for the absolute encoder Encoder signal I O serial signal Shell Frame ground Connectors for CN2 6 Pins Name number Drive connector 53460 0629 Molex Japan R88A CNWO1R Cable connector 55100 0670 External Encoder Connector Specifications CN4 on Cc N These are the specifications of the connector that connect with the external encoder Pin No Symbol Name Function and interface 1 Use at 5 2 V 5 and at or below 250 mA External encoder power supply 2 EOV output This is connected to the control circuit ground connected to connector CN1 External encoder signal I O Perform serial signal input and output serial signal External encoder signal input phase A B and Z signals 1 Connectors for CN4 10 Pins MUF Connector MUF PK10K X JST Mfg Co Ltd R88A CNK41L Perform input and output of phase A B and Z signals COV NI O Oy 3 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Connection of External Encoder Input Signals and Processing of External Signals
228. anual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Zero Speed Detection Output ZSP It turns ON when the motor rotation speed goes below the value set by the Zero Speed Detection 3434 hex The output is effective both in forward and reverse directions regardless of the actual direction that the motor rotates The detection contains a hysteresis of 10 r min With the default settings the output is not allocated Forward direction Speed 3434 hex 10 r min mu Reverse direction Zero Speed ON Detection ZSP Eo hex 10 r min Warning Outputs WARN1 and WARN2 The Warning Output 1 WARN1 turns ON when the warning set by the Warning Output Selection 1 3440 hex is detected The Warning Output 2 WARN2 turns ON when the warning set by the Warning Output Selection 2 3441 hex is detected With the default settings the outputs are not allocated Error Clear Attribute Output ALM ATB This output turns ON when an error that can be reset occurs With the default settings the output is not allocated Remote Outputs R OUT1 and R OUT2 Remote Output 1 R OUT 1 turns ON and OFF according to the ON OFF status of bit 16 in the Digital outputs GOFE hex Remote Output 2 R OUT2 turns ON and OFF according to the ON OFF status of bit 17 in the Digital outputs GOFE hex These outputs are not assigned in the default settings OMNUC G5 series AC Servomotors
229. anuals brochures and other documents whether electronic or in writing relating to the sale of products or services collectively the Products by Omron Electronics LLC and its subsidiary companies Omron Omron objects to any terms or conditions proposed in Buyer s purchase order or other documents which are inconsistent with or in addition to these Terms Prices Payment Terms All prices stated are current subject to change with out notice by Omron Omron reserves the right to increase or decrease prices on any unshipped portions of outstanding orders Payments for Products are due net 30 days unless otherwise stated in the invoice Discounts Cash discounts if any will apply only on the net amount of invoices sent to Buyer after deducting transportation charges taxes and duties and will be allowed only if i the invoice is paid according to Omron s payment terms and ii Buyer has no past due amounts Interest Omron at its option may charge Buyer 1 1 2 interest per month or the maximum legal rate whichever is less on any balance not paid within the stated terms Orders Omron will accept no order less than 200 net billing Governmental Approvals Buyer shall be responsible for and shall bear all costs involved in obtaining any government approvals required for the impor tation or sale of the Products Taxes All taxes duties and other governmental charges other than general real property and income taxes including an
230. any other error occurs 2 The term During deceleration means the distance until the motor decreases its speed to 30 r min or less from the normal operation Once it decelerates to 30 r min or lower speed the operation conforms to the description for after stopping regardless of the actual speed 3 Immediate Stop means that the Servomotor stops immediately by using controls while the servo is kept ON The torque limit at this time is controlled by the Immediate Stop Torque 3511 hex set value la Precautions for Correct Use At an immediate stop an Error Counter Overflow Error Error No 24 0 or an Overrun Limit Error Error No 34 0 may occur This is because the immediate stop forces the motor to decelerate quickly and the position control creates a large position error momentarily If an error occurs set the Following error window 6065 hex and the Overrun Limit Setting 3514 hex to appropriate values A Command Warning Warning No B1 hex will occur if a command is given in the drive prohibition direction while the Servomotor is stopped or decreased the speed to 30 r min or lower and the Drive Prohibition Input is ON 9 33 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 6 Extended Objects 3508 hex Undervoltage Error Selection Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO map map Not possible Select either to let the se
231. ap map Not possible 1 The default setting is O for a Drive with 100 V and 400 W with 200 V and 750 W or greater or with 400 V The setting is different whether the Regeneration Resistor built in the Drive is directly used or it is removed and replaced by an external regeneration resistor In the latter case the resistor is connected to the external regeneration resistor connection terminal Explanation of Set Values Set Description value Regeneration Resistor used Built in Resistor 0 The regeneration processing circuit operates and the Regeneration Overload Error Error No 18 are enabled according to the Built in Resistor with approx 1 duty Regeneration Resistor used External Resistor 1 The regeneration processing circuit operates and Regeneration Overload Error Error No 18 cause a trip when the operating rate of the Regeneration Resistor exceeds 10 Regeneration Resistor used External Resistor 2 The regeneration processing circuit operates but Regeneration Overload Error Error No 18 do not occur Regeneration Resistor used None 3 The regeneration processing circuit and Regeneration Overload Error Error No 18 do not operate and all regenerative energy is processed by the built in capacitor la Precautions for Correct Use Do not touch the External Regeneration Resistor A burn injury may result Always provide a temperature fuse or other protective measure when using an external regenerat
232. ar terminals between B2 and B3 and connect an External Regeneration B3 Resistor between B1 and B2 NC Do not connect la Precautions for Correct Use Tighten the ground screws to the torque of 0 7 to 0 8 Nem M4 or 1 4 to 1 6 Nem M5 3 8 suoneoyioodg Specifications 3 1 Servo Drive Specifications 3 9 R88D KNS30H ECT R R88D KN50H ECT R Main Circuit Terminal Block Specifications L1 Main circuit power R88D KNI IH ECT R 3 to 5 kW L2 supply input 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L3 L1C Control circuit power R88D KNL IH ECT R Single phase 200 to 230 VAC 170 to 253 L2C supply input V 50 60 Hz B1 External Regeneration Normally B2 and B3 are connected B2 Resistor connection If there is high regenerative energy remove the short circuit bar terminals between B2 and B3 and connect an External Regeneration B3 Resistor between B1 and B2 NC Do not connect U Motor connection PhaseU These are the output terminals to the Servomotor terminals Be sure to wire them correctly V Phase V Phase W la Precautions for Correct Use Tighten the terminal block screws to the torque of 0 75 Nem M4 or 1 5 Nem M5 If the torque for terminal block screws exceeds 1 2 Nem M4 or 2 0 Nem M5 the terminal block may be damaged Tighten the fixing screw of the terminal block cover to the torque of 0 2 Nem M3 Tighten the ground screws to the torque of 0 7 to 0 8 Nem M4 or 1 4 to
233. as an over the calculation and the acceleration and deceleration range error occurred rates meet the restrictions An attempt was made to establish Check to see if EtherCAT EtherCAT communications change from communications is established or the Init to Pre Operational state or to turn ON servo is turned ON enable operation the servo from the controller enable while an FFT or a trial run was being operation while executing an FFT that conducted operates with the Servo Drive alone or a trial run A Config operation was performed or the Check to see if Config operation was multi rotation counter was cleared for the performed or the multi rotation counter absolute encoder during EtherCAT was cleared for the absolute encoder communications during EtherCAT communications Note This operation is performed for safety and is not an error The value that is obtained by dividing the Review the operation range of the absolute encoder position in pulses by absolute external encoder position and the electronic gear ratio exceeded 291 the electronic gear ratio 2 147 483 648 during the initialization of position data after the control power was turned ON in absolute value mode after a Config operation after FFT was executed or after a trial run was executed The position error in pulses exceeded Check to see if the Servomotor rotates 229 536 870 912 Alternatively the according to the position command position
234. ate Machine 5 4 5 4 Process Data Objects PDOs 5 5 5 5 Service Data Objects SDOs 5 7 5 6 Synchronization with Distributed Clocks 5 8 5 7 Emergency Messages eene eee 5 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications EtherCAT Communications 5 1 Display Area and Settings 5 1 Display Area and Settings Status indicators RUN Rotary switches for ERR node address setting L L A IN L A OUT Node Address Setting The rotary switches in the display area are used to set the EtherCAT node address Description Rotary switch setting Connection to CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 00 The Position Control Unit sets the node address 01 to 99 The rotary switch setting is used as the node address J Precautions for Correct Use Do not change the rotary switch setting after the turning ON the power supply The node address rotary switches can be set to between 00 and 99 The node address used over the network is determined by the value set on the rotary switches If the node address is not between 00 and 99 a Node Address Setting Error Error 88 0 will occur EN Reference EtherCAT Slave Information File Information on EtherCAT slave settings is stored in the ESI E
235. ating conditions For the connection of I O signals and processing of external signals refer to Control I O Connector Specifications CN1 on page 3 13 Input Signals You can allocate input signal functions to the input pins of the control I O connector CN1 In addition you can change logic Refer to Inout Signal Allocation Method on page 7 2 for more information because some signals have allocation limitations If a G series Servo Drive is being replaced with a G5 series Servo Drive use the G5 series Servo Drive to with the default settings Input Signal Default Settings The allocations of the default input signals are as follows Refer to nput Signal Allocation Method on page 7 2 to change the allocations Default setting state index Default Position control or fully closed setting hex control 1 NO normally open and NC normally close in the table above refer to the following states NO Disabled OFF when signal input is open with COM Enabled ON when signal input is shorted with COM NC Disabled OFF when signal input is shorted with COM Enabled ON when signal input is open with COM 7 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 1 Sequence I O Signals i Objects That Can Be Assigned Use the following objects when changing the input signal allocations For the setting method refer to nput Signal Allocation Method on page 7 2
236. below the value set in object 3439 hex before the time set here BKIR will turn OFF Brake Threshold Set the speed at which to turn OFF power to Speed During the Servomotor when the Brake Interlock Operation Output BKIR signal turns OFF after execution of a servo OFF command while i the Servomotor is rotating If the time set in page 2230 object 3438 hex elapses before the Servomotor drops to the speed set here BKIR will turn OFF This is the Set Brake Bit for EtherCAT 01 hex communications b 0 Brake released 1 Brake engaged 60FE hex This is the Set Brake Mask Bit for enabling Page 6 50 disabling the Set Brake Bit for EtherCAT 02 hex communications 0 Set Brake Bit enabled 1 Set Brake Bit disabled 1 The Brake Interlock Output BKIR is turned ON The brake is released for a brake release command from either EtherCAT communications or the Servo Drive 2 The Brake Interlock Output BKIR is turned OFF The brake is engaged only when a set brake command is received from both EtherCAT communications and the Servo Drive Applying the brake from EtherCAT communications is enabled only while the servo is OFF If a Set Brake command is received while the servo is ON a Command Warning B1 hex will occur la Precautions for Correct Use The brake on a Servomotor with a brake is a normally closed brake designed only to hold when the operation is stopped Accordingly set an appropriate time so that the brake actuates after t
237. ble Set damping frequency 3 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is O to 0 9 Hz Refer to 11 5 Damping Control on page 11 15 for more information on settings 9 18 sjoe qo JojeuieJeg OMS uo s rejeg Details on Servo Parameter Objects 9 3 Vibration Suppression Settings 3219 hex Setting range Size 3220 hex Setting range Size 3221 hex Setting range Size 9 19 Damping Filter 3 Setting 0 to 1000 Unit 0 1 Hz Default Data setting attribute ai sd UO Access RW _ PDO map _ Not possible First set Damping Frequency 3 3218 hex Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed Normally use a setting of O Set value is restricted in the following manner Upper limit Up to Damping Frequency 3 Lower limit Damping frequency damping filter setting 100 Refer to 11 5 Damping Control on page 11 15 for more information on settings Damping Frequency 4 0 to 2000 Unit 0 1 Hz Default Data setting attribute 2 bytes INT16 INT16 Aces Access RW PDO map Not possible damping frequency 4 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end
238. bled set the software limit values in the Max position limit 607D 02 hex and the Min position limit 607D 01 hex Explanation of Set Value Set value Description 0 Enable the software limits in both directions 1 Disable the forward software limit but enable the reverse software limit 2 Enable the forward software limit but disable the reverse software limit 3 Disable the software limits in both directions OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 48 sjoe qo JojeuieJeg oAJeG uo s rejeg 9 7 Special Objects l Precautions for Correct Use EtherCAT communications status will be O for limit signals that are disabled The status will also be O if an origin return has not been performed 3803 hex Origin Range AII Setting range 0 to 250 Unt Default setting Data Attribute A Size 2 bytes INT16 PDO map Not possible Set the threshold for detecting the origin as an absolute value Details on Servo Parameter Objects 9 49 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 8 Reserved Objects 9 8 Reserved Objects The following objects are reserved Do not use them Index Sub Name 3120 hex 00 Switching Mode in Speed Control 3121 hex 00 Gain Switching Delay Time in Speed Control 3122 hex 00 Gain Switching Level in Speed Control 3123 hex 00 Gain Switching Hysteresis in Speed Control 3
239. bsolute encoder Setting Up an Absolute Encoder from the CX Drive 1 Start the CX Drive and go online with the Servo Drive via EtherCAT or USB communications 2 Select Absolute Encoder from the Tuning Menu of the CX Drive 3 Select Multi Turn Data and Encoder Error Clear from the Absolute Encoder Dialog Box The following error will occur after execution has been completed EtherCAT communications Absolute Value Cleared Error No 27 1 USB communications Position Data Initialized Error No 27 7 4 Turn the power supply to the Servo Drive OFF and then ON again OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 6 uonejJoedo Operation 10 3 Trial Operation 10 3 Trial Operation When you have finished installation wiring and switch settings and have confirmed that status is normal after turning ON the power supply perform trial operation The main purpose of trial operation is to confirm that the servo system is electrically correct If an error occurs during trial operation refer to Chapter 12 Troubleshooting and Maintenance to eliminate the cause Then check for safety and retry trial operation Preparations for Trial Operation 10 7 Inspections before Trial Operation Check the following items Wiring Make sure that there are no wiring errors especially for the power supply input and motor output Make sure that there are no short circuit
240. by the Servo Drive Select a noise filter with a rated current that is at least twice the effective load current i e the rated current of the main circuit power supply input given in Main Circuit and Motor Connections on page 4 12 Noise filter for power supply input Drive model Rated Leakage current Manufac current 60 Hz max turer R88D KNA5L ECT R Single 1 0 mA R88D KNO1L ECT R SUP EK5 ER 6 5A phase at 250 VAC R88D KNO2L ECT R R88D KNO4L ECT R 3 5 mA R88D KN0O1H ECT R Single 1 0 mA R88D KNO2H ECT R SUP EK5 ER 6 5A phase at 250 VAC R88D KN04H ECT R R88D KNO8H ECT R 3SUP HQ10 ER 6 10A 3 phase 3 5 mA at 500 VAC Okaya R88D KN10H ECT R Electric 3 5 mA Industries R88D KN15H ECT R 3SUP HU30 ER 6 30A 3 phase at 500 VAC Co Ltd R88D KN20H ECT R Rees eee d 3SUP HL50 ER 6B 3 ph Omn HL50 ER 50A phase R88D KN50H ECT R at 500 VAC R88D KNO6E ECT R 3 5 mA R88D KN10F ECT R 3SUP HQ10 ER 6 10A S phase 44 500 VAC R88D KN15F ECT R R88D KN20F ECT R 8 0 mA R88D KN30F ECT R 3SUP HL50 ER 6B S phase at 500 VAC R88D KN50F ECT R Note 1 To attenuate low frequency noise 200 kHz or lower use an isolating transformer and noise filter Note 2 To attenuate high frequency noise 30 MHz or higher use a high frequency noise filter with a feed through capacitor and a ferrite core Note 3 When connecting more than one Servo Drive to the same noise filter select a noise filter with a rated curre
241. cations 8 1 Safe Torque OFF Function I O Signal Specifications Safety Input Signals There are 2 safety input circuits to operate the STO function Control mode zona Symbol zn Description name number Posi Fully Speed Torque tion closed Safety Ss CNB 4 The upper arm drive signal of y input 1 the power transistor inside the Pad CN8 3 Servo Drive is cut off Safety CN8 6 The lower arm drive signal of y input 2 the power transistor inside the A CN8 5 Servo Drive is cut off When safety input 1 or 2 turns OFF the STO function will start operating within 5 ms of the input and the motor output torque will be reduced to O Connect the equipment so that the safety input circuit is turned OFF to operate the STO function Set the operation when the safety input turns OFF in the Fault reaction option code 605E hex la Precautions for Correct Use L pulses for self diagnosis of safety equipment When you are connecting a safety device such as a safety controller or a safety sensor the safety output signal of the device may include L pulses for self diagnosis To avoid malfunction due to the L pulses for self diagnosis a filter that removes the L pulses is built into the safety input circuit If the OFF time of the safety input signal is 1 ms or less the safety input circuit does not recognize it as OFF To make sure that OFF is recognized maintain the OFF status of safety input signal for at least
242. cations 6 26 Old eAug Drive Profile 6 7 Object Dictionary PDO Mapping Objects Indexes 1600 to 17FF hex are used for Receive PDO mapping and indexes 1A00 to 1BFF hex are used for Transmit PDO mapping Sub indexes after sub index 1 provide information about the application object being mapped 31 16 15 8 7 0 Index Bit length MSB LSB Bits O to 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object 258th RxPDO mapping parameter AII Sub index 0 Number of objects Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 1st object Range Unit Default 6040 0010 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 2 2nd object Range Unit Default 607A 0020 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 3 3rd object Range Unit Default 60B8 0010 hex Attribute Size Range Size 6 27 4 bytes U32 Aces RO PDO map Not possible Sub index 4 4th object 4 bytes U32 Aces RO PDO map Not possible This object gives the mapping for an application that uses only cyclic synchronous position control Touch probe function is available The following objects are mapped Controlword 6040 hex Target position 607A hex Touch probe function 60B8 hex and Digital outputs GOFE he
243. ccccscccscecececsseceeeecececueeceueceueseaeesaeesaeesaees 3 28 Safety Connector Specifications CN8 cece ccccseecceeeseeeseeeeseeeseeeseeeseeeeseeeaeeeees 3 29 3 2 Overload Characteristics Electronic Thermal Function 3 31 Overload Characteristics Graphs cccccccseccceecceeeceeeeceeeseeeseueceueeseeesueeeueseneeneeeses 3 31 3 9 Servomotor Specifications scieur ioia aea nnne 3 32 General SpeciltGauoliSs saos oc pU atu b teu desinat edle Eulalia e cea tet E 3 32 eara Me REN 3 33 Encoder SDecIIGatlOTiS orsi ia ete DSi RUE etna s a orate eta eei 3 56 3 4 Cable and Connector Specifications eeeeeeseeeeeeess 3 57 Encoder Cable Specifications ccccccccsscccsceceeeceeeceueceueecueesueeseusceueeeaeesueeseensnass 3 57 Absolute Encoder Battery Cable Specifications eeeeeeeesseeeeessss 3 59 Motor Power Cable Specifications cccccccscccseecceceseeeeeeeeeeeeeeeeseeeeeeeeeueeseeeseeeseeess 3 60 CONMMEGCIOF 9SpecliCatloriSu 3 2 aca le teescad e iene derailer sills aeateul crea pe tdunuids 3 67 EtherCAT Communications Cable Specifications cccccccccceececeeeeeeeceeeeaeeeaeeeaees 3 70 Analog Monitor Cable SpecifiCations ccccccccccseceseeeceeeceeeeeeeeseeeseeeseeeeseeeseeeseeees 3 73 Control Cable Specifications ccccccccsccceeecceeceeccesecsaeesaeesaueeeeeeceeetaeesasesauseseeeees 3 75 3
244. ches operates This can be used to prevent the workpiece from traveling too far and thus prevent damage to the machine When the object is set to 0 the operation is as follows Forward Drive Prohibition Input POT closed Forward limit switch not operating and status normal Forward Drive Prohibition Input POT open Forward direction prohibited and reverse direction permitted Reverse Drive Prohibition Input NOT closed Reverse limit switch not operating and status normal Reverse Drive Prohibition Input NOT open Reverse direction prohibited and forward direction permitted f this object is set to 0 the Servomotor decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibition Input 3505 hex For details refer to explanation for Stop Selection for Drive Prohibition Input 3505 hex EN Reference lf this object is set to O and the forward and reverse prohibition inputs are both open a Drive Prohibition Input Error Error No 38 will occur because it is taken that Servo Drive is in error condition If this object is set to 2 a Drive Prohibition Input Error Error No 38 will occur when the connection between either the forward or reverse prohibition input and COM is open If a limit switch above the workpiece is turned OFF when using a vertical axis the upward torque decreases and there may be repeated vertical movement of the workpiece If this occurs set the Stop Selection for Drive
245. compensation large Update 3607 hex Set a large compensation in 3608 hex and 3609 hex Select to enable or disable the basic gain setting by the Realtime Autotuning Machine Rigidity Setting 3003 hex 0 Disable 1 Enable T Rigidity setting Select whether to allow changes to the objects that normally are fixed 0 Use the present settings 1 Set to fixed values 8 Fixed object settings Select the method to set the objects that relate to gain switching while the realtime autotuning is enabled 9to 10 Gain switch setting 0 Use the present settings 1 Disable gain switching 2 Enable gain switching 1 When load characteristic estimation is disabled inertial ratio updating is also disabled even if the latter is set to be updated with the estimation result When torque compensation is updated with the estimation result load characteristic estimation is disabled Precautions for Safe Use This object must be set in units of bits Users must be fully aware that proper operation of your system is not guaranteed if you have incorrect object settings Pay a particular attention when you set them EN Reference Procedure to Set the Object Bit by Bit Follow these steps and calculate the set values when you make any setting other than O 1 Confirm the least significant bit LSB in each set value E g LSB of Torque compensation function 4 2 Multiply the set value by 2 to the power of the bit number of th
246. conditions of the Servomotor Install a cooling fan and apply forced air cooling to the Servomotor Other Precautions Take measures to protect the motor shaft from corrosion The motor shaft is coated with anti corrosion oil when shipped but anti corrosion oil or grease should also be applied when connecting the components that apply load to the shaft PAN Caution Do not apply a commercial power supply directly to the motor Failure to follow this guideline may result in fires Never repair the product by disassembling it Failure to follow this guideline may result in electric shock or injury OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 4 uDisoq uiejs g System Design 4 1 Installation Conditions Decelerator Installation Conditions j Using Another Company s Decelerator Reference If the system configuration requires another company s decelerator to be used in combination with an OMNUC G5 series Servomotor select the decelerator so that the loads on the motor shaft i e both the radial and thrust loads are within the allowable ranges Refer to Characteristics on page 3 2 for details on the allowable loads for the motors Also select the decelerator so that the allowable input rotation speed and allowable input torque of the decelerator are not exceeded OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communicati
247. connect the ground wires Connecting the ground wires may cause l O signal errors If the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the drive input section or the controller output section Reactor to Reduce Harmonic Current Harmonic Current Measures Use a Reactor to suppress harmonic currents The Reactor functions to suppress sudden and quick changes in electric currents ES The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose Components requires that manufacturers take appropriate remedies to suppress harmonic current emissions onto power supply lines Select the proper Reactor model according to the Servo Drive to be used uDisoq uiejs g OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 36 System Design 4 3 Wiring Conforming to EMC Directives 4 37 Selecting Other Parts for Noise Resistance This section explains the criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable range when selecting the connection components For more details contact the manufacturers directly Noise Filter for Power Supply Input A noise filter is used to attenuate external noise and noise radiated
248. correct installation and wiring to check the operation of the individual motor and drive Then make the function settings as required according to the use of the motor and drive If the user objects are set incorrectly there is a risk of unexpected motor operation which can be dangerous oet the objects accurately according to the setting methods in this manual m Gem Rie Install the motor and drive according to the installation conditions Do not connect the motor to the mechanical system before Chapter 4 4 1 checking no load operation Mounting and installation Connect the motor and drive to the power supply and peripheral Wiring and equipment connections Specified installation and wiring conditions must be satisfied particularly for models conforming to the EC Directives Chapter 4 4 2 Check the necessary items and then turn ON the power supply Preparing for reer the display to see whether there are any internal errors in Chapter 10 Operation If using a motor with an absolute encoder first set up the absolute e encoder Function Set the objects related to the functions required for application oe Chapter 9 settings conditions First check motor operation with no load Then turn the power supply OFF and connect the motor to the mechanical system When using a Servomotor with an absolute encoder set up the absolute encoder Trial operation Turn ON the power supply again and check to see whether p
249. cseatentecaeae es 11 8 Manual I URING e m 11 13 BASIC SOWING S tee NM 11 13 BaMPNO CONTO ett T 11 15 OUTING OT OPC all ON ac iice dtes ete cab seca ate tron uo eu rene dveses eec oeste denne a 11 15 Objects Requiring Settings losses nennen nnne nennen nnne nnns 11 15 POGDUV EG TINET ussedobecteb cantat oE EM Mu tale bu s aede MrN tecto DEM eae 11 18 Objects Requiring Settings elseeeseesseeseeeeneen nennen nennen nnnm nnns 11 19 Operating PrOCGOUEIG sin deciso runi dicU ne Ex ruf Er ades ened Love dt erties 11 20 NOICA FIG S E TT o ancora OTT SEES 11 21 Objects Requiring Settings cc eccecccecceecceeeceeeeeeceeeceeseeseceeetaeeeeeseeteeeeeteeaeeees 11 22 Disturbance Observer Function eeeeeeeeeeeeeseeeeeeeee 11 24 amp le irzilipeiSreoliilontze T T 11 24 Objects Requiring Settings lseeesseesseseeesneen nennen nennen nnn nnns 11 25 Opberaundq Procedure i evi atis tc pU Dim Ue EE Or A aia Vac ee ide vU dread 11 25 Friction Torque Compensation Function eese 11 26 Operating Conditions rieri ux spite iram eat latex d eof du Rer vitu tun pet lca a Ede 11 26 ODIECISIREGUINING SCTIAG ze cp Dn 11 26 Operation EXAMP E seini T ER 11 27 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Table Of Contents 11 10 Hybrid Vibration Supp
250. ct either EXT1 EXT2 or EXT3 IN7 Select either EXT1 EXT2 or EXT3 1 The same function cannot be assigned more than once Touch Probe Trigger Selection 3758 hex in 2 Latch 1 Latch 2 UE EE NM o o em o ExT p s 5m 1 s 9m Spo pem 9 em 1 1 Phase Z 1 1 Phase Z signal signal Touch probe function 60B8 hex in 3 1 Phase Z signal a Phase Z signal Operation Sequences I Trigger first event 60B8 Hex Bit 1 9 0 Trigger first event 60B8 hex Bit 0 8 Trigger A input 7 ur 1 60B9 hex Bit 0 8 60B9 hex Bit 1 9 60BA 60BC hex c oe OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 10 Old eAug Drive Profile 6 11 6 5 Touch Probe Function Latch Function i Continuous 60B8 Hex Bit 1 9 1 Continuous 60B8 hex Bit 0 8 i Trigger input 60B9 hex l Bit 0 8 m us 60B9 hex Bit 1 9 60B9 hex Bit 6 14 60B9 hex Bit 7 15 60BC hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 6 Fully closed Control 6 6 Fully closed Control Dd An externally provided encoder is used to directly detect the position of the control target and feedback the detected machine position to perform position control This way controls can be performed without being affected by ball screw error temperature changes etc Y
251. d Gain 3112 hex and Torque Feed forward Command Filter 3113 hex to 0 11 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 12 Instantaneous Speed Observer Function 11 12 Instantaneous Speed Observer Function EM This function uses a load model to estimate the motor speed It improves the speed detection accuracy and can provide both high responsiveness and minimum vibration when stopping Motor Controller Internal torque Effort command Speed control een control Speed estimation Instantaneous value speed observer Total inertia Load model Feedback motor To position control position Servo Drive Operating Conditions The instantaneous speed observer function can be used in the following situations Conditions Operating mode Position control semi closed control When Servo is ON 4 When there is no trouble with the motor s normal rotation 4 eels When realtime autotuning function is disabled When instantaneous speed observer function is disabled Objects Requiring Settings Function Set whether to enable or disable the instantaneous 3610 hex l l page 9 38 Expansion Settings observer function 3004 hex Inertia Ratio Set the inertia ratio page 9 3 3100 hex Position n Gain Set the position loop gain page 98 3101 hex Speed Loop Gain 1 Set the speed loop gain page 9 7 OMNUC G5 series AC Servomotors and Servo Drives User s
252. d I O circuits of the Servo Drives as well as the general specifications characteristics encoder specifications of the Servomotors and other peripheral devices 3 1 Servo Drive Specifications 3 1 3 2 Overload Characteristics Electronic Thermal Function 3 31 3 3 Servomotor Specifications 3 32 3 4 Cable and Connector Specifications 3 57 3 5 External Regeneration Resistor Specifications 3 80 3 6 EMC Filter Specifications 3 82 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Specifications 3 1 Servo Drive Specifications 3 1 Servo Drive Specifications E ee Select a Servo Drive that matches the Servomotor to be used Refer to Servo Drive and Servomotor Combination Tables on page 2 10 General Specifications Item Specifications Ambient operating 0 to 55 C 90 max with no condensation temperature and operating humidity Storage ambient temperature 20 to 65 C 90 max with no condensation and humidity Operating and storage No corrosive gases atmosphere Vibration resistance 10 to 60 Hz and at an acceleration of 5 88 m s or less Not to be run continuously at a resonance point Insulation resistance Between power supply terminals power terminals and FG terminal 0 5 MQ
253. d Speed During Operation 3439 hex whichever is shorter Note 1 Even when the servo ON input is turned ON again while the motor is decelerating the system does not enter the servo ON state until the motor stops Note 2 If the main circuit power supply turns OFF while the motor is operating a phase loss error or main circuit voltage low error will occur in which case this operation timing is applied OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 16 suonounJ paddy x Applied Functions 7 5 Brake Interlock I Operation Timing When Resetting Errors Reset ON Error reset command OFF gt _ lt 16 ms or more Servo ready ON output READY OFF REAN ON Error Output ALM Normal OFF 4 0 ms or more ON Servo ON OFF Servo OFF Servo ON 1 gt lt 2 ms or more ON 3 Dynamic brake relay Brake Engaged Brake Released OFF lt Approx 60 ms ON 3 Motor power supply No power supply Power supply OFF ei ms Brake interlock ON Brake held Rel t BKIR rake he elease reques output OFF e 100 ms or more ON i Operation command input Input prohibited Input allowed OFF 1 The servo does not turn ON until the motor rotation speed drops to approx 30 r min or below 2 The Brake Interlock Output BKIR signal is output either when a release request command is received via Servo controls or when a release
254. d the door may allow electromagnetic waves into the panel To prevent this observe the recommendations described below when designing or selecting a control panel Case Structure Use a metal control panel with welded joints at the top bottom and sides so that the surfaces are electrically conductive f assembly is required strip the paint off the joint areas or mask them during painting to make them electrically conductive The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws Do not leave any conductive part unconnected Ground all units within the case to the case itself Door Structure Use a metal door Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams Use a conductive gasket between the door and the case Refer to the diagrams Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting so that they are electrically conductive The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws Door A B Door side Oil resistant gasket Conductive gasket Control Panel A B Cross section Diagram Oil resistant gasket Conductive gasket Door Interior Side OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in Ethe
255. d with the Communications Control 3800 hex When the bit is set to 1 the warning detection is masked 3 The encoder overheating warning is enabled only when using a 20 bit incremental encoder It is disabled for all other types of encoders la Precautions for Correct Use Do not use any settings for Error Output Selection 1 3440 hex and Error Output Selection 2 3441 hex other than those given in the above table OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 5 Warnings Related to EtherCAT Communications 12 2 Warnings Warning Warning condition number name BO hex Data Setting An object setting is out of range Warning Command Object operating conditions are not Warning satisfied A forced brake operation request was sent while the servo was ON A Switch ON command was sent when the main circuit power supply was OFF and object 3508 hex 0 An Enable Operation command was sent to request turning ON the servo when the Servomotor was operating at 30 r min or higher A latch operation was started under B1 hex the following conditions An absolute external encoder was used and phase Z was selected as the trigger for fully closed control The absolute multi rotation data is being cleared or the Config operation is being performed The Statusword 6041 hex bit 9 remote is O local An operation command was applied in the drive prohib
256. ditions Drives may malfunction if operated under any other conditions Ambient operating temperature 0 to 55 C Take into account the following temperature rises in the individual drives themselves Operating humidity 90 max with no condensation Operating atmosphere No corrosive gases Altitude 1 000 m max Drives of 100 V or 200 V with a capacity of 750 W max can be installed side by side with a 1 mm clearance W in above illustration However the specifications for operating ambient temperature depends on the drive Drive A Oto 50 C Drive B Oto 40 C Drive C Oto 45 C 4 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 1 Installation Conditions g Ambient Temperature Control Operation in an environment in which there is minimal temperature rise is recommended to maintain a high level of reliability When the drive is installed in a closed space such as a box the ambient temperature may rise due to temperature rise in each unit Use a fan or air conditioner to prevent the drive s ambient temperature from exceeding 55 C Drive surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and provide a distance from any devices or wiring that are sensitive to heat The service life of a Servo Drive is largely determined by the ambient temperature around the internal electrolytic capacitors W
257. e 1 A forward direction command sets the motor rotation direction to counterclockwise The motor rotation direction when viewing the shaft from the load side is called clockwise CW or counterclockwise CCW 9 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 1 Basic Settings 3001 hex Control Mode Selection Setting 0106 Unit Default Data R range setting attribute Size 2 bytes INT16 PDO map Not possible Set the control mode to be used Explanation of Set Values Set value Description 0 to 5 Semi closed control position control 1 6 Fully closed control 1 Set any value between 0 and 5 for semi closed control 3002 hex Realtime Autotuning Mode Selection Setting 0106 Unit Default 1 Data B range setting attribute Size 2 bytes INT16 PDO map Not possible Set the operating mode for realtime autotuning Refer to 11 3 Realtime Autotuning on page 11 6 Explanation of Set Values S Realtime autotuning Description value 0 Disabled Realtime autotuning is disabled 1 Focus on stability No unbalanced load friction compensation or gain switching default setting Focus on position Used for a horizontal axis or other axes that have no unbalanced control load or for a ball screw drive with little friction NO 3 Vertical axis Used when an unbalanced load is present such as a vertical axis Friction Used when friction is large unbalanced load
258. e 3605 hex and the magnification of Gain 3 against Gain 1 in the Gain 3 Ratio Setting 3606 hex Operation Timings of Gain 1 2 and 3 When the Switching Mode in Position Control 3115 hex is set to 7 i e when the command pulses are received as the switching condition the operation will be as shown below Position command speed r min 3605 hex x 0 1 ms ERR Gain 1 3100 to 3104 hex Gain 2 i Gain 3 3105 to 3109 hex Gain 3 region Position loop gain 3100 x 3606 hex 100 Speed loop gain 3101 x 3606 hex 100 The gain 1 values are used for the speed loop integral time constant speed feedback filter time constant and torque command filter time constant la Precautions for Correct Use f gain 3 is not used set the Gain 3 Effective Time 3605 hex to 0 and the Gain 3 Ratio Setting 3606 hex to 100 In the gain 3 region only the position loop gain and the speed loop gain are treated as gain 3 and the gain 1 setting is applied for all other gains f the gain 2 switching condition is established in the gain 3 region operation switches to gain 2 If gain 2 is switching to gain 3 the Position Gain Switching Time 3119 hex is enabled There is a gain 3 region even when gain 2 is switched to gain 1 due to an object change and so forth 7 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Function Ee This function s
259. e at 500 VAC R88D KN15F ECT R R88D KN20F ECT R 8 0 mA R88D KN3OF ECT R 3SUP HL50 ER 6B 50A 3 phase at 500 VAC R88D KN50F ECT R 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 or 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 The noise filter must be installed as close as possible to the entrance of the control panel Wire as shown at the left in the following illustration Q Separate the input and output Qe effect of the noise filter is small AC input AC output AC input Ground AC output 4 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives Use twisted pair cables for the power supply cables or bind the cables O Twisted pair cables O Bound cables Servo Drive Servo Drive Ono N 2 AX X X X oc E e OL3 d Binding Separate power supply lines and signal lines when wiring OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 24 uDisoq uiejs g System Design 4 3 Wiring Conforming to EMC Directives 4 25 i Control Panel Structure Openings in the control panel such as holes for cables panel mounting holes and gaps aroun
260. e 6 12 Object Dictionary aieo eecise eue suse cues ou Ce oueu y cosas exe suae End 6 19 Connecting with OMRON Controllers 6 53 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Drive Profile 6 1 Controlling the State Machine of the Servo Drive 6 1 Controlling the State Machine of the Servo Drive The state of OMNUC Gbo series Servo Drives with built in EtherCAT communications is controlled by using the Controlword 6040 hex Control state is given in the Statusword 6041 hex State Machine Switch on 3 1 6 Shutd ER 4 Error The state of an OMNUC G5 series Servo Drive changes as shown below Each box indicates a state while numbers 2 to 10 and 15 indicate the state control commands For details on the states refer to State Descriptions on page 6 2 and Command Coding on page 6 2 circuit circuit Servo Power turned OFF or Reset power power ON OFF start supply 0 After the control power is turned ON Not ready to switch on 1 After initialization is completed Switch on 15 Error reset disabled Fault Shutdown 2 7 Disable voltage Ready to switch on response operation completed Switched on Disable voltage 10 Fault reaction Enable operation 4 niin rossa es NN O MM OS EIER 3 active 5 Disable operation Operation enabled 8 Shutdown 43 gt Error occurs 9 Disable voltage
261. e LSB E g To set the torque compensation to Friction compensation small The set value is 3 The exponent is 4 2 x 3 48 3 Repeat Step 1 and 2 for all bit settings Add all results and set the outcome to 3632 hex E g When all of the Load characteristic estimation the Inertia ratio updating the Rigidity setting and the Gain switch setting are enabled the Torque compensation is set to Friction compensation small and the Fixed object setting is set to a Fixed value 20x 1427x124 2 x 3 2 x 1 28x 1 2 x 2 1461 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 42 sjoe qo 1ojeuieJeg oAJeG uo s rejeg Details on Servo Parameter Objects 9 7 Special Objects 3634 hex Setting range Size 3635 hex Setting range Size 3637 hex Setting range Size 3638 hex Setting range Size 9 43 Hybrid Vibration Suppression Gain csp full csp full 0 to 30 000 Unit 0 1 s eeu eae setting attribute 2 bytes INT16 Aces RW PDO map Not possible Set the hybrid vibration suppression gain during fully closed control In general set it to the same value as the position loop gain and finely adjust it based on the situation Refer to 11 10 Hybrid Vibration Suppression Function on page 11 28 Hybrid Vibration Suppression Filter esp full esp full 0 to 6 400 Unit 0 01 ms nii uet sinis setting attribute 2 bytes INT16 Access R
262. e O indicates the zero position of the encoder The value increments when the motor rotates in the counterclockwise CCW direction The value returns to O when it exceeds FF but the count continues When an incremental encoder is used it indicates nF i e not fixed is displayed until the zero position of the encoder is detected after the control power is turned ON Displays a value between 0 and FF hex The value 0 indicates the position when the U phase electro motive force shows the positive peak The value increments when the motor rotates in the counterclockwise CCW direction The value returns to O when it exceeds FF but the count continues Displays a value between 0 and FF hex The cumulative count is saturated when it reaches the maximum value FFFF hex In this case only the lowest order byte is shown The value returns to 00 when it exceeds FF but the count continues Displays the rotary switch setting i e node address read at power ON The displayed value is in decimal The value is not altered by any changes to the rotary switch setting after the power ON Displays a value between 0 and FF hex 5 encoder The cumulative count is saturated when it reaches the maximum value communications FFFF hex errors In this case only the lowest order byte is shown The value returns to 00 when it exceeds FF but the count continues Total number of external 6 encoder communications errors Z phase counter
263. e and Fully closed Control Mode operation varies as follows according to switching mode in Position Control 3115 hex S Description et value of Gain Switching Gain Switching Gain Switching 3115 Oe m Delay Time in Levelin Position Hysteresis in hex Gan Gwite mng coucivions Position Control Control 3117 Position Control hex 3118 hex 2 0 Always Gain 1 3100 to 3104 hex Disabled Disabled Disabled 1 Always Gain 2 3105 to 3109 hex Disabled Disabled Disabled Gain switching command input via 2 EtherCAT communications Disabled Disabled Disabled Command torque value Refer to Enabled Enabled 4 3 Enabled 5 5 Figure A 96 96 4 Always Gain 1 3100 to 3104 hex Disabled Disabled Disabled 5 Command speed Refer to Figure B Enabled Enabled r min Enabled r min Pulse position error Enabled Enabled 6 Enabled Refer to Figure C pulses pulses Whether there is a position A T command Refer to Figure D Enabled Disabled Disabled Actual motor speed Enabled r 9 Refer to Figure B Enabled Enabled r min min Combination of whether there is a Enabled Enabed 10 position command and actual motor Enabled r min rimin speed Refer to Figure E 1 The Gain Switching Delay Time in Position Control 3116 hex becomes effective when the gain is switched from 2 to 1 2 The Gain Switching Hysteresis in Position Control 3118 hex is defined in the drawing below z Y 31
264. e capacitor specified value The power supply voltage is high The voltage was suddenly increased by the phase advance capacitor or the uninterruptible power supply UPS e The Regeneration Resistor wiring is Use a tester to measure the resistance broken of the external resistor between the B1 and B2 terminals on the Servo Drive If the resistance is infinite the wiring is broken Replace the external resistor e The External Regeneration Resistor is Change the regeneration resistance and inappropriate and cannot absorb all of wattage to the specified values the regenerative energy The load Calculate the regenerative energy and inertia is too large gravitational torque connect an External Regeneration on the vertical axis is too large or there Resistor with the required regeneration is some other problem to absorb the absorption capacity Reduce the regenerative energy descent speed Replace the Servo Drive e The Servo Drive is faulty circuit fault 12 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Main Circuit Power Sup ply Undervolt age Undervolt age between positive and negative ter minals Main Power Supply Und ervoltage AC interruption detected Cause If the Undervoltage Error Selection 3508 hex is set to
265. e external page 9 22 feedback pulse divider setting Set the denominator of the external page 9 22 feedback pulse divider setting Set the polarity of the external encoder page 9 22 feedback pulse Set whether to enable or disable the page 9 23 disconnection detection function for phase Z when an external encoder with a 90 phase difference output is used Set the threshold for the Excessive page 9 23 Hybrid Deviation Error Error 25 0 in the command unit Hybrid Following The hybrid error becomes 0 every time page 9 23 Error Counter Reset the motor rotates by the set value Rotation Direction Switching 3000 Hex Set the relation between the command direction and the motor rotation direction 0 Counterclockwise when viewed from the end of the shaft for positive commands 1 Clockwise when viewed from the end of the shaft for positive commands When object 3000 hex is set to 1 opposite directions will be used for the external encoder counting direction and the total external encoder feedback pulses and other monitor counts Control Mode Selection 3001 Hex Select the fully closed control set value 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 6 Fully closed Control Electronic Gear Function 6091 01 Hex 6091 02 Hex This function sets the position command for the position control part to the value that is calculated by multiplying the command f
266. e following objects are saved Index Subindex Description 2200 hex Communications Error Setting bid to 3999 00 hex All OMNUC G5 series Servo Drive parameters 605B hex Shutdown option code 605C hex Disable operation option code 605E hex Fault reaction option code 6065 hex Following error window 6 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary Index Sub index Description 607C hex Home offset 607D hex Min position limit 607D hex Max position limit 6091 hex Motor revolutions 6091 hex Shaft revolutions 60E0 hex Positive torque limit value 60E1 hex Negative torque limit value 1011 hex Restore default parameters All Sub index 0 Number of entries Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Restore all default parameters Range pF Unit Default 000 0001 hex Attribute A Size 4 bytes U32 PDO map Not possible Parameters are returned to their default values A restoration operation is executed only when a specific value is written to sub index 1 This prevents parameter values from being accidentally overwritten The specific value means load MSB LSB A value of 0000 0001 hex command valid is given when reading EEPROM contents cannot be reset to default values if there is a Control Power Supply Undervoltage Error error 11 0 Reset the control power supply to enable the objects
267. e it decelerates to 30 r min or lower the operation conforms to the description for post stopping regardless of the actual motor speed 3 Immediate Stop means that the Servomotor stops immediately by using controls while the servo is kept ON The torque limit at this time is controlled by the Immediate Stop Torque 3511 hex set value Stop Selection for Drive Deceleration method Stop status Prohibition Input 3505 hex Decelerate with dynamic brake Decelerate in the free run status Stop with Immediate Stop Servo locked Torque 3511 hex Senet POT or NOT opens la Precautions for Correct Use At an immediate stop an Error Counter Overflow Error No 24 0 or an Overrun Limit Error Error No 34 0 may occur This is because the immediate stop forces the motor to decelerate quickly and the position control creates a large position error momentarily If an error occurs set the Following error window 6065 hex and the Overrun Limit Setting 3514 hex to appropriate values A load on the vertical axis and so forth may fall due to its own weight in the drive prohibition input state To prevent the load from falling set deceleration with the immediate stop torque and stopping with a servo lock set value 2 in the Stop Selection for Drive Prohibition Input 3505 hex or limit the operation using the Host Controller rather than using this function A Command Warning Warning No B1 hex will occur if a command
268. e range of 1 0 to 200 Hz e f the ratio of the resonance frequency to anti resonance frequency is large i Operating Procedure 1 Adjust the position loop gain and speed loop gain Adjust Position Loop Gain 1 3100 hex Speed Loop Gain 1 3101 hex Speed Loop Integral Time Constant 1 3102 hex and Torque Command Filter Time Constant 1 3104 hex If no problem occurs in realtime autotuning you can continue to use the settings 2 Measure the damping frequency at the tip of the mechanical unit Measure the damping frequency by using a measurement device such as a laser displacement sensor servo acceleration meter or acceleration pick up oet the measured damping frequency in one of Damping Frequency 1 to Damping Frequency 4 1 3214 hex 2 3216 hex 3 3218 hex 4 3220 hex according to the operation Also set the Switching Mode using Damping Filter Selection 3213 hex If the measurement device cannot be used use CX Drive tracing function and read the residual damping frequency Hz from the position error waveform as shown in the following figure The damping frequency in the figure is Position error calculated with the following formula Calculate the 1 damping frequency f Hz T s Since the object unit is 0 1 Hz 3214 hex 3216 hex 3218 hex 3220 hex 10 xf Damping cycle T Application example Ifthe damping cycle is 100 ms or 20 ms set 100 or 500 in the object so that the dampi
269. e same with the notch filter 1 frequency podes Ie Notch 3 Width Select the width of the notch filter 3 frequency TEE Setting b The details are the same with the notch filter 1 width page Notch 3 Depth Select the depth of the notch filter 3 center frequency 702X Setting The details are the same with the notch filter 1 depth page ue Notch 4 Frequency Set the center frequency of the notch filter 4 commen Setting 1 The details are the same with the notch filter 1 frequency pages 3211 hex Notch 4 Width Select the width of the notch filter 4 frequency aae 9 17 Setting 2 The details are the same with the notch filter 1 width pag Notch 4 Depth Select the depth of the notch filter 4 center frequency PENE NOX Setting E The details are the same with the notch filter 1 depth page 3 1 1 If an adaptive filter is used these objects are set automatically 2 These objects are set automatically when two adaptive filters are enabled la Precautions for Correct Use dentify the resonance frequency using the FFT analysis function or operation waveform of the waveform graphics function of CX Drive and set the identified frequency as the notch filter frequency OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 22 suomnounJ jueunsn py 11 7 Notch Filters Notch Filter Width and Depth Width Setting This is the ratio of the frequency bandwidth at a damping factor of 3 dB relative
270. e servo is OFF depends on the setting of the Disable operation option code 605C hex 3 The Brake Interlock Output BKIR signal is output either when a release request command is received via Servo controls or when a release request command is received via EtherCAT communications The above example shows when there is no brake release request from EtherCAT communications The BKIR is assigned to the general purpose output CN1 Note The brake application time and release time vary depending on the Servomotor brake For details refer to 3 3 Servomotor Specifications on page 3 32 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 14 suonounJ paddy x Applied Functions 7 5 Brake Interlock Servo ON OFF Operation Timing When Motor Is Operating Based on these operation timings regenerative energy is produced if the motor rotation stops abnormally Accordingly repeated operation cannot be performed Provide a wait time of at least 10 minutes for the motor to cool down ON Nun Servo OFF Servo OFF OFF oU to 5 ms ON Dynamic brake relay DB engaged DB released DB engaged OFF m Approx 60 ms ON 9 Motor power supply SEE No power supply Power supply No power supply Brake interlock output BKIR OFF Motor rotation speed A 2 9 4 4 Approx 4 ms M 3438 hex ON Brake held Bra
271. e support software has the control right to the Servo Drive 10 Target reached This bit is not used in Cyclic synchronous position mode Internal limit active This bit indicates that the limit function is in effect This bit becomes 1 when the limit function in the Servo Drive is activated The limit function has four limits the torque limit speed limit drive prohibition input and software limit O a A Ww N 11 Target value ignored This bit indicates that the target position was ignored The Target Value Ignored bit becomes 0 when the Servo Drive could not move according to the host s command while in the Servo ON state and in csp mode This bit will not become 0 if there is an error When the Target Position Ignored bit is 0 the target position is ignored and operation will follow the Servo Drive s internal commands Update the target position in the controller while monitoring items such as the Position actual value for operation when the Target Value Ignored bit changes to 1 and the target position is enabled It becomes 0 in the following cases Old eAug 12 Between when the drive prohibition input PLS NLS is input until when the Servomotor decelerates and stops when the Drive Prohibition Input Setting 3504 hex is set to 0 When a drive prohibition direction command is received while in a drive prohibition state When there is a change in position command that exceeds the motor s maximum speed
272. e sure to conduct safety checks Electric shock injury or fire may result Never drive the Servomotor using an external drive source Fire may result OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Precautions N DANGER Do not place flammable materials near the Servomotor Servo Drive or Regeneration Resistor Fire may result Install the Servomotor Servo Drive and Regeneration Resistor on non flammable materials such as metals Fire may result When you perform a system configuration using the safety function be sure to fully understand the relevant safety standards and the information in the operation manual and apply them to the system design Injury or damage may result Do not use the cable when it is laying in oil or water Electric shock injury or fire may result Never connect a commercial power supply directly to the Servomotor Fire or failure may result Do not perform wiring or any operation with wet hands Electric shock injury or fire may result Do not touch the key grooves with bare hands if a Servomotor with shaft end key grooves is being used Injury may result PS Pe gt be gt Caution Use the Servomotor and Servo Drive in a specified combination AN Fire or equipment damage may result Do not store or install the Servo Drive in the following locations e Location subject to direct sunlight e Location where the ambi
273. eath 6 5 to 8 0 mm dia 019 5 e Straight plug model JN2DS10SL2 R Japan Aviation Electronics Contact model JN1 22 22S R PKG100 Japan Aviation Electronics OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 68 suoneoyioodg Specifications 3 4 Cable and Connector Specifications Power Cable Connector R88A CNK11A This connector is used for power cables Use it when preparing a power cable by yourself R5 5 ui Angle plug direction can be reversed Angle plug model JN8FT04SJ1 Japan Aviation Electronics Socket contact model ST TMH S C1B 3500 A534G Japan Aviation Electronics Brake Cable Connector R88A CNK1 1B This connector is used for brake cables Use it when preparing a brake cable by yourself 29 6 Angle plug direction can be reversed 011 6 Angle plug model JNA4FTO2SM R Japan Aviation Electronics Socket contact model ST TMH S C1B 3500 A534G Japan Aviation Electronics 3 69 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications EtherCAT Communications Cable Specifications For the EtherCAT communications cable use a cable with double aluminum tape and braided shielding of category 5 or higher Precautions for Correct Use The maximum l
274. eceived Measures Check the specifications of the communications state change command for the host controller Check the specifications of the communications state change command for the host controller Connect the EtherCAT communications cable correctly Check to see if the EtherCAT communications cable is exposed to excessive noise Replace the Servo Drive Checkthe operation of the host controller Connect the EtherCAT communications cable correctly Turn OFF the power supply then turn it ON again Replace the Servo Drive Turn OFF the power supply then turn it ON again Replace the Servo Drive Turn OFF the power supply then turn it ON again Replace the Servo Drive Make EtherCAT communications settings such as the synchronous cycle SYNCO cycle correctly Check the specifications of the communications state change command for the host controller Check the command specifications of the host controller 12 24 ooueuojure y pue Burjioousoe qnou Troubleshooting and Maintenance 12 4 Troubleshooting Troubleshooting Using the Operation State Check to see if the power supply input is within the Symptom The 7 segment display does not light The ERR indicator flashes or lights The L A IN and the L A OUT indicators are OFF An error occurred The servo does not lock 12 25 The control power is not supplied A communications related error occurred
275. ect List mese tame 99 atin PP a remus p omms o Dor oc DL o Numerori Te 08 RO NoipossbH Not posse Foxe U8 RO Roipessbe Not posse 3 Newestmessege Te U8 RO Not possibie not possis us Not possible Not possible LU MANO rr ME BN oe ae famem E X meern Te hex Not possible Not possible H mTPDOneepeamee roe W ae Ath object 4 bytes U32 9 hex oth object Not possible Not possible Not possible Not possible Not possible Not possible Not possible Not possible 9 Zs EE o Lx LM Ne i LE E m NLNE eee NL Me LUN MEME LOWE RENI TUNE RO Not possible as me Ww NX m o LM es EL M NN BEAR a EA La EIN Not possible Not possible Not possible m oum Not possible Not possible ENLL OO 8 memweecmmwewg 0 0 EN 1C00 Communication type SMO 1 byte U8 Communication type SM3 cw fe il sc eet S ore Seen Not possible Not possible Not possible Not possible Not possible Not possible Not possible Not possible Not possible Not possible Not possible Not possible A 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 Object List Corresponding Pn number Default setting Setting range a 0000 hex 0000 to 0001 hex 04 hex ae a EE ae a ee NEN NE LONE qm
276. ectronic components circuits system assemblies or any other materials or substances or environ ments Any advice recommendations or information given orally or in writing are not to be construed as an amendment or addition to the above warranty See http www omron247 com or contact your Omron representative for pub lished information Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED IN CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY Further in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted Indemnities Buyer shall indemnify and hold harmless Omron Companies and their employees from and against all liabilities losses claims costs and expenses including attorney s fees and expenses related to any claim inves tigation litigation or proceeding whether or not Omron is a party which arises or is alleged to arise from Buyer s acts or omissions under these Terms or in any way with respect to the Products Without limiting the foregoing Buyer at its own expense shall indemnify and hold harmless Omron and defend or set tle any action brought against such Companies to the extent based on a claim that any Product made to Buyer specifications infringed intellectual p
277. ects 6 33 Absolute Encoder Setup 4102 hex 6 35 Communications Error Setting 2200 hex 6 33 Config 4100 Tiex iioc eee bre eoe nere reca 6 35 Error History Clear 2100 hex 6 33 Statusword 1 4000 hex esuesuss 6 34 monitor inputs MONO MON1 and MON2 3 19 monitor output Circul asesan anai 3 27 monitor output signal table 3 27 Motor connector specifications CNB 3 8 4 13 4 14 motor connector specifications dg ll M 3 7 3 10 4 12 4 15 Motor connector specifications CNC 3 8 motor power cable specifications 3 60 motor power cables European flexible cables 2 13 motor power cables global flexible cables 2 17 motor power cables global non flexible cables 2 15 mounting brackets L brackets for rack mounting 2 20 N no fuse breaker NFB eese 4 26 node address setting eeeeee eese 5 1 noise filter for power supply input 4 23 noise filter for the brake power supply 4 31 Noise ttes RTT 4 29 4 31 4 38 noise filters for motor output 4 38 POCA MCs ovde uude dissi a Sah teas meres ine diu 11 21 widih and deblli s3 susduxceuesca ttr PUR rx E dei
278. ed set the damping frequency to a value between 0 and 0 9 Hz When Damping Frequency 1 3214 hex is set reduce this Damping Filter 1 setting if torque saturation occurs or increase this setting to Setting increase operation speed Normally O is set If damping filter 1 is disabled this object is also disabled Damping The function is the same with 3214 hex Frequency 2 Damping Filter 2 The function is the same with 3215 hex Setting Damping The function is the same with 3214 hex Frequency 3 Damping Filter 3 The function is the same with 3215 hex Setting Damping The function is the same with 3214 hex Frequency 4 Damping Filter 4 The function is the same with 3215 hex Setting OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications The damping frequency changes based on the position vibrates Reference page 9 17 page 9 18 page 9 18 page 9 18 page 9 18 page 9 18 page 9 19 page 9 19 page 9 19 11 5 Damping Control l Precautions for Correct Use Stop operation before changing the objects or switching with DFSEL Damping control may not function properly or the effect may not be apparent under the following conditions Item Conditions under which the effect of damping control is inhibited e f forces other than position commands such as external forces cause vibration Load condition If the damping frequency is outside th
279. ed Enabled r min Enabled r min vm 5 15 6 Pulse position error Refer to Figure C Enabled Enabled Enabled pulse pulse 7 Whether there is a position command Enabled Disabled Disabled Refer to Figure D 9 Actual motor speed Refer to Figure B Enabled Enabled r min Enabled r min Combination of whether there is a Enabled 6 Enabled 10 position command and actual motor Enabled r min r min speed Refer to Figure E 1 The Gain Switching Delay Time in Position Control 3116 hex becomes effective when the gain is switched from 2 to 1 2 The Gain Switching Hysteresis in Position Control 3118 hex is defined in the drawing below 3117 hex pL UN 00 0r 2 AT NER GM 0 Gain1 Gain2 a Gani 8116 hex If object 3117 hex is less than object 3118 hex object 3117 hex will automatically be set to the same value as object 3118 hex 3 When the Gain Switching command of EtherCAT communications is 0 the gain switches to gain 1 When the command is 1 the gain switches to gain 2 4 Set the percentage of the rated torque Example To set 1096 of the rated torque set the set value would be 10 5 The position error is set according to the encoder resolution i e pulses for position control and according to the external encoder resolution i e pulses for fully closed control 9 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communication
280. ed if autotuning cannot be executed due to restrictions on the control mode or load aae 11 13 Manual conditions or if ensuring that the maximum responsiveness pag adjustment matches each load is required Basic procedure Position Control Fully closed Control Mode adjustment page 11 14 Precautions for Safe Use Take sufficient measures to ensure safety If vibration occurs unusual noise or vibration immediately turn OFF the power supply or turn OFF the servo OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 4 suornounJ jueunsn py 11 2 Gain Adjustment Gain Adjustment Procedure Start adjustment Automatic adjustment Yes Realtime autotuning settings Realtime autotuning Operation OK Yes Default setting Manual tuning O tion OK M Yes Adjustment Functions Write to EEPROM Consult OMRON Adjustment completed I Gain Adjustment and Machine Rigidity To improve machine rigidity Install the machine on a secure base so that it does not have any play Use couplings that have a high rigidity and that are designed for servo systems Use a wide timing belt and use a tension within the range of allowable axial load for the motor Use gears with small backlash The specific vibration resonance frequencies of the mechanical system has a large impact on the gain adjustment of the servo The servo system responsiveness cannot be
281. ed only for a 20 bit incremental encoder The value is not stable for other types of encoders OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 2 11 1 Analog Monitor 4 The direction of monitor data either forward or reverse is the direction set in the Rotation Direction Switching 3000 hex However CCW is the forward direction for the absolute encoder 1 rotation data A normal value is output from the incremental encoder after the first phase Z I Analog Monitor Output Setting 3421 Hex Select the direction for analog monitor output voltage These are the output voltage range and the output direction when the Analog Monitor 1 selection or Analog Monitor 2 Selection is set to the feedback motor speed and the Analog Monitor 1 Scale Setting or the Analog Monitor 2 Scale Setting is set to O i e 1V 500 r min Set value Output range Data output Output voltage V 10 V Feedback 0 10 to 10 V 0 V Motor Speed 9000 5000 r min 10V Output voltage V 10V Feedback 1 0 to 10 V Motor Speed 5000 OV 5000 r min 10 V Output voltage V Adjustment Functions 10V 2 0 to 10 V OV Y iFeedback 5 V as the center Motor Speed 0VIN O0 2500 r min 2500 10 V 11 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 2 Gain Adjustment 11 2 Gain Adjustment
282. eed Control UN 4 Positi Linear Integral osetia osition _ 80B1 hex id Control 1 3101 3102 Velocity offset C 4 3100 2 3106 3107 pommand units s 7 Inertia Ratio 3004 m ef 3105 401A hex H Motor Control Effort r min Expansion po Du Setting 3610 Reed svc cores umm m T i Following Error Actual s Internal Value r encoder pusal a A AA T T r 6063hex 7 401B hex s 7 A Position actual Motor Velocity 3 4 internal value Actual Value Sa Pewee Ne Sim a mmm mm mmm m E NS CER a m emm m a Speed detection Current control Response Setting u Note 1 Numbers within parentheses are sub index numbers Note 2 Numbers within boxes are hexadecimal index numbers if Torques demand or s Torque actual value pee eee eee eee eee 4017 hex Motor Velocity Demni Value Afters s Filtering r min Gain Switching Setting 2 3114 Setting 3 3605 Mode 3115 Ratio 3606 Delay Time 3116 Level 13117 Hysteresis Switching Tme 3119 u Demand Valus After Filtering command units s Friction compensation Offset Value 3607 Notch Filter Frequency Width Depth Disturbance Torque Observer Filter Gain 3623 1 13104 Filter 3624 2 3109 Torque Limit Selection 3521 Positive a Gel MAX 6072 get mrss ee essssses L see eee sl oe 6 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with
283. eed forward Function Torque Feed forward Operating Method 1 Set the Inertia Ratio 3004 hex Set the inertia ratio as correctly as possible f the inertia ratio is calculated for the selected motor input the calculated value f the inertia ratio is not known perform autotuning and set the inertia ratio 2 Set the Torque Feed forward Command Filter 3113 hex oet it to approx 50 0 5 ms 3 Adjust the Torque Feed forward Gain 3112 hex Gradually increase the value of the Torque Feed forward Gain 3112 hex Since the position error during acceleration deceleration at a constant speed can be brought close to 0 it can be controlled almost to O throughout the entire operation range during a trapezoidal speed pattern under ideal conditions where no disturbance torque is working In reality disturbance torque is always applied and therefore the position error cannot be completely O Motor y Speed Feed forward Gain 100 fixed r Position erro Feed forward Gain 0 96 Torque feed forward can reduce the position error in a range of constant acceleration deceleration la Precautions for Correct Use If you increase the torque feed forward filter time constant the operation noise will be reduced However the position error where the acceleration changes will become larger The torque feed forward function cannot be used when realtime autotuning is being used Set both the Torque Feed forwar
284. eeds the overload level specified in the Overload Detection Level Setting 3512 hex overload protection is performed according to the overload characteristics e The load was heavy the effective torque exceeded the rated torque and operation continued too long Vibration or hunting occurred due to faulty gain adjustment The Servomotor vibrates or makes unusual noise The Inertia Ratio 3004 hex setting is faulty 16 The Servomotor wiring is incorrect or broken The machine was hit by an object or the machine load suddenly became heavy The machine was distorted The electromagnetic brake remains ON When multiple machines were wired the wiring was incorrect and the Servomotor cable to was connected to a Servomotor for another axis Refer to 3 2 Overload Characteristics Electronic Thermal Function on page 3 31 for information on overload characteristics Regeneration Overload 12 4 Troubleshooting Measures Check if torque current waveforms oscillate or excessively oscillates vertically during analog output or communications Check the overload warning display and the load rate through communications Increase the capacities of the Servo Drive and the Servomotor Set longer acceleration and deceleration times Reduce the load Readjust the gain Connect the Servomotor cable as shown in the wiring diagram Replace the cable Remove the distortion from the machine Reduce the load Measure the
285. efer to the Details of Control Inputs in Control Output Details on page 3 20 as well as 7 1 Sequence I O Signals on page 7 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 5 Interface Monitor Settings 3416 hex Analog Monitor 1 Selection A Setting Default Data Size 2 bytes INT16 PDO map Not possible Analog signals of various monitor values can be output from the analog monitor connector on the front panel The monitor type to output and the scaling or output gain can be selected These can be set for each object Refer to 11 1 Analog Monitor on page 11 1 Explanation of Set Values Explanation Set value i Output gain when 0 Feedback Motor Speed 500 1 Internal Command Motor Speed 500 Filtered Internal Command Motor r min 500 Speed Motor Control Effort 500 Torque demand rated torque ratio 33 3 4 6 Pulse Position Error pulses encoder units 3000 7 Fully closed error pru external encoder 3000 NO 19 Encoder temperature 10 C 20 Servo Drive temperature 10 21 Encoder 1 rotation data pulses encoder units 110000 3417 hex Analog Monitor 1 Scale Setting All Setting 0 to 214 748 364 Unit 3416h monitor unit Default Data A range V setting attribute Size 4 bytes INT32 PDO map Not possible Set the output gain for analog monitor 1 Refer to 11 1 Analog Monitor on page 11 1 OMNUC G5 series AC Servomotors and Servo Drives Us
286. el When the object is set to O the setting is 11596 f 115 or higher is set a value of 115 will be used This object is set as a percentage of the rated torque OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 34 sjoe qo JojeuieJeg oAJeG uo s rejeqg Details on Servo Parameter Objects 9 6 Extended Objects 3513 hex Setting range Size 3514 hex Setting range Size 3515 hex Setting range Size Overspeed Detection Level Setting 0 to 20000 Unit r min iei is setting attribute 2 bytes INT16 Access Aces RW PDO map Not possible Set the overspeed detection level The overspeed detection level setting is 1 2 times the maximum motor rotation speed if this object is set to O This object should normally be set to O The setting should be changed only when it is necessary to lower the overspeed detection level The set value of this object is limited to 1 2 times the maximum motor rotation speed The detection margin of error for the set value is 3 r min for a 5 core absolute encoder and 36 r min for a 5 core incremental encoder Overrun Limit Setting 0 to 1000 Unit 0 1 rotation Miei xis setting attribute 2 bytes INT16 Aces RW PDO map Not possible Set the allowable operating range for the position command input range If the set value is exceeded and Overrun Limit Error Error No 34 0 will occur Refer t
287. el 3 V max oo ll ex cee l i Photocoupler mim 1 0 kQ di input I SF2 5 o e eet EDM Output Circuit Servo Drive External power supply 12 to 24 VDC Maximum output current 50 mA max Leakage current 0 1 mA max Residual voltage 1 7 V max Di Surge voltage prevention diode Use a high speed diode Maximum service voltage 30 VDC or less Note When driving a relay directly with an output signal always insert a diode as shown in the above figure OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 30 suoneoyioodg Specifications 3 2 Overload Characteristics Electronic Thermal Function 3 2 Overload Characteristics Electronic Thermal Function An overload protection function electronic thermal is built into the Servo Drive to protect the drive and motor from overloading If an overload does occur first eliminate the cause of the error and then wait at least 1 minute for the motor temperature to drop before turning ON the power again If the error reset is repeated at short intervals the motor windings may burn out Overload Characteristics Graphs The following graphs show the characteristics of the load ratio and electronic thermal function s operation time Time s 199 100 V 200 V 3 000 r min Servomotors NS 50 W
288. ength between nodes is 100 m However some cables are specified for less than 100 m Generally speaking if the conductors are twisted wire rather than solid wire transmission performance will be lower and reliable communications may not be possible at 100 m Confirm details with the cable manufacturer EN Reference If an Ethernet cable of category 5 or higher is used communications will be possible even if the cable is not shielded However we recommend a cable with double aluminum tape and braided shielding to ensure sufficient noise immunity Recommended Connector Modular Plug Use a shielded connector of category 5 or higher V Precautions for Correct Use When selecting a connector confirm that it is applicable to the cable that will be used Confirm the following items Conductor size conductor type solid wire or twisted wire number of twisted pairs 2 or 4 outer diameter etc OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 70 suoneoyioodg Specifications 3 4 Cable and Connector Specifications I Attaching the Connectors to the Cable Use straight wiring for the communications cable as shown below White Green White Green 7 7 Brown Brown Connector hood Shield Note 1 Connect the cable shield to the connector hood at both ends of the cable Note 2 There are two connection methods for Ethernet T568A and T568B The T568A connection
289. ent can prevent operation with high frequency leakage current When using a general leakage breaker use 3 times the total of the leakage current given in the following table as a reference value When selecting leakage breakers remember to add the leakage current from devices other than the motor such as devices using a switching power supply noise filters inverters and so on To prevent malfunction due to inrush current we recommend using a leakage breaker of 10 times the total of all current values The leakage breaker is activated at 50 of the rated current Select a leakage breaker with enough capacity For details on leakage breakers selection method refer to the manufacturer s catalog Surge Absorber Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines When selecting surge absorbers take into account the varistor voltage the surge immunity and the energy tolerated dose For 200 VAC systems use surge absorbers with a varistor voltage of 620 V The surge absorbers shown in the following table are recommended Manufacturer Model Surge immunity Comment Okaya Electric R A V 781BWZ 4 Single phase 100 Industries Co 700 V 20 2500A 200 VAC Ltd Block Okaya Electric ReAeV 781BXZ 4 3 phase 200 VAC Industries Co 700 V 20 2500A Ltd Note 1 Refer to the manufacturers catalog for operating details Note 2 The surge immunity is
290. ent idling or locking of the electromagnetic brake or the gear head or leakage of grease from the gear head Injury damage or taint damage result If the Servo Drive fails cut off the power supply to the Servo Drive at the power supply Fire may result Do not turn ON and OFF the main Servo Drive power supply frequently Failure may result Maintenance and Inspection N Caution A T AN 10 After replacing the Servo Drive transfer to the new Servo Drive all data needed to resume operation before restarting operation Equipment damage may result Never repair the Servo Drive by disassembling it Electric shock or injury may result Be sure to turn OFF the power supply when the Servo Drive is not going to be used for a prolonged period of time Injury may result OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Precautions Location of Warning Label The Servo Drive bears a warning label at the following location to provide handling warnings When handling the Servo Drive be sure to observe the instructions provided on this label Warning label display location R88D KNO2H ECT R Instructions on Warning Label fes BT BBBSEEACERCROE CPR SEREOL DEXIONTtEMTSLL N fap DAREN BETIRI JEPY xTDubR m EET DANGER Read the manual and follow the safety instructions before use PEUT Never fail to connect Protective EarthiPE terminal ae HRORnAU S
291. ent temperature exceeds the specified level e Location where the relative humidity exceeds the specified level e Location subject to condensation due to rapid temperature changes e Location subject to corrosive or flammable gases e Location subject to high levels of dust salt content or iron dust e Location subject to splashes of water oil chemicals etc e Location where the Servo Drive may receive vibration or impact directly Installing or storing the Servo Drive in any of these locations may result in fire electric shock or equipment damage The Servo Drive radiator Regeneration Resistor Servomotor etc may become hot while the power is supplied or remain hot for a while even after the power supply is cut off Never touch these components A burn injury may result gt OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 Safety Precautions Storage and Transportation N Caution When transporting the Servo Drive do not hold it by the cables or Servomotor shaft Injury or failure may result Do not overload the Servo Drive or Servomotor Follow the instructions on the product label Injury or failure may result Use the Servomotor eye bolts only when transporting the Servomotor Do not use them to transport the machine Injury or failure may result gt gt gt 8 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Commun
292. er or with 400 prone Set the speed loop integral time constant The smaller the set value the faster the error approaches 0 when stopping When the speed loop integral time constant is changed the response is as shown in the following diagram Overshooting occurs if the speed loop integral Motor speed time constant is small Speed loop integral time constant is large Time 3103 hex Speed Feedback Filter Time Constant 1 Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO map map Not possible Set the time constant for the low pass filter LPF after speed detection to one of 6 levels 0 to 5 Increasing the set value increases the time constant and decreases the noise generated by the motor Responsiveness however also decreases Normally use the default set value 3104 hex Torque Command Filter Time Constant 1 Sering 0 to 2500 Unit 0 01 ms peau 84 ae range setting attribute Size 2 bytes INT16 Aces RW PDO map Not possible 1 The default setting is 126 for a Drive with 200 V and 1 kW or greater or with 400 V Set the time constant for the first order lag filter inserted into the torque command This object may be effective in suppressing vibration due to torsion resonance 3105 hex Position Loop Gain 2 PUn 0 to 30000 Unit 0 1 s eint 570 visa range setting attribute Size 2 bytes INT16 PDO map Not possible 1 The default setting is 38
293. er circuit 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz supply voltage We Maximum applicable motor current va mE o ew ew dil n value Power supply 24 VDC 20 4 to 27 6 V Control circuit voltage PWM frequency 6 0 kHz ight iMi 1 9 Approx 1 9 Approx 1 9 Approx 2 7 Approx 4 7 odds 4 1 EN kg EN EE 00w W ETE 5 kW capacity Applica 3 000 m K030F K4K030F ble Ser r min a pe K75030F K1K530F K2K030F K3K030F K5K030F vomotor e K75030C y s K2K030C K3K030C sae 2 000 K40020F KAKO20F r min K60020F K1K020F K1K520F K2K020F K3K020F K5K020F K40020C K4K020C K60020C K1K020C K1K520C K2K020C K3K020C K5K020C 1 000 Control method All digital servo Inverter method IGBT driven PWM 1 3 5 The heat value is given for rated operation OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications EtherCAT Communications Specifications Item Communications standard Physical layer Connectors Communications media Communications distance Process data Mailbox CoE Distributed clock LED indicators CiA402 Drive Profile Specification IEC 61158 Type 12 IEC 61800 7 CiA 402 Drive Profile 100BASE TX IEEE802 3 RJ45 x 2 shielded ECAT IN EtherCAT input ECAT OUT EtherCAT output Category 5 or higher cable with double aluminum tape and braided shielding is recommended Distance between nodes
294. er s Manual with Built in EtherCAT Communications 9 26 sjoe qo JojeuieJeg oAJ8eg uo s rejeg 10 eese ne 0 0 V 5 000 10 V Details on Servo Parameter Objects 9 5 Interface Monitor Settings 3418 hex Setting range Size 3419 hex Setting range Size 3421 hex Setting range Size 9 27 Analog Monitor 2 Selection Default Data 2 2bytes INT16 INT16 Aces Access RW PDO map Not possible In the same way as M Analog Monitor 1 analog signals of various monitors can be output from the analog monitor connector on the front panel Refer to the Analog Monitor 1 Selection 3416 hex for the method to set this object Analog Monitor 2 Scale Setting Monitor unit of 3418 Default Data 4 bytes INT32 e oe PDO map map Not possible Set the output gain for analog monitor 2 Refer to the Analog Monitor 1 Scale Setting 3417 hex for the method to set this object Analog Monitor Output Selection Default Data 2 bytes INT16 Access RW PDO map Not possible Select the analog monitor output voltage direction These are the output voltage range and the output direction when the Analog Monitor 1 Selection or Analog Monitor 2 Selection is set to the Feedback Motor Speed and the Analog Monitor 1 Scale Setting or the Analog Monitor 2 Scale Setting is set to O i e 1V 500 r min Set vale Output range Data output Output voltage V Feedback Mot
295. eration mode specific These bits are specific to the operation mode They are not used in Cyclic synchronous position mode Fault reset Errors and warnings are reset when this bit turns ON 8 Halt They are not used in Cyclic synchronous position mode 9 Operation mode specific They are not used in Cyclic synchronous position mode 10 Reserved 11 P CL These bits switch the torque limit function They are normally N CL set to O 12 For details refer to Torque Limit Switching 13 to 15 Manufacturer specific These are manufacturer specific bits Always keep them at 0 6041 hex Statusword All Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes U16 Aces RO PDO map Possible This object gives the present state of the Servo Drive 6 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary Bit Descriptions Bit Name Description 0 These bits give the state For details refer to State Coding on page 6 3 7 Warning This bit indicates that warning status exists Operation continues without changing the status 3 Manufacturer specific These are manufacturer specific bits This bit is not used by OMNUC G5 series Servo Drives Remote This bit indicates that the Servo Drive is being controlled by the Controlword 9 Changes to 1 remote after initialization has been completed When 0 local is given it indicates that th
296. erator Torque Limit Input setting Current control Selection 3521 T 3323 T ype Response Positive Reverse 8328 Setting Negative GOE1 i B327 NZ ud gg x disabied 3327 6074 or 6077 hex MAX 6072 Torque demand or Torque actual value External encoder Note 1 Numbers within parentheses are sub index numbers Note 2 Numbers within boxes are hexadecimal index numbers OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 18 Drive Profile 6 7 Object Dictionary 6 7 Object Dictionary Object Dictionary Area CAN application protocol over EtherCAT CoE uses the object dictionary as its base All objects are assigned four digit hexadecimal numbers in the areas shown in the following table Index Description 0000 to OFFF hex Data Type Area Definitions of data types CoE Communication Area Definitions of variables that can be used by all 1000 to 1FFF hex Mp servers for designated communications Manufacturer Specific Area 1 Variables with common definitions for all OMRON 2000 to 2FFF hex products Manufacturer Specific Area 2 Variables with common definitions for all OMNUC 3000 to SFFF hex G5 series Servo Drives servo parameters Device Profile Area Variables defined in the Servo Drive s CiA402 6000 to 9FFF hex drive profile A000 to FFFF hex Reserved Area Area reserved for future use Data Types Data types sho
297. es Sub index 1 Motor revolutions Sub index 2 Shaft revolutions OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 44 Old eAug Drive Profile 6 7 Object Dictionary 60B0 hex Range Size 60B1 hex Range Size 6 45 These objects set the gear ratio Set the numerator of the electronic gear in the object for sub index 1 Motor revolutions If the set value is 0 the encoder resolution will be set as the numerator Set the denominator of the electronic gear in the object for sub index 2 Shaft revolutions Set the gear ratio to between 1 1 000 and 1 000 If the gear ratio is out of range an Object Setting Error Error No 93 0 will occur If the set value of Motor revolutions is 0 the encoder resolution will be set as the numerator even for fully closed control Refer to Electronic Gear Function on page 7 18 for details Position offset 2147483648 to Command 4 bytes INT32 Access Access RW PDO map Possible This object sets the position command offset In Cyclic synchronous position mode csp the offset value is added to the Target position 607A hex for use as the target position in controlling the position Velocity offset 2147483648 to Command 4 bytes INT32 Access RW PDOmap PDO map map Possible The value obtained by adding the value of this object 60B1 hex and speed feed forward value c
298. es User s Manual with Built in EtherCAT Communications Index Numerics 1 000 r min Servomotors Iodel table sese eec rer esa d ads clues nbs BA OU v da 2 9 rotation speed characteristics 3 55 Servo DfIVes ss stood Pe Ed UA DNE Fels uad 2 11 2 000 r min Servomotors Imodel table emos E axe Ue ossa ea Rt Deu EE 2 8 rotation speed characteristics 3 50 Servo DIVES auvae kick eda id xD rt x lin V Ra RA ODE 2 11 3 000 r min Servomotors model table iseeexk uc iken extet rein ema DU se wa rosas 2 6 rotation speed characteristics 3 40 SENO DIVES orri Odd Sed ROO Rl ir Vo RO VR 2 10 7 Segment display eoo erp voe erae nue 10 4 A absolute encoder backup battery 25 52 reci rer ra La ppa t p EXREU Ie ER S 2 18 battery Cabl8S ocius eset oon in EELe E deste snm 2 18 battery replacement seeeeeee 12 33 CIS iig o spe HN REN AN ATT 10 6 SDeCITICatlofi8 s dus ci ioca DA Reine D dM RISK UE 3 56 ACCOSSOLBS secas a a Me inca cshed a ES TAE 12 adapuve Wer acceso met cic sio erhaede sun E naci n pude 11 18 analog control objects External Feedback Pulse Direction Switching 3325 NEX estes cuc iis ta aE 9 22 External Feedback Pulse Dividing Denominator 3320 NEX airera san ued eens eee a R 9 22 External Feedback Pulse Dividing Numerator 3924 OK Tore E E 9 22 External Feedback Pulse Phase Z Setting 3327 NOX aonar
299. ess R88D KNO6F ECT R KN10F ECT R KN15F ECT R KN20F ECT R Main Circuit Connector Specifications CNA Main circuit power supply R88D KNLIF ECT R 600 W to 2 kW 3 phase 380 to 480 VAC 323 to 528 V 50 L2 60 Hz L3 Motor Connector Specifications CNB U Motor connection m These are the output terminals to the Servomotor terminals Be sure to wire them correctly Green Yellow This is the ground terminal Ground to 100 Q or less OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 14 uDisoq uiejs g 4 2 Wiring R88D KNO6F ECT R KN10F ECT R KN15F ECT R KN20F ECT R Main Circuit Connector Specifications CNA Sym Function bol Main circuit power supply R88D KNLIF ECT R input 600 W to 1 5 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 L2 Hz L3 Motor Connector Specifications CNB Function Motor connection w These are the output terminals to the Servomotor terminals Be sure to wire them correctly Green Yellow This is the ground terminal Ground to 100 Q or less Control Circuit Connector Specifications CNC Sym Function bol 24V Control circuit power 24 VDC 21 6 to 26 4 V OV supply input C 9o T Q e E 2 gt U External Regeneration Resistor Connector Specifications CND Sym Function bol B1 External Regeneration Normally B2 and B3 are connected B2 Resistor connection If there
300. follow the pulse Check on the torque monitor to command see if the output torque is saturated e The value of the Following error window Adjust the gain Maximize the set values 6065 hex is small on the Positive torque limit value G0EO hex and the Negative torque limit value 60E1 hex Wire the encoder as shown in the wiring diagram Lengthen the acceleration and deceleration times Reduce the load and the speed Increase the set value of object 6065 hex Excessive During fully closed control the difference Check the Servomotor and load Error Counter Position error pulses exceeded the setting D Q c c D jun co c o c O o lt o Q O I Hybrid between the load position from the connection Deviation external encoder and the Servomotor Check the external encoder and Servo Error position from the encoder was larger than Drive connection the number of pulses set as the Hybrid When moving the load check to see if Following Error Counter Overflow Level the change in the Servomotor position 3328 hex encoder feedback value has the same sign as the change in the load position external encoder feedback value Check to see if the External Feedback Pulse Dividing Numerator and Denominator 3324 hex and 3325 hex and External Feedback Pulse Direction Switching 3326 hex are set correctly Overspeed The Servomotor rotation speed exceeded Do not give excessive speed the v
301. following table must be used without changing them from their default values Index perau Description setting 3015 hex 00 hex Operation Switch When Using 0002 hex Use absolute values and ignore multi rotation Absolute Encoder counter overflow 3324 hex 00 hex External Feedback Pulse 00000000 hex Encoder resolution is set automatically Dividing Numerator 3401 hex Forward Drive Prohibition Input NC 3402 hex Reverse Drive Prohibition Input NC 3403 hex Origin Proximity Input NO 3404 hex External Latch Signal 3 NO 3405 hex External Latch Signal 2 NO 3406 hex 00 hex 00202020 hex External Latch Signal 1 NO ssoshex oD hex Mo Ieee 3508 hex 00 hex 0001 hex Stopping for undervoltage errors Torque Limit Selection Both forward and reverse directions have two 0006 hex limits which are switched using PCL and NCL 3801 hex 00 hex Sah Position Limit 0003 hex Disable the software limits in both directions 3521 hex 00 hex Touch Probe Trigger Selection Touch probe1 External Latch Signal 1 Seen Miu e peas Touch probe2 External Latch Signal 2 3759 hex 00 hex Warning Hold Selection 0000 hex Automatically cleared when the cause is removed 607C hex 00 hex Home offset 00000000 hex oe value of 0 is used by the Servo 01 hex Motor revolutions 00000001 hex Gear ratio used by the Servo Drive is 1 1 and 6091 hex user units are handled by the controller 02 hex Shaft revolutions 00000001 hex 60E0 hex 00 hex Positive torq
302. for 6 mm as shown below O 6 mm OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 76 suoneoyioodg Specifications 3 4 Cable and Connector Specifications XW2B 20G5 Dimensions 3 5 112 5 Flat cable connector MIL type plug 3 5 Terminal block HO N Note The pitch of terminals is 8 5 mm i ow Precautions for Correct Use D M ESESIESESIESTESIESTESIESTES I d n db DANA ho o n ee ee When using crimp terminals use crimp terminals with the following dimensions Round terminal Fork terminal 3 7 mm A 4 6 8mm max 3 7mm 6 8mm max Y L Applicable crimp terminals Applicable wires 1 25 to 3 AWG22 to 16 0 30 to 1 25 mm Round terminals 2 to 3 5 AWG16 to 14 1 25 to 2 0 mm 1 25Y to 3 AWG22 to 16 0 30 to 1 25 mm Fork terminals 2 to 3 5 AWG16 to 14 1 25 to 2 0 mm When connecting wires and crimp terminals to a terminal block tighten them to a tightening torque of 0 59 N m 43 5 45 3 lt a 3 71 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications XW2D 20G6 Precautions for Correct Use When using crimp terminals use crimp termi
303. for Sub index 1 Set brake Brake Interlock don t set brake a INN set brake Remote Output 1 0 OFF R OUT1 16 ON Remote Output 2 OFF 17 mourn on Gain Switching 24 1 Speed Loop P PI Control PI control pee i P control The gain can be switched when realtime autotuning is disabled and gain 2 is enabled Speed loop P PI control can be switched when realtime autotuning and gain 2 are disabled Set all reserved bits to 0 26 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 50 Old eAug Drive Profile 6 7 Object Dictionary Bit Descriptions for Sub index 2 6402 hex Range Size 6 51 Set brake Mask Brake Interlock Set brake disable output wa 1 Output Mask Set brake enable output Remote Output 1 Mask EA R OUT1 disable output n R OUT1 enable output Remote Output 2 Mask ri R OUT2 disable output M iid 3 R OUT2 enable output Gain Switching Mask 0 Switch setting disable E OSEt a Switch setting enable B omwwi 770000 o Speed Loop P PI Control Mask pO Switch setting disable ze pu Switch setting enable Motor type All 2 bytes U16 Aces RO PDO map Not possible This object indicates the type of motor that is connected It is always 3 PM synchronous motor for OMNUC G5 series Servo Drives OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communicatio
304. 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 4 27 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives External Dimensions For single phase BWZ series For 3 phase BXZ series 04 2 2 SA LO A JY e mas g X mE A Lx X A Equalizing Circuits For single phase BWZ series For 3 phase BXZ series 1 2 3 uDisoq uiejs g OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 28 System Design 4 3 Wiring Conforming to EMC Directives Noise Filter for Power Supply Input We recommend using a noise filter for the Servo Drive Noise filter for power supply input Drive model Rated Leakage current Manufac current 60 Hz max turer R88D KNA5L ECT R Single 1 0 mA R88D KNO1L ECT R SUP EK5 ER 6 5A phase at 250 VAC R88D KNO2L ECT R R88D KNO4L ECT R 3 5 mA R88D KN0O1H ECT R Single 1 0 mA R88D KNO2H ECT R SUP EK5 ER 6 5A phase at 250 VAC R88D KN04H ECT R SEDD TSNOSIe EU yS UPIICER G 10 A 3 phase So mA at 500 VAC Okaya R88D KN10H ECT R Electric 3 5 mA Industries R88D KN15H ECT R 3SUP HU30 ER 6 30A 3 phase at 500 VAC Co Ltd R88D KN20H ECT R pone met 3SUP HL50 ER 6B 3 ph Samh HL50 ER 50 A phase R88
305. g is unknown C Updated after the control power is reset or after a Config command is executed via EtherCAT communications R Updated after the control power is reset It is not updated for a Config command via EtherCAT communications Write prohibited The object size is given in bytes Indicates whether the object is read only or read and write RO Read only RW Read and write Indicates the PDO mapping attribute Possible RxPDO Reception PDOs can be mapped Possible TxPDO Transmission PDOs can be mapped Not possible PDOs cannot be mapped OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 20 Drive Profile 6 7 Object Dictionary Format When There Is Sub indexing The object description format with subindices is shown below Index Object name gt Modes of Operation Sub index 0 Number of entries Range Default Default Attribute Attribute Sub index 1 Sub index name Range Default Default Attribute Attribute Sub index 2 Sub index name Range Default Default gt Attribute Attribute Sub index N Sub index name Range Default Default Attribute Attribute The data remains the same even with sub indexing Communication Objects 1000 hex Device type All Range pf Unit PY Default 0002 0192 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Gives the CoE de
306. g monitor is not synchronized with another axes in the EtherCAT system Objects Requiring Settings Index Name Explanation Reference 3416 hex Analog Monitor 1 Selection Select the monitoring item for the analog monitor 1 page 9 26 3417 hex ae Monor sd Set the output gain for the analog monitor 1 page 9 26 3418 hex Analog Monitor 2 Selection Select the monitoring item for the analog monitor 2 page 9 27 3419 hex ur men eae Set the output gain for the analog monitor 2 page 9 27 3421 hex ae monitor Output Select the analog monitor output method page 9 27 I Analog Monitor Objects 3416 3417 3418 and 3419 Hex The analog monitor scales 3417 hex and 3419 hex are set in units for 1 V When the objects are set to O the values shown in the table below are automatically set Qu C O E Q LL m C c jad N 3 O t Description 3416 hex and 3418 hex set Output gain when 3417 value Monitoring item hex and 3419 hex are set to 0 0 Feedback Motor Speed r min 500 1 niema commemo Motor r min 500 Speed 5 pulses command units 3 000 6 pulses encoder units 3 000 7 pulses external encoder 3 000 unit 9 P N Voltage 80 10 Regeneration Load Ratio 33 11 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 1 Analog Monitor Description 3416 hex and 3418 hex set Output gain when 3417 value Monitoring item hex and 3419 hex are set
307. g with Error Displays on page 12 13 for troubleshooting errors Reset the error using one of the following methods Remove the cause of the error first Turn OFF the power supply then turn it ON again Reset the error via EtherCAT communications or from the CX Drive via USB communications However some errors can only be reset by turning the power supply OFF then ON again Refer to the Error List on page 12 8 An Overload Error Error No 16 cannot be reset for 10 seconds after it occurs f hh FF or HH is displayed as the error number the internal MPU has malfunctioned Turn OFF the power immediately if one of these error numbers is displayed 12 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications I Error List Error detection function Can be History reset Control Power Supply Undervoltage N Overvoltage y Main Power Supply Undervoltage insufficient voltage between P and N Main Power Supply Undervoltage AC cutoff detected Overcurrent IPM Error Servo Drive Overheat Regeneration Overload Regeneration Tr Error Encoder Communications Disconnection Error Encoder Communications Error Error No hex Main 11 12 13 14 15 16 gt CE 2 2 P Oo c eut D L N 18 21 23 Encoder Communications Data Error Error Counter Overflow Excessive Hybrid Deviation Error Overspeed 2 24 25 26 Absolute
308. ge suppressor 1 X 1MC 2MC X Servo error display OMNUC G5 Series AC Servo Drive ic OMNUC G5 Series d AC Servomotor L2C Power cables Ground to 100 Q EH or less T O MM wn 4 Resistor B 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all G5 series motors with brakes because aoha X 098 ALM 24 VDC O4 ALMCOM p its rated inductive load is 2 A 24 VDC BKIB 10 XB 24VDC 3 There is no polarity on the brakes 4 Models with a built in Regeneration 2 BKIRCOM 20 C2 Resistor KNOGF ECT R to KN20F ECT R have B2 and B3 connected When the amount of regeneration is large remove the connector between B2 and B3 and connect a Regeneration Resistor between B1 and B2 User side control device Control cables OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 10 uDisoq uiejs g System Design 4 2 Wiring R88D KN30F ECT R KN50F ECT R RST 3 phase 380 to 480 VAC 50 60 Hz ee a NFB Main circuit contactor 1 Main circuit power supply anc OFF ON 1MC 2MC 5 4 mi 4 EE E 1 Eu apum ume Surge suppressor 1 X 1MC 2MC X Servo alarm display OMNUC G5 series OMNUC G5 series AC Servo Drive AC Servomotor Power cables Ground to 100 Q or less
309. gidity Setting enabled pag Realtime Autotuning Set the speed to estimate the load characteristic when the Estimated Speed realtime autotuning is enabled page 9 41 Selection Realtime Autotuning Make detailed settings for the autotuning function when the Customization Mode customized mode 3002 hex 6 is selected in the Realtime page 9 41 Setting Autotuning Mode Selection 3002 hex Setting Realtime Autotuning 1 When setting realtime autotuning turn the servo OFF 2 Set Realtime Autotuning mode Selection 3002 hex depending on the load Normally set the object to 1 or 2 Use a setting of 3 or 4 when a vertical axis is used A setting of 5 is used in combination with a software tool Do not use it for normal operation Gain switching function is enabled for set values 2 to 6 E Realtime autotuning Description value 0 Disabled Realtime autotuning is disabled 1 Focus on stability default No unbalanced load or friction compensation nor gain setting switching Used for a horizontal axis or others that have no Be unbalanced load or for a ball screw drive with little friction Used when unbalanced load is present i e with a vertical 3 Vertical axis axis etc NO Used when a vertical axis or other unbalanced load is Friction compensation and present and when friction is large vertical axis Used for a belt driving shaft with large friction Variations in finalizing the positioning are suppressed 5 L
310. gular ade 10 000 acceleration Brake limit 10 million times min Insulation class o Type F Brake specifications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 46 suoneoyioodg Specifications 3 3 Servomotor Specifications 400 VAC Model R88M WERE K60020F K40020C K60020C K1K020C 400 1 000 Item Unit Rated output Rated torque i N m z Rated rotation speed r min 2 000 Maximum rotation speed r min 3 000 torque current SMS EN kg m 161x104 2 03x10 4 4 60x10 4 brake With brake kg m 1 90x107 2 35x10 4 5 90x10 4 10 times the rotor inertia max 2 1 27 Applicable load inertia Torque constant N m A Power rate Without d brake With brake Mechanical Without time brake constant With brake Q Oo kW s 2 kW s 1 27 id T 19 2 38 6 iid i Approx 3 1 Approx 3 5 Approx 5 2 Approx 4 5 320 x 300 x t20 Al KNOGF ECT R KNOGF ECT R KN10F ECT R kg m 1 85x107 1 35x107 1 35x104 24 VDC 10 0 70410 0 70410 0 59410 1 reference value 4 9x10 4 9x10 7 8x10 10 000 Electrical time constant 3 Allowable radial load Allowable thrust load Weight Without brake With brake Radiator plate dimensions Applicable drives R88D x x Q O1 N olo Approx 4 1 Approx 6 7 material Brake inertia Excitation voltage Power consumption
311. hanisms or devices whose tips tend to vibrate Two damping filters are provided to enable switching the damping frequency automatically according to the rotation direction and also via an external signal In addition the settings can be made easily by setting the damping frequency and filter values You are assured of stable operation even if the set values are inappropriate What Is EtherCAT EtherCAT is an open high speed industrial network system that conforms to Ethernet IEEE 802 3 Each node achieves a short cycle time by transmitting Ethernet frames at high speed A mechanism that allows sharing clock information enables high precision synchronization control with low communications jitter EtherCAT is a registered trademark of Beckhoff Automation Gmbh Germany EtherCAT technology is protected by patents Object Dictionary OMNUC Gb5 series Servo Drives with Built in EtherCAT Communications use the object dictionary for CAN application protocol over EtherCAT CoE as a base for communications An object is a special data structure inside a device that consists of data parameters and methods An object dictionary is a data structure that describes the data type objects communications objects and application objects All objects are assigned four digit hexadecimal numbers in the areas shown in the following table Indexes Contents 0000 to OFFF hex Data Type Area Definitions of data types 1000 to 1FFF hex CoE Communicat
312. he end of the model number LL R88M K4K0300 R88M K5K0300 R88M K4K0300 BO R88M K5K030C1 BL 2 37 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions g 3 000 r min Servomotors 400 V 750 W 1 kW 1 5 kW 2 kW without Brake R88M K75030F S2 K1K030F S2 K1K530F S2 K2K030F S2 INC R88M K75030C S2 K1K030C S2 K1K530C S2 K2K030C S2 IEEE 750 W 1 kW 1 5 kW 2 kW with Brake R88M K75030F B S2 K1K030F B S2 K1K530F B S2 K2K030F B S2 INC R88M K75030C B S2 K1K030C B S2 K1K530C B S2 K2K030C B S2 MNJ Motor and brake LL connector LM Encoder connector 101 without brake 103 with brake 100x100 Shaft end specifications with key and tap zi M3 through 6h9 PURUS Model R88M K75030L R88M K1K030L R88M K1K530L R88M K2K030L R88M K75030L I BL R88M K1K030 B 5 R88M K1K530l B 5 R88M K2K030 B 5 95h7 95h7 ji C ast M5 depth 12 PX O Y i Dimensions mm Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 38
313. he motor stops If the brake is engaged while the Servomotor is rotating the brake disc will wear abnormally or sustain damage resulting in a bearing or encoder failure in the Servomotor The workpiece may fall when the brake is released for a vertical axis Carefully consider the timing of releasing the brake 7 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 5 Brake Interlock Operation Timing This section shows the timing of the Brake Interlock Output BKIR Basic Timing Control power supply ON L1C and L2C ii E OFF ON Servo ON OFF T Servo OFF Servo OFF FF Brake Interlock ON Output BKIR OFF Request to release brake Forced braking is possible Forced braking is possible pe a Servo ON OFF Operation Timing When Motor Is Stopped ON OFF gt _ lt Approx 2 ms ON Dynam ke rel ynamic brake relay DB engaged DE released DB engaged OFF gt Approx 60 ms gt 3437 hex ON Motor power supply No power supply Power supply No power supply OFF Approx 4 ms 1 to 6 ms t BKIR elease reques output OFF gt Attraction time gt Release time Released Holding brake operation Brakereleased released Held 1 The servo does not turn ON until the motor rotation speed drops to approx 30 r min or below 2 The operation of the dynamic brake when th
314. he temperature rises the motor s momentary maximum torque decreases The momentary maximum torque rises by 4 at a normal temperature of 20 C compared to a temperature of 10 C Conversely the momentary maximum torque decreases about 8 when the magnet warms up to 80 C from the normal temperature Generally when the temperature drops in a mechanical system the friction torque and the load torque increase For that reason overloading may occur at low temperatures In particular in systems that use a Decelerator the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures Check whether overloading may occur during starting at low temperature Also check to see whether abnormal motor overheating or errors occur at high temperatures An increase in load friction torque seemingly increases load inertia Therefore even if the drive gains are adjusted at a normal temperature the motor may not operate properly at low temperatures Check to see whether optimal operation can be obtained even at low temperatures 3 55 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications Encoder Specifications I Incremental Encoder Specifications Item Encoder system Number of output pulses Power supply voltage Power supply current Output signal Output interface Specifications Optical encoder 20 bits Phases A
315. he machine vibration Set value Switching mode Up to two filters Damping Filter 1 and Damping Filter 2 can be used 0 l simultaneously 1 2 For use by manufacturer Switching with command direction 3 Forward Damping filter 1 and 3 enabled Reverse Damping filter 2 and 4 enabled OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 6 Adaptive Filter 11 6 Adaptive Filter EMH The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the motor speed during actual operation and automatically sets the frequency of the notch filter which removes the resonance component from the torque command The automatically set notch filter frequency is set in Notch 3 3207 to 3209 hex or Notch 4 3210 to 3212 hex Refer to 11 7 Notch Filters on page 11 21 for information on notch filter A AUR AT OLETTI TAU TE After vibration Motor speed suppression n Wl i WU VL asi Adaptive filter effect Adaptive filter disabled Filter frequency setting completed Position and speed command Position Adaptive Torque command Current loop speed control filter control Resonance frequency estimation Speed feedback Load inertia estimation Realtime autotuning OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 18 suoioun jueunsn py
316. he regeneration power produced in 1 cycle of operation W Pr Egt Eg2 Eg3 T W T Operation cycle s 4 41 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 4 Regenerative Energy Absorption Servo Drive Regeneration Absorption Capacity Amount of Internal Regeneration Absorption in Servo Drives This Servo Drive absorbs regenerative energy internally with built in capacitors If the regenerative energy is too large to be processed internally an overvoltage error occurs and operation cannot continue The following table shows the regenerative energy and amount of regeneration that each drive can absorb If these values are exceeded take the following processes Connect an External Regeneration Unit Regeneration process capacity improves Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time Regenerative energy per unit time decreases Lengthen the operation cycle i e the cycle time Average regenerative power decreases Internal regeneration re sistor Allowable mini Average amount of mum regeneration regenerative energy ab resistance 9 Regenerative Servo Drive model energy absorbable by built in capacitor J sorbable W R88D KN30H ECT R 150 8 7 R88D KN50H ECT R 150 a 5 R88D KN30F ECT R 142 8 40 R88D KN50F ECT R 142 8 29 OMN
317. hen an electrolytic capacitor reaches its limit electrostatic Capacity drops and internal resistance increases This leads to overvoltage errors malfunctioning due to noise and damage to individual elements If a drive is always operated at the ambient temperature of 55 C and with a 100 output of the rated torque and rated rotation speed its life is expected to be approx 28 000 hours excluding the axial flow fan A drop of 10 C in the ambient temperature will double the expected life of the drive Keeping Foreign Objects Out of Units Place a cover over the drive or take other preventative measures to prevent foreign objects such as drill filings from getting into the drive during installation Be sure to remove the cover after installation is complete If the cover is left on during operation drive s heat dissipation is blocked which may result in malfunction Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of the drives Servomotor Installation Conditions Environment Operating Conditions The environment in which the motor is operated must meet the following conditions Operating the motor outside of the following ranges may result in malfunction of the motor Ambient operating temperature O to 409C Operating humidity 8596 max with no condensation Operating atmosphere No corrosive gases 1 The ambient
318. hex may have changed to an extreme value In this case set Adaptive Filter Selection 3200 hex to 0 to disable the object and then set the Notch 3 Frequency Setting 3207 hex and Notch 4 Frequency Setting 3210 hex to 5 000 disabled Next enable Adaptive Filter Selection again The Notch 3 Frequency Setting 3207 hex and Notch 4 Frequency Setting 3210 hex are written to the EEPROM every 30 minutes When the power supply is turned OFF and then turned ON again this data is used as the default settings to perform adaptive operation OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 20 suornounJ jueunsn py 11 7 Notch Filters 11 7 Notch Filters When the machine rigidity is low axis torsion may produce resonance which results in vibration and noise Thus you may not be able to set a high gain The notch filter can restrict the resonance peak and allows a high gain setting and vibration reduction The OMNUC G5 series Servo Drives provide four notch filters that can be used for adjusting frequency width and depth If a ball screw or other controlled device causes resonance at a specific location you can set the resonance frequency using a notch filter to eliminate resonance A notch filter is used to eliminate a specified frequency component Width fw Odb 3db Depth Fc fw Adjustment Functions Frequency Hz Cut off frequency Fc If machine resonance
319. ible All Range 0 to 5000 Default 5000 Attribute B This object sets the reverse torque limit It is limited by the maximum torque of the connected motor For details refer to Torque Limit Switching on page 7 21 This object is set in units of 0 196 of the rated torque 60F4 hex Following error actual value 536 870 912 to Command Size 4 bytes INT32 PDO map This object gives the amount of position error 60FD hex Digital inputs PDO map Not possible Possible All Possible Rage PEDI CEEE wf Default 00000000h Attribute LM Size 4 bytes U32 The bits in this object give the signal status of functions allocated by servo parameters 3400 to 3407 3410 and 3411 hex The brake interlock output gives the output status when brake interlock is selected as the general purpose output EDM output status gives the status of the EDM output Bit Descriptions Negative limit switch pO OFF 0 Reverse Drive NOT ON Prohibition Input F Positive limit switch pO OF 1 Forward Drive POT ON Prohibition Input Home switch pO i 2 Origin Proximity Input DES ON OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 48 Old eAug Drive Profile 6 7 Object Dictionary Bit Symbol Code Description Encoder Phase Z Phase Z signal not Detection detected during communication cycle 16 PC Phase Z signal detected dur
320. ically or acyclically for the purpose of measurement and control Structure described by mapping parameters containing one or several process data entities A process data object received by an EtherCAT slave A process data object sent from an EtherCAT slave Collection of control elements to coordinate access to concurrently used objects Method to synchronize slaves and maintain a global time base Collection of device dependent information and functionality providing consistency between similar devices of the same device type Single element of the fieldbus memory management unit one correspondence between a coherent logical address space and a coherent physical memory location A series of elements to access data link services from the application layer CiA is the international users and manufacturers group that develops and supports higher layer protocols A CAN application protocol service implemented on EtherCAT Electrically erasable PROM The ETG is a global organization in which OEM End Users and Technology Providers join forces to support and promote the further technology development A controller for EtherCAT slave communication An EtherCAT communication state machine An XML file that contains setting information for an EtherCAT slave OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Index OMNUC G5 series AC Servomotors and Servo Driv
321. ications Safety Precautions Installation and Wiring Caution Do not step on the Servo Drive or place heavy articles on it Injury may result Do not block the intake or exhaust openings Do not allow foreign objects to enter the Servo Drive Fire may result Be sure to observe the mounting direction Failure may result Provide the specified clearance between the Servo Drive and the inner surface of the control panel or other equipment Fire or failure may result Do not apply strong impact on the Servomotor shaft or Servo Drive Failure may result Wire the cables correctly and securely Runaway Servomotor injury or failure may result Securely tighten the mounting screws terminal block screws and cable screws Failure may result Use crimp terminals for wiring If simple twisted wires are connected directly to the protective ground terminal fire may result Only use the power supply voltage specified in this manual Burn damage may result In locations where the power supply infrastructure is poor make sure the rated voltage can be supplied Equipment damage may result Provide safety measures such as a breaker to protect against short circuiting of external wiring Fire may result If the Servo Drive is used in the following locations provide sufficient shielding measures Location subject to noise e g due to static electricity Location subject to a strong electric or magnetic field Locati
322. if the speed command exceeds the maximum speed of motor shaft rotation 9 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 4 Analog Control Objects 3324 hex External Feedback Pulse Dividing Numerator csp full csp full Setting 0 to 1048576 Unit Default Data range setting attribute Size 4 bytes INT32 Aces RW PDOmap PDO map map Not possible 3325 hex External Feedback Pulse Dividing Denominator esp full esp full Senne 1 to 1048576 Unit peau 10000 eae range setting attribute Size 4 bytes INT32 Access RW _ PDO map PDO map map Not possible Check the number of encoder pulses per motor rotation and number of external encoder pulses per motor rotation and set External Feedback Pulse Dividing Numerator 3324 hex and External Feedback Pulse Dividing Denominator 3325 hex 3324 hex Encoder resolution per motor rotation pulses 3325 hex External encoder resolution per motor rotation pulses Set object 3324 hex to 0 to have the encoder resolution automatically set as the numerator Refer to 6 6 Fully closed Control on page 6 12 la Precautions for Correct Use If this divider setting is wrong there will be error between the position calculated from encoder pulses and the position calculated from external encoder pulses If the movement distance is long this error accumulates and causes a Excessive Hybrid Deviation Error Error No
323. ifference Input 3323 Hex 0 External encoder side Servo Drive side CN4 5y ESV 1 Y52 V 5 250 mA max A Jo FG FG Shell Q FG E Serial Communications Incremental Encoder Specifications 3323 Hex 1 Magnescale Incremental by Sony Manufacturing Systems Corporation SR75 SR85 Servo Drive side CN4 5V VA ESV 1 Q 2 Y V GND a Q Pe l O XX ad l s Serial signal l Y E R A d oWq cse OL Oo FG FG Shell FG 3 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications B Serial Communications Absolute Encoder Specifications 3323 Hex 2 Absolute encoder by Mitutoyo Corporation ABS ST771A ST773A Servo Drive side CN4 5V ESv 1 Y O 3 4 11 5V O O 2 1 2 13 GND rare C Y Serial signal Shell FG FG Shell FG suoneoyioodg OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 26 Specifications 3 1 Servo Drive Specifications Analog Monitor Connector Specifications CN5 I Monitor Output Signal Table Monitor Output CN5 Pin No Symbol Name Function and interface Analog monitor output 1 Outputs the analog signal for the monitor Default setting Motor rotation speed 1 V 1 000 r min You can use objects 3416 hex and 3417 hex to change ii the item and unit You can use
324. ignal When measuring the encoder output perform the measurement based on the GND CN1 pin 16 When an oscilloscope is used for measurement it will not be affected by noise if measurements are performed using the differential between CH1 and CH2 When performing tests first check that there are no persons in the vicinity of the equipment and that the equipment will not be damaged even if the motor runs away Before performing the tests verify that you can immediately stop the machine using an immediate stop in case the machine runs out of control Replacing the Servomotor or Servo Drive Use the following procedure to replace the Servomotor or Servo Drive i Replacing the Servomotor 1 Replace the motor 2 Perform origin adjustment for position control When the motor is replaced the motor s origin position phase Z may deviate so origin adjustment must be performed Refer to the position controller s manual for details on performing origin adjustment 3 Set up the absolute encoder f a motor with an absolute encoder is used the absolute value data in the absolute encoder is cleared when the motor is replaced so setup is again required The multi rotation data will be different from before it was replaced so initialize the Motion Control Unit settings For details refer to Absolute Encoder Setup on page 10 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communicati
325. igosti Posi a o o 09 n o n n o 02 o 3514 hex Overrun Limit Setting 2 bytes INT16 3515 hex Control Input Signal Read Setting 2 bytes INT16 s INT16 3525 hex 2 bytes INT16 Possible 3526 hex 3605 hex 3606 hex 3607 hex 3521 hex Torque Limit Selection 2 bytes INT16 o o v KN 9 Oversee v T 9 Fore i KN KN v KN v A 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 Object List eine seme om SR BELLNM GN NN NN a MS oommonoarex S Pe 09 9m 7 m 9 sema 7 mM o 9e 7 o Fw 9 mmm 3 Fe 9 9 m 9 9mm m me 9 99m m me LINIEN 3 oo3 0 0 0 m9 a oo3 0 99 L3 oo o m9 o9 9 9 9 9e m 9 9mm Um R8 o9 o9 o R99 to 09 A 00 F9 89 9 wx 89 es wx 9 ww Wm mS 9 9x mw 1 For units refer to information on object 3416 hex on page 9 26 2 Monitor unit in object 3416 hex V 3 Monitor unit in object 3418 hex V OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Relevant control modes All xipueddy Appendix A 1 Object List Data Saving to Forward Direction Torque Offset 2 bytes INT16 Bo Not possible Index 3608 hex 3609 hex 3610 hex 3611 hex OS INT16
326. imitations of Liability Change in Specifications Product specifications and accessories may be changed at any time based on improvements and other reasons It is our prac tice to change part numbers when published ratings or features are changed or when significant construction changes are made However some specifica tions of the Product may be changed without any notice When in doubt spe cial part numbers may be assigned to fix or establish key specifications for your application Please consult with your Omron s representative at any time to confirm actual specifications of purchased Product Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions OMRON ELECTRONICS LLC THE AMERICAS HEADQUARTERS Schaumburg IL USA 847 843 7900 800 556 6766 www omron247 com OMRON CANADA INC HEAD OFFICE OMRON ARGENTINA SALES OFFICE Toronto ON Canada 416 286 6465 866 986 6766 Cono Sur 54 11 4783 5300 www omron247 com OMRON ELETRONICA DO BRASIL LTDA HEAD OFFICE OMRON CHILE SALES OFFICE Sao Paulo SP Brasil e 55 11 2101 6300 www omron com br Santiago e 56 9 9917 3920 OMRON ELECTRONICS MEXICO SA DE CV HEAD OFFICE OTHER OMRON LATIN AMERICA SALES Apodaca N L e 52 811 156 99 10 001 800 556 6766 mela omron com 54 11 4783 5300 OMRON EUROPE B
327. in Servomotors of 1 0 kW or more 5m R88A CRKCOOBNR For 2 000 r min Servomotors For 1 000 r min Servomotors 10m R88A CRKCO10NR 400 V 15m R88A CRKCO15NR For 3 000 r min Servomotors 20m R88A CRKCO20NR For 2 000 r min Servomotors For 1 000 r min Servomotors 30 m R88A CRKCOSONR 40m R88A CRKCO40NR 50m R88A CRKCOSONR OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 16 SUOISUDWIG JEUuJ9 X3 pue sJepolNy Models and External Dimensions 2 3 Model Tables 2 17 f Motor Power Cables Global Flexible Cables Model Specifications For motor without For motor with brake brake 100 V and 200 V 3m R88A CAKAOO03SR See note 1 For 3 000 r min Servomotors of 50 to R88A CAKAO05SR R88A CAKA010SR R88A CAKA015SR R88A CAKA020SR R88A CAKA030SR 40m R88A CAKA040SR 50m R88A CAKAO50SR 200 V 3m R88A CAGBOO3SR R88A CAGBOOSBR For 3 000 r min Servomotors of 1 to 2 kW For 2 000 r min Servomotors of 1 to 2 kW R88A CAGBO0SSR R88A CAGBOOSBR For 1 000 r min Servomotors of 900 W R88A CAGBO10SR R88A CAGBO10BR R88A CAGB015SR R88A CAGBO15BR 20m R88A CAGBO20SR R88A CAGBO20BR 30m R88A CAGBO30SR R88A CAGBOSOBR om 10m 15m 20m 30m 750 W 40m R88A CAGB040BR 50m R88A CAGBO50BR 400 V 3m R88A CAKF003BR Pr REEL Servomotors of 750 W to R88A CAKFO05BR For 2 000 r min Servomotors of 400 W to R88A CAKF010BR E 000 r min Servomotors of 900 W R88A CAKFOTSBR R88A CAK
328. in the Backlash Compensation Selection 3704 hex and on whether the set value for the Backlash Compensation Amount 3705 hex is positive or negative 3704 hex 3705 hex contains a positive value 3705 hex contains a negative value Compensate in positive direction when Compensate in negative direction when operation is in forward operation is in forward Compensate positive direction when itisin Compensate in negative directions when 1 2 i d reverse operation operation is in reverse 1 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 4 Backlash Compensation la Precautions for Correct Use To determine the actual position of the Servomotor offset the Servomotor position data acquired via EtherCAT communications by the backlash compensation amount Backlash compensation is performed on the first position command in the set direction after the servo is turned ON Any prior operations in the opposite direction are not compensated But the first reverse operation after the initial backlash compensation is compensated Backlash compensation is not performed again as long as the operation continues in the same direction When the Servo OFF status occurs while backlash compensation is performed the backlash compensation amount is cleared This is done by presetting the position command data of the Servo Drive to the Servomotor position data that includes the backlash compensatio
329. ing communication cycle External Latch Input 1 OFF 17 EXT1 ON External Latch Input 2 OFF 18 EXT2 ON External Latch Input 3 OFF 19 EXT3 ON Monitor Input O OFF 20 MONO ON Monitor Input 1 OFF 21 MON1 Monitor Input 2 OFF 22 MON2 ON Forward External Torque OFF 23 Limit Input PCL an Reverse External Torque OFF NCL 24 Limit Input ON Immediate Stop Input OFF 25 STOP ON Brake Interlock Output Brake released 26 BKIR 1 Brake locked Safety Input 1 OFF 27 SF1 ON Safety Input 2 OFF 28 SF2 ON EDM Output OFF 29 EDM O zZ Z This object will be O if the brake interlock output BKIR is not assigned to a general purpose output 6 49 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 60FE hex Digital outputs All Sub index 0 Number of entries Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Physical outputs 0000 0000 to FFFF Range FFFF hex le Default 0000 0000 hex Attribute Size 4 bytes U32 PDO map Possible Sub index 2 Bit mask 0000 0000 to FFFF Range FFFF hex LIEN Default 0000 0000 hex Attribute Size 4 bytes U32 Aces RW PDOmap PDOmap map Not possible The bits in the physical outputs of this object set the outputs of function signals allocated by servo parameters 3400 to 3407 3410 and 3411 hex The bit mask sets masks for the physical outputs Bit Descriptions
330. ing to the Products and no provision may be changed or waived unless in writing signed by the parties e Severability If any provi sion hereof is rendered ineffective or invalid such provision shall not invalidate any other provision f Setoff Buyer shall have no right to set off any amounts against the amount owing in respect of this invoice g Definitions As used herein including means including without limitation and Omron Compa nies or similar words mean Omron Corporation and any direct or indirect subsidiary or affiliate thereof Certain Precautions on Specifications and Use 1 Suitability of Use Omron Companies shall not be responsible for conformity with any standards codes or regulations which apply to the combination of the Product in the Buyers application or use of the Product At Buyer s request Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product This information by itself is not sufficient for a complete determination of the suitability of the Prod uct in combination with the end product machine system or other application or use Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer s application product or system Buyer shall take application responsibility in all cases but the following is a non exhaustive list of applications for which particular
331. ings 3437 hex Brake Timing when Stopped Setting Default Data Size 2 bytes INT16 es te PDO map Not possible Set the time required for the Servomotor to be de energized servo free after the brake interlock output BKIR turns OFF i e brake held when servo OFF status is entered while the Servomotor is stopped When the servo is turned OFF while the Servomotor is stopped the brake interlock output BKIR turns ON and the servo is de energized after waiting for the set time set value x ms Servo ON OFF gt C to 6 ms Brake interlock Released Held BKIR Actual brake Released lt P gt Held Power i No power Motor power supply supply is supplied 3437 hex uo Rx Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay time in the brake operation tb Brake timing when stopped set value x 1 ms tb For the operation time refer to 7 5 Brake Interlock on page 7 13 3438 hex Brake Timing During Operation Setting 0 to 10000 Unit Default Data range setting attribute Size 2 bytes INT16 ee me nar PDO map map Not possible Set the required time for the Brake Interlock Output BKIR to turn OFF after the operation command RUN is detected to be OFF when servo OFF status is entered while the Servomotor is operating When the servo is turned OFF while the Servomotor is operating the motor decelerates to reduce rotation speed and the
332. intain the ambient temperature below 40 C We recommend that the ambient temperature and the power supply ON time be reduced as much as possible to lengthen the service life of the Servo Drive The limit of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally an increase of 10 C in the operating ambient temperature will reduce capacitor service life by 50 For example when the ambient operating temperature is 25 C the life expectancy will be as follows 55 25 Life expectancy at 25 C Life expectancy at 55 C x2 10 224 000 hours The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no power supplied If the Servo Drive is not used for a long time we recommend periodic inspection and a part replacement period of 5 years If the Servomotor or Servo Drive 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 period of 5 years is recommended Upon request OMRON will inspect the Servo Drive and Servomotor and determine if part replacement is required OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 32 ooueuojure y pue Burjoousoe qnou Troubleshooting and Maintenance 12 5 Periodic Maintenance Replacing the Absolute Encoder Battery IEEE Replace the Absolute Encoder Backup Battery Unit if it has bee
333. ion for general purpose input 5 IN5 3405 hex Input Signal Selection 6 Set the function for general purpose input 6 IN6 3406 hex Input Signal Selection 7 Set the function for general purpose input 7 IN7 Touch Probe Trigger Select the trigger signals for latch 1 and 2 PrE Selection Trigger Signal Settings The latch trigger can be selected from general purpose inputs 5 to 7 or the encoder s phase Z signal The functions of general purpose signals 5 to 7 from the control I O connector are set with the Input Signal Selection 5 to 7 3404 to 3406 hex External latch input signals used by Latches 1 and 2 are set with the Touch Probe Trigger Selection 3758 hex Bits 2 and 10 of the Touch probe function 60B8 hex are used to specify weather to latch with an external signal or the phase Z signal Position actual value IN5 6 7 1 EXT 1 2 3 EXT 1 Latch trigger Phase Z 2 Phase 3 60BA hex signal signal LT4 Latch 1 Touch probe pos m 3404 to 3406 hex pos value 3 58 hex TP1 SEL 60B8h Bit 2 Position actual value EXTZ2 Latch trigger Phase Z 2 Phase Z 3 TT 60BC hex signal signal LT2 atc Touch probe pos2 pos value 3758 hex TP2 SEL 60B8 hex Bit 10 6 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 5 Touch Probe Function Latch Function General purpose Input Assignment in 1 Signal Index Assignment IN5 Select either EXT1 EXT2 or EXT3 ING Sele
334. ion resistor Regardless of whether the regeneration overload error is enabled or disabled the Regeneration Resistor can generate heat and may cause burning To use the Built in Regeneration Resistor always set this object to O 3017 hex External Regeneration Resistor Setting Setting Default Data Size 2 bytes INT16 Access RW PDO map Not possible Select the method to calculate the regeneration resistance load ratio when the External Resistor is selected in the Regeneration Resistor Selection 3016 hex 1 or 2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 4 sjoe qo 1ojeuieJeg oAJeG uo s rejeg 9 1 Basic Settings Explanation of Set Values Set value Description 0 Regeneration load ratio is 100 when operating rate of the External Regeneration Resistor is 10 1 Reserved 2 Reserved 3 Reserved 4 Reserved Details on Servo Parameter Objects 9 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 Gain Settings 9 2 Gain Settings EL Refer to 11 2 Gain Adjustment on page 11 4 for the settings for gain adjustment 3100 hex Position Loop Gain 1 xnl 0 to 30000 Unit 0 1 s oe 4801 nica range setting attribute Size 2 bytes INT16 INT16 Access Aces RW PDO map Not possible 1 The MM setting is 320 for a Drive with 200 V and 1 kW or greater or with 400 V Set the posi
335. ions 6091 01 hex 1 048 576 pulses Shaft revolutions 6091 02 hex 512 _ 1 048 576 2000 1 suonounJ paddy 1 rotation 1 048 576 pulses OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 20 7 7 Torque Limit Switching 7 7 Torque Limit Switching This function switches the torque limit according to the operation direction and depending on the Forward External Torque Limit PCL the Reverse External Torque Limit NCL and the Forward Reverse Torque Limit Input Commands from EtherCAT communications This function is used in the following conditions e When push motion operation such as pressing is performed When the torque at startup and during deceleration should be suppressed to protect the mechanical system etc The Torque Limit Selection 3521 hex is used to select a method to switch the torque limit Operating Conditions The torque limit switching function works under the following conditions Conditions Operation mode Position Control Mode or Fully closed Control Mode Servo ON state Others The factors other than control objects must be set correctly This includes the torque limit The motor must operate normally without any failures 7 E Objects Requiring Settings Index Name Explanation Reference 3521 hex Torque Limit Selection Select the torque limit based on the various objects page 9 36 and input signals 60E0 hex Po
336. ions Area Definitions of variables that can be used by all servers for designated communications 2000 to 2FFF hex Manufacturer Specific Area 1 Variables with common definitions for all OMRON products 3000 to 5FFF hex Manufacturer Specific Area 2 Variables with common definitions for all OMNUC G5 series Servo Drives servo parameters 6000 to 9FFF hex Device Profile Area Variables defined in the Servo Drive s CiA402 drive profile A000 to FFFF hex Area reserved for future use OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 2 uoneinbiyuoy Wea SAS pue sainjee4 Features and System Configuration 1 2 System Configuration 1 2 System Configuration 1 3 The system configuration for a OMNUC G5 Series AC Servo Drive with Built in EtherCAT Communications is shown below Controller EtherCAT Programmable Controller Position Control Unit SYSMAC CJ2 CJ1W NCLI8LI OMNUC G5 Series AC Servo Drive R88D KNL ECT R OMNUC G5 Series AC Servomotor R88M Kl J OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 3 Names and Functions 1 3 Names and Functions This section describes the names and functions of Servo Drive parts Servo Drive Part Names The Servo Drive part names are given below EtherCAT status indicators M Seven segment display Analog monitor co
337. ions for Correct Use After startup immediately after the first servo ON or when the Realtime Autotuning Machine Rigidity Setting 3003 hex is increased unusual noise or vibration may occur until the load inertia is estimated or the adaptive filter stabilizes This is not an error if it disappears right away If the unusual noise or vibration however continues for 3 or more reciprocating operations take the following measures in any order you can Write the objects used during normal operation to the EEPROM Lower the Realtime Autotuning Machine Rigidity Setting 3003 hex Manually set the notch filter Once unusual noise or vibration occurs Inertia Ratio 3004 hex Torque Command Value Offset 3607 hex Forward Direction Torque Offset 3608 hex and Reverse Direction Torque Offset 3609 hex may have changed to an extreme value In this case also take the measures described above Out of the results of realtime autotuning the Inertia Ratio 3004 hex Torque Command Value Offset 3607 hex Forward Direction Torque Offset 3608 hex and Reverse Direction Torque Offset 3609 hex are automatically saved to the EEPROM every 30 minutes Realtime autotuning uses this saved data as the default settings when the power supply is turned ON again The object is automatically set based on the Realtime Autotuning Machine Rigidity Setting 3003 hex if realtime autotuning is enabled OMNUC G5 series AC Servomotors and Servo Drives U
338. ioodg Specifications 3 4 Cable and Connector Specifications 3 63 Power Cables with Brakes European Flexible Cables R88A CAGBL BR E Cable types 200 V For 3 000 r min Servomotors of 1 to 2 kW 2 000 r min Servomotors of 1 to 2 kW 1 000 r min Servomotors of 900 W Outer diameter of sheath Model Length L 12 5 dia R88A CAGBO20BR E 20m Connection configuration and external dimensions 150 L Servo Drive side R88D KL a Servomotor side R88M KL Wiring Servo Drive side Servomotor side Black 5 E mesi m n Black 6 0 5 Hu Ten Black 1 E TE Black2 ES Blade3 2 5 Phasev pm ilo 1 B Phase W_ Os Green Y llow 25 a E EG LLL Bd 4 M4 crimp terminal Coe eee D FG 2 5 mm x 4C 0 5 mm x 2C Or AWG14 x 4C AWG20 x 2C Right angle plug model N MS3108B20 18S Japan Aviation Electronics Cable clamp model N MS3057 12A Japan Aviation Electronics Servomotor side connector OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications R88A CAKF BR E Cable types 400 V For 3 000 r min Servomotors of 750W to 2 kW 2 000 r min Servomotors of 400 W to 2 kW 1 000 r min Servomotors of 900 W Outer diameter of Model Length L sheath 5 dia Connection configuration and external dimensions 150 E Servo Drive side Servomotor side
339. is given in the drive prohibition direction while the Servomotor is stopped i e decreases the speed to 30 r min or lower and the Drive Prohibition Input is open EN Reference While the Forward Drive Prohibition Input POT is open the Servomotor cannot be driven in the forward direction but it can be driven in the reverse direction Conversely while the Reverse Drive Prohibition Input NOT is open the Servomotor cannot be driven in the reverse direction but it can be driven in the forward direction Immediate Stop Torque 3511 Hex This is the torque limit when the Stop Selection for Drive Prohibition Input 3505 hex is set to 2 and the Servomotor decelerates due to a drive prohibition input The settable range is 0 to 500 in units of 0 1 When it is set to 0 the normal torque limit is used OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 8 suoioun paddy x Applied Functions 7 3 Overrun Protection 7 3 Overrun Protection This function detects an Overrun Limit Error Error No 34 0 and stops the Servomotor if the motor exceeds the allowable operating range set for the Overrun Limit Setting 3514 hex with respect to the position command input The function can also prevent the Servomotor from clash into the machine edge due to vibration Operating Conditions The overrun limit works under the following conditions Conditions Operating Mode
340. is ignored and the gain is switched immediately 7 29 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 9 Gain Switching 3 Function 7 9 Gain Switching 3 Function This function adds a new setting gain 3 to the gain switching function of the Gain Switching Input Operating Mode Selection 3114 hex It switches the gain right before a stop The positioning time can be reduced by keeping the gain immediately before the stop at a higher level for a certain period of time Operating Conditions You can use the gain 3 switching function in the following situations for position control or fully closed control Conditions Operating mode Position Control Mode or Fully closed Control Mode Servo ON state Others The factors other than control parameters must be set correctly This includes the torque limit The motor must operate normally without any failures Objects Requiring Settings Index Name Explanation Reference 3605 hex Gain 3 Effective Time Set effective time of gain 3 page 9 38 3606 hex Gain 3 Ratio Setting Set gain 3 as a multiple of gain 1 page 9 38 suoijoun paddy x OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 30 Applied Functions 7 9 Gain Switching 3 Function Operation Example When the conventional gain switching function works correctly set the time to use Gain 3 in Gain 3 Effective Tim
341. istor may burn Do not repeatedly turn the servo ON OFF while the dynamic brake is enabled The allowable radial and thrust loads are the values determined for a limit of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram Brake specifications Specifications NO C2 Rada load Thrust load ALL Shaft center LR 2 4 This is a non excitation brake It is released when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd 6 Direct current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation T Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co 3 49 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications Torque Rotation Speed Characteristics for 2 000 r min Motors 2 000 r min Servomotors 200 VAC The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input e Re8M K1K020H T 1 kW e R88M K1K520H T 1 5 kW e Re8M K2K020H T 2 kW Power supply voltage Power supply voltage N m dropped by 1096 N m dropped by 1096 pn 15 114 3 2000 14 3 2200 2090 219 2900 30 128 6 2000 28 6 2200 Power supply 10 4 Momentary operation range Mu
342. ists in this state The dynamic brake operates according to the Disable operation option code 605C hex c O pw Q c LL A Few Gam QU 8 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 8 3 Connection Examples 8 3 Connection Examples Connection with a Safety Controller Two Safety Inputs and One EDM Output Safety Controller Safety output G9SP series Ounce Safety Controller Safety output 1 Safety input EDM EDM input EDM output OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Servo Drive 8 6 uonounJ Ajaes Details on Servo Parameter Objects PO This chapter explains the settings of each object 9 1 Basie Seltngs uiuieeit oio touc Ee pe eis ro cob ete cuve cuoc 9 1 9 2 Gain SOU RETI 9 6 9 3 Vibration Suppression Settings 9 15 9 4 Analog Control Objects 9 21 9 5 Interface Monitor Settings 9 24 9 6 Extended Objects oir eere rire eo bare envers 9 32 9 7 Special Objects i e iate ini e eku e et rues Y aos us rain eoa pauUo 9 38 9 8 Reserved Objects cic eis eue Ee ocean e sea aaa ceu 9 50 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Details on Servo Parameter Objects 9 1
343. it 3 Reserved for manufacturer use Fixed to 0 bit 4 Electric current response improvement Disabled Enabled function bit 5 Reserved for manufacturer use Fixed to O cite eo nen compensation or Disabled Enabled communications errors for CSP EN Reference Example Instantaneous speed observer function enabled Disturbance observer function enabled Disturbance observer operation setting enabled at all time Electric current response improvement function enabled Command compensation for communications errors for CSP Disabled If the settings are as described above the bit will be 0010011 and the decimal value 19 Therefore the set value will be 19 3611 hex Electric Current Response Setting B Setting 50 to 100 Unit 9 Default 100 Data range setting attribute Size 2 bytes INT16 PDO map Not possible Make fine adjustment to electric current response The default setting is 100 3614 hex Error Detection Allowable Time Setting B Setting 0 to 1 000 Unit ms peal 200 aa range setting attribute Size 2 bytes INT16 PDO map Not possible Set the allowable time until stopping if an immediate stop is executed when an error is detected When the time exceeds the set value the operation forcibly turns to an error state When the object is set to 0 the protection for the allowable time does not function Refer to the mmediate Stop Operation on page 12 12 in 12 3 Errors on page 12 7 9 39 OMN
344. ited direction after an immediate stop for a drive prohibition input EtherCAT EtherCAT communications errors Communi occurred one or more times cations Warning B2 hex Warning Output Selection Communications Control 3440 hex 3800 hex 2 3411 hex Bit 4 Bit 6 1 Set the Warning Output Selection 3440 hex to the warning type to output to Warning Output 1 WARN1 and set Warning Output Selection 2 3441 hex to the warning type to output to Warning Output 2 WARNO2 If you set these objects to O all warning types are output 2 Detection of general warnings can be masked with the Warning Mask Setting 3638 hex and detection of EtherCAT communications related warnings can be masked with the Communications Control 3800 hex The warning detection is masked when you set the corresponding bit to 1 la Precautions for Correct Use Do not use any settings for Error Output Selection 1 3440 hex and Error Output Selection 2 3441 hex other than those given in the above table OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 6 ooueuojure y pue Burjoousoe qnou Troubleshooting and Maintenance 12 3 Errors 12 3 Errors If the Servo Drive detects an abnormality it outputs an error ALM turns OFF the power drive circuit and displays the main error number on the front panel la Precautions for Correct Use Refer to Troubleshootin
345. ith Built in EtherCAT Communications 12 5 Periodic Maintenance Battery Unit Mounting Method 1 Prepare the replacement Battery Unit R88A BAT01G Raise the tabs and remove the cover 3 Put the Battery Unit into the battery box Insert the Battery Unit Plug in the connector 4 Close the cover to the battery box Close the battery box cover by making sure the connector wires are not pinched OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 34 ooueuojure y pue Hulooyusejqnoly Appendix The appendix provides a list of objects and EtherCAT terminology A 1 SODICCU Er A 1 A 2 EtherCAT Terminology A 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Appendix A 1 Object List A 1 Object List Some objects are enabled by turning the power supply OFF and then ON again After changing these objects turn OFF the power supply confirm that the power supply indicator has gone OFF and then turn ON the power supply again See below for the data attributes Always enabled B Prohibited to change during motor rotation or commanding If it is changed during motor rotation or commanding the reflection timing is unknown C Updated after the control power is reset or after a Config command is executed via EtherCAT c
346. ition loop gain 1 increases the gain changes in the set time OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 2 Gain Settings Position Loop Gain 1 lt Position Loop Gain 2 Position Loop Gain 2 M ec ec ec ec ec ee Position Loop Gain 1 Position Gain Switching Time 3119 hex Position Position Position Loop Gain 1 Loop Gain 2 Loop Gain 1 l Precautions for Correct Use When the position loop gain is switched to a smaller value e g when switching from gain 2 to gain 1 in the above figure Position Gain Switching Time 3119 hex is ignored and the gain is switched immediately OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 14 sjoe qo 1ojeujeJeg oAJeg uo s rejeg Details on Servo Parameter Objects 9 3 Vibration Suppression Settings 9 3 Vibration Suppression Settings 3200 hex Adaptive Filter Selection Setting Default Data Size 2 bytes INT16 Access RW PDO map Not possible Set the operation of the adaptive filter Refer to 11 6 Adaptive Filter on page 11 18 Explanation of Set Values bod Description 0 Adaptive filter disabled 1 One adaptive filter is enabled The objects related to notch filter 3 are automatically updated 2 Two adaptive filters are enabled The objects related to notch filters 3 and 4 are updated 3 For use by manufacturer
347. ive Prohibition Input Set the operation to be performed upon forward O page 9 32 Selection and reverse drive prohibition input 3505 hex Stop Selection for Drive Set the deceleration and stop methods upon Prohibition Input forward and reverse drive prohibition input 3511 hex Immediate Stop Torque Set the torque limit for immediate stops page 9 34 page 9 33 Input Signal Selection Function Default Settings 3401 Hex 3402 Hex In the default settings the allocations are as follows Default setting Index Position Control or fully closed control sdot hex Cob iga 0081 8181 hex POT NC Selection 2 gaoz nex putelgna 0082 8282 hex NOT NC Selection 3 Refer to 7 1 Sequence I O Signals on page 7 1 for details on input signal selections 1 to 8 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 6 x suoijoun paddy Applied Functions 7 2 Forward and Reverse Drive Prohibition Functions I Drive Prohibition Input Selection 3504 Hex Set the operation of the Forward Drive Prohibition Input POT and the Reverse Drive Prohibition Input NOT Install limit switches at both ends of the axis to prohibit the Servomotor from driving in the direction specified by the switch This can be used to prevent the workpiece from driving too far and thus prevent damage to the machine Set the operation to be performed upon forward and reverse drive prohibition input
348. jioouso qnou 12 4 Troubleshooting Error No hex Cause Measures Overcurrent The current flowing through the converter exceeded the specified value e The Servo Drive is faulty faulty circuit Disconnect the Servomotor cable and faulty IGBT part etc turn ON the servo If the problem immediately recurs replace the Servo Drive with a new one e The Servomotor cable is short circuited Check to see if the Servomotor cable is between phases U V and W short circuited between phases U V and W by checking for loose wire strands on the connector lead Connect the Servomotor cable correctly e The Servomotor cable is ground faulted Check the insulation resistance between phases U V and W of the Servomotor cable and the grounding wire of the Servomotor If the insulation is faulty replace the Servomotor 14 Motor windings are burned out Check the balance between the IPM Error resistance of each wire of the Servomotor If resistance is unbalanced replace the Servomotor The Servomotor wiring contacts are Check for missing connector pins in faulty Servomotor connections U V and W If any loose or missing connector pins are found secure them firmly The relay for the dynamic brake has Replace the Servo Drive Do not start or 1 been welded due to frequent servo ON stop the system by turning the servo ON OFF operations or OFF e The Servomotor is not suitable for the Check model capacity of the Servo Drive
349. ke Timing During Operation 3438 hex or the time needed for the motor rotation speed to drop to or below the Brake Threshold Speed During Operation 3439 hex whichever occurs first OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 8 4 uoun AjoJes 8 2 Operation Example Timing of Return from Safety Status Servo ON OFF Servo OFF command Servo ON Safety i 1 After the servo uiu Input STO status Normal status turns ON operation afety input will follow the normal servo Motor power No power supply ON OFF operation is supplied b timing diagram gt lt 6 ms max For details refer to 7 5 Brake Interlock EDM output ON OFF Dynamic DB released engaged 7 DB released engaged brake relay ee es A Lm Error Servo OFF Servo ready READY completed output READY Error reset Reset input RESET Error Output Error Normal ALM 8 Brake interlock Brake held output BKIR 1 Make sure that servo ON input is turned OFF when you return the input signals of safety inputs 1 and 2 to ON If an error exists in this state be sure to clear the error when both safety inputs 1 and 2 have returned to ON state An error will occur immediately if the error reset is executed when even one of them is still in OFF status 2 An error exists in this state The dynamic brake operates according to the Fault reaction option code 605E hex 3 An error ex
350. ke held Release request _ When the 3438 hex _ Approx 30 r min setting is early Value set on 3439 hex Servo ON enabled Approx 30 r min When the 3439 hex setting is early BKIR Release request Brake held Value set on 3439 hex The servo does not turn ON until the motor rotation speed drops to approx 30 r min or below If a Servo ON is commanded during motor rotation the Command Warning Warning No B1 hex will occur The Servo ON command is ignored The operation of the dynamic brake when the servo is OFF depends on the setting of the Disable operation option code 605C hex The Brake Interlock output BKIR signal is output when a release request command is received from Servo controls or from EtherCAT communications In the above example there is no release request command from EtherCAT communications The BKIR signal is assigned to the general purpose output CN1 t1 is the period until the value becomes lower than the set value on the Brake Timing During Operation 3438 hex or the Brake Threshold Speed During Operation 3439 hex whichever is shorter Note Even when the Servo ON Input is turned ON again while the motor is decelerating the system does not enter the servo ON state until the motor stops 7 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 5 Brake Interlock i Operation Timing When an Error Occurs
351. l be forced OFF if Configuration is executed in the Servo ON state The Servo Drive moves to a Fault state error 27 7 after this process is completed In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 666e 6f63 hex Writing when there is a Control Power Supply Undervoltage Error error 11 0 4102 hex Absolute Encoder Setup All except All except full e 0000 0000 un FFFF wf Bets UR Amb Size 4 4byes U32 U32 Access RW PDOmap PDOmap map Not possible M object clears the multi rotation counter of the absolute encoder This function can be executed by writing 6a64 6165 hex using SDO mailbox communications The Servo Drive moves to a Fault State error 27 7 after this process is completed In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 6a64 6165 hex Writing during semi closed control when using an absolute encoder as an absolute encoder and the Servo is not OFF 6 35 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary Servo Drive Profile Object This section describes the CiA402 drive profile supported by OMNUC G5 series Servo Drives 603F hex Error code All Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes U16 Aces RO PDO map Possible This object gives the la
352. l in Position Control 3117 hex minus the Gain Switching Hysteresis in Position Control 3118 hex r min for the time specified in the Gain Switching Delay Time in Position Control 3116 hex the gain switches to gain 1 Ll a a Position command 3118 hex Actual motor speed a a a LP 3116 hex Gain 1 Gain 2 Gain 1 Note Whether there is a position command is determined by changes in the Target position 607A hex Position Gain Switching Time 3119 Hex Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during position control or fully closed control To suppress these set a Position Gain Switching Time 3119 hex By setting the Position Gain Switching Time 3119 hex the gain will be switched gradually when there is a large change in the position loop gain If there is a large difference between Position Loop Gain 1 3100 hex and Position Loop Gain 2 3105 hex set the Position Gain Switching Time 3119 hex When the position loop gain increases the gain changes in the set time Position Loop Gain 1 Position Loop Gain 2 Gain 2 banc ML A j Position Gain Switching Time ms Gain 1 3119 hex Gain 1 Gain 1 Gain 2 Gain 1 la Precautions for Correct Use When the position loop gain is switched to a smaller value e g when switching from gain 2 to gain 1 in the above figure Position Gain Switching Time 3119 hex
353. le 6 7 Object Dictionary Manufacturer Specific Objects This section describes objects specific to OMNUC G5 series Servo Drives with built in EtherCAT communications OMNUC G5 series Servo Drive parameters Pnl l are allocated to objects 3000 to 3999 hex Index 3L IL II hex corresponds to OMNUC G5 series Servo Drive parameter Pnl I For example object 3504 hex is the same as parameter Pn504 For details on servo parameters refer to Chapter 9 Details on Servo Parameter Objects la Precautions for Correct Use PnU uses decimal numbers but object 3 is a hexadecimal number 2100 hex Error History Clear Range 0000 0000 i Ebor FFFF wf eru OO ores Niue Size 4 bytes U32 Aces RW PDO map Not possible This object clears the contents of Diagnosis history 10F3 hex This function can be executed by writing 6063 6861 hex using SDO mailbox communications The error history is saved in the EEPROM If there is a Control Power Supply Undervoltage Error Error 11 0 you cannot make write access to the EEPROM This means that the diagnosis history cannot be cleared In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 6c63 6861 hex Writing when there is a Control Power Supply Undervoltage Error Error 11 0 2200 hex Communications Error Setting Range 0 to 15 Default Oo a Attribute Size 1 byte U8 eae tae PDO map Not possible This object
354. ller Abort Codes The following table lists the abort codes for when an SDO communications error occurs Code 0503 0000 hex 0504 0000 hex 0504 0001 hex 0504 0005 hex 0601 0000 hex 0601 0001 hex 0601 0002 hex 0602 0000 hex 0604 0041 hex 0604 0042 hex 0604 0043 hex 0604 0047 hex 0606 0000 hex 0607 0010 hex 0607 0012 hex 0607 0013 hex 0609 0011 hex 0609 0030 hex 0609 0031 hex 0609 0032 hex 0609 0036 hex 0800 0000 hex 0800 0020 hex 0800 0021 hex 0800 0022 hex 0800 0023 hex Meaning Toggle bit not changed SDO protocol timeout Client Server command specifier not valid or unknown Out of memory Unsupported access to an object Attempt to read a write only object Attempt to write to a read only object The object does not exist in the object directory The object can not be mapped into the PDO The number and length of the objects to be mapped would exceed the PDO length General parameter incompatibility reason General internal incompatibility in the device Access failed due to a hardware error Data type does not match length of service parameter does not match Data type does not match length of service parameter too high Data type does not match length of service parameter too low Subindex does not exist Value range of parameter exceeded only for write access Value of parameter written too high Value of parameter written too low Maximum value is less than minimum value General error Data cannot be
355. ller as the Position actual value 6064 hex Set the External Feedback Pulse Dividing Ratio 3324 and 3325 hex according to External Feedback Pulse Dividing Ratio Setting 3324 Hex 3325 Hex on page 6 16 Set the Hybrid Following Error Counter Overflow Level 3328 hex and Hybrid Following Error Counter Reset 3329 hex according to Hybrid Error Setting 3328 Hex 3329 Hex on page 6 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 12 Drive Profile 6 6 Fully closed Control Objects Requiring Settings Rotation Direction 3000 hex Switching Set the relation between the command page 9 1 direction and the motor rotation direction Control Mode Selection Motor revolutions Shaft revolutions 3001 hex 6091 hex 6091 hex External Feedback Pulse Type Selection 3323 hex External Feedback Pulse Dividing Numerator External Feedback 3325 hex Pulse Dividing Denominator External Feedback 3326 hex Pulse Direction Switching External Feedback Pulse Phase Z 3327 hex Setting Hybrid Following Error Counter Overflow Level 3328 hex 3329 hex Select the control mode page 9 2 Set the numerator of the electronic gear page 6 44 ratio for the Target position 607A hex Set the denominator of the electronic gear ratio for the Target position 607A hex Select the external encoder type page 9 21 Set the numerator of th
356. lowable operating range for page 9 35 the position command input range 7 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 3 Overrun Protection Operation Example No Position Command Input Servo ON No position command is entered The Servomotor s allowable operating range is the range set in object 3514 hex on both the right and left An overrun limit error will occur Error No 34 0 if the load enters the error range or the shaded area in the drawing below due to vibration A Li Servomotor EZA Load EZZZM IIIL IIIL ILIILIIILILILL A 3514 hex Error range Servomotor s allowable Error No 34 0 operating range Error range Error No 34 0 gt lt I Right Side Operation Servo ON When a rightward position command is entered the Servomotor s allowable operating range increases for the commanded amount The range will be the result where the rotation set for 3514 hex is added on both sides for the position command rs YY Ae A a Servomotor uuum WITLI Load ZZL Entered position 3514hex command range 3514 hex Error range Servomotor s allowable Error range Error No 34 0 operating range Error No 34 0 I Left Side Operation Servo ON When a leftward position command is entered the Servomotor s allowable operating range further increases dim Servomotor H Load UPL LLILLLILLLLLLLLLLL
357. lt Data 2 bytes INT16 INT16 Access PDO map PDO map Not possible the hysteresis width above below the level set in the Gain Switching Level in Position Control 3117 hex The unit depends on the setting of the Switching Mode in Position Control 3115 hex The following shows the definitions for the Gain Switching Delay Time in Position Control 3116 hex Gain Switching Level in Position Control 3117 hex and Gain Switching Hysteresis in Position Control 3118 hex 311 7h Ld o Gaini rm BL T Gain 1 5 3116h The settings for the Gain Switching Level in Position Control 3117 hex and the Gain Switching Hysteresis in Position Control 3118 hex are enabled as absolute values positive negative Position Gain Switching Time 0 to 10000 Unit 0 1 ms Berau 33 Paia B setting attribute 2 2bytes INT16 INT16 PDO map Not possible fluctuations or vibration will occur if the position loop gain is changed too quickly during position control or fully closed control To suppress these set a Position Gain Switching Time 3119 hex By setting the Position Gain Switching Time 3119 hex the gain will be switched gradually when there is a large change in the position loop gain f there is a large difference between Position Loop Gain 1 3100 hex and Position Loop Gain 2 3105 hex set the Position Gain Switching Time 3119 hex When the pos
358. material Applicable drives R88D Brake inertia kg m 0 33x107 Excitation voltage e Power consumption at 20 C Current consumption at o 20 C 0 70 10 Static friction torque 2 5 min 9 50 max x6 Attraction time x5 Release time 15 max Backlash 3 o Brake specifications z es c 3 s gt lt Allowable work per braking ae Allowable total work 4 9x10 Allowable angular rad s acceleration Brake limit Insulation class Type B 200 VAC K1K030T 1000 3 18 3 000 2 03x10 4 2 35x10 4 15 times the rotor inertia max 0 71 tn o a o o 9 O Ge Co LI LI 2 o N 490 Approx 3 5 Approx 4 5 co oO K1K530H K1K530T 1500 4 77 14 3 8 2 35 2 84x10 4 3 17x107 2 0 45 80 1 71 8 0 49 0 55 6 3 490 196 Approx 4 4 Approx 5 4 320 x 300 x t20 Al KNOSH ECT R KN15H ECT R 0 33x10 4 24 VDC 10 co 0 81410 7 8 min 50 max 15 max 9 t1 reference value 392 4 9x10 10 000 10 million times min KN15H ECT R 0 33x10 4 19 0 81410 7 8 min 50 max 15 max 392 4 9x10 3 35 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 200 VAC Unit K2K030T K3K030T K4K030T Model R88M Item Rated output i Rated torque a Rated rotation speed Maximum rotation speed Momentary
359. maximum torque z Rated current 1 Momentary maximum current 1 Rotor inertia Without brake With brake Applicable load inertia 4 01x1074 7 85x10 4 14 2x104 30 times the rotor inertia max D M 89 Torque constant H power rate Without brake With With brake Mechanical LLL AM time brake constant ERE AMA NEA ELSE GNE Neu GE Rak Allowable thrust load X 196 ee ae Wam RN EM m X UNE ME NUM NEM NM C Radiator plate dimensions material 380 x 350 x t30 Al a a GL UAM UN Excitation Excitation voltage 24 VDC 10 So E el consumption a 20 C wO nS a 0 81410 0 81410 0 90109 Attraction time EON 50 max 80 max 110 max ae E CIEL SNC I S Backlash reference value ae work per Allowable total work total work 4 9x108 4 9x108 2 2x108 ee angular ade 10 000 acceleration Brake limit EEENM With brake Electrical time constant Allowable radial load 1 Mt 10 million times min Insulation class po Type F OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications K5K030H K5K030T 5000 15 9 4 500 47 7 24 0 102 17 4x10 4 18 6x1074 0 49 146 136 0 50 0 54 13 784 343 Approx 14 0 Approx 16 0 suoneoyioodg KN50H ECT R 1 35x1074 22 0 90410 16 1 min 110 max 50 max 1 470 2 2x108 3 36 Specifications 3 3 Servomotor Specifications Model R88M
360. method is shown above but the T568B connection method can also be used 3 71 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications Wiring This example shows how to connect a CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Unit to Servo Drives using EtherCAT Communications Cables Connect the EtherCAT master to the ECAT IN connector on the first Servo Drive Connect the ECAT OUT connector on the first Servo Drive to the ECAT IN connector on the next Servo Drive Do not connect the ECAT OUT connector on the last Servo Drive Power CJ series Position Supply Unit CPU Unit Control Unit QD O O e ct O 5 o Precautions for Correct Use Always turn OFF the power supply to the Position Control Unit and Servo Drives before connecting or disconnecting the EtherCAT Communications Cables The cable between the two nodes L1 L2 Ln must be 100 mor less OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 72 Specifications 3 4 Cable and Connector Specifications Analog Monitor Cable Specifications 3 73 Analog Monitor Cable R88A CMKO001 S Connection Configuration and External Dimensions Connector h
361. min at 500 VDC Dielectric strength Between power supply power line terminals and FG terminal 1 500 VAC for 1 min at 50 60 Hz Protective structure Built into panel EMC EN 55011 EN 61000 6 2 IEC 61800 3 I Directive Low Voltage EN 61800 5 1 Directive Machinery EN954 1 Category 3 EN ISO 13849 1 2008 PLc d ISO 13849 1 2006 PLc d Directive EN61508 SIL2 EN62061 SIL2 EN61800 5 2 STO IEC61326 3 1 SIL2 UL standards UL 508C CSA standards CSA22 2 No 14 Note 1 The above items reflect individual evaluation testing The results may differ under compound conditions Note 2 Never perform dielectric strength or other megameter tests on the Servo Drive Failure to follow this guideline may result in damaging the internal elements Note 3 Depending on the operating conditions some Servo Drive parts will require maintenance For details refer to 12 5 Periodic Maintenance on page 12 31 International standard 3 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Characteristics 100 VAC Input Models ltem R68D R88sD R88sD R88D KNA5L ECT R KNO1L ECT R KNO2L ECT R KNO4L ECT R Input power Main Power supply circuit supply 0 4 KVA 0 4 KVA 0 5 KVA 0 9 KVA Capacity Power supply Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz voltage Control Power circuit supply Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz volt
362. min 1 27 min 1 27 min Attraction time 35 max 50 max 50 max 9 20 max 15 max 20 max 1 reference value 4 9x10 4 9x10 44 1x10 44 1x10 30 000 max Speed of 2 800 r min or more must not be changed in less than 10 ms 3 o Release time Backlash Allowable work per braking 3 S Brake specifications Allowable total work Allowable angular rad s acceleration Brake limit 10 million times min Insulation class Type B 3 33 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Model R88M 3 3 Servomotor Specifications 200 VAC Item Unit K05030T K10030T K20030T K40030T Rated rotation speed 3 000 Maximum rotation speed 6 000 Momentary maximum Nin 0 48 0 95 1 91 38 torque Momentary maximum A rms 47 4 7 6 5 10 2 current i l l TOOT maA uout kg m2 0 025x10 4 0 051x10 4 0 14x1074 0 26x10 4 EB brake With brake kg m 0 027x107 0 054 x107 0 16x10 4 0 28x10 4 Applicable load inertia L i 30 times the rotor inertia max Torque constant 0 11410 0 21410 0 324 10 0 40410 Acs i D PONERTE JETON 10 1 19 8 28 9 62 3 brake With brake KWis 18 7 25 3 57 8 o Mechanical Without Weight Without brake Approx 0 31 Approx 0 46 Approx 0 79 Approx 1 2 With brake Approx 0 51 Approx 0 66 Approx 1 2 Approx 1 6 Radiator plate dimensions material 100 x 80 x t10 Al 130 x 120 x t12 Al Applicable drives R88D KNO1H E
363. munications 12 10 Troubleshooting and Maintenance 12 3 Errors Immediate Stop Operation at Errors The immediate stop function controls the motor and stop it immediately if an error that supports for immediate stopping occurs l Related Objects 605E hex Fault reaction option Set the state during deceleration and after stopping page 6 41 code for when an error occurs 3511 hex Immediate Stop Torque Set the torque limit for immediate stops page 9 34 3513 hex Overspeed Detection If the motor rotation speed exceeds the set value an ade 9 35 Level Setting Overspeed Error Error No 26 0 will occur pag Error Detection Set the allowable time until stopping if an immediate sore nex Allowable Time Setting stop is executed when an error is detected pages Overspeed Detection If the motor speed exceeds the set value during an 3615 hex Level Setting at immediate stop resulting from an error an page 9 35 Immediate Stop Overspeed 2 Error Error No 26 1 will occur 12 11 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 3 Errors Immediate Stop Operation Speed r min Motor speed Speed deemed Overspeed Detection Level Setting at Immediate Stop 3615 hex to protect again runaway for immediate stops as stop 30 r min Time Error No error Error occurs for immediate stop Torque limit Normal torque limit Normal torque limit Immediate S
364. n e R88M K1K520F C 1 5 kW e R88M K2K020F C 2 kW e R88M K3K020F C 3 kW Power supply voltage N m dropped by 10 N m N m Power supply voltage dropped by 10 Power supply 50 143 0 voltage dropped Momentary operation range 14 3 Continuous operation range 25 0 1000 2000 3000 r min 0 1000 2000 3000 r min 0 1000 2000 3000 r min e R88M K4K020F C 4 kW e R88M K5K020F C 5 kW N m N m 57 3 1900 57 3 2100 Power supply 70 voltage dropped 1900 71 6 2100 Power supply voltage dropped 50 Momentary operation range 25 1 19 1 19 1 x AS Continuous operation range 0 1000 2000 3000 r min 0 1000 2000 3000 r min Note The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque 351239 Use the following Servomotors in the ranges shown in the graphs below Using outside of these ranges may cause the motor to generate heat which could result in encoder malfunction e R88M K5K020H T F C 5 kW Without brake With brake 100 m Rated torque ratio 96 Ambient temperature 0 10 20 30 40 C 3 51 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 3 Servomotor Specifications 1 000 r min Servomotors Model R88M SORA ode Item Unit K90010T
365. n 3607 hex Also based on the command direction the dynamic friction compensation value is updated according to objects 3608 and 3609 hex 11 27 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 10 Hybrid Vibration Suppression Function 11 10 Hybrid Vibration Suppression Function EL This function suppresses the vibration that is caused by the amount of the torsion between the motor and the load in the Fully closed Control Mode You can use this function to increase the gain setting Operating Conditions The hybrid vibration suppression function can be used in the following situations Conditions Operating mode Fully closed Control mode When Servo is ON Others When there is no trouble with the motor s normal rotation When realtime autotuning function is disabled 4 When instantaneous speed observer function is disabled Objects Requiring Settings Hybrid Vibration Set the hybrid vibration suppression gain Suppression Gain In general set it to the same value as the position loop gain and finely adjust it based on the 3634 hex page 9 43 situation 3635 hex Hybrid Vibration Set the hybrid vibration suppression filter page 9 43 Suppression Filter Operating Procedure 1 Set the Hybrid Vibration Suppression Gain 3634 hex to the same value as the position loop gain 2 Gradually increase the set value of the Hybrid Vibration Suppression Filter 3635 hex
366. n Electronics Cable clamp model N MS3057 16A Japan Aviation Electronics Servomotor side connector OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications I Brake Cables European Flexible Cables R88A CAKA JBR E Cable types 100 and 200 V For 3 000 r min Servomotors of 50 to 750 W Outer diameter of sheath Model Length L R88A CAKAO001 5BR E 1 5m R88A CAKA003BR E 3m R88A CAKAO05BR E 5m R88A CAKA010BR E 10m R88A CAKA015BR E 15m R88A CAKA020BR E 20m 6 0 dia Connection configuration and external dimensions Servo Drive side R88D KO 1 Servomotor side R88M KL Wiring Servo Drive side Servomotor side abdle 0 5 mm x 2C Servomotor side connector Or Connector model AWG20 x 2C JNAFTO2SJ1 R Japan Aviation Electronics Contact model SI TMH S C1B Japan Aviation Electronics 3 66 suoneoyioodg Specifications 3 4 Cable and Connector Specifications Connector Specifications I Control I O Connector R88A CNWO1 OC This is the connector to be connected to the drive s control I O connector CN1 Use this connector when preparing a control cable by yourself Dimensions Connector plug model 10126 3000PE Sumitomo 3M Connector case model 10326 52A0 008 Sumitomo 3M
367. n Mode Configuration The following diagram shows the configuration of the Cyclic synchronous position mode Torque offset 60B2 hex Velocity offset 60B1 hex Position offset 60BO hex C Position a Speed amp Torque Target position 607A hex Control Control Control Following error actual value GOF4 hex ES s Velocity actual value 606C hex Torque actual value 6077 hex Torque demand The following diagram shows the configuration of the control function of the Cyclic synchronous position mode Position offset 60BO hex Target position 607A hex C Limit function Software position limit 607D hex Position actual value 6064 hex Following error actual value GOF4 hex Control Velocity actual value 606C hex Following error window 6065 hex function Velocity offset 60B1 hex Torque actual value 6077 hex Torque demand Torque offset 60B2 hex Max torque 6072 hex 6 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Related Objects Index 6040 hex 6060 hex 607A hex 6065 hex 6072 hex 60B0 hex 60B1 hex 60B2 hex 6041 hex 6064 hex 606C hex 6077 hex 60F4 hex ES Position offset Controlword Target position Following error window Velocity offset Torque offset Statusword Position actual value Velocity actual value Torque actual value Following error actual
368. n allocation This object is set in hexadecimal Refer to the 3410 hex Output Signal Selection 1 page 9 25 output signal function number table for details 3411 hex Output Signal Selection 2 Set the OUTM2 output function allocation page 9 25 Output Signal Allocation Method Input the setting for each control mode to objects 3410 and 3411 hex to allocate the signals oet the objects based on hexadecimal in the same manner as for the input signal allocations oet the set value of the function for each control mode in below Refer to the function number table provided below for the set value of each function The logic setting is included in the function numbers OOH hex Position control fully closed control Reserved OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 4 suoioun paddy x Applied Functions 7 1 Sequence I O Signals 7 5 Example Position control or fully closed control Position command output OB hex 0007 050B hex Position control fully closed control Function Number Table The set values to be used for allocations are as follows Set value Signal name NC or normally close contact contact Disabled o7 QOhe 00 hex Servo Ready Completed Output 82 hex Brake Interlock Output Setting not available Torque Limit Output 86 hex Zero Speed Detection Output 87 hex Warning Output 1 89 hex Warning Output
369. n amount When the servo is turned ON again backlash compensation is performed as described above EN Reference Conditions for Clearing Backlash Compensation Backlash compensation is cleared to zero under any of the following conditions When the position error is reset This includes when the servo is turned OFF and when the error counter is reset for the drive prohibition input When the position data is initialized This excludes commands for an origin return and coordinate system setup but includes commands for an equipment setup request and adjustment OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 12 suoioun paddy x Applied Functions 7 5 Brake Interlock 7 5 Brake Interlock This function lets you set the output timing for the brake interlock output BKIR that activates the holding brake when the servo is turned ON an error occurs or the servo is turned OFF The brake can also be controlled via EtherCAT communications Objects Requiring Settings Brake Timing when Set the time after a servo OFF command is Stopped issued upon servo lock stop until the brake enor BER interlock output BKIR turns OFF and Pade power supply stops Brake Timing Set the time after a servo OFF command is During Operation issued while the motor is rotating until the 3438 hex brake interlock output BKIR turns OFF and page 9 29 power supply stops If the speed drops to or
370. n in the above figure Use high speed diodes OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications Control Output Details ce 22s 9 s b i Control Output Sequence The chart below illustrates the timing of the command inputs after the control power supply is turned ON Input the Servo ON OFF operation position speed and torque commands in the correct timing as shown in the chart Control power supply ON L1C and L2C re a ne Approx 100 to 300 ms Internal control ON power supply OFF Approx 3 s Approx 15s i MPU operation ON OFF lintiaizaio Normal operation 0 sor more Main circuit power ON supply L1 L2 and L3 OFF oe ii Approx 10 ms after initialization and main circuit ON 2 Servo ready ON i alicia completed output READY OFF m 0 ms or more Accepted i Servo ON accepted rejected Rejected H Approx 2 ms ON Dynamic brake PENNE Approx 60 ms ON Motor power supply MM E ERE 4 Approx 4 ms Brake interlock ON 4 output BKIR OFF i 100 ms or ON 3 more 9 Position speed or torque command OFF Once the internal control power is established the protective function starts working about 1 5 s after the MPU starts initializing itself Be sure that all I O signals that are connected to the Servo Drive especiall
371. n notch filter OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 6 Adaptive Filter Operating Procedure 1 Set the Adaptive Filter Selection 3200 hex select adaptive filter 1 or 2 in the Adaptive Filter Selection 3200 hex 2 Start actual operation Enter an operation command and start the actual operation 3 The Notch Filters 3 and 4 are automatically set When the influence of a resonance point appears in the motor speed the Notch Filters 3 and 4 objects are set automatically according to the number of adaptive filters la Precautions for Correct Use An unusual noise or vibration may occur until the adaptive filter stabilizes after startup immediately after the first servo ON or when the Realtime Autotuning Machine Rigidity Selection 3003 hex is increased This is not a problem if it disappears right away If the vibration or unusual noise however continues for three or more reciprocating operations take the following measures in the possible order Write the objects used during normal operation to the EEPROM Lower the Realtime Autotuning Machine Rigidity Setting 3003 hex Disable the adaptive filter by setting the Adaptive Filter Selection 3200 hex to O Resetting of inertial estimation and adaptive operation Manually set the notch filter f unusual noise or vibration occurs the setting of Notch 3 3207 to 3209 hex or Notch 4 3210 to 3212
372. n used for more than 3 years or if an Absolute Encoder System Down Error Error No 40 has occurred Replacement Battery Model and Specifications Item Specifications Name Absolute Encoder Backup Battery Unit Model R88A BATO1G Battery model ER6V Toshiba Battery voltage 3 6 V Mire 2 000 mA h Mounting the Backup Battery Unit Mounting the Battery Unit for the First Time Connect the Absolute Encoder Backup Battery Unit to the motor then set up the absolute encoder Refer to Absolute Encoder Setup on page 10 6 After the Absolute Encoder Backup Battery Unit is attached it is recommended that the control power supply be turned ON and OFF once a day to refresh the battery If you do not refresh the battery battery errors may occur due to voltage delay in the battery Replacing the Battery Unit If a battery warning occurs the absolute encoder power supply must be replaced Replace the Battery Unit with the control power supply of the Servo Drive turned ON If the Battery Unit is replaced with the control power supply of the Servo Drive OFF data held in the encoder will be lost la Precautions for Correct Use If the absolute encoder is cleared using the front panel or the absolute value is cleared using communications all error and multi rotation data will be lost and the absolute encoder must be set up again Refer to Absolute Encoder Setup on page 10 6 12 33 OMNUC G5 series AC Servomotors and Servo Drives User s Manual w
373. nals with the following dimensions Round terminal Fork terminal 3 2mm N44 j 5 8 mm max 3 2 mm 5 8 mm max ZF t Applicable crimp terminals Applicable wires Round terminals 1 25 to 3 AWG22 to 16 0 30 to 1 25 mm Fork terminals 1 25Y to 3 AWG22 to 16 0 30 to 1 25mm When connecting wires and crimp terminals to a terminal block tighten them to a tightening torque of 0 7 N m OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 78 suoneoyioodg Specifications 3 4 Cable and Connector Specifications Terminal Block Wiring Example The example is for the XW2B 20G4 XW2B 20G5 and XW2D 20G6 zd OF 24 VDC 24 VDC 1 Assign the brake interlock output BKIR to pin CN1 1 2 This is the absolute encoder backup battery of 2 8 to 4 5 V Secure the battery in place using cable clips with double sided adhesive tape Connect the battery to either the connector terminal block or the absolute encoder backup battery cable with a battery The absolute encoder backup battery is not required when the Servomotor is equipped with an incremental encoder 3 The XB contact is used to turn ON OFF the electromagnetic brake 3 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 5 External Regeneration Resistor Specifications 3 5 External Regeneration Resistor Specifications External Regenerati
374. nce Q 1 10 100 1000 Frequency MHz 3G3AX ZCL2 1000 X e e Impedance OQ 1 10 100 1000 10000 Frequency kHz ZCAT3035 1330 1000 Impedance Q e Frequency MHz 4 33 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives I Surge Suppressors Install surge suppressors for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows the types of surge suppressors and recommended products Diodes Diodes are used for relatively small loads Use a fast recovery diode with a short such as relays when the reset time is nota reverse recovery time critical issue e g RU2 of Sanken Electric Co Ltd At power shutoff the surge voltage is the lowest but the reset time takes longer Used for 24 48 VDC systems Thyristors Thyristors and varistors are used forloads Select the varistor voltage as follows and varistors when induction coils are large as in 24 VDC systems varistor voltage 39 V electromagnetic brakes solenoids etc 100 VDC systems varistor voltage 200 V and when reset time is critical 100 VAC systems
375. ncoder Related Objects Index Warning Output Selection 1 3440 hex Warning Output Selection 2 3441 hex Warning Mask Setting 3638 hex Bit O Warning Hold Selection for Communications related Warnings Bit 1 Warning Hold Selection for General Warnings 3 59 hex Communications Control 3800 hex NEL GEN OO Select the warning for Warning Output 1 WARN1 0 Output for all warnings 1 or higher Refer to Warning List on page 12 5 Select the warning for Warning Output 2 WARN2 0 Output for all warnings 1 or higher Refer to Warning List on page 12 5 Set a mask for warning detection If you set the corresponding bit to 1 the detection of the corresponding warning is disabled Refer to Warning List on page 12 5 Select whether to hold servo related and communications related warning state 0 Do not hold 1 Hold Controls errors and warnings related to EtherCAT communications If you set the corresponding bit to 1 the detection of the corresponding warning is disabled OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Reference page 9 30 page 9 31 page 9 43 page 9 47 page 9 47 12 4 ooueuojure y pue Burjioousoe qnou Troubleshooting and Maintenance 12 2 Warnings Warning List General Warnings Warning Output Warning Warning T BIDDER Warning name Warning condition Selection Mask egg
376. nection detection when an external encoder with a 90 phase difference output is used Explanation of Set Values Set value Explanation 0 Phase Z disconnection detection enabled 1 Phase Z disconnection detection disabled 3328 hex Hybrid Following Error Counter Overflow Level csp full csp full ect 1 to 134217728 Unit Commandunit Pefault 46000 es range setting attribute Size 4 4bytes INT32 INT32 Access Access RW PDO map Not possible Set the allowable difference pulse error between the motor encoder position and load external encoder position in command units Refer to 6 6 Fully closed Control on page 6 12 3329 hex Hybrid Following Error Counter Reset esp full esp full Setting 0 to 100 Unit Rotation iin idis range setting attribute Size 2 bytes INT16 Aces RW PDOmap PDO map map Not possible The feedback pulse error is reset every time the motor rotates for the amount set by the Hybrid Following Error Counter Reset 3329 hex This can be used for applications where feedback pulse error accumulates due to slippage Refer to 6 6 Fully closed Control on page 6 12 Feedback pulse error value command units absolute value Occurrence of excessive feedback pulse deviation error Excessive 2 feedback pulse ES m error setting speed rotations Ensure that an appropriate value is set to the Hybrid Following Error Counter Reset 332
377. ng Using Front Mounting Brackets External dimensions Mounting dimensions o Rectangular o hole o SL 50 88 Rectangular hole dimensions are reference values OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 26 q jeu19 x3 pue sjopowy SUOISU9UII mensions Models and External D 2 4 External and Mounting Dimensions 3 phase 200 VAC R88D KN30H ECT R KN50H ECT R 3 to 5 kW Wall Mounting External dimensions Mounting dimensions 70 214 R2 6 R2 6 3 5 50 5 2 i 7 E a T 1 A i Q A N N iy Y i m o po R2 R2 6 8 15 100 a 130 2 Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 130 70 214 50 95 2 A I M z A Rectangular Q LO N g t bl hole Y T o e o 2 5 15 100 M 132 Rectangular hole dimensions are reference values 2 27 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in
378. ng frequency becomes 10 Hz or 50 Hz If vibration persists after setting the frequency increase or decrease the resonance frequency to find a proper one with minimum vibration OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 16 suornounJ jueunsn py Adjustment Functions 11 5 Damping Control 11 17 3 Make the damping filter settings Make damping filter settings 1 3215 hex 2 3217 hex 3 3219 hex 4 3221 hex First set the filter to O and check the torque waveform during operation The stabilization time can be reduced by setting a large value however torque ripple will increase at the command change point as shown in the following figure Set a range that will not cause torque saturation under actual operation conditions The effects of vibration suppression will be lost if torque saturation occurs Damping filter Damping filter setting is too large setting is appropriate 4 Torque saturation ad Torque command When setting the damping frequencies reduce the setting if the torque become saturated and increase the setting to make operation faster Normally O is set The setting range is as follows Damping filter setting range Damping filter setting lt Damping frequency 100 x Damping frequency Damping filter setting Set the Damping Filter Selection 3213 hex Damping filters 1 to 4 can be switched according to the conditions of t
379. ng specified value AG Vibration detection Vibration is detected warning Life expectancy warning The life expectancy of the capacitor or the fan is A7 i shorter than the specified value A8 External encoder error The external encoder detects a warning warning External encoder The external encoder has more communications A9 communications errors in series than the specified value warning Warning Mask Setting 3638 hex Bit 7 Bit 5 Bit O Bit 6 Bit 4 Bit 3 Bit 9 Bit 2 Bit 8 Bit 10 1 Each warning detection can be masked with the Warning Mask Setting 3638 hex The table above shows the corresponding bits When a bit is set to 1 the warning detection is masked 3700 hex LED Display Selection Setting range Default Data Size 2 bytes INT16 PDO map Not possible Select a data type to display on the 7 segment display on the front panel OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 44 sjoe qo 1ojeuieJeg OMS uo s rejeg Details on Servo Parameter Objects 9 7 Special Objects Explanation of Set Value Set value Indicated item Description Mechanical angle Electric angle Total number of EtherCAT communications errors 1 Rotary switch setting node address Total number of 0 Normal state Displays during Servo OFF and 00 during Servo ON Displays a value between 0 and FF hex The valu
380. ng the output from the thermal switch R88D KNO4L ECT R KNO8H ECT R KN10H ECT R KN15H ECT R KN20H ECT R KN30H ECT R KN50H ECT R KNO6F ECT R KN10F ECT R KN15F ECT R KN20F ECT R KN30F ECT R KN50F ECT R Normally B2 and B3 are shorted If an External Regeneration Resistor is necessary remove the short circuit bar between B2 and B3 and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below Servo Drive eer SUSE Thermal switch output External Regeneration Resistor Remove the short circuit bar between B2 and B3 la Precautions for Correct Use Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 44 uDisoq uiejs g System Design 4 4 Regenerative Energy Absorption 4 45 Combining External Regeneration Resistors Regeneration absorption 70 W 140 W capacity Model R88A RRO08050S R88A RRO8050S R88A RR22047S R88A RR22047S R88A RR080100S R88A RR080100S R88A RR2204781 R88A RR2204781 Resistance sogrooo 25 Q 50 0 940 value Connection o R Lo o R
381. ngs set bit O or 8 to O and then to 1 again Latching is disabled in the following cases When communications is in the Init state When the Statusword 6041 hex bit 9 remote is O local For details on the latch function refer to Touch Probe Function Latch Function on page 6 9 Bit Descriptions Bit Code Description Latch 1 is disabled 1 Latch 1 is enabled Trigger first event Latch on the first trigger Continuous Latch continuously on trigger input Latch on the signal selected in the Touch Probe Trigger Selection 3758 hex 1 Latch on the encoder s phase Z signal 3 to 7 Reserved always set to 0 Latch 2 is disabled 1 Latch 2 is enabled Trigger first event Latch on the first trigger Continuous Latch continuously on trigger input Latch on the signal selected in the Touch Probe Trigger Selection 3758 hex O 1 Latch on the encoder s phase Z signal 11to 15 Reserved always set to 0 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 46 Old eAug Drive Profile 6 7 Object Dictionary 60B9 hex Touch probe status Latch status All Size 2 bytes U16 Access RO PDO map Possible This object gives the status of the Touch probe function Latch Function Bit Descriptions Bit Description 00 Latch 1 is disabled Latch 1 is enabled 00 No value latched with Latch 1 There is a value latched
382. nications 2 11 2 3 Model Tables Cable and Peripheral Device Model Tables The following tables list the models of cables and peripheral devices The cables include motor power cables brake cables encoder cables EtherCAT communications cables and absolute encoder battery cables The peripheral devices include Connectors External Regeneration Resistors and Mounting Brackets g Encoder Cables European Flexible Cables Specifications Model 1 5 m RB88A CRKA001 5CR E R88A CRKA003CR E R88A CRKA005CR E 10m R88A CRKA010CR E 15m R88A CRKA015CR E R88A CRKA020CR E 1 5 m RB88A CRKC001 5NR E R88A CRKCOO3NR E R88A CRKCOO5NR E 400 V 10m R88A CRKCO10NR E For 3 000 r min Servomotors 15m R88A CRKCO15NR E For 2 000 r min Servomotors For 1 000 r min Servomotors 100 V and 200 V For 3 000 r min Servomotors of 50 to 750 W for both absolute encoders and incremental encoders 100 V and 200 V 3 000 r min Servomotors of 1 0 kW or more For 2 000 r min Servomotors For 1 000 r min Servomotors R88A CRKCO20NR E r3 oo gt a w Ss 3 zs Suoisuauiiq EUuJ9 X3 pue s epolNy OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 12 Models and External Dimensions 2 3 Model Tables 2 13 f Motor Power Cables European Flexible Cables Model For motor with brake 100 V and 200 V 1 5m See note 1 ot Servomotors of 50 to 3m L on 200 V R88A CAGB001 5
383. nnector CN5 Rotary switches for node address setting USB connector CN7 EtherCAT communications connector ECAT IN Main circuit power supply terminals L1 L2 and L3 EtherCAT communications connector ECAT OUT power supply terminals Control circuit L1C and L2C i Safety connector CN8 Charge lamp Control I O connector CN1 External Regeneration Resistor connection terminals B1 B2 and B3 Motor connection terminals U V and W External encoder connector CN4 Protective ground terminals gt Encoder connector CN2 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 4 uoneinbijuoy uie s S pue sainjee4 1 3 Names and Functions Servo Drive Functions The functions of each part are described below Display A 2 digit segment display shows the node address error codes and other Servo Drive status I Charge Lamp Lights when the main circuit power supply is turned ON I EtherCAT Status Indicators These indicators show the status of EtherCAT communications For details refer to Status Indicators on page 5 2 f Control I O Connector CN1 Used for command input signals and I O signals f Encoder Connector CN2 Connector for the encoder installed in the Servomotor External Encoder Connector CN4 Connector fo
384. ns B To ensure that the OMNUC G5 series Servomotor and Servo Drive as well as peripheral equipment are used safely and correctly be sure to read this Safety Precautions section and the main text before using the product in order to learn items you should know regarding the equipment as well as required safety information and precautions B Make an arrangement so that this manual also gets to the end user of this product B After reading this manual keep it in a convenient place so that it can be referenced at any time Definition of Precautionary Information B The precautions explained in this section describe important information regarding safety and must be followed without fail B The display of precautions in this manual and their meanings are explained below Indicates an imminently hazardous situation which NDANG FR if not avoided will result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation Accordingly be sure to observe all safety precautions Precautions for Safe Use Indicates precautions on what to do and what not to do to ensure using the product safely l Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure
385. ns 6 7 Object Dictionary 6502 hex Supported drive modes All This object indicates the supported operation modes Bit Descriptions Bit Supported mode oO O O O O O O 0 pp Profile position mode 1 vl Velocity mode pv Profile velocity mode tq Profile torque mode Reserved 2 3 4 5 hm Homing mode 6 ip Interpolated position mode T csp Cyclic synchronous position mode 8 csv Cyclic synchronous velocity mode 9 cst Cyclic synchronous torque mode 10 to 31 Reserved Reserved Objects The following objects are reserved Do not use them Index Sub Name 605D hex pO Halt option code 6067 hex pO Position window 6083 hex pO Profile acceleration 6084 hex pO Profile deceleration i Homing speeds 0 Number of entries Memes Speed during search for switch Speed during search for zero OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications O O O Not possible Definition Not supported Not supported Not supported Not supported Not supported Not supported Supported Not supported Not supported 6 52 Old eAug Drive Profile 6 8 Connecting with OMRON Controllers 6 8 Connecting with OMRON Controllers This section describes the settings required to connect with an OMRON EtherCAT compatible CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Unit Related Objects Objects listed in the
386. nt DE 7 6 supply input L1 1 m and L3 or L1 L2 AWG 14 to 18 and L3 Control circuit nelli size power supply input AWG 18 L1C and L2C Motor connection Rated current A 12 17 25 4 terminals U V W Fame gourd 6 Wire so ANG ECL NM NEN va Tightening torque 1 2 1 Connect OMRON Power Cables to the motor connection terminals 2 Use the same wire size for B1 and B2 200 VAC Input Drive Wire Sizes RB88D KNUILIH ECT R Model R88D KNO1H KNO2H KNO4H KNO8H KN10H Item Unit ECT R ECT R ECT R ECT R ECT R Power supply capacity Main circuit power Rated current 2 asm 3 4 E 4 6 6 9 2 9 supply input L1 and L3 or L1 L2 Wire size aed AWG14 to 18 AWG14 and L3 NR E e a E NN ES a Control circuit Wire size AWG18 power supply input Lic and L2C a EO terminals U V W ma eee iil ea el Mae E A sr s Frame ground Wiresize J AWG14 FG l Bewsm va Tightening torque 1 2 4 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 Wiring Model R88D KN15H KN20H KN30H KN50H kem Unit ECT R ECT R ECT R ECT R Power supply capacity rout and me p Aneta input L1 and T AMI i torque Control circuit Wire size size AWG18 power supply input L1C and eevee P MS torque terminals U
387. nt that is at least twice the total of the rated currents of the Servo Drives OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives Noise Filters for Motor Output Use noise filters without built in capacitors on the motor output lines Select a noise filter with a rated current at least twice the Servo Drive s continuous output current The following table shows the noise filters that are recommended for motor output lines current OMRON For inverter output Note 1 Motor output lines cannot use the same noise filters for power supplies Note 2 General noise filters are made for power supply frequencies of 50 60 Hz If these noise filters are connected to output of the Servo Drive a very large about 100 times larger leakage current may flow through the noise filter s capacitor This may damage the Servo Drive External Dimensions 3G3AX NF001 NFO02 Dimensions mm C J P A B C EJ F G H J M Model OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 38 uDisoq uiejs g System Design 4 3 Wiring Conforming to EMC Directives 3G3AX NF003 NF004 NF005 NF006 O O O OO O O O O O O OO doc OO oco 080 o o Xe O O O O me O 0 0 0 0 0 _ oP O me O O O O O O O 9 9 O O O O 0 0 oP O
388. ntrolled by combining the bits in the Controlword 6040 hex as shown in the following table fr fault reset eo enable operation qs quick stop ev enable voltage so switch on Controlword Bit Command Bit 7 Bit 3 Bit 0 Move to fr eo SO Ca x I t I we Switch on enable x 1 1 1 1 344 operation Disable x x x x 7 9 10 voltage Quick stop y 1 x Not supported 2 operation operation 1 The state automatically moves to Operation enabled state after Switched on state 2 Quick stop commands are not supported Even if a quick stop command is received it will be ignored Old eAug OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 2 Drive Profile 6 1 Controlling the State Machine of the Servo Drive 3 Bit 7 Operation when Fault reset bit turns ON Fault state Errors are reset and the Servo Drive returns to its initialized state If there are any warnings Warning 6041 hex Statusword bit 7 they are reset State other than Fault state If there are any warnings Warning 6041 hex Statusword bit 7 they are reset The state will change according to command bits 0 to 3 4 When an error reset is executed with bit 7 set the bit back to O before giving the next command l State Coding State is indicated by the combination of bits in Statusword 6041 hex as shown in the following table Bit 6 oe 2s au Bit 0 State 1 7 sod rtso Fault 1 x 1 0 Le
389. o Drive may be faulty In this case replace the Servo Drive Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair The Servo Drive is faulty Replace the Servo Drive Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex Prohibition Input Error 1 Drive Prohibition Input Error 2 Absolute encoder system down error Absolute Encoder Counter Overflow Error Absolute Encoder Overspeed Error Encoder Initialization Error Absolute Encoder 1 rotation Counter Error Absolute Encoder Multi rotation Counter Error Absolute Encoder Status Error 12 4 Troubleshooting Cause Measures When the Drive Prohibition Input Check for any problems with the switches Selection 3504 hex was set to 0 both the wires and power supplies that are Forward Drive Prohibition Input POT and connected to the Forward Drive the Reverse Drive Prohibition Input NOT Prohibition input or the Reverse Drive turned ON When object 3504 hex was set Prohibition input In particular check to to 2 either the Forward Drive Prohibition see if the control signal power supply 12 input or the Reverse Drive Prohibition to 24 VDC turned ON too slowly input turned ON When object 3504 hex was set to 0 EtherCAT comm
390. o 7 3 Overrun Protection on page 7 9 Control Input Signal Read Setting Default Data 2 bytes INT16 Access RW PDO map PDO map map Not possible Select the signal read cycle for control input digital input The External Latch Inputs 1 2 and 3 EXT1 2 and 3 are excluded Explanation of Set Values 9 35 Set value Description 0 0 250 ms 1 0 500 ms 2 1 5 ms 3 2 5 ms OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 6 Extended Objects 3520 hex Position Setting Unit Selection Setting pied Unit Default Data C range setting attribute Size 2 bytes INT16 PDO map Not possible Select the setting unit of Position Completion Range 2 3442 hex and Following error window 6065 hex Explanation of Set Values Set value Description 0 Command units 1 Encoder units External encoder units la Precautions for Correct Use Detection of the Positioning Completed status in EtherCAT communications is always performed using command units regardless of the setting on this object Normally use the default setting of 0 command units 3521 hex Torque Limit Selection Setting 0to 7 Unit Default Data B range setting attribute Size 2 bytes INT16 PDO map Not possible Select the method to set the forward and reverse torque limits Refer to 7 7 Torque Limit Switching on page 7 21 Explanation of Set Values Torque FF Torque feed f
391. o either O or 2 The setting on the Input Signal Selection 1 to 10 3400 to 3409 hex can change the logic and allocation for the respective Input terminals CN1 to 7 and 8 Stop Selection for Drive Prohibition Input 3505 Hex oet the deceleration and stop methods upon a forward or reverse drive prohibition is input Decelerating After stopping 3504hex ssochex ___Decelerating Ki 4 Setvalue Deceleration method Operation after sto zs value p p counter Torque command 0 for EN AE AKG drive prohibition direction 1 Free run Clear torque LL d Ir Held 0 drive prohibition direction Cleared after Torque command and ee rere Immediate stop Clear torque limit are as completes specified then held 1 7 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 2 Forward and Reverse Drive Prohibition Functions 1 If the Drive Prohibition Input Selection 3504 hex is set to 2 a Drive Prohibition Input Error Error No 38 0 will occur as soon as either the Forward or Reverse Drive Prohibition Input becomes open The subsequent operation conforms not to the set value but to the setting of the Fault reaction option code 605E hex In the same way the Fault reaction option code 605E hex takes priority when any other error occurs 2 The term During deceleration means the distance until the motor decreases its speed to 30 r min or less from the normal operation Onc
392. o the external encoder specifications External Bit 3 of the external encoder error code Encoder ALMC was set to 1 Status Error 3 Refer to the external encoder specifications External Bit 4 of the external encoder error code Encoder ALMC was set to 1 Status Error 4 Refer to the external encoder specifications External Bit 5 of the external encoder error code Encoder ALMC was set to 1 Status Error 5 Refer to the external encoder specifications Phase A Connection Error Phase B Connection Error Phase Z Connection Error An error such as broken wiring was detected in the external encoder phase A connection An error such as broken wiring was detected in the external encoder phase B connection An error such as broken wiring was detected in the external encoder phase Z connection Measures Replace the Servomotor Wire the external encoder correctly as shown in the connection diagram Correct the connector pin connections Provide the required external encoder power supply voltage 5 VDC 5 4 75 to 5 25 V Be careful especially when the external encoder connection cable is long Ifthe Servomotor cable and the external encoder connection cable are bundled together separate them Connect the shield to FG Refer to the external encoder connection diagram Eliminate the cause of the error and then clear the external encoder error Then temporarily turn OFF the control p
393. oad characteristic estimation Used only for estimating load characteristics Detailed customization can be set in the Realtime Customization Autotuning Customization Mode Setting 3632 hex O OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 3 Realtime Autotuning Setting Machine Rigidity 1 Set the Realtime Autotuning Machine Rigidity Setting 3003 hex according to the table below Start from the lower machine rigidity number and check the operation Realtime Autotuning Machine configuration and drive method Machine Rigidity Setting 3003 hex Ball screw direct coupling 12 to 24 Ball screw and timing belt 8 to 20 Timing belt 4 to 16 Gears rack and pinion drive 4 to 16 Other machines with low rigidity 1 to 8 Stacker cranes Perform manual tuning 2 Turn the servo ON and operate the machine with a normal pattern To increase responsiveness increase the machine rigidity number and check the response If vibration occurs enable the adaptive filter and operate If already enabled lower the machine rigidity number 3 If there are no problems with the operation turn the servo OFF and set the Realtime Autotuning Mode Selection 3002 hex to 0 disabled The adaptive filter can be left enabled even if realtime autotuning is disabled after the completion of adjustments Even if the adaptive filter is disabled the settings of notch filters 3 and 4 are held la Precaut
394. object 3421 hex to change the output method Analog monitor output 2 Outputs the analog signal for the monitor Default setting Motor rotation speed 1 V 1 000 r min You can use objects 3418 hex and 3419 hex to change 2 AM2 l the item and unit You can use object 3421 hex to change the output method 3 Analog monitor ground Ground for analog monitors 1 2 Connectors for CN5 6 pins Name Model Manufacturer Connector housing 51004 0600 Molex Japan Connector terminal 50011 8000 Molex Japan Monitor Output Circuit Servo Drive 1 2 AM1 AM2 Monitor equipment 3 27 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 1 Servo Drive Specifications USB Connector Specifications CN7 Through the USB connection with computer operations such as parameter setting and changing monitoring of control status checking error status and error history and parameter saving and loading can be performed Pin No Symbol Name Function and interface 1 VBUS Use this function for computer communication USB signal terminal Reserved for manufacturer use Do not connect SENGND Signal ground Signal ground la Precautions for Correct Use Use a commercially available USB cable that is shielded equipped with a ferrite core for noise immunity and supports USB2 0 The Mini B type USB cable can be used OMNUC G5 series AC Servomotors and Servo Drives User s
395. occurs use this notch filter to eliminate resonance l Machine resonance 4 A Characteristics Notch filter after filtering Notch filter 1 Notch filter 2 11 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 7 Notch Filters Objects Requiring Settings Notch 1 Freauenc Set the center frequency of notch filter 1 3201 hex 4 Y The notch filter is enabled at 50 to 4 999 Hz and disabled page 9 15 Setting l if 5 000 Hz is set l Select the width of the notch filter 1 frequency 3202 hex A TTD Increasing the value widens the notch width page 9 15 g Setting range 0 to 20 Select the depth of the notch filter 1 center frequency Notch 1 Depth Increasing the value decreases the notch depth and 3203 hex l P thereby reduces the phase delay The notch filter is page 9 15 Setting l i i disabled if 100 is set Setting range 0 to 99 Notch 2 Frequency Set the center frequency of the notch filter 2 i SOUTIEN Setting The details are the same with the notch filter 1 frequency pages te Notch 2 Width Select the width of the notch filter 2 frequency SEMIS Setting The details are the same with the notch filter 1 width pagea Notch 2 Depth Select the depth of the notch filter 2 center frequency PAOK Setting The details are the same with the notch filter 1 depth page 3716 Notch 3 Frequency Set the center frequency of the notch filter 3 SAUT MGR Setting f The details are th
396. of the Servo Drive and Servomotor to 100 Q or less Electric shock may result Never touch the parts inside the Servo Drive Electric shock may result While the power is supplied do not remove the front cover terminal covers cables and options Electric shock may result Installation operation and maintenance or inspection by unauthorized personnel is prohibited Electric shock or injury may result Before carrying out wiring or inspection turn OFF the power supply and wait for at least 15 minutes Electric shock may result Do not damage pull stress strongly or pinch the cables or place heavy articles on them Electric shock stopping of Servo Drive operation or burn damage may result Never touch the rotating part of the Servomotor during operation Injury may result Never modify the Servo Drive Injury or equipment damage may result Install a stopping device on the machine to ensure safety The holding brake is not a stopping device to ensure safety Injury may result Install an immediate stop device externally to the machine so that the operation can be stopped and the power supply cut off immediately Injury may result When the power is restored after a momentary power interruption the machine may restart suddenly Never come close to the machine when restoring power Implement measures to ensure safety of people nearby even when the machine is restarted Injury may result After an earthquake b
397. of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is O to 0 9 Hz Refer to 11 5 Damping Control on page 11 15 for more information on settings Damping Filter 4 Setting 0 to 1000 Unit 0 1 Hz Default Data setting attribute ei Access RW PDO map _ Not possible First set Damping Frequency 4 3220 hex Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed Normally use a setting of O Set value is restricted in the following manner Upper limit Up to Damping Frequency 4 Lower limit Damping frequency damping filter setting 2 100 Refer to 11 5 Damping Control on page 11 15 for more information on settings OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 3 Vibration Suppression Settings 3222 hex Position Command Filter Time Constant Setting Default Data Size 2 bytes INT16 E mu A PDO map Not possible The Position Command Filter Time Constant is the first order lag filter that is inserted after the electronic gear ratio for the command input This constant is used to reduce the stepping movement of the motor and achieve a smooth operation when the electronic gear ratio is set in 10 times or greater It sets the first order lag filter time constant as shown below for the square wave command of target speed Vc Positi
398. ommand 4 bytes U32 Access Aces RW PDO map Not possible This object sets the threshold for following errors If itis set to 4 294 967 295 FFFF FFFF hex detection of following errors is disabled If itis set to O there will always be a following error When it is set to between 134 217 729 and 4 294 967 294 the set value becomes 134 217 728 Velocity actual value 2147483648 to Command 4 bytes U32 Aces RO PDO map Possible This object gives the present speed Max torque All 0 to 5000 Default 5000 Attribute 2 bytes U16 PDO map Possible This object sets the maximum torque It is in units of 0 1 of the rated torque Torque demand All 5000 to 5000 Default 000 Attribute 2 bytes INT16 Aces RO PDO map Possible This object gives the Servo Drive s internal torque command value It is in units of 0 1 of the rated torque Torque actual value All 5000 to 5000 Default 1000 Attribute 2 bytes INT16 Aces RO PDO map Possible This object gives the feedback torque value The values are the same as for the internal torque command value It is in units of 0 1 of the rated torque Target position 2147483648 to Command 4 bytes INT32 Access RW PDOmap PDO map map Possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary This object sets the target position in the
399. ommunications R Updated when the control power supply is reset It is not updated for a Config command via EtherCAT communications RO Read only er om mame aas Momm Eb e Manufacturer software version opm RO rente are 100A hex 20 bytes VS Not possible Not possible sw 7 Restore fautparametrs TT 1 Restor al default parameters byes U32 8 Not possible Notpesie wewae o 0 o p o 0 9 Neerdenes Tevet RO Warpossbie Notpcesiie 1 Vomero aee RO Notas Notpssite 5 Revision number Abes usa RO Not possisle Not ceste fries U32 RO Not possible Not possible ewmm PT 0 Nemerdfenres 1evetUe RO Notpossble Notposie LIS A 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 Object List 0002 0192 hex R88D KNUILILI ECT Contains a number indicating the Servo Drive Default setting Setting range ENT MN oh dr software version 01 hex 0000 0001 hex pow 0000 0001 hex MEM NN NENNEN NEN MEM LN d m PO ce o ee NEN CNN RNC TR NNE diii NEN a NN NER HNIC NN 0000 0000 hex 02 hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Relevant control modes All All All All All All All All All All All All All All All All All A 2 xipueddy Appendix gt A 1 Obj
400. omputer as waveforms Refer to the CX Drive Operation Manual Cat No W453 USB communications cable 4 Connect to CN7 11 13 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 4 Manual Tuning I Position Control Fully closed Control Mode Adjustment Use the following procedure to perform the adjustment in position control for the Servo Drive otart adjustment Never adjust or set parameters to extreme values Disabl as it will make the operation unstable pap Geel me SPIOTURIDO CDU NIIS ES Failure to follow this guideline may result in injury Gradually change the value to adjust the Set each parameter according to the parameter settings for different applications Operate based on the normal operation pattern and load gain while checking the motor operation Are the positioning time and other performances satisfied Yes No Adjustment completed Increase Speed Loop Gain 1 3101 hex to the extent that hunting does not occur upon servo lock Decrease Speed Loop Integral Time Constant 1 3102 hex to the extent that hunting does not occur upon servo lock No Decrease Speed Loop Gain 1 3101 hex Does hunting or vibration occur when the motor rotates Ves Increase position loop gain to the extent that overshooting does not occur Increase Speed Loop Integral Time Constant 1 3102 hex Write to the EEPROM in the Parameter Write mode Adjustmen
401. on Resistor Specifications R88A RR08050S Resis Regeneration Nominal absorption for Heatradiation Model tance val n xm ue capacity 120 C tempera condition ture rise ROA een RRO8050S Thickness 3 0 R88A RRO080100S Thermal switch output specifications Operating temperature 150 C 5 NC contact Rated output resistive load 125 VAC 0 1 A max 30 VDC 0 1 A max minimum current 1 mA Resis Regeneration Nominal absorption for Heatradiation Model tance val i em e capacity 120 C tempera condition ture rise Ra0A o RR080100S l Thickness 3 0 R88A RR22047S Thermal switch output specifications Operating temperature 150 C 5 NC contact Rated output resistive load 125 VAC 0 1 A max 30 VDC 0 1 A max minimum current 1 mA Regeneration Resis Nomi i ee absorption for Heat radiation Model tance val nal ca m 120 C tempera condition pacity ture rise RSA 350 x 350 RR22047S Thickness 3 0 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Thermal switch output specifications Operating temperature 170 C 7 C NC contact Rated output resistive load 250 VAC 3 Amax 3 80 suoneoyioodg Specifications 3 5 External Regeneration Resistor Specifications R88A RR220478S1 i Regeneration pools Torn absorption for Heatradiation Model tance val nal ca
402. on command after Input position command the smoothing filter process Speed Target speed Vc Vc x 0 632 Vc x 0 368 3222 hex x 0 1 ms Filter switching dwell time 2 1 The error in the position command filter time constant is 0 4 max absolute error for less than 100 ms and 0 2 max relative error for 20 ms or greater for the set value times 0 1 ms 2 The Position Command Filter Time Constant 3222 hex is switched when the position command value per 0 250 ms changes from 0 to a value other than 0 while the positioning completed output is ON 3 There is a delay from when the Position Command Filter Time Constant 3222 hex is changed until the new value is applied in internal calculations If the filter switch wait time expires during this delay the change may be placed on hold OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 20 sjoe qo JojeuieJeg OMS uo s rejeg Details on Servo Parameter Objects 9 4 Analog Control Objects 9 4 Analog Control Objects 3323 hex External Feedback Pulse Type Selection csp full Setting 0 to 2 Unit Default Data R range setting attribute Size 2 bytes INT16 PDO map Not possible Select the external encoder type Be sure that the setting conforms to the external encoder which is actually used Refer to 6 6 Fully closed Control on page 6 12 Explanation of Set Values B D t A A Serial communications type
403. on where exposure to radioactivity may occur Location near power supply lines Using the Servo Drive in any of these locations may result in equipment damage Connect an immediate stop relay in series with the brake control relay Injury or failure may result When connecting the battery make sure the polarity is correct Battery damage or explosion may result pDPbpPPPPPPPPPPD OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 Safety Precautions Operation and Adjustment PDPPPPPPbPPb N Caution Conduct a test operation after confirming that the equipment is not affected Equipment damage may result Before operating the Servo Drive in an actual environment check if it operates correctly based on the parameters you have set Equipment damage may result Never adjust or set parameters to extreme values because it will make the operation unstable Injury may result Separate the Servomotor from the mechanical system and check its operation before installing the Servomotor to the machine Injury may result If an error occurs remove the cause of the error and ensure safety and then reset the alarm and restart the operation Injury may result Do not use the built in brake of the Servomotor for normal braking operation Failure may result Do not operate the Servomotor connected to an excessive load inertia Failure may result Install safety devices to prev
404. onal standard OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 32 Specifications 3 3 Servomotor Specifications Characteristics j 3 000 r min Servomotors 100 VAC K05030H K10030L K20030L K40030L tem Unit Kos030T K100808 K20080 K400305 Model R88M Rolormenia ed 2 0 025x10 4 0 051x10 4 0 14x10 4 0 26x10 4 With brake kg m 0 027x107 0 054x10 4 0 16x10 4 0 28x10 4 2 Rated rotation speed 3 000 Maximum rotation speed 6 000 Momentary maximum Kiss 0 48 0 95 1 91 38 torque Momentary maximum A rms 47 10 6 19 5 current 1 l i ie 3 C2 Applicable load inertia 30 times the rotor inertia max Torque constant N m A 0 11 10 0 14 10 0 20 10 0 21 10 P ONST inion kW s 10 1 19 8 28 9 62 3 brake With brake kW s 9 4 25 3 57 8 een Meas oUt 1 43 1 03 0 61 0 48 time brake constant With brake Electrical time constant m 3 o Allowable radial load 88 245 245 Allowable thrust load 58 98 Weight kg Approx 0 31 Approx 0 78 Approx 1 2 kg Approx 0 51 Approx 1 2 Approx 1 6 Radiator plate dimensions material 100 x 80 x t10 Al 130 x 120 x t12 Al Applicable drives R88D KNASL ECT R KNO2L ECT R KNO4L ECT R Brake inertia e 3 2 2x107 1 8x10 9 1 8x10 8 Excitation voltage 24 VDC 10 Power consumption at 20 C f Current consumption at 20 C i ve Static friction torque Nem 0 29
405. ons 4 2 Wiring 4 2 Wiring Peripheral Equipment Connection Examples R88D KNASL ECT R KNO1L ECT R KNO2L ECT R KNO4L ECT R R88D KNO1H ECT R KNO2H ECT R KNO4H ECT R KNO8H ECT R R88D KN10H ECT R KN15H ECT R Single phase Input Single phase 100 to 120 VAC 50 60Hz R88D KNL I IL ECT R Single phase 200 to 240 VAC 50 60Hz R88D KNL IL IH ECT R O O pnm NFB Main circuit contactor 1 C Main circuit power supply omc OFF ON 1MC 2MC 5 4 mit E lu Surge suppressor 1 X 1MC 2MC X i Servo error OMNUC G5 Series AC Servo Drive OMNUC G5 Series AC Servomotor Power cables O3 ALM 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives O4 ALMCOM 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON can be used with all He G5 series motors with brakes because its rated inductive BKIR 10 24 VDC load is 2 A 24 VDC 3 There is no polarity on the brakes 4 Models with a built in Regeneration Resistor KNO4L ECT R BKIRCOM 20 KNO8H ECT R KN10H ECT R and KN15H ECT R have B2 and B3 connected When the amount of regeneration is large remove the connection between B2 and B3 and connect a Regeneration Resistor between B1 and B2 5 There is no Internal Regeneration Resistor for KNA5L ECT R to KNO2L ECT R and KNO1H ECT R to KNO4H ECT R When the amount of regeneration is large connect the necessary Regeneration Resistor
406. ons 12 2 ooueuojure y pue Burjioousoe qnou Troubleshooting and Maintenance 12 1 Troubleshooting 12 3 f Replacing the Servo Drive 1 Take a record of all object settings Use the CX Drive or other software and take a record of the settings of all objects Replace the Servo Drive Set the objects Use the CX Drive or other software and set all of the objects Set up the absolute encoder If a motor with an absolute encoder is used the absolute value data in the absolute encoder is cleared when the Servo Drive is replaced so setup is again required The multi rotation data will be different from before it was replaced so initialize the Motion Control Unit settings For details refer to Absolute Encoder Setup on page 10 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 2 Warnings 12 2 Warnings This function outputs a warning signal and notifies state such as an overload before an error occurs Set whether to hold warning state by setting the Warning Hold Selection 3759 hex If not holding warnings is selected a warning will be cleared automatically when the cause of the warning has been eliminated If holding warnings is selected the normal procedure to clear errors must be performed after removing the cause of the error Battery warnings however are held in the encoder The error will be cleared once the hold state has been cleared in the e
407. ont Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 70 172 4 5 2 20 4 a e Rectangular 2 Y hole T 00 0 1 aa Oli OO LI 00 P 67 20 40 Rectangular hole dimensions are reference values F28 M OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 24 q 1 u13 x4 pue sjopo y SUOISU9UII Models and External Dimensions 2 4 External and Mounting Dimensions Single phase 3 phase 200 VAC R88D KN10H ECT R KN15H ECT R 900 W to 1 5 kW Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 5 2 0 Rectangular hole 170 158 88 ER Rectangular hole dimensions are reference values 2 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 3 phase 200 VAC R88D KN20H ECT R 2 kW Wall Mounting External dimensions Mounting dimensions 86 pup Front Mounti
408. ooting Error No hex Cause Measures Encoder A disconnection was detected because Wire the encoder correctly as shown in the Communica communications between the encoder wiring diagram Correct the connector pin tions Discon and the Servo Drive were stopped more connections nection Error frequently than the specified value Encoder There was a communications error in data Provide the required encoder power Communica from the encoder There was a data error supply voltage 5 VDC 5 4 75 to 5 25 tions Error mainly due to noise The encode cable is V Be careful especially when the connected but a communications data encode cable is long error occurred If the Servomotor cable and the encoder cable are bundled together separate them Connect the shield to FG Encoder No communications error occurred with Provide the required encoder power Communica the data from the encoder but there is an supply voltage 5 VDC 5 4 75 to 5 25 tions Data error in the contents of the data There V Be careful especially when the Error was a data error mainly due to noise The encode cable is long encode cable is connected but a If the Servomotor cable and the communications data error occurred encoder cable are bundled together separate them Connect the shield to FG Check to see if the Servomotor rotates Overflow of the Following error window 6065 hex according to the position command Motor operation does not
409. operating temperature is the temperature at a point 5 cm from the motor I Impact and Load The motor is resistant to impacts of up to 98 m s Do not apply heavy impacts or loads during transport installation or removal of the motor When transporting the motor hold the motor body itself And do not hold the encoder cable or connector areas Failure to follow this guideline may result in damaging the motor Always use a pulley remover to remove pulleys couplings or other objects from the shaft After assembly secure cables so that there is no impact or load placed on the cable outlet OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 2 uDisoq uiejs g System Design 4 1 Installation Conditions Connecting to Mechanical Systems For the allowable axial loads for motors refer to Characteristics on page 3 2 If an axial load greater than that specified is applied to a motor it may reduce the limit of the motor bearings and may break the motor shaft When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity and declination For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree of precision for example JIS class 2 normal line pitch error of 6 um max for a pitch circle diameter of 50 mm If the gear preci
410. or Speed 5 000 r min 10 to 10 V Output voltage V eld re Feedback Motor 1 0 to 10V Speed 5 000 OV 5 000 r min 10 V OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 5 Interface Monitor Settings Set VES Output range Data output Output voltage V 10V Feedback 0to 10 V SVF Motor 5 V as a center Speed OVIS 0 2 500 r min 2 500 10 V 3434 hex Zero Speed Detection mend 10 to 20000 Unit r min ed Dala range setting attribute Size 2 bytes INT16 Access Access RW PDO map Not possible Set the output timing of the Zero Speed Detection Output ZSP as rotation speed r min The Zero Speed Detection Output ZSP turns ON when the motor speed is lower than the set value of this object The set value of this object is valid in both forward and reverse directions regardless of the actual motor rotation direction The setting has a hysteresis of 10 r min Refer to Control Output Details on page 3 20 for the Zero speed detection output ZSP Forward operation Speed 3434 hex 10 r min 3434 hex 10 r min lt Reverse operation OUTM1 ON OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 28 sjoe qo JejeuieJeg oAJeg uo s rejeg Details on Servo Parameter Objects 9 5 Interface Monitor Sett
411. orward function Position Control Fully closed Control Set value Forward torque limit value Reverse torque limit value Torque FF PCL ON PCL OFF NCL ON NCL OFF 0 1 60E0 hex 60E0 hex 60E1 hex 60E1 hex 60EO0 hex 60E1 hex 60E0 hex 60E1 hex sjoe qo 1ojeuieJeg OAIBS uo s rejeg N OO Oy A Wy N Disabled 60E0 hex 3525 hex 60E0 hex 3526 hex 60E0 hex 3525 hex 60E1 hex 1 When either the external input signal PCL or NCL or the EtherCAT communications torque control command P CL or N CL is ON 2 When both the external input signal PCL or NCL or the EtherCAT communications torque control command P CL or N CL are OFF 60E1 hex 3526 hex When this object is set to 0 or 1 the Forward and Reverse Torque Limit Inputs are restricted by the Positive torque limit value GOEO hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 36 9 6 Extended Objects 3525 hex Forward External Torque Limit esp SEM 0 to 5000 Unit 0 1 El oo ide range setting attribute Size 2 bytes INT16 Aces RW PDO map Not possible 1 It is limited by the maximum torque of the connected motor Set the forward external torque limit for the torque limit switching input This object is set in units of 0 1 of the rated torque 3526 hex Reverse External Torque Limit csp oed 0 to 5000 Unit 0 1 peat digg Pala range setting attribute Size 2 bytes IN
412. other Drives The default setting is 126 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 84 for other Drives OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 8 xipueddy Appendix A 1 Object List em aae POMAR EPROM Noren 2 Fregueney Seting zenes NTTO B Not poste Poste 2 bytes INT16 OB Not possible Possible Zoyes UNTIOJ B Notpossiie Posse Index 3204 hex 3205 hex 3206 hex 3207 hex 3208 hex 3209 hex 3210 hex 3211 hex 3212 hex 3213 hex 3214 hex 3215 hex 3216 hex 3217 hex o o o o bD 7 z D o 8 Retna Ponti Deme ZSeMNTIO 5 Niposti Posie DemwrgHiteriSeg atves inre 8 Wopasie Posti Damping Freeney zeves inre 5 Woposse Fonti DampingFiter2Seting 2byte INT16 Not possible Possible o Notch 4 Depth Setting 2 byte 0 Z Z as D D o o o o o o o o La aa aM LL il il o 3221 hex RA Damping Filter 4 Setting 2 byte 3222 hex 0 Position Command Filter Time Constant 2 bytes INT16 OB Not possible 0 External Feedback Pulse Dividing Numerator 4 bytes INT32 o INT16 RO Not possible Not possible TS 5 Not posete Fonti 3325 hex 3326 hex 3327 hex 3324 hex NTIS External Feedback Pulse Phase Z Setting 2 bytes INT16 p Following Er
413. ou can achieve highly accurate positioning by configuring a fully closed control system Outline of Operation Host Controller with Servo Drive EtherCAT Communications R88D KNLT ECT R Position Control Unit CJ1W NCLJ8 Target position 607A hex command units Electronic gear forward conversion Motor current 6091h 01h External feedback nterna pulse dividing ratio circuits Position actual internal Electronic gear value 6063 hex EY ETOT COM EEEN external encoder units Position actual value 6064 hex command units EN Reference If the Gear ratio 6091 01 and 6091 02 hex is 1 1 1 command unit from the Target position 607A hex is equivalent to a movement of 1 external encoder pulse g Z lt D y O h D Example for an External Encoder with a Resolution of 0 1 um Gear ratio 6091 01 and 6091 02 hex of 1 1 The external encoder executes positioning for 10 um when 100 command units are applied as the Target position 607A hex 100 command units x 1 1 Gear ratio x 0 1 um 10 um Here 100 command units are returned to the host controller as the Position actual value 6064 hex Gear ratio 6091 01 and 6091 02 hex of 1 2 The external encoder executes positioning for 10 um when 200 command units are applied as the Target position 607A hex 200 command units x 1 2 Gear ratio x 0 1 um 10 um Here 200 command units are returned to the host contro
414. ousing 51004 0600 Molex Japan Connector terminal 50011 8100 Molex Japan 1 000 mm 1 m OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications I External Encoder Connector R88A CNK41L Use this connector to connect to an external encoder in fully closed control 42 5 10 5 E t eo co Connector plug model MUF PK10K X J S T Mfg Co Ltd Pin Arrangement View from Inserted Portion View from Soldered Housing Surface 1 Eo Eo 7 2 4 E c Bs Bt Safety I O Signal Connector R88A CNK81S Use this connector to connect to a safety device QD O O e ct O 5 o Pin arrangement HIRA IHEH Note For information on wiring refer to Safety Connector Specifications CN8 in 3 1 Servo Drive Specifications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Specifications 3 4 Cable and Connector Specifications Control Cable Specifications I Cables for Servo Drives XW2Z J B34 These cables connect to the connector terminal blocks on G5 series Servo Drives with Built in EtherCAT Communications Cable Models Model Length L ale cla of Weight XW2Z 100J B34 Approx 0 1 kg 8 8 dia XW2Z 200J B34 Approx 0 2 kg Connection Configuration and Dimensions Connector Terminal Block Conversion Uni
415. overshooting Use the CX Drive or the analog monitor to measure the response and adjust the gain Match the machine rigidity setting to the load rigidity Adjust the set value of object 3004 hex with the load OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Symptom Vibration is occurring at the same frequency as the power supply The position is misaligned Position misalignment occurs without an error being output OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications There is an error in the coupling of the mechanical system and the Servomotor The gain is wrong The load inertia is too large Inductive noise is occurring Check to see if the drive control signal lines are too long Check to see if the control signal lines and power supply lines are bound together Check to see if the coupling of the mechanical system and the Servomotor is misaligned Check the load inertia Check the Servomotor rotation speed e The dynamic brake resistance is disconnected 12 4 Troubleshooting Measures Shorten the control signal lines e Separate control signal lines from power supply lines Use a low impedance power supply for control signals Correct the coupling between the mechanical system and the Servomotor Check if manual tuning can achieve proper adjustment
416. ower supply to reset Check the external encoder phase A connection Check the external encoder phase B connection Check the external encoder phase Z connection 83 NN Refer to Troubleshooting Errors Related to EtherCAT Communications on page 12 24 12 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Error No hex 12 4 Troubleshooting Cause Measures Main Immediate An Immediate Stop STOP signal was Check the Immediate Stop STOP signal 87 Stop Input entered wiring 88 Refer to Troubleshooting Errors Related to EtherCAT Communications on page 12 24 90 External Initialization of internal position data was Encoder Data not processed correctly in fully closed Restoration control mode and absolute value mode Error Encoder Data Initialization of internal position data was Restoration not processed correctly in semi closed Error control mode and absolute value mode Object Setting Error 1 Electronic gear ratio exceeded the allowable range Provide the required encoder power supply voltage 5 VDC 5 4 75 to 5 25 V Be careful especially when the encode cable is long If the Servomotor cable and the encoder cable are bundled together separate them Connect the shield to FG Provide the required external encoder power supply voltage 5 VDC 5 4 75 to 5 25 V Be careful especially when the external encoder connection cable is long
417. own OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 26 ooueuojure y pue Burjioousoe qnou Troubleshooting and Maintenance 12 27 Symptom The Servomotor rotates in the reverse direction from the command The holding brake does not work Motor rotation is unstable The Servomotor is overheating The machine position is misaligned 12 4 Troubleshooting The value set in the Rotation Direction Switching 3000 hex is incorrect The command given by the host controller is incorrect Power is supplied to the holding brake The Servomotor power cable or encoder cable is wired incorrectly Low rigidity is causing vibration The load s moment of inertia exceeds the Servo Drive s allowable value Loose joint and or large clearance with the machine The load and gain do not match The ambient temperature is too high The heat radiation condition for the Servomotor is inappropriate The Servomotor is overloaded The Servomotor vibrates during rotation The coupling of the Servomotor axis and the machine is abnormal The host controller gave a Check the control ladder deceleration stop command program in the host controller OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Check the set value of object 3000 hex The size of the absolute command is set incorrect
418. p E E ee ISI L ba E With absolute encoder R88M K05030T R88M K10030S R88M K20030S R88M K40030 S R88M K05030T R88M K10030T R88M K20030T R88M K40030T R88M K75030T R88M K1K030T R88M K1K530T R88M K2K030T R88M K3KO030T R88M KAKO03OT R88M K5KO030T R88M K75030C R88M K1K030C R88M K1K530C R88M K2K030C R88M K3K030C R88M K4K030C R88M K5K030C L suoisueuiiq EUuJ9 X3 pue s epolNy ES esp es EI eds op E P ese EE Load EJ E34 a Servo Drive R88D KNASL ECT R R88D KNO1L ECT R R88D KNO2L ECT R R88D KNO4L ECT R R88D KNO01H ECT R R88D KNO1H ECT R R88D KNO2H ECT R R88D KNOAH ECT R R88D KNO8H ECT R R88D KN15H ECT R R88D KN 15H ECT R R88D KN20H ECT R R88D KN30H ECT R R88D KN50H ECT R R88D KN50H ECT R R88D KN10F ECT R R88D KN15F ECT R R88D KN15F ECT R R88D KN20F ECT R R88D KN30F ECT R R88D KN50F ECT R R88D KN50F ECT R Use these combination with caution because the Servo Drive and Servomotor have 2 10 2 3 Model Tables I 2 000 r min Servomotors and Servo Drives Servomotor Voltage Rated output 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW 400 W 600 W Single phase 3 phase 200 V 3 phase 200 V 3 phase 400 V With incremental encoder R88M K1K020H R88M K1K520H R88M K2K020H R88M K3K020H R88M K4K020H R88M K5K020H R88M KA40020F R88M K60020F LI LY Fo Ga Uo With absolute encoder R88M K1K020T R88M K1K520T R88M K2K020T
419. page 7 1 Input Signal Selection 2 0 to OOFF FFFF hex Input Signal Selection 3 0 to OOFE FFFF hex Unit Default 0082 8282 Data setting hex attribute 4 bytes INT32 Access RW PDO map Not possible Set the function and logic for general purpose input 3 IN3 Refer to the Details of Control Inputs in Control Input Details on page 3 17 as well as 7 1 Sequence I O Signals on page 7 1 Unit Default 0022 2222 Data C setting hex attribute 4 bytes INT32 PDO map Not possible Set the function and logic for general purpose input 4 IN4 Refer to the Details of Control Inputs in Control Input Details on page 3 17 as well as 7 1 Sequence I O Signals on page 7 1 Input Signal Selection 4 0 to OOFF FFFF hex Input Signal Selection 5 Unit Default 002B 2B2B Data C setting hex attribute 4 bytes INT32 PDO map Not possible Set the function and logic for general purpose input 5 IN5 Refer to the Details of Control Inputs in Control Input Details on page 3 17 as well as 7 1 Sequence I O Signals on page 7 1 0 to OOFF FFFF hex Input Signal Selection 6 Unit Default 0021 2121 Data C setting hex attribute 4 bytes INT32 PDO map Not possible Set the function and logic for general purpose input 6 IN6 Refer to the Details of Control Inputs in Control Input Details on page 3 17 as well as 7 1 0 to OOFF FFFF hex 9 24 sjoe qo JojeuieJeg oAJeG uo s rejeg Details on Servo Parameter Objects 9
420. phase 100 VAC 50W R88D KNA5L ECT 0000 0001 hex 100W R88D KNO1L ECT 0000 0002 hex 200 W R88D KNO2L ECT 0000 0003 hex 400 W R88D KNO4L ECT 0000 0004 hex 100W R88D KNO1H ECT 0000 0005 hex 200 W R88D KNO2H ECT 0000 0006 hex Sinclesohasela haeo 400 W R88D KNO4H ECT 0000 0007 hex 200 VAC 750W R88D KNO8H ECT 0000 0008 hex 1kW R88D KN10H ECT 0000 0009 hex 1 5kW R88D KN15H ECT 0000 000A hex 600 W R88D KNO6F ECT 0000 000B hex 3 phase 400 VAC 1kW R88D KN10F ECT 0000 000C hex 1 5 kW R88D KN15F ECT 0000 000D hex Sub index 3 Revision number gives the device revision number Bits Description 0 to 15 Device s minor revision number 16 to 31 Device s major revision number Sub index 4 Serial number is not used A value of 0000 0000 hex is always given 6 25 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 10F0 hex Backup parameter mode All Sub index 0 Number of entries Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Backup parameter checksum Size 4 bytes U32 Aces RO PDO map Not possible Sub index 2 Backup parameter changed Size 1 bit BOOL PDO map Not possible This object gives the state of EEPROM changes Sub index 1 Backup parameter checksum gives the EEPROM s checksum value The checksum value is calculated based on objects saved for Store parameters 1010 hex Sub index 2 Backup pa
421. pose Output 1 Common OUTM1COM Pin 25 General purpose Output 2 OUTM2 Servo Ready Output READY Pin 26 General purpose Output 2 Common OUTM2COM Note The functions that are allocated by default are given in brackets Refer to the description in Output Signals in 7 1 Sequence I O Signals on page 7 1 for the allocations Servo Ready Completed Output READY This output signal indicates the Drive is ready to be energized It turns ON when no error is detected after the main circuit power supply turns ON With the default settings the output is allocated to pins 25 and 26 Brake Interlock Output BKIR The Brake Interlock Output outputs the external brake timing signal according to the settings of the Brake Timing When Stopped 3437 hex the Brake Timing During Operation 3438 hex and the Brake Threshold Speed During Operation 3439 hex With the default settings the output is allocated to pins 1 and 2 Positioning Completion Output 2 INP2 INP2 will turn ON when the position error is equal to or less than Positioning Completion Range 2 3442 hex With the default settings the output is not allocated Torque Limit Output TLIMT The output turns ON when the output torque reaches the limit set in the Positive torque limit value 60E0 hex or the Negative torque limit value 60E1 hex With the default settings the output is not allocated 3 21 OMNUC G5 series AC Servomotors and Servo Drives User s M
422. positioning control 8 Positioning Completed 2 INP2 Within positioning proximity range during positioning control Commands cannot be accepted 9 Servo Ready CMDRDY during processing 1 Not supported in Cyclic synchronous position mode csp Commands can be accepted OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 34 Drive Profile 6 7 Object Dictionary 2 When Servo Ready is 0 one of the following operations is being processed It changes to 1 when all processing has been completed Writing to object using SDO mailbox communications Executing Config 4100 hex Resetting Warning Error Executing Error History Clear 2100 hex Executing Backup parameter changed 10F0 hex Sub 02 hex Executing Save all parameters 1010 hex Sub 01 hex Executing Restore all default parameters 1011 hex Sub 01 hex Executing Absolute Encoder Setup 4102 hex From when a Servo ON command Enable operation is accepted until the Servo ON state is reached From when a Servo OFF command Disable operation shutdown or Disable voltage is accepted until the Servo OFF state is reached 4100 hex Config ee 0000 0000 G un FFFF wf m BD E Size 4 bytes U32 Aces RW PDO map Not possible This object enables changing objects with data attribute C This function can be executed by writing 666e 6f63 hex using SDO mailbox communications The Servo wil
423. r 8 Safety Function 8 1 Sale Torque OFF FUNCUON ssec ion a cri ad rep aa e o eant 8 1 1 Signal Decl allOfiSi eant anestaisc dons Sus tuo e aE seesaw outta died 8 2 8 2 Operation ExX3mple ssssex nidevbpe VEvbds vede tui FRU vet IP Ga 8 4 6 3 CONNECCION EXAMP ES arsena A O 8 6 Chapter 9 Details on Servo Parameter Objects 9 T BaSe oellllijSeeedsutuisnis R oi Dueb LR restate 9 1 9 2 Gal OebtlhidS cessa ncm S a a n diede 9 6 9 3 Vibration Suppression Settings cccceecseceeeeeeeteeeeeeeseteeeteeeeeetaeees 9 15 9 4 Analog Control OD GCIS erson aec eee tive vae tere Deos eva on eed 9 21 9 5 Interface Monitor SettingS ccccccceccsececeeeceeeceeeeseeeeeeeseeeseeeseneeseees 9 24 95b Extended ODJECE ucticsccniodatiusmte cu ddu E uot tena de 9 32 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 19 Table Of Contents 9 7 9 8 Special ODJECIS serce ee ETT E 9 38 Reserved ODICCIS uet iain Dieta banum alice Du uie babs 9 50 Chapter 10 Operation 10 1 Operational ProCeCure ccccccccecccsecseeteeeceeeteeesseeseeseeeteeesetseeseeenaes 10 1 10 2 Preparing for Operation cccceecceecseeceeeceeteceeseeseeteeeeeeeeeeteeneenaes 10 2 Items to Check Before Turning ON the Power Supply eeeeeeeeeeese 10 2 Turning ON the Power Supply i dacsimacddetus eucdet t en o ue i Eam den the Ec E qe p nip baa 10 3 Checking the Displa
424. r an encoder signal used during fully closed control l EtherCAT Communications Connectors ECAT IN and ECAT OUT These connectors are for EtherCAT communications f Analog Monitor Connector CN5 You can use a special cable to monitor values such as the motor rotation speed torque command value etc USB Connector CN7 Communications connector for the computer f Safety Connector CN8 Connector for safety devices If no safety devices are used keep the factory set safety bypass connector installed Features and System Configuration 1 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 4 System Block Diagram 1 4 System Block Diagram This is the block diagram of the OMNUC G5 series AC Servo Drive with Built in EtherCAT Communications Internal Regeneration Resistor Regeneration Overcurrent control detection MPU amp ASIC Position speed and torque calculation control area e PWM control Display and setting circuit area control power supply HmoNoo nnw lt lt lt c lt O T N D lt L O OA Cooling fan External encoder Control Encoder interface Analog USB monitor Safety 1 For 200 VAC models of 1 kW or higher or 400 VAC models only OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 1 6 uoneinbijuoy uie s S pue sainjee4 Features and Sy
425. r deg cct vu cic 1 4 Servo Drive FUNCTIONS uec ner eet mer act Ee cL eI CD LLLA UL E LE Rr I al 1 5 t4 System Block DIagE dlTiscs uet ao pibe edis icu eun RN Ua cma Es at anaes 1 6 125 Applicable Standards cassette ttes ote eu tato NER edes ad enean p ctu n 1 7 EC DIFeclVOS uccisi Ee eu oni ined MALLA E D M CUI DD DM AA LES ERE 1 7 Gand euk Standards suisse emisse ua cv eee eee ede a neteuatatur aims arenes 1 7 Chapter 2 Models and External Dimensions 2 1 Servo System Configurators 2 1 2 2 Howto Read Model Numboers seem IRR IRR 2 3 BGI NONE HER D EROR O Ml Lc TR Re EE A E HEURE 2 3 elsi 40 001910 Ss NEMO EE 2 4 2 3 Model Tables at viui rs pedit ses cx c ads adv a Kebuv een uot YO E Publ ad 2 5 oervo Dive Model Table k o e ee ao re e Eo noe EE ee bee ze b ec ot be dou ups cu aes 2 5 Servomotor Motel Tables 2 rnc encima roce a ste Cobos PIX PROTON 2 6 Servo Drive and Servomotor Combination Tables esee 2 10 Cable and Peripheral Device Model Tables eeeeeeeseeeeeeeeeeeeeee 2 12 2 4 External and Mounting Dimensions eeeeeeeeeneereeenene 2 21 oervo Dive DIMENSIONS s aiedseio is poe vo e ope cue alive atc in dau eth es 2 21 Servomotor Dimensions cccececcccececcecceccucccececceaceneneaceneeaeeneneuteneneueenenencanentanenes 2 31 External Regeneration Resistor Dimensions eeeeseeseeseeeeeeneerneene 2 5
426. r immediately OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 12 ooueuojure y pue Burjioousoe qnou Troubleshooting and Maintenance 12 4 Troubleshooting 12 4 Troubleshooting lf an error occurs in the machine determine the error conditions from the error displays and operation state identify the cause of the error and take appropriate measures Troubleshooting with Error Displays Error List Error No hex Cause Measures Control The voltage between the positive and Measure the voltage between the L1C Power Supply negative terminals in the control power and L2C lines on the connectors and the Undervoltage supply converter dropped below the terminal block specified value e The power supply voltage is low A e Increase the power supply voltage 11 momentary power interruption occurred Change the power supply e Insufficient power supply capacity the Increase the power supply capacity power supply voltage dropped because there was inrush current when the main power supply was turned ON e The Servo Drive is faulty circuit fault Replace the Servo Drive Overvoltage The power supply voltage exceeded the Measure the voltage between the allowable input voltage range causing the connector L1 L2 and L3 lines Input the voltage between the positive and negative correct voltage Remove the phase terminals in the converter to exceed the advanc
427. r side connector Connector model or Straight plug model 55100 0670 Molex Japan AWG17 x 2C AWG24 x 2P JN2DS 10SL2 R Japan Aviation Electronics Cable clamp model JN1 22 225 10000 Japan Aviation Electronics OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 58 suoneoyioodg Specifications 3 4 Cable and Connector Specifications Absolute Encoder Battery Cable Specifications Use the following Cable when using an absolute encoder I Cable Model Model Length L Weight R88A CRGDOR3C 0 3m Approx 0 1 kg Connection Configuration and External Dimensions 43 5 300 43 5 Servo Drive side Servomotor side Trn R88D KO lt 3 59 18 8 D R88M KO Battery holder Wiring Servo Drive side Servomotor side ats ett 3 orangerwnite L O 3 Shell PAS eee Shell FG Connector socket 54280 0609 Molex Japan Connector plug 55100 0670 Molex Japan OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications Motor Power Cable Specifications These cables connect the Servo Drive and the Servomotor Select the cable matching the Servomotor The cables listed are flexible shielded and have IP67 protection Power Cables without Brakes European Flexible Cables R88A CAKAL I SR E Cable types 100 V and 200 V For
428. rCAT Communications 4 3 Wiring Conforming to EMC Directives Selecting Connection Component This section explains the criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable range when selecting the connection components For more details contact the manufacturers directly i No fuse Breaker NFB When selecting a no fuse breaker consider the maximum input current and the inrush current Maximum Input Current The momentary maximum output of Servo Drive is approx 3 times the rated output and can be output for up to 3 seconds Therefore select no fuse breakers with an operation time of at least 5 seconds at 300 of the rated current ratio General and low speed no fuse breakers are generally suitable Select a no fuse breaker with a rated current greater than the total effective load current of all the motors when multiple Servo Drives are used The rated current of the power supply input for each motor is provided in Main Circuit and Motor Connections P 4 12 Add the current consumption of other controllers and any other components when selecting Inrush Current The following table lists the Servo Drive inrush currents With low speed no fuse breakers an inrush current 10 times the rated current can flow for 0 02 second When the power of multiple Servo Drives are turned ON simul
429. rCAT Communications Nominal cross Configura AWG size sectionalarea tion wires mm mm 4 2 Wiring Terminal Block Wiring Procedure On a Servo Drive with 2 0 kW or less connector type terminal blocks are used The procedure for wiring these terminal blocks is explained below Connector type terminal blocks Example of R88D KNO2H ECT R 1 Remove the terminal block from the Servo Drive before wiring The Servo Drive may be damaged if the wiring is done with the terminal block in place 2 Strip off 8 to 9 mm of the covering from the end of each wire Refer to Terminal Block Wire Sizes on page 4 17 for applicable wire sizes o9 mm 3 Open the wire insertion slots in the terminal block using a tool There are 2 ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Servo Drive Figure A Insert a flat blade screwdriver end width 3 0 to 3 5 mm into the opening for the driver on the terminal block and press down firmly to open the slot Figure B uDisoq uiejs g Figure A Figure B 4 With the wire insertion slot held open insert the end of the wire After inserting the wire let the slot close by releasing the pressure from the lever or the screwdriver 5 Mount the terminal block to the Servo Drive After all of the terminals have been wired return the terminal block to its original position on the Servo Drive OMNUC G5 series AC Servomo
430. rameter changed gives 1 when the EEPROM is changed After you have checked that it is 1 write O to it from the Master 10F3 hex Diagnosis history All Sub index 0 Number of entries Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Maximum messages Size 1 byte U8 Aces RO PDO map Not possible Sub index 2 Newest message Size 1 byte U8 Aces RO PDO map Not possible Sub index 5 Flags Range 0000 to 0001 hex Unit fo Default 0000 hex Attribute A Size 2 bytes U16 PDO map Not possible Sub indexes 6 to 19 Diagnosis messages 1 to 14 Size 16 bytes VS Aces RO PDO map Not possible This object gives up to 14 error history items It also enables disables emergency messages Sub index 1 Maximum messages gives the number of error messages Sub index 2 Newest message gives the sub index where the latest error history is saved Sub index 5 Flags sets whether or not to notify the error history as an emergency message It is set to Emergency Message Disabled 0000 hex when power is turned ON Write 0001 hex from the master to enable this function Sub indexes 6 to 19 Diagnosis messages 1 to 14 give the error history The error history is saved in Diagnosis messages 1 to 14 in ascending order When the 15th error is reached it is saved as Diagnosis message 1 and the sequence starts again OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communi
431. rated rotation speed The description starts with a Servomotor of the smallest capacity which is followed by the next smallest and so on 3 000 r min Servomotors 100 V and 200 V 50 W 100 W without Brake R88M K05030H S2 K10030L S2 R88M K05030T S2 K10030L S2 WEJ Encoder connector Motor connector Shaft end specifications with key and tap 25 12 5 me ee of eo ph M3 depth 6 R88M K05030 R88M K10030 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 31 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 50 W 100 W with Brake R88M K05030H B S2 K10030L1 B S2 Te R88M K05030T B S2 K10030L1 B S2 Encoder connector Brake connector Motor connector ely z M3 depth 6 R88M K05030 R88M K10030 B B Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 32 suoisueuiiq JEUuJ9 X3 pue sjepolNy Models and External Dimensions 2 4 External and Mounting Dimensions 200 W 400 W without Brake R88M K20030 1 S2 K4003
432. re established OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 8 uonejJoedo Adjustment Functions This chapter explains the functions setting methods and items to note regarding various gain adjustments 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 11 10 11 11 11 12 Analog Monitor ene RR 11 1 Gain Adjustment eicere e aru eo rae a Econ erue 11 4 Realtime Autotuning 11 6 Manual TUNING sssini irnata saaa 11 13 Damping Control 11 15 Adaptive Fier sirrinin a e E 11 18 NOICD FINES riain ies 11 21 Disturbance Observer Function 11 24 Friction Torque Compensation Function 11 26 Hybrid Vibration Suppression Function 11 28 Feed forward Function 11 29 Instantaneous Speed Observer Function 11 32 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 1 Analog Monitor 11 1 Analog Monitor Two types of analog signals can be output from the analog monitor connector on the front panel They are used when the monitoring is required for adjustment The monitor items to be output and the scaling output gain can be set as required for each of the objects The refresh period of the analog monitor is 1 ms The analo
433. request command is received via EtherCAT communications The above example shows when there is no brake release request from EtherCAT communications The BKIR signal is assigned to the general purpose output CN1 Note After the error has been reset the system enters the servo OFF state motor not energized To turn ON the servo send a servo ON command again after resetting the error according to the above timing 7 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 6 Electronic Gear Function 7 6 Electronic Gear Function This function controls the position by using the value multiplied the position command entered on the Host Controller by the preset electronic gear ratio The functions is used in the Position Control and Fully closed Control modes This applies only when the communications cycle is 1 2 or 4 ms For communications cycles for which the electronic gear is not supported 250 or 500 us a Function Setting Error Error No 93 4 will occur if the electronic gear is enabled When connected to an OMRON CJ1W NCL181 LJ82 Position Control Unit the electronic gear ratio is set in the Position Control Unit Set the electronic gear ratio in the Servo Drive to 1 1 Objects Requiring Settings Index Sub index Name Explanation Reference Set the numerator of the electronic gear ratio If the set value is 0 the encoder resolution is automatically set a
434. resonance frequency 2 that is assumed by the adaptive filter is automatically set If no resonance point is found the value 5000 is set Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3211 hex Notch 4 Width Setting Setting Default Data Size 2 bytes INT16 Access Aces RW PDO map Not possible Select the notch width of resonance suppression notch filter 4 Increasing the setting value widens the notch width Normally use the default set value This object is automatically set when two adaptive filters are enabled Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3212 hex Notch 4 Depth Setting Setting Default Data Size 2 bytes INT16 Access Aces RW PDO map Not possible Set the notch depth of resonance suppression notch filter 4 Increasing the setting value shortens the notch depth and the phase lag While the adaptive filter is enabled this object is set automatically Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3213 hex Damping Filter Selection Setting Default Data Size 2 bytes INT16 Aces RW PDO map Not possible Set the method to switch among four damping control filters Explanation of Set Values Set Vale Explanation 0 Up two damping filters damping filters 1 and 2 can be used at the same time 1 Reserved for manufacturer use 2 Reserved for manufacturer u
435. ression FUNCTION eeeeeesessee 11 28 Opera NO COMNGITOMS si siirsicsivncd dacs Do C Date teta Role heo peat doeet etti needed Vl fa ua ib dead 11 28 ODIEGCIS REQUIFING Seng S aaaea nte iote vr o nbi eus oA Pus SU Ur ei Fb Reb e EP Qe 11 28 COST ATI Te OG CCU Os ce eel in tite abil dude t bts dues in bbe cpa Cute tated 11 28 11 11 Feed forward Function ccccccccecceeeeeeeeeeceeeeeteeeteeeeeeeeeeneeneeenes 11 29 ODIECIS REGUITING SCUINGS reas eel Ve devel Mer edo asus ciu eeu Rd IS pae CER Vi Qus E ades 11 29 Operating PFOCSQUES civita oem ete tote pt acean UP Erde duiskom alts a ic 11 30 11 12 Instantaneous Speed Observer Function 11 32 Operating Conditions cun etel ncs met tid raise lth tmd bol Oa exu du tes Nau Dt E E 11 32 Objects Requiring Settings ec ccc cece eeceeceeeee cece eeeseeaeeteeeeeeneeeteeeeeeseeeseeteneneess 11 32 OperatiDo Froced rG eR EE T M ee 11 33 Chapter 12 Troubleshooting and Maintenance 1221 TROUDISSNOOUING me 12 1 Preliminary Checks When a Problem Occurs ccccccseecceeeceeeeseeeseeeeeeeeseeeaeeeseeees 12 1 Precautions When a Problem Occurs ccccceccceeceeeeeceeeseeeeaeeeaeeeseeeeseeeaueeseeesnees 12 2 Replacing the Servomotor or Servo Drive seeseseseesseeeeenee nennen 12 2 12 2 V ANNO fett CE 12 4 Related ODJECIS SNR UO MN a a
436. ring machine operation 3004 hex Inertia Ratio Setting 0 to 10 000 Unit Default Data range setting attribute Size 2 bytes INT16 n mw PDO map map Not possible Set the load inertia as a percentage of the motor rotor inertia 3004 hex Load inertia Rotor inertia x 100 When realtime autotuning is enabled the inertia ratio is continuously estimated and saved in EEPROM every 30 minutes If the inertia ratio is set correctly the setting unit for the Speed Loop Gain 1 3101 hex and Speed Loop Gain 2 3106 hex is Hz If the Inertia Ratio 3004 hex is set larger than the actual value the setting for speed loop gain will increase If the Inertia Ratio 3004 hex is set smaller than the actual value the setting for speed loop gain will decrease 3015 hex Operation Switch when Using Absolute Encoder Setting 0 to2 Unit Default Data range setting attribute Size 2 bytes INT16 Access RW PDOmap PDO map map Not possible Set the operating method for the 17 bit absolute encoder Explanation of Set Values Set value Description 0 Use as absolute encoder 1 Use as incremental encoder 2 Use as absolute encoder but ignore multi rotation counter overflow 9 3 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 1 Basic Settings 3016 hex Regeneration Resistor Selection Setting Default Data Size 2 bytes INT16 Access RW PDOmap PDO m
437. rive process data The contents of the process data are described in the PDO Mapping object and the Sync manager PDO assignment object OMNUC G25 series Servo Drives support PDO mapping for position control Servo Drive 5 PDO Mapping Settings EtherCAT Communications The PDO mapping indicates the mapping for application objects realtime process data between the object dictionary and PDO The number of mapped objects is described in sub index 0 of the mapping table In this mapping table 1600 hex to 17FF hex are for RxPDOs and 1A00 hex to 1BFF hex are for TxPDOs G5 series Servo Drives use 1701 hex for RxPDOs and 1B01 hex for the TxPDOs The following table is an example of PDO mapping Object Dictionary Sub Object contents HZzzn oth 6rTTh TTh 8 ES 1ZZZh 02h 6UUUh UUR 1ZZZh 03h YYYYh YYh PDO Length 32 bits Mapping objects er 2 a Object A Object B Object D PDO 1 Object A T g 6TTTh 6UUUh Object B 5 6Vvvh Object C amp 6YYYh YYh Object D 6ZZZh Object E Q lt EN 5 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 4 Process Data Objects PDOs Sync Manager PDO Assignment Settings A Sync manager channel consists of several PDOs The Sync manager PDO assignment objects describe how these PDOs are related to the Sync Manager The number of PDOs is given in sub index 0 of
438. rning cleared n M M M M M M CC CC NT n sSssccscc ccosnc cc NM NNNM Error Display Warning Display The main error code flashes as a decimal example for an overload The hexadecimal warning code and the normal display are displayed alternately example for an overload gt AG 10 G Warning code Normal code for 2 s for approx 4 s 1 OL will flash when a Safety Input Error Error No 30 0 occurs Jii does not flash on the display EtherCAT Status Indicators Check the status of the status indicators If the RUN indicator will not turn ON or the ERR indicator will not turn OFF refer to Status Indicators on page 5 2 and check the status Operation 10 5 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 2 Preparing for Operation Absolute Encoder Setup EEJ You must set up the absolute encoder if using a motor with an absolute encoder The setup is required when you turn ON the power supply for the first time when an Absolute Encoder system Down Error Error No 40 occurs or when the encoder cable is disconnected and then connected again To use an absolute encoder set the Operation Switch when Using Absolute Encoder 3015 hex to 0 or 2 factory setting Refer to the SYSMAC CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Unit Operation Manual Cat No W487 and to information on Absolute Encoder Setup 4102 hex to set up the a
439. rom the Host Controller with the electronic gear ratio Motor revolutions Set the numerator of the 0 to 6091 01 hex electronic gear ratio for the 1 073 741 824 command pulse input Shaft revolutions Set the denominator of the 1 to 6091 02 hex electronic gear ratio for the 1 073 741 824 command pulse input For details on the electronic gear function refer to Electronic Gear Function on page 7 18 External Feedback Pulse Type Selection 3323 Hex 3326 Hex Set the external encoder output type and direction External Select the type of the external encoder to be 0 to 2 Feedback Pulse used Type Selection 0 Encoder with 90 phase difference output 3323 hex 1 Incremental encoder with serial communications 2 Absolute encoder with serial communications External If the count directions of the external encoder Feedback Pulse feedback pulse and the encoder total Direction feedback pulses do not match reverse the Switching external encoder feedback pulse direction in this setting 0 Not reversed 1 Reversed 3326 hex Supported External Encoders The corresponding external encoders for each output type are given in the following table Set value of External encoder Corresponding external encoder Maximum input 3323 hex type examples frequency Encoder with 90 External encoder with phase AB outputs 0 to 4 Mpps After x4 0 phase difference output on Incrementalencoder Sony Manufacturing
440. roperty rights of another party Property Confidentiality Any intellectual property in the Products is the exclu sive property of Omron Companies and Buyer shall not attempt to duplicate it in any way without the written permission of Omron Notwithstanding any charges to Buyer for engineering or tooling all engineering and tooling shall remain the exclusive property of Omron All information and materials supplied by Omron to Buyer relating to the Products are confidential and proprietary and Buyer shall limit distribution thereof to its trusted employees and strictly prevent disclosure to any third party Export Controls Buyer shall comply with all applicable laws regulations and licenses regarding i export of products or information iii sale of products to forbidden or other proscribed persons and ii disclosure to non citizens of regulated technology or information Miscellaneous a Waiver No failure or delay by Omron in exercising any right and no course of dealing between Buyer and Omron shall operate as a waiver of rights by Omron b Assignment Buyer may not assign its rights hereunder without Omron s written consent c Law These Terms are governed by the law of the jurisdiction of the home office of the Omron company from which Buyer is purchasing the Products without regard to conflict of law princi ples d Amendment These Terms constitute the entire agreement between Buyer and Omron relat
441. ror Counter Overflow 4 bytes INT32 Not possible Not possible Not possible 3323 hex External Feedback Pulse Type Selection 2 byte External Feedback Pulse Dividing 4 bytes INT32 Denominator a TO x lt e D A 2 v TI D D Q O O u o D U D O O 2 CD et O 2 2 i oO lt et D o 3328 hex 3329 hex 3400 hex 3401 hex 3402 hex 3403 hex 3404 hex 3405 hex 3406 hex Not possible Not possible nln ala es wr A N Not possible Not possible Z o o Z NO o xw j N o C C C C C C C C A 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 Object List Mess o Seen UM ng mtr coma modos 0 to 1048576 Pn324 csp full 9 9 16000 1 to 134217728 Pna28 osp ful OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 10 xipueddy Appendix A 1 Object List maor fow RN 3416 hex E Analog Monitor 1 Selection 2 bytes INT16 3421 hex 0 Analog Monitor Output Setting 2 bytes INT16 Possible 3439 hex Pide T TTES NOC OPERE DUNNO 2 bytes INT16 Not possible Possible Operation Srnek 0 Poston Conlon Range yl NTSB ore 0 Vorena Roa Tme zeves inr Overspeed Detection Level Setting 2 bytes INT16 i Not possible A l 8 Repose Pest E Nigosti Posi E Perpos Posi NN 8 N
442. rotective functions such as the immediate stop and operational limits are functioning properly Check operation at both low speed and high speed using the system without a workpiece or with dummy workpieces Chapter 10 10 3 Manually adjust the gain if necessary Adjustment Further adjust the various functions to improve the control Chapter 11 performance Operation Operation can now be started Operation If any problems should occur refer to Chapter 12 Troubleshooting Chapter 12 and Maintenance 10 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 2 Preparing for Operation 10 2 Preparing for Operation ERE This section explains the procedure to prepare the mechanical system for operation following installation and wiring of the motor and drive It explains items to check both before and after turning ON the power supply It also explains the setup procedure required if using a motor with an absolute encoder Items to Check Before Turning ON the Power Supply Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below R88D KNA5L ECT R KNO1L ECT R KNO2L ECT R KNO4L ECT R Single phase 100 VAC input Main circuit power supply Single phase 100 to 120 VAC 85 to 132 50 60 Hz Control circuit power supply Single phase 100 to 120 VAC 85 to 132 50 60 Hz R88D KNO1H ECT R KNO2H ECT R KNO4H ECT R K
443. rque Compensation Function Operation Example The friction torque compensation is applied in the input direction of the position command as shown in the drawing below Command speed Forward 3608 hex Forward Direction sn 3609 hex Reverse Direction Torque Offset 3607 hex Torque command as offset Reverse Motor Motor de energized Motor power supply de energized The Torque Command Value Offset 3607 hex reduces the variations of positioning operations due to the movement directions when a certain amount of unbalanced load torque is always applied to the motor at the vertical axis by setting the torque command By setting the friction torque for each rotation direction in the Forward Direction Torque Offset 3608 hex and Reverse Direction Torque Offset 3609 hex you can reduce the deterioration of and inconsistencies in the positioning stabilization time due to dynamic friction for loads that require a large amount of dynamic friction torque due to a radial load such as the belt driven shaft la Precautions for Correct Use You can use unbalanced load compensation and the dynamic friction compensation together or separately The following application limit applies Servo ON The unbalanced load compensation and the dynamic friction compensation values are held until the first position command is input When the position command is input the unbalanced load compensation is updated based o
444. rs Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Synchronization type Size 2 bytes U16 Aces RO PDO map Not possible Sub index 2 Cycle time Range 0 7 Ulit mns Default 0000 0000 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 4 Synchronization types supported Size 2 bytes U16 Aces RO PDO map Not possible Sub index 5 Minimum cycle time Range 0 7 Ulit ms Default 0000 32C8 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 6 Calc and copy time Range 0 7 Ulit mns Default 0006 06F8 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 9 Delay time Range o 07 Uui ns Default 0000 0000 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 32 Sync error Size 1 bit BOOL Aces RO PDO map Not possible The Synchronization type indicates the synchronization mode of Sync Manager 3 0002 hex DC mode 0 The Cycle time indicates the sync 0 event cycle in nanoseconds The Synchronization types supported indicates the types of synchronization supported 0004 hex DC mode 0 The Delay time is not supported It reads as 0000 0000 hex The Sync error is 1 when there is a synchronization error OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 32 Old eAug Drive Profi
445. rt and applicable EC Directives and UL standards This chapter explains the models of Servo Drives Servomotors and peripheral equipment and provides the external dimensions and mounting dimensions This chapter provides the general specifications characteristics connector specifications and I O circuits of the Servo Drives as well as the general specifications characteristics encoder specifications of the Servomotors and other peripheral devices This chapter explains the installation conditions for the Servo Drive Servomotor and Decelerator wiring methods including wiring conforming to EMC Directives and regenerative energy calculation methods as well as the performance of External Regeneration Resistors This chapter describes EtherCAT communications under the assumption that the Servo Drive is connected to a CJU1W NC281 NC481 NC881 NCF81 NC482 NC882 Position Control Unit This chapter describes the profile that is used to control the Servo Drive This chapter outlines the applied functions such as the electronic gear gain switching and soft start and explains the settings This chapter gives an outline of application functions such as electronic gears gain switching and soft start and explains the settings This chapter explains the set values and contents of each object This chapter gives the operating procedures and explains how to operate in each mode This chapter explains the functions setting methods
446. rver in bit 1 0 Disabled 1 Enabled oet the operating conditions for enabling the function in bit 2 0 Enabled at all time 1 Enabled only when gain 1 is selected Set the Disturbance Observer Filter Setting 3624 hex oet a small value for the Disturbance Torque Compensation Gain 3623 hex Change the value in the Disturbance Observer Filter Setting 3624 hex from a large value gradually to a smaller one The smaller the value set of the Disturbance Observer Filter Setting 3624 hex is the lesser disturbance torque lag can be estimated and the more effective control over the disturbance influence can be obtained But the smaller the value is the larger the operation noise can be You must consider the balance of these advantage and disadvantage to set a value Set the Disturbance Torque Compensation Gain 3623 hex After you set the Disturbance Observer Filter Setting 3624 hex increase the value of the Disturbance Torque Compensation Gain 3623 hex from a small value to a large value The larger the value set on the Disturbance Torque Compensation Gain 3623 hex is the more effective control over the disturbance influence can be obtained But the larger the value is the larger the operation noise will be Set this object in combination with the Disturbance Observer Filter Setting 3624 hex to achieve balanced settings OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications
447. rvo off or to stop the error when a main power error occurs Explanation of Set Values Set Explanation value The servo is turned OFF based on the setting of the Shutdown option code 605B hex The servo is then turned back ON when the main power supply is turned ON 1 A Main Power Supply Undervoltage Error Error No 13 1 occurs and operation stops 3509 hex Momentary Hold Time Setting 70 to 2000 Unit Default Data range setting attribute Size 2 bytes INT16 uu m Ros PDO map map Not possible Set main power supply error detection time The main power supply OFF detection is disabled if this object is set to 2000 3511 hex Immediate Stop Torque Setting 0 to 5000 Unit 0 1 Default Data range setting attribute Size 2 bytes INT16 Access Access RW PDO map Not possible Set the torque limit for immediate stops Set the torque limit for the following cases Drive prohibition deceleration with the Stop Selection for Drive Prohibition Input 3505 hex set to 2 When decelerating and the Disable operation option code 605C hex is 8 or 9 When decelerating and the Shutdown option code 605B hex is 8 or 9 The normal torque limit is applied if this object is set to O This object is set in units of 0 1 of the rated torque 3512 hex Overload Detection Level Setting Setting Default Data Size 2 bytes INT16 INT16 PDO map Not possible the overload detection lev
448. rward operation Refer to 11 9 Friction Torque Compensation Function on page 11 26 This object is set as a percentage of the rated torque 3609 hex Reverse Direction Torque Offset Setting 400 to 100 Unit Default Data range setting attribute Size 2 bytes INT16 L4 EL PDO map Not possible Set the value to add to a torque command for reverse operation Refer to 11 9 Friction Torque Compensation Function on page 11 26 This object is set as a percentage of the rated torque 3610 hex Function Expansion Setting Setting 0 to 127 Unit Default 64 Data range setting attribute Size 2 bytes INT16 PDO map Not possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Set the functions by bit Set the decimal value that has been converted from the bits 9 38 sjoe qo 1ojeuieJeg oAJeg uo s rejeg Details on Servo Parameter Objects 9 7 Special Objects In the default settings only the command compensation for communications errors for CSP is enabled The number 64 decimal is 1000 0000 when represented as bits Refer to 11 8 Disturbance Observer Function on page 11 24 and 11 12 Instantaneous Speed Observer Function on page 11 32 i Set value Bit Po 1 bit O Instantaneous speed observer function Disabled Enabled bit 1 Disturbance observer function Disabled Enabled bit 2 Disturbance observer operation setting Enabled at all time Only when gain 1 is selected b
449. s 9 2 Gain Settings 6 When the set value is 10 meanings of the Gain Switching Delay Time in Position Control the Gain Switching Level in Position Control and the Gain Switching Hysteresis in Position Control differ from the normal case Refer to Figure E FN PN l l Pulse position error l l 3116 hex Gain Switching Delay Time in Position Control CSP Setting 0 to 10000 Unit 0 1 ms Default Data range setting attribute Size 2 bytes INT16 Access Aces RW PDO map Not possible Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Position Control 3115 hex is set to 3 or 5 to 10 g D o O 5 U D lt o U Y 9 3 O O emj T OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 12 Details on Servo Parameter Objects 9 2 Gain Settings 3117 hex Setting range Size 3118 hex Setting range Size 3119 hex Setting range Size 9 13 Gain Switching Level in Position Control Default Data 2 bytes INT16 Aces RW PDOmap PDO map map Not possible This object is enabled when the Switching Mode in Position Control 3115 hex is 3 5 6 9 or 10 It sets the judgment level for switching between gain 1 and gain 2 The unit depends on the Switching Mode in Position Control 3115 hex Gain Switching Hysteresis in Position Control Defau
450. s Check the ground for short circuits as well Make sure that there are no loose connections Power Supply Voltage Make sure that the voltage corresponds to the rated voltage Is the voltage stable Motor Installation Make sure that the Servomotor is securely installed Disconnection from Mechanical System f necessary make sure that the load has been disconnected from the mechanical system Brake Released Make sure that the brake has been released Connections to the Mechanical System Are the load and Servomotor shaft properly aligned Is the load on the Servomotor shaft within specifications OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 10 3 Trial Operation Test Operation via USB Communications from the CX Drive 1 Use the Connector CN1 2 Supply 12 to 24 VDC to the control signal connector pins 24 VIN and COM 3 Turn ON the Servo Drive power 4 Connect a USB cable to the USB connector CN7 5 Start the CX Drive and go online with the Servo Drive via USB communications 6 Select Test Run from the Tuning Menu of the CX Drive 7 Select Servo ON to servo lock the Servomotor 8 Select Forward or Reverse and start the Servomotor The Servomotor will rotate until Stop is selected la Precautions for Correct Use The test operation function via USB communications from the CX Drive cannot be used while EtherCAT communications a
451. s RW PDO map Not possible Refer to 7 9 Gain Switching 3 Function on page 7 30 for the Gain 1 Gain 2 switching Explanation of Set Values OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Set value 0 Gain 1 PI P switching enabled Description 1 Gain 1 gain 2 switching available 9 10 sjoe qo JojeuieJeg oAJeG uo s rejeqg Details on Servo Parameter Objects 9 2 Gain Settings 3115 hex Switching Mode in Position Control Setting 0 to 10 Unit Default Data B range setting attribute l PDO Size 2 bytes INT16 Access RW map Not possible Select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input Operating Mode Selection 3114 hex is set to 1 Explanation of Settings Description 3115 Gain Gain Gain hex Switching Switching Switching set Gain switching conditions DN Vas d Tel Hystere 5 IH value Position Position Position Control Control 3117 hex 3118 hex Control 3116 hex Always Gain 1 3100 to 3104 hex Disabled Disabled Disabled Always Gain 2 3105 to 3109 hex Disabled Disabled Disabled Gain switching command input via EtherCAT communications 3 Disabled Disabled Disabled 4 4 3 Command torque value Refer to Figure Enabled E E A 76 7c l NO gt Always Gain 1 3100 to 3104 hex Disabled Disabled Disabled 5 Command speed Refer to Figure B Enabl
452. s 100 VAC input models 3 2 200 VAC input models 3 3 400 VAC input models 3 5 4 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Index CUMENSIONS rarose severe cred T 2 21 MUN CUONS ER M 1 5 general Specifications cceeeescesceecenseessenaes 3 1 installation conditions useeseesuusse 4 1 life expeclaliCy ui cored cette Leve saath ius 12 32 qarere Nal0iq o zt a 2 3 gueor iprcior pm 2 5 DantTlalfies ui oscese cunis te qme cated ui EE aA 1 4 4sjere pisBeemu e E a 12 3 Servo Drive and Servomotor combination tables 2 10 Servo Drive profile objects 6 36 Controlword 6040 hex eeeeeeseee 6 37 Digital inputs GOFD hex eesussess 6 48 Digital outputs GOFE hex 6 50 Disable operation option code 605C hex 6 40 Eiror coded003F Tiex seruran 6 36 Fault reaction option code 605E hex 6 41 Following error actual value 60F4 hex 6 48 Following error window 6065 hex 6 43 Gear ratio 6091 hex eese eese 6 44 Home offset 607C hex eeeesesessesl 6 44 Max torque 6072 hex esee eene 6 43 Modes of operation 6060 hex
453. s epolNy Models and External Dimensions 2 3 Model Tables Connectors Name and applications Model Motor Connector for Encoder Cable 100 V and 200 V R88A CNKO2R For 3 000 r min of 50 to 750 W 100 V and 200 V R88A CNKO4R For 3 000 r min of 1 to 5 kW For 2 000 r min 1 000 r min 400 V For 3 000 r min 2 000 r min and 1 000 r min Control I O Connector CN1 R88A CNWO1C Encoder Connector CN2 R88A CNWO1R External Encoder Connector CN4 R88A CNK41L Safety Connector CN8 R88A CNK81S Power Cable Connector for 750 W max R88A CNK11A Brake Cable Connector for 750 W max R88A CNK11B Control Cables Name Model Connector terminal Block Cables 1m XW2Z 100J B34 2m XW2Z 200J B34 Connector terminal Block M3 screws XW2B 20G4 M3 5 screws XW2B 20G5 M3 screws XW2D 20G6 I External Regeneration Resistors Specifications Model Regeneration process capacity 20 W 50 Q with 150 C thermal sensor R88A RRO08050S Regeneration process capacity 20 W 100 Q with 150 C thermal sensor R88A RR080100S Regeneration process capacity 70 W 47 Q with 150 C thermal sensor R88A RR220473S1 Regeneration process capacity 70 W 47 Q with 170 C thermal sensor R88A RR22047S Regeneration process capacity 180 W 20 Q with 200 C thermal sensor R88A RR50020S 2 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 3 Model Tables i Mounting Brackets L brackets for Rack Mounting
454. s is not used by OMNUC G95 series Servo Drives 100A hex Manufacturer software version All Size 20 bytes VS Aces RO PDO map Not possible 1 The version number is saved in V Gives the version of the Servo Drive software 1010 hex Store parameters All Sub index 0 Number of entries Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 Save all parameters Range pF Unit Default 0000 0001 hex Attribute A Size 4 bytes U32 PDO map Not possible All savable parameters are saved in the Servo Drive EEPROM Saving is executed only when a specific value is written to sub index 1 This prevents parameter values from being accidentally overwritten The specific value means save MSB A value of 0000 0001 hex command valid is given when reading Nothing can be saved to the EEPROM while there is a Control Power Supply Undervoltage Error Error 11 0 Objects with attribute C are enabled for Config 4100 hex or when the control power supply is reset Objects with attribute R are enabled when the control power supply is reset In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 6576 6173 hex Writing when there is a Control Power Supply Undervoltage Error Error 11 0 Writing to the EEPROM may take up to 10 seconds This is when all objects are changed There is a limit to the number of times you can write to the EEPROM Th
455. s operation range 0 08 0 1000 2000 3000 4000 5000 6000 r min e R88M K40030H T 400 W Power supply voltage dropped by 10 3 8 3600 N m 3100 4 0 13 8 Momentary operation range 2 0 13 0 1000 2000 3000 4000 5000 6000 r min e R88M K1K530H T 1 5 kW Power supply voltage N m dropped by 1096 15414 3 Momentary operation range 4 77 4 77 Continuous operation range RC 0 1000 2000 3000 4000 5000 r min 7 5 e R88M K4K030H T 400 W Power supply voltage dropped by 10 0 1000 2000 3000 4000 5000 r min e R88M K10030H T 100 W e R88M K20030H T 200 W Power supply voltage dropped by 10 1 0 10 95 0 95 5000 Power supply voltage dropped by 1096 N m N m Momentary operation range 0 32 0 32 Continuous operation range 0 16 0 1000 2000 3000 4000 5000 6000 0 r min 0 5 1000 2000 3000 4000 5000 6000 r min e R88M K75030H T 750 W e R88M K1K030H T 1 kW Power supply voltage dropped by 1096 N m N m Power supply voltage dropped by 1096 1049 55 Momentary operation range 13 18 3 18 0 1000 2000 3000 4000 5000 6000 0 r min 1000 2000 3000 4000 5000 r min e R88M K2K030H T 2 kW e R88M K3K030H T 3 kW Power supply voltage dropped by 1096 Power supply voltage Ne ey dropped by 10 N m 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 r min r min e R88M K
456. s required implement appropriate measures such as providing external brakes The brakes for a Servo Drive with brakes are used for holding only and cannot be used for control Even if there is no external force when the Fault reaction option code 605E hex is set to free run with the dynamic brake disabled the motor uses free run stopping and the stop distance is long In case of internal failure of components the motor may operate in the range of up to 180 degrees of electrical angle The power supply to the motor is cut off by the STO function but the power supply to the Servo Drive will not be cut off nor electrically isolated For Servo Drive maintenance cut off the power supply to the Servo Drive through another means Do not use the EDM output for any purpose other than the failure monitoring function The EDM output signal is not a safety output The dynamic brake and external brake release signal outputs are not safety related parts Make sure to design the equipment not to be dangerous even if the external brake release fails during the STO status When using the STO function connect equipment that meets the safety standards The OMNUC G5 series AC Servo Drives fulfill the requirements of the following certifications application pending CAT 3 EN 954 1 Performance level d EN ISO 13849 1 e SIL 2 IEC EN 62061 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communi
457. s the numerator E e 131072 for a 17 bit absolute encoder e 1048576 for a 20 bit incremental encoder Shaft revolutions Set the denominator of the electronic gear ratio ex 4 1 The electronic gear ratio must be set between 1 1000 and 1000 If itis set outside the range an Object Setting Error 1 Error No 93 0 will occur Whether the electronic gear is enabled is determined from the setting of the objects If the gear ratio setting is 1 1 the electronic gear is disabled 2 If object 6091 01 hex is set to 0 the encoder resolution is set to the numerator during fully closed control also Motor revolutions 4 6091 hex page 6 44 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 18 suoioun paddy x Applied Functions 7 6 Electronic Gear Function i Gear ratio Setting 6091 01 and 6091 02 Hex Motor Shaft revolutions revolutions Description 6091 01 6091 02 hex hex When the Motor revolutions 6091 01 hex is 0 the processing changes with the set value of Shaft revolutions 6091 02 hex Position command Encoderresolutionti Position command III Shaft revolutions 6091 02 hex Position command Encoder resolution Shaft revolutions 6091 02 hex 1 to When the Motor revolutions 6091 01 hex is not 0 the processing 1073741824 changes with the set values of Motor revolutions 6091 01 hex and Shaft revolutions 6091 02 hex 1 to 107374
458. se The damping filters are switched with position command direction 3 Forward direction Damping filters 1 3 enabled Reverse direction Damping filters 2 4 enabled 1 The set value 1 and 2 are for manufacturer s use only Users are not allowed to set 1 and 2 for this object 9 17 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3214 hex Setting range Size 3215 hex Setting range Size 3216 hex Setting range Size 3217 hex Setting range Size 3218 hex Setting range Size OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 3 Vibration Suppression Settings Damping Frequency 1 0 to 2000 Unit 0 1 Hz pet nist setting attribute 2 bytes INT16 Aces RW PDO map Not possible Set damping frequency 1 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz The range of setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is O to 0 9 Hz Refer to 11 5 Damping Control on page 11 15 Damping Filter 1 Setting 0 to 1000 Unit 0 1 Hz eeu Data setting attribute a bud Dis Access RW PDOmap Notpossible First set Damping Frequency 1 3214 hex Then reduce the setting if torque saturation occurs or increase the setting to increase operation
459. ser s Manual with Built in EtherCAT Communications 11 8 suomnounJ jueunsn py Adjustment Functions Index 3004 hex 3100 hex 3101 hex 3102 hex 3103 hex 3104 hex 3105 hex 3106 hex 3107 hex 3108 hex 3109 hex 3110 hex 3111 hex 3112 hex 3113 hex 3114 hex 3115 hex 3116 hex 3117 hex 3118 hex 3119 hex 3607 hex 3608 hex 3609 hex 3610 hex 0 3610 hex 1 3623 hex 3624 hex 11 3 Realtime Autotuning Realtime Autotuning RTAT Object Table AT Machine Rigidity Setting 3003 hex POSTE ea Estimated load inertia ratio E SpeedLoopGaint Loop Gain 1 15 aeoe e 75 Spat ao ae Cosa Loop Integral Time MEN 3700 2800 2200 1900 1600 1200 Ll 700 Feedback Filter Time Constant 1 Torque o URS Filter Time 1500 1100 500 400 300 Constant 1 SpeedLoopGain2 Loop Gain 2 20 25 30 Spat ao ale COST poopy ears Mme 10000 10000 10000 10000 10000 10000 10000 10000 _ Feedback Filter Time Constant 2 Torque commana Filter Time 1500 1100 800 500 400 Constant 2 Speed Feed forward Gain Feed forward Gain 300 300 300 300 Torque Feed forward Gain Feed forward Gain 0 Torque Feed e Command 0 Filter Gain Switching Input Operating Mode Selection Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 C2 00 QI Switching Mode in Position Control Gain Switching Delay Time in 30 30 30 30 30 30 30 30 Position Control
460. series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 1 Installation Conditions I Oil water Measures Use the Servomotor with an oil seal if you are using it in an environment where oil drops can adhere to the through shaft part The operating conditions of the Servomotor with an oil seal are as follows Keep the oil level below the lip of the oil seal Prepare a good lubricated condition under which only oil droplets splash on the oil seal If you are using the Servomotor with the shaft in upward direction make sure that no oil accumulates on the lip of the oil seal Radiator Plate Installation Conditions When you mount a Servomotor onto a small device be sure to provide enough radiation space on the mounting area Otherwise the Servomotor temperature rises too high One of the preventive measures is to install a radiator plate between the motor attachment area and the motor flange See below Refer to 3 3 Servomotor Specifications on page 3 32 for the radiator plate specifications The temperature rise depends on the mounting part materials and the installation environment Check the actual temperature rise by using a real Servomotor Depending on the environment such as when the Servomotor is installed near a heating element the Servomotor temperature may rise significantly In this case take any of the following measures Lower the load ratio Review the heat radiation
461. set value ON Brake Engage OFF 3440 hex Warning Output Selection 1 Setting Default Data Size 2 bytes INT16 Aces RW PDOmep PDO map map Not possible Select the warning type to be output by Warning Output 1 Refer to 12 2 Warnings on page 12 4 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 30 sjoe qo 1ojeujeJeg oAJeg uo s rejeg Details on Servo Parameter Objects 9 5 Interface Monitor Settings Explanation of Set Values 3441 hex Setting range Size 3442 hex Setting range Size 9 31 Set value 0 OO o NI DO OT A wt N gt a a NI gt 13 Description Output by all types of warnings Overload warning Excessive regeneration warning Battery warning Fan warning Encoder communications warning Encoder overheating warning Vibration warning Service life warning External encoder error warning External encoder communications error warning Data setting warning Command warning EtherCAT communications warning Warning Output Selection 2 Default Data 2 2bytes INT16 INT16 Access Access RW PDO map Not possible LL the warning type to be output by Warning Output 2 Refer to the Warning Output Selection 1 3440 hex for the object setting method Refer to 12 2 Warnings on page 12 4 Positioning Completion Range 2 0 to 262144 Unit Commandunit Defaut Data
462. sible U32 Ls peime es 2 RO Nota Notre seme 98000 RO Notre Wo possi wGmemums TT TT LS Nimbersfsyehzanganmwes Teye U RO Naipessbie Nope 32 2 EF Calc and copy time 4 bytes U32 EN Synchronization type 2 bytes U16 al Not possible Not possible Cycle time 4 bytes U32 RO Not possible Not possible U32 Synchronization types supported 2 bytes U16 U32 U32 Not possible Not possible RO Not possible Not possible U32 85 re posame etna Delay time 4 bytes U32 Bi 8000 2100 hex EN Error History Clear 4 bytes U32 Not possible Not possible 2200 hex 3000 hex Communications Error Setting 1 byte U8 Not possible Possible Rotation Direction Switching 2 bytes INT16 Not possible Possible 3001 hex 2307 Control Mode Selection 2 bytes INT16 LE Not possible 3002 hex Realtime Autotuning Mode Selection 2 bytes INT16 EN Not possible Realtime Autotuning Machine Rigidity Setting 3004 hex E Inertia Ratio 2 bytes INT16 3015 hex 3016 hex 3017 hex Not possible Possible B __ Not possible Possible OPE ra NOM SWENNEN Using ADSOUE asne Cl Nobpesaibl Possible Encoder Regeneration Resistor Selection 2 bytes INT16 Not possible External Regeneration Resistor Setting 2 bytes INT 16 Not possible Possible 3100 hex Vs Position Loop Gain 1 2 bytes INT16 m Not possible A 5 OMNUC G5 series AC Servomo
463. sion is not adequate allow backlash to ensure that no radial load is placed on the motor shaft When using bevel gears a load is applied in the thrust direction depending on the structural precision the gear precision and temperature changes Provide appropriate backlash or take other measures to ensure that a thrust load larger than the specified level is not applied Do not put rubber packing on the flange surface If the flange is mounted with rubber Ball screw center line Erw VeceepeEDDP Axial off Motor center line onset Backlash T Set a structure in which the distance between axes can be adjusted Set a movable structure packing the motor flange may crack under the tightening force When connecting to a V belt or timing belt consult the manufacturer for belt selection and tension A radial load twice as large as the belt tension will be placed on the motor shaft Do not allow a load that exceeds the allowable radial load to be placed on the motor shaft If an excessive radial load is applied the motor shaft and bearings may be damaged Set up a movable pulley in the middle of the motor shaft and the load shaft so that the belt tension can be adjusted Belt Tension Tension adjustment Set a movable structure Water and Drip Resistance The protective structure for the motors is as follows Equivalent to IP67 except for through shaft parts 4 3 OMNUC G5
464. sitive torque limit value Set the forward torque limit value page 6 53 60E1 hex Negative torque limit value Set the reverse torque limit value page 6 53 3525 hex Peg eMeen onde Set the forward torque limit for a network signal page 9 36 Reverse External Torque rat l 3526 hex Limit Set the reverse torque limit for a network signal page 9 36 Applied Functions 7 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 7 Torque Limit Switching Torque Limits in Position Control Mode or Fully closed Control Mode The term Torque FF refers to the torque feed forward function Position Control Fully closed Control ES Forward torque limit value Reverse torque limit value value Torque FF PCL ON PCL OFF NCL ON NCL OFF 2 0 1 60E0 hex 60E0 hex 60E1 hex 60E1 hex 60E0 hex 60E1 hex 60E0 hex 60E0 hex Disabled 60E1 hex 3525 hex 60E0 hex 3526 hex 60E0 hex 3525 hex 60E1 hex 1 When either the external input signal PCL or NCL or the EtherCAT communications torque control command P CL or N CL is ON 2 When both the external input signal PCL or NCL and the EtherCAT communications torque control command P CL or N CL are OFF f Torque Limit Settings by Servomotors The torque limit setting range is between 0 and 300 The default setting is 300 This is not the case when a Servo Drive and a Servomotor are used in the following combinations 60E1
465. sstene tdi cases ane eee 9 30 Brake Timing During Operation 3438 hex 9 29 Brake Timing when Stopped 3437 hex 9 29 Input Signal Selection 1 3400 hex 9 24 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 Index Input Signal Selection 2 3401 hex 9 24 Input Signal Selection 3 3402 hex 9 24 Input Signal Selection 4 3403 hex 9 24 Input Signal Selection 5 3404 hex 9 24 Input Signal Selection 6 3405 hex 9 24 Input Signal Selection 7 3406 hex 9 25 Input Signal Selection 8 3407 hex 9 25 Output Signal Selection 1 3410 hex 9 25 Output Signal Selection 2 3411 hex 9 25 Positioning Completion Range 2 3442 hex 9 31 Warning Output Selection 1 3440 hex 9 30 Warning Output Selection 2 3441 hex 9 31 Zero Speed Detection 3434 hex 9 28 L leakage breaker ciii os deret p euro dad dte meds gg 4 27 M Main circuit connector specifications CNA a E a 3 8 4 13 4 14 main circuit connector specifications GINA e a E a idet da ud 3 7 3 10 4 12 Main circuit terminal block specifications 3 9 3 11 tmialltelari6e sioe ceux uro vec ue Cusco oa xa Mu 12 31 manual TONING Prom E 11 13 manufacturer specific obj
466. sted are flexible shielded and have IP67 protection I Encoder Cables European Flexible Cables R88A CRKA CR E Cable types For both absolute encoders and incremental encoders 100 V and 200 V For 3 000 r min oervomotors of 50 to 750 W Outer diameter of sheath Model Length L 6 9 dia Servo Drive side R88D KO e Wiring Servomotor side D R88M K Servo Drive side Servomotor side Orange White X Ble Blue White Xo Cable Servo Drive side connector 0 84 mm2 x 2C 0 22mm 2p Servomotor side connector Connector model or Angle clamp model 55100 0670 Molex Japan AWG22 x 2C AWG24 x 2P JN6FRO7SM1 Japan Aviation Electronics Connector pin model LY10 C1 A1 1000 Japan Aviation Electronics 3 57 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications R88A CRKCL INR Cable types For both absolute encoders and incremental encoders 100 V and 200 V For 3 000 r min Servomotors of 1 kW or more 400 V 3 000 r min Servomotors 2 000 r min Servomotors and 1 000 r min Servomotors Model Length L la of 7 6 dia Connection configuration and external dimensions L Servo Drive side R88D KO C1 Wiring Servomotor side D R88M KL ide Servomotor side S B Orano e White Cable Servo Drive side connector 1 mm x 2C 4 0 22 mm x 2P Servomoto
467. stem Configuration 1 7 1 5 Applicable Standards 1 5 Applicable Standards This section describes applicable EMC Directives EC Directives EC Directive EN Applicable standards Low AC Servo Drives EN 61800 5 1 Voltage Directive AC Servomotors EN 60034 1 5 EMC AC Servo Drives EN 55011 class A group 1 Directive AC Servomotors IEC 61800 3 EN 61000 6 2 Machinery AC Servo Drives EN 954 1 Category 3 Directive EN ISO 13849 1 2008 PLc d ISO 13849 1 2006 PLc d EN 61508 SIL 2 EN 62061 SIL 2 EN 61800 5 2 STO IEC 61326 3 1 SIL 2 Note To conform to EMC Directives the Servomotor and Servo Drive must be installed under the conditions described in 4 3 Wiring Conforming to EMC Directives on page 4 21 UL and cUL Standards Standard Product Applicable standards File number OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Models and External Dimensions fo This chapter explains the models of Servo Drive Servomotor and peripheral devices and provides the external dimensions and mounting dimensions 2 1 Servo System Configuration 2 1 2 2 How to Read Model Numbers 2 3 2 3 Model TADIOS ossaa 2 5 2 4 External and Mounting Dimensions 2 21 2 5 EMC Filter Dimensions 2 51 OMNUC G5 series A
468. such as a backlash e If the speed continues at below 100 r min If the acceleration deceleration is below 2 000 r min in 1 s Operation e If the acceleration deceleration torque is too small compared with the unbalanced pattern load and the viscous friction torque If either a speed of 100 r min or higher or an acceleration deceleration of 2 000 r min s does not last for at least 50 ms With realtime autotuning each object is fixed to the value in the machine rigidity table at the time the machine rigidity is set By estimating the load inertia from the operation pattern the operation coefficient for the speed loop gain and the integral time constant are altered Doing this for each pattern can cause vibration so the estimation value is set conservatively The torque feed forward function cannot be used when realtime autotuning is being used Set both the Torque Feed forward Gain 3112 hex and Torque Feed forward Command Filter 3113 hex to 0 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 6 suornounJ jueunsn py Adjustment Functions 11 3 Realtime Autotuning Objects Requiring Settings Index 3002 hex 3003 hex 3631 hex 3632 hex Name Explanation Reference Realtime Autotuning Set the operation mode for the realtime autotuning page 9 2 Mode Selection Realtime Autotuning Set the responsiveness when the realtime autotuning is age 9 2 Machine Ri
469. t side XW2B 20G4 XW2B 20G5 XW2D 20G6 Servo Drive side R88D KNO Wiring Terminal block connector Servo Drive connector CN1 MM L6 AVN ov 2 3 BENE ous 3 HH LA pov 14 Fy pt tav 5 HF po 0v 6 NEN EE Servo Drive Connector DEC 8 Connector plug POT 9 10126 3000PE Sumitomo 3M 10326 52A0 008 Sumitomo 3M EXT3 Terminal Block Connector BATGND Connector socket BAT XG4M 2030 OMRON BKIRCOM Strain relief XG4T 2004 OMRON 3 Cable e Shell AWG28 x 3P AWG28 x 7C UL2464 Before you use the Servo Drive confirm that the signals of Servo Drive connector are set as shown above 3 75 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 4 Cable and Connector Specifications Connector Terminal Block Conversion Unit XW2B 20GL The Unit is used with a Connector Terminal Block Cable XW2Z J B34 They convert the control input signal CN1 of the G5 series Servo Drive into a terminal block Terminal Block Models Model Description XW2B 20G4 M3 screw terminal block XW2B 20G5 M3 5 screw terminal block XW2D 20G6 M3 screw terminal block XW2B 20G4 Dimensions Flat cable connector MIL type plug W Precautions for Correct Use Use 0 3 to 1 25 mm wire AWG22 to 16 The wire inlet is 1 8 mm height x 2 5 mm width Strip the insulation from the end of the wire
470. t completed If vibration persists after repeated adjustments or the positioning is slow Increase Torque Command Filter Time Constant 1 3104 hex Set the damping frequencies in the Notch 1 Frequency Setting 8201 hex Notch 2 Frequency Setting 8204 hex Notch 3 Frequency Setting 3207 hex and Notch 4 Frequency Setting 3210 hex OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 14 suoioun jueunsn py Adjustment Functions 11 5 Damping Control 11 5 Damping Control Outline of Operation Position Controller Servo Drive If the tip of the mechanical unit vibrates you can use the damping control function to reduce vibration This is effective on vibration generated by a machine of low rigidity The applicable frequencies are from 1 to 200 Hz You can set four frequencies and use two of them at the same time The end Movement Objects Requiring Settings Index 3213 hex 3214 hex 3215 hex 3216 hex 3217 hex 3218 hex 3219 hex 3220 hex 3221 hex 11 15 LM p P Select the Damping Filter Switching Mode according to the Damping Filter condition of the unit Selection 0 Up to two filters can be used simultaneously 3 Switching with command direction Set damping frequency 1 to suppress vibration at the end of Damping the load in damping control Frequency 1 If the damping control function is not us
471. t the Drive Prohibit Input Selection 3504 hex to either O or 2 The setting on the Input Signal Selection 1 to 10 3400 to 3409 hex can change the logic and allocation for the respective Input terminals CN1 to 7 and 8 Origin Proximity Input DEC This is the deceleration signal for origin returns If the Origin Proximity Input turns ON while the Servomotor is traveling at the origin proximity input search speed it will decelerate to the Speed during search for zero 6099 hex With the default settings the Origin Proximity Input is assigned to pin 9 External Latch Input Signals EXT1 EXT2 and EXT3 These are the external input signals to latch the actual value in the feedback pulse counter The encoder position data is obtained when the External Latch Input is turned ON With the default settings External Latch Input 1 is allocated to pin 12 External Latch Input 2 to pin 11 and External Latch Input 3 to pin 10 l Precautions for Correct Use The external latch inputs are detected by on the rising edge of the signal but the minimal signal ON and OFF widths must be 2 ms The external latch inputs can only be set to NO normally open contacts The external latch inputs can be allocated to pins 10 to 12 only OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 18 suoneoyioodg Specifications 3 1 Servo Drive Specifications Monitor Inputs MONO MON1
472. taneously select a no fuse breaker with a 20 ms allowable current that is greater than the total inrush current shown in the following table Inrush current Ao p Servo Drive model Main circuit power Control circuit pow supply er supply DA R88D KNASL ECT R IN R88D KNO1L ECT R m R88D KNO2L ECT R R88D KNO4L ECT R R88D KNO1H ECT R R88D KNO2H ECT R R88D KNOAH ECT R R88D KNO8H ECT R R88D KN10H ECT R R88D KN15H ECT R R88D KN20H ECT R R88D KN30H ECT R R88D KN50H ECT R O1 NI oo gt oO do gt pl wm pl Nx A BR BRI GO CG o o NI NM N N N N NI N N NO N KR A A NO Co OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 26 uDisoq uiejs g System Design 4 3 Wiring Conforming to EMC Directives Inrush current Ao p Servo Drive model Main circuit power Control circuit pow supply er supply R88D KNO6F ECT R 2 48 R88D KN10F ECT R 2 48 R88D KN15F ECT R 2 48 R88D KN20F ECT R 3 48 R88D KN30F ECT R 3 48 R88D KN50F ECT R 3 48 Leakage Breaker Select leakage breakers designed for protection against ground faults Because switching takes place inside the Servo Drives high frequency current leaks from the SW elements of the Servo Drive the armature of the motor and the cables High frequency surge resistant leakage breakers because they do not detect high frequency curr
473. test error code or warning code in the Servo Drive The given error is from the manufacturer specific area FFOO to FFFF hex The lower word of FFOO to FFFF hex gives the main number of the error 4001 hex Sub Error Code 4001 hex gives the main number and sub number of the error The main number and sub number are hexadecimal numbers but are combinations of O to 9 Index omes Specifications types 603F hex Error code U16 0000 hex No error FFO1 hex Error main number 1 FFO2 hex Error main number 2 FF99 hex Error main number 99 FFAO hex Warning AO hex FFA9 hex Warning A9 hex FFBOhex Warning BO hex FFB1hex Warning B1 hex FFB2hex Warning B2 hex Others Reserved 4001 hex Sub Error U16 Upper 8 bits FO to F9 hex Sub numbers 0 to 9 cee Lower 8 bits 00 to 99 hex Main numbers 0 to 99 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 36 Old eAug N Drive Profile 6 7 Object Dictionary 6040 hex Controlword All Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 PDO map Possible This object controls the state machine of the Servo Drive Description of Set Values Bit Description 0 Switch on The state is controlled by these bits 1 Enable voltage Quick stop is not supported The Quick stop bit is ignored even if set to O 2 Quick stop For details refer to Command Coding on page 6 2 3 Enable operation Op
474. th 12 q e PE o Dimensions mm x Model i pu uw wer ke R88M K40020L 131 5 87 5 56 5 109 5 z KA ee ee o FT R88M K40020L BL 158 5 114 5 136 5 3 R88M K600200 BO 168 146 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 43 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 External and Mounting Dimensions 1 kW 1 5 kW 2 kW 3 kW without Brake R88M K1K020F S2 K1K520F S2 K2K020F S2 K3K020F S2 Te R88M K1K020C S2 K1K520C S2 K2K020C S2 K3K020C S2 ICE 1 kW 1 5 kW 2 kW 3 kW with Brake R88M K1K020F B S2 K1K520F B S2 K2K020F B S2 K3K020F B S2 Te R88M K1K020C B S2 K1K520C B S2 K2K020C B S2 K3K020C B S2 IEEE Motor and brake M8 depth 20 3 0 kW connector Shaft end specifications with key and tap Encoder 130x130 connector 45 1 to 2 kW 55 3 kW X i 41 1 to 2 kW 2 ES 51 3 kW CE CL 8 E ENEN M3 through P PEN X 2z2zo A xe x 3x N N Sr Ce iB i X M J Lem a aad CASAN 7 e xc q v v x a we Nw co o N Dimensions mm R88M K1K0200 94 22 jeo 116 R88M K1K5200 55 133 5 R88M K2K0200 151 R88M K3K0200 208 186 R88M K1K0200 BC 141 R88M K1K5200 BC 55 158 5 o R88M K2K020l B R88M K3K020L1 BL 23
475. th Built in EtherCAT Communications 2 40 suoisueauliq JEUuJ9 X3 pue sJepolNy 2 4 External and Mounting Dimensions I 2 000 r min Servomotors 200 V 1 kW 1 5 kW 2 kW 3 kW without Brake R88M K1K020H S2 K1K520H S2 K2K020H S2 K3K020H S2 Ie R88M K1K020T S2 K1K520T S2 K2K020T S2 K3K020T S2 IEEE 1 kW 1 5 kW 2 kW 3 kW with Brake R88M K1K020H B S2 K1K520H B S2 K2K020H B S2 K3K020H B S2 WIT R88M K1K020T B S2 K1K520T B S2 K2K020T B S2 K3K020T B S2 IEEE 2 Motor and brake connector Shaft end specifications with key and tap 130x130 Encoder connector 45 1 0 to 2 0 kW 55 3 0 kW 6 41 1 0 to 2 0 kW MERE La 51 3 0 kW Hm through 116 1 0 to 2 0 kW aac amp amp 110h7 18 1 0 to 2 0 kW 20 3 0kW Y l D Ele M5 depth 12 1 0 to 2 0 kW M8 depth 20 3 0 kW LL gl Dimensions mm Models and External Dimensions R88M K1K0207 138 55 94 22 60 116 R88M K1K52001 133 5 R88M K2K020L 173 129 151 R88M K3K020 208 164 127 186 R88M K1K0200 BC 163 119 22 80 141 R88M K1K5200 BC 158 5 R88M K2K0200 BC 198 154 176 R88M K3K0200 BC 233 189 127 211 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number 2 41 OMNUC G5 series AC Servomotors
476. 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 Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations 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 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 Read and Understand this Manual Disclaimers
477. ther than the settings listed Do not allocate the same function to more than one input signal If you allocate the same function to more than one input signal and Interface Input Duplicate Allocation Error 1 Error No 33 0 or Interface Input Duplicate Allocation Error 2 Error No 33 1 will occur The External Latch Inputs 1 2 and 3 EXT1 EXT2 and EXT3 can be allocated only to IN5 to IN7 If you allocate them to any other inputs an External Latch Input Allocation Error Error No 33 8 Will occur If you use the External Latch Input 1 2 or 3 EXT1 EXT2 or EXT3 you must set it for all control NC Setting not available 81 hex 82 hex 94 hex Setting not available Setting not available A2 hex Setting not available AC hex AD hex AE hex AF hex BO hex modes Otherwise an External Latch Input Allocation Error Error No 33 8 will occur The External Latch Inputs 1 2 and 3 EXT1 EXT2 and EXT3 can be set only to NO normally open contacts The control input pins that are disabled do not affect the operation The functions that are used by more than one control mode such as Immediate Stop Input and Origin Proximity Input must be allocated to the same pin in the same logic If they are allocated to different pins an Interface Input Duplicate Allocation Error 1 Error No 33 0 or an Interface Input Duplicate Allocation Error 2 Error No 33 1 will occur If the logic is inconsistent an
478. therCAT Slave Information file Information in this file is used by the master to configure the network and set communications parameters This information is in an XML file 5 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 1 Display Area and Settings Status Indicators The following table shows the EtherCAT status indicators and their meaning Name Color Status Description OFF Init state SN ere Pre Operational state Safe Operational state Operational state OFF No error Communications setting error Synchronization error or communications data ERR error Application WDT timeout Boot error PDI WDT timeout OFF Link not established in physical layer L A IN Green Link established in physical layer In operation after establishing link OFF Link not established in physical layer L A OUT Green Link established in physical layer In operation after establishing link Indicator status is described below 50 ms ON Flickering OFF ON 200 200 Blinking ms ms OFF ON Single flash d LL au OFF ON ha MOREM 3 S OFF OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 5 2 suoineoiunuluo V2349u13 EtherCAT Communications 5 2 Structure of the CAN Application Protocol over EtherCAT 5 2 Structure of the CAN Application Protocol over EtherCAT The structure of the CAN application protocol over EtherCAT CoE for an
479. tion Resistor 4 43 Connecting an External Regeneration Resistor cccccccceccceeeseeeseeeseeeeeeeeeeeeseeees 4 44 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 17 Table Of Contents Chapter 5 EtherCAT Communications 5 1 Display Area and Settings tor re nn et eec eranc 5 1 Node Address SCUING es tr rm E 5 1 SAUS MACO ena Fas Esc daa halal da Erta a fanc bd Dto uod actu S DI up Eas 5 2 5 2 Structure of the CAN Application Protocol over EtherCAT 5 9 5 3 EiherGA State Machine xcu cictiu eee etui caecos eet Stu bod tatcm cesi 5 4 5 4 Process Data Objects P DOS scere ODD HIE roD bota etus 5 5 PDO Mapping SewlnGS D D TL 5 5 Sync Manager PDO Assignment Settings cccccccceccseceeeeceeeseeeeeeseeesseeseeeeeeeaeeseees 5 6 Fedt PDO MADDINO serere Gee enetcsnuustetise a du potu eepe 5 6 59 S6Vice Data Objects SDOS sssaaa 5 7 ADON OGLE TRITT A Cn 5 7 5 6 Synchronization with Distributed Clocks cc ceecceccceeeeceeeseeeseeeeaeeees 5 8 Communications Cycle DC Cycle cccccccccecceeeeeceeeeeeeeeseeeeseeeeseuseseeeeseaeeseeeeneneens 5 8 5 7 Emergency Messages ooo tho eoe a deti ee tu nro rs tiU eh ET pae apRrd Us 5 9 Chapter 6 Drive Profile 6 1 Controlling the State Machine of the Servo Drive 6 1 Stale reale 6 1 5 2 Modes OF OD
480. tion can be used when there is error between the position calculated from encoder pulses and the position calculated from external encoder because hybrid error accumulated due to slipping or other factors Amount of hybrid error 6 17 Command units Error detected 3328 hex Hybrid Following Error Counter Overflow Level Cleared to O Cleared to O A d a gt Number of motor 3329 hex 3329 hex 3329 hex rotations Hybrid Following Error Hybrid Following Error Hybrid Following rotations Counter Reset Counter Reset Error Counter Reset la Precautions for Correct Use The machine may run out of control and be damaged if the external encoder breaks down or the motor or load coupling becomes disconnected To prevent this from happening set the Hybrid Following Error Counter Overflow Level 3328 hex and Hybrid Following Error Counter Reset 3329 hex If the Hybrid Following Error Counter Overflow Level 3328 hex is set too high detection is delayed and error detection will be ineffective If an extremely small value is set the amount of motor or machine torsion during normal operation may be detected as an error Be sure to set an appropriate value Take sufficient safety measures such as installing limit sensors OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 6 Fully closed Control Parameter Block Diagr
481. tion loop response in accordance with the machine rigidity The responsiveness of the servo system is determined by the position loop gain Servo systems with a high position loop gain have a high responsiveness and fast positioning To increase the position loop gain you must improve machine rigidity and increase the specific damping frequency This should be 500 to 700 0 1 s for ordinary machine tools 300 to 500 0 1 S for general use and assembly machines and 100 to 300 0 1 s for industrial robots The default position loop gain is 480 0 1 s so be sure to lower the set value for machines with low machine rigidity Increasing the position loop gain in systems with low machine rigidity or systems with low specific damping frequencies may cause machine resonance resulting in an overload error If the position loop gain is low you can shorten the positioning time using feed forward This object is automatically changed by executing realtime autotuning To set it manually set the Realtime Autotuning Mode Selection 3002 hex to 0 Position loop gain is generally expressed as follows Command pulse frequency pulses s Position loop gain Kp 0 1 s Pulse position error pulses Response for Position Loop Gain Changes Position loop gain is high Motor speed ra Position loop gain is low Time OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in
482. to the center frequency when the depth is O This value should conform to the left column in the table below Depth Setting This is the I O ratio at which the center frequency input is completely cut off at a set value of 0 and completely passed at a set value of 100 If the indication unit is dB this value should conform to the right column in the table below Width Depth 5 PM Bandi conte m Damping factor 2 quency dB o 0 0 50 0 co o 1 0 59 1 40 0 2 0 71 2 34 0 LL 3 0 84 3 30 5 a m 4 1 00 4 28 0 c 5 1 19 5 26 0 O 6 1 41 10 20 0 3 7 1 68 15 16 5 E 8 2 00 20 14 0 9 2 38 25 12 0 10 2 83 30 10 5 11 3 36 35 9 1 12 4 00 40 8 0 13 4 76 45 6 9 14 5 66 50 6 0 15 6 73 60 0860 4 4 16 8 00 70 3 1 17 9 51 80 80 1 9 18 11 31 90 90 0 9 19 13 45 100 100 Passed 0 0 20 16 00 Notch filter frequency characteristics L T i Li1 EIC e F Gain dB CRSELT TOME aa NN ih QE S 11i 10 100 1000 Frequency Hz 11 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 8 Disturbance Observer Function 11 8 Disturbance Observer Function You can lower the effect of the disturbance torque and reduce vibration by using the estimated disturbance torque value Disturbance torque Internal torque command Add to the direction that i og Toaueconmand HH Feedback negatesthe gt
483. to the count direction used for monitoring e g for the total external encoder feedback pulses If 3000 hex 7 0 the count direction matches the count direction for monitoring Even when the speed command is within the Servo Drive s speed command range an acceleration alarm will occur if the speed command exceeds the maximum speed of the motor To confirm that the installation direction is correct use the front panel monitor or the CX Drive monitor function to check the counting direction of the total external encoder feedback pulses and the total encoder feedback pulses If the counting directions are the same the connections are correct EN Reference Maximum Input Frequency The maximum speed when an external encoder with a resolution of 0 01 um is used for the serial communications is 0 01 um x 400 x 10 pps 4 00 m s An overspeed error will occur however if the motor shaft rotation speed exceeds the maximum speed 6 15 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 6 Fully closed Control External Feedback Pulse Dividing Ratio Setting 3324 Hex 3325 Hex Set the dividing ratio for the encoder resolution and external encoder resolution External Set the numerator of the external feedback 0 to 1 048 576 Feedback Pulse pulse divider setting Normally set the 3324 hex Dividing number of encoder output pulses per motor Numerator rotation If the set
484. top Torque 3511 hex measure to reduce shock for immediate stops pedcs Normal operation Normal operation threshold Normal operation Immediate Error state Operation after stopping Command from the Host Stop operation Dynamic brake free Immediate stop time l i H Precautions for Correct Use To prevent operation from running out of control for an immediate stop set the allowable Overspeed Detection Level Setting at Immediate Stop 3615 hex An Overspeed 2 Error Error No 26 1 does not support immediate stopping If it occurs an error trip will occur immediately Set a higher value for the Overspeed Detection Level Setting at Immediate Stop 3615 hex than for the Overspeed Detection Level Setting 3513 hex If a value lower than the Overspeed Detection Level Setting 3513 hex is set an Overspeed 2 Error Error No 26 1 will occur before an Overspeed Error Error No 26 0 Thus an immediate stop will not occur If an Overspeed Error Error No 26 0 and an Overspeed 2 error Error No 26 1 occur at the same time the immediate stop will not occur either If the actual rotation speed is not lower than 30 r min after the time set on the Error Detection Allowable Time Setting 3614 hex elapses from when an error that supports immediate stopping occurs an error state will occur immediately If an error that does not support immediate stopping occurs during an immediate stop an error state will occu
485. tops the Servomotor based on a signal from a safety controller or safety sensor An outline of the function is given together with operation and connection examples 8 1 Safe Torque OFF Function 8 1 8 2 Operation Example sciccccccccsnscteseebeeetetenieiendericessernieeenes 8 4 8 3 Connection Examples 8 6 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Safety Function 8 1 Safe Torque OFF Function 8 1 Safe Torque OFF Function 8 1 The safe torque OFF function hereinafter referred to as STO according to IEC 61800 5 2 is used to cut off the motor current and stop the motor through the input signals from a safety device such as a Safety controller or safety sensor that is connected to the safety connector CN8 When the STO function is operating the Servo Drive turns OFF the servo ready completed output READY to go into the safety status The PFH value is 2 30 x 10 Precautions for Safe Use When using the STO function be sure to execute a risk assessment of the equipment to confirm that the system safety requirements are met There are the following risks even when the STO function is operating Be sure to take safety into account as part of the risk assessment The motor runs if an external force is present e g force of gravity on a vertical axis If holding i
486. tors and Servo Drives User s Manual with Built in EtherCAT Communications A 1 Object List Correspond Relevant Default setting Setting range Unit pn number P UNTER 0 L L CLCL 11 131 0 to 31 Pn003 All 1 1 NEAN EE eo 320 480 0 to 30000 Pn100 sp 1 The default setting is 11 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 13 for other Drives 2 The default setting is O for a Drive for 100 V and 400 W for 200 V and 750 W or greater or for a Drive for 400 V It is set to 3 for other Drives 3 The default setting is 320 for a Drive for 200 V and 1 kW or greater or for a Drive for 400 V It is set to 480 for other Drives Q OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications A 6 xipueddy Appendix A 1 Object List aoe sub Name see ative POO Eon 3103 hex 0 Speed Feedback Filter Time Constant 1 2 bytes INT16 E NM Not possible 3107 hex 0 Speed Loop gs Tne Consart2 Poy NTIO S Neto Posse Sek 0 Speo Fosa tormard Command Fiter 2bges NTIG 8 Notpossiie Possbe 3114 hex m bL Input Operating Mode bytes INT16 EN Not possible 3115 hex EN Switching Mode in Position Control 2 bytes INT16 Bo Not possible 3116 hex LE M Delay me Poson eves li T6 EN Not possible 3117 hex NS Gain Switching Level in Position Control 2 bytes INT16 EN Not possible 3118 hex m M aL
487. tors and Servo Drives User s Manual with Built in EtherCAT Communications 4 20 System Design 4 3 Wiring Conforming to EMC Directives 4 3 Wiring Conforming to EMC Directives Conformance to the EMC Directives EN 55011 Class A Group 1 EMI and EN 61000 6 2 EMS can be ensured by wiring under the conditions described in this section These conditions are for conformance of OMNUC G5 series products to the EMC directives EMC related performance of these products however may be influenced by the configuration wiring and other conditions of the equipment in which the products are installed The EMC conformance of the system as a whole must be confirmed by the customer The following are the requirements for EMC Directive conformance The Servo Drive must be installed in a metal case control panel The motor does not however have to be covered with a metal plate Noise filters and lightening surge absorptive elements surge absorbers must be installed on power supply lines Braided shielded cables must be used for all I O signal cables and encoder cables Use tin plated mild steel wires for the shielding All cables I O wiring and power lines connected to the Servo Drive must have clamp filters installed to improve the noise immunity The shields of all cables must be directly connected to a ground plate Wiring Method 4 21 R88D KNASL ECT R KNO1L ECT R KNO2L ECT R KNOA4L ECT R KN01H ECT R KNO2H E
488. ts of any government authority Shipping Delivery Unless otherwise expressly agreed in writing by Omron a Shipments shall be by a carrier selected by Omron Omron will not drop ship except in break down situations b Such carrier shall act as the agent of Buyer and delivery to such carrier shall constitute delivery to Buyer c All sales and shipments of Products shall be FOB shipping point unless oth erwise stated in writing by Omron at which point title and risk of loss shall pass from Omron to Buyer provided that Omron shall retain a security inter est in the Products until the full purchase price is paid d Delivery and shipping dates are estimates only and e Omron will package Products as it deems proper for protection against nor mal handling and extra charges apply to special conditions Claims Any claim by Buyer against Omron for shortage or damage to the Products occurring before delivery to the carrier must be presented in writing to Omron within 30 days of receipt of shipment and include the original trans portation bill signed by the carrier noting that the carrier received the Products from Omron in the condition claimed Warranties a Exclusive Warranty Omron s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron or such other period expressed in writing by Omron Omron disclaims all other warranties e
489. ts to the Inertia Ratio 3004 hex to find the setting that makes the smallest fluctuations while monitoring the position error waveform and the actual speed waveform f Position Loop Gain 1 3100 hex Speed Loop Gain 1 3101 hex or Speed Loop Integral Time Constant 1 3102 hex is changed the optimal value for the Inertia Ratio 3004 hex may change so make small adjustments to the value of the Inertia Ratio 3004 hex again to set a value that makes the smallest fluctuations la Precautions for Correct Use This function may not function properly or the effect may not be apparent under the following conditions e f there is a large resonance point at a frequency of 300 Hz or lower e f there is a non linear element play such as a large backlash e f the load inertia changes e If there is a large disturbance torque with high frequency elements applied e If the setting range for positioning is small OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 Troubleshooting and Maintenance pO This chapter describes the items to check when problems occur troubleshooting using the error displays troubleshooting based on the operating conditions and periodic maintenance 12 1 Troubleshooting 12 2 WV ANNI S cenin 12 4 12 3 Errors Tor OR RECS 12 7 12 4 Troubleshooting 12 13 12 5 Periodic Maintenance
490. tting Setting Default Data Size 2 bytes INT16 Access Access RW PDO map Not possible Select the notch width of resonance suppression notch filter 3 Increasing the setting value widens the notch width Normally use the default set value While the adaptive filter is enabled this object is set automatically Refer to 11 6 Adaptive Filter on page 11 18 and 11 7 Notch Filters on page 11 21 3209 hex Notch 3 Depth Setting Setting Default Data Size 2 2bytes INT16 INT16 Access Aces RW PDO map Not possible OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 16 sjoe qo JojeuieJeg OAIBS uo s rejeg Details on Servo Parameter Objects 9 3 Vibration Suppression Settings Set the notch depth of resonance suppression notch filter 3 Increasing the setting value shortens the notch depth and the phase lag While the adaptive filter is enabled this object is set automatically Refer to 11 6 Adaptive Filteron page 11 18 and 11 7 Notch Filters on page 11 21 3210 hex Notch 4 Frequency Setting Setting 50 to 5000 Unit Default 5000 Data range setting attribute Size 2 bytes INT16 INT 16 Access Aces RW PDO map Not possible the notch frequency of resonance suppression notch filter 4 The notch filter function is disabled if this object is set to 5000 While two adaptive filters are enabled the
491. ty 050 100 200 400 600 750 900 1KO 1K5 2K0 3KO 4KO 5KO 50 W 100 W 200 W 400 W 600 W 750 W 900 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW Rated Rotation Speed 10 20 2 000 r min 30 3 000 r min App OJAOTCIT Opti No B O S2 1 000 r min lied Voltage 400 VAC incremental encoder 200 VAC incremental encoder 100 VAC incremental encoder 200 VAC absolute encoder 100 VAC absolute encoder 400 VAC absolute encoder ons Straight shaft With brake With oil seal With key and tap OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 2 4 suoisueuliq EUuJ9 X3 pue s epolNy Models and External Dimensions 2 3 Model Tables 2 3 Model Tables This section lists the standard models of Servo Drives Servomotors Cables Connectors and peripheral equipment Servo Drive Model Table 2 5 The table below lists the Servo Drive models Specifications Single phase 100 VAC Single phase 3 phase 200 VAC 3 phase 200 VAC 3 phase 400 VAC OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 50 W 100 W 200 W 400 W 100 W 200 W 400 W 750 W 1 kW 1 5 kW 2 kW 3 kW 5 kW 600 W 1 kW 1 5 kW 2 kW 3 kW 5 kW Model R88D KNA5L ECT R R88D KN01L ECT R R88D KNO2L ECT R R88D KNO4L ECT R R88D KN0O1H ECT R R88D KNO2H ECT R R88D KNO4H E
492. ue limit value 1388 hex Default setting 500 0 60E1 hex 00 hex Negative torque limit value 1388 hex Default setting 500 0 1 The CJ1W NCLJ8L uses the latch signals as follows External Latch Signal 1 Origin Input External Latch Signal 2 Interrupt Input External Latch Signal 3 Not used 6 53 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Applied Functions This chapter outlines the applied functions such as the electronic gear gain switching and soft start and explains the settings 7 1 Sequence I O Signals 7 1 7 2 Forward and Reverse Drive Prohibition Functions 7 6 7 3 Overrun Protection sriacvettoneccescetiancscactentoteinstcicudet tiscales 7 9 7 4 Backlash Compensation 7 11 7 5 Brake Interlock esee 7 13 7 6 Electronic Gear Function 7 18 7 7 Torque Limit Switching 7 21 7 8 Gain Switching Function 7 23 7 9 Gain Switching 3 Function 7 30 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Applied Functions 7 1 Sequence I O Signals 7 1 Sequence I O Signals You can set sequences in various oper
493. uence input power supply 24 VIN terminal CN1 pin 7 It must be between 11 and 25 VDC If the voltage is out of range there is a risk of operation failure Be sure that the power supply is within the specified range f Checking Whether an Error Has Occurred Make an analysis using the 7 segment display on the front of the Servo Drive or using CX Drive tools When an Error Has Occurred Check the error display ULI and make an analysis based on the error that is indicated When an Error Has Not Occurred Make an analysis according to the error conditions In either case refer to 12 4 Troubleshooting on page 12 13 for details 12 1 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 1 Troubleshooting Precautions When a Problem Occurs When checking and verifying I O after a problem has occurred the Servo Drive may suddenly start to operate or suddenly stop so always take the following precautions You should assume that anything not described in this manual is not possible with this product i Precautions Disconnect the wiring before checking for cable breakage If you test conduction with the cable connected test results may not be accurate due to conduction via bypassing circuit If the encoder signal is lost the motor may run away or an error may occur Be sure to disconnect the motor from the mechanical system before checking the encoder s
494. ulation In addition always use shielded cables Do not roll cables If cables are long and are rolled mutual induction and inductance will increase and cause malfunctions Always use cables fully extended When installing noise filters for encoder cables use clamp filters The following table shows the recommended clamp filters NEC TOKIN Clamp filters ESD SR 250 13 mm dia max TDK Clamp filters ZCAT3035 1330 13 mm dia max Do not place the encoder cable with the following cables in the same duct Control cables for brakes solenoids clutches and valves External Dimensions ESD SR 250 38 0 Impedance Characteristics ESD SR 250 10000 1000 E 3T a Q 2T 100 E D iT E 10 1 1 10 100 1000 Frequency MHz OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 4 3 Wiring Conforming to EMC Directives i Improving Control I O Signal Noise Resistance Positioning can be affected and I O signal errors can occur if control I O is influenced by noise Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular do not connect the 2 power supply ground wires Install a noise filter on the primary side of the control power supply f motors with brakes are being used do not use the same 24 VDC power supply for both the brakes and the control I O Additionally do not
495. unications were interrupted and either POT or NOT was ON an operation command such as a trial run or FFT was received from the CX Drive Conversely POT or NOT turned ON while operation was being performed for a CX Drive operation command The voltage of the built in capacitor Connect the battery power supply and dropped below the specified value then clear the absolute encoder because the power supply to the encoder Unless the absolute encoder is cleared or the battery power supply was down the error cannot be reset The multi rotation counter of the encoder Set the Operation Switch When Using exceeded the specified value Absolute Encoder 3015 hex to an appropriate value Make sure that the traveling distance from the origin of the machine is no more than 32 767 revolutions The Servomotor rotation speed exceeded Check the power supply voltage 5V the specified value when only the battery 5 on the encoder side power supply was used during a power Check the connections to connector interruption CN2 Unless the absolute encoder is cleared the error cannot be reset An encoder initialization error was Replace the Servomotor detected The encoder detected a 1 rotation counter Replace the Servomotor error The encoder detected a multi rotation Replace the Servomotor counter error The rotation of the encoder was higher Do not let the Servomotor move when the than the specified value when the power
496. urn it ON again If the error is displayed even after the power is turned ON again the system may be faulty Stop using the system and replace the Servomotor and or the Servo Drive Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair 12 22 ooueuojure y pue Burjoousoe qnou Troubleshooting and Maintenance 12 4 Troubleshooting Error No hex Other errors The control circuit malfunctioned due to Turn OFF the power once and turn it excess noise or some other problem The ON again self diagnosis function of the Servo Drive If the error is displayed even after the was activated and an error occurred in power is turned ON again the system Other numbers the Servo Drive may be faulty Stop using the system and replace the Servomotor and or the Servo Drive Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair Cause Measures 12 23 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 4 Troubleshooting Troubleshooting Errors Related to EtherCAT Communications EtherCAT state change error EtherCAT illegal state change error Communica tions sync er ror Sync error Sync Manager WDT Error Node address setting error ESC initialization error SII verification error Communica tions setting error Command error 91 1 OMNUC
497. utotuning Mode Set the operation mode for realtime autotuning 3002 hex Selection Realtime autotuning cannot be used if the gain switching function is being used Gain Switching Input Set whether to enable or disable the gain switching function 3114 hex l Operating Mode Selection Position Control Mode and Fully closed Control Mode Switching Mode in Set the condition for switching between Gain 1 and Gain 2 PUOI Position Control 3116 hex Gain Switching Delay Set the delay time for switching from the Gain 2 to Gain 1 Time in Position Control Unit 0 1 ms Gain Switching Level in Set the judgment level for switching between the Gain 1 and 3117 hex Se l Position Control Gain 2 3118 hex Gain Switching Hysteresis Set the hysteresis width to be used for the judgment level in Position Control set in Gain Switching Level 3117 hex Position Gain Switching Set the time to change from one position gain to the other 3119 hex Time one Unit 0 1 ms OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications Reference page 9 2 page 9 10 page 9 11 page 9 12 page 9 13 page 9 13 page 9 13 7 24 suonoun J paddy x Applied Functions 7 8 Gain Switching Function Gain Switching Refer to Chapter 9 Details on Servo Parameter Objects for details on gain related objects Position Control Mode and Fully closed Control Mode In the Position Control mod
498. value Modes of operation 6 3 Cyclic Synchronous Position Mode RW RW RW RW RW RW INT32 U32 U1 SE Ear 0 to FFFF hex hex Command units Command units 2 147 483 648 to 2 147 483 647 O to 134 217 728 or 4 294 967 295 Command 2 147 483 648 to Command 2 147 483 648 to INT16 5 000 to 5 000 Command 2 147 483 648 to Command 2 147 483 648 to INT16 0 196 5 000 to 5 000 INT32 Command units U16 DUE EE 0 to FFFF hex hex 2 147 483 648 to 2 147 483 647 Default setting 0000h 0000h 100000 5000 0000h 0000h 0000h 0000h 0000h 0000h 0000h Old eAug 1 The Following error window object can be set to between 0 and 134 217 728 or 4 294 967 295 If the object is set to 4 294 967 295 the detection of Following error will be disabled If it is set to 0 a Following error will always occur If the set value is between 134 217 729 and 4 294 967 294 it is set to 134 217 728 In this case 134 217 728 will be returned when the object is read OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications E O re A ro e 6 3 Cyclic Synchronous Position Mode Block Diagram for Position Control Mode The following block diagram is for position control using an R88D KNL IL IL ECT series Servo Drive seer a ea Se Re 5 wmm mme eerie 35 5 ERR SST ee wem SSE emm Tm M ER a NE
499. ver Filter Setting 1 This is limited to a minimum value of 10 if a 17 bit absolute encoder is used OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 11 12 suoioun jueunsn py 11 4 Manual Tuning 11 4 Manual Tuning As described before the OMNUC G5 series have a realtime autotuning function Readjustment however is required if realtime autotuning cannot adjust the gain properly for same reasons there is a restriction by load conditions or a necessity to ensue optimum responsiveness and stability for each load This section describes how to perform manual tuning EI Basic Settings Before Manual Setting More reliable adjustment can be performed quickly by using waveform monitoring with the data tracing function of the CX Drive or by measuring the analog voltage waveform with the monitor function Analog Monitor Output The feedback motor speed internal command motor speed command torque and position error can be measured as an analog voltage level using an oscilloscope or other device The type of signal to output and the output voltage level are set with Analog Monitor 1 Selection 3416 hex and Analog Monitor 2 Selection 3418 hex settings For details refer to 71 1 Analog Monitor on page 11 1 Adjustment Functions CX Drive Data Tracing Function Commands to the motor and motor operation speed command torque and position error can be displayed on a c
500. vice profile number Description of Set Values Bit Name Contents 0 to 15 402 192 hex Drive Profile 16 to 23 02 Servo Drive 25 to 31 0 Manufacturer specific 6 21 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 1001 hex Error register Al Size 1 byte U8 Aces RO PDO map Not possible Gives the error type that has occurred in the Servo Drive Description of Set Values Bit Description Bit Description 2 Voltage error 6 Reserved 1008 hex Manufacturer device name All Size 20 bytes VS Access RO PDO map Not possible 1 The following table shows the default settings Specifications Model Single phase 100 VAC 50W R88D KNASL ECT 100W R88D KNO1L ECT 200W R88D KNO2L ECT 400 W_ R88D KNO4L ECT 100 W R88D KNO1H ECT 200 W R88D KNO2H ECT amp inale mhase d phiase 400 W R88D KNO4H ECT 200 VAC 750 W R88D KNO8H ECT 1kW R88D KN10H ECT 1 5 kW R88D KN15H ECT 600 W R88D KNO6F ECT 3 phase 400 VAC 1kW R88D KN10F ECT 1 5 kW R88D KN15F ECT Gives the Servo Drive model number 1009 hex Manufacturer hardware version All Size 20 bytes VS Aces RO PDO map Not possible Gives the version of the Servo Drive hardware OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 22 Old eAug Drive Profile 6 7 Object Dictionary Thi
501. voltage at the brake terminals Turn OFF the brake e Wire the Servomotor and the encoder correctly so that the wiring matches the axes Check the load rate of the Regeneration Resistor through communications This Regeneration Resistor cannot be used for continuous regenerative braking Check the operation pattern speed monitor Check the load rate of the Regeneration Resistor and check for the excessive regeneration warning display Increase the capacities of the Servo Drive and the Servomotor and length the deceleration time Use an External Regeneration Resistor Check the operation pattern speed monitor Check the load rate of the Regeneration Resistor and the excessive regeneration warning display Increase the capacities of the Servo Drive and the Servomotor and lengthen the deceleration time Reduce the Servomotor rotation speed Use an External Regeneration Resistor e Set the Regeneration Resistor Selection 3016 hex to 2 Always provide a temperature fuse or other protective measure when setting the External Regeneration Resistor Setting 3017 hex to 2 Otherwise the Regeneration Resistor will not be protected generate excessive heat and be burnt 1 Regeneration The Servo Drive regeneration drive Tris Replace the Servo Drive Tr Error faulty OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 12 16 ooueuojure y pue Burjioousoe qnou 12 4 Troublesh
502. warming Resetting warning status status Holding The warnings are automatically cleared when Do not ee th UA Communications the cause of the warning is eliminated hold 0 related Warning However warnings are held for at least 1 s Status Remove the cause of the warning and then 1 Hold send a warning reset command Holding General The warnings are automatically cleared when Do not JE MO SAN Warning Status the cause of the warning is eliminated hold 1 However warnings are held for at least 1 s Remove the cause of the warning and then 1 Hold send a warning reset command 3800 hex Communications Control All Setting range 32768 to 32767 Unt Default setting 1090 Data Attribute C Size 2 bytes INT16 PDO map Not possible Controls errors and warnings over EtherCAT communications la Precautions for Correct Use This function is for debugging For normal operation leave this object at the default setting 155 14 1 122 010 9 8 7 6 5 4 8 2 1 0 Function aH m PE ELL indem Suns masks Error Settings The following errors are detected if the data to be received in EtherCAT communications cycle is not received correctly and there are more continuous communications errors that the value Bit 9 47 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 7 Special Objects set in the Communications Control 3800 hex bits 8 to 11 SELON NN
503. witching with a varistor Z15D151 by Ishizuka Electronics Co OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 54 suoneoyioodg Specifications 3 3 Servomotor Specifications Torque Rotation Speed Characteristics for 1 000 r min Servomotors 1 000 r min Servomotors 200 400 VAC The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input e R88M K90010H T F C e R88M K2K010H T F C e R88M K3K010H T F C 900 W 2 kW 3 kW N m dropped by 10 0 Nem N m 71 7 71 7 1600 Power supply voltage dropped by 10 s M40 0 14 50 47 1400 47 7 1600 70 1400 7 Power supply voltage dropped Momentary operation range 28 28 7 s Momentary operation range N 2519 1 19 1 35 Continuous operation range Continuous operation range 0 1000 2000 r min 0 1000 2000 r min 0 1000 2000 r min Note The continuous operation range is the range in which continuous operation is possible Continuous operation at the maximum speed is also possible However doing so will reduce the output torque I Temperature Characteristics of the Motor and Mechanical System OMNUC G5 Series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approx 0 13 C As the temperature drops the motors momentary maximum torque increases and as t
504. with Latch 1 2to5 00 Reserved always set to 0 6 and 7 Wer of times latching is performed by Latch 1 in continuous 00 Latch 2 is disabled 3 Latch 2 is enabled 00 No value latched with Latch 2 There is a value latched with Latch 2 10 to 13 00 Reserved always set to O 44 to 15 Ene of times latching is performed by Latch 2 in continuous 1 These bits cyclically indicate the number of times latching is performed between O and 3 when continuous latching is set bits 1 or 9 of 60B8 hex is set to 1 They are cleared when bit 0 or 8 becomes 0 60BA hex Touch probe pos1 pos value 2147483648 to Command Range 2147483647 nes Default 9 Attribute Size 4 bytes INT32 Aces RO PDO map Possible This object gives the latch position for Latch 1 60BC hex Touch probe pos2 pos value 2147483648 to Command Size 4 bytes INT32 Aces RO PDO map Possible This object gives the latch position for Latch 2 6 47 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 60E0 hex Positive torque limit value All Range 0 to 5000 Default 5000 Attribute B This object sets the forward torque limit It is limited by the maximum torque of the connected motor For details refer to Torque Limit Switching on page 7 21 This object is set in units of 0 1 of the rated torque 60E1 hex Negative torque limit value Not poss
505. wn in the following table are used in this profile Unsigned 8 0 to 255 Unsigned 16 0 to 65 535 Unsigned 32 U32 0 to 4 294 967 295 Integer 8 128 to 127 Integer 16 32 768 to 32 767 Integer 32 2 147 483 648 to 2 147 483 647 6 19 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary Object Description Format Index Range Size In this manual objects are described in the following format Object Description Format The object format is shown below Object name gt Modes of Operation Default Default Attribute Attribute Data is indicated in pointed brackets lt gt Possible data are listed below Index Object name Modes of Operation Range Unit Default Attribute Size Access PDO map Object index given by a four digit hexadecimal number The object name Related operation modes Common All operation modes csp Cyclic synchronous position mode csp Semi Only operation modes related to semi closed control csp Full Only operation modes related to fully closed control The possible range of settings Physical units Default value set before shipment Old eAug The timing when a change in the contents is updated for a writable object A Always updated B Changing prohibited during motor rotation or commands If a change is made during motor rotation or commands the update timin
506. x OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 6 7 Object Dictionary 1B01 hex 258th TxPDO mapping parameter All Sub index 0 Number of objects Size 1 byte U8 Aces RO PDO map Not possible Sub index 1 1st object Range o 7 qUut Default 603F 0010 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 2 2nd object Range Pf Unit 7 Default 6041 0010 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 3 3rd object Range o 07 Uut Default 6064 0020 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 4 4th object Range pf Unit 7 Default 6077 0010 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 5 oth object Range o 7 qut Default 60F4 0020 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 6 6th object Range pf Unit 7 Default 60B9 0010 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 7 fth object Range o 7 qUt Default 60BA 0020 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 8 8th object Range Pf Unit c Default 60BC 0020 hex Attribute Size 4 bytes U32 Aces RO PDO map Not possible Sub index 9 9th object Range ST Unit Default 60FD 0020 hex Attribute Size 4 bytes U
507. xpress or implied b Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED ABOUT NON INFRINGEMENT MERCHANTABIL 14 ITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or oth erwise of any intellectual property right c Buyer Remedy Omron s sole obli gation hereunder shall be at Omron s election to i replace in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof the non complying Product ii repair the non complying Product or iii repay or credit Buyer an amount equal to the purchase price of the non complying Product provided that in no event shall Omron be responsi ble for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were prop erly handled stored installed and maintained and not subject to contamina tion abuse misuse or inappropriate modification Return of any Products by Buyer must be approved in writing by Omron before shipment Omron Compa nies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or el
508. y interest or penalties thereon imposed directly or indirectly on Omron or required to be collected directly or indirectly by Omron for the manufacture production sale delivery importa tion consumption or use of the Products sold hereunder including customs duties and sales excise use turnover and license taxes shall be charged to and remitted by Buyer to Omron Financial If the financial position of Buyer at any time becomes unsatisfactory to Omron Omron reserves the right to stop shipments or require satisfactory security or payment in advance If Buyer fails to make payment or otherwise comply with these Terms or any related agreement Omron may without liabil ity and in addition to other remedies cancel any unshipped portion of Prod ucts sold hereunder and stop any Products in transit until Buyer pays all amounts including amounts payable hereunder whether or not then due which are owing to it by Buyer Buyer shall in any event remain liable for all unpaid accounts Cancellation Etc Orders are not subject to rescheduling or cancellation unless Buyer indemnifies Omron against all related costs or expenses Force Majeure Omron shall not be liable for any delay or failure in delivery resulting from causes beyond its control including earthquakes fires floods strikes or other labor disputes shortage of labor or materials accidents to machinery acts of sabotage riots delay in or lack of transportation or the requiremen
509. y the Forward Reverse Drive Prohibition Input POT NOT the Origin Proximity Input DEC the external encoder input are stable before the protective function starts working The period can be extended by setting the Power Supply ON Initialization Time 3618 hex The Servo Ready Completed Output READY turns ON only when all of these conditions are met MPU initialization is completed The main power supply is established No error exists EtherCAT communications and servo are synchronized phase alignment The above timing chart applies when the servo ON signal is accepted as soon as doing so is enabled The Brake Interlock Output BKIR turns ON either when a release request is received via servo controls or when a release request is received via EtherCAT communications Although the servo ON operation is accepted in this section it is not yet enabled OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 3 20 suoneoyioodg Specifications 3 1 Servo Drive Specifications i Error Output ALM Pin 3 Error Output ALM Pin 4 Error Output Common ALMCOM Function This output is turned OFF when the drive detects an error This output is OFF when the power supply is turned ON but turns ON when the drive s initial processing has been completed i General purpose Outputs OUTM1 and OUTM2 Pin 1 General purpose Output 1 OUTM1 Brake Interlock Output BKIR Pin2 General pur
510. ys etis issicess iets ict tases lea a udis isses luu e due ud dag iud 10 4 Absolute Encoder SelttD escaso dace s Seta dun niece Aud aces PM EN Ld I i LII LRL 10 6 Setting Up an Absolute Encoder from the CX Drive eeseeeeeeeeeeeeeeese 10 6 10 3 Ela Operat ON urse evel vope t Qo ede vo OO tat d Iu re PEL RC EPI UR 10 7 Preparations for Trial Operation ccccccccseccsseceececueeceueceeeceuseeueesueesueeeseeeseeesnees 10 7 Test Operation via USB Communications from the CX Drive 10 8 Chapter 11 Adjustment Functions 20 11 1 ANAO MONIO m E 11 1 Objects Requiring SCUINGS 2235s ceholes eke deus tots nen ld Nest talc Moser bd ee tn Unc aur Saks 11 1 cair AdIUsmell meisneri ier oet ato Etude eau edad ac vo auc Red ven N AN 11 4 Purpose of the Gain AdjusStMent ccccccccecccseeceeeceueceeecceecaeeecaeesaeeseeeseueeseeeseeess 11 4 Gain Adj stment Methods sirsie eien uite ueu N Lu Routen ue utes Ud 11 4 Gain Adjustment PFOGOUUIG codecs Sood Bel ues tat cis ei v Ron SP pam ate OR anes asia ue ac 11 5 Ixealtiftie AUTOLUEITBIO uires oc D EE ERU aae dacice ni t etc pa o a Nr Vaies 11 6 Objects Ixequiring Settings essersi eye ec pra dp ed tton eset b de ka amu tesa b vs bes puto 11 7 Setting Realtime Autotuning cccccccsecccseecseecseeceusccseeceeeceusceueesaeeceueesaessaeesaeesaaes 11 7 oet rig Machirie FRIGIGILY sione oce eam deditione cue ctum edd eue id
511. ze 2 bytes INT16 Access Aces RW PDO map Not possible Set the backlash compensation amount during position control Refer to 7 4 Backlash Compensation on page 7 11 3706 hex Backlash Compensation Time Constant csp Setting range 0 to 6400 Default setting 090 Data Attribute B Size 2 bytes INT16 PDO map Not possible Set the backlash compensation time constant for position control Refer to 7 4 Backlash Compensation on page 7 11 3758 hex Touch Probe Trigger Selection All Setting range 0000 to FFFF hex Unt Default setting 0100 hex Data Attribute B Size 2 bytes U16 PDO map Not possible Select EXT1 EXT2 EXT3 or phase Z at the external latch trigger for the latch function For details on the latch function refer to 6 5 Touch Probe Function Latch Function on page 6 9 OMNUC G5 series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 9 46 sjoe qo JojeuieJeg oAJ8eg uo s rejeg Details on Servo Parameter Objects 9 7 Special Objects Bit Descriptions Latch 1 Latch 2 o 0 em f o o em 9 wm s ew A 3 mm v em 1 Phase Z signal a 1 Phase Z signal 3759 hex Warning Hold Selection All Setting range 0000 to FFFF hex Unt Default setting 0000 hex Data Attribute B Size 2 bytes U16 PDO map Not possible Select whether to hold communications related and general warning status Bit Descriptions Bit

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