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R88 W-series User's Manual

1. Three phase 10 n 380 to 480 V 15 ol 7 Ted Bar cn xy s rw a e 50 60Hz bad Di Ho ss FAN1 i ad IQ P t r Noise filter I P 1 AC Servomotor gi2v Moi xixe la iie eee 3E A y vou fez m TB ir lv wz os iata N SER M 4 m C2 d z
2. w 5 dia a Two M4 ri F poenas i ee F i P m MN 3 CD B doo t ENS i 4 eS HE t tie oe af Lis all 8 8 Le 12 75 130 75 Tm E 9 E DENS tr 92 poe on UU a TUTTE e Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions 52 ee pi e Two M4 5 ify E eu i M m v eo m Fo E Nd 2 x E s HE Lm ai co le lj Lo j LER T LA E m 225 E 2 18 Standard Models and Specifications Chapter 2 Three phase 200 V R88D WT05H WT08H WT10H 500 W to 1 kW Single phase 200 V R88D WTO8HH 750 W e Wall Mounting
3. AC Servo Driver r1 Regeneration resistance optional MOM B1 j B2 1 FAN r5 Thermistor s2 90 0 t i d AC Servomotor B d 4 A div p i i Fus i U L1 R use CHARGE 4 x U LN T V i244 z i E SM M Ta 4 w T jL3 T ae ae x Ha r H ai 1 1 lil i T D dL i Gate drive overcurrent protection isolator Relay detection i driver isolator SE 3 t a J isolator o QR 0000 qb uses sese L1C i T DOo DC 5V i cireni F ae 12V Sand ASIC detection H Lac zi DIL B i i 5V j generation Battery Connector i CN8 eJ Digital Encoder Divid CN1 p f current amp So io Divider Encoder output LIE SRP O ANT Gy PRT A Eee TLS AE A SENS DS E i Command mr It 5V Prid Foner POWER i Current Position Analog 88888 w EE ER bd ash mad dtd Bead Speed tg Speed torque oj S9 le 9 gt control l AD je command input Display Settings Area f gode Serial port CPU M I O Control I O CN5 CN3 Analog monitor output Parameter Unit computer 1 11 Introduction Chapter 1 400 V AC R88D WTO5HF WT10HF WT15HF WT20HF WT30HF
4. o E T T Main circui il 3 bod Wee M terminal CO KO KD KO Ke D EE OD a i S e o o co c icol Jeg amp 7 5 eene S 7 9 134 52 74 7 30 200 30 260 Main circuit terminal MS i Main circuit Control circuit Ground terminal M8 Airflow terminal MS terminal M4 terminal M8 A View A e Ley e I a gt Approx mass 22 kg 48 5 Ib Kk N wN gla N e T 2 25 Standard Models and Specifications Chapter 2 2 3 2 Parameter Units Hand held Parameter Unit R88A PRO2W Two 4 5 dia 2 26 Standard Models and Specifications Chapter 2 2 3 3 AC Servomotors m 3 000 r min Servomotors without a Brake e 100 V AC 30 W 50 W 100 W R88M W03030L S1 W05030L S1 W10030L S1 Incremental R88M W03030S S1 W05030S S1 W10030S S1 Absolute e 200 V AC 30 W 50 W 100 W R88M W03030H S1 D W05030H S1 D W10030H S1 D Incremental R88M WO03030T S1 D W05030T S1 D W10030T S1 D Absolute ay HE D type IP67 connector 3002 30 HE D type IP67 con
5. je 1 B1 B24 B3 FAN j 102 Fuse IQ 2v AC Servomotor P LA t P U i R CHARGE 4 U MK V T 4 k V LN T W E se Ww j xus i 4 o ff E 1 N A SNR H He FS i Gate drive dO Rd Relay Voltage Gate prorecton rin CN2 r drive detection drive 4 Voltage EE nterface due E H detection T Z gy ee qe o Re de ttre cure no Semmes ee cae eed o Curr 1 i Battery Connector Lic it T 5V EM ASIC detection CNB T Newt i bap I DC DC 15V generation 4 a Pe con rA i EnE rl version Lac 5V ra none gt Divider CN1 Encoder output H 12V ET ATEA AA ELEN E AEA AE A E A CU TUM ls Command pulse L a i 5V L i processing input E IE Position 8 t posi contr JUI JO C U ov z peed Speed torque Sj o uij control AD command input Display Settings Area 4 Serial port CPUM M O Control I O CN5 CN3 Analog monitor output Parameter Unit computer 1 10 Introduction Chapter 1 200 V AC R88D WT60H
6. o 0 7 TRTIBREBS TCT FAN jet aS MUN o T FIAN AC Se ot 1 rvomotor s p oes P i Fuse i P U U 1 CHARGE k 4 IN T R wy V E Vi Le N W Gate drive Meo o oneeesmbatal ute RUE Thermistor Relay Voltage Gate overcurrent ifa T drive Pew drive ama m CN2 F 1 e a i 0 5to1kw i E Voltage Interface i detection T e E E E E ere pe i Current Battery Connector l detecti LIC ao ect 5V PWM ASIC Lcetscton CNB Z i Ne generation d i occ me 15V 1 b DET conver SPECS ees ee f CN1 KA L2C sion ae 5V Dum signal gt Divider gt Encoder output 12V processing 1 Command Command pulse EE i puse bat input by ae processing POWER Current Position A y e E control a ae a OV Speed S peed torque control AD je command input Display Settings Area Y Serial port CPU VO Control 1 0 CN5 CN3 Analog monitor output Parameter Unit computer 200 V AC R88D WT20H WT30H WT50H AC Servo Driver
7. External dimensions Mounted dimensions 2 ia 2 Four M4 ee ah A F a anh 3 Tp iE ree gm a e ae ie 2 5E cta mum mg ls E ES ont pui nu PE Loe bo MN E mani e e 100 0 5 4i 8 i US ale 180 soi s E a TEST DT CU aa ig Is HH e Front Panel Mounting Using Mounting Brackets External dimensions AS Mounted dimensions K Tee Ba E 2 Four M4 Xi Nn p M E poc l a re Fl ae montcm re p URS Ai Wi is Sil BS HA d E LS E a co Note The R88D WT15HH is a three phase 230VAC W series driver that has been converted for a single phase powersupply There are thus three main circuit power supply connection terminals L1 L2 and L3 Connect a single phase power supply across terminals L1 and L3 2 20 Standard Models and Specifications Chapter 2 Three phase 200 V R88D WT20H WT30H 2 to 3 kW Three phase 400 V R88D WT20HF WTS3OHF 2 to 3 kW e Wall Mounting External dimensions Mounted dimensions OU CN EQ ERA EE M2 T Ainiai ERa ger j jezd
8. ra B1 E 3 Thermistor 102 li ok 1 AC Servomotor P1 H j P2 Euse R _ CHARGE 4 U Cox 1 ch V LN T EA Ww T 1 4 1 i Nilai Ne Gate drive LEM j Relay Voltage Gate SEM i i t drive detection drive Bs vn i CN2 ics T ju Voltage Interface be id detection fy Tee i E 1 Current s iL1C Battery Connector it TH po 5V KL Pwu ASIC detection CN8 om DC DC r generation b us i _ bmi conver 7L 15V d sion 7 me L2C pap 5V Daen n emp a Divider LLL 8Nt Encoder output 12V coer Ls Command pulse joe E cQ eec re oe SIE 5V processing input 7 POWER WAS Position Analog voltage processing control MoJo oV conversion n peed torque of jo lo lo Spred AD command input Display Settings Areas Serial port CPUI 0 gt Control I O d CN5 CN3 Analog monitor output Parameter Unit computer Introduction Chapter 1 200 V AC R88D WT05H WT08H WT10H WT15H AC Servo Driver
9. T ES C Four Z dia Dimensions mm With key shaft end Waterproof type dimensions flange dimensions ul u i c or o2 r e z s aK b n s w w ow owz 6 3 8 55 o 70h7 3 8 7 14h6 16 R88M WP40030L R88M WP750830L R88M WP 1K530L uj o7 114 5 40 120 145 110h7 3 5 10 10 16h6 22 5 5 15 7 77 55 19h6 e e 135 2 31 Standard Models and Specifications Chapter 2 m 3 000 r min Flat style Servomotors with a Brake e 100 V AC 100 W 200 W R88M WP10030L B S1 WP20030L B S1 Incremental R88M WP10030S B S1 WP20030S B S1 Absolute e 200 V AC 100 W 200 W 400 W 750 W 1 5 kW R88M WP10030H B S1 D WP20030H B S1 D WP40030H B S1 D WP75030H B S1 D WP1K530H B S1 D Incremental R88M WP10030T B S1 D WP20030T B S1 D WP40030T B S1 D WP75030T B S1 D WP1K530T B S1 D Absolute 400 V AC 200 W 400 W 750 W 1 5 kw R88M WP20030F B S1 D WP40030F B S1 D WP75030F B S1 D WP1K530F B S1 D WP20030R B S1 D WP40030R B S1 D WP75030R B S D WP1K530R B S D Incremental R88M WP20030C B S1 D WP40030C B S1 D WP75030C B S1 D WP1K530C B S1 D Absolute D type IP67 connector E D type IP67 connector Bil i Di
10. Hi NIE a Dimensions of shaft end with key S1 5 d LL QK 3 Dimensions mm D1 D2 G R88M W20030L J R88M WA0030L J R88M W75030LJ R88M W30030L J R88M W65030L J 2 30 Standard Models and Specifications Chapter 2 m 3 000 r min Flat style Servomotors without a Brake e 100 V AC 100 W 200 W R88M WP10030L S1 WP20030L S1 Incremental R88M WP10030S S1 WP20030S S1 Absolute e 200 V AC 100 W 200 W 400 W 750 W 1 5 kW R88M WP10030H S1 D WP20030H S1 D WP40030H S1 D WP75030H S1 D WP1K530H S1 D Incremental R88M WP10030T S1 D WP20030T S1 D WP40030T S1 D WP75030T S1 D WP1K530T S1 D Absolute e 400 V AC 200 W 400 W 750 W 1 5 kW R88M WP20030F S1 D WP40030F S1 D WP75030F S1 D WP1K530F S1 D WP20030R S1 D WP40030R S1 D WP75030R S1 D WP1K530R S1 D Incremental R88M WP20030C S1 D WP40030C S1 D WP75030C S1 D WP1K530C S1 D Absolute D type IP67 connector E ge D type IP67 connector Dimensions of shaft end with key L 1S1 E vi ae QK i t Fon IP67 W KL e ew
11. 2 103 Standard Models and Specifications Chapter 2 2 6 2 Encoder Cable Select an Encoder Cable to match the Servomotor being used The cables range in length from 3 to 20 meters The maximum distance between the Servomotor and Servo Driver is 50 meters m Cable Models R88A CRWAI C Model Length L Outer diameter of sheath Weight R88A CRWA003C R88A CRWAO05C R88A CRWA010C R88A CRWA015C R88A CRWA020C R88A CRWAL_ C DE R88A CRWAOOSC DE R88A CRWAOO05C DE R88A CRWAO10C DE R88A CRWA015C DE R88A CRWAO20C DE Length L Outer diameter of sheath 6 mm dia Approx 0 25 kg Approx 0 35 kg Approx 0 9 kg R88A CRWBI IN E R88A CRWBOOSN E R88A CRWBOO5N E R88A CRWBO 10N E R88A CRWBO 15N E R88A CRWBO20N E Length L Outer diameter of sheath Approx 0 6 kg Approx 1 2 kg Weg Approx 1 4 kg m Connection Configuration and External Dimensions R88A CRWAI C Servo Driver 9o e R88D WT 2 104 Standard Models and Specifications Chapter 2 R88A CRWAL_ C DE Servo Driver le Nominal dimension gt 10m 200mm 20mm 100mmz 10 DICES We d i R88D WT test lable Identification lable X R88M WL D LN E I Signalcable
12. 11 kW 15 kW 1 kW R88M W11K015 R88M W15K015 R88M W1K030 1 5 kW R88M W1K530 R88M W2K030 1 kW R88M Wf1K060L 1 1 5kW R88M W1K560CT R88M WAKO60L B 1 8kW R88M W1K815 1 2 9 kW R88M W2K915L R88M W3KO030L 1 R88M W3KO060L1 2kW Angled type JLO4V 8A20 15SE EB Straight type JLO4V 6A20 15SE EB Angled type JLO4V 8A24 10SE EB Straight type JLO4V 6A24 10SE EB For power connector Angled type JLO4V 8A32 17SE Straight type JLO4V 6A32 17SE For brake connector Angled type MS3108A10SL 3S D190 Plug CE 10SLBA S Back shell Straight type MS3108A10SL 3S D190 Plug CE 10SLBS S Back shell For power connector Angled type CE05 8A18 10SD B BAS Straight type CE06 6A18 10SD B BSS CE05 8A10SL 3SC B BA S S CE05 8A10SL 3SC B BA S S CE05 8A10SL 3SC B BA S S CE05 8A10SL 3SC B BA S S CE05 8A10SL 3SC B BA S S For brake connector Angled type Plug CE05 8A10SL 3SC B BAS Straight type Plug CE05 6A10SL 3SC B BSS CE05 8A10SL 3SC B BA S s For power connector Angled type JLO4V 8A22 22SE EB Straight type JL04v 6A22 22SE EB For sheath external diame ter of 6 5 to 9 5 dia JL04 2022CK 09 For sheath external diame ter of 9 5 to 13 dia JL04 2022CK 12 For sheath external diame ter of 12 9 to 15 9 dia JL04 2022C K 14 For sheath e
13. gt P j Dimensions of shaft end with key BS2 T gh esee n M Effective depth NE P KB1 i i KB2 l Shaft Extension R88M W30010L B R88M W1K210L B to to R88M W90010L B R88M W3K010L 1 B Dimensions mm C R88M W30010L R88M W60010L R88M W90010L R88M W1K2100 R88M W2K0100 R88M W3K0100 Note The external dimensions are the same for IP67 waterproof models BOL 2 37 Chapter 2 Standard Models and Specifications 1 000 r min Servomotors without a Brake e 200 V AC 4 kW 5 5 kW R88M W4K010H S2 W5K010H S2 Incremental R88M W4K010T S2 W5K010T S2 Absolute LL 113 i 180 42h6 dia e SA x7 200 dia aw e 114 3 0 5 dia 150 il i Four 13 5 dia Dimensions of shaft end with key S2 KB1 KB2 M16 Shaft Extension M16 Effective depth 32 R88M W1K210L1 1 to T n HRS R88M W5K510L1 5 90 la 8 Dimensions mm S R88M WAKO1OLT 420 3 0 016 R88M W5K5100 i 420 Note The external dimensions are the same for IP67 water
14. Note The external dimensions are the same for IP67 waterproof models OI 2 44 Standard Models and Specifications Chapter 2 6 000 r min Servomotors with a Brake e 400 V AC 1 0 kW 1 5 kW 3 0 kW 4 0 kW R88M W1KO060F B S2 W1K560F B S2 W3K060F B S2 WAK060F B S2 Incremental Four Z dia Shaft Extension Dimensions of shaft end with key BS2 LR F M8 Effective depth 16 TE k Q he K Dimensions mm LR KB1 KB2 KB3 KL1 KL2 KL3 Cc D1 R88M Wf1 K060 7 R88M Wf1 K560 R88M W3K060 R88M W4K060 Note The external dimensions are the same for IP67 waterproof models BOI 2 45 Standard Models and Specifications Chapter 2 2 4 Servo Driver Specifications OMNUC W series AC Servo Drivers R88D WTI Referring to 2 2 Servo Driver and Servomotor Combinations select a Servo Driver to match the Servomotor that is being used OMNUC W series AC Servomotor Drivers can handle either pulse in puts or analog inputs The control mode is switched to match the con troller being used The default setting is for position control by pulse train commands 2 4 1 General Specifications Ambient operating temperature 0 to 55 C Ambient oper
15. Cable Connector plug 350781 1 AMP Japan Ltd company Connector socket 350550 6 AMP Japan Ltd company Servomotor Connector plug Cable AWG14 x 6C UL2463 euo ore Japan Ltd company M4 crimp 350547 6 AMP Japan Ltd company terminals 350669 1 AMP Japan Ltd company 350690 3 AMP Japan Ltd company R88A CAWB B DE cable connection View X No Description Number Colour 1 Phase U 1Black 2 Phase V 2 Black 3 Phase W 3 Black n 5 6 Brake terminal 4 Black Brake terminal 5 Black Frame ground green yellow R88A CAWC The R88A CAWCL Cables are for 1 000 r min Servomotors upto 900 W 1 500 r min Servomotors upto 1 3 kW 3 000 r min Servomotors 1 to 2 kW and 6 000 r min Servomotors upto 1 5 kW e Cable Models For Servomotors without Brakes Model IP67 Length L Outer diameter of sheath Weigh R88A CAWCOOSS E 10 4 dia R88A CAWCOO5S E R88A CAWCO 10S E R88A CAWC015S E R88A CAWCO20S E For Servomotors with Brakes only 230 VAC type Servomotor Model Length L Outer diameter of sheath Weight R88A CAWCOOSB 14 5 dia Approx 1 1 kg R88A CAWCO005B Approx 1 7 kg R88A CAWCO 10B Approx 3 3 kg R88A CAWCO 15B Approx 4 9 kg R88A CAWCO20B Approx 6 4 kg 2 113 Standard Models and Specifications Chapter 2
16. Setting 50 to 2000 Unit Default 2000 Restart range setting power Enabled when Pn408 0 notch filter function selection is set to 1 Set the mechanical resonance frequency m Sequence Parameters From Pn500 Positioning completion range 1 0 to 250 i Command Default Restart unit setting power e Set the deviation counter to output INP1 positioning completed output 1 during position control e INP1 is ON when Pn500 is below the deviation counter residual pulse Note Related parameters Pn50E 0 INP1 signal output terminal allocation Pn504 positioning com pleted range 2 Pn501 Position lock rotation speed Setting Oto 10000 Unit r min Default 10 Restart No range setting power 4 60 Operation Chapter 4 Set the number of position lock speed during speed control When the Servomotor rotation speed is below the set value and PLOCK position lock command in put is input the operation mode switches from speed control to position control and the Servomotor is locked Use Pn102 position loop gain to adjust servolock force Note Related parameters Pn50A 0 input signal allocation mode and Pn50d 0 PLOCK signal input terminal allocation Pn502 Rotation speed for motor rotation detection Setting Oto 10000 Unit r min Default Restart range setting power Set the rotation speed for outputting TGON Servomotor rotation detection output TGON turns ON when the
17. External dimensions Mounted dimensions m dia Two M4 i a CU ys MS Bey i P o M cat pce al DIR E e F ee aie Wire EE D BE CQ Oe EOE a E p9 GSE EM aan IE d m Lal d no el J pe ll 4 1 NESHE ED n ES esi 4 r 90 8 rm 2 pad Pl Mtr ES 2 rt 75 mno 180 PE i 90 a LAT 142 ig ue c i Co UE PRODIT Dm REOR s is f ul li n Db c E e Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions 5 dia M25 uL P a 52 De ae a Two M4 FI LE E EZ t pat d PST EE ANDES DOES Coo F TIT z i e ooo A jooj T m T bi ss B a al ahs PE lech e J iE Z ea jr iB ee 3 i j 18 XE feed EE Pia i iE E 1 XU Ep ot LJ e eae Note The R88D WTOS8HH is a three phase W series driver that has been converted for a single phase power supply There are thus three main circuit power supply connection terminals L1 L2 and L3 Connect a single phase power supply across terminals L1 and L3 2 19 Standard Models and Specifications Chapter 2 Three phase 200 V R88D WT15H 1 5 kW Three phase 400 V R88D WTO5HF WT10HF WT15HF 0 5 to 1 5 kW Single phase 200 V R88D WT15HH 1 5 kW e Wall Mounting
18. e Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions ate 2 Fou M4 o i ae nc see ee P or oe 2 oom a DUAL UAUC aS us pure AERE E MWR CREE BER ERE nd d NEN ANAT Le co Hal L4 i amp a TTE D A 3 I 1 DOE NU FEET EN i i UL JH n 2 21 Standard Models and Specifications Chapter 2 Three phase 200 V R88D WT50H 5 kW Three phase 400 V R88D WT50HF 5 kW e Wall Mounting Two 6 dia 8 Four M4 E be M m i l T EXE e ears cmi S55 Ss ESL c5 a 3 EE lea mo c E a CES 5555 SS a ess SS 5 Ss SS E a am Pu De i P CIEL CE LE 55 238 5 td i na B Aven i due ud amp 3 T a e Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions 5 n 2 Four M4 M e y Y d P
19. con sump tion at 20 C Static Nem 0 9 min 1 9 min 3 5min 7 1 min 0 98 min 1 96 min 3 63 min 7 15 min friction torque B 3 1 reference value 1 reference value lash Insula tion grade Type F Type F Type F I Continuous Continuous Continuous Note 1 The values for items marked by asterisks are the values at an armature winding temperature of 100 C combined with the Servo Driver Other values are at normal conditions 20 C 65 The momentary maximum torque shown above indicates the standard value Note 2 The brakes are the non excitation operation type released when excitation voltage is ap plied Note 3 The operation time is the measured value reference value with a surge killer CR50500 by Okaya Electric Industries co LTD inserted Note 4 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures Note 5 The value indicated for the allowable radial load is for the position shown in the following dia gram Radial load Thrust load 5mm 2 88 Standard Models and Specifications Chapter 2 e Torque and Rotation Speed Characteristics 3 000 r min Flat style Servomotors 100 V AC The following graphs show the characteristics with a 3 m standard cable and 100 V AC input R88M WP10030L S 100 W Nem 1 0 40 955 Repeated usage 0 24 0
20. R88M W2K010 R88M W3K010 Angled type JLO4V 8A22 22SE EB Straight type JLO4V 6A22 22SE EB For sheath external diame Japan Avi ter of 6 5 to 9 5 dia ation Elec JL04 2022CK 09 tronics Industry For sheath external diame Ltd JAE ter of 9 5 to 13 dia JL04 2022CK 12 For sheath external diame ter of 12 9 to 15 9 dia JL04 2022CK 14 1 000 r min 3 6 R88M W4K030 R88M W5K530 Angled type JLO4V 8A32 17SE Straight type JLO4V 6A32 17SE Use a conduit Japan Avi ation Elec tronics Industry Ltd JAE System Design and Installation Chapter 3 Servomatortype Servomotor model Connector modei Gable clamp model__ Maker Servomotor t With brake 3 000 r min 230 VAC type 1 000 r min 3 000 r min 230 VAC type 1 000 r min 1 000 r min See note 1 500 r min 400VAC type 3 000 r min 400VAC type 6 000 r min 400VAC type 1 500 r min 400VAC type 3 000 r min 400VAC type 6 000 r min R88M W2K0300 B R88M W300100 B R88M W600100 B R88M W900100 B R88M W3K0300 B R88M WAKOSOLT B 5 5 kW R88M W5K530L B 450W R88M WA45015L 850W R88M W85015L 1 8 kW R88M W1K315 4 4 kW R88M W4K415 5 5 kW R88M W5K515 B ELT B B
21. S No output Allocated to pins CN1 25 and 26 pin 26 is the COM port Allocated to pins CN1 27 and 28 pin 28 is the COM port Allocated to pins CN1 29 and 30 pin 30 is the COM port Pn50E 1 Output signal selection 1 VCMP signal speed conformity output terminal allocation Speed Setting 0 to 3 i Default Restart range setting power Pn50E 2 Output signal selection 1 TGON signal Servomotor rotation detection output terminal allocation All operation modes Setting 0 to 3 Unit Default range setting Pn50E 3 Output signal selection 1 READY signal Servomotor ready output terminal allocation All operation modes Setting 0 to 3 Unit Default Restart range setting power Pn50F 0 Output signal selection 2 CLIMT signal current limit detection output terminal allocation All operation modes Setting 0 to 3 Unit Default Restart range setting power 4 38 Operation Chapter 4 Pn50F 1 Output signal selection 2 VLIMT signal speed limit detection output terminal allocation Torque Setting 0 to 3 Unit Default 0 Restart Yes range setting power Pn50F 2 Output signal selection 2 BKIR signal brake interlock output terminal signal All operation modes Setting 0 to 3 Unit Default 0 Restart Yes range setting power Pn50F 3 Output signal selection 2 WARN signal warning output terminal allocation All operation modes Setting 0 to 3 Unit Default Restart ran
22. Analog monitor 2 Default setting Speed monitor 1 V 1000 r min change using Pn003 1 Analog monitor 1 Default setting Current monitor 1 V rated torque change using Pn003 0 Analog monitor ground Ground for analog monitors 1 and 2 Analog monitor ground Note 1 Displays status with no change to scaling Note 2 Maximum output voltage is 8 V Exceeding this value may result in an abnormal output Note 3 Output accuracy is approximately 1596 Analog Monitor Output Circuit Servo Driver ay NM analog monitor 2 479 CN5 2 LAM analog monitor 1 CN5 3 o GND analog monitor ground Lov GND analog monitor ground 4 116 Operation Chapter 4 m Analog Monitor Cable R88A CMW001S Use this cable to connect the Servo Driver s Analog Monitor Connector CN5 7 3 1000 Servo Driver T 1 External devices resowrs C e EST D t 6 1 7 dia Servo Driver Connector socket model DF11 4DS 2C Hirose Connector socket model DF11 2428SCF Hirose Monitored Item Selection User Parameter Function Application Switch 3 Pn003 Default Setting 0002 Change the monitored item with user parameter Pn003 function selection application switch 3 Pn003 0 Function selection application switch 3 Analog monitor 1 AM allocation Setting Default Restart range setting power Pn003 1 Function selection application switch 3 Analog monitor 2 NM allocation Setting 0 to F
23. Class 3 ground T s EE zl Terga killer See note 2 ae e Servo error display OMNUC W series OMNUC W series AC Servo Driver AC Servomotor Power Gable Class 3 ground H po Encoder Cable 24V DC User controlled device Control cable Note 1 Set by user parameter Pn50F 2 Recommended product in 3 2 4 Wiring for Noise Resistance For Confirmity to EC Directives refer to 3 2 5 Winning for Conformity to EMC Directives 3 Recommended relay My relay 24V by OMRON 4 R88D WTO8HH and R88D WT15HH servodrivers have changed from three phase specifications to single phase power supply specifications Main circuit connection terminals L1 L2 L3 remain These Servodrivers have terminal B3 and internal regenerative resistor Observe the following points 1 Connect main power supply shown above to L1 and L3 terminals Single phase 220 to 230 V AC 1096 to 1596 50 60 Hz If a power supply of 187 V 1596 of 220 V or less is used alarm A41 indicating voltage shortage may occure when accelerating to maximum speed with maximum torque of Servomotor 2 Short circuit B2 B3 terminals using the internal regenerative resistor If the capacity of the regenerative resistor is insufficient remove the lead between B2 and B3 terminal and connect external regenerative resistor unit to the
24. pese Perform rotation setting Setting completed dioiniE donE flashes 1 s later Y PIGISIE t Return to PGSEt display on 1s min Operation Procedure PRO2W Front panel Display Explanation operation key operation aa JRC Status Display Mode See note 1 F mim Press the MODE SET Key to change to System Check IF nuu Mode RR Press the Up or Down Key to set function code FnOOE Al See note 2 DATA Press the DATA Key front panel DATA Key for 1 s min to display PGSEt Press the MODE SET Key Automatic offset adjustment id will be performed When automatic adjustment is completed donE will flash for approximately 1 s mo Approx 1 s later r E After donE has been displayed the display will return to u PGSEt Press the DATA Key front panel DATA Key for 1 s min Ein 1 3 to return to the System Check Mode function code display See note 3 A 8 C3 DATAK s mi S H sli C m F H tj irr TTT TITTY z 3 LA Note 1 Perform the above operation when A CC is displayed Note 2 The digits you can manipulate will flash Note 3 The A CC alarm will be cleared the next time the power supply is turned OFF then ON again 4 142 M n Tl Chapter 5
25. Chapter 4 Operation 255 vy E een ope Sa EN E E Pru tel 4 1 Operational Proced re loe Rel etek vee ta baie viens deat 4 3 4 2 Preparing for Operation ponens sanan rupa eee meer 4 4 4 3 Trial Operattones oisi be RE A AAG RE AA TA ERR RE SER RIO OE 4 8 4 4 User Parameters ceno d ERR eR Rat eR CREER ER RR RE E RES 4 16 4 5 Operation Functions 5 2 iss RP ECRIRE RE GE EE EE 4 64 4 6 Trial Operation Procedure 0 0 ec hn 4 90 4 7 Making Adjustments 3 nup here ueER OS RATER E Ee e pides 4 92 4 8 Advanced Adjustment Functions m 4 100 4 9 Using Displays i RE e etre me qx GU gc ed e e lc toss 4 109 4 10 Using Monitor Output llsseseeeeeeeeee RI eren 4 115 4 11 System Check Mod n re ERAI Ae te Red ii 4 118 Chapter 5 Troubleshooting eere 5 d 5 1 5 2 5 3 5 4 5 5 5 6 Measures when Trouble Occurs 0 0 cece cece n 5 2 Al dtms hires sot Surtees Soleo ent Ann OS Met tag esu e tenes ate oA 5 6 JTroubleshootmsg o hb ER ad Sa xcu e e D ee ES ERS 5 9 Overload Characteristics Electron Thermal Characteristics 0 00000 5 18 Penodic Maintenance ce Rer EA Eu eee ee eae 5 19 Replacing the Absolute Encoder Battery ABS 00 cee eee eee eee 5 21 Table of Contents Chapter 6 Appendix ye cscs bed eo essere s terrere 6l 6 1 Connection Examples 0 0 0 cece ee en 6 2 6 2 Encoder D
26. e Connection Configuration and External Dimensions For Servomotors without Brakes R88A CAWC S E Servo Driver E L R88D WT a D For Servomotors with Brakes only 230 VAC type Servomotor R88A CAWC Servomotor D R88M W Servomotor E gt R88M W Servo Driver R88D WT lt e Wiring For Servomotors without Brakes R88A CAWC S E cable connection Servo Driver Servomotor No Symbol Cable Connector plug B Phase V MS3106B18 10S DDK Ltd Cable clamp MS3057 10A DDK Ltd Cable AWG14 x 4C UL2463 Servomotor M4 cri Receptacle Nai MS3102A18 10P DDK Ltd For Servomotors with Brakes only 230 VAC type Servomotor R88A CAWC B cable connection Servo Driver Servomotor Cable Connector plug MS3106B20 15S DDK Ltd Cable clamp MS3057 12A DDK Ltd Servomotor Receptacle MS3102A20 15P DDK Ltd M4 crimp terminals For certain 400 VAC type Servomotor with brake a seperate braking cable is needed Therefore it is necessary to use both power cable for Servomotor without brake R88A CAW L S E and braking cable R88A CAWCL IB E R88A CAWCL B E is only used for wiring 2 CORE the brake line and is applicable for all 400 VAC type Servomotors 2 114 Standard Models
27. e Turn ON the Power The alarm A 81 will not be cancelled with the setup operation Turn OFF the power and check that the power indicator is not lit then turn ON the power again to cancel the alarm After the power is turned ON again as long asthere is no error the setup procedure is complete atthis point If an alarm A 81 occurs repeat the previous step 4 7 Operation Chapter 4 Additional Setup Operations e Trial Operation Setup The preceding setup is necessary to check the Servomotor and Servo Driver operations without a load When connecting the Servomotor and mechanical system for a trial operation the absolute encoder may rotate excessively If that occurs perform the setup once again When connecting to the CV500 MC221 421 or C200H MC221 Motion Control Unit carry out the set up close to the mechanical origin An error will be generated if the absolute data exceeds 32 767 pulses when making the initial settings for the CV500 MC221 MC421 or C200H MC221 Motion Control Unit This limitation does not apply to the C81W MC221 MC241 Motion Control Unit Note The number of rotations and the output range for the OMNUC W series absolute encoders are different from the previous models U series W series Number of rotations and output range 32 768 to 32 767 U series Number of rotations and output range 99 999 to 99 999 Set the operating range within the number of rotations and output range e Setup when R
28. M5 crimp MS3108E32 17S DDK Ltd terminals for B Phase V all wires R88A CAWG The R88A CAWGL Cables are for 1 500 r min Servomotors 4 4 kW 2 119 Standard Models and Specifications Chapter 2 e Cable Models For Servomotors without Brakes Model Length L R88A CAWGOOSS E 3m R88A CAWGOOSS E 5m R88A CAWGO 10S E 10m R88A CAWGO 15S E 15m R88A CAWGO20S E 20m For Servomotors with Brakes For Servomotors with brake is a combination of a powercable and a separate brakecable required Brake cable only Model Length L R88A CAWCOOSB E 3m R88A CAWCOO5B E 5m R88A CAWCO 15B E 15m R88A CAWCO 10B E 10m R88A CAWCO20B E 20m e Wiring for Power Connector No Symbol Connector Crimp MS310822 22S terminal Phase V SME B Phase V m R88A CAWH The R88A CAWHI Cables are for 1 500 r min Servomotors 7 5 kW and 11 kW e Cable Models For Servomotors without Brakes Model Length L R88A CAWHOOSS E 3m R88A CAWHOO5S E 5m R88A CAWH015S E 15m R88A CAWH010S E 10m R88A CAWHO20S E 20m For Servomotors with Brakes For Servomotors with brake is a combination of a powercable and a separate brakecable required 2 120 Standard Models and Specifications Chapter 2 Brake cable only Model Length L R88A CAWCOOSB E R88A CAWCOO5B E R88A CAWCO 10B E R88A CAWCO 15B E R88A CAWCO20B E e Wi
29. Online auto tuning constantly calculates and refreshes the load inertia using the rigidity settings speed loop gain position loop gain etc as target values When the power supply is turned OFF after operations are complete however the calculated data is lost and the next time the power supply is turned ON calculations will restart using Pn103 inertia ratio setting as the initial value 4 122 Operation Chapter 4 Store the online auto tuning results if you want to use the results as the initial value when the power supply is next turned ON again Performing this operation writes the results to Pn103 inertia ratio System Check Mode mimm Pl 31mm Tuning results inertia ratio dis ee auto tuning results e omi iG iei played d displayed store n f vZ 4 1 Press this key to write bres tuning results Idlolnl donE flashes Pn103 nN setting complete 1 s later diglelaig Display returns to on 1smin diGie alo d Operation Procedure PRO2W Front panel Display Explanation operation key operation IF III Press the MODE SET Key to change to System Check NUU Mode Press the Up or Down Key to set function code Fn007 NM Fin uu See note 1 La fmrmimim Press the DATA Key front panel DATA Key for 1 s min oiu Co IMODE SET N JU to display d See not
30. PiniGiaig IPlniB 0 P z D Y The function code parameter number and monitor number are the rightmost three digits of the digits that can be changed Press the Left Key front panel DATA Key for less than 1 s to change the op eration digit as follows Units digit No 0 to 10s digit No 1 to 100s digit No 2 to units digit No 0 etc Note This manual uses digit numbers shown above to denote the position of the digit in question in the 5 digit display The rightmost digit is digit No 0 and the leftmost digit is digit No 4 Also you can change 4 or 5 digits in the parameter setting data Press the Left Key front panel DATA Key for less than 1 s to shift the operation digit to the left in the same way After you reach the leftmost digit you can change the display returns to digit No 0 Use the following operation to shift the operation digit if for example you want to change the setting from 00500 to 01000 Select operation digit No 2 using the Left Key front panel DATA Key for less than 1 s and then press the Up Key 5 times at digit No 5 You can shorten the operation time by performing operations in this way You can shorten the operation time by using the operation digit shift function but the digit number from which you start the operation depends on which current setting display contents you want to change Try a variet
31. Pn201 Encoder dividing rate Encoder output Parameters Requiring Settings Parameter No Parameter Explanation Reference name Pn002 0 Torque Set Pn002 0 to 2 use TREF as torque 4 4 4 Parameter command input feed forward input Details switching Pn400 Torque Adjust the torque feed forward amount See note command scale Note The default setting is 30 x 0 1 V rated torque Operation TV REF speed command input 0 TREF ay torque feed forward input V Without the torque feed forward function Servomotor output torque Without the torque feed forward function r min Servomotor operation Note 1 If torque feed forward is input when the Servomotor s rotation speed is fixed the rotation speed won t match the speed command Design the Controller s circuit so that torque feed forward is applied only when the Servomotor is accelerating or decelerating 4 102 Operation Chapter 4 Note 2 A torque will be generated that accelerates the Servomotor in the forward direction if torque feed forward is applied with a positive voltage Be sure that the polarity is correct because errors such as reverse Servomotor rotation or oscillation will occur if the feed forward is ap plied with a polarity opposing the acceleration direction 4 8 4 Speed Feed forward Function Position m Functions This function shortens positioning time by adding the REF speed com
32. R88M W05030L B R88M WO5030L BS1 R88M W05030S B R88M W05030S BS1 R88M W10030L B R88M W10030L BS1 R88M W10030S B R88M W10030S BS1 R88M W20030L B R88M W20030L BS1 R88M W20030S B R88M W20030S BS1 R88M W03030H B R88M W03030H BS1 D R88M WO03030T B R88M WO3030T BS 1 D R88M W05030H B R88M W05030H BS1 D R88M W05030T B R88M W05030T BS 1 D R88M W10030H B R88M W10030H BS1 D R88M W10030T B R88M W10030T BS1 D R88M W20030H B R88M W20030H BS1 D R88M W20030T B R88M W20030T BS1 D R88M W40030H B R88M W40030H BS1 D R88M W40030T B R88M W40030T BS1 D R88M W75030H B R88M W75030H BS1 D R88M W75030T B R88M W75030T BS1 D R88M W1K030H B R88M W1K030H BS2 R88M W1KO30T B R88M W1K030T BS2 R88M W1K530H B R88M W1K530H BS2 R88M W1K530T B R88M W1K530T BS2 R88M W2K030H B R88M W2K030H BS2 R88M W2KO030T B R88M W2K030T BS2 R88M W3K030H B R88M W3K030H BS2 R88M W3KO30T B R88M W3K030T BS2 R88M W4K030H B R88M W4K030H BS2 R88M W4KO30T B R88M W4K030T BS2 R88M W5K030H B R88M W5K030H BS2 R88M W5KO30T B R88M W5K030T BS2 R88M W1KO030F B R88M W1K030F BS2 R88M W1K030C B R88M W1K030C BS2 R88M W1K530F B R88M W1K530F BS2 R88M W1K530C B R88M W1K530C BS2 R88M W2K030F B R88M W2K030F BS2 R88M W2K030C B R88M W2K030C BS2 R88M W3KO030F
33. Sets the REF speed command input voltage primary filter time constant Set if the Servomotor rotation speed is fluctuating due to REF voltage noise Set the value as small as possible to minimize the effects of noise If the setting is too large responsiveness will be reduced Pn308 Speed feedback filter time constant Position speed internally set speed control Setting 0 to 65535 Unit x0 01 ms __ Default Restart range setting power Sets the filter time constant primary filter for speed feedback Set this parameter if the speed loop gain cannot be raised due to factors such as mechanical system vibration Note When speed feedback filter is set online auto tuning does not operate normally Torque Control Parameters From Pn400 Pn400 Torque command scale All operation modes Setting 10 to 100 Unit 0 1 V rated Default Restart range torque setting power This parameter sets the relationship between TREF torque command input voltage and output torque Set the TREF voltage to output the rated torque The default setting is for a rated torque at TREF 3 V Note TREF voltage functions as an input voltage according to the control mode and parameter set tings as shown below Torque control torque command input e Position and speed control analog torque limit when Pn002 0 1 or 3 Torque feed forward input when Pn002 0 2 Pn401 Torque command filter time constant All operation mo
34. Check the Controller s com mand pulse type and the Servo Driver s command pulse mode Set the mode to match the Controller s command pulse type Position The speed command REF voltage is O V Check the speed command by means of the monitor mode Un001 Check the speed command voltage Correct the wiring The PLOCK signal is ON Check the PLOCK signal by means of the monitor mode internal status bit Turn the PLOCK signal OFF Check the Pn501 Position lock rotation speed value SEN sensor ON is turned OFF when using an abso lute encoder Check whether the SEN sig nal is ON or OFF using monitor mode Turn ON the SEN signal All modes The Servomo tor operates momentarily but then it does not operate 5 16 The Servomotor power lines or encoder lines are wired incorrectly Check the Servomotor pow er line U V and W phases and the encoder line wiring Correct the wiring All modes Troubleshooting Symptom Probable cause The Servomotor power lines Check the Servomotor pow Correct the wiring All modes or encoder lines are wired er line U V and W phases incorrectly and the encoder line wiring Servomotor op eration is unsta ble Servomotor is overheating There are un usual noises Vibration is oc curring at the same frequency as the applica ble power sup ply The Servomo tor operates even when speed com
35. are undefined Note 2 When an alarm occurs ALM alarm output is turned OFF m Warning Table Display Alarm code Warning detection Meaning ALO1 ALO2 ALO3 function Overload When a warning occurs before the over load alarm A 71 A 72 is reached the alarm may be generated if the Servomo tor continues to operate generation overload alarm A 32 is reached the alarm may be generated if the Servomotor continues to operate A93 O Battery low level Battery has reached a low level of 2 7 V DC Note 1 Alarm codes designated are undefined ON OFF OFF RS OFF ON OFF Regeneration overload When a warning occurs before the re A92 ON ON FF Note 2 When a warning occurs WARN warning output is turned OFF Note 3 When Pn001 3 warning code output selection is set to 1 warning codes will be output de fault setting is 1 Note 4 To output warnings allocate the output terminal using Pn50F 3 WARN signal output terminal allocation Troubleshooting Chapter 5 5 3 Troubleshooting If an error occurs in the machinery check the type of error using the alarm indicators and operation status verify the cause and take appropriate countermeasures 5 3 1 Error Diagnosis Using Alarm Display Status when error occurs Occurs when control circuit power supply is turned ON Parameters cor rupted Main circuit detec Occurs when main A tion error
36. 4 NO Signal 47 24V IN t 1 GND 32 ALMCOM t 31 ALM ALARMRST E RESET Connector plug Sub D 15 pin male 10150 3000VE connector Sumitomo 3M Terminal block pin assignment Please refer to MC402 E manual cat no W903 E2 2 99 Standard Models and Specifications Chapter 2 Axis connector cable and I O connector cable wiring Please refer to MC402 E manual cat no W903 E2 m General Control Cables R88A CPWI S A General Control Cable is connected to the Servo Driver s Control I O Connector CN1 There is no connector on the Controller end When connecting it to a Position Control Unit with no special cable provided orto a controller manufactured by another company wire a connector to match the controller Note There is one method for connecting to a Controller with no special cable provided and another method for using connector Terminal Block cable and a connector Terminal Block e Lem Models Length L Outer diameter of sheath R88A EN M 1m 12 8 dia Approx 0 3 kg R88A CPWOO2S 2m Approx 0 6 kg e Connection Configuration and External Dimensions Controller L Servo Driver D R88D WT t 18 2 100 Standard Models and Specifications Chapter 2 e Wiring fre Wire mark color Signal name Yellow Black GND GND Pink Black SENGND SENGND Yellow R
37. Automatic tuning of analog speed torque reference offset Fn013 Multiturn limit setting change when a Multiturn Limit Disagreement Alarm A CC occurs Fn014 Option unit detection results clear 6 22 Appendix Chapter 6 Monitoring Parameters User Content of Display Constant Un000 Actual motor speed r min Un005 Input signal monitor 926 Un006 Output signal monito Eccc Un007 Input reference pulse speed Un008 Error counter value reference Amount of position error units Un009 Accumulated load rate Value for the rated torque as 100 Displays effective torque in 10 s cycle Value for the processable regenerative Un00A Regenerative load rate 9 power as 10096 Displays effective torque in 10 s cycle Un00B Power consumed by DB resistance Value for the processable power when dynamic brake is applied as 100 Displays effective torque in 10 s cycle UnooC Input reference pulse counter Displayed in hexadecimal UnO0D Feedback pulse counter Displayed in hexadecimal 6 23 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No 1531 E2 02 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content June 2001 Original production March 2002 Update extension range to 15 kW
38. Control circuit power supply R88D WTASHL to WTO2HL 30 C R88D WTASH to WT04H RESD WTOSH to AWT10H RGD WT2OH AWTSOR RGSD WTSOH R88D WT60H 140 13 RBBD WTISH o ho e Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting surge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance The surge absorbers shown in the following table are recommended Varistor Max limit Surge Energy voltage voltage immunity resistance Matsushita Electric ERZC20EK471 W ERZC25EK471 W 10 000 A ERZC32EK471 W 20 000 A Ishizuka Electronics Co Z25M471S 10 000A Z33M471S 20 000 A Note 1 The W for the Matsushita models indicates that they are UL and CSA certified Note 2 Refer to the manufacturers documentation for operating details Note 3 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber Note 4 The energy resistance is the value for 2 ms It may not be possible to retard high energy pulses at less than 700 V In that case absorb surges with an insulated transformer or reactor 3 23 System Design and Installation Chapter 3 e Noise Filters for Power Supply Input Use a noise filter to attenuate extraneous noise and to diminish noise radiation from the
39. Incremental R88M W30030C S1 D W65030C S1 D Absolute e HE D type IP67 connector 3002 30 EccL m da i a E HE D type IP67 connector Dimensions of output section LEE f 750 W S t a of 750 W Servomotors m 300 30 i L d al Dimensions of shaft end with key S1 5 q TG L H LL NN 3 Dimensions mm D1 D2 G R88M W20030L J R88M WA0030L J R88M W75030LJ R88M W30030L J R88M W65030L_1 2 29 Standard Models and Specifications Chapter 2 m 3 000 r min Servomotors with a Brake e 100 V AC 200W R88M W20030L B S1 Incremental R88M W20030S B S1 Absolute e 200 V AC 200 W 400 W 750 W R88M W20030H B S1 D W40030H B S1 D W75030H B S1 D Incremental R88M W20030T B S1 D W40030T B S1 D W75030T B S1 D Absolute e 400 V AC 300 W 650 W R88M W30030F B S1 D W30030R B S1 D W65030F B S1 D W65030R B S1 D Incremental R88M W30030C B S1 D W65030C B S1 D Absolute HE D type IP67 connector 3003 30 f LUE e HE D type IP67 connector Dimensions of output section of 750 W Servomotors Four Z dia di
40. Note 1 The mark beneath a display example indicates the numbers are flashing Digits that can be changed flash Note 2 In this manual when Parameter Unit keys and front panel keys are shown together the Pa Ec Note 3 Press and hold the Up or Down Key to increment or decrement rapidly auto increment func tion Note 4 Thefunction selected depends on the length of time you press and hold the DATA Key on the Servo Driver front panel functions as the Left Key when held for less than 1 s and as the DATA Key when held for 1 s or longer 4 3 2 Jog Operation Jog operations rotate the Servomotor in a forward or reverse direction using the operation keys e For safety s sake only use the jog operation when the Servomotor is unloaded i e when the shaft is not connected to the mechanical system Also to prevent the Servomotor rotating sideways fasten the Servomotor mounting surface firmly to the machinery e Use the jog operation when the power to the Host Controller is turned OFF or the Host Controller is not connected Using the Jog Operation e The jog operation is System Check Mode function code Fn002 You can use the keys to turn the Servomotor ON or OFF or rotate the Servomotor forward and re verse The default jog operation speed is 500 r min You can change the speed using user parameter num ber Pn304 jog speed e First Try 500 r min DATA o
41. Outer diameter of sheath Weight XW2Z 050J A7 10 0 dia Approx 0 1 kg XW2Z 100J A7 Approx 0 2 kg 2 132 Standard Models and Specifications Chapter 2 e Connection Configuration and External Dimensions 47 L 6 Position Control Unit C200HW NC213 o XW2B 40J6 2B C200HW NC413 2 Servo Relay Unit 7 e Wiring Position Control Unit Servo Relay Unit 2 133 Standard Models and Specifications Chapter 2 2 8 Parameter Unit and Cable Specifications All dimensions are in millimeters unless otherwise specified 2 8 1 Parameter Unit R88A PRO2W Hand held Parameter Unit Parameter Units are required for operation and monitoring the Servo Driver at a remote location or with a control panel Note A 1 meter cable is provided with the Parameter Unit If this is not long enough to connect between the Parameter Unit and the Servo Driver then use the R88A CCWOO2C Parameter Unit Cable 2 meters purchased separately General Specifications em Sundads 35 to 85 with no condensation Storage ambient humidity 35 to 85 with no condensation Storage and operating No corrosive gasses amoSphere Impact resistance Acera 19 6 m s max 2 134 Standard Models and Specifications Chapter 2 Performance Specifications Moe B Sedads 7910 7500SC 10 pins 7 segment LED External dimensions 63x135x18 5 mm W x Hx D Approx 0 2 kg inclu
42. Pin header at Servo Driver DF11 4DP 2DS Hirose Electric Cable connector socket DF11 4DS 2C Hirose Electric Cable connector contact DF11 2428SCF Hirose Electric e Monitored Items and Scaling Changes Monitored items can be changed by means of Pn003 function selection application switch 3 It is also possible to change the scaling and adjust the output voltage offset in the system check mode Monitored item Monitor output specifications Pn003 0 Pn003 1 setting Servomotor rotation 1 V per 1 000 r min forward rotation voltage reverse speed speed monitor rotation voltage 1 V per 250 r min forward rotation voltage reverse rotation voltage 1 V per 125 r min forward rotation voltage reverse rotation voltage Torque command V rated torque forward acceleration voltage reverse current monitor acceleration voltage Speed command 1 V per 1 000 r min forward command voltage reverse commana voltage Position error 0 05 V 1 command unit plus error voltage reverse error voltage 0 05 V 100 command units plus error voltage minus error voltage Command pulse 1 V per 1 000 r min forward rotation command voltage frequency reverse rotation command voltage Note 1 The table shows the specifications with no offset adjustment or scaling changes Note 2 The maximum output voltage is 8 V Normal outputs will not be possible if this value is ex ceeded
43. t1 S 0 1 us t2 gt 3 0 us tT22 5us TZ50us t T x 100 S 50 96 Reverse rotation command Input filter 500 kpps Pn200 3 0 t1 0 1us t2 gt 3 0 us t21 0us T22 0us v T x 100 50 Reverse pulse and forward pulse Maximum input frequency Line driver 500 kpps Open collector 200 kpps Reverse pulses Forward pulses Forward rotation command Reverse rotation command Input filter 200 kpps Pn200 3 1 t1 0 1us t2 gt 3 0 us t22 5us T 2 5 0us v T x 100 lt 50 Input filter 500 kpps Pn200 3 0 t1 lt 0 1 us t2 gt 3 0 us tZ 1 0us T 2 2 0us t T x 100 50 90 phase difference Forward rotation Reverse rotation signals command command Maximum input frequency x1 Line driver 500 kpps Open collector 200 kpps Phase B pulses x2 Line driver 400 kpps Input filter 200 kpps Input filter 500 kpps Open collector Pn200 3 1 Pn200 3 0 200 kpps t1 lt 0 1 us t1 lt 0 1 us rz 25us t21 0us x4 T 2 5 0us T 2 2 0us t T x 100 x 50 Phase A pulses Line driver 200 kpps Open collector 200 kpps v T x 100 x 50 2 64 Standard Models and Specifications Chapter 2 e Deviation Counter Reset 15 ECRST Deviation Counter Reset 14 ECRST The content of the deviation counter will be reset when the deviation counter reset signal turns ON and the position loop will be disabled Pn200 1 position control set
44. 0 96 0 r min 0 r min O 1000 2000 3000 4000 5000 O 1000 2000 3000 4000 5000 R88M WP750F R C 750 W R88M WP1K530F R C 1 5 kW N m N m 8 16 Repeated usage Repeated usage 1 13 r min O 1000 2000 3000 4000 5000 O 1000 2000 3000 4000 5000 e Servomotor and Mechanical System Temperature Characteristics W series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomo tor s momentary maximum torque increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 C and 10 C are compared the momentary maximum torque increases by approximately 496 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 Generally in a mechanical system when the temperature drops the friction torque increases andthe load torque becomes larger Forthat reason overloading may occur at low temperatures In particu lar in systems which use deceleration devices the load torque at low temperatures may be nearly twice the load torque at normaltemperatures Check with a current monitor to see whether overload ing is occurring at low temperatures and how much the load torque is Likewise check to see whether there abnormal Servomotor overheating or alarms are occurring at high
45. Ambient operating humidity 20 to 80 with no condensation Storage ambient temperature 20 to 60 C Ambient storage temperature 20 to 80 with no condensation Storage and operating atmosphere No corrosive gasses Vibration resistance See note 1 10 to 2 500 Hz in X Y and Z direc tions with acceleration 49 m s max 10 to 2 500 Hz in X Y and Z direc tions with acceleration 24 5 m s max 10 to 2 500 Hz in X Y and Z direc tions with ac celeration 49 m s max 10 to 2 500 Hz in X Y and Z direc tions with ac celeration 24 5 m s max 10 to 2 500 Hz in X Y and Z direc tion with ac celertion 24 5 m s max 10 to 2 500 Hz in X Y and Z direc tion with ac celertion 24 5 m s max Impact resistance Acceleration 490 m s max in X Y and Z direc tions two times Acceleration 490 m s max in X Y and Z direc tions two times Acceleration 490 m s max in X Y and Z direc tions two times Acceleration 490 m s max in X Y and Z direc tions two times Acceleration 490 m s max in X Y and Z direc tions two times Acceleration 490 m s max in X Y and Z direc tions two times Insulation resistance Between power line terminals and FG 10 MQ min 500 V DC megger Dielectric strength Between power line terminals and FG 1 500 V AC for 1 min at 50 60 Hz Run position Al
46. Continuous usage 0 T T T SM r min 1000 2000 3000 4000 5000 R88M W75030H T 750 W Nem 8 0 7 16 7 16 6 0 Repeated usage 4 04 2 04 r 1 46 Continuous usage 0 T T T T r min 1000 2000 3000 4000 5000 R88M W2K030H T F C 2 kW Nem 20 19 1 1017 9 3 54 3 25 ot T ed r min T Cpe ae 1000 2000 3000 4000 5000 R88M W5KO030H T 5 kW N m 50 447 6 46 8 404 3 Repeated usage 204 15 8 13 5 104 Continuous usage DE 3 1 1 T r min 1000 2000 3000 4000 5000 2 83 Standard Models and Specifications Chapter 2 1 500 r min Servomotors 400 V AC The following graphs show the characteristics with a 3 m standard cable and 400 V AC input R88M W45015F N m 8 92 Repeated usage Continuous usage 0 1000 2000 3000 O m A DD o r min N M WI K315F Repeated usage 8 34 Continuous usage r min 0 1000 2000 3000 R88M W2K915F N m Repeated usage 18 6 Continuous usage r min 0 1000 2000 3000 N m R88M W5K515F 100 80 60 Repeated usage 40 35 0 20 Continuous usage 0 r min 0 1000 2000 3000 2 84 R88M W85015F N m 20 10 Repeated usage 5 39 5 Continuous usage 0 r min 0 1000 2000 3000 N m R88M W1K815F 40 30 20 Repeated usage 11 5 10 0 r min 0 1000 2000 3000 N m R88M W4K415F 100 80 60 Repeated usage 40 28 4 20 Continuous usage 0 r m
47. FAN1 i 12v u v w Gate drive over current protector R Voltage Relay drivel Sensor Gate arive Interface j ENER eee TEA ape ETE EE p 75V 1 i P 15V 4 circuits 1 1 j 1 ASIC PWM control etc L For battery connection PG output Reference pulse input Speed and torque reference input Sequence 1 0 AC Servomotor T pum 100 200 V pen during MEN Power Power Servoalarm 1RY i 1 ON i OF BY CPU Ba Hah ee 1 Monitor display postionspeed diode 1MC Analog voltage j calculation etc i6 jJ a 1 converter Surge CN10 CNS CN3 suppressor 4 E fas A 4 i Connector for Analog monitor Digital Operator option unit output for personal computer supervision 400 V AC R88D WT110HF 150HF Regenerative Resistor option 10 etd ee E OEE N AEE EENT E COP RMNR z s Three phase i5 380 to 480 V bd 50 60Hz 33333 FAN1 Noise filter D 12y An Tuc CHARGE zi L1 X1 XX3 T Ta L2 TES i xx2 N i RY1 i a Voltage esc l Relay drive Sensor Gate drivel Control power ee nterface not provides 42 24v FU Bs DV Re DC DC 4 cir
48. MING signal input terminal allocation POT signal Input terminal allocation Sets the sequence input signal allocation to the same as R88D UT User defined sequence input signal allocation Allocated to CN1 pin 40 Valid for low output Allocated to CN1 pin 41 Valid for low output Allocated to CN1 pin 42 Valid for low output Allocated to CN1 pi Valid for low output Allocated to CN1 pi Valid for low output Allocated to CN1 pi Valid for low output Allocated to CN1 pi Valid for low output Always enabled Always disabled Allocated to CN1 pin 40 Valid for high output Allocated to CN1 pin 41 Valid for high output Allocated to CN1 pin 42 Valid for high output Allocated to CN1 pin 43 Valid for high output Allocated to CN1 pin 44 Valid for high output Allocated to CN1 pin 45 Valid for high output Allocated to CN1 pin 46 Valid for high output Same as Pn50A 1 MING gain reduction signal allocation Same as Pn50A 1 POT forward drive prohibited signal allocation Default setting 100 200 V Default setting 400 V Chapter 4 Setting Restart range power 4 27 Operation Chapter 4 Parameter Explanation See note 1 Default Default i Setting Restart name z setting setting range power E 3 xplanation See note 2 100 200 V 400 V Input NOT Same as Pn50A 1 signal signal selection 2 Input terminal al
49. Model O With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key key and tap key and tap Without 400 V 450 Ww R88M W45015F R88M W45015F S2 R88M W45015C R88M W45015C S2 brake 850W R88M W85015F R88M W85015F S2 R88M W85015C R88M W85015C S2 1 3 kW R88M W1K315F R88M W1K315F S2 R88M W1K315C R88M W1K315C S2 brake 15kW R88M W15K015F B R88M W15K015F BS2 R88M W15K015C B R88M W15K015C BS2 6 000 r min Servomotors Specifications With incremental encoder Without 400 V RESM WIKOEOF 1 5kW R88M W1K560F B R88M W1K560F BS2 R88M W3KO60F B R88M W3KO60F BS2 R88M W4KO60F B R88M WAKO60F BS2 400 V R88M W1KO60F B R88M W1KO60F BS2 brake 2 10 Standard Models and Specifications Chapter 2 IP67 Waterproof Servomotors 3 000 r min Servomotors Specifications Mo With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key key and tapped key and tapped woot 200V RGBNWIKOGUT OS brake REN WiKS0T OS2 RGN W2KOOT OS2 FEN WGKOOT OS2 FEN WaKOOT OS2 REN WGKOOT OS2 OV RBBM WIKO30C OS2 RB8M WIKS30C 0S2 RGN W2KO0C 082 RGN NGKOOC 082 REN WaKO0C 082 RGN NGKOOC 082 REN WiKOSOT BOS2 RaM W2KOGOT BOS2 RGEM WGKOSUT BOS2 RGOM WAKO3UT BOS2 RBM WSKOGOT BOS2 700V RGEM WIKO3OC BOS2 RGEMWIKSGOC BOS2 RB8MW2KO30C BOS2 RGBM WGKO30C BOS
50. Plug CE05 6A10SL 3SC B BSS Note For 4 kW and 5 5 kW Servomotors and all 400VAC type Servomotors there are separate con nectors for power and brakes For that reason when a Servomotor with a brake is used it will require both a Power Cable for a Servomotor without a brake and a Power Cable for a Servomotor with a brake For Encoder Cables Servomotor model Connector model Cable clamp model Maker type 3 000 r min R88M W1K030 Angled type For sheath external diam Japan Aviation 1 to 5 kW to JLO8A 20 29S J1 EB eter of 6 5 to 9 5 dia Electronics 6 000 r min R88M W5K030 Straight type JL04 2022CKE 09 Industry Ltd Ttg 4 Kw JLOGA 20 29S J1 EB For sheath external diam JAE eter of 9 5 to 13 dia JL04 2022CKE 12 1 500 r min 450 W to 15 24 For sheath di 1 000 r min R88M W30010 s is Pup iam 300Wto5 5 to i kW R88M W5K530 JL04 2022CKE 14 Water and Drip Resistance The enclosure ratings for the Servomotors are as follows 6 000 r min Servomotors 1 to 4kW IP67 except for through shaft parts Models are also avail able with IP67 ratings that include through shaft parts 3 000 r min Servomotors 30 to 750 W IP55 except for through shaft parts 3 000 r min Servomotors 1 to 5 kW IP67 except for through shaft parts Models are also avail able with IP67 ratings that include through shaft parts 3 000 r min Flat style Servomoto
51. Switches between torque control and speed control Speed control with position lock Position control with pulse prohibition Servo Driver communications unit number setting necessary for multiple Servo Driver connections when using personal computer monitoring software Do not change setting Setting Restart range power 6 9 Appendix 6 10 Func tion selec tion ap plica tion switch 2 Select stop if an alarm occurs when Servo motor is OFF Select stop when prohib ited drive is input Select warning code output Torque com mand input change during position and speed control Speed com mand input change during torque control Opera tion switch when using absolute encoder Applica tion method for full closed loop en coder Explanation Servomotor stopped by dynamic brake Dynamic brake OFF after Servomotor stopped Servomotor stopped with free run Stop according to Pn001 0 setting release Servomotor after stopping Stop Servomotor using torque set in Pn406 and lock Servomotor after stopping Stop Servomotor using torque set in Pn406 and release Servomotor after stopping AC power supply AC power supplied from L1 L2 L3 terminals DC power supply DC power from 1 terminals Alarm code only output from ALO1 ALO2 ALO3 Alarm code and warning code output from ALO1 ALO2 ALO3 Not used Use TREF as anal
52. cated in the Servomotor efficiency specifications Lighten the load Reset the alarm then re start the operation Replace the Servo Driver Reset the alarm then re start the operation Replace the Servo Driver Replace the Servo Driver Correct the wiring Replace the Servomotor Replace the Servo Driver Correct the wiring Replace the Servomotor Replace the Servo Driver Replace the Servomotor Replace the Servo Driver Correct the wiring Replace the Servomotor Replace the Servo Driver Troubleshooting Chapter 5 Status when error Cause of error Countermeasures occurs Display Rotation speed mis match ABS Deviation counter overflow Motor load deviation over level error Option Unit detec tion error Missing phase de tected Parameter Unit transmission error 1 Parameter Unit transmission error 2 Occurs when the control circuit power supply is turned ON Servomotor will not rotate even when command pulses are input Occurs when rotat ing at high speed Occurs when long command pulses are sent Occurs during op eration Occurs if an option has been connected to the driver Occurs when servo is ON Occurs when power supply is turned ON Occurs when Pa rameter Unit is in use Pn205 absolute en coder rotation limit setting changed Pn205 absolute en coder rotation limit setting changed by mistake Servomotor power or encoder line is
53. owe 1s max Analog monitor 1 AM Analog monitor 2 NM offset adjustment i offset adjustment IBIDIBIG aaae UJU UO i UU UO i 4 i i EC ex ILI ooon Ec a A MN DEM pata oe awe 1smin 4 130 Operation Chapter 4 Operation Procedure PRO2W operation CO Press the DATA Key front panel DATA Key for 1 s min to display Ch1 o for analog monitor output 1 AM See note 2 pe tee Press the Left Key front panel DATA Key for less than IK 1 s or Right Key to display the analog monitor output 1 AM offset amount See note 3 lt i gt AS x Press the Up or Down Key to change the offset amount Adjust the measuring device measurement value to 0 V lt i gt After completing adjustments for analog monitor 1 press the Left Key front panel DATA Key for less than 1 s or Right Key to return to the Ch1 o display Press the Left Key front panel DATA Key for less than 1 s or Right Key to display the analog monitor output 2 NM offset amount See note 3 Press the Up or Down Key to change the offset amount Adjust the measuring device measurement value to 0 V the same as for analog output monitor 1 After completing adjustments for analog monitor 2 press the DATA Key front panel DATA Key for 1 s min The display will return to th
54. 1 3 1 4 1 5 Features vi se ULP REUOPNCKNCULDRR ER MUTPER EY eR MR EE Ul PU 1 2 System Configuration eS Es EE rr REL erp o ee ep a ed E 1 6 Servo Driver Nomenclature l p UP VR eg ee EY e p bae 1 7 Applicable Standards and Models 0 ccc ee een eae 1 8 System Block Diagrams v e RUPEE RUE Wee haa ER LU EE 1 9 Chapter 2 Standard Models and Specifications 2 1 2 1 Standard Models 5 tbe tete eet e eee e e Sete ete ertet letta 2 2 2 2 Servo Driver and Servomotor Combinations 00 cece eee een eee ee 2 14 2 3 External and Mounted Dimensions 0 cece e eee cette tenes 2 17 2 4 Servo Driver Specifications 00 eee cence teen en een eee 2 46 2 5 Servomotor Specifications 0 ce cnet een e ene ne ee 2 74 2 6 Cable and Connector Specifications lessen 2 96 2 7 Servo Relay Units and Cable Specifications llle 2 126 2 8 Parameter Unit and Cable Specifications 0 eee eee eee 2 134 2 9 External Regeneration Resistors Resistance Units 0 0 0 cece eee eee eee 2 136 2 10 Absolute Encoder Backup Battery Specifications 0 00 2 138 2 11 DC Reactorsvc ive sou toh eae ee ake Oa oe here as OIN ERU A 2 139 3 1 3 2 3 3 Installation Conditions 0 ee e 3 3 Wiring v gente Rare day hla MAC ache n lable Rae a A wee i Rien es 3 10 Regenerative Energy Absorption leleeeeeeeeeeeeee n 3 43
55. 24VDC i TO 1 D ea 0 V DC power for output i i O Qe tS r 0 0 o CW with a resistor i X 3 MC o a CW without a resistor O ptt DC reactor CCW with a resistor CW x CCW without a resistor ECRST Red Power Cable R88A CAWL X axis dev cntr reset output QX X axis origin line driver input X axis origin common X axis positioning completion input ee X Y axis input common 24V DC xi i X axis external interrupt input X axis origin proximity input OO o 4 X axis CCW limit input i Encoder Cable X axis CW limit input 99 R88A CRW X Y axis emerg stop input j r 24 V DC sies Note 1 The example shows a 3 phase 200 V AC input to the Servo Driver for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifi cations for the Servo Driver in use Note 2 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 3 Leave unused signal lines open and do not wire them Note 4 Use mode 2 for origin search Note 5 Use the 24 V DC power supply for command pulse signals as a dedicated power supply Note 6 The diode recommended for surge absorption is the ERB44 02 Fuji Electric Note 7 This wiring diagram is for the X axis only If the other axis is to be used connect to the Servo Driver
56. 4 4 kW m m m m m 7 5 K and 11 kW m m m m m 15 kW m m m m m 300 650 W and Flatstyle motor m 200 400 750 1 5 kW N N N R88A CAWK003B DE R88A CAWKOO5B DE m m A oa A aja aja aja ho aja aja oj o ojoj ojojojojojoj ojo ojojojojo jojojoj ojo o o ojo o Jo R88A CAWKO15B DE R88A CAWKO20B DE m N Om Note 1 For most 400V Servomotors there are seperate connectors for power and brakes For that reason when a servomotor with a brake is used it will require both a power cable for a Servomotor without a brake i e R88A CAWC003S E and a power cable for a Servomotor with brake i e R88A CAWCOOSB E The power cable for a Servomotor with a brake is for brake line wiring only 2 core Note 2 The R88M W2K030L servomotor is using the R88A CAWCL power cable 2 7 Standard Models and Specifications Servomotors 3 000 r min Servomotors Specifications Chapter 2 With incremental encoder With absolute encoder Straight shaft without key R88M WO03030L Straight shaft with key S1 Straight shaft with key and tap S2 R88M W03030L S1 Straight shaft without key R88M W03030S Straight shaft with key S1 Straight shaft with key and tap S2 R88M W03030S S1 R88M WO05030L R88M WO5030L S1 R88M W05030S R88M W05030S S1 R88M W10030L R88M W10030L S1 R88M W10030S R88M W10030S S1 R88M W20030L R88M W20
57. 50 C at rated rotation speed 400 Hz at the same load as the rotor inertia 2 2 47 Standard Models and Specifications Chapter 2 e 200 V AC Input Type Single phase Input Continuous output current rms 0 44A 0 64A 0 91 A 2 1A R88D WTO4H 28A R88D R88D WTO8HH WT15HH Momentary maximum output current rms 1 3A 2 0A 2 8A 65A 85A Input power Main circuits supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz Single phase 220 230 V AC 187 to 253 V 50 60 Hz Control circuits Single phase 200 230 V AC 170 to 253 V 50 60 Hz Heating Main circuits 3 1 W 4 6 W 6 7 W 13 3 W 20 W 47 W 60 W value Control circuits 13 W 13 W 13 W 13 W 13 W 15 W 15 W PWM frequency 11 7 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Approx 1 7 kg Approx 3 8 kg Applicable Servomotor wattage 30 W 50 W 100 W 200 W 400 W 750 W 1500 W Applicable 3 000 r Incremental W03030H W05030H W10030H W20030H W40030H W75030H W1K530H Servomotor min Absolute WOSOSOT WO5030T W10030T W20030T W40030T W75030T W1K530T RBSM 3 000 r Incremental min WP10030 H WP20030 H WP40030 WP75030 WP1K530 H Flat style Absolute WP10030T WP20030
58. 53460 0611 Molex Japan Co Ltd 55100 0600 Molex Japan Co Ltd 2 4 6 Parameter Unit Input Specifications CN3 Signal name Transmission data Transmission data Function Interface This is data transmitted to a Parameter Unit or a personal computer Line receiver input Reception data Reception data This is data received from a Parameter Unit or a personal computer Line receiver input Unit switching This is the switching terminal for a Parameter Unit or personal computer Termination resistance terminal This is the termination resistance terminal for the line receiver 6 pin connection for RS 422 communications final Servo Driver only Not used Do not connect 5 V output Ground This is the 5 V power supply output to the Parameter Unit Shielded ground e CN3 Connectors Used 14P Receptacle at Servo Driver 10214 52AJL Cable plug with solder Cable case 10114 3000VE 10314 50A0 008 Cable shielded ground Sumitomo 3M Sumitomo 3M Sumitomo 3M 2 4 7 Monitor Output Connector Specifications CN5 Signal name Analog Monitor 2 Analog Monitor 1 Function Interface Default setting Speed monitor 1 V per 1 000 r min Can be changed by Pn003 1 Default setting Current monitor 1 V rated torque Can be changed by Pn003 0 Standard Models and Specifications Chapter 2 e CN5 Connectors Used 4P
59. Connector case 10336 52A0 008 Sumitomo 3M Yellow Black ed Pink Black Cable AWG26 x 5P AWG26 x 6C Servo Driver Signal Connector plug 10150 3000VE Sumitomo 3M 24VIN_ Connector case ALMCOM 10350 52A0 008 Sumitomo 3M Signal 24ViN ALMCOM 2 SENGND 1 33 GND Connector plug 10150 3000VE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Note 1 The Controller s symbols are the DRVX Y connector s symbols In a DRVZ U connector X Zand Y U Note 2 The terminals marked with asterisks are for use with absolute encoders 2 98 Standard Models and Specifications Chapter 2 Note 3 Supply 24 V DC to the two wires black and red that are taken out from the Controller s connector Red is and black is MC402 E Motion Control Unit Terminal Block and Cables To connect the servo driver to Omron 4 axis motion control unit CAOOHW MC402 E the following com ponents can be used e Terminal block and cables R88A CMUKOO Approx 0 1 kg Servo Driver Cable servo driver 1J3 E2 to terminal block 14s RBA TC04 E 1m Approx O 5kg Terminal block connection kit Ie CMX001J 1m Approx 0 1 kg Axis connector cable MC402 E to 1 E terminal block for total 4 axes R88A CMXOO1 1m Approx 0 1 kg I O connnector cable MC402 E to S E terminal block e Wiring Servo driver connection Terminal block axis E connector of MC402 E Servo Driver
60. For System Check Mode operations refer to 4 11 2 Online Auto Tuning Related Functions 4 93 Operation Chapter 4 m Selecting Mechanical Rigidity During Online Auto tuning Fn001 e Setting the rigidity during online auto tuning sets the servo system s target speed loop gain and posi tion loop gain Select the rigidity setting Fn001 from the following 10 levels to suit the mechanical system Response Rigidity Position Speed loop Speed loop Torque Representative setting loop gain gain integration command applications Fn001 S7 Hz time filter time mechanical d 00 Pn102 Pn100 constant constant system x 0 01 ms x 0 01 ms Pn101 Pn401 15 6000 250 Articulated robots harmonic 20 4500 200 drives chain drives belt drives rack and 30 3000 130 pinion drives etc Medium 40 2000 100 XY tables Car tesian coordi nate robots general pur pose machin ery etc Ball screws rect eee Note 1 The servo system loop gain will rise in response to a higher rigidity setting shortening posi tioning time If the setting is too large however the machinery may vibrate so make the set ting small Note 2 When setting the rigidity the user parameters in the above table will change automatically Note 3 If you enable auto tuning without setting the rigidity the user parameter settings Pn102 Pn100 Pn101 and Pn401 will be used as the tuning target values 4 94 Operati
61. Note 3 The output accuracy is approximately 1596 2 4 8 Battery Connector Specifications CN8 PinNo Signalname Name Function nterface 1 BAT Backup battery input Backup power supply input for absolute encoder 3 6 V 20 uA for backup or when 2 BATGND Backup battery input stopped 3 uA when Servo Driver is being powered e CN8 Connectors Used 2P Pin header at Servo Driver DF3 2DP 2DS Hirose Electric Cable connector socket DF3 2S 2C Hirose Electric Cable connector contact DF3 2428SCFC Hirose Electric 2 73 Standard Models and Specifications Chapter 2 2 5 Servomotor Specifications OMNUC W series AC Servomotors R88M WI 2 74 There are five kinds of OMNUC W Series AC Servo motors as follows 6 000 r min Servomotors 3 000 r min Servomotors 3 000 r min Flat style Servomotors 1 500 r min Servomotors 1 000 r min Servomotors These Servomotors also have optional specifications such as shaft type with or without brake waterproof ing and so on Select the appropriate Servomotor for your system according to the load conditions and installation environment Standard Models and Specifications Chapter 2 2 5 1 General Specifications Ambient operating temperature 3 000 r min Servomotors 30 to 750 W 0 to 40 C 1to5 kw 3 000 r min Flat style Servo motors 1 000 r min Servo motors 1 500 r min 6 000 r min
62. Q 0 73 5 53 1 13 1 04 0 43 0 18 Winding impedance mH 3 5 4 6 20 7 8 4 8 9 7 7 3 9 Electrical time constant ms 3 6 6 3 3 7 7 4 8 6 18 22 Allowable radial N load 78 78 Allowable thrust N load 49 49 Weight Without brake kg approx 0 7 0 7 4 2 With brake kg approx 0 9 0 9 5 7 4 7 8 1 Applicable load inertia 25x 25x 10x 5x 5x Applicable Servo Driver R88D WTO1HL WTOBH H WT10HF WT15HF 2 87 Standard Models and Specifications Chapter 2 100 V AC 200 V AC 400 V AC R88M R88M R88M R88M R88M R88M R88M R88M R88M R88M R88M WP10030 WP20030 WP10030 WP20030 WP40030 WP75030 WP1K530 WP20030 WP40030 WP75030 WP1K530 L L H H H H H F F F F R88M R88M R88M R88M R88M R88M R88M R88M R88M R88M R88M WP10030 WP20030 WP10030 WP20030 WP40030 WP75030 WP1K530 WP20030 WP40030 WP75030 WP1K530 S S T T T T T R R R R R88M R88M R88M R88M WP20030 WP40030 WP75030 WP1K530 c c C C Brake kgem2 2 9x10 8 1 09x10 5 2 9x10 8 1 09x10 5 1 09x10 5 8 75x10 5 8 75x1075 1 09x1075 1 09x10 6 8 75x1075 8 75x10 ifi inertia GD2 4 Excita V 24 V DC 1096 24 V DC 1096 24 V DC 1096 tion voltage Ww i 7 6 7 5 10 tion at 20 C Current i i
63. R88D WTASHL to WTO1HL Noise Filter SUP P5H EPR Rated current R88D WTO2HL SUP P8H EPR Rated voltage Leakage current 0 6 mA at 250 V Okaya Electric Industries Co Ltd R88D WTASH to WT02H R88A FIW104 E 888A FIW104 SE R88D WT04H R88A FIW107 E R88A FIW107 SE R88D WTOSHH R88A FIW115 E R88A FIW115 SE R88D WT15HH R88A FIW125 E R88A FIW125 SE 3 2 mA at 250 V Rasmi 2 6 mA at 250 V Schaffner 3 2 mA at 250 V Rasmi 2 6 mA at 250 V Schaffner 3 2 mA at 250 V Rasmi 2 6 mA at 250 V Schaffner 3 2 mA at 250 V Rasmi 2 6 mA at 250 V Schaffner R88D WT20H FN351 16 29 R88D WT30H FN351 25 29 R88D WT50H FN351 36 33 R88D WT60H FN351 50 33 17 5 mA at 400 V Schaffner 160 mA at 400 V Schaffner 160 mA at 400 V Schaffner 175 mA at 400 V Schaffner R88D WTOSHF to WT15HF R88A FIW4006 SE R88A FIW4006 E R88D WT20HF and WTSOHF R88A FIW4010 SE R88A FIW4010 E R88D WT50HF R88A FIW4020 SE R88D WT60HF and WT75HF R88A FIW4030 SE R88D WT110HF and WT150HF R88A FIW4055 SE 12 6 mA at 400 V Schaffner 0 5 mA at 400 V Rasmi 12 6 mA at 400 V Schaffner 0 5 mA at 400 V Rasmi 12 6 mA at 400 V Schaffner Schaffner Schaffner Note The leakage currents shown for Schaffner
64. R88M W1K98151 to to R88M W1K315L R88M W2K9151 1 L41 ipM 581 Les LJ2 pli 2 40 Standard Models and Specifications Chapter 2 Dimensions mm LL KL2 c R88M W45015 88 130 R88M W850150 88 180 200 114 3h6 230 3 2 18 ROME EN EN 88 180 114 3h6 230 3 2 18 200h7 270 4 uw qs ER cane R88M W45015 R88M W85015 1 R88M W1K3150 R88M W1K8150 R88M W2K915 R88M W4K415 R88M W5K515 R88M W7K515 R88M W11K015 R88M W15K0150 Note The external dimensions are the same for IP67 waterproof models OI 2 41 Standard Models and Specifications Chapter 2 1 500 r min Servomotors with a Brake e 400 V AC 450 W 850 W 1 3 kW 1 8 kW 2 9 kW 4 4 kW 5 5 kW 7 5 kW 11 kW 15 kW R88M W45015F B S2 W85015F B S2 W1K315F B S2 W1K815F B S2 W2K915F B S2 W4K415F B S2 W5K515F B S2 W7K515F B S2 W11K015F B S2 W15K015F B S2 Incremental R88M W45015C B S2 W85015C B S2 W1K315C B S2 1k815C B S2 W2K915C B S2 W4K415C B S2 W5K515C B S2 W7K515C B S2 W11K015C B S2 W15K015C B S2 Absolute N Four Z dia Dimensio
65. Straight shaft with key R88M W30010H S2 Straight shaft without key R88M W30010T Straight shaft with key R88M W30010T S2 R88M W60010H R88M W60010H S2 R88M W60010T R88M W60010T S2 R88M W90010H R88M W90010H S2 R88M W90010T R88M W90010T S2 R88M W1K210H R88M W1K210H S2 R88M W1K210T R88M W1K210T S2 R88M W2K010H R88M W2K010H S2 R88M W2K010T R88M W2K010T S2 R88M W3K010H R88M W3K010H S2 R88M W3K010T R88M W3K010T S2 R88M W4K010H R88M W4K010H S2 R88M W4K010T R88M WAKO10T S2 R88M W5K510H R88M W5K510H S2 R88M W5K510T R88M W5K510T S2 R88M W30010H B R88M W30010H BS2 R88M W30010T B R88M W30010T BS2 R88M W60010H B R88M W60010H BS2 R88M W60010T B R88M W60010T BS2 R88M W90010H B R88M W90010H BS2 R88M W90010T B R88M W90010T BS2 R88M W1K210H B R88M W1K210H BS2 R88M W1K210T B R88M W1K210T BS2 R88M W2K010H B R88M W2K010H BS2 R88M W2KO010T B R88M W2K010T BS2 R88M W3K010H B R88M W3K010H BS2 R88M W3K010T B R88M W3K010T BS2 R88M W4K010H B R88M W4K010H BS2 R88M W4K010T B R88M WAKO10T BS2 Note R88M W5K510H B R88M W5K510H BS2 The D type motors are provided with IP67 connectors R88M W5K510T B R88M W5K510T BS2 2 9 Standard Models and Specifications Chapter 2 1 500 r min Servomotors Specifications
66. The soft start property is the primary filter exponentiation func tion Note 1 The soft start properties also include linear acceleration and deceleration Set the time con stant using Pn208 Select the filter you want to use using Pn207 0 position command filter selection Note 2 Refer to 4 5 13 Position Command Filter Function for details Pn205 Absolute encoder multi turn limit setting All operation modes Setting 0 to 65535 Unit Rotation Default 65535 Restart range setting power Sets the amount of multi turn rotation when using a Servomotor with an absolute encoder If using an absolute encoder the counter counts the number of rotations from the setup position and outputs the number of rotations from the Servo Driver When SEN signal is input output from CN1 48 absolute or CN1 49 absolute 4 54 Operation Chapter 4 With the default setting Pn205 65535 the Servomotor multi turn data will be as follows 32767 Forward Wi Reverse Multi turn data Servomotor rotations 32768 e With the default settings changed i e Pn205 65535 the Servomotor multi turn data will be as follows Reverse Rotation data 0 Servomotor rotations That is when the default settings are changed i e Pn205 65535 the Servomotor multi turn data will be only in the positive direction If you want to set the multi turn limit as high as possible with the entire operatin
67. mand is for 0 V The bias function setting is incorrect The polarity of the speed command REF input is wrong There are eccentricities or looseness in the coupling connecting the Servomotor shaft and the mechanical system or there are load torque fluctuations accord ing to how the pulley gears are engaging Gain is wrong The ambient temperature is too high Ventilation is obstructed There is an overload The correspondence be tween the Servo Driver and the Servomotor is incorrect The machinery is vibrating Pn100 Speed loop gain is insufficient Inductive noise is occurring The speed command volt age and the speed com mand input section are off set Items to check Check the speed command input wiring Check the machinery Try operating the Servomo tor without a load Check to be sure that the ambient temperature around the Servomotor is no higher than 40 C Check to see whether any thing is blocking ventilation Check the torque command value by means of monitor mode Un002 Check the models Inspect the machinery to see whether there are any foreign objects in the mov able parts or whether there is any damage deforma tion or looseness Check to see whether the Servo Driver control signal lines are too long Check to see whether con trol signal lines and power supply lines are too close to each other Check the speed command voltage Cha
68. max 2 56 Standard Models and Specifications CN1 Pin Arrangement Chapter 2 Ground com Positioning 1 GND mon 26 INP1COM aie out Motor rotation See note 1 2 SENGND Sensor ON 27 TGON detection output absolute input ground Open collector See note 1 Motor rotation p 3 PCOM command 28 TGONCOM detection out power Servo ready lee Siete ee note 1 4 SEN Sensor ON 29 READY output See absolute input Speed com note 1 Servo ready 5 REF mand input 30 READYCOM emt any Speed com 6 AGND mand input 31 ALM Alarm output ground PULS feed pulse Al arm output 7 I4CW A Cae pulse 32 ALMCOM ground PULS feed pulse A phase Encoder 8 CW A P pulse 33 A phase A out ase TREF mand input A but orque com Encoder 10 AGND mand input dS 35 B phase B out round direction sig t i 41 SIGN nal forward pu 36 E Encoder uS 4CCW B pulse B phase B out SIGN direction sig phase put nal forward Alarm code 12 COW pulse B 2o ALOI output 1 B phase Open collector Alarm code 13 PCOM command 38 ALO2 output 2 s power 14 ECRST Deviation 39 ALO3 Alarm code counter reset output 3 deviation RUN com 15 ECRST counter reset 40 RUN m
69. settings for the Motion Control Unit 5 21 Chapter 6 Appendix gt 6 1 Connection Examples 6 2 Encoder Dividing Rate for Servo Controllers 6 3 Parameter Setting Tables Appendix Chapter 6 6 1 Connection Examples Connection Example 1 Connecting to SYSMAC C200HW NC113 213 413 Position Control Units Main circuit power supply NFB OFF ON pon vere R g 2 9 6 6 o Main circuit contact 3 phase 200 230 V AC 50 60Hz 1 o 5 5 Surge killer M X1 s SD 9 a i 3 T TOC onl Ca C200H NC113 213 413 Class 3 ground R88D WTL Contents DADO puta dE T 24 V DC input for output A Se i Q o L 0 V input for output O 10 4 l 6 8 CCW with a resistor MC a E CCW without a resistor L DC reactor g CW with a resistor i CW without a resistor 1 X axis dev cntr reset output R88M Wl X axis origin line driver input X axis origin common i Red Power Cable X axis positioning complete input i White ROBASCAW i Blue 1 Green Yellow X axis input common 24 V DC il Seas hea a X axis external interrupt input O O Q 7 X axis origin proximity input O O X axis CCW limit input 4 e Encoder Cab ncoder Cable X axis CW limit input R88
70. stopped Operating above rated output Absolute encoder backup voltage has fallen Occurs the first time the encoder is used Absolute encoder memory check error Absolute encoder battery voltage has fallen to 2 7 V or less Absolute encoder sensor check error internal encoder er ror Servomotor is rotat ing at 200 r min or more when the con trol circuit power supply is turned ON Chapter 5 Countermeasures Reduce the frequency by which the main circuit power supply is turned ON and OFF Replace the Servo Driver Replace the Servo Driver Replace the Servo Driver Lower the Servo Driver s ambient temperature to 55 C or less Mount according to mounting conditions Replace the Servo Driver Lighten the load Set up the absolute en coder correctly Set up the absolute en coder correctly Replace the battery while the control circuit power supply is ON Turn OFF the power sup ply then ON again Replace the Servomotor if the cause is encoder error Turn ON the control cir cuit power supply while the Servomotor is OFF 5 13 Troubleshooting Encoder overheat ing ABS Command input reading error Command input reading error Runaway detected A Rotation data error ABS Encoder commu nications error Encoder parameter error A A 5 14 Encoder data error R86 be AbF LEi c8 ACS CR ACb Status when error occurs O
71. 1 2 kg Approx 1 6 kg Outer diameter of sheath Weight Outer diameter of sheath Weight 2 107 Standard Models and Specifications Chapter 2 e Connection Configuration and External Dimensions For Servomotors without Brakes R88A CAWA S 50 L 27 4 Servo Driver j T T 7 Servomotor a R88D WT x D R88M W R88A CAWA S DE Nominal dimensions 10m 100mm 20mm 210m 200mm 20mm 150mm 10 Servomotor Servo Driver 100mm 10 R88D WT pier Sg Identification lable Motor cable 548 187 1009 SPUCOGKFSBN149 4x0 5mm Contracted Tube D12 7 Wire Marks For Servomotors with Brakes R88A CAWA B L 274 Servo Driver R88D WT R88A CAWA B DE Servomotor tS OL remm t 28 4 Nominal dimensions lt 10m 100mm 20mm 150mm 10 gt 10m 200mm 20mm 100mm 10 Servo Driver R88D WT a Servomotor D c R88M WO D E SPUCOGKFSBN149 100mm 10 Testable Identification lable Motor cable 548 148 1000 6x0 5mm Contracted Tube D12 7 Wire Marks 2 108 Standard Models and Specifications Chapter 2 e Wiring For Servomotors without Brakes R88A CAWA S cable connection Servo Driver Se
72. 14 20 28 40 5 55 65 70 85 Rotor inertia 7 24x10 4 13 9x10 20 5x10 4 31 7x10 4 46 0x10 4 67 5x107 89x10 4 125x10 5 281x10 6 315x1077 Torque constant 1 64 1 65 1 68 1 46 1 66 1 82 1 74 2 0 2 56 2 64 Power rate 11 2 20 9 33 8 41 5 75 3 120 137 184 174 289 Mechanical time constant 5 6 3 1 2 9 2 4 2 1 4 1 4 1 1 1 1 1 0 Built in resistor resistance 108 108 108 45 45 32 18 18 14 3 14 3 Built in resistor capacity 70 70 70 140 180 880 880 1760 1760 Minimum allowable resistance 73 73 44 44 28 18 14 2 14 2 14 2 Regenerative power pro cessed by built in resistor 14 14 28 28 880 880 1760 1760 Electrical time constant 5 3 6 1 14 4 17 6 22 9 26 2 Allowable radial load 1764 1764 1764 4998 Allowable thrust load 98 98 588 588 588 2156 Weight Without brake 5 5 7 6 9 6 14 18 23 30 40 57 5 86 With brake 7 5 9 6 12 19 23 5 28 5 35 0 45 5 65 100 Applicable load inertia 5x 5x 5x 5x 5x 5x 5x 5x 5x 5x Applicable Servo Driver R WTOSHF WT10HF wr15HF WT20HF WTSOHF WT50HF WT60HF WT75HF WT110HF WT150HF
73. 16 9 kg 2 116 Standard Models and Specifications Chapter 2 For Servomotors with Brakes For Servomotors with brake is a combination of a powercable and a separate brakecable required Brake cable only Model Length L Outer diameter of sheath Weight R88A CAWE003B Approx 0 1 kg R88A CAWE005B Approx 0 2 kg R88A CAWE010B Approx 0 4 kg R88A CAWE015B Approx 0 6 kg R88A CAWE020B Approx 0 8 kg Note For 4 kW 1 000 r min Servomotors there are separate connectors for power and brakes For that reason whenever a Servomotor with a brake is used it is necessary to use both Power Cable for Servomotors without brakes R88A CAWEL S and Power Cable for Servomotors with brakes R88A CAWEL IB R88A CAWEI IB Cable is used for wiring 2 core the brake line only e Connection Configuration and External Dimensions For Power Connector R88A CAWE S 70 L 77 8 Servomotor D R88M W Servo Driver r R88D WT cnecii For Brake Connector TT R88A CAWE B 70 L 45 2 Servo Driver F in Servomotor m d De pE i D R88M W e Wiring For Power Connector R88A CAWE S Servo Driver Servomotor Power Connector No Symbol Cable A Phase U Connector plug B Phase V MS3106B32 17S DDK Ltd Cable clamp M
74. 3 Note There is some loss due to winding resistance so the actual regenerative energy will be approxi mately 90 of the values derived from these equations For Servo Driver models with internal capacitors for absorbing regenerative energy i e models of 400 W or less the values for both Eg1 or Eg2 unit J must be lower than the Servo Driver s regen erative energy absorption capacity The capacity varies depending on the model For details refer to 3 3 2 Servo Driver Regenerative Energy Absorption Capacity For Servo Driver models with internal regeneration resistance for absorbing regenerative energy i e models of 500 W or more the average amount of regeneration P unit W must be calculated and this value must be lower than the Servo Driver s regenerative energy absorption capacity The capac ity varies depending on the model For details refer to 3 3 2 Servo Driver Regenerative Energy Ab sorption Capacity The average amount of regeneration P is the power consumed by regeneration resistance in one cycle of operation P Egi Ego Eg3 T IW T Operation cycle s 3 3 2 Servo Driver Regenerative Energy Absorption Capacity Amount of Internal Regeneration Resistance in Servo Drivers W series Servo Drivers absorb regenerative energy by means of internal capacitors or resistors If the regenerative energy is more than can be processed internally an overvoltage error is generated and operation cannot cont
75. 421 C200H MC221 Servo Driver D gt R88D WT 2 96 Standard Models and Specifications Chapter 2 Cables for Two Axes 39 Bi Servo Driver x e R88D WT Motion Control Unit CS1W MC221 421 E CV 500 MC221 421 Y Servo Driver C200H MC221 4 D R88D WT t 18 e Wiring Cables for One Axis Motion Control Unit Servo Driver AWG20 Red Signal AWG20 Black Fav 1 020 Blac DCGND 2 White Black XALM 3 TU EE eJ j N 09 x OT JN KARA eo j Oo O01 x gt x lt XAGND Connector plug 10150 3000VE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M F24V 19 FDC GND YALM NIN 410 Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M 2 97 Standard Models and Specifications Note 1 The Controller s symbols are the DRVX Y connector s symbols In a DRVZ U connector X Z and Y U Chapter 2 Note 2 The terminals marked with asterisks are for use with absolute encoders Note 3 Supply 24 V DC to the two wires black and red that are taken out from the Controller s con nector Red is and black is Cables for Two Axes Motion Control Unit AWG20 Red Signal x a x an NI N Ol O9 D gt Fir FDC GND Connector plug Cable AWG26 x 5P AWG26 x 6C 10136 3000VE Sumitomo 3M
76. AC 170 to 253 V AC 50 60 Hz power supply input R88D WTOHL Single phase 100 115 V AC 85 to 127 V AC 50 60 Hz L2C 0 V R88D WT HF 24 V DC 20 4 to 27 6 V DC B1 External regenera 30 to 400 W This terminal does not normally need to be connected If B2 tion resistance regenerative energy is high connect an External Regeneration Resistor be connection termi tween B1 and B2 nal 450 W to 5 kW Short circuit between B2 and B3 If regenerative energy is high remove the short bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 6 to 15 kW Connect an External Regeneration Resistance Unit between B1 and B2 Servomotor con These are the terminals for outputs to the Servomotor Be sure to wire these nection terminals terminals correctly Frame ground This is the ground terminal Ground to a minimum of 100 Q class 3 2 51 Standard Models and Specifications Chapter 2 2 4 4 Control I O Specifications CN1 Control I O and External Signals for Position Control Reverse teow 7 1900 pulse gt cwle Yi Forward CCW 11 SOO c ceu pulse T gt cew 12 Yi Deviation counter reset 24 V DC F24VIN RUN command HECRST 15 beaters 2 Wo ECRST 14 FN j RUN O C Gain deceleration MING tO O Forward rotation drive prohibit POT Reverse rotat
77. Bliss 5 E yellow green ce oO eo NN iaga M5 NOM M6 L y Les i i LO s S 335 S 265 jl 352 26 5 3 38 S stem Design and Installation Chapter 3 R88A FIW4055 SE ete DMM Mt ee g e 505 i 487 249 85 I T LA e i amp sls s EA E a4 me M6 ceu F8 Nia I 435 J i 26 5 452 _ 26 5 Noise Filter for Brake Power Supply Use the following noise filter for the brake power supply Refer to the SUP P for a Rated current Rated voltage Leakage current H EPR diagram above NEC Electric NL NM P5H EPR 250 V 0 6 mA at 250 Vrms 60 Hz Industries Co Ltd 3 39 System Design and Installation Chapter 3 e Surge Killers Install surge killers for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows types of surge killers and recommended products Type Features Recommended products Diodes are relatively small devices such as relays used Use a fast recovery diode with a for loads when reset time is not an issue The reset time short reverse recovery time is increased because the surge voltage is the lowest Fuji Electric Co ERB44 06 or equiv when power is cut off Used for 24 48 V DC systems Laas k q Thyristor and varistor are used for loads when induction Select varistor voltage as
78. Brake inertia 2 80 2 1 2 1 2 1 8 5 8 5 8 5 8 5 8 5 18 8 37 5 Standard Models and Specifications Chapter 2 6 000 r min Servomotors e Performance Specifications Table 400 VAC R88M W1KO60F R88M W1K560F R88M W3KO60F R88M W4KO60F Rated output Rated torque Rated rotation speed Momentary maximum speed Momentary maximum torque 6 5 11 Rated current 2 7 4 1 Momentary maximum current 8 5 14 Rotor inertia 1 74 x 1074 2 47 x 10 4 Torque constant 0 81 0 83 Power rate 14 5 24 3 Mechanical time constant 0 87 0 7 Built in resistor resistance 108 108 Built in resistor capacity 70 70 Minimum allowable resistance 73 73 Regenerative power pro 14 14 cessed by built in resistor Electrical time constant 7 1 7 7 Allowable radial load Allowable thrust load 98 98 Weight Without 4 6 5 8 14 brake With 7 5 17 brake Applicable load inertia 5x 5x Applicable Servo Driver R88D WT50HF Brake inertia kgm x 104 2 1 Note 1 The values for items marked by asterisks are the values at an armature winding temperature of 100 C for models of 750 W or less or 20 C for models of 1 kW or more combined with the Servo Driver Other values are at normal conditions 20 C 65 The momentary maxi mum torque shown above indicates the standard value Note 2 The brakes are the non excitation operation type
79. Connector 537 019 2000 548 150 1000 MLX55100 0600 2x0 35mm 2x2x0 25mm Servomotor 100mm 10 SPUCTTHNNNNO87 R88A CRWBI N E L 69 1 Servo Driver R88D WT lt Servomotor D R88M W p 18 8 Wiring R88A CRWAI C Cable Servo Driver AWG22 x 2C AWG24 x 2P UL20276 3to 20 m Servomotor AWG16 x 2C AWG26 x 2P UL20276 30 to 50 m Cable Connector socket 54280 0600 Molex Japan Servomotor mmm NUNG HUE INIM Connector plug 55102 0600 Molex Japan Connector plug 3to20m 55101 0600 Molex Japan Crimp terminal 50639 8091 Molex Japan 2 105 Standard Models and Specifications Chapter 2 R88A CRWALIC DE 6 4 2 5 3 1 View Y View X No Description Colour 1 5V Power supply white No Description Colour 2 OV Power supply brown 1 6V Battery pink 3 3 6V Battery grey 2 36V Batteryl grey 4 0V Battery pink 3 DATA green 5 DATA green i DATA yellow 6 DATA yellow 5 7 free 8 5V Power supply 9 OViPower supply 10 17 free Conector Frame ground case R88A CRWBL N E Cable Servo Driver AWG22 x 2C AWG24 x 2P UL20276 3 to 20 m Servomotor AWG16 x 2C AWG26 x 2P UL20276 30 to 50 m 3to20m Connector plug Crimp terminal 50639 8
80. DDK Ltd For NEC PC98 Notebook Computers Computer Servo Driver Symbol No TD 9 ee Connector plug 10114 3000VE Sumitomo 3M Connector case pre dope Magie edges 10314 52A0 008 Sumitomo 3M Connector plug Cable AWG26 x 3C UL2464 10114 3000VE Sumitomo 3M Connector case 10314 52F0 008 Sumitomo 3M m Control I O Connector R88A CNU11C This is the connector for connecting to the Servo Driver s Control I O Connector CN1 This connector is used when the cable is prepared by the user e External Dimensions Connector plug 10150 3000VE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M 52 4 2 125 Standard Models and Specifications Chapter 2 2 7 Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Units and cables used for connecting to OMRON Position Control Units Select the models that match the Position Control Unit being used For details refer to 3 2 1 Connecting Cable All dimensions are in millimeters unless otherwise specified 2 7 1 Servo Relay Units XW2B 20J6 1B This Servo Relay Unit connects to the following OMRON Position Control Units C200H NC112 C200HW NC113 e External Dimensions Position Control Unit connector Servo Driver connector Two 3 5 dia Note Terminal Block pitch 7 62 mm 2 126 Standard Models and Specificat
81. Default Restart range setting power Setting Explanation Setting Explanation o Useasan absolute encoder Use as an incremental encoder 4 42 Operation Chapter 4 When 1 is set the absolute encoder operates as an incremental encoder backup battery not neces sary Note If encoder resolution greater than 2 048 pulses rotation is required with a 30 to 750 W Servomo tor including Flat style at 3 000 r min you can use a Servomotor with an absolute encoder 16 384 pulses rotation as a Servomotor with an incremental encoder Pn002 3 Function selection application switch 2 Fully closed encoder usage method Setting Default Restart range setting power Pn003 0 Function selection application switch 3 Analog monitor 1 AM allocation All operation modes Setting 0 to F Default Restart range setting power Pn003 1 Function selection application switch 3 Analog monitor 2 NM allocation All operation modes Setting Oto F Unit Default Restart Yes range setting power Setting Explanation Setting Explanation Servomotor rotation speed speed monitor 1 V 1000 r min Forward rotation voltage reverse rotation voltage All operation modes Speed command 1 V 1000 r min Forward rotation command voltage reverse rotation command voltage Position speed internally set speed control Torque command current monitor 1 V rated torque forward acceleration voltage reverse accel
82. HIV Reference Values AWG size Nominal cross Configuration Conductive Allowable current A for sectional area wires mm resistance ambient temperature sl Q km 19 0 18 39 5 1 25 50 0 18 15 6 12 0 11 0 7h 0 3 47 8 8 0 7 1 2 2 41 55 49 40 6 14 0 7 1 6 1 35 79 70 57 3 19 System Design and Installation Chapter 3 Terminal Block Wiring Procedure Connector type Terminal Blocks are used for Servo Drivers of 1 5 kW or less R88D WTA3HL_ to R88D WT15HL The procedure for wiring these Terminal Blocks is explained below Connector type Terminal Block Example R88D WT01H 1 Remove the Terminal Block from the Servo Driver N Caution The Terminal Block must be removed from the Servo Driver before being wired The Servo Driver will be damaged if the wiring is done with the Terminal Block in place 2 Strip the covering off the ends of the wires Prepare wires of the right sizes according to the tables provided under Terminal Block Wire Sizes above and strip off 8 or 9 mm of the covering from the end of each wire Ex 8 to 9 mm 3 Open the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Servo Driver as in Fig A Insert a flat blade screwdriver end width 3 0 to 3 5 mm
83. Input Pulse Counter Un00C and Feedback Pulse Counter Un00d Contents Input Pulse Counter UnOOC and Feedback Pulse Counter UnOOd monitor values are displayed as 8 digit hexadecimal 32 bit string data 4 114 Operation Chapter 4 These monitor values can also be cleared i e set to zero in Monitor Mode Feedback pulse counter monitor DATA Feedback pulse ril imm alal i mne d counter Ulan uU B d Eeg 18 min HIG G te value upper 16 bit eu dis played as H la oara Feedback pulse counter monitor L C id E IF value lower16 bit part displayed omw 1s min as L 3 Operating Procedure Example Feedback Pulse Counter Un 00d Monitor Value Display PRO2W Front panel Display Explanation operation key operation x Monitor Mode N C Cj 3 C3 ICD Set monitor No Un004 using the Up or Down Key See note 1 Press the DATA Key front panel DATA Key for 1 s min to display upper 4 digits 16 bit part as H Press the Up or Down Key to display lower 4 digits 16 bit part as L Press the DATA Key front panel DATA Key for 1 s min n to return to monitor number display OL Co C3 fmi TH My 3 c3 gt C 3 OL DATA Note 1 Digits that can be manipulated will
84. Items to check Check the power supply voltage Check the power supply lines Countermeasures Correct the power supply Correct the wiring Control mode All modes The Servomo tor does not op erate even when a com mand is given No alarm is output The RUN signal is OFF Check the RUN signal s ON and OFF by means of the monitor mode Un005 Input the RUN signal Correct the wiring All modes The POT and NOT signals are OFF except when Pn50A 3 and Pn50b 0 are set to 8 Check whether POT and NOT are displayed in status display mode Turn ON the POT and NOT signals If POT and NOT are not be ing used set to Always OFF Pn50A 3 and Pn50b 0 8 All modes The control mode is not right Check Pn000 1 control mode selection Set the control mode to match the command type All modes The deviation counter reset input ECRST is ON With monitor mode check the ON OFF status of the ECRST signal Un005 Turn OFF the ECRST sig nal Correct the wiring Position Pn200 1 Deviation counter reset setting is incorrect Reset Pn200 1 to match the Controller Position An error occurred with the RESET alarm reset signal ON Check the RESET signal s ON and OFF by means of the monitor mode Turn the RESET signal OFF and take measures according to the alarm display All modes Pn200 0 Command pulse mode setting is incorrect
85. Parameters From Pn200 e Position Control Setting 1 Pn200 Default Setting 1011 Pn200 0 Position control setting 1 Command pulse mode Position Setting 0 to 9 Unit Default 1 Restart Yes range setting power Note Refer to 4 4 3 Important Parameters for details Pn200 1 Position control setting 1 Deviation counter reset Position Setting Default range setting Setting Explanation Seg Explanation jo Reset deviation counter using high level signal status signal Reset deviation counter using rising signal Low to High Reset deviation counter using low level signal status signal Reset deviation counter using sinking signal High to Low 4 52 Operation Chapter 4 Sets input conditions under which ECRST deviation counter reset input CN1 15 ECRST CN1 14 ECRST is enabled If using an OMRON Position Control Unit do not change the default setting Pn200 2 Position control setting 1 Deviation counter reset when servo is OFF and an alarm occurs Position Setting 0 to 2 Unit Default Restart Yes range setting power Setting Explanation Setting ExWamon p Reset deviation counter when servo 1s OFF and an alarm occurs Sets whether the deviation counter will be reset when the servo is OFF and an alarm occurs Ifthe deviation counter is not reset setting 1 or 2 the next time the servo is turned ON the Servomo tor will rotate only to the
86. Pn401 as the target values System Check Mode mim mimim Displays rigidity settin Rigidity setting during auto F 818181 1 dia O18 d 00 i R tuning n ere 1 min A nin Displays rigidity setting di d 00 00 displayed horse Writes selected rigidity Y donE flashes rigidity set g oln ting complete 1 s later 1 mimin i jl gener ida IGl8l5 Returns to d 0000 display mU diGIG 0 5 Rz Selects rigidity Operation Procedure PRO2W Front panel Display Explanation operation key operation a DATA Rz 2 m a A Press the MODE SET Key to change to System Check Mode E M 5 oat mmim Press DATA Key front panel DATA Key for 1 s min to s min display d 00 d Press the Up or Down Key to select the rigidity Press the MODE SET Key to set the rigidity When rigidity setting is completed donE will flash for approximately 1 s Approx 1 s later After donE has been displayed the display will return to d 00 Press the DATA Key front panel DATA Key for 1 s min The display will return to the System Check Mode function code TH E Note The digits you can manipulate will flash m Storing Online Auto tuning Results Fn007
87. Pn50A 0 input signal selection mode to 1 The MING signal is allocated by Pn50A 2 2 65 Standard Models and Specifications Chapter 2 Note 2 Withthe default allocation the function for pin 41 is changed to MING PLOCK TVSEL RDIR or IPG according to the Pn000 1 control mode selection setting and the control mode in op eration For details refer to 4 4 3 Important Parameters e Forward Drive Prohibit 42 POT Reverse Drive Prohibit 43 NOT These two signals are the inputs for forward and reverse drive prohibit overtravel When they are input driving is possible in the respective direction When driving is prohibited movement will stop according to the settings of Pn001 0 and Pn001 1 Refer to the diagram below Alarm status will not be generated at the Servo Driver while driving is prohibited Note This is the default allocation For either signal the drive prohibition is normally disabled This set ting can be changed by Pn50A 3 Pn50b 0 Input terminal selections CN1 pins 40 to 46 can be changed by means of Pn50A 0 input signal selection mode Stopping Methods when Forward Reverse Drive Prohibit is OFF Pn001 0 Deceleration Method Stopped Status 0 or 1 Dynamic brake Servo unlocked Pn001 1 0 POT NOT is OFF Free run me 1 Servo unlocked 10r2 Emergency stop torque Pn406 See note 1 L Servo locked Note 1 The position loop will not operate for position co
88. Power rate 57 9 97 2 127 137 52 9 63 8 202 0 Mechanical time constant 0 97 0 8 0 66 0 76 0 32 0 29 0 55 Built in resistor resistance 108 1 8 45 45 108 108 32 0 Built in resistor capacity 70 70 140 140 70 70 180 0 Minimum allowable 73 73 44 44 73 73 28 0 resistance Regenerative power pro 14 14 28 28 14 14 36 0 cessed by built in resistor Electrical time constant 6 3 6 8 7 3 4 2 15 2 Allowable radial load 1176 Allowable thrust load 74 392 Weight Without 4 6 5 8 7 0 1 7 3 4 17 brake With 6 0 7 5 8 5 1 2 2 4 3 brake Applicable load inertia 5x 5x 5x 5x 20x 20x 5x 5x Applicable Servo Driver R88D WT10HF WT15HF WT20HF WTSOHF WTOBSHF WT10HF WTS5OHF WT50HF Brake inertia kgm x 104 0 325 0 325 0 325 2 1 0 0085 0 0085 2 1 2 1 2 79 Standard Models and Specifications Chapter 2 m 1 500 r min Servomotors e Performance Specifications Table Rated output 400 V AC R88M W45015F R88M W85015F R88M W1K315F R88M W1K815F R88M W2K915F R88M W4K415F C R88M W7K515F C R88M W11K015F C R88M W15K015F Rated torque Rated rotation speed Momentary maximum speed Momentary maximum torque 8 92 13 8 23 3 45 1 71 1 Rated current 1 9 3 5 5 4 8 4 11 9 16 5 Momentary maximum current 5 5 8 5
89. Power supply voltage 5 V DC 5 Power supply current 180 mA Applicable battery voltage 3 6 V DC 5 000 r min SURGE Output impedance Conforming to EIA RS 422A Output based on LTC1485CS or equivalent Serial communications data Position data poll sensor U V W phase encoder alarm Servomotor data Battery current consumption 20 uA for backup when stopped 3 uA when Servo Driver is powered Serial communications method Bi directional communications in HDLC format by Manchester method Absolute value communications data Amount of rotation 2 95 Standard Models and Specifications Chapter 2 2 6 Cable and Connector Specifications All dimensions are in millimeters unless otherwise specified 2 6 1 Control Cables Motion Control Unit Cables R88A CPWI MI for MC221 421 These are special cables for connecting to Motion Control Units used with OMRON Programmable Controllers There are two types for one or two axes Note The following Motion Control Units are available CS1W MC221 MC421 CV 500 MC221 MC421 C200H MC221 e Cable Models Numbersfsxse T Moi tanga Ounerdismerorshent Weight R88A CPW001M1 R88A CPW002M1 R88A CPW003M1 R88A CPWOO05M1 R88A CPW001M2 R88A CPWO02M2 R88A CPWOOSM2 R88A CPWO005M2 e Connection Configuration and External Dimensions Cables for One Axis Motion Control Unit CS1W MC221 421 CV 500 MC221
90. Procedure Use the following procedure when using the online auto tuning function Note Ifthe online auto tuning is set to be always enabled the Servomotor may become unstable due to extreme vibration when the load fluctuates It is recommended that you perform online auto tun ing once write the results inertia ratio to the user parameters then run the operation with the online auto tuning turned OFF Set the online auto tuning target rigidity Fn001 Refer to the next page for target rigidity Y Set online auto tuning to be always enabled Pn110 0 1 Y Turn ON the power to enable the parameter settings Run the operation with a normal operating pattern and load Operating properly gt N Y If an error occurs reset the rigidity Fn001 and perform the operation again Y Operating properly X N 1 If an error occurs set the viscous friction compensation Pn110 2 1 or 2 See note 1 Turn ON the power to enable the parameter settings then perform the operation f Y Operating properly Y If no errors occur stop the operation and store the auto tuning results Fn007 If an error occurs stop the operation and adjust the gain manually Z Set the online auto tuning to be always OFF Pn110 0 2 End Note 1 Determine the suitable parameter setting using the torque commands within a constant ve locity range Un002 Note 2
91. S PGCLS set TY Ca MODE SET Setup operation I Flashing donE displayed n E setup complete DATA IA 1 r r e Operation Procedure PRO2W Front panel Display example Explanation operation key operation A 8 Status Display Mode See note m Press the MODE SET Key to change to System Check FUL IY Mode f Press the Up or Down Key to select function Fn008 1 C3 C3 C D 3 100 uw Press the DATA Key front panel DATA Key for 1 s min to enter the absolute encoder setup functions PGCL1 will be displayed Press the Up Key to display PGCL5 DATA Ca m IC ju i Press the MODE SET Key to set up the absolute encoder When setup is complete donE will flash for x uns T approximately 1 s Approx 1 s later D r After donE has been displayed the display will return Woe je to PGCL5 m Press the DATA Key front panel DATA Key for 1 s min DATA E fr to display the System Check Mode function code Note When connecting a Servomotor with an absolute encoder and turning ON the power for the first time A 81 backup error will be displayed pe C1 P Q 0 m n rn jun J C C
92. Servo Driver Selecta noise filter with a load current of at leasttwice the rated current The following table shows noise filters that reduce by 40 dB noise between 200 kHz and 30 MHz EWE ee eee LEN Single phase R88A FIW104 E R88A FIW107 E R88A FIW115 E R88A FIW125 E Three phase LF 315K 230 V AC LF 325K LF 335K LF 380K ZCW2210 01 ZCW2220 01 ZCW2230 01 ZCW2240 01 ZACT2280 ME Three phase R88A FIW4006 E 6A 400 V AC R88A FIW4010 E Note 1 Toattenuate noise at frequencies of 200 kHz or less use an insulated transformer and a noise filter For high frequencies of 30 MHz or more use a ferrite core and a high frequency noise filter with a through type capacitor Note 2 If multiple Servo Drivers are to be connected to a single noise filter select a noise filter with a rated current at least two times the total rated current of all the Servo Drivers e Noise Filters for Servomotor Output Use noise filters without built in capacitors on the Servomotor output lines Select a noise filter with a rated current at least two times the total rated current of the Servo Driver s continuous output current The following table shows the noise filters that are recommended for Servomotor output Rated current LF 310KA Three phase block noise filter LF S2OKA LF SSTOKA LF 3110KA 110A Note 1 Servomotor output lines cannot use the same noise filters used for power supplies Note 2 T
93. Servomotor rotation speed is greater than the set value Note Related parameter Pn50E 2 TGON signal output terminal allocation Pn503 Speed conformity signal output width Setting O to 100 Unit r min Default Restart range setting power Set the allowable fluctuation range rotation speed for outputting VCMP speed conformity output during speed control VCMP turns ON when the difference between the speed command value and Servomotor rotation speed is less than the set value Note Related parameter Pn50E 1 VCMP signal output terminal allocation Pn504 Positioning completion range 2 Setting 1 to 250 Unit Command Default 3 Restart No range unit setting power Set the deviation counter to output INP2 positioning completed output 2 during position control INP2 is ON when the deviation counter residual pulses are less than the set value You can reduce processing time by for example using INP2 as a near signal output and receiving near signals and preparing the next sequence by the time positioning is complete i e by the time INP1 turns ON In this example Pn504 is set higher than Pn500 Note Related parameters Pn510 0 INP2 signal output terminal allocation and Pn500 positioning completion range 1 Pn505 Deviation counter overflow level Setting 1 to 32767 Unit x 256 Default 1024 Restart No range command setting power unit Set the deviation counter overload alarm detection lev
94. Speed Control Setting Pn10b Default Setting 0004 Pn10b O Speed control setting P control switching conditions Position speed internally set speed control Setting 0to4 i Default range setting Setting Explanation Setting Explanation jo Internal torque command Pn10C condition Position speed internally set speed control Speed command Pn10d condition Position speed internally set speed control Acceleration command Pn10E condition Position speed internally set speed control Deviation pulse Pn10F condition Position P control switching function not used Position speed internally set speed control 4 47 Operation Chapter 4 Sets the speed control loop switching function from PI control to P control Normally using the speed loop gain and the position loop gain set by means ofthe auto tuning opera tion will provide adequate control Consequently there is normally no need to change the setting When PI control is always being used switching to P control may help if the Servomotor speed over shoots or undershoots i e the effective servo gain is reduced by switching to P control to stabilize the servo system The positioning time can also be shortened in this way e Ifthe output torque is saturated during acceleration and deceleration set speed control to 0 switching by internal torque command or 2 switching by acceleration command Ifthe speed control overshoots
95. Systems The axial loads for Servomotors are specified in 2 5 2 Performance Specifications If an axial load Ball screw center line greater than that specified is applied to a Servomo tor it will reduce the service life of the motor bearings and may damage the motor shaft When connecting to aload use couplings that can sufficiently absorb mechanical eccentricity and variation ore displacement Servomotor shaft center gt line For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree of accuracy for exam ple JIS class 2 normal line pitch error of 6 um max for a pitch circle diameter of 50 mm If the gear preci sion is not adequate allow backlash to ensure that no radial load is placed on the motor shaft Backlash Adjust backlash by adjusting the distance between shafts e Bevel gears will cause a load to be applied in the thrust direction depending on the structural preci sion the gear precision and temperature changes Provide appropriate backlash or take other mea sures to ensure that no thrust load is applied which exceeds specifications e Do not put rubber packing on the flange surface If the flange is mounted with rubber packing the motor flange may separate due to the tightening strength When connecting to a V belt or timing belt consult the maker for belt selection and tension A
96. T Block General Control Cable and Control I O Connector o x 9 E Note See page 2 99 for C200HW MCA02 motion control unit terminal block and cables 3 10 R88M W Servomotor System Design and Installation Chapter 3 Selecting Connecting Cables 1 Motion Control Unit Cable There are special cables for 1 axis and 2 axis Motion Control Unit operation Select the appropriate cable for the number of axes to be connected Motion Control Unit Remarks CS1W MC221 421 For 1 axis R88A CPW The empty boxes in the model CV500 MC221 421 numbers are for cable length The C200H MC221 cables can be 1 2 3 or 5 meters For 2 axes R88A CPW long For example R88A CPW002M1 is for one axis and is 2 meters long 2 Servo Relay Unit Cable Select a Servo Relay Unit and Cable to match the Position Control Unit that is to be used Position Control Unit Cable to Position Servo Relay Unit Cable to Servo Driver Control Unit C200H NC112 XW2B 20J6 1B C200HW NC113 C200HW NC213 XW2B 40J6 2B C200HW NC413 C200H NC211 C500 NC113 C500 NC211 Note 1 The empty boxes in the model numbers are for cable length The cables can be 0 5 or 1 meter long For example XW2Z 050J A1 is 0 5 meter long Note 2 When 2 axis control is used with C200HW NC2
97. The brakes are the non excitation operation type released when excitation voltage is ap plied The operation time is the measured value reference value with a surge killer CR50500 by Okaya Electric Industries co LTD inserted Note 3 Note 4 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures Note 5 The value indicated for the allowable radial load is for the positions shown in the diagrams following the table at page 2 82 2 77 Standard Models and Specifications Chapter 2 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M W40030H W75030H W1K030H W1K530H W2K030H W3K030H W4K030H W5K030H R88M R88M R88M R88M R88M R88M R88M R88M W40030T W75030T W1KO30T W1K530T W2KO3O0T W3KO3O0T W4KO030T W5KO030T Rated output Rated torque Rated rotation speed Momentary maximum r min 5 000 rotation speed Momentary maximum 3 82 7 16 9 54 torque Rated current 2 8 4 4 5 7 Momentary maximum cur 8 5 13 4 17 rent 1 73 x 10 5 672 x 10 9 1 74 x 10 4 2 47 x 10 4 8 19 x 10 4 7 00 x 10 4 9 60 x 10 4 1 23 x 10 3 GD2 4 Torque constant Nem A Induced voltage constant mV r min Power rate kW s Mechanical time constant Winding impedance 6 5 3 9 4 75 Electrical time constant 5 4 8 7 7 1 Allowable radial load Allowable thrust load 147 1 196 19
98. Troubleshooting 5 1 5 2 5 3 5 4 5 5 5 6 Measures when Trouble Occurs Alarms Troubleshooting Overload Characteristics Electron Thermal Characteris tics Periodic Maintenance Replacing the Absolute Encoder Battery ABS Troubleshooting Chapter 5 5 1 Measures when Trouble Occurs 5 1 1 Preventive Checks Before Trouble Occurs This section explains the preventive checks and analysis tools required to determine the cause of trouble when it occurs Check the Power Supply Voltage Check the voltage to the power supply input terminals Main circuit Power Supply Input Terminals L1 L2 L3 R88D WTLIHF 450 to 3 kW Three phase 380 480 V AC 323 to 528 V 50 60 Hz R88D WTLIH 30 to 400 W Single phase 200 230 V AC 170 to 253 V 50 60 Hz 500 W to 6 kW 3 phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WTLIHH 750 to 1 5 kW Single phase 200 230 V AC 187 to 253 V 50 60 Hz R88D WTLIHL 30 to 200 W Single phase 100 115 V AC 85 to 127 V 50 60 Hz Control circuit Power Supply Input Terminals L1C L2C R88D WTL H H Single phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WTLIHL Single phase 100 115 V AC 85 to 127 V 50 60 Hz R88D WTL HF 24 VDC 20 4 to 27 6 V If the voltage falls outside of this range there is a risk of misoperation so make sure that the power supply is correct Make sure that the voltage of the sequence input power supply 24 VIN Terminal CN1 47 pin is wit
99. Unit Default 0 Restart range setting power Settings Explanation Explanation Servomotor rotation speed speed monitor 1 V 1000 r min Forward rotation voltage reverse rotation voltage All operation modes Speed command 1 V 1000 r min Forward rotation command voltage reverse rotation command voltage Position speed internally set speed control Torque command current monitor 1 V rated torque forward acceleration voltage reverse acceleration voltage All operation modes Position deviation 0 05 V 1 command Plus deviation voltage minus deviation voltage Position Position deviation 0 05 V 100 commands Plus deviation voltage minus deviation voltage Position Command pulse frequency 1 V 1000 r min Forward rotation voltage reverse rotation voltage Position Servomotor rotation speed speed monitor 1 V 250 r min Forward rotation voltage reverse rotation voltage All operation modes Servomotor rotation speed speed monitor 1 V 125 r min Forward rotation voltage reverse rotation voltage All operation modes e Set values are the same as for Pn003 0 and Pn003 1 Note Displays status without offset adjustment and scaling changes 4 117 Operation Chapter 4 m Analog Monitor Output Adjustment System Check Mode Offset Adjustment Fn00C Scaling FnOOd The following two types of analog monitor output adjustment can be performed using Sys
100. Unit Default Restart range setting power 4 37 Operation Chapter 4 Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to F are all disabled To change the pin number set Pn50A 0 to 1 Pn50d 2 Input signal selection 4 GSEL signal gain switching input terminal allocation Position speed internally set speed control Setting Oto F Unit Default Restart range setting power e Settings are the same as for Pn50A 1 e If Pn50A 0 is set to 0 you cannot use GSEL signal Settings 0 to F are all disabled To use the GSEL signal set Pn50A 0 to 1 e Output Signal Selection Pn50E to Pn510 Pn512 Output signal selection is performed in Pn50E to Pn510 and whether each signal should be reversed is set in Pn512 You can allocate multiple output signals to the same pin Such signals are output separately as an OR operation The default settings allocate INP1 positioning completed output 1 and VCMP speed conformity to pin Nos 25 and 26 In Position Control Mode INP1 is output and in Speed Control Mode VCMP is output Also TGON Servomotor rotation detection is allocated to pins 27 and 28 and READY Ser vomotor ready is allocated to pins 29 and 30 Pn50E 0 Output signal selection 1 INP1 signal positioning completed output 1 output terminal allocation MEOSIHOI po rEpr me range setting power Setting Explanation Setting Explanation
101. adjusted m Multi turn Limit Changes The multi turn limits for absolute encoders can be changed Electronic Gear Position Control This function turns the Servomotor by the number of pulses obtained by applying the gear ratio to the number of command pulses It can be effectively used in the following situations When fine tuning positions and speeds while synchronizing two lines e When using a controller with a short command pulse frequency When setting the mechanical movement per pulse to amounts such as 0 01 mm The electronic gear ratio is set in parameters numerator G1 denominator G2 The setting range for G1 and G2 is 1 to 65 535 with 0 01 G1 G2 S 100 m Encoder Dividing Function The encoder signal output from the Servo Driver can be set to the desired number of pulses m Soft Start Function Speed Control Internally Set Speed Control Settings This function causes the Servomotor to be started and stopped atthe preset acceleration decelera tion times allowing a simple position control system to be constructed without a Positioner or Host Controller The acceleration and deceleration times are set separately and the setting range is O to 10 s for each m Position Acceleration Deceleration Function Applying acceleration and deceleration to command pulses enables smooth tracking of commands for rapid startups Either primary delay or linear acceleration decelerations can be selected for posi tioning m
102. at low temperatures and how much the load torque is Likewise check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Servo Driver parameters are adjusted at a normal temperature there may not be optimal operation at low temper atures Check to see whether there is optimal operation at low temperatures too Caution Do not use 900 W 2 kW 4 kW or 5 5 kW Servomotors within the shaded portions of the following diagrams If used in these regions the Servomotor may heat causing the encoder to malfunction R88M W90010 900 W R88M W2K010 _ 2 kW R88M W3KO010 3 kW Effective torque N m Effective torque N m Effective torque N m 19 1 28 4 17 7 25 84 ie T T 0 T T T 0 T t T 10 20 30 40 10 20 30 40 10 20 30 40 Ambient temperature C Ambient temperature C Ambient temperature C R88M W4K010 _ 4 kW R88M W5K510L 5 5 kW Effective torque N m Effective torque N m 52 6 50 6 0 T T 0 T T 10 20 30 40 10 20 30 40 Ambient temperature C Ambient temperature C 2 94 Standard Models and Specifications Chapter 2 2 5 3 Encoder Specifications Incremental Encoder Specifications Encoder method Number of output pulses Power supply v
103. band Pn207 0 Command Pn200 0 Pn204 Pn208 Pn202 203 Pn102 l A ee Command PORNON UR Electronic gear Deviation Position loop pulse mode constant ratio G1 G2 counter gain Pn505 Speed Current detection detection action n Encoder dividing Current loop E i Speed loop Encoder output e Position loop Encoder Servomotor m Gain Adjustment Procedure Theservo system control block is configured from the following three loops Position loop speed loop and current loop The current loop is the innermost loop followed by the speed loop then the position loop Outputs from outer loops become inputs to inner loops and for outer loops to perform suitable control operations it is necessary that inner loops respond sufficiently to their inputs i e inner loop respon siveness must be high Also be sure to adjust the gain starting from the innermost loop The current loop is adjusted at the factory for sufficient response so adjust the speed loop first then adjust the position loop Adjustthe speed loopto increase compliance with the speed command Perform the adjustment while checking the servo rigidity force needed to maintain position against external force with the Servo lock ON Adjust the position loop to increase compliance with the position command Input position commands using an actual operating pattern and perform the adjustment while checking the pos
104. cannot be used in misty environments The above items reflect individual evaluation testing The results may differ under compound 2 75 Standard Models and Specifications Chapter 2 2 5 2 Performance Specifications m 3 000 r min Servomotors e Performance Specifications Table 100 V AC 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M W03030L W05030L W10030L W20030L W03030H W05030H W10030H W20030H R88M R88M R88M R88M R88M R88M R88M R88M W03030S W05030S W10030S W20030S W03030T W05030T W10030T W20030T Rated output Rated torque Rated rotation speed Momentary maxi mum rotation speed Momentary maxi mum torque Rated current Momentary maxi mum current Rotor inertia Torque constant Induced voltage constant Power rate Mechanical time constant Winding resistance 4 8 9 6 Winding impedance 4 8 Electrical time con j 1 1 t 1 0 1 1 stant Allowable radial 68 68 68 load Allowable thrust 54 54 74 54 54 54 load Weight Without Approx Approx Approx Approx Approx Approx Approx Approx brake 0 3 0 4 0 5 1 1 0 3 0 4 0 5 1 1 With Approx Approx Approx Approx Approx Approx Approx Approx brake 0 6 0 7 0 8 1 6 0 6 0 7 0 8 1 6 Radiation shield dimensions t6 x 1250 mm Al t6 x 1250 mm Al material Applicable load inertia 30x 30x 30x 30x 30x 30x Applicable Servo Driver
105. current limit The limit value for analog torque limit Pn402 or Pn403 Pn002 0 1 are always enabled The limit value for analog torque limit Pn404 or Pn405 Pn002 0 3 is enabled when PCL or NCL is input e Feed Pulse Reverse Pulse 90 Phase Difference Pulse A Phase 7 PULS CW A Feed Pulse Reverse Pulse 90 Phase Difference Pulse A Phase 8 PULS CW A Direction Signal Forward Pulse 90 Phase Difference Pulse B Phase 11 SIGN CCW B Direction Signal Forward Pulse 90 Phase Difference Pulse B Phase 12 SIGN CCW B The function of these signals depends on the setting of Pn200 0 command pulse mode position con trol setting 1 Pn200 0 2 0 Feed pulse and direction signal positive logic Pn200 0 1 Forward pulse and reverse pulse positive logic default Pn200 0 2 90 Phase Difference phases A B x1 positive logic Pn200 0 3 90 Phase Difference phases A B x2 positive logic Pn200 0 4 90 Phase Difference phases A B x4 positive logic Pn200 0 2 5 Feed pulse and direction signal negative logic Pn200 0 2 6 Forward pulse and reverse pulse negative logic Pn200 0 7 90 Phase Difference phases A B x1 negative logic Pn200 0 8 90 Phase Difference phases A B x2 negative logic Pn200 0 9 90 Phase Difference phases A B x4 negative logic 2 62 Standard Models and Specifications Chapter 2 Logic Pn200 Command pulse Input pins
106. current protector 4 eo t i y Vol Relay drive Sete Gate drive Control power Val Voltage T PS 424 VDC Sensor X interface gt EY not provided le gt le qe 1 FU2 p 5v A VE t Boe P 445V 4 circuits For battery connection ov x gc verter incu o bie Pav PWM control etc miw CN1 M SM PG output r 5V Reference pulse input Noa Open during g Power Power Servo alarm 1RY i 1 j le gi le AD Speed and torque ON I o e e e ov reference input ate n Y d e POWER ke Lee Gare i 1 Monitor display position speed i calculation etc CRY Jg Spoed 3 imc Analog voltage fg 7 M vo sequence o ig i converter Surge NOT 2 jos mb ons 7 i suppressor Connector Analog monitor Digital Operator for option output for personal computer una supervision 1 12 Introduction Chapter 1 400 V AC R88D WT60HF 75HF Three phase iie 380 to 480 V E 50 60Hz Noise filter L 1MC Control power 24 VDC not provided Regenerative Resistor option DC DC con verter AC power supply AC Servomotor
107. digit No settings m Function Selection Parameters From Pn000 e Function Selection Basic Switch Pn000 Default Setting 0010 Pn000 0 Function selection basic switch Reverse rotation mode All operation modes Setting Default Restart range setting power Note Refer to 4 4 3 Important Parameters Pnooo 1 Function selection basic switch Control mode All operation modes Setting Otob Unit Default Restart range setting power Note Refer to 4 4 3 Important Parameters Pnooo 2 Function selection basic switch Unit No setting All operation modes Setting Default Restart range setting power Setting Explanation setting Explanation Sets the Servo Driver unit number You must make settings if connecting multiple Servo Drivers using OMNUC W series Servo Driver Computer Monitoring Software for Windows95 Refer to the software for details Pn000 3 Function selection basic switch Not used Setting Unit Default Restart Yes range setting power Note Do not change setting e Function Selection Application Switch 1 Pn001 Default setting 1002 Pn001 0 Function selection application switch 1 Stop selection if alarm occurs when servo is OFF All operation modes Setting Default Restart range setting power Note Refer to 4 4 3 Important Parameters Pn001 1 Function selection application switch 1 Stop selection when drive prohibited is input Position speed int
108. e Performance Specifications Table 100 V AC Rated output 200 V AC 400 V AC R88M WP10030 L R88M WP20030 L R88M WP10030 H R88M WP20030 H R88M WP40030 H R88M WP75030 H R88M WP1K530 H R88M WP20030 F R88M WP10030 S R88M WP20030 S R88M WP10030 T R88M WP20030 T R88M WP40030 T R88M WP75030 T R88M WP1K530 T R88M WP20030 R 100 R88M WP20030 R88M WP40030 Cc Rated torque 0 318 Rated rotation speed 3 000 Momentary max rotation speed 5 000 Momentary maxi mum torque 1 91 0 955 1 91 3 82 7 16 14 8 3 82 7 16 14 8 Rated current A rms 2 7 0 89 2 0 2 6 4 1 7 5 1 4 1 4 2 6 4 5 Momentary maxi mum current A rms 8 4 2 8 6 0 8 0 13 9 23 0 4 6 44 7 8 13 7 Rotor inertia kgem GD 4 1 93x10 5 4 91x10 6 1 93x10 5 3 31x10 5 2 10x10 4 4 02x10 4 0 193x10 4 0 331x10 4 2 1x10 4 4 02x10 4 Torque constant Nem A 0 258 0 392 0 349 0 535 0 641 0 687 0 481 0 963 0 994 1 135 Induced voltage constant mV r min 9 00 13 7 12 2 18 7 22 4 24 0 Power rate kW s 21 0 20 6 21 0 49 0 27 1 56 7 Mechanical time constant ms 0 64 0 53 0 54 0 36 0 66 0 46 Winding resistance
109. error Note 3 When using a Servomotor with an absolute encoder for the first time A 81 backup error will be displayed Clear this error by setting up the absolute encoder Refer to 4 2 2 Absolute Encoder Setup and Battery Changes e If the display is normal i e no errors manually turn the Servomotor shaft forward and reverse and check to be sure that it agrees with the positive and negative on the speed display Display the speed feedback in Monitor Mode using the setting switches on the front panel or the Parameter Unit and turn the Servomotor shaft forward and reverse 4 5 Operation Chapter 4 PRO2W Display example Explanation Operation LM Baseblock display Press the MODE SET Key to change to System Check ce Mode xus Press the MODE SET Key once again to change to ce Setting Mode mE Press the MODE SET Key once again to change to ee Monitor Mode WE Press the DATA Key to display the Servomotor speed DATA press and hold r min UnOO0 is the speed feedback monitor number for 1 s min See note 1 Rotate the Servomotor shaft Rotate the Servomotor shaft forward to check that the forwards by hand speed is displayed Refer to the diagram below Rotate the Servomotor shaft in reverse by hand Note 1 If using the operation keys on the front panel press and hold the DATA Key for one second or
110. forward drive Both forward and reverse Only reverse drive allowed drive allowed allowed Position Note 1 When a command to travel in a prohibited direction within the drive prohibit area is input the Servomotor is stopped using the method set in Pn001 1 If a command to travel in the oppo site direction is input the Servomotor automatically resumes operation Note 2 With position control the feedback pulses and command pulses continue to be counted with out the deviation counter s residual pulses being reset If the drive prohibit input turns ON in this state i e drive permitted the position will be shifted by the amount of the residual pulses 4 5 7 Encoder Dividing Function All Operating Modes m Function With this function any number of pulses can be set for encoder signals output from the Servo Driver The number of pulses per Servomotor revolution can be set within a range of 16 to number of encoder resolution pulses The upper limit is 16 384 pulses rotation Use this function for the following applications When using a controller with a low response frequency When it is desirable to set a pulse rate that is easily divisible For example in a mechanical system in which a single Servomotor revolution corresponds to a travel of 10 mm if the resolution is 5 um pulse set the encoder dividing rate to 2 000 pulses revolution m Parameters Requiring Setting Parameter No Parameter name Explanation
111. headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product OMRON 2002 All rights reserved No part of this publication may be reproduced stored in a retrieval sys tem or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication General Warnings Observe the following warnings when using the OMNUC Servomotor and Servo Driver and all connected or peripheral devices This manual may include illustrations of the product with protective covers removed in order to describe the components of the product in detail Make sure that these protective covers are on the product before use Consult your OMRON representative when using the product after a long period of storage NWARNING NWARNING NWARNI
112. in Each Mode Y Status Display Mode Status display Status Display Mode displays all information that can be displayed in this mode using 5 digit 7 segment LEDs Consequently there are no Key operations in this MODE SET Moose System Check Mode MODE SET eoe Setting Mode MODE SET Moose Monitor Mode bb mode Function code Function contents DATA zee i an rond 1smin A NA I fer to the specific page for each function for H details FEnO00 i A t wi n System Check Mode set the function code Fn using the Up or Down Key TAS i uU R Z 7 Note The display contents and operation vary depending on the function selected Re After selecting the function code press the DATA Key front panel DATA Key 1s min to execute the function Subsequent operations vary depending on the function selected Refer to the specific page for each function for details When you have finishedthe function press the DATA Key front panel DATA Key 1s min to return to the function code display IPADDBI Parameter number Parameter contents DATA alte i PAGC depending on the setting Refer to 4 4 User i TR 7m Parameters for details Ate In Setting Mode use the Up or Down Key to set the parameter number Pn YOUU mmi Note Th
113. in the same way Note 8 Make the setting so that the Servo can be turned ON and OFF with the RUN signal 6 4 Appendix Chapter 6 Connection Example 4 Connecting to SYSMAC C500 NC222 E Position Control Units C500 NC222 E MD Connector Name Signal X axis A phase input X A X axis A phase input X axis B phase input X axis B phase input X axis Z phase input X axis Z phase input X axis speed command Main circuit power supply X axis speed cmnd OV ov 24 V for OUT output X axis OUT 2 output OUT 2X EXT IN Connector X axis CCW limit input X axis extrnl stop input X axis origin input X axis external servo free input X axis CW limit input Frame ground 24 V for input Note 1 Main circuit contact Surge killer R88M WL NFB OFF ON Ro O 200 230 V AC 50 60Hz 5 5 0 00 SUP S Oo MC X1 E T 9 60 Class 3 ground R88D WT CN1 TB M LCD LiG a PF OE E 34 A L1 aise reactor 36 B L2 O O p uc Oe ee E os TENES a T os Xo e ren 1 1 4 5 REF B2 6 AGND eS B1 B2 cra HE 24VIN uU RUN RESET ALMCOM AM ji FG CN2 R88A CRWI 24V DC ij Encoder Cab The example shows a phase 200 V AC input t
114. independently of each other using the trapezoidal ac celeration and deceleration curve The soft start processes REF speed command input or internally set speed control switching to re duce shock during acceleration and deceleration This function is effective for simple positioning and speed switching operations Note Do not use this function for a position controller with an acceleration deceleration function m Parameters Requiring Settings Parameter No Parameter name Explanation Reference Pn305 Soft start Set the acceleration time from 0 r min to the 4 4 4 acceleration time maximum rotation speed setting range 0 to 10 000 Parameter ms Details Pn306 Soft start Set the deceleration time from maximum rotation deceleration time speed to 0 r min Setting range O to 10 000 ms 4 84 Operation Chapter 4 Note 1 If not using the soft start function set this parameter to O default setting Note 2 The actual acceleration and deceleration time is as follows Su speed command r min Actual acceleration deceleration time LBS On ERN x soft start acceleration deceleration time maximum No rotations r min Servomotor speed Fr min Max No rotations See note Speed command 0 Time Actual acceleration time Actual deceleration time Pn305 Note The maximum rotation speeds are as follows 3 000 r min Servomotor 5 000 r min 3 000 r min Fl
115. longer Note 2 Refer to 4 3 1 Operation Details for details of operations Forward reverse Servomotor rotation Reverse rotation Seen from the Servomotor output shaft counterclockwise CCW is forward rotation and clockwise CW is reverse rota tion Forward rotation If the direction of Servomotor rotation and the speed feedback monitor symbols do not agree the Encoder Cable may be incorrectly wired Check the conduction for each cable e If there is an error refer to Chapter 5 Troubleshooting and take the necessary countermeasures 4 2 2 Absolute Encoder Setup and Battery Changes You must set up the absolute encoder if using a Servomotor with an absolute encoder Perform the setup if connecting a Battery Unit R88A BATO1W or R88A BATO2W to an absolute encoder for the first time or when setting the mechanical rotation data to 0 fora trial operation m Absolute Encoder Setup Procedure Be sure to follow this procedure carefully Any mistakes in carrying out this procedure could result in faulty operation 4 6 Operation Chapter 4 e Absolute Encoder Setup Fn008 in System Check Mode DATA p Absolute encoder setup in System Check Mode F In agr E DATA 1smin CU E PGCL1 displayed y ca T 643 p jesse d TIT TTT 1 s later P G H 5 Returns to PGCL5 Daw K 1smin TT L
116. may result in mal function Provide the specified clearances between the Servo Driver and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply any strong impact Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure that all the mounting screws terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to termi nals Connection of bare stranded wires may result in burning Always use the power supply voltage specified in the User s Manual An incorrect voltage may result in malfunction or burning N Caution N Caution N Caution N Caution N Caution N Caution Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning Provide an appropriate stopping device on the machine side to secure safety A holding brake is not a stopping device for securing
117. mode 1 GND Ground common Ground common terminal for the encoder output and All alarm code output All Encoder phase A output Encoder phase A output Outputs encoder pulses divided according to user parameter Pn201 Line driver output conforming to RS 4224 36 B Encoder phase B output 35 Encoder phase B output 19 Z Encoder phase Z output 20 Z Encoder phase Z output Outputs encoder phase Z signals 1 pulse revolution Line driver output conforming to RS 422A 2 55 Standard Models and Specifications Chapter 2 Signal name Contents Command mode Absolute encoder Outputs absolute encoder data All absolute signal output Line driver output conforming to RS 422A 49 ABS Absolute encoder signal output ALO1 Alarm code output 1 When an alarm is generated for the Servo Driver the ALO2 Alarm code output 2 contents of the alarm are output in code ALOS Alarm code output 3 Open collector output 30 V DC 20 mA max Alarm output When an alarm is generated for the Servo Driver the output is OFF EE ALMCOM Open collector output 50 mA 30 V DC max a to INP1 25 Positioning com ON when the position error is within the positioning Position pleted output 1 completed range Pn500 INP1COM 26 OFF when in a control mode other than position con trol mode INP2 Positioning com ON when the position error is within the positioning Position pleted output 2 completed range Pn504 INP2
118. noise filters are the values for when a three phase power supply uses a Y connection The leakage current will be greater for a X connection 3 33 System Design and Installation Chapter 3 External Dimensions e SUP P IH EPR Noise Filters by Okaya Electric Industries Co Ltd 10042 i 8401 4 74 741 E 38 1 T 63 51 F i E o B 8 Two 4 8 dia e Q Five M4 4 64 FN351 Noise Filters by Schaffner E Dimensions Pee ETE FN351 8 29 aTe Te e TE 115 100 85 Eze 150 136 120 FN351 FN351 25 29 Noise Filter for Brake Power Supply Use the following noise filter for the brake power supply Refer to the SUP P H EPR diagram above for ead Rated current Rated voltage Leakage current NEN P5H EPR 5A 250 V 0 6 mA at 250 Vrms 60 Hz NEM Electric Industries Co Ltd 3 34 System Design and Installation Chapter 3 R88A FIW Noise Filters R88A FIW104 E 28 150 0 5 Eon e Cs S iD E e Ut wo e 10 g e i drive mounts 2 x M4 m i i eae he a INPUT CABLE SIZE m 19 X 1
119. not change setting e Unused Parameters Pn004 and Pn005 Pn004 Setting Unit Default 0000 Restart No range setting power Note Do not change setting Pn005 Setting Unit Default 0000 Restart No range setting power Note Do not change setting Gain Parameters From Pn100 Speed loop gain Position speed internally set speed control 1 to 2000 Default Restart setting power This gain adjusts the speed loop response Increase the setting i e increase the gain to raise servo rigidity Generally the greater the inertia ratio the higher the setting There is a risk of oscillation however if the gain is too high Overshoots when speed loop gain is high Oscillates when gain is too high Servomotor speed speed monitor Time Pn101 Speed loop integration constant Position speed internally set speed control Setting 15 to 51200 Unit x 0 01 ms Default 2000 Restart range setting power 4 44 Operation Chapter 4 Sets the speed loop integral time constant e The higher the setting the lower the response and the lower the resiliency to external force There isa risk of oscillation if the setting is too low Overshoots when speed loop integration constant is short Servomotor speed speed monitor of E E e When speed loop integration constant is long Time Position loop gain Position speed wit
120. offset manual adjustment Fagge Analog monitor output offset manual adjustment 4 11 6 Analog Monitor Fanon Analog monitor output scaling You can change the analog Cupu Adjustment UU monitor output scaling within a range of 50 to 150 FAGGE Servomotor current detection offset automatic adjustment 4 11 7 Servomotor Current Detection Offset Fang Servomotor current detection offset manual adjustment Adjustment fap 10 Password setting You can permit or prohibit writing to user 4 11 8 Password Setting mu IU parameters a Servomotor parameter check Check the types of connected 4 11 9 Checking nU Servomotors and encoders Servomotor Parameters EnO 12 Version check Check the Servo Driver and encoder 4 11 10 Checking Version ma software versions 4 118 Operation Chapter 4 Display Function name Reference function code Absolute encoder multi turn setting ABS change If you 4 11 11 Changing Absolute change user parameter setting Pn205 absolute encoder Encoder Rotation Setting multi turn limit setting the new value is automatically written to the encoder For manufacturer management Do not use 4 11 1 Alarm History OMNUC W series AC Servo Drivers remember up tothe last 10 alarms to have occurred This section explains the alarm history data display Fn000 and how to clear the data Fn006 Alarm History Display Fn000 e Display the remembered alarms using System Check Mode Fn000 Not
121. parameter initialization During initialization P Inlt will flash After initialization The display donE will flash for about 1 second when UL the user parameter initialization has been completed Approx 1 s later After displaying donE the display will return to P InIt Press the DATA Key front panel DATA Key for 1 s min The display will return to the System Check Mode function code Note The digits you can manipulate will flash 4 125 Operation Chapter 4 4 11 5 Command Offset Adjustment When operating in the Speed Control and Torque Control Modes the Servomotor may rotate slightly even if an analog command voltage of 0 V command value zero is input This is due to small offset amounts in the order of mV in the Host Controller and external circuits command voltage If using speed control or torque command control be sure to adjust the offset to zero Use one of the following methods to adjust the command offset e Speed and torque command offset automatic adjustment Fn009 Speed command offset manual adjustment Fn00A and torque command offset manual adjust ment FnOOb m Speed and Torque Command Offset Manual Adjustment This function adjusts automatically both the speed command and torque command When the offset is adjusted the offset amount is stored in internal driver memory You can also check this
122. que pus que us h size Pome we A T fee ERN Servomotor Effective A rms 0 91 k 7 6 11 6 18 5 24 8 32 9 connection current terminal p a We rm qus a p le ss ss os os 8 See note 2 Screw size Frome Nm LLL ER a E n n E size Deae ws pu pa pz qe le pe le le le 129 fe le fe _ Note 1 Use the same wire sizes and tightening torques for 1 2 B1 and B2 Note 2 Connect special OMRON Power Cable to the Servomotor connection terminals 3 18 System Design and Installation Chapter 3 e 400 V AC Input R88D WT _ HF Item Model R88D R88D R88D R88D R88D R88D R88D R88D R88D R88D Unit O5HF 10HF 15HF 20HF 30HF 50HF 60HF 75HF 110HF 150HF Power suppy capaciy Wa 12 fes fez as es mo ia tea 725 Main circuit power Effective A rms 5 51 9 62 13 3 19 3 29 1 38 52 43 83 55 2 63 6 82 6 supply input current 1 2 2 ee E Control circuit power Effective 0 57 0 52 supply input current 16 5 1 25 1 2 1 2 20 8 254 28 1 M4 1 2 go T Servomotor connec Effective tion terminal current N M4 1 2 Frame ground N N M4 Em Em p2 Ne E SA E d e i ial io 12 2 12 8 8 7 RE i JN E ot lll all jente 16 6 fe 1 2 Wire Sizes and Allowable Current The following table shows the allowable current for when there are three wires e 600 V Heat resistant Vinyl Wiring
123. released when excitation voltage is ap plied Note 3 The operation time is the measured value reference value with a surge killer CR50500 by Okaya Electric Industries co LTD inserted Note 4 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures 2 81 Standard Models and Specifications Chapter 2 Note 5 The value indicated for the allowable radial load is for the positions shown in the following diagrams Radial load Radial load Thrust load Thrust load 5mm End of Servomotor shaft Models of 750 W or less Models of 1 kW or more e Torque and Rotation Speed Characteristics 3 000 r min Servomotors 100 V AC The following graphs show the characteristics with a 3 m standard cable and 100 V AC input R88M W03030L S 30 W R88M W05030L S 50 W R88M W10030L S 100 W Nem Nem Nem 0 5 40 477 0 477 1 0 40 955 oes 0 3 30 286 0 286 R ted Repeated usage Repeated usage epeated usage 0 06 0 09 Continuous usage Continuous usage Continuous usage T T T T r min 0 T T T r min 0 T T T T r min 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 0 19 R88M W20030L S 200 W Nem 2 04 1 91 1 91 Repeated usage 0 54 Continuous usage T T T T r min 1000 2000 3000 4000 5000 2 82 Standard Models and Specifications Chapter 2 3 000 r min S
124. reverse for CN1 Reversed pins 25 26 Output Not reversed signal reverse for CN1 Reversed pins 27 28 Output Not reversed signal reverse CN1 pins Reversed 29 30 0 Do not change setting Position er Sets the allowable error for a full closed loop or Command 0 to ror over semiclosed loop encoder unit 32767 flow level between motor and load Note 1 Explanation for parameters set using 5 digits Note 2 Explanation for parameters requiring each digit No to be set separately Other Parameters From 600 Parameter Parameter Explanation Default Setting Restart No name setting range power Pn600 Regeneration Setting for regeneration resistance load ratio x10W Aa 0 resistor ca monitoring calculations varies by pacity Pn601 Do not change setting 4 4 3 Important Parameters This section explains the user parameters you need to set and check before using the Servomotor and Servo Driver If these parameters are set incorrectly there is a risk of the Servomotor not rotating and of a misoperation Set the parameters to suit your sys tem Default settings referto 100 200 V Servo Drive For 400 V default settings see ap pendix Reverse Rotation Mode Settings Pn000 0 PnO000 0 Function selection basic switch Reverse rotation mode All operation modes Setting 0 1 Unit Default Restart range setting power 4 30 Operation Cha
125. rigidity setting Fn001 until there is no hunting Reduce rigidity setting Fn001 until there is no hunting be Y Reduce rigidity setting Fn001 by 1 Y Run under normal operating pattern and load NEGET Y Positioning time etc satisfactory gt N area End adjustment Increase Pn100 speed loop gain until there is no hunting with Servolock ON Pn101 setting target Reduce Pn101 speed loop integration constant until there is no hunting with Servolock ON Pn101 2 3X s i 2x XPn100 Egon Y d Any hunting vibration when the Servomotor rotates i N See note Rotate Servomotor and monitor operation Reduce Pn100 speed loop gain 3r IE If using positioning Increase Pn101 speed loop integration constant Increase Pn300 speed control scale or position loop gain on the controller until there is no overshooting i If using speed operation Set Pn300 speed command scale to match rotation speed Note If vibration does not cease no matter how many times you per form adjustments or if positioning is slow End adjustment Increase Pn401 torque command filter time constant 4 98 Operation Chapter 4 Position Loop Block Diagram Reference Pn109 Pn202 203 Pn10A Pn107 Feed forward mad Feed forward com Bias rotational amount G1 G2 mand filter speed Bias addition
126. rigidity setting to suit the mechanical system from the following 10 levels Note Refer to 4 11 2 Online Auto tuning Related Functions for System Check Mode operations 4 95 Operation Chapter 4 Response Rigidity Position Speed loop Speed loop Torque Representative setting loop gain gain integration command applications Fn001 S7 Hz time filter time mechanical d 00 Pn102 constant constant system x 0 01 ms x0 01 ms Pn401 Articulated robots harmonic drives chain drives belt drives rack and pinion drives etc Medium XY tables Car tesian coordi nate robots general purpose machinery etc Ball screws direct coupling feeders etc Note 1 The servo system loop gain will rise in response to a higher rigidity setting shortening posi tioning time If the setting is too large however the machinery may vibrate so make the set ting small Note 2 When the rigidity is set the user parameters in the above table will change automatically Manual Tuning related User Parameters Parame Parame Explanation Default Setting Restart ter No ter setting range power name Speed Adjusts speed loop responsiveness loop gain Speed Speed loop integration time constant loop integrati on time constant Position Adjusts position loop responsiveness loop gain Inertia Sets the ratio using the mechanical ratio system inertia to Servomotor rotor inertia r
127. safety Not doing so may result in injury Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption Not doing so may result in injury Take appropriate and sufficient countermeasures when installing systems in the fol lowing locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Do not reverse the polarity of the battery when connecting it Reversing the polarity may damage the battery or cause it to explode Operation and Adjustment Precautions Caution Caution Caution N Caution N Caution N Caution Confirm that no adverse effects will occur in the system before performing the test operation Not doing so may result in equipment damage Confirm that no adverse effects will occur in the system before performing the test operation Not doing so may result in equipment damage Check the newly set parameters for proper execution before actually running them Not doing so may result in equipment damage Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury When an alarm occu
128. seNaND 2 m T H NM Backup battery 2 8 to 4 5 V BAT 21 T BATGND 22 _ pac F24VIN RUN command RUN HO Gain deceleration MING oO Forward rotation drive prohibit POT t9 9 Reverse rotation drive prohibit NOT t Alarm reset RESET O oO Forward rotation current limit PCL T O Reverse rotation current limit NCL O oO 25 LVCMP Speed conformity 26 LVOMPSOM 27 TGON Motor rotation detection TGONCOM 29 READY Servo ready READYCOM 31 ALM Alarm output 32 ALMCOM 37 ALO1 Q Alarm code outputs 38 ALO2 OQ 39 ALOS Q 33 A Q Encoder phase A outputs 34 CA 36 FB Encoder phase B outputs 35 B Q 19 Z Q Encoder phase Z outputs 6 20j1 Z Q 1 GND Ground common Shell AFG Frame ground Maximum operating voltage 30 V DC Maximum output current 50 mA Maximum operating voltage 30 V DC Maximum output current 20 mA Line driver output EIA RS422A conforming Load resistance 220 Q max 2 53 Standard Models and Specifications Chapter 2 Note 1 Parameter settings control mode selection are required for speed and torque control Note 2 The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter settings The settings in the diagram are the defaults Note 3 Pins 2 4 21 and 22 are for use with an absolute encoder Contr
129. selection 3 output terminal allocation Not used 0 Do not change setting VCMP speed coincidence signal allocation TGON Servomotor rotation detection signal allocation WARN warning signal allocation INP2 positioning completed 2 signal allocation 6 20 Appendix Chapter 6 Parameter Explanation See note 1 Default Default i Setting Restart name a setting setting range power 3 Explanation See note 2 100 200 V 400 V Output Output Not reversed signal signal reverse reverse for CN1 Reversed pins 25 26 Output Not reversed signal reverse for CN1 Reversed pins 27 28 Output Not reversed signal reverse CN1 pins Reversed 29 30 0 Do not change setting Position er Sets the allowable error for a full closed loop or Comma ror over semiclosed loop encoder nd unit flow level between motor and load Note 1 Explanation for parameters set using 5 digits Note 2 Explanation for parameters requiring each digit No to be set separately m Other Parameters From 600 Parameter Parameter Explanation Default Setting Restart No name setting range power Pn600 Regeneration Setting for regeneration resistor load ratio x10W qu 0 resistor ca monitoring calculations varies by pacity Pn601 Do not change setting 6 21 Appendix Chapter 6 Functional Parameters Weer Constant Fane
130. setting Pn301 Speed control No 1 internal speed No 3 internal speed No 2 internal speed setting Pn301 setting Pn303 setting Pn302 Position control No 1 internal speed No 3 internal speed No 2 internal speed setting Pn301 setting Pn303 setting Pn302 Torque control No 1 internal speed No 3 internal speed No 2 internal speed setting Pn301 setting Pn303 setting Pn302 Operation Examples e Internally set Speed Control Settings Only Pn000 1 3 Speed selection on command 1 SPD1 OFF HE Speed selection ON command 2 SPD2 OFF Rotation direction ON command OFF i i RDIR i Decelerates according to Eimin Speed 3 Pn306 soft start decelera tion time setting Servomotor op eration s Accelerates according to Pn305 soft start accelera tion time setting r min Speed 1 reverse rotation Note 1 There is a maximum delay of 2 ms in reading the input signal Note 2 If the position lock function is not used the servo will stop using the speed loop i e internal speed command 0 r min Note 3 Speed command input pulse train input and torque command input are ignored 4 70 Operation Chapter 4 e Internally set Speed Control Speed Control Pn000 1 4 Speed selection ON command 1 SPD1 OFF Speed selection ON command 2 SPD2 OFF Rotation direction ON command OFF RDIR
131. temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Servo Driver parameters are adjusted at a normal temperature there may not be optimal operation at low temper atures Check to see whether there is optimal operation at low temperatures too 2 90 Standard Models and Specifications Chapter 2 1 000 r min Servomotors e Performance Specifications Table 200 V AC R88M R88M R88M W30010H W60010H W90010H R88M R88M R88M W30010T W60010T W90010T Rated output Rated torque Rated rotation speed Momentary maxi mum rotation speed Momentary maxi mum torque Rated current Momentary maxi mum current Rotor inertia Torque constant Induced voltage constant Power rate Mechanical time j 3 1 7 constant Winding resistance 0 144 Winding imped i 3 9 3 0 2 0 1 3 ance Electrical time con 5 7 13 5 13 9 E 14 6 stant Allowable radial 686 1 176 1 470 1 764 load Allowable thrust 98 98 343 490 490 588 load Weight Without Approx Approx Approx Approx Approx Approx brake 5 5 7 6 9 6 14 18 30 With bra Approx Approx Approx Approx Approx Approx 7 5 12 ke 9 6 19 23 5 35 Radiation shield dimensions t20 x 1400 mm Fe t30 x 1550 mm Fe material Applicable load inertia 10x 10x Applicable Servo Driv
132. that the power lamp is not lit then turn ON the power again The specific digit number of a parameter for which each digit number must be set separately is dis played in the table with 0 added to the digit number For example Pn001 0 i e digit No O of param eter No Pn001 The default setting for parameters set using 5 digits are displayed in the table with the leftmost digits not shown if they are 0 e g if the default setting is 00080 80 is entered in the table Do not set parameters or digit numbers shown as Not used 4 18 Operation Chapter 4 m Function Selection Parameters From Pn000 Setting Explanation Default Default it Setting Restart setting setting range power 100 200 V 400V Func Reverse CCW direction is taken for positive 0010 0000 tion rotation command selec RIP tion ba CW direction is taken for negative command sic switch Control Speed control by analog command lena 1 Position control by pulse train serection command Torque control by analog command 3 Internally set speed control Switches between internally set speed control and speed control Switches between internally set speed control and position control Switches between internally set speed control and torque control Switches between position control and speed control Switches between position control and torque control Switches between torque control and speed control A Speed control with position lock Pos
133. the POT forward drive prohibited and NOT reverse drive prohibited inputs are disabled Note 4 The Servomotor origin search rotation speed is 60 r min DATA mire P System Check Mode mm EJS Servomotor origin search display Servomotor origin CSI servo is OFF search n DAT 1 s min servo ovese Servo ON OFF operation 5 IS Servomotor origin search display 4C f servo is ON Execute Servomotor origin search A forward reverse operation F Note Press and hold the key 1 ICSI Servomotor origin search fwg 1 s min complete display flashes Operation Procedure PRO2W Front panel Display Explanation operation key operation Press the MODE SET Key to change to System Check Mode Press the Up or Down Key to set function code Fn003 See note Press the DATA Key front panel DATA Key for 1 s min to display Servomotor origin search Turn ON the servo Press the Up Key to rotate the Servomotor forwards and press the Down Key to rotate the Servomotor in reverse The Servomotor will rotate at 60 r min while the Key is being pressed Servomotor origin search When Servomotor origin search is completed the complete l display will flash and the Servomotor will servolock at the origin pulse position Press the DATA Key front panel DATA Key for 1 s min The disp
134. the pin number Settings 0 to 6 and 9 to F are disabled and all are set to CN1 pin 40 enabled by L input Settings 7 and 8 are both enabled To change the pin number set Pn50A 0 to 1 When setto 7 the servo turns ON after the power has been turned ON You cannot use the jog opera tion with this setting Pn50A 2 Input signal selection 1 MING signal gain reduction input terminal allocation Position speed internally set speed control Setting Oto F Unit Default Restart range setting power Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to 6 and 9 to F are disabled and all are set to CN1 pin 41 enabled by L input Settings 7 and 8 are both enabled To change the pin number set Pn50A 0 to 1 Pn50A 3 Input signal selection 1 POT signal forward drive prohibited input terminal allocation All operation modes Setting Oto F Unit Default Restart range setting power 4 35 Operation Chapter 4 e Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to 6 and 9 to F are disabled and all are set to CN1 pin 42 enabled by L input Settings 7 and 8 are both enabled To change the pin number set Pn50A 0 to 1 If set to 7 always ON the servo is in always overtravel status i e forward rotation is always drive prohibited If set to 8 always OFF the servo drive prohibit
135. turned ON as the VCMP speed compare signal The meaning of the signal differs according to the control mode e Internally set Speed Control Torque Control Pn000 1 6 Speed selection ON command 1 OFF SPD1 Speed selection ON command 2 SPD2 OFF Rotation direction ON command RDIR ORR Torque command input TREF V r min Servomotor Op Torque Control Mode eration mi Speed 1 reverse rotation Note 1 Operation follows the speed command input TREF immediately after SPD1 and SPD2 are both OFF although there is a delay of up to 2 ms in reading the input signal Note 2 Servomotor operation with torque control varies according to the Servomotor load conditions e g friction external power inertia Perform safety measures on the devices to prevent Servomotor runaway Note 3 When Servomotor servo lock is required set any of the internal speed settings to 0 r min and select that speed with SPD1 and SPD2 speed selection commands 1 and 2 4 72 Operation Chapter 4 4 5 5 Switching the Control Mode Switching Control m Functions This function controls the Servomotor by switching between two control modes by means of external inputs The control mode switching is executed at the control mode switching control input terminal TVSEL CN1 41 Controller OMNUC W series Servo Driver Analog voltage speed command Switching control Example Between positio
136. wired incorrectly Locked mechanical ly Control panel error Servomotor power or encoder line is miswired Gain adjustment is insufficient Acceleration and de celeration is too vio lent Load is too large Difference between internal and external encoder exceeds the setting of Pn51A Option board has been removed Main circuit power supply is not con nected Main circuit power supply phase is mis sing or wire is burned out Servo Driver is de fective Internal element misoperation Internal element is broken Perform absolute encod er rotation limit setting change Fn013 Set Pn205 correctly Rewire correctly Repair if the Servomotor shaft is locked Replace the Servo Driver Rewire correctly Adjust the gain Lengthen acceleration and deceleration time Use position command filter Pn207 0 Pn204 and Pn208 Lighten the load Reselect the Servomotor Go to Fn014 Press data Display shows 0 unit Press mode display shows done Reset the equipment Check the main circuit power supply wiring Replace the Servo Driver Reset the alarm then re start the operation Replace the Servo Driver 5 15 Troubleshooting Chapter 5 5 3 2 Troubleshooting by Means of Operating Status Probable cause The power sup ply indicator POWER does not light even when the power supply is turned ON Power supply lines are in correctly wired
137. 0 Angled type CE05 8A18 10SD B BAS Straight type CE06 6A18 10SD B BSS For sheath external diame DDK Ltd ter of 6 5 to 8 7 dia CE3057 10A 3 D265 For sheath external diame ter of 8 5 to 11 dia CE3057 10A 2 D265 For sheath external diame ter of 10 5 to 14 1 dia CE3057 10A 1 D265 3 000 r min R88M W3K030 R88M W4K030 R88M W5K030 1 500 r min 400 VAC type R88M W1K815 R88M W2K915 Angled type JLO4V 8A22 22SE EB Straight type JLO4V 6A22 22SE EB For sheath external diame Japan Avi ter of 6 5 to 9 5 dia ation Elec JL04 2022CK 09 tronics Industry For sheath external diame Ltd JAE ter of 9 5 to 13 dia JL04 2022CK 12 For sheath external diame ter of 12 9 to 15 9 dia JL04 2022CK 14 R88M W4K415 JLO4V 8A22 22SE EB R88M W5K515 JLO4V 6A32 17SE R88M W7K515 JLO4V 6A32 17SE R88M W11K015 JLO4V 6A32 17SE R88M W15K015 JLO4V 6A32 17SE 6 000 r min 400 VAC type R88M W3K060 Angled type JLO4V 8A22 22SE EB Straight type JLO4V 6A22 22SE EB For sheath external diame ter of 6 5 to 9 5 dia JL04 2022CK 09 For sheath external diame ter of 9 5 to 13 dia JL04 2022CK 12 For sheath external diame ter of 12 9 to 15 9 dia JL04 2022CK 14 R88M W4K060 JLO4V 8A22 22SE EB 1 000 r min R88M W1K210
138. 000 Restart Yes operation modes setting power Pn512 Output signal reverse All operation Default 0000 Restart Yes modes setting power Note Refer to 4 4 3 Important Parameters Pret Setting Unit Default 8888 Restart No range setting power Note Do not change the setting m Other Parameters From Pn600 Pn600 Setting 0 to Unit Unit x10 W Default Restart No range type setting power If using an External Regeneration Resistor or External Regeneration Resistance Unit set the regen eration absorption amount Set the regeneration absorption amount for when the temperature rises above 120 C not the nominal amount Refer to Regenerative Energy Absorption Using External Re generation Resistance for details e Perform UnOOA regeneration load monitor calculations and A 92 regeneration overload warning and A 32 regeneration overload alarm based on the Pn600 setting Note If an External Regeneration Resistor or External Regeneration Resistance Unit is not connected set Pn600 to 0 Default setting Note Do not change the setting 4 63 Operation Chapter 4 4 5 Operation Functions 4 5 1 Position Control Position Functions Perform position control using the pulse train input from CN1 7 8 for CW and CN1 11 12 for CCW The Servomotor rotates using the value of the pulse train input multiplied by the electronic gear Pn202 Pn203 Controller Pulse train output type OMNUC W seri
139. 030L S1 R88M W20030S R88M W20030S S1 R88M W03030H R88M W03030H S1 D R88M WO03030T R88M W03030T S1 D R88M W05030H R88M WO5030H S1 D R88M WO05030T R88M W05030T S1 D R88M W10030H R88M W10030H S1 D R88M W10030T R88M W10030T S1 D R88M W20030H R88M W20030H S1 D R88M W20030T R88M W20030T S1 D R88M W40030H R88M W40030H S1 D R88M W40030T R88M W40030T S1 D R88M W75030H R88M W75030H S1 D R88M W75030T R88M W75030T S1 D R88M W1K030H R88M W1KO030H S2 R88M W1KO030T R88M W1K030T S2 R88M W1K530H R88M W1K530H S2 R88M W1K530T R88M W1K530T S2 R88M W2K030H R88M W2K030H S2 R88M W2K030T R88M W2K030T S2 R88M W3K030H R88M W3K030H S2 R88M W3KO030T R88M W3K030T S2 R88M W4K030H R88M W4K030H S2 R88M W4KO030T R88M W4KOSOT S2 R88M W5K030H R88M W5K030H S2 R88M W5K030T R88M W5K030T S2 R88M W1KO30F R88M W1K030F S2 R88M W1K030C R88M W1K030C S2 R88M W1K530F R88M W1K530F S2 R88M W1K530C R88M W1K530C S2 R88M W2KO030F R88M W2K030F S2 R88M W2K030C R88M W2K030C S2 R88M W3KO030F R88M W3K030F S2 R88M W3K030C R88M W3K030C S2 R88M W4KO030F R88M W4K030F S2 R88M W4K030C R88M W4K030C S2 R88M W5KO030F R88M W5K030F S2 R88M W5K030C R88M W5K030C S2 R88M W03030L B R88M W03030L BS1 R88M W03030S B R88M W03030S BS1
140. 091 Molex Japan 2 6 3 Power Cable Red DE ROC DNE UU BESTE Db CUADRAS at He ee D P QNNM MEN 55101 0600 Molex Japan Cable Connector plug MS3106B20 29S DDK Ltd Cable plug MS3057 12A DDK Ltd Servomotor Receptacle MS3102A20 29P DDK Ltd Select a Power Cable to match the Servomotor being used The cables range in length from 3 to 20 me ters The maximum distance between the Servomotor and Servo Driver is 50 meters R88A CAWA The R88A CAWA Servomotors 100 to 750 W All Servomotors are 230 VAC type 2 106 Cables are for 3 000 r min Servomotors 30 to 750 W and 3 000 r min Flat style Standard Models and Specifications Chapter 2 e Cable Models For Servomotors without Brakes Length L R88A CAWA003S R88A CAWA005S R88A CAWA010S R88A CAWA015S R88A CAWA020S Outer diameter of sheath Approx 0 2 kg Approx 0 3 kg Approx 0 6 kg Approx 0 9 kg Approx 1 2 kg Model Length L Outer diameter of sheath Weight R88A CAWA003S DE R88A CAWAO005S DE R88A CAWAO010S DE R88A CAWAO015S DE R88A CAWA020S DE For Servomotors with Brakes R88A CAWA003B R88A CAWA005B R88A CAWA010B R88A CAWA015B R88A CAWA020B R88A CAWA003B DE R88A CAWAO005B DE R88A CAWAO010B DE R88A CAWAO015B DE R88A CAWAO020B DE Length L Length L Approx 0 3 kg Approx 0 45 kg Approx 0 8 kg Approx
141. 0H R88D WT15H R88D WT20H R88D WT30H R88D WT50H R88D WT60H Three phase 400 V AC R88D WTO5HF R88D WT10HF R88D WT15HF R88D WT20HF R88D WT30HF R88D WT50HF R88D WT60HF R88D WT75HF R88D WT110HF R88D WT150HF m Control Cable Motion Control Unit MC221 MC421 Cable 1 axis 1m R88A CPWO001M1 R88A CPWO02M1 R88A CPWOOSM 1 R88A CPWOO05M1 Motion Control Unit MC221 MC421 Cable 2 axes R88A CPWO001M2 R88A CPWO002M2 R88A CPWOOSM2 R88A CPWOO05M2 General Control Cable with connector on one end 1m R88A CPW001S 2m R88A CPW002S Connector Terminal Block Cable 1m R88A CTWOO1N 2 R88A CTWOO02N m 1m I O connector cable MC402 to Terminal Block R88A CMX001S E 2 2 Standard Models and Specifications Chapter 2 Servo Relay Units Specifications Servo For C200H NC112 XW2B 20J6 1B Relay Unit For C200HW NC113 For C200H NC211 XW2B 40J6 2B For C500 NC113 211 For C200HW NC213 413 For CQM1 CPU43 E XW2B 20J6 3B Servo Driver Cable XW2Z 100J B4 XW2Z 200J B4 Position For C200H NC112 XW2Z 050J A1 ale Unit XW2Z 100J A1 For C200H NC211 XW2Z 050J A2 For C500 NC113 211 XW2Z 100J A2 For CQM1 CPU43 E XW2Z 050J A3 XW2Z 100J A3 For C200HW NC113 XW2Z 050J A6 XW2Z 100J A6 For C200HW NC213 413 XW2Z 050J A7 XW2Z 100J A7 m Peripheral Cable Connectors Specifications ZH Analog Monitor Cable CN5 R88A CMWO01S Computer Monitor DOS 2m R88A CCWO02P2 Cable CN3 Control I
142. 0b 2 and the NCL signal is allocated by Pn50b 3 Note 2 With the default allocation the functions for pins 45 and 46 can be changed to PCL NCL or SPD1 SPD2 by means of the Pn000 1 control mode selection setting and the control mode in operation For details refer to 4 4 3 Important Parameters e Rotation Direction Command Input 41 RDIR This signal specifies the direction of rotation when operation is carried out at the internally set speed numbers 1 to 3 When this signal is OFF the direction is forward when it is ON the direction is reverse Note 1 This isthe default allocation Input terminal allocations CN1 pins 40 to 46 can be changed by setting Pn50A 0 input signal selection mode to 1 The RDIR signal is allocated by Pn50C 0 Note 2 Withthe default allocation the function for pin 41 is changed to MING PLOCK TVSEL RDIR or IPG according to the Pn000 1 control mode selection setting and the control mode in op eration For details refer to 4 4 3 Important Parameters e Speed Selection Command 1 45 SPD1 Speed Selection Command 2 46 SPD2 These signals are enabled when Pn000 1 function selection basic switch control mode selection is set to any ofthe settings from 3 to 6 Depending on the signal combinations the internally set speeds for Pn301 to Pn303 relate to the control modes as shown in the following table Control mode setting SPDz OFF SPD2 ON SPDZOFF SPDZ ON Pn000 1 23 Stop by spe
143. 10 and fine adjustments in units of 1 You can also perform intermediate adjustments in units of 5 Note 3 Do not greatly adjust either U phase or V phase alone Operation Procedure PRO2W Front panel Display Explanation operation key operation finir Press the MODE SET Key to change to System Check g FIn 0I00 moce Press the Up or Down Key to set function code FnOOF OF See note Press the DATA Key front panel DATA Key for 1 s min to display Cu1 o U phase am Press the Up or Down Key to change the offset amount A Change the offset in units of 10 in the direction in which x x the torque ripple is reduced wo Press the Left Key front panel DATA Key for less than 3 1 s or Right Key to return to the Cu1 o display x lt i aZ Press the MODE SET Key to display Cu2 o V lt 2 phase lt i Change the offset in units of 10 in the direction in which the torque ripple is reduced D Press the Left Key front panel DATA Key for less than KI 1 s or Right Key to return to the Cu2 o display a Press the MODE SET Key to display Cu1 o EE Press the Up or Down Key to change the offset amount A Repeat the above operation phase U adjustment to phase V adjustment until the torque ripple improves no fu
144. 13 C200HW NC413 C200H NC211 or C500 NC211 Position Control Units two cables are required to the Servo Driver 3 Connector Terminal Block Cables These cables are used for connecting to Controllers for which no special cable is provided The cables and terminal block convert the Servo Driver s Control I O Connector CN1 signals to terminal block connections Connector Terminal Block XW2B 50G5 R88A CTW The empty boxes in the model numbers are for cable length The cables can be 1 or 2 meters long For example R88A CTWOO2N is 2 meters long 4 General Control Cable and Control I O Connector These cables and connector are used for connecting to Controllers for which no special cable is provi ded and when the cable for the Servo Driver s control I O connector is prepared by the user 3 11 System Design and Installation Chapter 3 General Control Cable Control I O Connector 5 Power Cable R88A CPW R88A CNU11C Remarks The cable is attached to a connector that connects to the Control I O Connector CN1 The empty boxes in the model numbers are for cable length The cables can be 1 or 2 meters long For example R88A CPWO018 is 1 meter long This is the connector for connecting to the Control I O Connector CN1 This item is a connector only Select a Power Cable to match the Servomotor that is to be used Servomotor type 1 000 r min Ser
145. 19 Continuous usage T T T T r min 1000 2000 3000 4000 5000 R88M WP20030L S 200 W Nem 2 01 91 1 54 Repeated usage 1 04 0 54 Continuous usage 0 T T T T r min 1000 2000 3000 4000 5000 3 000 r min Flat style Servomotors 200 V AC The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M WP10030H T 100 W Nem 1 0 10 955 0 955 0 81 Repeated usage 0 19 Continuous usage 0 r min T T T SLT 1000 2000 3000 4000 5000 R88M WP75030H T 750 W Nem 8 04 7 16 6 04 Repeated usage 4 04 2 39 2 04 Continuous usage T T TT T 1000 2000 3000 4000 R88M WP20030H T 200 W Nem 2 0 1 91 1 54 Repeated usage 1 04 0 637 0 54 0 39 Continuous usage r min T T T T 1000 2000 3000 4000 5000 R88M WP1K530H T 1 5 kW Nem 14 3 Repeated usage Continuous usage 0 r min T T T 1000 2000 3000 4000 5000 0 R88M WP40030H T 400 W Nem 4 0 13 82 Continuous usage T T T T r min 1000 2000 3000 4000 5000 2 89 Standard Models and Specifications Chapter 2 3 000 r min Flat style Servomotors 400 V AC The following graphs show the characteristics with a 3 m standard cable and 400 V AC input R88M WP20030F R C 200 W R88M WP40030F R C 400 W N m N m 2 0 1 91 4 3 82 Repeated usage Repeated usage 0 5 A 0 481 1
146. 2 RBBMWAKO30C BOS2 R88M W5K030F BO R88M W5K030F BOS2 R88M W5K030C BO R88M W5K030C BOS2 k k p k S k M With 200V 1k brake 1 5 kW R88M W1K530H BO R88M W1K530H BOS2 R88M W1K530T BO R88M W1K530T BOS2 k p k B k ps k B k S 2 11 Standard Models and Specifications 3 000 r min Flat style Servomotors Specifications With incremental encoder Straight shaft Straight shaft with key without key R88M WP10030L W R88M WP20030L W R88M WP10030H W R88M WP20030H W R88M WP40030H W R88M WP75030H W R88M WP1K530H W R88M WP20030F W R88M WP40030F W R88M WP75030F W R88M WP1K530F W R88M WP10030L BW R88M WP20030L BW R88M WP10030H BW R88M WP20030H BW R88M WP40030H BW R88M WP75030H BW R88M WP1K530H BW R88M WP20030F BW R88M WP40030F BW R88M WP75030F BW R88M WP10030L WS1 R88M WP20030L WS1 R88M WP10030H WS1 R88M WP20030H WS1 R88M WP40030H WS1 R88M WP75030H WS1 R88M WP1K530H WS1 D CD CD CD CD R88M WP10030L BWS1 R88M WP20030L BWS1 R88M WP10030H BWS1 R88M WP20030H BWS1 R88M WP40030H BWS1 R88M WP75030H BWS1 R88M WP1K530H BWS1 R88M WP20030F BWS 1 R88M WP40030F BWS1 R88M WP75030F BWS 1 R88M WP1K530F BW R88M WP1K530F BWS1 D Note The D type motors are provided with IP67 connectors 1 000 r min Servomotors Specifications Chapter 2 With absolute encoder Straight shaft without key R88M WP10030S W R88M WP20030S W R88M WP10030T W R88M WP20030T W R88M W
147. 2 0 torque command input switching is set to 3 when PCL and NCL are ON TREF torque command input becomes the analog torque limit input terminal Calculate the torque limit 96 as follows Absolute TREF voltage V Pn400 torque control scale x 1000 Regardless of whether the voltage is positive or negative both forward and reverse directions have the same limits taken as absolute values Parameter No Parameter name Explanation Reference Torque command Set Pn002 0 to 3 use TREF as analog torque 4 4 4 Parameter input switching limit when PCL and NCL are ON Details Input signal selection You must allocate PCL and NCL See note 1 4 4 3 Important 2 Parameters PCL signal selection NCL signal selection Torque control scale Set TREF voltage for when the rated torque is 4 4 4 Parameter used See note 2 Details Note 1 If changing the default setting set Pn50A 0 input signal selection mode to 1 user defined settings Note 2 The default setting is 30 x 0 1 V rated torque Note 3 If using this function with internally set speed control set Pn50A 1 to 1 user defined set tings and allocate the required input signals PCL NCL SPD1 SPD2 RDIR etc 4 5 11 Soft Start Function Speed Internally set Speed Control m Functions This function accelerates and decelerates the Servomotor in the set acceleration and deceleration times You can set the acceleration and deceleration
148. 400 V Output INP1 No output signal signal selain positioni Allocated to CN1 pins 25 ng 26 complete Allocated to CN1 pins 27 d 1 28 output z terminal Allocated to CN1 pins 29 allocation 30 VCMP Same as Pn50E 0 signal output terminal allocation TGON Same as Pn50E 0 signal output terminal allocation READY Same as Pn50E 0 ae READY Servomotor aan warmup complete signal allocation allocation Output CLIMT Same as Pn50E 0 signal signal CLIMT current limit selection 2 output 7 terminal detection signal allocation allocation VLIMT Same as Pn50E 0 signal VLIMT speed limit output terminal detection signal allocation allocation BKIR Same as Pn50E 0 signal BKIR brake interlock output ignal allocation terminal Ey ee allocation WARN Same as Pn50E 0 signal output terminal allocation Output INP2 Same as Pn50E 0 signal signal selection 3 output terminal allocation Not used 0 Do not change setting VCMP speed coincidence signal allocation TGON Servomotor rotation detection signal allocation WARN warning signal allocation INP2 positioning completed 2 signal allocation 4 29 Operation Chapter 4 Parameter Explanation See note 1 Default Default i Setting Restart name xx setting setting range power 3 Explanation See note 2 100 200 V 400 V Output Output Not reversed Yes signal signal reverse
149. 6 392 392 392 Without NM E NM 4 6 Approx 5 8 Approx 7 0 Approx Approx Approx brake 1 7 11 0 14 0 17 0 Approx 6 0 Approx 7 5 Approx 8 5 Radiation shield dimensions material 1250 mm A t12 x 1300 mm Al Applicable load inertia 10x Applicable Servo Driver R88D WT04H WTO8H H WT10H WT15H H WT20H WT30H WT50H W50H Brake specifi Brake kgem2 5 8x 10 6 1 4x1075 325 10 5 325 x 10 5 3 25 x 1079 21x10 4 2 1 x 10 4 2 1 x 10 4 cations inertia GM 24 V DC 10 eee 180max 180max 180max 180 max Power con sump tion at 20 C Current con sump tion at 20 C Static friction torque Release time See note 3 LM tion gra de 100max 100max 100max 100 max reference value Continuous Type F 2 78 Standard Models and Specifications Chapter 2 e Performance Specifications Table 400 V AC R88M R88M R88M W1KO030F W1K530F W2KO30F W3K030F W30030F W65030F W4K030F C Rated output 3 0 0 30 0 65 Rated torque 9 8 0 955 2 07 Rated rotation speed 3 000 Momentary maximum 5 000 speed Momentary maximum 9 54 14 7 19 1 29 4 3 82 7 16 torque Rated current 2 8 4 7 6 2 8 9 1 3 2 2 Momentary maximum 8 5 14 19 5 28 5 1 7 7 42 current Rotor inertia 1 74x107 2 47x107 3 19x10 4 7 00x107 0 173x10 4 0 672x10 4 12 3x1074 Torque constant 1 27 1 15 1 12 1 19 0 837 1 02 1 024
150. 68 0to6mm i 192 strip 7 mm 202 DETAIL A Filter mounting 3x M4 Screw Output flexes e 3 x 240mm aa Ta A 16AWG ferrule n c o o 70 R88A FIW107 E 28 150 0 5 i FI drive mounts 2 x M4 Ot Em Ev INPUT CABLE SIZE 19 A 168 0 to 6 mm2 b 192 strip 7 mm 202 DETAIL A d TET m Filter mounting T 4 x M4 Screw ur Output flexes i C by 3 x 240mm i 14 amp M c je E 16AWG ferrule a i m 70 3 35 System Design and Installation Chapter 3 R88A FIW115 E 28 150 0 5 w PEE cs w e sz e drive mounts 2 x M4 ep 1 e f INPUT CABLE SIZE 19 AX 168 Oto6mm 192 strip 7 mm 202 DETAIL A Filter mounting 4x M4 Screw 3 Output flexes M E 3 x 300mm 14 e ji T 4 Ta NA 16AWG ferrule C 2 SA s O C D R88A FIW125 E 28 239 0 5 2g za o D f ru cud i i 6 o 2 ED e Q IS 2 Ld eo 2 Y T drive mounts 4 x M4 A N E INPUT CABLE SIZE X Ot6mm WENN 18 Au strip 7 mm 201 DETAIL A Filter mounting 4x M4 Screw d Output flexes o 2 x 280mm ig 4 E ole 144AWG M4 spade c eo 90 3 36 System Design and Installat
151. 88A CAWD S E Servo Driver Servomotor Cable Connector plug Straight MS3106B22 22S DDK Ltd Angled MS3108E22 22S Cable clamp MS3057 12A DDK Ltd Cable AWG10 x 4C UL2463 M5 cri Servomotor ee Receptacle erminals MS3102A22 22P DDK Ltd For Servomotors with Brakes only 230 VAC type Servomotor R88A CAWD B Servo Driver Servomotor Symbol Cable 7 Connector plug crase MS3106B24 10S DDK Ltd Cable clamp Phase W MS3057 16A DDK Ltd Servomotor Receptacle MS3102A24 10P DDK Ltd Cable AWG10 x 6C UL2463 M5 crimp terminals For certain 400 VAC type Servomotor with brake a seperate braking cable is needed Therefore it is necessary to use both power cable for Servomotor without brake R88A CAWCTL IS E and braking cable R88A CAWCI IB E R88A CAWCL B E is only used for wiring 2 CORE the brake line and is applicable for certain 400 VAC type Servomotors R88A CAWCOOSB E R88A CAWCO005B E R88A CAWCO 10B E R88A CAWCO 15B E R88A CAWCO20B E R88A CAWE The R88A CAWE Cables are for 1 000 r min Servomotors 4 kW e Cable Models For Servomotors without Brakes Model Length L Outer diameter of sheath Weight R88A CAWE003S 23 8 dia Approx 2 8 kg R88A CAWEO05S Approx 4 5 kg R88A CAWE010S Approx 8 6 kg R88A CAWE015S Approx 12 8 kg R88A CAWE020S Approx
152. 88M WP20030C S1 R88M WP40030F R88M WP40030C R88M WP75030F R88M WP40030F S1 D R88M WP75030F S1 D R88M WP75030C D D D D R88M WP40030C S1 R88M WP1K530F R88M WP1K530F S1 D R88M WP1K530C R88M WP75030C S1 R88M WP1K530C S1 D R88M WP10030L B R88M WP10030L BS1 R88M WP10030S B R88M WP10030S BS1 R88M WP20030L B R88M WP20030L BS1 R88M WP20030S B R88M WP20030S BS1 R88M WP10030H B R88M WP10030H BS1 D R88M WP10030T B R88M WP10030T BS1 D R88M WP20030H B R88M WP20030H BS1 D R88M WP20030T B R88M WP20030T BS1 D R88M WP40030H B R88M WP40030H BS1 D R88M WP40030T B R88M WP40030T BS1 D R88M WP75030H B R88M WP75030H BS1 D R88M WP75030T B FS r R88M WP75030T BS1 D R88M WP1K530H B R88M WP1K530H BS1 D R88M WP1K530T B R88M WP1K530T BS1 D R88M WP20030F B R88M WP20030F BS1 D R88M WP20030C B R88M WP20030C BS1 D R88M WP40030F B R88M WP40030F BS1 D R88M WP40030C B R88M WP40030C BS1 R88M WP75030F B R88M WP75030F BS1 D R88M WP75030C B REARS AREA RS R88M WP75030C BS 1 R88M WP1K530F B 1 000 r min Servomotors Specifications 200V 300W R88M WP1K530F BS1 D R88M WP1K530C B Model R88M WP1K530C BS1 D With incremental encoder With absolute encoder Straight shaft without key R88M W30010H
153. A CRWI X axis emerg stop input Ga 1 24V AA Note 1 The example shows a three phase 200 V AC input to the Servo Driver for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Driver in use Note 2 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 3 Leave unused signal lines open and do not wire them Note 4 Use mode 2 for origin search Note 5 Use the 24 V DC power supply for command pulse signals as a dedicated power supply Note 6 The diode recommended for surge absorption is the ERB44 02 Fuji Electric Note 7 Make the setting so that the Servo can be turned ON and OFF with the RUN signal 6 2 Appendix Chapter 6 Connection Example 2 Connecting to SYSMAC C200H NC112 Position Control Units C200H NC112 Main circuit power supply Contents 24 V DC input for output NFB OFF ON R 9 6i0 3 te O t4 a Main circuit contact 3 phase 200 230 V AC 50 60Hz 2 57 5 5 8 Surge killer S Q 610 2 1 2 mmi T 9 6 6 Sup S e Class 3 ground R88D WTO OO Origin line driver input Positioning completion input ECRST ECRST DC reactor TZ Z Origin pro
154. ADY signal turns ON if no errors are detected after the main circuits are powered up Note This is the default allocation The READY signal is allocated by Pn50E 3 e Current Limit Detection Output Not Allocated CLIMT The CLIMT signal is turned ON in any of the following four cases The output torque reaches the limit value set in Pn402 or Pn403 the forward and reverse torque limits The output torque reaches the limit value set in Pn404 or Pn405 the forward and reverse rotation external current limits while PCL NCL forward reverse rotation current limit is ON e The output torque reaches TREF analog torque limit when Pn002 0 torque command input change is set to 1 The output torque reaches TREF analog torque limit with PCL NCL forward reverse rotation current limit ON when Pn002 0 torque command input change is set to 3 Note The CLIMT signal is not allocated by default It is allocated by Pn50F 0 e Speed Limit Detection Output Not Allocated VLIMT The VLIMT signal is turned ON in either of the following two cases The Servomotor rotation speed reaches the limit set in Pn407 speed limit e The Servomotor rotation speed reaches REF analog speed limit when Pn002 1 speed com mand input change is set to 1 This signal is always OFF when the control mode is any mode other than the torque control mode Note The VLIMT signal is not allocated by default It is allocated by Pn50F 1 e Brake Interlock Outpu
155. B R88M W3K030F BS2 R88M W3K030C B R88M W3K030C BS2 R88M W4K030F B R88M W4K030F BS2 R88M W4K030C B R88M W4K030C BS2 Note R88M W5KO030F B with DE type power encoder cables For example the R88M WP1003H S1 D motor could be used with the R88A CRWAOOSC DE encoder cable and R88A CAWAO035 DE power cable 2 8 R88M W5K030F BS2 R88M W5K030C B R88M W5K030C BS2 The D type motors are provided with IP67 connectors for power and encoder cables These motors should be used in combination Standard Models and Specifications 3 000 r min Flat style Servomotors Specifications Chapter 2 With incremental encoder With absolute encoder Straight shaft without key R88M WP10030L Straight shaft with key R88M WP10030L S1 Straight shaft without key R88M WP10030S Straight shaft with key R88M WP100308S S1 R88M WP20030L R88M WP20030L S1 R88M WP20030S R88M WP200308 S1 R88M WP10030H R88M WP10030H S1 D R88M WP10030T R88M WP10030T S1 D R88M WP20030H R88M WP20030H S1 D R88M WP20030T R88M WP20030T S1 D R88M WP40030H R88M WP40030T R88M WP75030H R88M WP40030H S1 D R88M WP75030H S1 D R88M WP75030T R88M WP40030T S1 D R88M WP75030T S1 D R88M WP1K530H R88M WP1K530H S1 D R88M WP1K530T R88M WP1K530T S1 R88M WP20030F R88M WP20030F S1 D R88M WP20030C R
156. B1 and B2 terminals 3 15 System Design and Installation Chapter 3 B Three phase 400VAC connection example Three phase 380 480 V AC 50 60 Hz Noise filter See note 2 Main circuit power supply ee Main circuit connector See note 2 ale OFF ON LN lass 3 es NR Class 3 ground aie o O MC Q O Ls i Surge killer See note 2 X AN 2 9 PL Servo error displa dr play OMNUC W series OMNUC W series AC Servo Driver AC Servomotor Power Cable Oyo 1MC olo perl DC Reactor Es xk Class 3 ground Encoder Cable XB 7 24V DC See note 3 BKIRCOM 28 User controlled device See note 1 Note 1 Set by user parameter Pn50F 2 Recommended product in 3 2 4 Wiring for Noise Resistance For conformity to EC Directives refer to 3 2 5 Wiring for Conformity to EMC Directives 3 Recommended relay MY relay 24 V by OMRON Control cable 3 16 System Design and Installation Chapter 3 3 2 3 Terminal Block Wiring When wiring a Terminal Block pay attention to wire sizes grounding systems and anti noise measures Terminal Block Names and Functions Terminal label L1 Main circuit R88D WTLIH H 30 to 1500 W power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz input R88D WTLIH 500 W to 6 kW Three pha
157. C S2 W4K030C S2 W5K030C S2 Absolute Four Z dia KB2 Shaft Extension Dimensions of shaft end with key S2 LR M8 F Effective depth 16 Dimensions mm KL1 KL2 R88M W1K0300 R88M W1K5300 R88M W2K030 R88M W3K030 110h7 165 R88M W4KO030 R88M W5K030 Note The external dimensions are the same for IP67 waterproof models O 2 33 Standard Models and Specifications Chapter 2 m 3 000 r min Servomotors with a Brake e 200 V AC 1 0 kW 1 5 kW 2 0 kW 3 0 kW 4 0 kW 5 0 kW R88M W1KO030H B S2 W1K5030H B S2 W2K030H B S2 W3K030H B S2 W4K030H B S2 W5K030H B S2 Incremental R88M W1K030T B S2 W1K5030T B S2 W2K030T S2 W3K030T B S2 W4K030T B S2 W5K030T B S2 Absolute LL 3 mi T KL1 KL2 Four Z dia KB1 i KB2 Shaft Extension Dimensions of shaft end with key BS2 M8 Effective depth 16 Dimensions mm BEES a el Sed Nm 1 2 R88M W1K030 1 B 193 45 67 171 102 95h7 130 3 10 W 32 h6 50 Note The external dimensions are the sa
158. C500 NC211 Position Con trol Unit and an XW2B 40J6 2B Servo Relay Unit e Cable Models Mode Longhi Outer diameter of sheath Weim XW2Z 050J A2 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A2 1m Approx 0 2 kg e Connection Configuration and External Dimensions L 6 Servo Relay Unit 9 D XW2B 40J6 2B C200H NC211 C500 NC113 C500 NC211 2 130 Standard Models and Specifications Chapter 2 e Wiring Position Control Unit a N mi 12 m Position Control Unit Cable XW2Z il Cable AWG28 x 8P AWG28 x16C Servo Relay Unit 34 J A6 This is the cable for connecting between a C200HW NC113 Position Control Unit and an XW2B 20J6 1B Servo Relay Unit e Cable Models Mode Longhi Outer diameter of sheath Weim XW2Z 050J A6 XW2Z 100J A6 50 cm 1m 8 0 dia Approx 0 1 kg Approx 0 1 kg 2 131 Standard Models and Specifications Chapter 2 e Connection Configuration and External Dimensions C200HW NC113 Position Control 8 D XW2B 20J6 1B Unit Servo Relay Unit e Wiring Position Control Unit Servo Relay Unit 26 m Position Control Unit Cable XW2Z J A7 This is the cable for connecting between a C200HW NC213 or C200HW NC413 Position Control Unit and an XW2B 40J6 2B Servo Relay Unit e Cable Models Model Length
159. COM Always OFF when in a control mode other than posi tion control mode VCMP 25 Speed conformity ON when the Servomotor speed error is within the output speed conformity signal output range Pn503 VCMPCOM Always OFF when in a control mode other than speed control mode TGON 27 Servomotor rotation ON when the Servomotor rotation speed exceeds the EN detection output value set for the Servomotor rotation detection speed READY aa ON if no errors are discovered after powering the main READYCOM circuits 30 CLIMT Current limit detec ON if the output current is limited CLIMTCOM tion output VLIMT Speed limit detection ON if the speed is limited VLIMTCOM Always OFF when in a control mode other than torque control mode BKIR Brake interlock out Holding brake timing signals are output according to All BKIRCOM put user parameters Pn506 Pn507 and Pn508 WARN Warning output OFF when an overload warning or regeneration over All WARNCOM load warning is detected Shell VENE LLL ANI Connection terminal for cable s shielded wire and FG All line Note 1 Function allocations for pin 25 to 30 sequence outputs can be set by means of user parame ters Pn50E to Pn510 In this table the numbers enclosed in brackets indicate the default pin numbers allocations The allocations vary depending on the control mode Note 2 The interface for pin 25 to 30 sequence outputs is open collector output BO mA 30 V DC
160. Combinations Servo Driver Minimum External Regeneration Resistor Combinations Connection Resistance Q R88D WTSOH 8 523456 9 O FREBD WTOSHF 78 FREBD WT10HF 78 FREBD WTISHF 78 3 49 System Design and Installation Chapter 3 m Wiring External Regeneration Resistance e R88D WTASHL WTASHL WTO1HL WTO2HL WTASH WTA4H WTASH WTO1H W T02H WT04H Connect an External Regeneration Resistor between the B1 and B2 terminals External Regeneration Resistor Servo Driver 51 Note When using the R88A RR220478 connect the B2 thermal switch output so that the power supply will be shut off when open e R88D WTO5H F WTO8H H WT10H F WT15H F H WT20H F WTS3OH F WT50H F Remove the short circuit wiring between B2 and B2 and then connect an External Regeneration Resis tor between the B1 and B2 terminals External Regeneration Resistor fee B1 Note 1 The short circuit wiring between B2 and B3 must be removed iver B2 Q Seno Del 1 Remove 2 When using the R88A RR220478 connect the thermal switch output so that the power supply will be shut off when open e R88D WT60H F WT75H F WT110HF WT150HF Connect an External Regeneration Resistor or an External Regeneration Resistance Unit between the B1 and B2 terminals External Regeneration Resistor or External Regeneration Resistance Unit Note When using the R88A RR220478 connect the ther
161. D WT15H 20H R88A PX5060 Approx R88D WT30H R88A PX5059 Approx R88D WT50H R88A PX5068 Approx R88D WTOSHF R88A PX5074 0 3 R88D WT10HF 15HF R88A PX5075 0 9 R88D WT20HF 30HF R88A PX5076 1 1 R88D WT50HF R88A PX5077 1 9 2 139 Standard Models and Specifications Chapter 2 External Dimensions 2 140 R88A PX5059 Four H dia F A 50 coje 125 140 35 45 105 125 45 60 35 45 100 120 40 50 90 105 35 45 125 155 53 66 105 125 100 120 8 95 v4 100 120 125 140 125 155 5 125 155 50 125 140 BAR ii o oa 3 a o N o o oa oa oa 5 5 5 a o N oa o o o oa 4 4 3 5 4 4 7 oa a o A o A oa N o 3 3 N o co Cc ow A a 4i a o oa a T T a o eo o O N oa 5 5 0 0 0 0 0 0 0 0 0 0 N o o A oa o eo o eo a ay A AIAJ AL ALOT A RL ATA aya C 3 1 Installation Conditions 3 2 Wiring 3 3 Regenerative Energy Absorption ll Chapter 3 System Design and Installations System Design and Installation Chapter 3 Installation and Wiring Precautions Caution N Caution N Caution Caution Caution Caution N Caution N Caution N Caution N Caution N Caution N Caution NCaution Do not step on or place a heav
162. D WT75HF 7 5 kW Air flow Cooling fan CN10 Name plate Main circuit Control circuit terminal 9169 G9 G9 G9 I QI 9 e o 7 158 20 180 230 Main circuit Main circuit Control circuit_ V Ground terminal MS Ground terminal Mb terminal M4 terminal M8 Air flow A View A A 3i 3 9 m E Approx mass 13 5 kg 29 8 Ib ie a RI UT T a THO S i I 2 24 Standard Models and Specifications Chapter 2 Three phase 400 V R88D WT110HF 11 kW R88D WT150HF 15 kW Cooling fan Air flow 7 5 e e e e e e 8 CN3 feaa E CN10 CELO E DAT 140 o I 19 7
163. D motor could be used with the R88A CRWAOOSC DE and R88A CAWA0035 DE cables R88A CAWDO20S R88A CAWDO20B Standard Models and Specifications Chapter 2 Power Cable for 3 000 r min Flat style Servomotors ihe mech a NEGET OS iw 750 W iw R88A CAWA005S DE O UO O O 1 5 kW R88A CAWBOOSS DE R88A CAWB003B DE R88A CAWBOOSS DE R88A CAWBOOSB DE R88A CAWBO10S DE R88A CAWBO10BCDE R88A CAWB015S DE R88A CAWB015B DE R88A CAWBO2OS DE R88A CAWBO2OB DE Power Cable for 1 000 r min Servomotors Specifications Without brake With brake ojo iw iw R88A CAWCO003S R88A CAWCOOSB R88A CAWCO05S R88A CAWCO005B R88A CAWCO10S R88A CAWCO10B R88A CAWCO15S R88A CAWCO15B R88A CAWCO20S R88A CAWCO20B 1 2 to 3 kW R88A CAWDOOSS R88A CAWDOOSB R88A CAWDOO5S R88A CAWDO005B R88A CAWDO10S R88A CAWDO10B R88A CAWDO15S R88A CAWDO15B R88A CAWDO20S R88A CAWDO20B 4 kW See note R88A CAWE003S R88A CAWE003B R88A CAWE005S R88A CAWE005B R88A CAWE010S R88A CAWE010B R88A CAWE015S R88A CAWE015B R88A CAWE020S R88A CAWE020B 5 5 kw See note R88A CAWFO003S R88A CAWE003B R88A CAWFO05S R88A CAWE005B R88A CAWF010S R88A CAWE010B R88A CAWFO015S R88A CAWEO15B R88A CAWFO20S R88A CAWEO20B Note For 4 kW and 5 5 kW Servomotors there ar
164. EADY 30 1 30 30 Yellow Black READYCOM READYCOM 31 1 31 2 31 l Pink Red ALM ALM Servo Driver Connector 32 32 1 32 Pink Black ALMCOM ALMCOM Connector plug 33 33 2 31 1 33 Orange Red TA TA 10150 3000VE Sumitomo 3M 34 1 34 H 34 Orange Black ZA A Connector tas 35 c 35 35 EE B 36 H 3 36 cee mu TB B 10350 52A0 008 Sumitomo 3M Ear ee 37 Se a 37 White Red ALO1 ALO1 38 1 38 2 38 White Black ALO2 ALO2 39 1 39 39 Yellow Red ALOS ALOS 407 7 40 40 Pink Red RUN RUN Terminal Block Connector A ey a 41 i MING MING Connector socket 42 42 42 Orange Red POT POT XG4M 5030 OMRON eH 43 Orange Black NOT NOT Strain relief 44 44 44 Gray Black RESET RESET puc vue a fas a Dwhlerted PCL PCL XG4T 5004 OMRON 46 456 1 9 46 White Black NCL NCL 47 1 1 4f 17 3 1 27 Gray Red F24VIN F24VIN pag 494 48 Yellow Red ABS FABS 49 1 49 7 3 49 Yellow Black ABS ABS 50 Pink Black Shell FG FG Cable AWG28 x 25P UL2464
165. F as analog torque limit input Use TREF as torque feed forward input Use TREF as analog torque limit when PCL and NCL are ON Use REF as analog speed limit input Use as absolute encoder Use as incremental encoder Full closed loop encoder not used Full closed loop encoder used without phase Z Full closed loop encoder used without phase Z Full closed loop encoder used in reserse rotation mode without phase Z Full closed loop encoder used in reserse rotation mode without phase Z Servomotor rotation speed 1V 1000 r min Speed command 1 V 1000 r min Torque command 1 V rated torque Position deviation 0 05 V 1 command unit Position deviation 0 05 V 100 command units Command pulse frequency 1 V 1000 r min Servomotor rotation speed 1 V 250 r min Servomotor rotation speed 1 V 125 r min Not used Same as Pn003 0 Do not change setting Chapter 4 Default Default Unit Setting Restart setting setting range power 100 200 V 400 V 0000 0000 0002 0002 EI Operation Chapter 4 Explanation Default Default setting setting 100 200 V 400 V Not Do not change setting 0000 0000 used Not Do not change setting 0000 0000 used Servo Gain Parameters From Pn100 Parameter Explanation See note 1 Default Default Setting Restart name n setting setting range power Explanation See Speed loop Adjusts speed loop responsiveness
166. F the online auto tuning Pn110 0 2 Parameters Requiring Settings Parameter No Parameter Lm ibd Name Pn308 Speed feedback MEN CANNE the filter time constant for the pus feedback 4 4 4 uut filter time Setting range 0 to 65535 x 0 01 ms Details constant m Setting Procedure Measure the machinery vibration cycle and set Pn308 speed feedback filter time constant to that value 4 8 9 P Control Switching Position Speed Internally set Speed Control m Functions e This function automatically switches the control method for the speed loop control from PI proportion al integration control to P proportional control Normally control is sufficient using the speed loop gain and position loop gain set by auto tuning So normally there is no need to change the setting Continual operation using PI control may cause switching to P control if the Servomotor speed over shoots or undershoots Switching to P control lowers the effective servo gain to stabilize the servo system You can also reduce positioning time in this way 4 107 Operation Chapter 4 Parameters Requiring Settings Parameter Parameter name Explanation Reference No Speed control Sets the condition for switching the speed loop from PI 4 4 4 setting control to P control Use Pn10C to Pn10F to make the Parameter P control switching switching level settings Details condition P control switching Set when Pn10b 0 0
167. GN pulses B phase SIGN forward or reverse pulses CW CCW 90 phase CCW B difference A B phase signals A B ECRST Deviation counter Line driver input 10 mA at 3 V Position reset Open collector input 25 mA at 5 V ECRST ON Pulse commands prohibited and deviation counter cleared SEN Sensor ON input ON Absolute encounter s multi turn amount and initial All absolute incremental pulses sent SENGND Required when using an absolute encoder BAT Backup battery input Backup battery connector terminals for power interrup All absolute tion for absolute encoder Connect the battery to either this terminal or CN8 24VIN 24 V power supply Power supply input terminal 24 V DC for sequence input for control DC inputs pins 40 to 46 BATGND 2 54 Standard Models and Specifications Signal name RUN 40 MING 41 POT 42 NOT 43 PCL 45 NCL 46 RDIR 41 SPD1 45 SPD2 46 IPG 41 Contents Chapter 2 Control mode RUN command input ON Servo ON Starts power to Servomotor All ON Switches speed loop to P control and reduces speed gain Forward drive pro hibit input Reverse drive pro hibit input Forward rotation overtravel input OFF Prohibited ON Permitted Reverse rotation overtravel input OFF Prohibited ON Permitted Alarm reset input ON Servo alarm status is reset Forward rotation cur ON Output curre
168. J must be lower than the Servo Driver s regen erative energy absorption capacity The capacity varies depending on the model For details refer to 3 3 2 Servo Driver Regenerative Energy Absorption Capacity For Servo Driver models with internal regeneration resistance for absorbing regenerative energy i e models of 500 W or more the average amount of regeneration P unit W must be calculated and this value must be lower than the Servo Driver s regenerative energy absorption capacity The capac ity varies depending on the model For details refer to 3 3 2 Servo Driver Regenerative Energy Ab sorption Capacity The average amount of regeneration P is the power consumed by regeneration resistance in one cycle of operation P Eg Ego T W T Operation cycle s m Vertical Axis Servomotor operation Servomotor output torque Note In the output torque graph acceleration in the positive direction rise is shown as positive and acceleration in the negative direction fall is shown as negative e The regenerative energy values for Eg Ego and Egg are derived from the following equations 3 44 9 2 60 2x Eoo 7 66 No Tyo to J N4 No Rotation speed at beginning of deceleration r min Tp1 Tp2 Deceleration torque Nem TL2 Torque when falling Nem t4 tg Deceleration time s to Constant velocity travel time when falling s System Design and Installation Chapter
169. M W4K010H BOS2 R88M W4K010T BO 5 5 kW R88M W5K510H O R88M W5K510H OS2 R88M W5K510T O 300W R88M W30010H BO R88M W30010H BOS2 R88M W30010T BO R88M W5K510H BOS2 R88M W5K510T BO 200 V i 600W R88M W60010H BO R88M W60010H BOS2 R88M W60010T BO 900W R88M W90010H BO R88M W90010H BOS2 R88M W90010T BO 5 5 kW R88M W5K510H BO 2 12 Standard Models and Specifications Chapter 2 1 500 r min Servomotors Specifications EEEMNENEUEENML ONSMENMECIIEEEEEENES With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key key and tap key and tap Without 400 V RESVWASO15C OS2 brake RBBM WBSO15C OS2 RBSM WIKGISC OS R88M W1K815F O R88M W1K815C OS2 R88M W2K915F O 4 R88M W2K915F OS2 R88M W2K915C O R88M W2K915C OS2 5 5kW R88M W5K515F O R88M WAK415F O R88M WAK415F OS2 R88M W4K415C O R88M WA4K415C OS2 R88M W5K515F OS2 R88M W5K515C O R88M W5K515C OS2 RGEMWIKISC BOS2 RGEM WIKBSC BOS2 RGBM WPKGTSC BOS2 RGOM WAKA1SC BOS2 RBM W5KS15C B0S2 RBM W7K515C B0S2 RGOMWTIKO1SC BOS2 RGEMWISKOTSC BOS 7 5kW R88M W7K515F O R88M W7K515F OS2 R88M W7K515C O R88M W7K515C OS2 RGBNWTIKDTSC OS2 RGBNTSKOTSC OS2 W 400v REN aso 15C BOS2 brake ieee RON BSO15C BOS2 6 000 r min Servomotor brake brake RGEM WIKSGOF BO 1 d With 400V R88M W1KO60F BO R88M W1KO60F BOS2 1 2 13 Standard Models and Specif
170. M WP10030L With absolute encoder R88M WP10030S R88D WT01HL R88M WP20030L R88M WP200308S R88D WTO2HL R88M WP10030H R88M WP10030T R88D WT01H R88M WP20030H R88M WP20030T R88D WT02H R88M WP40030H R88M WP40030T R88D WT04H R88M WP75030H R88M WP75030T R88D WTOSH H R88M WP1K530H R88M WP1K530T R88D WT15H H R88M WP20030F R88M WP20030C R88D WTOSHF R88M WP4A0030F R88M WP40030C R88D WTOSHF R88M WP75030F R88M WP75030C R88D WT10HF R88M WP1K530F R88M WP1K530C 1 000 r min Servomotors and Servo Drivers Servomotor R88D WT 15HF Voltage Servo Driver Rated output With incremental With absolute encoder encoder 200 V 300 W R88M W30010H R88M W30010T R88D WT05H Bm 1 500 r min Servomotors and Servo Drivers Servomotor 600 W R88M W60010H R88M W60010T R88D WT08H Voltage Servo Driver Rated output With incremental With absolute encoder encoder 400 V R88D
171. Monitoring Software to mea sure the analog monitor torque command monitor output notch filter ON To use the notch filter function set Pn408 0 to 1 Parameter Details Set the machine resonance frequency 4 105 Operation Chapter 4 Set the measured frequency using Pn409 notch filter frequency Adjust the value of Pn409 slightly to minimize output torque vibration When the vibration is minimal adjust Pn100 speed loop gain Pn101 speed loop integration con stant Pn102 position loop gain and Pn401 torque command filter time constant once again ac cording to 4 7 2 Manual Tuning 4 8 7 Speed Feedback Compensation Position Speed Internally set Time Control m Functions This function shortens positioning time This function works to lower the speed loop feedback gain and raise the speed loop gain and position loop gain Consequently responsiveness to commands is improved and positioning time can be shortened Noise sensitivity is lowered however so positioning time cannot be shortened where there is external force applied such as with the vertical axis Note If you use the speed feedback compensation function online auto tuning will not operate normal ly To use the speed feedback compensation function turn OFF the online auto tuning Pn110 0 2 Parameters Requiring Settings Parameter No Parameter name Explanation Reference Pn110 1 Selects speed To use the speed feedb
172. N 47 9 9k TM External power supply os RN 24 V 21V DC Y3 j Power supply capacity 3 3k d x Photocoupler input 24 V DC 7 mA 50 mA min per Unit o 0 40 ETIA EENS To other input circuit GNDs To other input circuits Signal Levels ON level Minimum 24VIN 11 V OFF level Maximum 24VIN 1 V 2 59 Standard Models and Specifications m Control Output Circuits e Position Feedback Output Phase A Output line driver SN75ALS174NS PhaseB or equivalent Phase Z we e Sequence and Alarm Outputs Servo Driver side Chapter 2 Controller for user R 220 to 470 Q SV A 2 16 3 To other output circuits e Alarm Code Outputs Servo Driver side 37 ALO1 38 ALO2 39 ALO3 71 1 GND 1G E ev 69 NE Di 2 60 Diode for preventing surge voltage Use External power m suppl v bc 1v Maximum output current 50 mA sid R z i Phase A B 6 4 5 B 7 Phase B 3s 10 12 11 aid 9 8 Phase Z oV b Applicable line receiver I X7 0V SN75175 MC3486 AM26LS32 FG Maximum operating voltage 30 V DC Di Diode for preventing surge voltage Use External power supply 24VDC 1V Maximum operating voltage 30VDC Maximum output current 20 mA Standard Models and Specifications Chapter 2 m Control Input Details CN1 e 5 Speed Command I
173. NER 1 to 2000 peu gain Speed loop Speed loop integral time constant 2000 2000 x0 01 ms 15 to integration 51200 constant Position Adjusts position loop responsiveness 40 40 1 s 1 to 2000 loop gain Inertia ratio Set using the ratio between the machine system 300 96 0 to inertia and the Servomotor rotor inertia 10000 Speed loop Adjusts speed loop responsiveness enabled by gain 40 Hz 1 to 2000 gain 2 switching input Speed loop Speed loop integral time constant enabled by gain 2000 2000 x0 01 ms 15 to integration switching input 51200 constant 2 Position Adjusts position loop responsiveness enabled by 40 40 1 s 1 to 2000 loop gain 2 gain switching input Bias Sets position control bias r min 0 to 450 rotational speed Bias Sets the position control bias operation start using 7 7 Command 0 to 250 addition deviation counter pulse width unit band Feed for Position control feed forward compensation value 96 0 to 100 ward amount Feed for x 0 01 ms _ 0 to 6400 ward com mand filter Speed P control Sets internal torque 004 Yes control switching command value setting conditions conditions Pn10C Sets speed command value conditions Pn10qd Sets acceleration command value conditions Pn10E Sets deviation pulse value conditions Pn10F No P control switching function Speed PI control control loop switching P control Not used Do not change setting 4 21 Operat
174. NG NWARNING NWARNING NWARNING NWARNING NWARNING N Caution Caution Always connect the frame ground terminals of the Servo Driver and the Servomotor toaclass 3 ground to 100 O or less Not connecting to a class 3 ground may result in electric shock Do not touch the inside of the Servo Driver Doing so may result in electric shock Do not remove the front cover terminal covers cables Parameter Units or optional items while the power is being supplied Doing so may result in electric shock Installation operation maintenance or inspection must be performed by authorized personnel Not doing so may result in electric shock or injury Wiring or inspection must not be performed for at least five minutes after turning OFF the power supply Doing so may result in electric shock Do not damage press or put excessive stress or heavy objects on the cables Doing so may result in electric shock Do nottouch the rotating parts ofthe Servomotor in operation Doing so may result in injury Do not modify the product Doing so may result in injury or damage to the product Use the Servomotors and Servo Drivers in a specified combination Using them in correctly may result in fire or damage to the products Do not store or install the product in the following places Doing so may result in fire electric shock or damage to the product Locations subject to direct sunlight Locations subject to temperatu
175. NUC W series Internally set Servomotor speeds 1 to 3 Pn301 to Pn303 450 SPD1 46 SPD2 internally set speed control can only be performed using dig ital I O signals Rotation direc tion command 41 ORDIR Rotation direction 4 68 Operation Chapter 4 Parameters Requiring Settings Parameter Parameter name Explanation Reference No Pnooo 1 Function selection Select the control mode for the internally set 4 4 3 Important basic switch 1 speed control Settings 3 4 5 6 Parameters Control mode selection Pn50C Input signal You must set Pn50C 0 RDIR signal selection 4 4 3 Important selection 3 Pn50C 1 SPD1 signal selection and Pn50C 2 Parameters SPD2 signal selection See note 1 Pn301 No 1 Internal Set the internally set speed r min 0 to 10 000 4 4 4 Parameter speed setting r min See note 2 Details Pn302 No 2 internal speed setting Pn303 No 3 internal speed setting Pn305 Soft start Set the acceleration and deceleration times ms 4 8 9 P Control acceleration time separately 0 to 10 000 ms Switching Pn306 Soft start deceleration time Note 1 If changing the default setting set Pn50A 0 input signal selection mode to 1 user defined settings Note 2 Ifthe maximum Servomotor rotation speed setting is greater than Pn301 Pn302 and Pn303 the setting will be taken to be the maximum rotation speed m Related Functions The following functions relate
176. Note Servomotor operation with torque control varies according to the Servomotor load conditions e g friction external power inertia Perform safety measures on the devices to prevent Servo motor runaway 4 67 Operation Chapter 4 Related Functions Functions related to speed control that can be used during speed control are as follows Function name Explanation Reference Torque limit function This function limits the Servomotor s torque output 4 5 10 Torque Limit Function Speed limit function This function limits the Servomotor rotation speed from 4 5 15 Speed Limit becoming too high Function 4 5 4 Internally set Speed Control m Functions Controls the Servomotor speed using the speed internally set speed Nos 1 to 3 set in the parame ters e Selects the internally set speed using the control input terminal s speed selection commands 1 and 2 SPD1 CN1 45 SPD2 CN1 46 and sets the rotation direction using the rotation direction command RDIR CN1 41 Pin No is the default allocation When SPD1 and SPD2 are both OFF the Servomotor decelerates and stops according to the decel eration time At this time you can make pulse train inputs during position control speed command inputs during speed control and torque command inputs during torque control using the parameter settings Controller OMNUC W series Servo Driver Internally set speed control Speed selection command f OM
177. O Connector CN1 R88A CNU11C Note Computer Monitor Cable and OMNUC W series Personal Computer Monitor Software for Servo Drivers Windows compatible are required when using a personal computer is used for setting Servo Driver parameters and for monitoring Parameter Units Specifications Modl Hand held with 1 m cable R88A PRO2W Parameter Unit Cable 2 m R88A CCWOO2C Note 1 A Parameter Unit is required for operating and monitoring the Servo Driver at a remote location or with a control panel Note 2 Ifthe 1 m cable provided with the Parameter Unit is not long enough purchase the 2 m Parameter Unit Cable and use it in place of the 1 m cable External Regeneration Resistors Units Resistor 47 Q R88A RR22047S Resistance Unit for 6 kW 200 V servo 6 25 Q R88A RR88006 Resistance Unit for 7 5 kW to 15 kW 200 V servo 3 3 Q R88A RR1K803 Resistance Unit for 6 0 kW and 7 5 kW 400 V servo 18 Q R88A RR88018 Resistance Unit for 11 kW and 15 kW 400 V servo 14 25 Q R88A RR1K814 Note Required when the motor s regenerative energy is too high m Fieldbus Option Board Pp Specifications O Mel Devicenet communications board including positioning features R88A NCW152 DRT m W series software Specification Model Software for set up and analizing Wmonwin version 2 0 Standard Models and Specifications Chapter 2 m 1 5 Axis motion controller Specifications Model OMRON Hos
178. OMRON VA USER S MANUAL OMNUC W MODELS R88M W AC Servomotors MODELS R88D WT rvo Drivers AC SERVOMOTORS SERVO DRIVERS 400VAC type included Notice OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual The following conventions are used to indicate and classify precautions in this manual Always heed the information provided with them Failure to heed precautions can result in injury to people or damage to property NDANGER Indicates an imminently hazardous situation which if not avoided will result in death or serious injury NWARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage OMHRON Product References All OMRON products are capitalized in this manual The word Unit is also capitalized when it refers to an OMRON product regardless of whether or not it appears in the proper name of the product The abbreviation Ch which appears in some displays and on some OMRON products often means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following
179. P40030T W R88M WP75030T W R88M WP1K530T W R88M WP20030C W R88M WP40030C W R88M WP75030C W R88M WP1K530C W R88M WP10030S BW R88M WP20030S BW R88M WP10030T BW R88M WP20030T BW R88M WP40030T BW R88M WP75030T BW R88M WP1K530T BW R88M WP20030C BW R88M WP40030C BW R88M WP75030C BW R88M WP1K530C BW Straight shaft with key R88M WP10030S WS1 R88M WP20030S WS1 R88M WP10030T WS1 R88M WP20030T WS1 R88M WP40030T WS1 D R88M WP75030T WS1 D R88M WP1K530T WS1 D R88M WP20030C WS1 D R88M WP40030C WS1 D R88M WP75030C WS1 D R88M WP1K530C WS1 D R88M WP10030S BWS1 R88M WP20030S BWS1 R88M WP10030T BWS1 R88M WP20030T BWS1 R88M WP40030T BWS1 R88M WP75030T BWS1 R88M WP1K530T BWS1 D D With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key key key Without 200 V RGGM WSOOTOT OS2 brake R8BM W60010T OS2 R88M W90010T OS2 R88M W1K210T OS2 R88M W2K010T OS2 R88M W3K010T OS2 R88M W4K010T OS2 R88M W5K510T OS2 R88M W30010T BOS2 R88M W60010T BOS2 R88M W90010T BOS2 R88M W1K210T BOS2 R88M W2K010T BOS2 R88M W3K010T BOS2 R88M W4K010T BOS2 R88M W5K510T BOS2 4 E With brake 1 2kW R88M W1K210H BO R88M W1K210H BOS2 R88M W1K210T BO R88M W2K010H BO R88M W2K010H BOS2 R88M W2K010T BO R88M W4K010H O R88M W4K010H OS2 R88M W4KO10T O R88M W3K010H BO R88M W3K010H BOS2 R88M W3K010T BO R88M W4K010H BO R88
180. Pn109 to O m Setting Procedure Finish adjusting the gain before adjusting the feed forward Increase the Pn109 feed forward amount setting until positioning time is minimal At this point if there are no problems with using overshoot adjustments are complete A high setting may cause the machinery to vibrate With ordinary machinery set the gain to 8096 maximum Adjust the gain while checking the machine response e f the overshoot is too large increase Pn10A feed forward command filter to reduce the it 4 8 3 Torque Feed forward Function Speed m Functions The torque feed forward function reduces the acceleration time by adding the value of TREF torque command input to the current loop it can be used with speed control Normally a differential value is generated in the controller and this value is input to TREF Overshooting will occur if the feed forward amount the voltage input to TREF is too high so adjust Pn400 torque command scale as required 4 101 Operation Chapter 4 Torque Feed forward Function Block Diagram Host Controller Servo Driver Pn400 Torque com 9 mand scale Torque feed forward TREF Differ KFF ential Pn100 Pn101 Pn300 Position command Speed command REF Y Current Speed com Speed mand scale i loop K ae p Current detection Speed detection
181. Positioning completion range 2 Deviation counter overflow level Brake timing 1 Brake command speed Explanation See note 1 Explanation See note 2 Sets the range of positioning completed output 1 INP1 Sets the number of rotations for position lock during speed control Sets the number of rotations for the Servomotor rotation detection output TGON Sets the allowable fluctuation number of rotations for the speed conformity output VCMP Sets the range for positioning completed output 2 INP2 Sets the detection level for the deviation counter over alarm Sets the delay from the brake command to the Servomotor turning OFF Sets the spread for outputting the brake command Default setting 100 200 V Default setting 400 V Setting Restart range power E E 0 to 10000 1to 10000 0 to 100 Command unit Command unit 2 ul 1to 32767 m Oto 10000 x 256 command unit Pn508 Brake Sets the delay time from the Servomotor turning OFF 50 50 x 10 ms 10 to timing 2 to the brake command output 100 Pn509 Momentary Sets the time during which alarm detection is disabled 20 20 ms 20 to hold time when a power failure occurs 1000 4 26 Operation Parameter name Input signal selection 1 Explanation See note 1 Explanation See note 2 Input signal allocation mode RUN signal RUN comman d input terminal allocation
182. R88D UT User defined sequence input signal allocation e If set to 0 the input signal allocation for CN1 is the same as shown above You cannot change the input signal pin number with this setting You can however select whether the signal is always ON or al ways OFF using Pn50A 1 to Pn50b 3 e Ifset to 1 you can set the input signal pin number Pn50A 1 to Pn50d 2 You can also allocate multiple input signals to one pin number in which case when a signal is input all signals allocated to that pin 4 34 Operation Chapter 4 number are input For example if switching between speed control and position control when the gain is lowered using speed control if both TVSEL control mode switch input and MING gain reduction input are allocated to the same pin number switching to speed control and gain reduction will be per formed as one signal Pn50A 1 Input signal selection 1 RUN signal RUN command input terminal allocation All operation modes Setting 0 to F Default Restart range setting power Setting Explanation Setting xai o MiewedtoCNt4OpivenbedusmgLimut S s located to ONTAS pin enabled using Lmt 5 AlosedtoCNid6pisenabedusgLimut e wys p Allocated to GNT 40 pin enabled usna Hnpt fb Allocated to GN1 42 pin enabled using Hing o Jd Allocated to GNT 44 pin enabled using H input O If Pn50A 0 is set to 0 you cannot change
183. Reference Pn201 Encoder dividing rate Set the number of encoder 4 4 4 Parameter setting pulses to be output See Details notes 1 2 and 3 Note 1 The default setting is 1 000 pulses rotation and the setting range is 16 to 16 384 pulses rotation Note 2 These parameters are enabled when the power is turned ON again after having been turned OFF Check to see that the LED display has gone OFF Note 3 fa value greater than the encoder resolution is set operation will proceed according to the formula dividing rate setting encoder resolution 4 77 Operation Chapter 4 Operation Incremental pulses are output from the Servo Driver through a frequency divider Encoder BIANYA ceste teuer eren tere tton S i Frequency Phase A Processing divider c gt Phase B circuitry ph Z deos 3 ase Theoutput phases of the encoder signal output from the Servo Driver are as shown below when divid er ratio Pn201 encoder resolution Forward rotation side Reverse rotation side Phase A ED e A RR Phase A FE Semet PmeeB Lit LJ PaeB Lif 1 Phase Z Pee e EET Phase Bi When the encoder divider rate is set to other than 2 16 384 8 192 4 096 2 048 1 024 etc the phase difference for phases A and B is not 90 but scatters for time T See the diagram below Phase A co fee Phase B t1 nT t2 n 1 T Li 2 ust Wo tuU In this diagram T represents the proces
184. Repeated usage 404 40 0 104 31 7 28 4 204 14 2 Continuous usage Continuous usage r min r min T f T T T T 500 1000 1500 2000 500 1000 1500 2000 R88M W5K510H T 5 5 kW m 150 1004 Repeated usage 63 1 52 6 504 Continuous usage 25 0 0 T T T r min 500 1000 1500 2000 2 93 Standard Models and Specifications Chapter 2 e Servomotor and Mechanical System Temperature Characteristics W series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomo tors momentary maximum torque increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 C and 10 C are compared the momentary maximum torque increases by approximately 4 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 e Generally in a mechanical system when the temperature drops the friction torque increases andthe load torque becomes larger Forthat reason overloading may occur at low temperatures In particu lar in systems which use deceleration devices the load torque at low temperatures may be nearly twice the load torque at normal temperatures Check with a current monitor to see whether overload ing is occurring
185. S3057 20A DDK Ltd Servomotor Receptacle M5 crimp MS3102A32 17P DDK Ltd terminals Cable AWG8 x 4C UL62 2 117 Standard Models and Specifications Chapter 2 For Brake Connector R88A CAWE B Servo Driver Servomotor Brake Connector No Symbol Cable Om 2 ack A Brake onnector plug x5 Brown B Brake MS3106A10SL 3S DDK Ltd Cable AWG20 x 2C UL2464 Cable clamp MS3057 4A DDK Ltd M4 Se Servomotor terminals Receptacle MS3102A10SL 3P DDK Ltd R88A CAWFL S The R88A CAWFLJS Cables are for 1 000 r min Servomotors 5 5 kW e Cable Models For Servomotors without Brakes Model Length L Outer diameter of sheath Weight R88A CAWFOOSS Approx 4 0 kg R88A CAWFO005S Approx 6 5 kg R88A CAWF010S Approx 12 6 kg R88A CAWF015S Approx 18 8 kg R88A CAWF020S Approx 24 9 kg For Servomotors with Brakes To the Servomotor s brake connector connect R88A CAWEL IB Cable just as for 4 kW 1 000 r min Servomotors with brakes Refer to the previous page for R88A CAWEL IB specifications Note For 5 5 kW 1 000 r min Servomotors there are separate connectors for power and brakes For that reason whenever a Servomotor with a brake is used it is necessary to use both Power Cable for Servomotors without brakes R88S CAWEL S and Power Cable for
186. Servomotor cannot operate except for JOG operations Note This is the default allocation Input terminal allocations CN1 pins 40 to 46 can be changed by setting Pn50A 0 input signal selection mode to 1 The RUN signal is allocated by Pn50A 1 e Gain Reduction Input 41 MING This signal is enabled for position control speed control and internally set control When it is input speed loop control is changed from PI to P control Use it when it is necessary to weaken servo rigidity repellant force with respect to external force If position control is executed without including a position loop there may be some position deviation due to temperature drift from a device such as the A D con verter If a gain reduction is input in such a case the loop gain of the speed loop will be lowered and the amount of drift will be decreased If there is static friction torque on the load 596 or more of the rated torque the Servomotor can be completely stopped If a position loop is included when parts are inserted after positioning the insertion operation is made easier because the repellant force with respect to external force is weakened by the inputting of this signal This cannot be used for a vertical shaft where a gravity load is applied or for applications where constant external force is applied because position deviation will occur Note 1 Thisisthe defaultallocation Input terminal allocations CN1 pins 40 to 46 can be changed by setting
187. Servomotor forward Servomotor reverse 0 set mode command command ting E Feed pulse and Reverse pulse and forward pulse direction signal 2 90 phase Positive difference signals x1 90 phase difference signals x2 90 phase difference signals x4 Feed pulse and direction signal B 1 3 4 5 Reverse pulse and forward pulse 7 90 phase difference signals x1 Negative 90 phase difference signals x4 90 phase difference signals x2 2 63 Standard Models and Specifications Chapter 2 Command Pulse Timing The following wave forms are for positive logic Conditions are the same for negative logic Command pulse Timing mode Feed pulse and direction signal Maximum input frequency Line driver 500 kpps Open collector 200 kpps Direction signals Feed pulses Forward rotation command Input filter 200 kpps Pn200 3 1
188. Servomotors with brakes R88S CAWEL B R88S CAWEL B Cable is used for wiring 2 core the brake line only e Connection Configuration and External Dimensions For Power Connector 70 L 77 8 Servo Driver ji i li R88D WT a 2 118 Servomotor D R88M W Standard Models and Specifications Chapter 2 e Wiring for Power Connector Servo Driver Servomotor Power Connector No Symbol Cable A Phase U Connector plug A Phase MS3106B32 17S DDK Ltd Cable clamp MS3057 20A DDK Ltd M6 crimp terminals for red white and O blue M8 for Ox Green Yellow green yellow Cable AWG6 x 4C UL62 Servomotor Receptacle MS3102A32 17P DDK Ltd R88A CAWF S E The R88A CAWFL S E Cables are for 1 500 r min Servomotors 5 5 kW e Cable Models For Servomotors without Brakes Model Length L R88A CAWFO003S E 3m R88A CAWFO005S E 5m R88A CAWFO015S E 15m R88A CAWFO20S E 20m R88A CAWFO010S E 10m For Servomotors with Brakes For Servomotors with brake is a combination of a powercable and a separate brakecable required Brake cable only Model Length L R88A CAWCOOSB E 3m R88A CAWCOO5B E 5m R88A CAWCO 10B E 10m R88A CAWCO 15B E 15m R88A CAWCO20B E 20m e Wiring for Power Connector Servo Driver Servomotor Power Connector No Symbol Connector
189. Sumitomo 3M Control Input Circuits e Speed and Torque Command Inputs Servo Driver 470 Q 1 2 W max Speed command REF 5 Input impedance Approx 14 kQ AM LPF Circuit time constant Approx 47 us 12V DC ul A Maximum input voltage 12 V AGND 6 2 KQ 1 2 W max 7 When analog controls are used Torque command TREF if T Convener X AGND 10 e Position Command Pulse Inputs and Deviation Counter Reset Inputs Line Driver Input Controller Servo Driver Applicable line driver AM26L S31A or equivalent 77 Open Collector Input Using Power Supply for Open Collector Commands PCOM Controller Servo Driver PCOM 3 13 18 Ys x E Input current 10 mA 12 V D i Signal levels MONUI High H 2 4 V min Low L 0 8 V max 2 58 Standard Models and Specifications Chapter 2 Using External Power Supply Controller Servo Driver Input current 7 to 15 mA Note Select a value for resistance R so that the input current will be from 7 to 15 mA e Sensor ON Inputs Absolute Servo Driver SEN 4 1000 5V li High Approx 1 mA ik senanp Jo 47K iie NA 7406 or equivalent ov Input current 5 V DC 1 mA Signal Levels High 4 V min Low 0 8 V max Note A PNP transistor is recommended e Sequence Inputs Servo Driver F24VI
190. T WP1K530T 1 000 r Incremental min Absolute e 200 V AC Input Type Three phase Input Continuous output current rms R88D WTO8H 57A R88D WT15H 11 6A R88D R88D R88D R88D WTO5H WT10H WT20H WT30H i 18 5A 24 8 A 42 A 56 A R88D WT50H Momentary maximum output current rms 13 9A 28 A Input power Main circuits Three phase 200 230 V AC 170 to 253 V 50 60 Hz supply Control circuits Single phase 200 230 V AC 170 to 253 V 50 60 Hz Heating Main circuits 27 W 55W 123 W 120 W 155 W 240 W 290 W value Control circuits 15 W 15 W 15 W 15 W 15 W 15W 27W PWM frequency 11 7 kHz 3 9 kHz Weight kg Approx 1 7 Approx 1 7 kg kg Approx 1 7 kg Approx 2 8 Approx 3 kg 8 Approx 3 8 kg Approx 5 5 kg Approx 15 kg Applicable Servomotor wattage 750 W 1 kW 1 5 kW 2 kW 3 kW 5 kW 6 kW Applicable Incrementa Servomotor W75030H W1K030H W1K530H W2K030H W3K030H W4K030H W5K030H R88M Absolute W75030T W1K030T W1K530T W2K030T W3K030T WAKOSOT W5KO030T Incrementa WP75030H WP1K530H Absolute WP75030T WP1K530T Incrementa W30010H W60010H W90010H W1K210H W2K010H W3K010H WAKO10H W5K510H Absolute W30010T W60010T e 400 V AC Input Type Thr
191. The A D end signal was not output from the AJD converter within a fixed time System error Runaway detected A control circuit system error was detected The Servomotor runs out of control Multi turn data error ABS Encoder communica tions error Absolute encoder setup was incorrect No communication between encoder and Servo Driver Encoder parameter error Encoder parameters are corrupted Encoder data error Multi turn limit dis crepancy Data from the encoder is corrupted The multi turn limits for the encoder and the Servo Driver do not conform OFF Deviation counter overflow Motor load deviation over Level Deviation counter s residual pulses exceed ed the deviation counter overflow level set in Pn505 The Motor load Deviation Over Level was exceeded for fully closed and semiclosed encoders 5 7 Troubleshooting Chapter 5 Display Alarm code Error detection Cause of error ALO1 ALO2 ALO3 function RET OFF ON ON Option detection error Detects an error if an option board is not aso connected BF OFF ON OFF Missing phase de Main circuit power supply missing phase or d tected disconnection detected rPEDnD Parameter Unit trans Data could not be transmitted after the ca mission error 1 power supply was turned ON rPEDI UC Parameter Unit trans Transmission timeout error Has mission error 2 Note 1 Alarm codes designated
192. Unit Cable Note Ifthis cable is connected to an OMNUC U series Hand held Parameter Unit R88A PRO2U that Unit can be used as a W series Parameter Unit Name specifications Mode Remas Parameter Unit Cable R88A CCWOO02C Only 2 meter cables are available 3 13 System Design and Installation Chapter 3 8 Computer Monitor Cable A Computer Monitor Cable and the OMNUC W series Computer Monitor Software for Servo Drivers run on Windows are required to make Servo Driver parameter settings and perform monitoring froma personal computer Name specifications Computer Monitor For DOS personal 2 m R88A ENT NENNT NM 2 meter cables are available Cable computers 9 Analog Monitor Cable This is the cable for connecting to the Servo Driver s Analog Monitor Connector CN5 It is required for connecting analog monitor outputs to an external device such as a measuring instrument Namelspecifications Mode Remas Analog Monitor Cable R88A CMW001S Only 1 meter cables are available 3 14 System Design and Installation Chapter 3 3 2 2 Peripheral Device Connection Examples B R88D WTA3HL WTASHL WT01 HL WT02HL WTA3H WTA5H WT01H WT02H WT04H WT08HH WT15HH Single phase 100 115 V AC 50 60 Hz R88D WTLILJHL Single phase 200 230 V AC 50 60 Hz R88D WTLILIH Noise filter See note 2 Main circuit die us OFF PPM Main circuit connector See note 2
193. WT 10HF 2 15 Standard Models and Specifications Chapter 2 m 6 000 r min Servomotors and Servo Drivers Voltage Servomotor Servo Driver With incremental encoder 400 V 1 kW R88M W1KO60F R88D WT10HF 1 5 kW R88M W1K560F R88D WT15HF 3 kW R88M W3KO060F R88D WT30HF 4 kW R88M WAKO6OF R88D WT50HF 2 16 Standard Models and Specifications Chapter 2 2 3 External and Mounted Dimensions Dimensions are shown in millimeters 2 3 1 AC Servo Drivers B Single phase 100 V R88D WTA3HL WTASHL WT01HL 30 to 100 W Single phase 200 V R88D WTAS3H WTAB5H WTO1H WTO2H 30 to 200 W e Wall Mounting External dimensions Mounted dimensions es dec a o ner S D I TL at ie pe e Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions C JB sep EA o i O Standard Models and Specifications Chapter 2 m Single phase 100 V R88D WTO2HL 200 W Single phase 200 V R88D WTO4H 400 W e Wall Mounting External dimensions Mounted dimensions
194. WTASHL WTASHL WToiHL WTO2HL WTASH WTASH R88D 2 76 Standard Models and Specifications kgem R88M W03030L R88M W03030S 8 5 x 1077 100 V AC R88M W05030L R88M W05030S R88M W10030L R88M W10030S R88M W20030L R88M W20030S R88M W03030H R88M W03030T 8 5 x 1077 Chapter 2 200 V AC R88M W05030H R88M W05030T R88M W10030H R88M W10030T R88M W20030H R88M W20030T 8 5x1077 8 5x 1077 5 8 x 10 9 24 V DC 10 8 5 x 1077 8 5x 1077 5 8x 10 8 24 V DC 10 Brake inertia GD2 4 Excita V tion volt age 6 a l l 6 5 0 27 Current 0 25 con sump tion at 20 C Static friction 25 Nem I 0 2 min E i 0 2 min 1 5 min 60 max 100 max 30 max 30 max Attrac tion time See 60 max 100 max 0 2 min 0 34 min 1 5 min 30 max 40 max Release time See note 3 Back lash 1 reference value 1 reference value Continuous Type F Continuous Insula Type F tion grade Note 1 The values for items marked by asterisks are the values at an armature winding temperature of 100 C for models of 750 W or less or 20 C for models of 1 kW or more combined with the Servo Driver Other values are at normal conditions 20 C 65 The momentary maxi mum torque shown above indicates the standard value Note 2
195. Warning Output Overload and regeneration overload warnings are output When a warning is output taking mea sures such as shortening the operation cycle can prevent an alarm from being generated Positioning Completed Output The positioning completed range can be set in two stages allowing peripheral device operations to begin sooner 1 4 Introduction Chapter 1 m Reverse Mode Forward and reverse commands can be switched in the parameters without changing the wiring to the Servomotor or encoder m Brake Interlock Output Timing signals interlocked with the Servomotor s ON OFF status and rotational speed are output so the holding brakes of Servomotors with brakes can be operated reliably Output Signal Selection Any three output signals can be selected for output from among the following Positioning com pleted 1 2 speed conformity Servomotor rotation detection servo preparation completed current limit detection speed limit detection brake interlock overload warning and warning output signals Itis also possible to allocate multiple outputs to the same pin number For example the positioning completed 1 signal and the speed conformity signal could both be allocated to pin number 1 Overtravel Sequence An overtravel sequence suitable for the system can be selected There are three deceleration meth ods available Dynamic brake deceleration free run deceleration and emergency stop torque deceleration parameter set
196. When position loop gain is high Servomotor 4 speed speed monitor When position loop gain is low N Time 4 45 Operation Chapter 4 Pn103 Inertia ratio Position TE meray set speed control Setting Oto 10000 Unit Default 300 Restart range setting power e Setthe mechanical system inertia load inertia for Servomotor shaft conversion using the ratio of the Servomotor rotor inertia If the inertia ratio is set incorrectly the Pn103 inertia ratio value will also be incorrect This parameter is the initial online auto tuning value After performing online auto tuning the correct value will be written to Pn103 if the tuning results are saved Refer to 4 11 2 Online Auto tuning for details Pn104 No 2 speed loop gain Position speed internally set M control Setting 1 to 2000 Unit Hz Default Restart range setting power Pn105 No 2 speed loop integral time constant Position speed internally set speed gonte Setting 15 to 51200 Unit x 0 01 ms Default 2000 Restart range setting power Pn106 No 2 position loop gain Position speed with ba Setting 1 to 2000 Unit 1 s Default Restart range setting power These parameters are gain and time constants selected when using GSEL gain switching input e Ifthe mechanical system inertia changes greatly or if you want to change the responsiveness for when the Servomotor is rotating and when it is stopped you can achieve the appro
197. When setas 4 digits each digit in the parameter has a meaning so the parameter cannot be set just by using the Up and Down Keys Be sure to set the parameter using the Left Key front panel DATA Key for less than 1 s and Right Key Types of parameters Display example Explanation Function selection switches Pn000 to For parameters displayed as Pn003 n each of the 4 digits after Speed control setting Pn10b the n indicate different function i settings i e 4 different function Online auto tuning setting Pn110 settings are performed using 1 Position control settings 1 and 2 Pn200 parameter No For these parameters Pn207 each digit must be set separately Torque command setting Pn408 I O signal selection Pn50A to 512 All other user parameters Parameters displayed using 5 digits indicate a single value These parameters can be set from the lowest point to the highest point within the setting range using just the Up or Down Key You can also set the digits separately Example of a 5 digit Parameter Setting PRO2W Front panel Display example Explanation operation key operation min SiG m Present setting Uu uiu Change the setting using the Up or Down Key If the A setting is too large you can set the operation to be performed more quickly while changing the operation digits using the Left Key front panel DATA Ke
198. able This section shows the types of connecting cable used in an OMNUC W series servo system The wide selection of cables provided for configuring a servo system using a Motion Control Unit or Position Unit makes wiring simple Servo System Configuration Parameter Unit Parameter Unit Cable Note A 1 cable is provided with CN3 Parameter Unit Connector the Parameter Unit If this is not long enough then purchase Parameter Unit Computer Monitor Software Cable 2 m Parameter Unit E Computer Monitor Cable E Analog Monitor Cable DOS V personal js o computers Lg Controller Motion Control Unit al Motion Control Unit Cable For 1 axis R88A BATO1W Absolute fh Encoder Backup Battery o CS1W MC221 421 CV500 MC221 421 C200H MC221 CN1 Control I O Connector Position Control Unit EI Servo Relay Unit Cable R88D WT Servo Driver Cable to Position Cable to Servo Control Unit Driver b yo Servo Relay Unit V C200HW NC113 C200HW NG413 E Power Cable E Encoder Cable C200HW NC413 Power Cable Encoder Cable C500 NC113 C500 NC211 C200H NC112 C200H NC211 CN2 x Encoder Connector Other Controllers Terminal Block Cable C500 NC222 etc Terminal Block Cable Connector fT Terminal P
199. achine ground when the motor is on a movable shaft e Use a grounding plate for the frame ground for each Unit as shown in the above diagrams and ground to a single point 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 If no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease No fuse breakers surge absorbers and noise filters NF should be positioned near the inputterminal block ground plate and I O lines should be isolated and wired using the shortest distance possible Wire the noise filter as shown atthe left in the following illustration The noise filter should be installed at the entrance to the control box whenever possible Correct Separate input and output WRONG Noise not filtered effectively AC input AC input AC output AC output l e Use twisted pair cables for the power supply cables whenever possible or bind the cables Correct Properly twisted Correct Cables are bound Driver Driver OLIC T XOOOO L2c or z 4 L2 7 Qs Binding Separate power supply cables and signal cables when wiring m Selecting Components This section explains the criteria for select
200. ack compensation function 4 4 4 feedback set Pn110 1 to 1 speed feedback compensation Parameter compensation function ON Details function Pn111 Speed feedback Adjusts the speed loop feedback gain compensating gain Reduce the setting value for Pn111 speed feedback compensating gain to increase the speed loop gain and position loop gain If the value is too small the response may vibrate m Setting Procedure To perform adjustment measure the position error and torque command Refer to the OMNUC W se ries Servo Driver personal computer monitoring software to measure the analog monitor output Follow 4 7 2 Manual Tuning to adjust Pn100 speed loop gain Pn101 speed loop integration time constant Pn102 position loop gain and Pn401 torque command filter time constant to quickly set the position error to zero without the torque command vibrating After completing tuning lower Pn111 to 10 and adjust Pn100 Pn101 Pn102 and Pn401 in the same Way 4 106 Operation Chapter 4 4 8 8 Speed Feedback Filter Position Speed Internally set Speed Control Functions This function sets the primary filter for the speed feedback gain Use the filter function when you cannot raise the speed loop feedback due to mechanical system vibration etc Note If youusethe speed feedback compensation function online auto tuning will not operate normal ly To use the speed feedback compensation function turn OF
201. als 3 The 0 V terminal is internally connected to the common terminals 4 The following crimp terminal is applicable R1 25 3 round with open end 5 Allocate BKIR Braking Lock to CN1 pin 27 2 7 2 Cable for Servo Relay Units m Servo Driver Cable XW2Z J B4 e Cable Models ESL L Outer diameter of sheath XW2Z 100J B4 8 0 dia NEN M 0 1 kg XW2Z 200J B4 2m Approx 0 2 kg e Connection Configuration and External Dimensions i L 39 Servo Relay Unit i E XW2B 20J6 1B XW2B 40J6 2B Servo Driver R88D WT 2 128 Standard Models and Specifications Chapter 2 e Wiring Servo Relay Unit Servo Driver Connector plug 10150 3000VE Sumitomo 3M m Position Control Unit Cable XW2Z J A1 This is the cable for connecting between a C200H NC112 Position Control Unit and an XW2B 20J6 1B Servo Relay Unit e Cable Models Mode engtit Outer diameter of sheath Weight XW2Z 050J A1 50 cm 8 0 dia Approx 0 1 kg XW2Z 100J A1 1m Approx 0 1 kg e Connection Configuration and External Dimensions L 6 i C200H NC112 Position Control XW2B 20J6 1B Servo Relay Unit Unit A 2 129 Standard Models and Specifications Chapter 2 e Wiring Position Control Unit Servo Relay Unit 26 m Position Control Unit Cable XW2Z J A2 This is the cable for connecting between a C200H NC211 C500 NC113 or
202. and Servo Driver Then make the function settings as required according to the use of the Servomotor and Servo Driver If the parameters are set incorrectly there is a risk of an unforeseen Servomotor operation Set the parameters in accordance with the instructions in this manual 1 Mounting and installation Installthe Servomotor and Servo Driver according to the installation conditions Do not connect the Servomotor to the mechanical system before checking the no load operation Refer to 3 1 Installa tion Conditions 2 Wiring and connections Connect to power supply and peripheral devices Specified installation and wiring requirements must be satisfied particularly for models conforming to the EC Directives Refer to 3 2 Wiring 3 Preparing for operation Before turning ON the power supply check the necessary items Check by means ofthe displays to see whether there are any internal errors in the Servo Driver If using a Servomotor with an absolute encoder first set up the absolute encoder Refer to 4 2 2 Absolute Encoder Setup and Battery Changes 4 Checking operation Check the operation of the Servomotor and Servo Driver alone by performing a jogging operation without a load Refer to 4 4 3 Important Parameters 5 Function settings By means of the user parameters set the functions according to the operating conditions Refer to 4 4 4 Parameter Details and 4 5 Operation Functions 6 Trial operation Turn the
203. and Specifications Chapter 2 e 400 VAC Servomotor braking cable only Mode tenh R88A CAWCOOSB E R88A CAWCOO5B E R88A CAWCO 10B E R88A CAWCO 15B E R88A CAWCO20B E m R88A CAWD The R88A CAWDL Cables are for 1 000 r min Servomotors 1 2 to 3 kW 1 500 r min Servomotors 1 8 to 2 9 kW 3 000 r min Servomotors 3 to 5 kW and 6 000 r min Servomotors 3 and 4 kW e Cable Models For Servomotors without Brakes Model IP67 Length L Outer diameter of sheath Weight R88A CAWDOOSS E 14 7 dia R88A CAWDOOSS E R88A CAWDO 10S E R88A CAWD015S E R88A CAWD020S E For Servomotors with Brakes only 230 VAC type Servomotor Length L Outer diameter of sheath Weight R88A CAWDOOSB Approx 1 9 kg R88A CAWDO05B Approx 3 0 kg R88A CAWDO 10B Approx 5 8 kg R88A CAWDO 15B Approx 8 6 kg R88A CAWDO20B Approx 11 4 kg e Connection Configuration and External Dimensions For Servomotors without Brakes R88A CAWD S E L Servo Driver n weowro ee For Servomotors with Brakes only 230 VAC type Servomotor R88A CAWD Servomotor D R88M W Servomotor S R88M W Servo Driver R88D WT 7 2 115 Standard Models and Specifications Chapter 2 e Wiring For Servomotors without Brakes R
204. and input See note 2 Gain reduction See note 1 16 41 MING input See note 2 See note 1 Forward rota 17 42 POT tion drive pro Open collector Reverse rota ALI 18 PCOM command 43 NOT tion drive pro See note Tu hibit input power z Encoder See note 1 Alarm reset 19 phase Z out 44 RESET input Encoder put Forward cur See note 1 20 Z phase Z out 45 PCL rent limit See note 1 Reverse cur put 24 BAT Backup battery bo ae dete frein absolute input See See note 1 Backup battery note 3 22 BATGND _ input see 47 24VIN Control DC absolute hote 3 See note 2 24 V input 23 48 ABS Absolute en absolute coder signal 3i See note 2 4g ABS Absolute en output Positioning absolute d lx See note 2 25 INP1 completed out 50 put 1 See note 1 Note 1 Function allocations for pin 40 to 46 sequence inputs and pin 25 to 30 sequence outputs can be set by means of user parameters Pn50A to Pn50D and Pn50E to Pn510 respectively The allocations shown in this table are the defaults Note 2 Do not wire the empty pins Note 3 When an absolute encoder is used connect the battery 2 8 to 4 5 V to the backup battery inputs at pins 21 and 22 or to CN8 Battery Connector 2 57 Standard Models and Specifications Chapter 2 e CN1 Connectors 50P Servo Driver receptacle 10250 52A2JL Sumitomo 3M Cable solder plug 10150 3000VE Sumitomo 3M Cable case 10350 52A0 008
205. ard rotation current limit SPD1 speed selection command 1 NCL reverse rotation current limit SPD2 speed selection command 2 SEN sensor ON e Input Signal Monitor Contents Un005 pie E14 14 8 7 6 Note 1 The vertical 7 segment LED is divided into two segments upper and lower which together comprise one pair to display the ON OFF status of a single input signal When an input signal is OFF high level the top LED is lit and when the signal is ON low level the bottom LED is lit Note 2 Refer to 4 4 3 Important Parameters for input signal allocation e Output Signal Monitor Contents Un006 I lt Jr F OFF high level ON low level I 050014117141 top is lit bottom is lit 7 6 5 4 32 1 LED No Signal name default REM alarm 2 CNI2526 J INP1 positioning completed output 1 VCMP speed conformity 3 OCNI2728 TGON Servomotor rotation detection READY servo ready ALO1 alarm code output 1 6e CN 38 ALO2 alarm code output 2 ALOS alarm code output 3 Note 1 The vertical 7 segment LED is divided into two segments upper and lower which together comprise one pair to display the ON OFF status of a single output signal When an output signal is OFF high level the top LED is lit and when the signal is ON low level the bottom LED is lit Note 2 Refer to 4 4 3 Important Parameters for input signal allocation e
206. assword 4 11 9 Checking Servomotor Parameters Checking Servomotor Parameters Fn011 You can check the type of Servomotor encoder etc that is connected Hic Fao FIG GIG pore tees m 1smin check a PIDOS3 Servomotor capacity dis m played a Ld EDD 13 Encoder information dis pe 1 s min played BE 4001910 Servo Driver specifica wa 1s min J e tions displayed 4 138 Operation Chapter 4 Servomotor Voltage and Servomotor Type MMMM FICC Go Servomotor voltage Servomotor type Servomotor type Data Servomotor Type Servomotor voltage oo 100 VAC 00 3 000 r min 30 to 750 W 200 V AC 01 3 000 r min Flat style 02 400 V AC 02 3 000 r min 1 to 5 kW 04 1 000 r min 03 1 500 r min 06 6 000 r min Servomotor Capacity Note Servomotor capacity isthe displayed val P5003 M oe Servomotor capacity Encoder Information EDO 13 We Encoder resolution Encoder type Driver Specification 305000 AE ES specification ue x 10 W The example on the left shows a Servomotor capacity of 30 W Encoder type Encoder resolution Data Type Data Resolution 00 Incremental encoder 13 13 bit 2 048 pulses rotation 01 Absolute encoder 16 16 bit 16 384 pulses rotation 17 17 bit 32 768 pulses rotation Note 0000 is displayed for standard specifi cations Other numbers are displayed for special specifications 4 139 Operati
207. at style Servomotor 5 000 r min 1 000 r min Servomotor 2 000 r min 6 000 r min Servomotor 6 000 r min 1 500 r min Servomotor 3 000 r min except 11 kW and 15 kW 2 000 r min 4 5 12 Electronic Gear Function Position m Functions This function rotates the Servomotor for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio This function is enabled under the following conditions When fine tuning the position and speed of two lines that are to be synchronous When using a position controller with a low command pulse frequency When you want to set the travel distance for machinery per pulse to 0 01 mm for example m Parameters Requiring Settings Parameter No Parameter Explanation Reference name Electronic gear Set the pulse rate for the command pulse and 4 4 4 Parameter ratio G1 Servomotor travel distance When G1 G2 1 if Details denominator the pulse encoder resolution x 4 is input the Electronic gear Servomotor will rotate once i e the internal driver ratio G2 Will rotate x 4 See note 1 numerator Note 1 Set within the range 0 01 lt G1 G2 x 100 4 85 Operation Chapter 4 Note 2 These parameters become effective when the power is turned ON again after having been turned OFF Check to see that the LED display has gone OFF Note 3 Withthe default setting G1 G2 4 the Servomotor will rotate once when the encoder resolu t
208. ating humidity 90 RH or less no condensation Ambient storage temperature 20 to 85 C Ambient storage humidity 90 RH or less no condensation Storage and operating atmo No corrosive gasses sphere Vibration resistance 10 to 55 Hz in X Y and Z directions with 0 1 mm double amplitude accel eration 4 9 m s max Impact resistance Acceleration 19 6 m s max in X Y and Z directions three times Insulation resistance Between power line terminals and case 0 5 MQ min at 500 V DC Dielectric strength Between power line terminals and case 1 500 V AC for 1 min at 50 60 Hz Between each control signal and case 500 V AC for 1 min Protective structure Built into panel IP10 EC directives EMC directive EN55011 class A group1 EN50082 2 Low voltage EN50178 directive UL standards UL508C cUL standards cUL C22 2 No 14 Note 1 Theabove items reflect individual evaluation testing The results may differ under compound conditions Note 2 Absolutely do not conduct a withstand voltage test with a Megger tester on the Servo Driver If such tests are conducted internal elements may be damaged Note 3 Depending on the operating conditions some Servo Driver parts will require maintenance Refer to 5 5 Periodic Maintenance for details Note 4 The service life of the Servo Driver is 50 000 hours at an average ambient temperature of 40 C at 80 of the rated torque 2 46 Standard Mod
209. atio Torque Sets the filter time constant for the command internal torque command filter time constant Note Refer to 4 4 4 Parameter Details for details of each parameter 4 96 Operation Chapter 4 Manual Tuning Procedure During Position Control Use the following procedure to perform operation with position control pulse train input Note Turn OFF online auto tuning Pn110 0 2 Turn OFF online auto tuning Pn110 0 2 Note Do not perform extreme adjustment and setting changes as they may destabilize the operation Adjust the gain a little at a time while checking the Servomotor operation Turn ON the power to enable Pn110 0 setting Set Pn103 inertia ratio Calculated during Servomotor selection i Set rigidity Fn001 for online auto tuning Y Y Is Servomotor hunting and growling with servo locked yN y Increase rigidity setting Fn001 until there is no hunting Reduce rigidity setting Fn001 until there is no hunting Reduce rigidity setting Fn001 by 1 y Run under normal operating pattern and load Y Positioning time etc satisfactory N Adjustment complete Increase Pn100 speed loop gain until there is no hunting with Servolock ON Reduce Pn101 speed loop integration constant until there is
210. ay the alarms in order of ig IRI occurrence See note 3 Press DATA Key front panel DATA Key for 1 s min to DATAK Minn ES end displaying the alarm history and return to the function code display Note 1 The digits you can manipulate will flash Note 2 The larger the error number the older the alarm Note 3 The display A indicates no alarm m Alarm History Data Clear Fn006 Use the alarm history data clear Fn006 to clear all the alarm history in memory Note When you clear the alarm log data the alarm history display for all alarms will change to A System Check Mode minm IE lc Cle Alarm history data clear display Alarm history data clear Fio essem trCLr displayed DATA s min wwe Les Alarm history data clear SA operation Y Jone rn 1 s later Y A Returns to trCLr e m min display 4 120 Operation Chapter 4 Operation Procedure PRO2W Front panel Display Explanation operation key operation Press the MODE SET Key to change to System Check Mode Press the Up or Down Key to set function code Fn006 See note Press DATA Key front panel DATA Key for 1 s min to display trCLr Press the MODE SET Key to clear the alarm history data When the data has been cleared donE will flash for approximately 1 s Approx 1 s later After donE has been displayed the display will re
211. ble 4 9 3 Monitor Mode Uni J Operations Using Monitor Mode After switching to Monitor Mode set the monitor number and press the DATA Key front panel DATA Key for 1 s min to display the monitor value 4 111 Operation Chapter 4 e Switching to Monitor Mode Status Display Mode lel System Check Mode Setting Mode Planla zE at minm Note Switch to Monitor Mode Un using the MODE SET Monitor Mode u Key e Operations in Monitor Mode gioa TOIGIGIG Speed feedback mon eed feedback moni Speed feedback YA mm Pun UU s UE n immu m r1 nin Speed command moni oposa command Uiniuu pare 1 min ala or value Al t e DATA 3 Torque command moan Eo ee 9 minm aly Torque command moni UlniB Bc pene 1s min Qe IY ior value Alt Note After setting the monitor number using the Up and Down Keys press the DATA Key front panel DATA Key for 1 s min to display the monitor value Press the Key again to return to the monitor number display Operating Procedure Example Displaying Monitor Value of Electrical Angle Un 004 PRO2W Front panel Display Explanation operation key operation MODE SET co MODE SET n Qa C3 C3 c C3 Press the MODE SET Key to switch to Monitor Mode C J Cz B C3 C3 L Set monitor No Un004 using the Up or Down Key See
212. careful to wire them connection correctly terminals This is the ground terminal Ground to a 100 Q or less 3 17 System Design and Installation Chapter 3 m Terminal Block Wire Sizes e 100 V AC Input R88D WT HL R88D WTASHL R88D WTASHL R88D WTO1HL R88D WTO2HL Power supply capacity Main circuit Effective current power supply Wire size input L1 L2 See note 1 Screw size Torque Control circuit Effective current power supply input L1C Wire size L2C Screw size Torque Servomotor Effective current connection ter z 7 minal U V W Wire size Screw size See note 2 Torque Frame ground Wire size Screw size Torque Note 1 Use the same wire sizes for 1 2 B1 and B2 Note 2 Connect special OMRON Power Cable to the Servomotor connection terminals e 200 V AC Input R88D WTOH H L Model R88D R88D R88D R88D R88D R88D R88D R88D R88D R88D R88D R88D R88D WTA3H WTA5H WTO1H WTO2H WTO4H WTO5H WTO8H WT10H WT15H WT20H WT30H WT50H WT60H H H Main circuit Effective A rms 1 1 2 0 3 4 5 5 4 0 5 4 9 5 12 0 17 0 28 0 32 0 power supply current input L1 L2 cnm L3 Screw See note 1 size Pome we LLL LU E Control cir Effective A rms 0 13 0 13 0 13 A x i k 0 15 0 15 0 15 0 15 0 15 0 27 cuit power current supply input E aces rm
213. ccurs when the control circuit power supply is turned ON Occurs during op eration Occurs during op eration Occurs during op eration Occurs during op eration Occurs when there is a slight movement upon startup Occurs when the control circuit power supply is turned ON Occurs when the control circuit power supply is turned ON or occurs during op eration Occurs when the control circuit power supply is turned ON Occurs when the control circuit power supply is turned ON Cause of error Encoder is defec tive Ambient Servomotor temperature ex ceeds 40 C Servomotor spring mounting clip is too small Operating above rated output Command input reader misoperation Command input reader is broken Command input reader misoperation Command input reader is broken Control panel error Encoder is wired in correctly Servomotor power line is wired incor rectly Encoder is defective Servo Driver is de fective Encoder signal is wired incorrectly Encoder is defective Servo Driver is de fective Encoder is defective Servo Driver is de fective Encoder signal is wired incorrectly Encoder is defective Servo Driver is de fective Chapter 5 Countermeasures Replace the Servomotor Lower the ambient tem perature to 40 C or less Use a spring mounting clip the same dimensions or greater than those of the radiation shield indi
214. circuit power supply is turned ON A Parameter setting Occurs when control error circuit power supply A Servomotor mis match A is turned ON Occurs when control circuit power supply is turned ON oc 03 4 OS Cause of error Power supply was turned OFF while parameters were being written Internal memory er ror Main circuit detec tion data error A value outside of the setting range was previously set in the parameters Control panel error Servomotor and Servo Driver com bination is incorrect Encoder internal data error Countermeasures Initialize FnOO5 the user parameters and then re set the parameters Replace the Servo Driver Replace the Servo Driver Reset the parameters within the setting range Replace the Servo Driver Correct the combination Replace the Servomotor Troubleshooting Overcurrent Status when error occurs Occurs when power supply is turned ON Occurs when servo is turned ON Cause of error Control panel error Main circuit transis tor module error Current feedback circuit error Main circuit transis tor module error Servomotor power line is short circuited or grounded be tween phases Miswiring between U phase V phase W phase and ground Servomotor winding is burned out Ambient Servo Driv er temperature ex ceeds 55 C Radiation shield air convection is poor The fan has stopped Operati
215. command frequency Note 1 Explanation for parameters set using 5 digits Note 2 Explanation for parameters requiring each digit No to be set separately m Sequence Parameters From Pn500 Parameter Explanation See note 1 Default Default i Setting Restart name 1 setting setting range power Explanation See note 2 100 200 V 400 V Positioning Sets the range of positioning completed output 1 Command 0 to 250 completion INP1 unit range 1 Position Sets the number of rotations for position lock during i 0 to lock speed control 10000 rotation speed 6 16 Appendix Parameter name Rotation speed for motor rotation detection Speed conformity signal output width Positioning completion range 2 Deviation counter overflow level Brake timing 1 Brake command speed Brake timing 2 Pn508 Explanation See note 1 Explanation See note 2 Sets the number of rotations for the Servomotor rotation detection output TGON Sets the allowable fluctuation number of rotations for the speed conformity output VCMP Sets the range for positioning completed output 2 INP2 Sets the detection level for the deviation counter over alarm Sets the delay from the brake command to the Servomotor turning OFF Sets the spread for outputting the brake command Sets the delay time from the Servomotor turning OFF to the brake comma
216. command input for the current loop to reduce positioning time 4 8 4 Speed Feed forward Function Feed forward function Calculates command pulse differential for the speed loop to reduce positioning time 4 8 2 Feed forward Function Bias function Calculates number of bias rotations for the speed loop to reduce positioning time 4 8 1 Bias Function Torque limit function Limits the Servomotor s torque output 4 5 10 Torque Limit Function Gain reduction function Switches speed loop command from PI control to P control by inputting a MING gain reduction signal to lower servo rigidity 4 5 9 Gain Reduction P control switching function Switches the speed control loop automatically from PI control to P control to lower servo rigidity Switching 4 8 9 P Control Switching conditions can be selected 4 5 2 Speed Control Speed m Function Performs Servomotor speed control using analog voltage input from the speed command REF CN1 5 6 You can also perform position control by combining speed control with the controller mounted to the position control function You can change the relationship between the speed command and the rotation speed by setting the speed command scale Pn300 Controller analog voltage output type OMNUC W series Servo Driver Speed Control Mode Motion Control Unit CS1W MC221 421 CV500 MC221 421 Analog voltage speed command Sp
217. components require maintenance depending on application condi tions In order to ensure proper long term operation of Servomotors and Drivers period ic inspection and part replacement is required according to the life of the components The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotor or Driver Recommended maintenance times are listed below for Servomotors and Drivers Use these for reference in determining actual maintenance schedules Servomotors e Recommended Periodic Maintenance Bearings 20 000 hours Reduction gear 20 000 hours Oil seal 5 000 hours Application Conditions Ambient Servomotor operating temperature of 40 C within allowable shaft load rated operation rated torque and r m installed as described in opera tion manual The radial loads during operation rotation on timing pulleys and other components contacting belts is twice the still load Consult with the belt and pulley manufacturers and adjust designs and system set tings so that the allowable shaft load is not exceeded even during operation If a Servomotor is used under a shaft load exceeding the allowable limit the Servomotor shaft can break the bearings can burn out and other problems can occur Servo Drivers e Recommended Periodic Maintenance Aluminum analytical capacitors 50 000 hours at an ambient Servo Driver operating temperature of 40 C rated operation rated torq
218. ct the proper AC Reactor model according to the Servo Driver that is to be used Note DC Reactors cannot be connected to the R88D WT60H so use an AC Reactor instead 3 26 System Design and Installation Chapter 3 current A mH 100 1 65 105 48 88 140 268 Reactor type DC Reactor DC Reactor R88D WT60H 3G3IV PUZBAB40A0 265MH 0 265 AC Reactor z5 REGD WT2OHFTGOHF RESAPXSUZ les 14 DC Reactor Connection Example Servo Driver DC Reactor Se ee Q 02 R88D WTASL to R88D WT50H R88D WT60H Improving Encoder Cable Noise Resistance DC Reactor The OMNUC W Series uses serial encoders with phase S signals from the encoder The phase S com munications speed is 4 Mbits s In order to improve the encoder s noise resistance take the following measures for wiring and installa tion Always use the specified Encoder Cables If lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition always use shielded cable e Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Always use cables fully extended 3 27 System Design and Installation Chapter 3 When installing noise filters for Encoder Cables use clamp filters The following table shows the rec ommended clamp filt
219. cuits 7 con 4 Bu veris o clu epe aec ee ASIC PWM control etc oni i SPESE AC power supply 100 200 V Open during Power Power Servoalarm IRY 1 e a OFF ON load oe panre T CPU LS ol i A position speed 2i High Spes AMG calculation etc lode I Analog voltage I uo 1 converter Surge CN10 CN3 suppressor O E e Connector for option unit Analog monitor output for supervision Digital Operator personal computer For battery connection PG output Reference pulse input Speed and torque reference input Sequence 1 0 1 13 TIT l mM Chapter 2 Standard Models and Specifications 2 1 Standard Models 2 2 Servo Driver and Servomotor Combinations 2 3 External and Mounted Dimensions 2 4 Servo Driver Specifications 2 5 Servomotor Specifications 2 6 Cable and Connector Specifications 2 7 Servo Relay Units and Cable Specifications 2 8 Parameter Unit and Cable Specifications 2 9 External Regeneration Resistors Resistance Units 2 10 Absolute Encoder Backup Battery Specifications 2 11 DC Reactors Standard Models and Specifications Chapter 2 2 1 Standard Models m Servo Drivers Single phase 100 V AC R88D WTA3HL R88D WTA5HL R88D WTO1HL R88D WTO2HL Single phase 200 V AC R88D WTA3H R88D WTA5H R88D WT01H R88D WT02H R88D WT04H R88D WTO8HH R88D WT15HH Three phase 200 V AC R88D WT05H R88D WT08H R88D WT1
220. d Speed control setting P control switching torque command P control switching speed command Sets position control feed forward command filter 0 0 x 0 01 ms P control Sets internal torque 004 000 switching command value conditions conditions Pn10C Sets speed command value conditions Pn10d Sets acceleration command value conditions Pn10E Sets deviation pulse value conditions Pn10F No P control switching function Speed PI control control loop switching P control 2 3 Not used Do not change setting Sets level of torque command to switch from PI 200 200 0 to 800 control to P control P control switching accelera tion com mand 6 12 P control switching deviation pulse Online autotuning setting Sets level of speed command to switch from PI 0 control to P control Sets level of acceleration command to switch from PI 0 10 r min s 0 to 3000 control to P control Sets level of deviation pulses to switch from PI 10 Command control to P control unit Selects Auto tunes initial 0012 0010 Yes online operations only after auto tuning power is turned ON Always auto tunes No auto tuning Selects speed feed back com pensation function Selects Friction adhesive compensation OFF friction EA Friction fanaa compensation rated torque ratio small Friction compensation rated torque ratio large Not used Do not change sett
221. d ona change setng fe s Not used Do not change zeino 100 100 Not used Do not change setting 100 100 Not used Do not change setting 50 Not used Do not change setting 1000 1000 Pniib Notused Do not change setting Se Pn11C Not used Not used Do not change setting Do not change setting Not used Do not change setting Pn120 Not used Do not change setting Pn121 4 22 Not used Not used Do not change setting P a 100 100 0 fee oiled p cp e Bg qoor uu pee aes Do not change setting Operation Chapter 4 Parameter name Explanation See note 1 Default Default Setting Restart tting setting range power Sui See she ee om Sree a as Pri Do not change setting p e I Pni23 Do not change setting fo oe eee Ep Note 1 Explanation for parameters set using 5 digits Note 2 Explanation for parameters requiring each digit No to be set separately m Position Control Parameters From Pn200 Parameter Explanation See note 1 name Position control setting 1 Command pulse mode Deviation counter reset Deviation counter reset if an alarm occurs when the Servomot or is OFF Pulse command filter selection Set Explanation See note ting 2 0 Feed pulse 1011 0000 Yes forward reverse signal Positive logic 1 Forwa
222. d to internal speed setting control can be used during internal speed set ting control Function name Explanation Reference Position lock function This function stops the Servomotor in servolock status 4 5 14 Position position control status using PLOCK position lock Lock Function command signal input Torque limit function This function limits the torque output by the 4 5 10 Torque Servomotor Limit Function Gain reduction function Switches speed loop command from PI control to P 4 5 9 Gain control by inputting a MING gain reduction signal to Reduction lower servo rigidity P control switching function Switches the speed control loop automatically from PI 4 8 9 P Control control to P control to lower servo rigidity The Switching switching conditions can be selected 4 69 Operation Internally set Speed Selection The following table shows the relationship between SPD1 and SPD2 speed selection commands 1 and 2 and the internally set speeds that are selected Control mode sai Pn000 1 Internally ra sro O OFF SPD2 ON Chapter 4 SPD1 ON SPD2 OFF No 3 internal speed setting Pn303 SPD2 ON No 2 internal speed setting Pn302 speed oe Pn000 1 eres speed control lt gt Speed control Pn000 1 25 Internally set speed control lt gt Position control Pn000 1 6 Internally set speed control lt gt Torque control Soo by speed loop No 1 internal speed
223. der rate the Servo Driver 16 384 setting Encoder Divider Rates Pn201 and Maximum Rotation Speed r min Model 16 384 to 8 193 8 192 to 4 097 4 096 to 2 049 2 048 to 1 025 1 024 max 4 2 1 4 2 1 4 2 1 4 2 1 4 2 1 CS1W MC221 421 C200H MC221 CV500 MC221 421 C500 NC222 Note 1 In this table the dividing rates are shown in the top line above the multipliers Note 2 For example if operating an CS1W MC221 421 at 5 000 r min set Pn201 Encoder divider rate to 4 096 pulses r maximum 6 8 Appendix Chapter 6 6 3 Parameter Setting Tables m Function Selection Parameters From Pn000 Func tion selec tion ba Sic Switch Reverse rotation Control mode selection Unit No setting Setting Explanation Default Default setting setting 100 200 V 400V CCW direction is taken for positive 0010 0000 Yes command CW direction is taken for negative command Speed control by analog command Speed control by analog command by analog command Position control by pulse train command Torque control by analog command Internally set speed control Switches between internally set speed control and speed control Switches between internally set speed control and position control Switches between internally set speed control and torque control Switches between position control and speed control Switches between position control and torque control
224. des Setting O to 65535 Unit x0 01 ms __ Default 40 Restart No range setting power Sets the primary filter time constant for the internal torque command When the mechanical resonance frequency is within the response frequency of the servo loop Servo motor vibration will occur In order to prevent this from occurring set the torque command filter time constant The relationship between the filter time constant and the cut off frequency can be found by means of the following formula 4 58 Operation Chapter 4 fc Hz 1 2nT T Filter time constant s fc cut off frequency Set the cut off frequency to below the mechanical resonance frequency Also make this setting if the Servomotor rotation speed is fluctuating in Torque Control Mode due to TREF voltage noise Set the value as low as possible to minimize the effects of noise If the setting is too high responsiveness will be lowered Pn402 Forward torque limit All eee modes Setting 0 to 800 Unit Default Restart range setting power Pn403 Reverse torque control All p modes Setting 0 to 800 Unit Default Restart range setting power Set Pn402 forward torque limit and Pn403 reverse torque limit using the ratio of the Servomo tor rated torque for each Note These following torque limit functions are available Analog torque limit Pn002 0 1 or 3 Pn402 forward torque limit Pn403 reverse torque limit Pn404 forward rotati
225. ding 1 m cable that is provided Communications RS 232C specifications Asynchronous ASYNC tions method 2 400 ps tbi sis None tbi Errors detected by Parameter Display CPFOO Cannot transmit even after 5 seconds have Unit elapses since power supply was turned on CPFO01 A BCC error or faulty reception data has occurred for five consecutive times or a time overrun 1 s has occurred for three consecu tive times 2 8 2 Parameter Unit Cable R88A CCW002C If the 1 meter cable provided with the Parameter Unit is not long enough then replace it with R88A CCWOO2C Parameter Unit Cable 2 meters Note If this cable is connected to an OMNUC U series Hand held Parameter Unit R88A PRO2U the Parameter Unit can be used as an OMNUC W series Parameter Unit Operation is the same as for the R88A PRO2W e Cable Models Model Leng j Outer diameter of sheath Weight REB COWOG2C Gm eoe me e Connection Configuration and External Dimensions Parameter Unit R88A PRO2W R88A PRO2U R88D WT Servo Driver 2 135 Standard Models and Specifications Chapter 2 e Wiring Parameter Unit Servo Driver Symbol No No Symbol Orange Red y meemeemy pomo p Orange Black i 2 TXD 4 ao Gray Red M TAM a fe eaen mE av e ee ow e Yellow Black Pink Red SD emm Connector socket Shell FG D8410 4501 Sumitom
226. dynamic brake operation Resistor for inrush current overload Inrush current exceeded the inrush resistance during power supply inrush Overheat Abnormal temperature rise detected in radiation shield Backup error Absolute Encoder backup power supply dropped Checksum error Absolute Checksum error for Encoder memory data Battery error Absolute Encoder battery voltage dropped to 2 7 V or lower Absolute value error Absolute Encoder internal data error Overspeed error Absolute Servomotor rotation speed exceeded 200 r min when Encoder power was turned ON 2 49 Standard Models and Specifications Chapter 2 Error detection function Encoder overheating Absolute Improper Encoder temperature rise detected Speed command input reading error The A D end signal was not output from the A D converter within a fixed time Torque command input reading error The A D end signal was not output from the A D converter within a fixed time A control circuit system error was detected Runaway detected The Servomotor rotated in the opposite direction from the com mand Multi turn data error Absolute Absolute Encoder setup was incorrect Encoder data error Data from the Encoder is incorrect Multi turn limit data mismatch Abso The multi turn limits for the Encoder and the Servo Driver do not lute match Encoder communications error No communication between the Encoder and the Servo Driver Encoder parameter error The parameters i
227. e per d Applicable encoder Standard 17 bit incremental encoder e 200 V AC and 400 V AC Input Type Common Specifications Control method All digital servo Inverter method PWM method based on IGBT Performance Speed control range 1 5 000 Load fluctuation rate 0 0196 max at 096 to 10096 at rated rotation speed Voltage fluctuation rate 096 at rated voltage 1096 at rated rotation speed Temperature fluctuation rate 0 196 max at 0 to 50 C at rated rotation speed Frequency characteristics 400 Hz at the same load as the rotor inertia Torque control repeatability 2 Protective and Diagnostic Functions Error detection function Parameter corruption The checksum for the parameters read from the EEP ROM does not match Main circuit detection error There is an error in the detection data for the power supply circuit Parameter setting error Incorrect parameter setting Motor Mismatch The Servomotor does not match the Servo Driver Overcurrent Overcurrent detected or improper radiation shield temperature rise detected Regeneration circuit damaged due to large amount of regenerative energy Overvoltage Low votags Overspeed Overload Detected at reverse limit characteristics when 245 of the rated torque was exceeded Detected at reverse limit characteristics for 120 to 245 of the rated torque Dynamic brake overload Regenerative energy exceeded the dynamic brake resistance dur ing
228. e 1 Alarms CPFOO Parameter Unit transmission error 1 and CPFO1 Parameter Unit transmis sion error 2 are Parameter Unit alarms and so are not stored in the alarm history Note 2 Warnings are not stored in the alarm history Note 3 Ifthe same alarm occurs continuously itis entered in the alarm history only as a single alarm Error number System Check Mode alarm Alarm history data history display vat A F58000 A Bu f1 Alarm history display uu oxe 1 s min uU LJ displays last alarm Dus y M m Alarm history display I 4 7 81 1 displays alarm before last paw 1s min i Al M pata Y Alarm history display y e h displays alarm second before i rd 1smin last e 00 eee tsmin A x A i Alarm history display 91 A l displays ninth alarm before last fonwa 1s min 4 119 Operation Chapter 4 Operation Procedure PRO2W Front panel Display Explanation operation key operation Press the MODE SET Key to change to System Check m mimo Mode If a function code other than Fn000 is displayed Feo press the Up or Down Key to set function code FnOOO See note 1 on AJD Press the DATA Key front panel DATA Key for 1 s B Ru min The last alarm will be displayed m Press the Up Key to display the alarm before the alarm U AIAG currently displayed See note 2 _ Press the Up Key to displ
229. e 2 Press the MODE SET Key to write the tuning results to os Pn103 inertia ratio When writing is complete donE will flash for approximately 1 s Approx 1 s later am SATA After donE has been displayed the display will return e to d a Press the DATA Key front panel DATA Key for 1 s min The display will return to the System Check Mode function code s min Note 1 The digits you can manipulate will flash Note 2 denotes the inertia ratio calculated by online auto tuning The example given shows a display of 200 4 11 3 Servomotor Origin Search m Servomotor Origin Search Fn003 The Servomotor origin search function rotates the Servomotor to the encoder s origin pulse phase Z position and then stops the Servomotor Use this function to adjust the origin position of the Servomotor shaft and mechanical system Note 1 Execute the Servomotor origin search before connecting the Servomotor shaft and mechani cal system Note 2 The RUN command input must be turned OFF Also if the RUN signal is set to be always ON Pn50A 1 7 either change the setting to Always OFF setting value 8 or change the set ting to another value then turn OFF the power supply once and then turn it ON again 4 123 Operation Chapter 4 Note 3 While the Servomotor origin search is being executed
230. e Auto tuning Related Functions Fn o o Absolute encoder setup See 4 2 2 Absolute Encoder Setup and Battery Changes F n a g g Automatic command offset adjustment See 4 11 5 Command Offset Adjustment Fn 0 a Manual speed command offset adjustment See 4 11 5 Command Offset Adjustment F n a a Manual torque command offset adjustment See 4 11 5 Command Offset Adjustment F mr Manual analog monitor output offset adjustment See 4 11 6 Analog Monitor Output NUU Adjustment F n Hi g Analog monitor output scaling See 4 11 6 Analog Monitor Output Adjustment mm Automatic Servomotor current detection offset adjustment See 4 11 7 Servomotor F nuu E Current Detection Offset Adjustment Fn 8 n Manual current detection offset adjustment See 4 11 7 Servomotor Current TET Detection Offset Adjustment F fL tU Password setting See 4 11 8 Password Setting a F M Servomotor parameters check See 4 11 9 Checking Servomotor Parameters F nm G i e Version check See 4 11 10 Checking Version E n 1 3 Absolute Encoder rotation setting change See 4 11 11 Changing Absolute Encoder Agi Rotation Setting Y Settings Mode PaD Function selection switch See 4 4 4 Parameter Details A MODE SET Moose wy P AG GG Regeneration resistance capacity Monitor Mode i1 nnnm See 4 9 3 Monitor Mode Unuuc Speed feedback ve MODE SET woceser a S m Un o o Q Feedback pulse counter 4 10 Operation Chapter 4 Basic Operations
231. e Servomotors 1 5 kW 230 VAC type e Cable Models For Servomotors without Brakes Length L Outer diameter of sheath Weight R88A CAWBOOSS 10 4 mm dia ROBA CAWBOOSS ROBA CAWBOIOS ROBA CAWBOISS REA CAWBO20S Length L Outer diameter of sheath Weight R88A CAWBOOSS DE R88A CAWBOO5S DE R88A CAWBO10S DE R88A CAWBO15S DE R88A CAWBO20S DE 2 110 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Model Length L Outer diameter of sheath Weit R88A CAWB003B 14 5 mm dia RG8A CAWBOOSB R88A CAWBO10B R88A CAWBO1SB R88A CAWBO20B Length L Outer diameter of sheath Weight R88A CAWBOOSB DE 10 4 mm dia R88A CAWBOO5SB DE R88A CAWBO10B DE R88A CAWBO15B DE R88A CAWBO20B DE e Connection Configuration and External Dimensions For Servomotors without Brakes R88A CAWB S 50 L 274 Servo Driver j i T 7 S Ao R88D WT lt EE oF D R88M W t 15 7 Servomotor R88A CAWB S DE Nominal dimensions 10m 100mm 20mm 150mm 10 gt 10m 200mm 20mm 100mm 10 Servo Driver i 100mm 10 Testlable Identification lable Servomotor R88D WT lt X MIS ML Motor cable 548 188 1000 4x1 5mm SPUCO6KFSBN160 Contracted Tube D12 7 Wire Marks 2 111 Standard Mode
232. e System Check Mode function code Note 1 The digits you can manipulate will flash Note 2 Press the MODE SET Key in this mode to display Ch2 o then select analog monitor output 2 NM Press the same Key again to return to Ch1 o display Note 3 The offset amount unit is x 17 mV 4 131 Operation Chapter 4 m Analog Monitor Output Scaling Fn00d Use this function to set the analog monitor output scale You can set the two monitor outputs separate ly The analog monitor output scale setting range is 128 to 127 x 0 4 Perform the scale setting as the center value of 100 For example if you set 125 100 125 x 0 4 50 so the monitor output voltage 1 2 Alternatively if you set 125 100 125 x 0 4 150 so the monitor output voltage x 1 5 Make the setting in accordance with the measuring device input range At a setting of 100 if the analog monitor output voltage exceeds 8 V you can adjust the output range to normal i e within 8 V by setting the scale to a negative number gt lt 1s min Word selection word 2 waogrnwon FU dle s Cb bl ClAle IG t Word selection word 1 put scaling K ewe 1 5 mox 3 K we 15 mox MEUS A nM i AM scaling i NM scaling Liga gai RB E epi Y pr
233. e absolute encoder ABS e f using a Servomotor with an absolute encoder when replacing the Servomotor the absolute data inthe absolute encoder will be cleared so you need to set up the data again Also the rotation limit data will be different from before you replaced the Servomotor so initialize the Motion Control Unit settings Note Refer to 4 2 2 Absolute Encoder Setup and Battery Changes for details Troubleshooting Chapter 5 Also if you have changed the setting in Pn205 absolute encoder multi turn limit setting an A CC rotation speed mismatch alarm will occur so change the rotation limit setting Fn013 using sys tem check mode 5 4 Troubleshooting Chapter 5 Replacing the Servo Driver 1 Make a note of the parameters e If using Computer Monitor Software start the program and transfer and save all the parameters in the Servo Driver to the personal computer e Ifnot using Computer Monitor Software write all of the parameter settings using Parameter Unit or Servo Driver operation keys Refer to 6 3 Parameter Setting Value Table 2 Replace the Servo Driver 3 Set the parameters e If using Computer Monitor Software transfer all the parameters stored in the personal computer to the Servo Driver e If not using Computer Monitor Software set all the parameters using a Parameter Unit or Servo Driver operation keys 4 Set up the absolute encoder ABS e f using a Servomotor with an absol
234. e can be CR 50500 0 5 uF 50 Q shortened by proper selection of the capacitor or resis CRE 50500 0 5 uF 50 Q tor S2 A 0 0 2 uF 500 Q Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Industrial Co e Contactors When selecting contactors take into consideration the circuit s inrush current and the maximum momentary current The Servo Driver inrush current is covered in the preceding explanation of no fuse breaker selection and the maximum momentary current is approximately twice the rated current The following table shows the recommended contactors Magnetic Contactors for the W series Coil Voltage Rated current Order number Maker 110 V AC 20A J7K BM 110 V 50 Hz J7K BM 230 V 50 Hz J7K CM 230 V 50 Hz J7K DM 230 V 50 Hz J7K EM 230 V 50 Hz J7K BM D 24 V DC J7K CM D 24 V DC J7K DM D 24 V DC J7K EM D 24 V DC Additional Auxillary Contacts for Top Mounting on the Magnetic Contactor J73K BM 11 OMRON M Make contact B Break contact J73K BM 22 4 pole 2M 2B J73K BM 31 3M1B 1B 3 25 System Design and Installation Chapter 3 e Leakage Breakers Select leakage breakers designed for inverters Since switching takes place inside the Servo Drivers harmonic current leaks from the armature of the motor With inverter leakage breakers
235. e connected according to the amount of regeneration 3 46 System Design and Installation Chapter 3 3 3 3 Regenerative Energy Absorption by External Regeneration Resistance If the regenerative energy exceeds the absorption capacity of the Servo Driver by itself then external regeneration resistance must be connected That resistance can be pro vided by either an External Regeneration Resistor or an External Regeneration Resist ance Unit A Resistor or Unit can be used alone or in combination with other Resistors Units to provide the required regeneration processing capacity N Caution Connect the External Regeneration Resistor or External Regeneration Resistance Unit between the Servo Driver s B1 and B2 terminals Check the terminal names carefully when connecting to the terminals If the Resistor or Unit is connected to the wrong terminals it will damage the Servomotor Note 1 The External Regeneration Resistor can reach a temperature of approximately 120 C so install it at a distance from heat sensitive devices and wiring In addition a radiation shield must be installed according to the radiation conditions Note 2 For external dimensions refer to 2 9 External Regeneration Resistors Resistance Units External Regeneration Resistors and External Regeneration Resistance Units e Specifications Resistance Nominal Regeneration Heat Thermal capacity absorption at radiation switch output 120 C R88D RR22047S Op
236. e function code dis 1 s min TTT play DAWK Note 1 You can end the jog operation with the Servomotor turned OFF When the display returns to Fn002 the Servomotor will turn OFF automatically Note 2 The 2 digit LED bit display before the JoG display is the same as the bit display in Status Display Mode e Changing the Rotation Speed The default setting for user parameter number Pn304 jog speed is 00500 500 r min You can change this setting to change the rotation speed during a jog operation Try changing the jog speed setting to 01000 1000 r min o 1 s min PER Mode jog IPIa3IDIW para BIBS o Pn304 setting displayed 4 l x Change setting DATA oat 1 s min n MIMIM 5 Gas After approx 1 s DATA k vaw amp 1smin Data memory See note Y m nlia m Finished writing data Display flashes 9 1000 Note When changing the setting first press the DATA Key front panel DATA Key for 1 s min to write the data to memory then press the Key again to return to the parameter number display You can not return to the parameter number display without saving the changed data to memory 4 13 Operation Chapter 4 e Operation Procedure Front panel Display example Explanation key operation System Check Mode iru Press the MODE SET K
237. e is turned OFF Select the stopping process for when overtravel occurs Stopping Methods when Forward Reverse Drive Prohibit is OFF Pn001 0 Deceleration Method Stopped Status 0 or 1 Dynamic brake Servo unlocked Pn001 1 0 2 POT NOT is OFF Free run Pn001 1 2 Servo unlocked 10r2 Emergency stop torque Pn406 See note 1 1 Servo locked Note 1 The position loop is disabled when the servo stops in servolock mode during position control Note 2 During torque control the stopping process depends on Pn001 0 the Pn001 1 setting does not matter Note 3 POT and NOT are allocated to pin CN1 42 at the factory and set to always OFF i e drive prohibition is disabled To use the drive prohibition function change the setting using Pn50A 3 and Pn50b 0 Command Pulse Mode Selection Pn200 0 Position Control Pn200 0 Position control setting 1 Command Pulse Mode Position Setting i Default Restart range setting power 4 32 Operation Chapter 4 Setting Explanation sena Explanation jo 1 Feedpulse forward signal Positive logic Reverse pulse reverse pulse Positive logic 90 phase difference A B phase signal x1 Positive logic 90 phase difference A B phase signal x2 Positive logic 90 phase difference A B phage MA x4 Positive logic B Feedpulses Forwardireverse signal Negatvelogic 6 Forwardpuls
238. e parameter contents can be dis played either as n followed by 4 digits e g n 0010 or as a 5 digit number e g 00080 f the parameter number is too big you can set the operation to be performed more quickly while changing the operation digits using the Left Key front panel DATA Key for less than 1 s or Right Key After selecting the parameter number press the DATA Key front panel DATA Key 1s min to display the contents To change the contents of the parameter press the DATA Key front panel DATA Key 1s min to re cord the change When you have finished settings press the DATA Key front panel DATA Key 1s min to return to parameter number display EEEE DATA Mock nae Monitor number Monitor contents MODE SET Moose Un G D can be monitored and for the display con tents A i x n Monitor Mode use the Up or Down Key to set the monitor number Un l a pata 1 s min j Refer to 4 9 3 Monitor Mode for items that Afterselecting the monitor number press the DATA Key front panel DATA Key 1s min to display the contents When you have finished monitoring press the DATA Key front panel DATA Key 1s min to return to the monitor number display 4 11 Operation Chapter 4
239. e reverse pulse Negatvelogic 90 phase difference A B a signal x1 Negative logic iB 90 phase difference A B phase signal x2 Negative logic Io 90 phase difference A B phase signal x4 Negative logic If using position control select the command pulse mode to suit the Host Controller s command pulse format e If inputting 90 phase difference signals select either x1 x2 or x4 If you select x4 the input pulse will be multiplied by 4 so the number of Servomotor rotations speed and angle will be four times that of the x1 selection m I O Signal Allocation Pn50A to Pn512 e With the OMNUC W series you can freely change the I O signal allocation e If using an OMRON position controller Position Control Unit or Motion Control Unit you do not need to change the default settings The various special Control Cables are also based on the default al locations The default allocations which are the same as for the R88D UT OMRON Servo Driver are as follows en pine Input RUN RUN signal Sens input MING gain When Pn000 1 is 0 Speed control or 1 position control reduction input When Pn000 1 is 3 4 or 5 internal speed control setting and SPD1 and SPD2 are both OFF RDIR rotation When Pn000 1 is 3 4 5 or 6 internal speed control setting direction and either SPD1 or SPD2 is ON command input TVSEL control When Pn000 1 is 7 8 or 9 switching control mode mode switc
240. e separate connectors for power and brakes For that reason when a Servomotor with a brake is used it will require both a Power Cable for a Servomotor without a brake i e R88A CAWELIS or R88A CAWFLIS and a Power Cable for a Servomotor with a brake i e R88A CAWET IB The Power Cable for a Servomotor with a Brake is for brake line wiring only 2 core 2 6 Standard Models and Specifications Chapter 2 IP67 Power Cable for all 400 VAC Servomotors Specifications Model servomotor capacity without brake with brake braking cable only R88A CAWCOOSS E R88A CAWCOOSB E R88A CAWCOOSS E R88A CAWCOO5B E R88A CAWC100S E R88A CAWC010B E R88A CAWC015S E R88A CAWCO20S E R88A CAWDOOSS E R88A CAWDOOSS E R88A CAWD100S E R88A CAWDO 15S E R88A CAWDO20S E R88A CAWFOOSS E R88A CAWFO005S E R88A CAWF100S E R88A CAWFO015S E R88A CAWFO20S E R88A CAWGOOSS E R88A CAWGOOS5S E R88A CAWG100S E R88A CAWGO 15S E R88A CAWGO20S E R88A CAWHOOSS E R88A CAWHOOSS E R88A CAWH100S E R88A CAWH015S E R88A CAWHO20S E R88A CAWJOOSS E R88A CAWJOO5S E R88A CAWJ100S E R88A CAWJ015S E R88A CAWJO20S E R88A CAWK003S DE R88A CAWKOO5S DE R88A CAWK100S DE R88A CAWKO15S DE R88A CAWKO20S DE 450 850 1 0 K 1 3 K 1 5 K and 3m 2 0 kW 5m m alo m N m 1 8 K 3 0 K 4 0 K and 5 0 kW m m R88A CAWCO20B E R88A CAWCOOSB E R88A CAWCOO5B E R88A CAWC015B E m a m N m 5 5 kW m m m m m
241. e will double the expected service life m Keeping Foreign Objects Out of Units e Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the Units during installation Be sure to remove the cover after installa tion is complete If the cover is left on during operation heat buildup may damage the Units Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of Servo Drivers 3 1 2 Servomotors Operating Environment The environment in which the Servomotor is operated must meet the following conditions Ambient operating temperature 0 to 40 C Ambient operating humidity 20 to 80 with no condensation Atmosphere No corrosive gases Impact and Load The Servomotor is resistant to impacts of up to 490 m s2 Do not subject it to heavy impacts or loads during transport installation or removal When transporting it hold onto the Servomotor itself and do not hold onto the encoder cable or connector areas Holding onto weaker areas such as these can damage the Servomotor Always use a pulley remover to remove pulleys couplings or other objects from the shaft Secure cables so that there is no impact or load placed on the cable connector areas 3 4 System Design and Installation Chapter 3 Connecting to Mechanical
242. ed Status when error occurs Occurs when the servo is ON Occurs along with high speed rotation when a command is input Cause of error Encoder signal be tween controllers is wired incorrectly Servomotor power line is wired incor rectly Position and speed command inputs are too large Pn300 Speed com mand scale and Pn202 and Pn203 electronic gear set tings are too large Speed limit is not performed during torque control Rotation limit has been exceeded due to overshooting Chapter 5 Countermeasures Rewire correctly Rewire correctly Input command values correctly Set the parameters cor rectly Set Pn407 speed limit Adjust the gain Lower the maximum spe cified speed Overload Occurs during op eration Running at over 245 of rated torque effective torque Repair the Servomotor shaft if it is locked If the Servomotor power line is wired incorrectly rewire it correctly Lighten the load Lengthen the accelera tion and deceleration times Adjust the gain Power supply volt age has fallen Check the power supply voltage and lower to within tolerance range Overload Dynamic brake overload 5 12 Occurs during op eration Occurs when the servo is turned OFF after operating Occurs when the power supply is turned ON Running at 120 to 245 of rated torque effective torque Lighten the load Leng
243. ed PCOM Pink Red SEN SEN Orange Red REF Orange Black AGND Gray Red Gray Black White Red White Black Yellow Red CCW Yellow Black CCW Yellow Black PCOM Pink Black ECRST Pink Red ECRST Orange Red Orange Black Pink Red Gray Red Gray Black Gray Red Gray Black BATGND BATGND White Red White Black Orange Red INP1 VCMP Orange Black INP1COM VCMPCOM OI NI ODO a AR wo N 2 101 Standard Models and Specifications Chapter 2 Wire mark color Signal name Pulse Analog ae me TR d Connector plug 10150 3000VE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Cable AWG24 x 25P UL20276 Note Wires with the same wire color and the same number of marks form twisted pairs For example the orange wire with one red mark is twisted together with the orange wire with one black mark Servo Driver Connector Terminal Block Cables R88A CTWL IN and Connector Terminal Blocks KW2B 50G5 e Cable Models Mode J Length Outer diameter ofsheath Weight R88A CTWOO1N 11 8 dia Approx 0 2 kg R88A CTWOO2N Approx 0 4kg 2 102 Standard Models and Specifications Chapter 2 e Connection Configuration and External Dimensions pu L 39 Connector Terminal Block Servo Bl
244. ed setting until positioning time is minimal At this point if there are no problems with using overshoot adjustments are complete e If the overshoot is too large increase Pn108 bias addition band to reduce it Operation Servomotor speed Speed command command pulse frequency ias function OFF WA Bias function ON d Pn107 added to speed command when residual pulse exceeds Pn108 Note Refer to Position Loop Block Diagram in 4 7 2 Manual Tuning for the internal processing block configuration 4 100 Operation Chapter 4 4 8 2 Feed forward Function Position m Functions This function shortens the positioning time by automatically adding the command pulse input CW CCW differential value to the speed loop in the Servo Driver Perform feed forward compensation to increase servo gain efficiency thus improving responsive ness There is very little effect however on systems with sufficiently high position loop gain Note Refer to Position Loop Block Diagram in 4 7 2 Manual Tuning for the internal processing block configuration m Parameters Requiring Settings Parameter No Parameter Explanation Reference name Feed forward Set the feed forward gain setting rage O to 100 4 4 4 Parameter amount Details Feed forward Set the feed forward command filter primary lag command filter Setting range 0 to 6400 x 0 01 ms Note When not using the feed forward function set
245. ed loop No 1 internal No 3 internal No 2 internal Internally set speed speed setting speed setting speed setting control Pn301 Pn303 Pn302 Pn000 1 4 Speed control No 1 internal No 3 internal No 2 internal internally set speed speed setting speed setting speed setting control lt gt Speed Pn301 Pn303 Pn302 control Pn000 1 25 Position control No 1 internal No 3 internal No 2 internal internally set speed speed setting speed setting speed setting control lt gt Position Pn301 Pn303 Pn302 control Pn000 1 26 Torque control No 1 internal No 3 internal No 2 internal internally set speed speed setting speed setting Speed setting control lt gt Torque Pn301 Pn303 Pn302 control Note 1 This isthe default allocation Input terminal allocations CN1 pins 40 to 46 can be changed by setting Pn50A 0 input signal selection mode to 1 The SPD1 signal is allocated by Pn50C 1 and the SPD2 signal is allocated by Pn50C 2 Note 2 With the default allocation the functions for pin 45 and 46 can be changed to PCL NCL or SPD1 SPD2 by means of the Pn000 1 control mode selection setting and the control mode in operation For details refer to 4 4 3 Important Parameters 2 67 Standard Models and Specifications Chapter 2 e Control Mode Switch 41 TVSEL This signal is enabled when Pn000 1 function selection basic switch control mode selection is set to any of the settings from 7 to 9 The contr
246. ee phase Input Item Continuous output current rms Momentary maximum output current rms Input power Main circuits Control circuits Heating Main circuits value Control circuits PWM frequency Weight Applicable Servomotor wattage 2 48 R88D WTOSHF 1 9A 55A Three phase 380 to 480 V AC 24 VDC 1596 0 45 A 19W 15W 11 7 kHz 2 8 kg 450W 3 5A 85A 35W 15W 1kw R88D WT10HF 11 7 kHz 2 8 kg R88D WT15HF 5 4A 14A 53 W 15W 3 9 kHz 2 8 kg 1 5 kW W90010T R88D WT20HF 84A 20A 83W 15W 3 9 kHz 3 8 kg 2 kW W1K210T R88D WT30HF 11 9A 28A 10 to 1596 50 60 Hz 118W 15W 3 9 kHz 3 8 kg 3 kW W2K010T R88D 165A 40 5A 24 VDC 550W 15W 3 9 kHz 5 7 kg 4 4 kW WT50HF W3KO010T R88D WT60HF 20 8A 55A 15 660 W 15W 3 9 kHz 11 5 kg 5 5 kW R88D WT75HF 254A 65A WAKO10T R88D WT110HF 28 1A 70A W5K510T R88D WT150HF 37 2A 85A Standard Models and Specifications Chapter 2 Item R88D R88D R88D R88D R88D R88D R88D R88D R88D R88D WTOSHF WT10HF WT15HF WT20HF WT30HF WT50HF WT60HF WT75HF WT110HF WT150HF 1 500 r min max Incremental W45015F W85015F W1K315F W1K815F W2K915F W4K415F W5K515F W7K515F W11KO015F W15K015F 9M ee gomme emen T aR MUR nie umo ee oe a aa MS jc Due e waewelwmeso Sc I T e ec sun 3 oxi feel co TSeF erento NRW pe xd e
247. eed command scale Pn300 r min OMNUC W series Servomotor C200H MC221 5OREF Position Control Unit 6O AGND C500 NC222 4 65 Operation Chapter 4 Parameters Requiring Settings Parameter Parameter name Explanation Reference No Pnooo 1 Function Set the control mode for speed control Settings 0 4 4 3 Important selection basic 4 7 9 A Parameters Switch 1 Speed command Set the REF speed command input voltage for 4 4 4 Parameter operating at the rated rotation speed Details i P Pn300 600 Rotation speed r min Pn300 1000 Default setting Speed command voltage V 6 10 Rated rotation Rated rotation speed Related Functions Functions related to speed control that can be used during speed control are as follows Function name Explanation Reference Soft start function Sets the soft start for the speed command 4 5 11 Soft Start Function Position lock function This function stops the Servomotor in servolock 4 5 14 Position Lock status position control status using PLOCK Function position lock command signal input Torque feed forward Calculates TREF torque command input for the 4 8 3 Torque function current loop to reduce acceleration and deceleration Feed forward Function time Torque limit function This function limits the Servomotor s output torque 4 5 10 Torque Limit Function Gain reduction function Switches speed loop command from PI co
248. el during position control The servo alarm is turned ON when the deviation counter residual pulse setting is exceeded Pn506 Brake timing 1 all operation modes Setting 0 to 50 Unit x 10 ms Default Restart range setting power 4 61 Operation Chapter 4 Pn507 Brake command speed Setting Oto 10000 Unit r min Default 100 Restart No range setting power Pn508 Brake timing 2 all operation modes Setting 10 to 100 Unit x 10 ms Default range setting This parameter sets the BKIR brake interlock output timing to control the electromagnetic brake ON OFF when a Servomotor with a brake is used This setting prevents damage to the machinery and the Servomotor holding brake PN506 brake timing 1 Set the lag time from BKIR OFF to servo OFF Pn507 brake command speed Set the rotation speed for turning OFF BKIR Pn508 brake timing 2 Set the standby time from servo OFF to BKIR OFF When RUN is OFF while the Servomotor is stopped first turn OFF BKIR wait for the duration set in Pn506 then turn OFF the servo When RUN is OFF while the Servomotor is stopped if a servo alarm occurs and the main circuit pow er supply is OFF the Servomotor will decelerate and the rotation speed will fall When the rotation speed falls to below the Pn507 setting BKIR will be turned OFF Note 1 Related parameter Pn50F 2 BKIR signal output terminal allocation Note 2 Refer to Brake Interlock for details of brake i
249. els and Specifications Chapter 2 2 4 2 Performance Specifications Control Specifications e 100 V AC Input Type en R88bWTASHL Continuous output current rms R88D WTASHL R88D WTO1HL R88D WTO2HL Momentary maximum output current rms Input power Main circuits Single phase 100 115 V AC 85 to 127 V 50 60 Hz supply Control circuits Single phase 100 115 V AC 85 to 127 V 50 60 Hz Heating value Main circuits 3 5W 5 2W 12W Control circuits 13 W 13 W 13 W Control method All digital servo Inverter method PWM method based on IGBT PWM frequency 11 7 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Maximum applicable Servomotor wattage 30 W 50 W 100 W 200 W Applicable Ser 3 000 r min Incremental W03030L W05030L W10030L W20030L vomotor Absolute W03030S W05030S W10030S W20030S R88M 3 000 r min Incremental WP10030L WP20030L Flat style TAbsolute WP10030S WP20030S 1 000 r min Incremental Absolute Performance Speed control range 1 5 000 Load fluctuation rate Voltage fluctuation rate Temperature fluctuation rate Frequency characteristics Torque control repeatability 0 0196 max at 096 to 10096 at rated rotation speed 0 at rated voltage 10 at rated rotation speed x 0 196 max at 0 to
250. em Check Mode n n mmm Password setting F el 10 erm PIIB O IO Password display al PIO HE Password display pese Write to password dieln E seed password setting 1 s later DATA psw t s min MiMi t Return to password PISO O1 display 4 137 Operation Chapter 4 Operation Procedure PRO2W Front panel operation key operation Display Explanation Press the MODE SET Key to change to System Check Mode Press the Up or Down Key to set function code Fn010 See note 1 Press the DATA Key front panel DANA Key for 1 s min to display the password P Press the Up or Down Key to select the password 0000 Write enabled 0001 Write prohibited Press the MODE SET Key to set the password When setting is complete donE will flash for approximately 1s Approx 1 s later After displaying donE the display will return to P LILILILT Press the DATA Key front panel DATA Key for 1 s min to return to the System Check Mode function code display 2 m a A C3 C3 C3 E C3 C3 C3 Cj E 9 Ds E Note 1 The digits you can manipulate will flash Note 2 If this is set to any value other than 0000 or 0001 Error will flash for approximately 1 s and then the display will return to the original p
251. eplacing Battery Unit If an alarm A 81 occurs after replacing the Battery Unit repeat the setup from the start e When connecting to the CV500 MC221 421 or C200H MC221 Motion Control Unit carry out the set up close to the mechanical origin This limitation does not apply to the CS1W MC221 MC241 Motion Control Unit The rotation data will be different from before the battery was replaced so reset the initial Motion Control Unit parameters including for the CS1W MC221 MC421 Motion Control Unit Note It is not necessary to set up and reset the initial parameters for the Motion Control Unit if no alarm occurs after the Battery Unit has been replaced If the Battery Unit is replaced using the correct procedure before it wears out an error alarm will not be generated Refer to 4 2 2 Absolute En coder Setup and Battery Changes for Battery Unit service life and replacement method e Other Cases where Setup Is Required e Ifthe Encoder Cable is removed from the connector on either the Servo Driver or Servomotor side the data within the absolute encoder will be cleared In this case perform the setup once again Ifthe Battery Unit has completely worn down the data within the absolute encoder will be cleared In this case replace the Battery Unit and perform the setup once again 4 3 Trial Operation This section explains basic operations and the jog operation for the Servomotor and Servo Driver 4 3 1 Operation Detail
252. er WTO5H WT15H R88D 2 91 Standard Models and Specifications Chapter 2 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M W30010H W60010H W90010H W1K210 W2K010 WOOD Wa odd H H R88M R88M R88M R88M R88M R88M R88M R88M W30010T W60010T W90010T W1K210 W2K010 W3K010 W4K010 W5K510 T T T T T Brake in kgem2 2 1 x 107 2 1 x 107 2 1x 107 8 5x 107 8 5x 10 4 85x107 85x107 8 5x 107 ertia GD2 4 Excitation V 24 V DC 10 voltage Power 9 8 consump tion at 20 C Current A 0 41 0 41 0 41 consump tion at 20 C Static fric Nem 4 41 min 12 7 min 12 7 min 43 1 min 43 1 min 43 1 min 72 6 min 72 6 min tion tor que Attraction ms 180 max 180 max 180 max 180 max 180 max 180 max 180 max 180 max time See note 3 Release ms 100max 100max 100 max 100 max 100 max 100 max 100 max 100 max time See note 3 Backlash f efeencevalu OO 1 reference value 000 value Insulation Type F grade Note 1 The values for items marked by asterisks are the values at an armature winding temperature of 100 C combined with the Servo Driver Other values are at normal conditions 20 C 65 The momentary maximum torque shown above indicates the standard value Note 2 The brakes are the non excitation operation type released when excitation voltage is ap plied Note 3 The operation time is the measured value refe
253. er models ESD OR 26 Clamp filter ZCAT2032 0930 ZCAT3035 1330 1330 TS 0930A Do not place the Encoder Cable in the same duct as Power Cables and Control Cables for brakes solenoids clutches and valves Improving Control I O Signal Noise Resistance Positioning can be affected if control I O signals are influenced by noise Follow the methods outlined below for the power supply and wiring Use completely separate power supplies for the control power supply especially 24 V DC and the external operation power supply In particular be careful not to connect the two power supply ground wires Install a noise filter on the primary side of the control power supply As much as possible keep the power supply for pulse command and deviation counter reset input lines separate from the control power supply Be particularly careful notto connect the two power sup ply ground lines e It is recommended that a line driver be used for pulse command and deviation counter reset outputs Always use twisted pair shielded cable for pulse command and deviation counter reset signal lines and connect both ends of the shield to frame grounds Always use twisted pair shielded cable for speed and torque command signal lines and connect both ends of the shield to frame grounds e If the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and gro
254. erating External Regeneration temperature Resistor 170 C NC contact R88D RR88006 6 25 Q 10 for 200 V 6 kW R88D RR1K803 3 13 Q for 200 V 7 5 11 15 kW R88D RR88018 for 400 V 6 7 5 kW R88D RR1K814 for 400 V 11 15 kW Note The following external regeneration resistors are recommended products from another manufacturer Iwa ki Musen Kenkyujo For details refer to the manufacturer s documentation RH120N50QJ 50 Q 5 70 W Amount of regeneration at 120 C RH300N50QJ 50 Q 5 200 W Amount of regeneration at 120 C RH500N50QJ 50 Q 5 300 W Amount of regeneration at 120 C 3 47 System Design and Installation Chapter 3 e Combining External Regeneration Resistors R88D RR22047S ill 7ow 470 El 280w 470 630W 47Q E 560w 23 50 S Note A combination cannot be used if the resistance is less than the minimum connection resistance for any given Servo Driver Refer to the following table for the minimum connection resistance values for each Servo Driver and select a suitable combination 3 48 System Design and Installation Chapter 3 Servo Driver Minimum Connection Resistance and External Regeneration Resistor
255. eration voltage All operation modes Position deviation 0 05 V 1 command Plus deviation voltage minus deviation voltage Position 1 4 Position deviation 0 05 V 100 commands Plus deviation voltage minus deviation voltage Position Command pulse frequency 1 V 1000 r min Forward rotation voltage reverse rotation voltage Position Servomotor rotation speed speed monitor 1 V 250 r min Forward rotation voltage reverse rotation voltage All operation modes Servomotor rotation speed speed monitor 1 V 125 r min Forward rotation voltage reverse rotation voltage All operation modes e The Pn003 monitor settings are as follows Pn003 0 is analog monitor 1 AM Pin CN5 2 and Pn003 1 is analog monitor 2 NM Pin CN5 1 e Set values are the same as for Pn003 0 and Pn003 1 Note 1 Displays status without offset adjustment and scaling changes Perform offset adjustment and scaling changes using System Check Mode Note 2 The maximum analog monitor output voltage is 8 V Exceeding this voltage may result in a wrong output Note 3 Analog monitor output accuracy is approximately 1596 4 43 Operation Chapter 4 Pn003 2 Function selection application switch 2 Not used Setting Unit Default Restart No range setting power Note Do not change setting Pn003 3 Function selection application switch 2 Not used Setting Default Restart range setting power Note Do
256. ernally set speed control Setting 0 to 2 Unit Default Restart range setting power 4 40 Operation Chapter 4 Note Refer to 4 4 3 Important Parameters Pn001 2 Function selection application switch 1 AC DC power supply input selection All operation modes Setting 0 1 Unit Default Restart range setting power Setting Explanation Explanation 0 AC power supply AC power supplied from L1 L2 L3 terminals 1 DC power supply DC power from 1 terminals Select setting 1 if using a DC power supply e If using a DC power supply perform the following operations Control circuit power supply Supply DC power to L1C and L2C There is no polarity Main circuit power supply Supply DC power as follows positive voltage to 1 terminal and ground to terminal Make sure input voltage is 120 to 179 V DC for 100 V input type and 240 to 357 V DC for 200 V input type and 690 to 780 V DC for 400 V input type Note 1 If using a DC power supply the regeneration absorption circuit inside the Servo Driver will not operate The regeneration power returns to the DC power supply so make sure the DC power supply can absorb the regeneration power Note 2 If using a DC power supply the residual voltage in the main circuit power supply is not dis charged rapidly when the power is turned OFF Be sure to mount a discharge circuit on the DC power supply Also check that the charge indicator is not lit before storing the
257. ers up to 5 kW m Specifications Specifications Battery model number ER8V Toshiba Battery voltage 3 6V Current capacity 1 000 mAeh e Connection Configuration and External Dimensions Unit mm 1 7 dia t 6 e Wiring Sack 2 Baten Cable AWG24 x 2C UL1007 Connector housing DF3 2S 2C Hirose Electric Contact pin DF3 2428SCFC Hirose Electric R88A BATO2W Absolute Encoder Backup Battery Unit The R88A BATO2W is used for servodrivers of 6 kW and higher Specifications are the same as R88A BATO1W except the leads are 20 mm longer 2 138 Standard Models and Specifications Chapter 2 2 11 DC Reactors Connect a DC Reactor to the Servo Driver s DC Reactor connection terminal as a har monic current control measure Select a model to match the Servo Driver being used There is no DC Reactor for the R88D WT60H m R88A PX DC Reactors m Specifications Servo Driver model R88D WTASHL A5HL 01HL DC Reactor R88A PX5063 Rated current A Inductance mH Weight kg Approx 0 6 R88D WTO2HL R88A PX5062 Approx 0 9 R88D WTA3H A5H 01H R88A PX5071 Approx 0 5 R88D WT02H R88A PX5070 Approx 0 8 R88D WT04H R88A PX5069 Approx 1 0 R88D WTOSHH R88A PX5079 1 2 R88D WT15HH R88A PX5078 2 0 R88D WT05H 08H 10H R88A PX5061 Approx R88
258. ervomotors 200 V AC and 400 V AC The following graphs show the characteristics with a 3 m standard cable and 200 V AC or 400 V AC input R88M W03030H T 30 W Nem 0 3 40 286 0 286 0 24 Repeated usage 0 1 0 06 Continuous usage ery T T r min 1000 2000 3000 4000 5000 F88M W20030H T 200 W m 2 0 41 91 Repeated usage i 0 39 Continuous usage T T T T r min 1000 2000 3000 4000 5000 R88M W1KOS3OH T F C 1 kW N m 64 Continuous usage T T T T r min 1000 2000 3000 4000 5000 R88M W3K030H TF C 3 kW Nem 304294 20 Repeated usage Continuous usage o kr eT T 1000 2000 3000 4000 R88M W05030H T 50 W Nem 98 loarn 0 477 0 44 034 Repeated usage 0 24 0 159 0 159 0 14 Continuous usage ae Q erre r min 1000 2000 3000 4000 5000 R88M W40030H T 400 W m 4 0 43 82 3 82 3525 3 04 Repeated usage 2 04 1 27 Continuous usage T T T T 1 r min 1000 2000 3000 4000 5000 R88M W1K530H T F C 1 5 kW Nem 104 Repeated usage 49 Continuous usage ara T T T r min 1000 2000 3000 4000 5000 R88M W4K030H T 4 kW Nem 40 1378 304 Repeated usage 204 12 6 14 2 104 Continuous usage m T T eee a r min 1000 2000 3000 4000 5000 R88M W10030H T 100 W Nem 1970 955 0 955 0 84 0 6 4 Repeated usage 0 44 0 24 0 19
259. es Servo Driver Position Control Unit Position Control Mode C200HW NC113 C200HW NC213 C200HW NC413 C200H NC112 C200H NC211 C500 NC113 C500 NC211 OMNUC W series Electronic gears Servomotor Pn202 Pn203 Pulse train 80 OW G1 G2 m Parameters Requiring Settings Parameter No Parameter name Explanation Reference Pnooo 1 Function selection Select the control mode you wish to use 4 4 3 Important basic switch 1 for position control settings 1 5 7 8 b Parameters Control mode selection Pn200 0 Position control Set to match the controller command 4 4 3 Important setting 1 pulse status Parameters Command pulse mode Pn202 Electronic gear Set the pulse routes for the command 4 5 12 Electronic ratio G1 pulse and Servomotor travel amount Gear Function denominator 0 01 lt G1 G2 lt 100 Pn203 Electronic gear ratio G2 numerator 4 64 Operation Chapter 4 Related Functions Functions related to position control that can be used during position control are as follows Function name Explanation Reference Sets the soft start for the command pulse Position command filter function 4 5 13 Position Command Filter Function Torque feed forward function Calculates TREF torque command input for the current loop to reduce positioning time 4 8 3 Torque Feed Forward Function Speed feed forward function Calculates REF speed
260. es for approximately 1 s Approx 1 s later After displaying donE the display will return to rEF o Al Re Press the DATA Key front panel DATA Key for 1 s min The display will return to the System Check Mode Vsmino function code Note The digits you can manipulate will flash m Speed Command Offset Manual Adjustment Fn00A Use manual adjustment for adjusting deviation pulses the deviation counter value in the host control ler to zero while servo locked with a position loop incorporated by the host controller Perform manual adjustment while checking the deviation counter value or the Servomotor shaft movement while the RUN signal is ON The speed command offset setting range is 9999 to 9999 x 0 058 mV Note Manually adjust the speed command offset using Speed Control Mode DATA System Check Mode FJa mn Speed command offset manual ad fiu ju justment display SPd displayed Speed command offset 1 ox 1s min manual adjustment RUN signal is ON servo is ON Servo is ON UER enne 81319 Speed command offset display Adjust speed command offset 10131918 Speed command offset display DATA omne 1 s min 4 127 Operation Chapter 4 Operation Procedure Explanation Press the MODE SET Key to change to System Check Mode Press the Up or Down Key to set f
261. ey to change to Setting Mode IMODE SET J C3 C omi E 8 Press the Up or Down Key to set parameter number Pn304 See note 1 Press DATA Key front panel DATA Key for 1 s min The parameter number Pn304 setting will be displayed L 3C Al Rz DATA 1 s min C3 2 iC3 CD jun iu 4 Press the Up or Down Key to change the setting to 01000 Press the DATA Key front panel DATA Key for 1 s min to save the data to memory the setting display will flash for approximately 1 s After the display has finished flashing it will return to normal Press the DATA Key front panel DATA Key for 1 s min to return to the parameter number display 3C3 3C3 d Al Rz DATA 3C3 C3 C3 C3 C3 C3 iC JC 1 s min Y C3 1C3 C3 C3 70 Approx 1 s later c3 D uu C3 C3 DATA 1 s min i 1C3 Note 1 The digits you can operate will flash Note 2 Change the jog speed setting as described then perform jog operations as before Confirm that the rotation speed is faster than before e Procedure for Changing Settings You can use various operations to change the parameter number and parameter settings Use t
262. f except for through shaft parts And these models as well as the 3 000 r min 100 W to 1 5 kW Flat style Servomotors are also available with IP67 enclosure ratings that include water proofing for through shaft parts Thus the W series Servomotors can be used even in places where they may be exposed to water The standard cables however cannot be used with IP67 models and the appropriate cables must be provided by the user Conformity to Standards The W Series conforms to EC Directives both low voltage and EMC as well as to UL and cUL thereby assisting the user in meeting required standards Built in Regenerative Power Processing In addition to the built in regenerative power processing function using regeneration resistance ex ternal regeneration resistance can also be connected allowing the W Series to be used for applica tions with high regenerative energy on vertical axis Harmonic Current Control Measures Terminals for DC Reactor connections are provided to assist with harmonic current control Online Autotuning Autotuning is possible during normal operation with no need to switch to a special autotuning mode making it easy to set the gain correctly 1 2 Introduction Chapter 1 Gain Changes There are two types of gain settings and the gain can be changed when the load changes during operation Control Functions Any one of the following 12 control modes can be selected in the parameter settings
263. ffset setting range is 512 to 511 4 134 Operation Chapter 4 Note If adjusting the Servomotor current detection offset first try performing automatic adjustment FnOOE Only attempt manual adjustment if the torque ripple is still large after performing auto matic adjustment oana 1s min v Phase selection Cu1 Phase selection Cu2 ti phase zi BEI eens F lololo ases oarn 1smin IC roosen Servomotor current detection offset manual adjustment Kae TE KEZ md phase CU1 V phase CU2 j offset adjustment offset adjustment BITE I8i80IBE od RIAA A Leet Lela fee MM xe 1s min Flowchart for Servomotor Current Detection Offset Manual Adjustment Rotate Servomotor at approx 100 r min with no load Adjust phase U offset 10 in the best direction for torque ripple t Adjust phase V offset 10 in the best direction for torque ripple L Torque ripple does not improve even if adjusted in both and directions gt Y Adjust phase U offset 1 in the best direction for torque ripple Y Adjust phase V offset 1 in the best direction for torque ripple Characteristics OK G End Note 1 Adjustthe offset while monitoring the torque command monitor current monitor s waveform 4 135 Operation Chapter 4 Note 2 Perform rough adjustments in units of
264. flash in Fa z d cE Sa C3 c 19 O 3 Note 2 Press Up and Down Keys simultaneously when the monitor value is displayed i e H or L is displayed to clear the counter i e reset to H 0000 or L 0000 4 10 Using Monitor Output OMNUC W series AC Servo Drivers output in analog form the Servomotor rotation speed torque command position difference and other proportional voltage amounts from the Analog Monitor Output Connector CN5 This function can be used in situa tions such as making fine gain adjustments or when a meter is attached to the control panel Select the monitor items using user parameters Pn003 0 and Pn003 1 Also use FnOOC and FnOOd in System Check Mode to adjust the offset and change the scaling 4 115 Operation Chapter 4 m Analog Monitor Output Connector CN5 The Analog Monitor Output Connector CN5 is located inside the top cover of the Servo Driver Note There is no top cover on model R88D WT60H 6kW Instead CN5 is to the right of the display and settings area Analog Monitor Output Connector CN5 CN5 pin distribution front panel view Driver pin header DF11 4DP 2DS Cable connector socket DF11 4DS 2C Cable connector contact DF11 2428SCF Manufactured by Hirose
265. follows coils are large as in electromagnetic brakes solenoids 54 y DC system 39 V etc and when reset time is an issue The surge voltage 100 V DC system 200 V when power is cut off is approximately 1 5 times that of 100 V AC system 270 V the varistor 200 V AC system 470 V Use capacitors and resistors for vibration absorption of Okaya Electric Industries Co Ltd resistor surge when power is i off oe fae time can be CR 50500 0 5 uF 50 Q shortened by proper selection of the capacitor or resis CRE 50500 0 5 uF 50 Q tor S2 A 0 0 2 uF 500 Q Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Industrial Co e Contactors When selecting contactors take into consideration the circuit s inrush current and the maximum momentary current The Servo Driver inrush current is covered in the preceding explanation of no fuse breaker selection and the maximum momentary current is approximately twice the rated current The following table shows the recommended contactors Magnetic Contactors for the W series Coil Voltage Rated current Order number Maker 110 V AC 20A J7K BM 230 V 50 Hz J7K CM 230 V 50 Hz J7K DM 230 V 50 Hz J7K EM 230 V 50 Hz J7K BM D 24 V DC J7K CM D 24 V DC J7K DM D 24 V DC J7K EM D 24 V DC Additional Auxillary Contacts f
266. fuse Surge Leakage Noise Servo Driver supply side breaker absorber breaker filter side STO OO 1NF4 co co 3Ep6 Improving Encoder Cable Noise Resistance The OMNUC W Series uses serial encoders with phase S signals from the encoder The phase S com munications speed is 4 Mbits s In order to improve the encoder s noise resistance take the following measures for wiring and installa tion Always use the specified Encoder Cables If lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition always use shielded cable e Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Always use cables fully extended 3 41 System Design and Installation Chapter 3 When installing noise filters for Encoder Cables use clamp filters The following table shows the rec ommended aS filter models Elana ESOS Clamp filter ZCAT 2032 0930 ZCAT3035 1330 1330 TRO 0930A Do not place the Encoder Cable in the same duct as Power Cables and Control Cables for brakes solenoids clutches and valves Improving Control I O Signal Noise Resistance Positioning can be affected if control I O signals are influenced by noise Follow the methods outlined below for the power supply and wiring Use completely separate power supplies for the control po
267. g Main circuit DC voltage above the allowable range Troubleshooting Display ALO1 Alarm code ALO2 ALO3 Error detection function Low voltage Chapter 5 Cause of error Main circuit DC voltage below the allowable range Overspeed Overload Servomotor rotation speed exceeded the maximum speed Output torque exceeded 245 of rated torque Overload Output torque continued at 120 to 245 of rated torque Dynamic brake over load Inrush resistance overload Regenerative energy exceeded the dynam ic brake resistance during dynamic brake operation Inrush current exceeded the inrush resis tance during power supply inrush Overheat Backup error ABS Abnormal temperature rise detected in radi ation shield Applicable to drivers 100 200 V up to 1 kW with external ther mostat Encoder backup power supply dropped Checksum error ABS Battery error ABS Checksum error for encoder memory data Encoder battery voltage dropped to 2 7 V or lower OFF Absolute error ABS Overspeed error ABS Encoder overheating ABS Encoder internal data error Servomotor rotation speed exceeded 200 r min when encoder power was turned ON Abnormal encoder temperature rise de tected Speed command in put reading error Torque command in put reading error The A D end signal was not output from the AJD converter within a fixed time
268. g area positive set a number such as 65534 Note If Pn205 is changed the limit to the number of rotations in the encoder memory and the limit to the number of rotations in the Servo Driver memory will no longer agree so an A CC alarm multi turn limit nonconformity will be generated To cancel this alarm the setting for the number of multi turns Fn013 must be changed in the System Check Mode Pn206 Sets the number of pulses for full closed encoder for one rotation of the motor Setting 25 to 65535 Unit Default 16384 Restart range setting power Note Set higher than 513 e Position Control Setting 2 Pn207 Default Setting 0000 Pn207 0 Position control setting 2 Position command filter selection Position Setting Default Restart range setting power Setting Explanation Explanation 0 Primary filter Set Pn204 properties 1 Linear acceleration and deceleration set Pn208 properties Select the command pulse soft start properties Select 0 to allocate the properties to Pn204 position command filter time constant 1 and select 1 to allocate the properties to Pn208 position command filter time constant 2 4 55 Operation Chapter 4 If not using the soft start function set the properties for the selected filter to O Note Refer to 4 5 13 Position Command Filter Function for details Pn207 1 Position control setting 2 Speed command input switching for position control Posi
269. gain too soon the Servomotor coil may be damaged Overload characteristics are shown in the following table If for example a current of three times the Servomotor s rated current flows continuously it will be detected after approximately three seconds 10000 1000 eo e Operation time s 100 150 200 250 300 Load ratio 96 A 3 000 r min Servomotors 30 to 400 W 3 000 r min Flat style Servomotors 100 to 400 W B 3 000 r min Servomotors 750W to 5 kW 3 000 r min Flat style Servomotors 750 W to 1 5 kW 1 000 r min Servomotors 300 W to 5 5 kW 1 500 r min Servomotors up to 15 kW 6 000 r min Servomotors up to 4 kW Note The load ratio is calculated in relation to the Servomotor s rated current Servomotor current Load ratio 96 x 100 Servomotor rated current 5 18 Troubleshooting Chapter 5 5 5 Periodic Maintenance Maintenance and Inspection Precautions N WARNING Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock N Caution Resume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in an unexpected operation Servomotors and Servo Drivers contain many components and will operate properly only when each of the individual components is operating properly Some of the electri cal and mechanical
270. ge setting power Pn510 0 Output signal selection 3 INP2 positioning completed 2 output terminal allocation Position Setting 0to 3 i Default Restart range setting power e Parameter settings are the same as for Pn50E 0 The WARN alarm output signal is normally ON and turns OFF when an alarm occurs Pn512 0 Output signal reverse Pins CN1 25 and 26 output signal reverse All operation modes Setting Default Restart range setting power Setting Explanation Setting Explanation 0 Not reversed 1 Reversed Select the characteristics of the output signal allocated to pins CN1 25 and 26 f you set 1 reverse ON OFF outputs are reversed Pn512 1 Output signal reverse Pins CN1 27 and 28 output signal reverse All operation S Setting 0 1 Unit Default Restart range setting power Setting Explanation Setting Explanation ooo Numwme SS Pn512 2 Output signal reverse Pins CN1 29 and 30 output signal reverse All operation Teen Setting 0 1 Unit Default Restart range setting power Setting Explanation Setting Explanation oO Nxmwme T 4 39 Operation Chapter 4 4 4 4 Parameter Details This section explains all user parameters not already explained in 4 4 3 Important Pa rameters Make sure you fully understand the meaning of each parameter before mak ing any changes to parameter settings Be sure not to change parameters designated Not used and
271. ge to System Check Mode 1 Press the Up or Down Key to set function code Fn012 Al Rz Al Re Fin See note Press the DATA Key front panel DATA Key for 1 s Ses E r min Driver software version is displayed as WE TERRE Press the MODE SET Key Encoder software version is displayed as E z Press the DATA Key front panel DATA Key for 1 s min DATA UAI to return to the System Check Mode function code Smin display 4 140 Operation Chapter 4 Note The digits you can manipulate will flash 4 141 Operation Chapter 4 4 11 11 Changing Absolute Encoder Rotation Setting ABS Changing Absolute Encoder Multi turn Setting Change Fn013 When you change the setting for user parameter Pn205 absolute encoder multi turn limit setting and turn OFF the power supply to the Servo Driver and then back ON again an A CC multi turn limit nonconformity alarm occurs When this alarm occurs you can change the setting in the encoder to the same as the Servo Driver setting by means of Fn013 absolute encoder multi turn setting change After changing the setting turn OFF the power then turn it ON again to clear the A CC alarm System Check Mode A Absolute encoder multi F aE ow 1s min turn setting change p G SE t Rotation setting displayed PGSEt displayed
272. ged by setting Pn50A 0 input signal selection mode to 1 The GSEL signal is allocated by Pn50d 2 Control Output Details e Control Output Sequence Power supply input ON L1C L2C L1 L2 L3 OFF Approx 2 s 7 7 300 ms Alarm output ON QM OFF 4 7 200 ms See note 2ms 60ms Servo ready output ON READY OFF Positioning completed output 1 2 ON INP1 INP2 OFF Brake interlock output ON BKIR OFF 0to35ms 2ms RUN command input ON RUN OFF Alarm reset input ON RESET OFF Alarm code outputs ON ALO1 ALO2 ALO3 OFF Note This signal will remain ON for approximately 250 ms after input of the SEN signal when using an absolute encoder e Encoder A B Z phase Outputs 33 A 34 A 36 B 35 B 19 Z 20 Z e 48 ABS 49 ABS Servomotor encoder signals are output as divided phase difference pulses according to the encoder dividing rate setting Pn201 The output form is line driver output and conforms to EIA RS 422A Receive the signals with a line driver or high speed photocoupler By inputting the SEN signal low to high absolute data is first output as serial data from the phase A and then it is output as A phase and B phase initial incremental pulses 90 phase difference pulses The output operation is the same as for an ordinary
273. gnal is allocated by Pn50d 0 Note 2 Withthe default allocation the function for pin 41 is changed to MING PLOCK TVSEL RDIR or IPG according to the Pn000 1 control mode selection setting and the control mode in op eration For details refer to 4 4 3 Important Parameters e Pulse Disable Input 41 IPG Command pulse inputs are disabled The motor will stop when this signal goes ON and the position will be locked Note 1 This isthe default allocation Input terminal allocations CN1 pins 40 to 46 can be changed by setting Pn50A 0 input signal selection mode to 1 The IPG signal is allocated by Pn50d 1 Note 2 Withthe default allocation the function for pin 41 is changed to MING PLOCK TVSEL RDIR or IPG according to the Pn000 1 control mode selection setting and the control mode in op eration For details refer to 4 4 3 Important Parameters e Gain Change Input Not Allocated GSEL The GSEL signal changes the gain When this signal is not input the settings of Pn100 speed loop gain Pn101 speed loop integration constant and Pn102 position loop gain are used for control When this signal is input the settings of Pn104 No 2 speed loop gain Pn105 No 2 speed loop in tegration constant and Pn106 No 2 position loop gain are used for control 2 68 Standard Models and Specifications Chapter 2 Note The GSEL signal is not allocated by default Input terminal allocations CN1 pins 40 to 46 can be chan
274. h input PLOCK When Pn000 1 is A speed command with position lock position lock command input IPG pulse When Pn000 1 is b position control with pulse disable disable input 4 33 Operation Chapter 4 CNt pinNo Signalname Condition O 42 POT forward eee ee to always OFF i e drive prohibition is disabled drive prohibit input 43 NOT reverse Set to always OFF i e drive prohibition is disabled drive prohibit input LEE RESET alarm EE bU PCL forward cae Pn000 1 is 0 to 2 or 7 8 9 A or b rotation current limit input SPD1 speed When Pn000 1 is 3 4 5 or 6 internal speed control setting selection command 1 input NCL reverse When Pn000 1 is 0 1 or 2 or 7 8 9 A or b rotation current limit input SPD2 speed When Pn000 1 is 3 4 5 or 6 internal speed control setting selection command 2 input Output 25 26 INP1 When using Position Control Mode signal Positioning completed output 1 VCMP speed When using Speed Control Mode or Internally set Speed conformity Control Mode output 27 28 TGON Servomotor rotation detection output 29 30 READY Servo ready output e Input Signal Selection Pn50A to Pn50d Pn50A 0 Input signal selection 1 Input signal allocation mode All operation modes Setting i Default Restart range setting power Setting Explanation Explanation Sets the sequence input signal allocation to the same as
275. h position lock 1 to 2000 Default Restart setting power e Adjust the position loop response to suit the mechanical rigidity The position loop gain is enabled in speed control only if using the position lock function Use servo lock power adjustment during position lock Servo system response is determined by the position loop gain Servo systems with a high loop gain have a high response and positioning is fast To raise the position loop gain you must improve me chanical rigidity and raise the specific oscillation This should be 50 to 70 1 s for ordinary machine tools 30 to 50 1 s for general use and assembly machines and 10 to 30 1 s for production robots The default position loop gain is 40 1 s so be sure to lower the setting for machines with low rigidity Raising the position loop gain in systems with low mechanical rigidity or systems with low specific os cillation may result in machine resonance causing an overload alarm to occur e If the position loop gain is low you can shorten the positioning time using feed forward You can also shorten the positioning time using the bias function Position loop gain is generally expressed as follows x Command pulse frequency pulses s Position loop gain Kp M s Deviation counter residual pulses pulses When the position loop gain is manipulated the response is as shown in the diagram below
276. harmonic current is not detected preventing the breaker from operating due to leakage current When selecting leakage breakers remember to also add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on For details on leakage breakers refer to the manufacturer s catalog The following table shows the Servomotor leakage current for each Servo Driver model commercial power supply frequency range Note 1 The above leakage current is for cases where Servomotor power line length is less than 10 meters It varies depending on the power line length and the insulation Note 2 The above leakage current is for normal temperature and humidity It varies depending on the temperature and humidity Leakage Breaker Connection Example AC power No fuse Surge Leakage Noise Servo Driver supply side breaker absorber breaker filter side STO OO 1NF4 co co 3Epe6 e Harmonic Current Countermeasures AC Reactor The AC Reactor is used for suppressing harmonic currents It suppresses sudden and quick changes in electric currents In September 1994 the Ministry of International Trade and Industry established guidelines for the sup pression of harmonic waves emitted from home and general electric appliances To comply with the guidelines appropriate measures are required to suppress the influence of harmonic waves on power supply lines Sele
277. he position control mode Note 1 These are the default allocations The INP1 signal is allocated by Pn50E 0 and the INP2 sig nal is allocated by Pn510 0 Note 2 Withthe default allocations INP1 enabled for position control and VCMP enabled for speed control are allocated to CN1 pins 25 and 26 e Speed Conformity Output 25 VCMP Speed Conformity Output Common 26 VCMPCOM The VCMP signalturns ON when the difference between the speed command andthe Servomotor rota tion speed is equal to or less than the value set for Pn503 speed conformity signal output width For example if the speed command is for 3 000 r min and the set value is for 50 r min it turns ON when the rotation speed is between 2 950 and 3 050 r min This signal is always OFF when the control mode is any mode other than the speed control mode Note 1 These are the default allocations The VCMP signal is allocated by Pn50E 1 Note 2 Withthe default allocations INP1 enabled for position control and VCMP enabled for speed control are allocated to CN1 pins 25 and 26 2 70 Standard Models and Specifications Chapter 2 e Motor Rotation Detection Output 27 TGON The TGON signal turns ON when the motor rotation speed exceeds the value set for Pn502 rotation speed for motor rotation detection Note This is the default allocation The TGON signal is allocated by Pn50E 2 e Servo Ready Output 29 READY Servo Ready Output Common 30 READYCOM The RE
278. he position may slip due to tempera ture drift from the A D converter etc In this case when MING gain reduction is input the speed loop gain will fall and the amount of drift will be lowered If there is static friction on the load 596 min of the rated torque the Servomotor may stop completely Inputting MING during parts insertion operations after positioning is completed with a position loop incorporated will make parts insertion easier by weakening resistance to external force This is also effective for operating at high gain during rotations and for lowering gain to suppress vibrations when the Servomotor is stopped Note If MING is input with applications that include vertical axes with gravity loads or continuous exter nal force the target position cannot be attained m Parameters Requiring Setting Parameter Parameter name NENNEN S EE adl No Pn50A 2 Input signal Be sure to allocate MEN NE See note 4 4 3 d selection 1 MING Parameters signal selection Note If changing the default setting set Pn50A 0 input signal selection mode to 1 user defined set tings 4 5 10 Torque Limit Function All Operating Modes m Functions The torque limit function limits the Servomotor s output torque This function can be used to protect the Servomotor and mechanical system by preventing excessive force or torque on the mechanical system when the machine moving part pushes against the work piece with a steady fo
279. he power First perform a trial operation at low speed to confirm that the system is operating correctly Next perform a normal run pattern to con firm that the system is operating correctly Note 1 lf an error occurs during the trial operation refer to Troubleshooting to eliminate the cause Then check for safety and reset the alarm and then retry the trial operation Note 2 Ifthe system vibrates due to insufficient gain adjustment making it difficult to check the opera tion refer to 4 7 Making Adjustments and adjust the gain Preparation for Trial Operation Turn OFF the Power Some parameters are enabled by turning OFF the Unit then turning it ON again Consequently firstturn OFF the power to the control circuits and main circuits Mechanical System Connection Firmly connect the Servomotor shaft and the load i e the mechanical system Tighten screws to make sure they are not loose Absolute Encoder Setup ABS If using Servomotor with an absolute encoder refer to 4 2 2 Absolute Encoder Setup and Battery Chan ges for the setup procedure After performing a jog operation the amount of multi turn rotation may be too large so when connecting the absolute encoder to the mechanical system be sure to set the rota tion speed to zero 4 90 Operation Chapter 4 Turning OFF the Servomotor In order that the Servomotor can be immediately turned OFF if an abnormality occurs in the machinery set up the system so that
280. heck the polarity carefully 4 8 5 Gain Switching Position Speed Internally set Speed Control m Functions This function switches the speed loop and position loop gain e If GSEL gain switching signal is not being input perform control using Pn100 speed loop gain Pn101 speed loop integration constant and Pn102 position loop gain If GSEL is being input per form control using Pn104 speed loop gain 2 Pn105 speed loop integration constant 2 and Pn106 position loop gain 2 e Ifthe mechanical system inertia fluctuates too much or if there is no difference between operation and standby responses you can perform applicable control using gain switching e Ifonline auto tuning is not enabled under the conditions shown below the gain switching function will be enabled When using the torque feed forward function When the load inertia fluctuates by 200 ms max Whenrotation speed does not exceed 500 r min or outputtorque does not exceed 5096 of rated torque External force is constantly applied as with a vertical axis Note When No 2 gain has been selected i e GSEL ON online auto tuning will not operate normally If using the gain switching function turn OFF online auto tuning Pn110 0 2 4 104 Chapter 4 Reference 4 4 3 Important Parameters Operation Parameters Requiring Settings Parameter No Parameter name Explanation Input signal selection 1 GSEL signal is no
281. hese operations as needed to shorten the time required for a setting operation Try changing the jog speed setting using various different operations Note Do not change any other parameter settings at this stage Before changing other parameter set tings make sure you read and fully understand 4 4 User Parameters Changing the Setting Using the Up and Down Keys The digits that can be changed will flash Press the Up Key to increment the setting and press the Down Key to decrement the setting A A Al aaam ae aE m hz hz Press and hold the keys to increment and decrement rapidly auto increment function Al Press and hold m HE 00 n ID fim Display differs depending on the timing Lu gies LI tU DIL when the key is released v Th Press and hold Changing the Setting while Changing the Operation Digits using the Left Key and Right Keys Press the Left Key front panel DATA Key for less than 1 s to shift the operation digit to the left and press the Right Key to shift the operation digit to the right 4 14 Operation Chapter 4 Note 1 There is no right shift function for the front panel keys Note 2 Press the DATA Key on the front panel for less than 1 s Pressing the Key for 1 s or more causes the Unit to recognize the Key as the DATA Key Less Less Tone than 1s K oxw than1s
282. hin the range 23 to 25 VDC Ifthe voltage falls outside of this range there is a risk of misoperation so make sure that the power supply is correct Selecting Analysis Tools e Check Whether an Alarm Has Occurred e Ifan alarm has occurred check the alarm code A and perform analysis depending on the alarm code f an alarm has not occurred perform analysis depending on the error Note Refer to 5 3 Troubleshooting in either case e Types of Analysis Tools The types of analysis tools are as follows Servo Driver Indicators and Parameter Unit Perform analysis using the display 7 segment LEDs and the operation keys on the front panel of the Servo Driver You can also perform the same operation using the Parameter Unit R88A PRO2W This manual explains analysis using these methods 5 2 Troubleshooting Chapter 5 Computer Monitor Software e Install and use the OMNUC W series Servo Driver Computer Monitor Software for Windows 95 The following three items are required An IBM PC AT or compatible with Windows 95 the Com puter Monitor Software and Connecting Cable R88A CCWO02P Refer to the Computer Monitor Software for operation details 5 1 2 Precautions When checking and verifying I O after trouble has occurred the Servo Driver may sud denly start to operate or suddenly stop so take precautions Also do not at
283. ications Chapter 2 2 2 Servo Driver and Servomotor Combinations The tables in this section show the possible combinations of OMNUC W series Servo Drivers and Servomotors The boxes L at the ends of the model numbers are for op tions such as shaft type brake waterproofing and so on m 3 000 r min Servomotors and Servo Drivers Voltage Servomotor Servo Driver Rated output With incremental With absolute encoder encoder 100 V R88M W03030L R88M W03030S R88D WTA3HL R88M W05030L R88M W05030S R88D WTA5HL 100 W R88M W10030L R88M W10030S R88D WTO1HL 200 W R88M W20030L R88M W20030S R88D WTO2HL R88M WO03030H R88M W03030T R88D WTA3H RBSM WOSO3OH RBSM WT0030H RBSM WO030H RBSM WA0030H RESN W7SO30H RBS WIKOGOH RESV WIKSGOH RESV WKOGOH RESN WSKO3OH RBS WKO3OH RBS WSKO3OH TR RES WIKOSOF TSKW REBM WIKSSOF RES WKOSOF RESN WSKOSOF RBSN WAKOSOF RBSN WSKOSOF oje T 2 14 Standard Models and Specifications Chapter 2 m 3 000 r min Flat style Servomotors and Servo Drivers Voltage Servomotor Servo Driver Rated output With incremental encoder R88
284. ignal selection Function selection switch Set the stop method 4 4 3 Important 1 when POT and NOT in Parameters Pn001 1 stop selection for drive prohibition input are OFF If Pn001 1 is set to O stop according to Pn001 0 setting be sure to set Pn 001 0 stop selection for alarm generation with servo OFF Emergency stop torque If Pn001 1 is set to 1 or 4 4 4 Parameter Details 2 set emergency stop torque in Pn406 Note POT and NOT are allocated to CN1 42 43 in the default settings but are both setto disabled i e drive prohibition will not operate If changing the default setting set Pn50A 0 input signal selec tion mode to 1 user defined settings Operation Stopping Methods when Forward Reverse Drive Prohibit is OFF Pn001 0 Deceleration Method Stopped Status 0 or 1 Dynamic brake Servo unlocked Pnoo1 1 0 2 POT NOT is OFF Free run Pn001 1 2 Servo unlocked 10r2 Emergency stop torque Pn406 See note 1 Servo locked Note 1 If the Servomotor stops in this mode during position control the position loop is disabled 4 76 Operation Chapter 4 Note 2 The position method used during torque control depends on Pn001 0 setting the P001 1 set ting is unrelated ON POT forward Forward direction drive prohibited OFF l Position NOT reverse PA Reverse direction drive prohibited ore L Only
285. in 0 1000 2000 3000 R88M W7K515F N m 200 150 100 Repeated usage 48 0 r min 0 1000 2000 3000 50 0 Standard Models and Specifications Chapter 2 N m R88M W11K015F N m R88M W15K015F 250 200 150 150 Repeated usage Repeated usage 100 100 7 0 50 50 Continuous usage Continuous usage r n 0 r min 0 1000 2000 3000 0 1000 2000 3000 0 6 000 r min Servomotors 400 V AC The following graphs show the characteristics with a 3 m standard cable and 400 V AC input R88M W1KO60F R88M W1K560F 8 N m N m Repeated usage r min Continuous usage r min 0 1000 2000 6000 0 2000 4000 6000 N m F88M W3K060F 30 N m R88M W4KO060F 20 Repeated usage 10 0 Continuous usage r min r min 0 2000 4000 6000 0 2000 4000 6000 e Servomotor and Mechanical System Temperature Characteristics W series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approximately 0 13 C As the temperature drops the Servomo tors momentary maximum torque increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 C and 10 C are compared the momentary maximum torque increases by approximately 4 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 Ge
286. in put PLOCK ON position lock command orr Fr min Servomotor operation Pn501 Position lock rota um ic ie Riess TOP nee A Re Re REN tion speed z Pn501 Position lock rota tion speed Position lock status r min 4 5 15 Speed Limit Function Torque m Functions This function limits Servomotor rotation speed when torque control is used Setalimitsothatthe Servomotor rotation speed does not exceed the maximum speed of the mechani cal system Outside of the speed limit range a torque in proportion to the difference from the speed limit value is generatedto slow downthe Servomotor rotation speed In such cases the number of Servomotor rota tions does not necessarily match the speed limit value The number of Servomotor rotations varies depending on the load There are two methods that can be used for limiting the speed Apply a constant fixed speed limit for torque control by means of user parameters Limit the speed by means of analog voltage Use REF speed command input as an analog speed limit input Whenthe speed limitis in operation VLIMT speed control output is output when the signal has been allocated in Pn50F 1 The Servomotor rotation speed is limited by the smallest limit among the speed limits and analog speed limits set in the parameters e Parameters Requiring Settings Parameter No Parameter Explanation Reference name Pn407 Speed lim
287. incremental encoder 90 phase difference pulses 2 69 Standard Models and Specifications Chapter 2 The following diagram shows the output phases The phases are the same for both absolute and incre mental encoders Forward Rotation Side Reverse Rotation Side Phase B Phase B Phase Z Phase Z Z F Phase A Note Phase Z is synchronous with phase A but the pulse width may be less than for phase A e Alarm Code Outputs 1 to 3 37 ALO1 38 AL02 39 ALO3 When a Servo Driver error is detected the contents of the error are output in 3 bit code The alarm code output ground common is CN1 pin 1 GND For details refer to 5 2 Alarms e Alarm Output 31 ALM Alarm Output Ground 32 ALMCOM When the Servo Driver detects an error outputs are turned OFF At that time an alarm code is output according to the contents of the error This output is OFF at the time of powering up and turns ON when the initial processing is completed e Positioning Completed Output 1 25 INP1 Positioning Completed Output 1 Common 26 INP1COM Positioning Completed Output 2 Not Allocated INP2 The INP1 signal turns ON when the number of accumulated pulses in the deviation counter is less than Pn500 positioning completed range 1 The INP2 signal turns ON when the number of pulses is less than Pn504 positioning completed range 2 These signals are always OFF when the control mode is any mode other than t
288. ing Appendix Parameter name Speed feedback compensat ing gain Chapter 6 Explanation See note 1 Default Default Setting Restart setting setting range power vane se Emig Adjusts speed loop feedback gain PI 1 to 500 M Prit2_ Not used Bo not change setro M9 ho o Pes aues orem setingy fr fro fF Pni14 Pn115 Not used Not used Do not change setting j Do not change setting Pers Net wed Oona change seting Je de Pnii7_ Not used Do net change seting M9 ho j e e Pn118 Not used Do not change sewing on a Se ee e et Pme Neues at chngesetngy E E E EE riia_ Netwsd oret ans setingy pm pex 3 Pniib Pn11C Not used Not used Do not change setting 7 Do not change setting A A T 00 PHE Not used Do not shange setine Mo ho j Cd Pni1F Not used Do not change setting Pni20_ Notused Do net change seting o b Cd Od Pni2i_ Not used Do not change seting lo 9 H Cd Pn122 Not used oe not change setting j Pni28 Notused Domotchangeseting o b l b Ib Note 1 Explanation for parameters set using 5 digits Note 2 Explanation for parameters requiring each digit No to be set separately 6 13 Append
289. ing cable only B e only LILILIB e only S E B R88A CAWK R88A CAWK B R88A CAWC S E B R88A CAWD S E E E E R88A CAWJLILILIS E R88A CAWC E braking cabl E E E R88A CAWC R88A CAWK S DE R88A CAWK S DE brake cable only R88A CAWC B E brake cable only System Design and Installation Chapter 3 Servomotor type Power Cables for Power Cables for Servomotors Without Brakes Servomotors With Brakes 6 000 r min 1 to 1 5 kW R88A CAWC S E R88A CAWC B E Servomotors 400 V AC brake cable only R88A CAWD S E R88A CAWC B E brake cable only 6 000 r min R88A CAWD S E R88A CAWC B E Servomotors 400 V AC braking cable only Note 1 The empty boxes in the model numbers are for cable length The cables can be 3 5 10 15 or 20 meters long For example R88A CAWOOSS is 3 meters long Note 2 For 4 kW and 5 5 kW Servomotors and 400 V AC type Servomotor there are separate connectors for power and brakes Forthat reason when a Servomotor with a brake is used it will require both a Power Cable for a Servomotor without a brake and a Power Cable for a Servomotor with a brake Note 3 The DE type cables are flexible cables with IP67 connectors These cables should be used in com bination with a D type motor For exam
290. ing the connection components required for improving noise resistance These criteria include capacity performance applicable range and so on For more details contact the manufacturers directly 3 22 System Design and Installation Chapter 3 e No fuse Breakers NFB When selecting no fuse breakers take into consideration the maximum output current and the inrush current Maximum input current The momentary maximum output for a Servo Driver is approximately three times that of the rated out put and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 300 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable The table in 3 2 3 Terminal Block Wiring shows the rated power supply input currents for each Servomotor Select a no fuse breaker with a rated current greater than the total effective load current when multiple Servomotors are used When making the selection add in the current consumption of other controllers and so on Servo Driver inrush current With low speed no fuse breakers an inrush current 10 times the rated current flows for 0 02 second For a simultaneous inrush for multiple Servo Drivers select a no fuse breaker with a 20 ms allowable current greater than the total inrush current shown in the following table for the applicable Servomotor models Servo Driver Inrush current Ao p
291. into the opening for Servo Driver installa tion and press down firmly to open the slot as in Fig B 210 120J Lever Wago Company of Japan Ltd 3 20 System Design and Installation Chapter 3 4 Insert the wire into the slot With the slot held open insert the end of the wire Then let the slot close by releasing the pressure from the lever or the screwdriver 5 Mount the Terminal Block to the Servo Driver After all of the terminals have been wired return the Terminal Block to its original position on the Servo Driver 3 2 4 Wiring for Noise Resistance System noise resistance will vary greatly depending on the wiring method used This section explains how to reduce noise through proper wiring m Wiring Method e R88D WTA3HL to R88D WT15H H Servo Drivers Single phase Power Supply Input AC power supply NFB Noise filter Surge absorber 1 NF 3 3 5mm o 9 Class 3 Qt ground to oe a 1009 001659 Ground Y Y Noise filter t 1 NF 4 4 3 2 5 3p 6 3 5mm i l Class 3 ground to or 1002 or less Ground 1 plate Ground control box Controller power supply 3 21 System Design and Installation Chapter 3 Ground the motor s frame to the m
292. inue The following table shows the regenerative energy and amount of regen eration that the individual Servo Drivers themselves can absorb If these values are exceeded take the following measures Connect external regeneration resistance to improve the regeneration processing capacity e Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time to decrease the regenerative energy produced per time unit Lengthen the operation cycle i e the cycle time to decrease the average regenerative power 3 45 System Design and Installation Chapter 3 Servo Driver Regenerative energy J that can be absorbed by internal capacitor See note 1 R88D WTA3HL R88D WTASHL R88D WT01HL R88D WTO2HL R88D WTA3H R88D WTA5H R88D WT01H R88D WT02H R88D WT04H R88D WTOSHH R88D WT15HH R88D WT05H R88D WT08H R88D WT 10H R88D WT 15H R88D WT20H R88D WT30H R88D WT50H R88D WT60H R88D WTOSHF R88D WT10HF R88D WT15HF R88D WT20HF R88D WT30HF R88D WT50HF Internal regeneration resistance Average amount of Resistance Min regeneration that Q allowable can be absorbed resistance W 9 Note 1 These are the values at 100 V AC for 100 V AC models and at 200 V AC for 200 V AC models Note 2 The R88D WT60H and R88D WT60HF 75HF 110HF 150HF do not have built in regeneration pro cessing circuitry External resistance must b
293. ion Parameter name P control switching torque command P control switching speed command Chapter 4 Setting Restart range power 0 to 800 a Explanation See note 1 Default Default i tting setting Explanation See S Sets level of torque command to switch from PI Sets level of speed command to switch from PI control to P control P control switching accelera tion com mand Sets level of acceleration command to switch from PI 0 to 3000 control to P control P control switching deviation pulse Online autotuning setting Speed feedback compensat ing gain Not used Sets level of deviation pulses to switch from PI control to P control control to P control 0 z 0 10 r min s 10 Command unit i A Auto tunes initial operations only after power is turned ON Selects online auto tuning Always auto tunes No auto tuning Selects speed feed back com pensation function Selects adhesive friction compensa tion function Friction compensation OFF Friction compensation rated torque ratio small Friction compensation rated torque ratio large Not used Do not change setting Adjusts speed loop feedback gain Do not change setting Not used Do not change setting Not used Not used 100 100 1000 1000 200 200 Do not change sening Do not change setting m Wot se
294. ion drive prohibit NOT eo Alarm reset RESET t O O Forward rotation current limit PCL tO 0 Reverse rotation current limit NCL Qe O 25 NPA Positioning coms pleted output 1 26 INP1COM 27 LTGON Motor rotation detection 28 JTGONCOM 29 READY Servo ready OW E 30 READYCOM 31 ALM Alarm output ALMCOM 7 Q O 37 ALO1 Alarm code outputs 38 ALO2 Q 39 ALO3 Q 33 A Encoder A phase out puts 2e E Encoder B phase outputs 35 ie Encoder Z phase outputs 19 TZ 20 Z Q 1 GND Ground common Shell FG Frame ground Maximum operating voltage 30 V DC Maximum output current 50 mA Maximum operating voltage 30 V DC Maximum output current 20 mA Line driver output EIA RS422A conforming Load resistance 220 Q max Note The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter settings The settings in the diagram are the defaults 2 52 Standard Models and Specifications Chapter 2 m Control I O Signal Connections and External Signal Processing for Speed and Torque Control Speed REF 5 command LPF AGND Ae D ae TREF 19 oe E command LPF I AGND 10 lt Sensor ON SEN f4 1000 AN
295. ion Chapter 3 R88A FIW4006 E 28 150 0 5 1 o 2 ar m n hi 9 4 c 3 e 7 il ed drive mounts 4 x M4 INPUT CABLE SIZE 19 X 0to6mm 162 strip 7 mm 202 DETAIL A Filter mounting 4 x M4 Screw Output flexes qu g HIN 3 x 300mm Gl Em a Kr 16AWG Herrule a b 70 28 239 0 5 1 2 2 E C e 7 10 PE 3 e E 2 E e drive mounts 4 x M4 Semen A Oo o Ne INPUT CABLE SIZE X 0 to 6 mm2 19 i strip 7 mm 291 DETAIL A Filter mounting 4x M4 Screw Output flexes l 14 s M 13 3 x 280mm g C 2 8 16AWG M4 spade i S 90 3 37 System Design and Installation Chapter 3 R88A FIW4020 SE i TNCS e gt mg 0002000000000 E HI Ny O a 302 E 285 7 5 L 85 F Te i f X a p ohoo i Ef i i o S a zu S n M5 I i EX amp R RSq w M5 Ei d o i NOST u i e eto jJ i i T 2 e n Sio Ili o Do o 9 24 9 to Y AWG 14 1 245 L L N R88A FIW4030 SE i Bla 0020000090000 JOCOOCOOC ye i 405 386 Hes 8 5 95 i Day l E i i x 8 d
296. ion is OFF i e the forward rotation drive is permitted The POT signal permits forward rotation drive upon input Pn50b 0 Input signal selection 2 NOT signal reverse drive prohibited input terminal allocation All operation modes Setting Default Restart range setting power e Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to 6 and 9 to F are disabled and all are set to CN1 pin 43 enabled by L input Settings 7 and 8 are both enabled To change the pin number set Pn50A 0 to 1 e Ifsetto 7 always ON the servo is in always in overtravel status i e reverse rotation is always drive prohibited If set to 8 always OFF the servo drive prohibition is OFF i e the reverse rotation drive is permitted The NOT signal permits reverse rotation drive upon input Pn50b 1 Input signal selection 2 RESET signal alarm reset input terminal allocation All operation modes Setting 0 to F Default Restart range setting power e Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to 6 and 9 to F are disabled and all are set to CN1 pin 44 enabled by L input Settings 7 and 8 are both enabled To change the pin number set Pn50A 0 to 1 Do not set 7 always ON If setting 8 always OFF when the alarm is cancelled turn ON the power or reset the alarm using the operation key
297. ion pulses are input Note 4 One position deviation deviation counter display and positioning completed range pulse make one input pulse This is called a command unit Operation e Servomotor with 2 048 Pulses Rotation Encoder When set to G1 G2 8192 1000 the operation is the same as for a 1 000 pulses rotation Servomotor Servomotor Servo Driver Encoder resolution 2 048 pulses rotation 1 000 pulses sree aa 8 192 pulses 1 rotation 8 192 pulses 4 5 13 Position Command Filter Function Position m Functions e Perform soft start processing for the command pulses using the selected filter to gently accelerate and decelerate Select the filter characteristics using Pn207 0 position command filter selection When Pn204 position command filter time constant 1 is selected acceleration and deceleration are performed using the primary filter exponentiation function When Pn208 position command filter time constant 2 is selected acceleration and deceleration are linear This function is effective in the following cases There is no acceleration deceleration function in the command pulse controller The command pulse frequency changes rapidly causing the machinery to vibrate during accelera tion and deceleration The electronic gear setting is high G1 G2 10 4 86 Operation Chapter 4 Parameters Requiring Settings Parameter Parameter name Explanatio
298. ions Note Ifthe adhesive friction on the rated rotation speed is 10 max ofthe rated torque set this parame ter to O No friction compensation Pn110 3 Online auto tuning setting Not used Setting Default Restart range setting power Default Restart setting power Use this parameter to adjust the speed loop feedback gain for when Pn110 1 speed feedback com pensation function selection is set to ON The smaller the setting the higher you can raise the speed loop gain and position loop gain If the setting is too small however responses may be unstable Note 1 Correctly set Pn103 inertia ratio perform the usual manual adjustment then adjust the speed feedback compensation After manual adjustment manually readjust the setting to approximately 9096 Then readjust repeatedly while gradually reducing the setting to find the optimum setting Note 2 If using speed feedback compensation function online auto tuning is disabled Note 3 Refer to 4 8 7 Speed Feedback Compensation for details e Unused Gain Parameters Pn 112 to Pn123 Note Do not change the settings of the following parameters Pn112 Default seting Pn113 Default seting 1000 4 51 Operation Chapter 4 zum Pn115 Pn116 Pn117 700 Pn118 700 Pn119 zT Pn11C Pnti 700 nite 700 Pn11F Naruse oo Do 0 O Pn120 Naus O O Oo o Doso 0 zn Pn122 Naruse o Ds 0 O Pn123 Naruse Ooo Do 0 O m Position Control
299. ions Chapter 2 e Wiring Emergency Origin proximity See note 5 stop Com Co Co Com Com External interrupt Note 1 The XB contact is used to turn ON OFF the electromagnetic brake N Do not connect unused terminals The 0 V terminal is internally connected to the common terminals A The following crimp terminal is applicable R1 25 3 round with open end 5 Allocate BKIR Braking Lock to CN1 pin 27 24V DC XW2B 40J6 2B This Servo Relay Unit connects to the following OMRON Posi tion Control Units C200H NC211 C500 NC113 NC211 C200HW NC213 NC413 e External Dimensions X axis Servo Y axis Servo Position Control Unit connector Driver connector Driver connector Two 3 5 dia Note Terminal Block pitch 7 62 mm 2 127 Standard Models and Specifications Chapter 2 e Wiring X axis origin M ens origin ees stop proximity See note 5 See note 5 X axis Y axis Y axis 20 24V cow Xade MING ALM BKR ow cow RUN MING ALM BKR 39 fint limit RUN i limit Coi Co Coi Com Com EJ em Com Com HELE RESE E B mon mon ese FG m N ENS Y axis jus ee d ALMCOM PUDE oO interrupt i 7 ky p ij D T See note 1 See O note 1 ae 24V DG 24 V DC babe OJO lele Is i olo olo ji MN Mo ele Note 1 The XB contact is used to turn ON OFF the electromagnetic brake 2 Do not connect unused termin
300. it Set the speed limit for torque control Setting 4 4 4 Parameter range 0 to 1 000 r min Details 4 89 Operation Chapter 4 e Limiting the Speed with Analog Voltage e When Pn002 1 speed command input switching is set to 1 REF speed command input becomes the analog speed limit input terminal so you can limit the speed on multiple levels The speed limit value can be calculated from the following equation Absolute REF voltage V Pn300 speed command scale x 100 x rated rotation speed r min Regardless of whether the voltage is positive or negative both forward and reverse directions have the same limits taken as absolute values Parameter No Parameter name Explanation Reference Function selection Set Pn002 1 to 1 i e use REF as the analog 4 4 4 Parameter Switch 2 speed limit input Details Speed command input switching Speed command Set the REF voltage for the rated rotation speed scale See note Note The default setting is 1000 x 0 01 V No or rated rotations 4 6 Trial Operation Procedure When you have finished installation wiring verifying Servomotor and Servo Driver op erations i e jog operation and setting the user parameters perform a trial operation The main purpose of a trial operation is to confirm that the servo system is operating correctly electrically Make sure that the host controller and all the programming devices are connected then turn ON t
301. itch to P control using Servomotor rated torque ratio The servo switches to P control if the internal torque command exceeds the setting level Pn10d P control switching speed command Position speed internally set speed oe Setting Oto 10000 Unit r min Default Restart range setting power You must set Pn10d if you set Pn10b 0 P control switching condition to 1 switching by speed com mano Set the speed to switch to P control The servo switches to P control if the speed command exceeds the setting level Pn10E P control switching acceleration command Position speed internally set speed conio Setting O to 3000 Unit x 10 r min s Default Restart range setting power e You must set Pn10E if you set Pn10b 0 P control switching condition to 2 switching by acceleration command Set the acceleration to switch to P control The servo switches to P control if the acceleration command value exceeds the setting level Pn10F P control switching deviation pulse Setting Oto 10000 Unit Command Default Restart range unit setting power e You must set Pn10F if you set Pn10b 0 P control switching condition to 3 switching by deviation pulse e Set the deviation pulse to switch to P control e The servo switches to P control if the deviation counter residual pulses exceed the setting level e Online Auto tuning Setting Pn110 Default Setting 0012 Online auto tuning is a control functi
302. ition control with pulse prohibition i Servo Driver communications unit i number setting necessary for multiple Servo Driver connections when using personal computer monitoring software Do not change setting Func Select Servomotor stopped by dynamic 1002 0000 tion stop if brake selec an bd red Dynamic brake OFF after tion when Servomotor stopped switch Servo 1 motor is Servomotor stopped with free run OFF Select Stop according to Pn001 0 setting stop release Servomotor after stopping s Stop Servomotor using torque set ne in Pn406 and lock Servomotor drive is after stopping input Stop Servomotor using torque set in Pn406 and release Servomotor after stopping AC power supply AC power supplied from L1 L2 L3 terminals H DC power supply DC power from 1 terminals Select Alarm code only output from ALO1 warning ALO2 ALO3 code Al d output arm code and warning code output from ALO1 ALO2 ALO3 Operation 4 20 Func tion selec tion ap plica tion switch 2 Torque com mand input change during position and speed control Speed com mand input change during torque control Opera tion switch when using absolute encoder Applica tion method for full closed loop en coder Analog monitor 1 AM alloca tion Analog monitor 2 NM alloca tion Explanation Not used Use TRE
303. ition fixing time 4 99 Operation Chapter 4 4 8 Advanced Adjustment Functions 4 8 1 Bias Function Position Functions The bias function shortens positioning time by adding bias revolutions to speed commands i e com mands to the speed control loop If the residual pulses in the deviation counter exceed the setting in Pn108 bias addition band the speed set in Pn107 bias rotational speed is added to the speed command and when the residual pulses in the deviation counter are within the setting in Pn108 adding to the number of bias rotations stops Parameters Requiring Settings Parameter No Parameter Explanation Reference name Pn107 Bias rotational Set the rotation speed to be added to the bias 4 4 4 Parameter speed setting range 0 to 450 r min Details Pn108 Bias addition Set the residual pulses to be added to the number band of bias rotations using command units setting range 0 to 250 command units Note 1 When not using the bias function set Pn107 to O Note 2 Ifthe bias rotational speed is set too high it will cause Servomotor operation to be unstable The optimum setting depends on the load the gain and the bias addition band so adjust the setting while observing the Servomotor response Begin with a bias setting of Pn107 0 and gradually increase it m Setting Procedure Complete the gain adjustment before adjusting the bias Increase the Pn107 bias rotational spe
304. ividing Rate for Servo Controllers llle eee 6 8 6 3 Parameter Setting Tables i oec viet whet alee od E re e ER Pres 6 9 ji TH Chapter 1 Introduction 1 1 Features 1 2 System Configuration 1 3 Servo Driver Nomenclature 1 4 Applicable Standards and Models 1 5 System Block Diagrams Introduction Chapter 1 1 1 Features With their superior performance and fast response plus a wider selection of models the OMNUC W se ries AC Servomotors and Servo Drivers inherit the features of and surpass the previous OMNUC U Se ries Faster Response and Rotation Speed The W series AC Servomotors and Servo Drivers provide faster response than the previous U se ries models with high frequency responses of 400 Hz compared to 250 Hz for the U Series More over the 3 000 r min Servomotors provide rotation speeds of up to 5 000 r min as compared to 4 500 r min for the U Series for even faster positioning Wider Selection In addition to 3 000 r min 30 W to 5 kW Servomotors the W series product line offers 1 000 r min 300 to 5 5 kW 1 500 r min 450W to 15 KW and 6 000 r min 1 0 to 4 0 kW models to choose from And included among the 3 000 r min models are Flat style 100 W to 1 5 kW Servomotors that are ideal for applications requiring installation in tight spaces IP67 Waterproof Servomotors The1 500 r min 3 000 r min and 6 000 r min Servomotors have an enclosure rating of IP67 wa terproo
305. ix Chapter 6 m Position Control Parameters From Pn200 Parameter Explanation See note 1 Default Default Setting Restart name 3 i setting setting range power i xd See note 100 200 V 400 V Position Command 0 Feed pulse 1011 0000 control forward reverse signal setting 1 Positive logic Forward pulse reverse pulse Positive logic 90 phase difference A B phase signal x1 Positive logic 90 phase difference A B phase signal x2 Positive logic 90 phase difference A B phase signal x4 Positive logic Feed pulses Forward reverse signal Negative logic Forward pulse reverse pulse Negative logic 90 phase difference A B phase signal x1 Negative logic 90 phase difference A B phase signal x2 Negative logic 90 phase difference A B phase signal x4 Negative logic Deviation High level signal counter ai r set Rising signal low to high Low level signal Falling signal low to high Deviation Deviation counter reset if counter an alarm occurs when reset if an Servomotor is OFF alarm Tm occurs Deviation counter not when the reset if an alarm occurs Servomot when Servomotor is OFF or is OFF Deviation counter reset only if alarm occurs Pulse Command filter for line command driver signal input 500 filter kpps selection Command filter for open collector signal input 200 kpps Encoder Sets the number of output
306. j note DATA min DATAK 1 s min C3 C3 Tt Press the DATA Key front panel DATA Key for 1 s min to display monitor value for Un004 electrical angle LI UJ 5 C3 C3 L Press the DATA Key front panel DATA Key for 1 s min to return to monitor number display Note Digits that can be manipulated will flash 4 112 Operation Chapter 4 Types of Monitoring In Monitor Mode 14 types of monitoring can be carried out Display Monitor contents Explanation monitor No i nnn Speed feedback all Displays actual rotation speed of Servomotor DEED output modes Speed command all Displays speed command voltage calculated in output modes r min Torque command all Displays command values to current loop rated output modes torque 10096 Number of pulses from Displays rotation position from Phase Z edge 4X Phase Z edge all calculation output modes Electrical angle all Displays the electrical angle of the Servomotor output modes Input signal monitor all Displays the control input signal status using output modes ON OFF bits Output signal monitor Displays the control output signal status using all output modes ON OFF bits Command pulse speed Calculates and displays command pulse display position frequency in r min Position deviation Displays number of residual pulses in deviation deviation counter counter input pulse sta
307. king Door interior view Selecting Components This section explains the criteria for selecting the connection components required for improving noise resistance These criteria include capacity performance applicable range and so on For more details contact the manufacturers directly e No fuse Breakers NFB When selecting no fuse breakers take into consideration the maximum output current and the inrush current Maximum input current The momentary maximum output for a Servo Driver is approximately three times that of the rated out put and amaximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 300 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable The table in 3 2 3 Terminal Block Wiring shows the rated power supply input currents for each Servomotor Select a no fuse breaker with a rated current greater than the total effective load current when multiple Servomotors are used When making the selection add in the current consumption of other controllers and so on Servo Driver inrush current With low speed no fuse breakers an inrush current 10 times the rated current flows for 0 02 second 3 31 System Design and Installation Chapter 3 For a simultaneous inrush for multiple Servo Drivers select a no fuse breaker with a 20 ms allowable current greater than the
308. l allocation PCL forward rotation current limit signal allocation NCL reverse rotation current limit allocation RDIR rotation direction command signal allocation SPD1 speed selection reference 1 signal allocation SPD2 speed selection command 2 signal allocation IPG pulse disable signal allocation 6 19 Appendix Chapter 6 Parameter Explanation See note 1 Default Default i Setting Restart name a setting setting range power 3 Explanation See note 2 100 200 V 400 V Output INP1 No output signal signal selection positioni Allocated to CN1 pins 25 ng 26 complete Allocated to CN1 pins 27 d 1 28 output terminal Allocated to CN1 pins 29 allocation 30 VCMP Same as Pn50E 0 signal output terminal allocation TGON Same as Pn50E 0 signal output terminal allocation READY Same as Pn50E 0 aa READY Servomotor eran warmup complete signal allocation allocation Output CLIMT Same as Pn50E 0 signal signal CLIMT current limit selection 2 output 3 terminal detection signal allocation allocation VLIMT Same as Pn50E 0 signal VLIMT speed limit output i terminal detection signal allocation allocation BKIR Same as Pn50E 0 signal BKIR brake interlock output ignal allocation terminal i aba SHE allocation WARN Same as Pn50E 0 signal output terminal allocation Output INP2 Same as Pn50E 0 signal signal
309. l Units CV series C200HW NC113 Programmable C200HW NC213 Controller C200HW NC413 C500 NC113 C500 NC211 C200H NC112 C200H NC211 Incremental Absolute OMNUC W series AC Servomotor R88M Wl Note Servomotors with absolute encoders can be used in combination with CS1W MC221 421 CV500 MC221 421 or C200H MC221 Motion Control Units 1 6 Introduction Chapter 1 1 3 Servo Driver Nomenclature fl cae a Analog Monitor Output Connector CN5 zi Rotation speed torque command values etc are output in analog voltage A special cable is used og on Tre Battery holder o Holds the backup battery for when a i PE Fl m a Servomotor with an absolute encoder is used LI Battery Connector CN8 Connects the backup battery for the absolute encoder With top cover opened im omnon R88D WTO1H Top cover See note pm Displays Servo Driver status alarm signals parameters etc in five digits 7 segment LED Settings Area Used for setting parameters and monitoring Servo Driver status NP ct Power indicator Lit when the control power is being supplied CHARGE POWER O Charge indicator Lit when the main circuit is powered Even after the power is turned OFF it remains lit 7 as long as an electric charge remains in the main circuit capacitor so do not touch the Servo Driver s te
310. l directions Insulation grade Type B Type F Type B Type F Type F Type F Structure Totally enclosed self cooling Protective structure IP 55 Excluding through shaft portion IP 67 Excluding through shaft portion See note 2 IP 55 Excluding through shaft portion See note 2 IP 67 Excluding through shaft portion See note 2 IP 67 Excluding through shaft portion See note 2 IP 67 Excluding through shaft portion See note 2 Vibration grade V 15 Mounting method Flange mounting EC Directives EMC Directive EN55011 Class A Group1 EN50082 2 Low voltage Directive IEC60034 1 5 8 9 EN60034 1 9 UL standards UL1004 cUL standards cUL C22 2 No 100 Note 1 Vibration may be amplified due to sympathetic resonance of machinery so use the Servomo tor Driver under conditions which will not exceed 8096 of the specification values over a long period of time Note 2 For 1 000 r min Servomotors 1 500 r min 3 000 r min 1 to 5 kW 3 000 r min Flat style 6 000 r min an IP67 type that includes the through shaft portion is also available Note 3 Water proof connectors must be used on the Power and Encoder Cables when used in envi ronments subject to direct contact with water Refer to 3 1 2 Servomotors for the recom mended connectors Note 4 conditions Note 5 The Servomotors
311. lan alarm while RUN is turned ON the Servo Driver will start as soon as the alarm is cleared which is dangerous Be sure to turn OFF the RUN command before cancelling the alarm Ifthe RUN command is ON or the servo is always ON setting Pn50A 1 7 first check safety sufficiently before cancelling the alarm m Alarm Table Alarm code ALO1 ALO2 ALO3 Display R 5 6 FF OFF OFF ace g3 OFF OFF OFF agy OFF OFF OFF ang OFF OFF OFF ON OFF OFF AiG ON ON OFF 30 ON JON OFF ON ON OFF R33 Rug OFF OFF ON Error detection function Parameter corruption Main circuit detection error Parameter setting er ror Motor mismatch Overcurrent or radi ation shield error Regeneration error Regeneration over load Main circuit Power Supply setting Overvoltage Cause of error The checksum for the parameters read from the EEP ROM does not match There is an error in the detection data for the power supply circuit Incorrect parameter setting The Servomotor does not match the Servo Driver Overcurrent detected or improper radiation shield temperature rise detected 1 5 to 3 kW only Regeneration resistor or Regeneration cir cuit damaged due to large amount of re generative energy Regenerative energy exceeded the regen eration resistance The AC DC wiring method from the main circuit power supply is different from the Pn001 2 parameter settin
312. lay will return to the System Check Mode enn function code and the Servomotor servo will turn OFF Note The digits you can manipulate will flash 4 124 Operation Chapter 4 4 11 4 User Parameter Initialization User Parameter Initialization Fn005 Initialize the user parameters to return the user parameters to the default settings Note 1 You cannot perform initialization while the servo is ON First turn OFF the servo then perform the operation Note 2 After initializing the user parameters turn OFF the power supply confirm that the power sup ply indicator is not lit then turn ON the power once again to enable the parameters System Check Mode mim para i i User parameter initial User parameter initial P Em He ization display P Inlt ization psu 1 s min displayed i foose Initialize Initializing P InIt P ila ie flashes Initialization complete dioln E donE flashes 1 s later Ex P H m lt Returns to P init pawe 1s min i Operation Procedure PRO2W Front panel Display Explanation operation key operation Press the MODE SET Key to change to System Check Mode Press the Up or Down Key to set function code Fn005 See note Press the DATA Key front panel DATA Key for 1 s min to display user parameter initialization Press the MODE SET Key to start user
313. le All operation modes Setting 150 to 3000 Unit 0 01 V Default 1000 Restart range rated rota setting power tions 4 56 Operation Chapter 4 This parameter sets the relationship between REF speed command input voltage and Servomotor rotation speed Set REF voltage for operating at the rated rotation speed The default setting is for the rated rotation speed at an REF voltage of 10 V Note REF voltage functions as the input voltage shown below using control mode and parameter set tings During speed control Speed command inputs e During torque control analog speed limits when Pn002 1 1 During position control Speed feed forward inputs when Pn207 1 1 Pn301 No 1 internal speed setting Setting Oto 10000 Unit r min Default 100 Restart No range setting power Pn302 No 2 internal speed setting Setting Oto 10000 Unit r min Default 200 Restart No range setting power Pn303 No 3 internal speed setting Setting Oto 10000 Unit r min Default Restart No range setting power These parameters set the speed when using internally set speed control The speed setting is selected by the ON OFF status of SPD1 and SPD2 speed selection command inputs 1 and 2 and the direction of rotation is selected by RDIR rotation direction command input Note 1 lfa value that exceeds the maximum Servomotor rotation speed is set that value will be re garded as the maximum Servomotor rotati
314. location RESET Same as Pn50A 1 signal Input terminal allocation PCL Same as Pn50A 1 signal Input terminal allocation NCL Same as Pn50A 1 signal Input terminal allocation Input RDIR Same as Pn50A 1 signal signal selection 3 Input terminal allocation SPD1 Same as Pn50A 1 signal Input terminal allocation SPD2 Same as Pn50A 1 signal Input terminal allocation TVSEL Same as Pn50A 1 signal TVSEL control mode Input EFT A t rihnal switching signal allocation allocation Input PLOCK Same as Pn50A 1 signal signal PLOCK position lock selection Input command signal allocation terminal g allocation IPG Same as Pn50A 1 signal Input terminal allocation GSEL Same as Pn50A 1 signal GSEL gain switching Input signal allocation terminal allocation Do not change setting NOT reverse drive prohibited signal allocation RESET alarm reset signal allocation PCL forward rotation current limit signal allocation NCL reverse rotation current limit allocation RDIR rotation direction command signal allocation SPD1 speed selection reference 1 signal allocation SPD2 speed selection command 2 signal allocation IPG pulse disable signal allocation 4 28 Operation Chapter 4 Parameter Explanation See note 1 Default Default i Setting Restart name a setting setting range power gt Explanation See note 2 100 200 V
315. lowing cases When the Torque Control Mode is used for control When P control is used for a speed control loop Pn10b 1 1 When using No 2 gain for control i e when GSEL gain switching input is input e When the torque feed forward function is used Pn002 0 2 When the speed feedback compensation function is used Pn110 1 O Online Auto tuning Related Settings The following tables show the user parameters and System Check Modes relating to online auto tun ing e User Parameters Pn Parameter Parameter name Explanation No Pn100 Speed loop gain Target value for auto tuning Pn101 Speed loop integration time constant Integration time constant for auto tuning Pn102 Position loop gain Target value for auto tuning Pn103 Inertia ratio Initial value for auto tuning Pn110 Online auto tuning setting Select auto tuning function Pn401 Torque command filter time constant Filter time constant for auto tuning e System Check Mode Fn Function Function name Explanation code Fn001 Rigidity setting for online auto tuning Select 10 stages from a combination of Pn100 Pn101 Pn102 and Pn401 See note Fn007 Storing of online auto tuning results The inertia ratio calculated using online auto tuning is written to Pn103 inertia ratio Note The selected value is written to the user parameters 4 92 Operation Chapter 4 am Online Auto tuning
316. ls and Specifications Chapter 2 For Servomotors with Brakes R88A CAWB B Servo Driver R88D WT a R88A CAWB B DE i Servomotor D R88M W t 28 4 Nominal dimension lt 10m 100mm 20mm 150mm 10 e gt 10m 200mm 20mm Servo Driver B Servomotor BER R88D WT Testlabie Identification lable e Motor cable 548 149 1000 SPUCO6KFSBN160 4x1 5mm 2x0 5mm 100mm 10 100mm 10 Contracted Tube D12 7 Wire Marks e Wiring For Servomotors without Brakes R88A CAWB S cable connection Servo Driver Servomotor Red No Symbol Cable White Phase v 350780 1 AMP Japan Ltd company Blue Connector socket oo Green Yellow 350550 6 AMP Japan Ltd company Cable AWG14 x 4C UL2463 Servomotor M4 crimp Connector plug terminal 350779 1 AMP Japan Ltd company Connector pins 350547 6 AMP Japan Ltd company 350669 1 AMP Japan Ltd company R88A CAWB S DE cable connection View X No Description Number Colour 1 Phase U 1 Black 2 Phase V 2 Black 3 Phase W 3 Black 4 free a 5 free SEE 6 Frame ground green yellow Standard Models and Specifications Chapter 2 For Servomotors with Brakes R88A CAWB B cable connection Servo Drivers Servomotors
317. ly Single phase 100 115 V AC 85 to 127 V 50 60 Hz Control circuit power supply Single phase 100 115 V AC 85 to 127 V 50 60 Hz R88D WTA3H A5H 01H 02H 04H Single phase 200 V AC input Main circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WTO8HH 15HH Single phase 220 V AC input Main circuit power supply Single phase 220 230 V AC 187 to 253 V 50 60 Hz Control circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WT05H 08H 10H 15H 20H 30H 50H 60H Three phase 200 V AC input Main circuit power supply Three phase 200 230 V AC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WTOSHF 10HF 15HF 20HF 30HF 50HF 60HF 75HF 110HF 150HF Three phase 400 V AC input Main circuit power supply Three phase 380 480 V AC 323 to 528 V 50 60 Hz Control circuit power supply 24 V DC 20 4 to 27 6 V e Checking Terminal Block Wiring The main circuit power supply inputs L1 L2 or L1 L2 L3 and the control circuit power supply inputs L1C L2C or 24 V 0 must be properly connected to the terminal block e The Servomotor s U V and W power lines and the yellow green ground wire must be proper ly connected to the terminal block e Checking the Servomotor There should be no load on the Servomotor Do not connect to the mechanical syste
318. m 4 4 Operation Chapter 4 The power lines at the Servomotor must be securely connected e Checking the Encoder Connectors The Encoder Cable must be securely connected to the Encoder Connector CN2 atthe Servo Driv er The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor e Checking the Control Connectors The Control Cable must be securely connected to the I O Control Connector CN1 The RUN command RUN must be OFF e Checking Parameter Unit Connections The Parameter Unit R88A PRO2W must be securely connected to the CN3 connector m Turning ON Power e First carry out the preliminary checks and then turn ON the control circuit power supply It makes no difference whether or not the main circuit power supply is also turned ON The ALM output will take approximately 2 seconds to turn ON after the power has been turned ON Do not attempt to detect an alarm using the Host Controller during this time when power is being supplied with the Host Controller connected Checking Displays Whenthe power is turned ON one ofthe codes shown below will be displayed at either the indicators or the Parameter Unit Normal Base Block Error Alarm Display BELL Z RO Note 1 bb baseblock means that the Servomotor is not receiving power Note 2 Thealarm code the number shown in the alarm display changes depending on the contents of the
319. mal switch output so that the power supply will be shut off when open Servo Driver Bi B2 3 50 Operation 4 Operational Procedure 4 2 Preparing for Operation 4 3 Trial Operation 4 4 User Parameters 4 5 Operation Functions 4 6 Trial Operation Procedure 4 7 Making Adjustments 4 8 Advanced Adjustment Functions 4 9 Using Displays 4 10 Using Monitor Output 4 11 System Check Mode dl Chapter 4 Operation Chapter 4 Precautions Caution Confirm that there will be no defect on the equipment and then perform a test opera tion Not doing so may result in equipment damage N Caution Check the newly set parameters for proper execution before actually running them Not doing so may result in equipment damage Caution Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury N Caution Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury N Caution When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury N Caution Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in a malfunction Operation Chapter 4 4 1 Operational Procedure After mounting wiring and connecting a power supply check the operation of the Ser vomotor
320. mand Forward rotation output torque limit rated torque ratio Reverse rotation output torque limit rated torque ratio Output torque limit during input of forward rotation current limit rated torque ratio Output torque limit during input of reverse rotation current limit rated torque ratio Deceleration torque when an error occurs rated torque ratio Sets the speed limit in torque control mode E Function not used Notch filter used for torque commands Selects notch filter function pm Sets notch filter frequency for torque command 1to Do not change setting Note 1 Explanation for parameters set using 5 digits Default setting 100 200 V Default setting 400 V Sets acceleration time during speed control soft ms 0 to start 10000 Sets deceleration time during speed control soft ms 0 to start 10000 x0 01 ms Oto 65535 Sets constant during filter of speed feedback x0 01 ms Oto 65535 Setting Restart range power 10 to 100 0 to 65535 0 to 800 0 to 800 u 2d n 0 1 V rated torque 0 to 800 r min 0 to 10000 Note 2 Explanation for parameters requiring each digit No to be set separately 4 25 Operation Chapter 4 m Sequence Parameters From Pn500 Parameter name Positioning completion range 1 Position lock rotation speed Rotation speed for motor rotation detection Speed conformity signal output width
321. mand input value to the speed loop Normally the differential value for the position command pulse train command is generated in the controller and input to REF f the feed forward amount REF voltage is too large an overshoot may occur so adjust Pn300 speed command scale as required Speed Feed forward Function Block Diagram Host Controller Servo Driver Pn300 Differ Speed feed forward REF Speed com ential mand scale EEERES Pn100 Command Pn202 203 Pn101 Pn401 pulses CW CCW Electronic gear Deviation ratio G1 G2 counter Position command Pn201 detection Encoder output Encoder di viding rate Parameters Requiring Settings Parameter No Parameter Explanation name Pn207 1 Speed command Set Pn207 1 to 1 use REF as speed torque 4 4 4 Parameter input switching feed forward input Details Pn300 Speed command Adjust the speed feed forward amount See note scale Note The default setting is 1000 x 0 01 V rated number of revolutions 4 103 Operation Chapter 4 Operation Position command REF speed feed forward input Without the feed forward az function Fr min Servomotor operation Note When a positive voltage speed feed forward is added a command to rotate the Servomotor for wards is added If a reverse feed forward command is added to the pulse train positioning time will be lengthened so c
322. matic adjustment com pleted donE flashes 1 s later Live Cur_o display omrw 1s min Operation Procedure PRO2W Front panel Display Explanation operation key operation Press the MODE SET Key to change to System Check Mode Press the Up or Down Key to set function code FnOOE See note Press the DATA Key front panel DATA Key for 1 s min to display Cur o Press the MODE SET Key to perform automatic offset adjustment When automatic adjustment is completed donE will be displayed for approximately 1 s Approx 1 s later After donE has been displayed the display will return OQ to Cur o Press the DATA Key front panel DATA Key for 1 s min t to return to the System Check Mode function code 1 s min display Note The digits you can manipulate will flash m Servomotor Current Detection Offset Manual Adjustment FnOOF This function manually adjusts the Servomotor current detection offset Adjust the U phase and V phase offsets alternately while balancing each separately When performing adjustments rotate the Servomotor at 100 r min without connecting the mechani cal system to the Servomotor shaft i e make sure there is no load and perform the adjustments while monitoring the waveform of the analog monitor output s torque command monitor current moni tor The Servomotor current detection o
323. me for IP67 waterproof models BOI 2 34 Standard Models and Specifications Chapter 2 m 3 000 r min Servomotors with a Brake e 400 V AC 1 0 kW 1 5 kW 2 0 kW 3 0 kW 4 0 kW 5 0 kW R88M W1K030F B S2 W1K5030F B S2 W2K030F B S2 W3K030F B S2 W4K030F B S2 W5K030F B S2 Incremental R88M W1K030C B S2 W1K5030C B S2 W2K030C S2 W3K030C B S2 W4K030C B S2 W5K030C B S2 Absolute LL LR D1 dia Woe Four Z dia Dimensions of shaft end with key BS2 M8 Shaft Extension LA Effective depth 16 F E E Dimensions mm LL LR KL KL KL Cc QK S1 LJ 1 2 3 1 45 120 96 88 85 100 115 95h7 130 7 24h6 40 3 30 R88M W1K5300 3 6 B R88M W2K0300 B 85 a a Note The external dimensions are the same for IP67 waterproof models BO a 2 35 Standard Models and Specifications Chapter 2 m 1 000 r min Servomotors without a Brake e 200 V AC 300 W 600 W 900 W 1 2 kW 2 0 kW 3 0 kW R88M W30010H S2 W60010H S2 W9001 OH S2 W1K210H S2 W2K010H S2 W3K010H S2 Incremental R88M W3001 0T S2 W6001 0T S2 W90010T S2 W1K210T S2 W2K010T S2 W3K010T S2 Absolute Dimensions of outpu
324. mensions of shaft end with key BL 1S1 h 5 E aca __300 30 gt a Qk itt 4 H il 300 30 n Eer IP67 BWC flange dimensions i h E Fs M e I cA i SE p ALB G LF Four Z dia wi d M LL LR M We fee Dimensions mm Basic servomotor dimensions With key shaft end Waterproof type dimensions flange dimensions F G b n tt wtwe pwt ow2 5 35 R88M WP20030L B 8 5 R88M WP40030L B R88M WP75030 _1 B 5 s Jas 15 7 77 ss R88M WP1K530 1 B 6 2 32 3 3 5 7 49 Standard Models and Specifications Chapter 2 m 3 000 r min Servomotors without a Brake e 200 V AC 1 0 kW 1 5 kW 2 0 kW 3 0 kW 4 0 kW 5 0 kW R88M W1K030H S2 W1K5030H S2 W2K030H S2 W3K030H S2 W4K030H S2 W5K030H S2 Incremental R88M W1KO030T S2 W1K5030T S2 W2K030T S2 W3K030T S2 W4K030T S2 W5K030T S2 Absolute e 400 V AC 1 0 kW 1 5 kW 2 0 kW 3 0 kW 4 0 kW 5 0 kW R88M W1KO030F S2 W1K530F S2 W2K030F S2 W3K030F S2 W4K030F S2 W5K030F S2 Incremental R88M W1K030C S2 W1k530C S2 W2K030C S2 W3K030
325. n control and speed control OMNUC W series Servomotor Speed control 7 Pulse train Position control Parameters Requiring Settings Parameter Parameter name Explanation Reference No Function selection Select control mode for switching control Settings 4 4 3 Important basic switch 1 7 8 9 Parameters Control mode selection Pn50C 3 Input signal You must set Pn50C 3 TVSEL signal selection 4 4 3 Important selection 3 See note Parameters TVSEL signal selection Note If you select the switching control mode with the default settings the mode will be allocated to pin CN1 41 If changing the default setting set Pn50A 0 input signal selection mode to 1 user defined set tings m Related Functions Note Refer to the related functions for each control mode 4 73 Operation Chapter 4 Control Mode Selected Using TVSEL Control Mode Switching The following table shows the relationship between TVSEL Control mode switching and the control mode selected Control mode setting TVSEL OFF ON Pn000 1 7 between position Position control Speed control control and speed control Pn000 1 8 between position Position control Torque control control and torque control Pn000 1 9 between torque control Torque control Speed control and speed control Operation Examples e Position and Speed Control Switching Example Pn000 1 7 Cont
326. n Reference No Select position Select either primary filter setting 0 or linear 4 4 4 control filter acceleration and deceleration one 1 Parameter Position control Enabled when Pn207 0 0 Be sure to set the Details filter time constant primary filter time constant setting range 0 to 6400 1 primary filter x 0 01 ms Position control Enabled when Pn207 0 1 Be sure to set the filter time constant acceleration and deceleration times setting range 2 linear O to 6400 x 0 01 ms acceleration and deceleration Note If not using the position command filter function set each content to 0 i e the default setting Operation The characteristics for each filter are shown below Servomotor acceleration and deceleration are delayed further than the characteristics shown below due to position loop gain delay Acceleration 2 Kp s Deceleration 3 Kp s Kp Position loop gain Pn102 e Primary filter Speed 4 Command pulse in put frequency Input frequency x 0 63 Input frequency x 0 37 Time iPn204 Pn204 e Linear acceleration and deceleration Speed Command pulse in put frequency Time Pn208 Pn208 4 87 Operation Chapter 4 4 5 14 Position Lock Function Speed Internally set Speed Control m Functions If controlling the position without adding a position control loop the position may slip due to tempera ture drift from
327. n circuitry for absorbing the regenerative energy produced during time such as Servomotor deceleration and thus preventing the DC voltage from increasing An overcurrent error is generated how ever if the amount of regenerative energy from the Servomotor is too large If this oc curs measures must be taken to reduce the regenerative energy produced by changing operating patterns and so on or to improve the regenerative energy absorption capac ity by connecting external regeneration resistance 3 3 1 Regenerative Energy Calculation m Horizontal Axis N Servomotor operation Servomotor output torque Note In the output torque graph acceleration in the positive direction is shown as positive and accel eration in the negative direction is shown as negative e The regenerative energy values for Eg and Eg are derived from the following equations 2m 60 2m 60 N4 No Rotation speed at beginning of deceleration r min Tp1 Tp2 Deceleration torque Nem t4 to Deceleration time s Ni Tae ety W Es E mI mi Ny Tp te J Note There is some loss due to winding resistance so the actual regenerative energy will be approxi mately 90 of the values derived from these equations 3 43 System Design and Installation Chapter 3 For Servo Driver models with internal capacitors for absorbing regenerative energy i e models of 400 W or less the values for both Eg1 or Eg2 unit
328. n the Encoder are corrupted Deviation counter over Deviation counter residual pulses exceeded level set for Pn505 Missing phase detected Main circuit power supply missing phase or disconnection detected Parameter Unit transmission error Data could not be transmitted after the power was turned ON CPF00 Transmission timeout error CPF01 2 50 Standard Models and Specifications Chapter 2 2 4 3 Terminal Block Specifications Signal Function Condition Main circuits R88D WTLJH 30 to 400 W power supply input Single phase 200 230 V AC 170 to 253 V AC 50 60 Hz R88D WTLIHH 750 W to 1 5 kW Single phase 220 230 V AC 187 to 253 V AC 50 60 Hz R88D WTOH 500 W to 6 kW Three phase 200 230 V AC 170 to 253 V AC 50 60 Hz R88D WTOHL 30 to 200 W L3 Single phase 100 115 V AC 85 to 127 V AC 50 60 Hz T 1 2 R88D WTLIHF 450 W to 15 kW Three phase 380 460 V AC 323 to 528 V AC 50 60 Hz Main circuit DC Do not connect anything This terminal is for the R88D WT60H only output Forward DC Reactor termi Normally short circuit between 1 and 2 nal for power SUP If harmonic control measures are required connect a DC Reactor between py harmonic con 4 and 2 The R88D WT60H does not have this terminal Main circuit DC Do not connect anything output Reverse L1C 24 V Control circuits R88D WTLIH H Single phase 200 230 V
329. n208 Function not used REF used as feed forward input Ill LIT d a Note 2 Explanation for parameters requiring each digit No to be set separately Note 3 Do not set below 513 constant 2 Note 1 Explanation for parameters set using 5 digits m Speed Control Parameters From Pn300 Explanation Sets the speed command voltage REF Default Default setting setting Setting Restart range power 100 200 V 400 V 1000 0 01 v No 150 to rated 3000 rotations Number of rotations for No 1 internal setting 100 100 r min 0 to 10000 Number of rotations for No 2 internal setting 200 200 r min 0 to 10000 No 3 internal Number of rotations for No 3 internal setting 300 300 r min 0 to speed setting 10000 Pn304 Jog speed Sets rotation speed during jog operation EB MERE M RE 10000 Pn305 Soft start accel Sets acceleration time during speed control soft ms 0 to eration time start 10000 Sets deceleration time during speed control soft ms 0 to start 10000 Soft start de 6 15 Parameter name Speed command scale Pn301 No 1 internal speed setting Pn302 No 2 internal speed setting Pn303 Pn306 celeration time Appendix Chapter 6 Parameter Explanation Default Default Setting Restart name setting setting range power 100 200 V 400 V Speed com Sets constant during filter of speed command x0 01 ms Oto mand filter time voltage input REF 65535 cons
330. nal ground axis SEN signal output X axis feedback ground X axis A phase input Main circuit power supply NFB OFF ON R Q 6 0 o 55 ac Main circuit contact 3 phase 200 230 V AC 50 60 Hz 8 R Surge killer n bs MC X1 S Q 10 8 nam T 9 6 o Class 3 ground R88D WTO OEE Pe RESET SENGND DC reactor SEN GND A R88M W X axis A phase input X axis B phase input X axis B phase input X axis Z phase input X axis Z phase input X axis speed command X axis speed command ground 24 V output 24 V output ground 1 O connector Name 4 V input X axis CW limit input X axis CCW limit input X axis emergency stop input X axis origin proximity input 24 V input ground A 8 B Power Cable White Z R88A CAWL Blue Green Yellow Encoder Cable R88A CRW Note 1 The example shows a three phase 200 V AC input to the Servo Driver for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Driver in use Note Note Note Note a 5 WOW N Leave unused signal lines open and do not wire them Incorrect signal wiring can cause damage to Units and
331. ncremental encoder type or incremental mode if ABS motor is used motor Be sure to provide a power supply and wiring confirming to the power supplies specifications for the Servo Driver in use Incorrect signal wiring can cause damage to Units and Servo Driver 3 Leave unused signal lines open and do not wire them 4 This wiring diagram is an example of axis 0 of the Omron C200HW MCAO2 E 4 axis control ler To control more than one axis connect other pins and servo system in a similar way Fora complete pin assignment of MC402 E please refer to MC402 E manual cat no W903 E2 Make the driver parameter setting so that the Servo can be turned ON and OFF with the RUN signal For multi axis control MC402 E connection kit is recommended Please refer to MC402 E manual cat no W903 E2 for details Appendix Chapter 6 6 2 Encoder Dividing Rate for Servo Controllers Encoder output pulses for OMNUC W Series AC Servo Drivers can be set within a range of 16to 16 384 pulses revolution by setting the encoder dividing rate Depending on the Controller s encoder input maximum response frequency limits however the maximum numbers of revolutions are limited as shown in the following tables m Encoder Divider Rates Pn201 Parameter Parameter Explanation Factory Setting Restart No name setting range power Pn201 Encoder di Sets the number of output pulses from 1 000 Pulses r 16 to Yes vi
332. nd output Default setting 100 200 V 50 Default setting 400 V 50 Chapter 6 Setting Restart range power 1to 10000 ne Bii a 1 to 32767 id usa i Oto 10000 x10ms 10 to 100 Command unit x 256 command unit Pn509 Momentary Sets the time during which alarm detection is disabled 20 20 ms 20 to hold time when a power failure occurs 1000 6 17 Appendix Chapter 6 Parameter Explanation See note 1 Default Default i Setting Restart name Ta setting setting range power 3 Explanation See note 2 100 200 V 400 V Input Input Sets the sequence input Yes signal signal signal allocation to the same selection 1 allocation as R88D UT mode User defined sequence input signal allocation RUN Allocated to CN1 pin 40 signal Valid for low output RUN Allocated to CN1 pin 41 gomman Valid for low output d input P terminal Allocated to CN1 pin 42 allocation Valid for low output Allocated to CN1 pi i Valid for low output Allocated to CN1 pi Valid for low output Allocated to CN1 pi Valid for low output Allocated to CN1 pi Valid for low output Always enabled Always disabled Allocated to CN1 pin 40 Valid for high output Allocated to CN1 pin 41 Valid for high output Allocated to CN1 pin 42 Valid for high output Allocated to CN1 pin 43 Valid for high output Allocated to CN1 pin 44 Valid for high output Allocated to CN1 pin 45 Valid for high out
333. ndard position Cumulative load ratio Displays effective torque rated torque 1096 all output modes 10 s cycle Regeneration load ratio Displays regeneration absorption current due to all output modes regeneration resistance calculates internal resistance capacity or Pn600 setting as 10096 in 10 s cycles Dynamic brake Displays current consumption during dynamic resistance load ratio all brake operation calculates tolerance current output modes consumption as 10096 in 10 s cycles Input pulse counter Command Counts and displays input pulses displayed in position hexadecimal Feedback pulse counter Pulse Counts and displays feedback pulse 4X all output modes calculation displayed in hexadecimal Internal signal monitor 1 Reserved monitors for adjustment purposes Internal signal monitor 2 input signal Internal signal monitor 3 output signal Internal signal monitor 4 Velocity loop gain of model following control Internal signal monitor 5 Counter of communication error of fully closed encoder 4 113 Operation Chapter 4 OFF high level ON low level top is lit bottom is lit Input terminal Signal name default 1 RUN RUN command 2 MING gain reduction RDIR rotation direction command TVSEL control mode switching PLOCK position lock command IPG pulses prohibited POT forward rotation prohibited NOT reverse rotation prohibited RESET alarm reset PCL forw
334. ndershoot Internal torque com mand value Pn10C Time Pn10C 4 108 Operation Chapter 4 e Switching Using Speed Command You can switch to P control when the speed command value exceeds the setting in Pn10d to suppress speed overshoot and undershoot and so shorten positioning time by reducing gain in the high speed area Speed command value Pn10d e Switching Using Acceleration Command You can switch to P control when the acceleration command value exceeds the setting in Pn10E to suppress speed overshoot and undershoot and so shorten positioning time by reducing gain in the high speed area Acceleration com mand value Pn10E Time Pni0E e Switching Using Deviation Pulse You can switch to P control when the deviation pulse value exceeds the setting in Pn10F to suppress speed overshoot and undershoot and so shorten positioning time by reducing gain in the high speed area Deviation pulse value Pn10F Time 4 9 Using Displays OMNUC C series AC Servomotors have unique servo software that enables quantita tive monitoring in real time on digital displays of changes in a variety of characteristics Use these displays for checking the various characteristics during operation 4 109 Operation Chapter 4 4 9 1 Power Supply Indicator and Charge Indicator There are two LED indicators on the Servo Driver itself One is for the power s
335. nector Dimensions of shaft end with key S1 as e R88M W03030L1 R88M W05030L_1 R88M W10030L 55 se 18 S E 2 27 Standard Models and Specifications Chapter 2 m 3 000 r min Servomotors with a Brake e 100 V AC 30 W 50 W 100 W R88M WO03030L B S1 W05030L B S1 W10030L B S1 Incremental R88M WO03030S B S1 W05030S B S1 W10030S B S1 Absolute e 200 V AC 30 W 50 W 100 W R88M W03030H B S1 D W05030H B S1 D W10030H B S1 D Incremental R88M W03030T B S1 D W05030T B S1 D W10030T B S1 D Absolute 30030 e HE D type IP67 connector HE D type IP67 connector w n R88M WO3030I I BI R88M W05030L_1 R88M W10030L_1 2 28 Standard Models and Specifications Chapter 2 m 3 000 r min Servomotors without a Brake e 100 V AC 200 W R88M W20030L S1 Incremental R88M W20030S S1 Absolute e 200 V AC 200 W 400 W 750 W R88M W20030H S1 D W40030H S1 D W75030H S1 D Incremental R88M W20030T S1 D W40030T S1 D W75030T S1 D Absolute e 400 V AC 300 W 650 W R88M W30030F S1 D W30030R S1 D W65030F S1 D W65030R S1 D
336. nerally in a mechanical system when the temperature drops the friction torque increases andthe load torque becomes larger Forthat reason overloading may occur at low temperatures In particu lar in systems which use deceleration devices the load torque at low temperatures may be nearly twice the load torque at normal temperatures Check with a current monitor to see whether overload 2 85 Standard Models and Specifications Chapter 2 ing is occurring at low temperatures and how much the load torque is Likewise check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Servo Driver parameters are adjusted at anormal temperature there may not be optimal operation at low temper atures Check to see whether there is optimal operation at low temperatures too Caution Do not use 2 kW or 5 kW Servomotors within the shaded portions of the following diagrams If used in these regions the Servomotor may heat causing the encoder to malfunction R88M W2K030 2 kW R88M W5K030 5 kW 6 36 f 15 8 5 74 4 E 14 54 Effective Effective torque torque N m N m 0 0 10 20 30 40 10 20 30 40 Ambient temperature C Ambient temperature C 2 86 Standard Models and Specifications Chapter 2 m 3 000 r min Flat style Servomotors
337. ng e If using switching control mode 7 to 9 switch the control mode using TVSEL control mode switch input If using internal speed control setting and another control mode 4 to 6 switch control mode using SPD1 and SPD2 speed selection command inputs 1 and 2 Alarm Stop Selection Pn001 0 Pn001 0 Function selection application switch 1 Stop selection for alarm generation with servo OFF All operation modes Setting Default Restart range setting power Setting Explanation Explanation 0 Stop Servomotor using dynamic brake dynamic brake stays ON after Servomotor has stopped Stop Servomotor using dynamic brake dynamic brake released after Servomotor has stopped Stop Servomotor using free run 4 31 Operation Chapter 4 Select the stopping process for when the servo is turned OFF or an alarm occurs Overtravel Stop Selection Pn001 1 Pn001 1 Function selection application switch 1 Stop selection for drive prohibition input Position speed internally set speed control Setting 0 to 2 Unit Default Restart range setting power Setting Explanation Setting Explanation o Stop according to the setting of Pn001 0 servo released after Servomotor has stopped Stop the Servomotor using the torque set in Pn406 emergency stop torque then locks the servo Stop the Servomotor using the torque set in Pn406 emergency stop torque then releases the servo dynamic brak
338. ng above rated output Chapter 5 Countermeasures Replace the Servo Driver Replace the Servo Driver Repair the short circuited or grounded wire Measure the insulation resistance at the Servo motor and if there is a short circuit replace the Servomotor Correct the wiring Measure the winding re sistance and if the wind ing is burned out replace the Servomotor Lower the Servo Driver s ambient temperature to 55 C or less Mount according to mounting conditions Replace the Servo Driver Lighten the load 5 10 Regeneration error Regeneration over load Occurs during op eration Occurs during op eration Error in the regen erative circuit parts Replace the Servo Driver External Regenera tion Resistor is burned out Replace the External Re generation Resistor Apart from a short circuit between B2 and B3 the external circuit resistor is not connected Regenerative ener gy exceeds toler ance Setting error in Pn600 regeneration resistor capacity Correctly connect the ex ternal circuit resistor be tween B1 and B2 Calculate the regenera tive energy and connect an external Regeneration Resistor with the required regeneration absorption capacity Set Pn600 correctly Troubleshooting Main circuit Power Supply Setting Overvoltage Low voltage Status when error occurs Occurs when servo is turned on Occu
339. no hunting with Servolock ON Pn101 setting target Pn101 2 3X s 22 XPn100 pa Y lt Any hunting vibration when the Servomotor rotates N See note Rotate Servomotor and monitor operation Reduce Pn100 speed loop gain S Y Increase Pn102 position loop gain until there is no overshooting Increase Pn101 speed loop integration constant Adjustment complete Note If vibration does not cease no matter how many times you perform adjustments or if positioning is slow Increase Pn401 torque command filter time constant EX dee ats Operation Chapter 4 Manual Tuning Procedure During Speed Control Use the following procedure to perform operation with speed control speed command voltage input Note Setthe online auto tuning to be always OFF Pn110 0 2 Turn OFF online auto tuning Pn110 0 2 Note Do not perform extreme adjustment and setting changes as they may destabilize the operation Adjust the gain a little at a time while checking the Servomotor operation Turn ON the power to enable Pn110 0 setting i Set Pn103 inertia ratio Calculated during Servomotor selection T Set rigidity Fn001 for online auto tuning y Y Is Servomotor hunting and groaning with servo locked gt N y Increase
340. note 1 Default Default setting setting dd Eno nes note 00 200 V 400 V Sets the number of output pulses from the Servo Driver 1000 16384 pulse 16 to rotation 16384 1to 65535 Bann 65535 65535 rotations Oto Yes 65535 Sets the pulse rate for the command pulses and Servo Servomotor travel distance 0 01 lt G1 G2 lt 100 Sets soft start for command pulse Soft start characteristics are for the primary filter Sets the limit to the number of rotations when using a Servomotor with an absolute encoder Sets the number of pulses for the full closed loop encoder for one rotation of the motor note 3 16384 16384 Command 25 to unit 65535 Primary filter Pn204 0000 0000 i Yes Linear acceleration and LIE un rl Selects position command filter deceleration Pn208 Function not used REF used as feed forward input Speed command input switching during position control 0 Do not change setting Sets soft start for command pulse soft start characteristics are for the linear acceleration and deceleration 2 to Note 1 Explanation for parameters set using 5 digits Note 2 Explanation for parameters requiring each digit No to be set separately Note 3 Do not set below 513 Speed Control Parameters From Pn300 Explanation Default Default Setting Restart setting setting range power 100 200 V 400 V Sets the speed command voltage REF 1000 0 01 v No 150 to
341. nput REF 6 Speed Command Input Ground AGND Speed Control This is the input for speed commands The scale of the rotation speed for REF voltage can be changed by means of user parameter Pn300 speed command scale The default setting is for the rated rotation speed for an input of 10 V Torque Control This input becomes an analog speed limit input when Pn002 1 speed command input change of func tion selection application switch 2 is set to 1 The default setting is for the function to not be used set value 0 The scale of the speed limit value for speed command inputs can be changed by means of user parameter Pn300 speed command scale The REF voltage is irrelevant absolute values only The speed is limited to the Pn407 speed limit setting or the REF voltage limit whichever is lower Position Control This input becomes a speed feed forward input when Pn207 1 speed command input change is setto 1 The default setting is for the function to not be used set value 0 A speed command corresponding to the REF voltage is added to the speed loop e 9 Torque Command Input TREF 10 Torque Command Input Ground AGND Torque Control This is the input for torque commands The scale ofthe outputtorque for TREF voltage can be changed by means of user parameter Pn400 torque command scale The default setting is for the rated torque for an input of 3 V Position and Speed Control This input becomes an analog torque limit i
342. nput set value 1 or 3 or a torque feed forward input set value 2 depending on the Pn002 0 torque command input change of function selection application switch 2 setting The scale of the torque limit value or the feed forward torque for TREF voltage can be changed by means of user parameter Pn400 torque command scale The default setting is for the rated torque for an input of 3 V Pn002 0 1 Analog Torque Control Input Output values for both forward and reverse are limited by the same value regardless of the TREF volt age polarity the absolute value is used See the note below Pn002 0 2 Torque Feedforward Input A torque corresponding to the TREF voltage is added to the current loop The TREF voltage polarity is effective Pn002 0 3 Analog Torque Limit Input when Inputting PCL and NCL The TREF voltage polarity is ignored the absolute value is used When PCL forward rotation current limit input is input the output torque for forward rotation is limited When NCL reverse rotation current limit input is input the output torque for reverse rotation is limited See the note below 2 61 Standard Models and Specifications Chapter 2 Note The output torque is limited by the lowest limit value of the following torque limits The analog torque limit according to TREF voltage Pn402 forward torque limit Pn403 reverse torque limit Pn404 forward rotation external current limit and Pn405 reverse rotation external
343. ns of shaft end with key BS2 M8 n oe ELE Effective depth 16 S h 2 42 Standard Models and Specifications Chapter 2 Model Dimensions mm u ux me me x wx x s c 9 ele R88M W45015 176 58 109 165 R88M W85015 199 R88M W1K315 223 3 2 89 195 137 140 88 123 180 200 114 3h6 230 115 221 163 123 230 R88M W1K815 217 R88M W2K915 243 277 48 116 258 R88M W11K015 38 R88M W15K015 1 97 169 R88M W4K415 255 114 3h6 R88M W5K515 311 289 3 R88M W45015 R88M W85015 R88M W1K315 R88M W1K815 R88M W2K915 R88M W4K415 R88M W5K515 R88M W7K515 R88M W11K015 R88M W15K015 Note The external dimensions are the same for IP67 waterproof models BOL 2 43 Standard Models and Specifications Chapter 2 6 000 r min Servomotors without a Brake e 400 V AC 1 0 kW 1 5 kW 3 0 kW 4 0 kW R88M W1KO060F S2 W1K560F S2 W3KO060F S2 W4K060F S2 Incremental Le D1 dia D3 dia Four Z dia Dimensions mm C D1 R88M W1K060L R88M W1K5600 R88M W3K060 R88M W4K060 0
344. nt is limited by the value set in Pn404 All rent limit input forward rotation external current limit Reverse rotation cur ON Output current is limited by the value set in Pn405 All rent limit input reverse rotation external current limit Rotation direction command input Speed selection command 1 input Speed selection command 2 input Specifies the direction of rotation for Servomotor rotation at the internally set speed OFF Forward rotation ON Reverse rotation Selects the internally set speed Pn301 Pn302 Pn303 Position speed internal ly set speed All All All internally set speed internally set speed Control mode switch ON Change control mode Switch control input mode Position lock com mand input Pulse disable input Gain change input ON Position lock goes into effect when the motor rota tion speed is no more than the position lock rotation speed Pn501 ON Command pulse inputs are ignored and the motor stops ON Changes gain to No 2 speed gain Pn104 Pn105 Pn106 Speed control with position lock Position control with pulse dis able internally set speed Note Function allocations for pin 40 to 46 sequence inputs can be set by means of user parameters Pn50A to Pn50D In this table the numbers enclosed in brackets indicate the default pin numbers allocations The allocations vary depending on the control mode e CN1 Control Outputs Contents Command
345. nterlock functions Pn509 Momentary hold time All operation modes Setting 20to 1000 Unit ms Default Restart No range setting power Sets the time during which alarm detection is disabled if a momentary power failure occurs When the power supply voltage to the Servo Driver is OFF the Servo Driver detects that the power supply is OFF and turns OFF the servo The 20 ms default setting means that if the power supply volt age is recovered within 20 ms operation will continue without the servo being turned OFF n the following cases the servo is turned OFF regardless of the Pn509 setting e f the load is too great and A 41 insufficient voltage occurs during a momentary power stop page e Ifthe control power supply falls during a momentary power stoppage and cannot be controlled Pn50A Input signal selection 1 All operation Default 8100 Restart modes setting power Pn50b Input signal selection 2 All operation Default 6548 Restart Yes modes setting power Pn50C Input signal selection 3 All operation Default 8888 Restart modes setting power Pn50d Input signal selection 4 All operation Default 8888 Restart modes setting power Pn50E Output signal selection 1 All Default 3211 Restart operation modes setting power Pn50F Output signal selection 2 All Default 0000 Restart operation modes setting power 62 4 Operation Chapter 4 Pn510 Output signal selection 3 All Default 0
346. ntrol to P 4 5 9 Gain Reduction control by inputting a MING gain reduction signal to lower servo rigidity P control switching Switches the speed control loop automatically from 4 8 9 P Control Switching function PI control to P control to lower servo rigidity you can select the switching conditions 4 66 Operation Chapter 4 4 5 3 Torque Control Torque m Functions Controls the Servomotor output torque using analog voltage input from the torque command TREF CN1 9 10 You can change the relationship between the torque command and output torque using the torque control scale Pn400 setting Controller analog voltage output type OMNUC W series Servo Driver Torque Control Mode Analog voltage torque command Torque com mand scale Pn400 Torque OMNUC W series Servomotor OMRON does not manufacture torque command voltage out put type controllers 90 TREF 100 AGND V m Parameters Requiring Settings Parameter Parameter name Explanation Reference No Pnooo 1 Function Select the control mode for torque control Settings 4 4 3 Important selection basic 2 6 8 9 Parameters switch 1 Torque command Set the TREF torque command input voltage to 4 4 4 Parameter output the rated torque Details Output torque output Pn400 30 torque rate Default setting Pn400 100 Torque command voltage V 10
347. ntrol when stopping in this mode Note 2 When torque control is being used the stopping method is determined by Pn001 0 setting The Pn001 1 setting is irrelevant e Alarm Reset 44 RESET This is the external reset signal input for the servo alarm Remove the cause of the alarm and then restart operation Caution Turn OFF the RUN command before inputting the reset signal It can be dangerous to input the reset signal while the RUN command is ON Note This is the default allocation The input terminal allocations CN1 pins 40 to 46 can be changed by setting Pn50A 0 input signal selection mode to 1 The RESET signal is allocated by Pn50b 1 e Forward Rotation Current Limit 45 PCL Reverse Rotation Current Limit 46 NCL These two signals are inputs for limiting the forward and reverse output current output torque When these signals are input the output torque in the respective direction of rotation is limited by the settings of Pn404 forward rotation external current limit and Pn405 reverse rotation external current limit 2 66 Standard Models and Specifications Chapter 2 When another torque limit function besides Pn404 Pn405 is enabled the output torque is limited to the lower of the values Note 1 This isthe default allocation Input terminal allocations CN1 pins 40 to 46 can be changed by setting Pn50A 0 input signal selection mode to 1 The PCL signal is allocated by Pn5
348. number of deviation counter residual pulses Be careful because the servo begins to operate as soon as the power is turned ON Pn200 3 Position control setting 1 Pulse command filter selection Setting 0 1 Unit Default 1 Restart Yes range setting power Setting Explanation UE LI NHENETIEEUPTEECEEENEEO NENMNMEEEKKNKRNKENE jo Command filter for line driver signal input 500 kpps Command filter for open collector signal input 200 kpps Sets the pulse command input filter Set this parameter to conform to the command pulse input line driver input or open collector input Pn201 Encoder dividing rate All operation modes Setting 16 to 16384 Unit Pulses Default 1000 Restart Yes range rotation setting power Sets the number of output pulses from the Servo Driver The encoder resolution for each Servomotor is shown below Set the resolution as the upper limit INC 6 000 r min Servomotor 1 to 4 kW 32 768 pulses rotation 3 000 r min Servomotor 30 to 750 W 2 048 pulses rotation 3 000 r min Servomotor 1 to 5 kW 32 768 pulses rotation 3 000 r min flat type Servomotor 2 048 pulses rotation 1 500 r min Servomotor 450 to 15 kW 32 768 pulses rotation 1 000 r min Servomotor 32 768 pulses rotation ABS 3 000 r min Servomotor 30 to 750 W 16 384 pulses rotation 4 53 Operation Chapter 4 3 000 r min Servomotor 1 to 5 kW 32 768 pulses rotation 3 000 r min flat type Servom
349. o 3M Cable AWG26 x 7C UL2464 Connector plug Connector case 10114 3000VE Sumitomo 3M D79004 3210 Sumitomo 3M Connector case Contacts 10314 52A0 008 Sumitomo 3M 3690 1000 Sumitomo 3M 2 9 External Regeneration Resistors Resistance Units If the Servomotor s regenerative energy is excessive connect an External Regenera tion Resistor or an External Regeneration Resistance Unit R88A RR22047S External Regeneration Resistor R88A RR88006 External Regeneration Resistance Unit m Specifications Servodrive Model Resistance Nominal capacity Regeneration absorption NA ROBA RRZ2047S 47 025 220 W R88D WT60H R88A RR8806 6 25 Q 10 880 W 180 W R88D WT75H 110H 150H R88A RR1K803 1760 W EN R88D WT60HF 75HF R88A RR88018 880 W I R88D WT110HF 150HF R88A RR1K814 1760 W DENN 2 136 Chapter 2 Standard Models and Specifications External Dimensions All dimensions are in millimeters Standard Models and Specifications Chapter 2 2 10 Absolute Encoder Backup Battery Specifications A backup battery is required when using a Servomotor with an absolute encoder Install the Battery Unit in the Servo Driver s battery holder and connect the provided connector to the Battery Connector CN8 R88A BATO1W Absolute Encoder Backup Battery Unit The R88A BATO1W is used for Servodriv
350. o the Servo Driver for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifi cations for the Servo Driver in use Note Note Note Note a 5 Qo N Incorrect signal wiring can cause damage to Units and the Servo Driver Leave unused signal lines open and do not wire them The diode recommended for surge absorption is the ERB44 02 Fuji Electric This wiring diagram is an example of X axis wiring only For two axis control the external in put and Driver wiring must be connected for the Y axis in the same way Note 6 External output 2 OUT 2X can be turned ON and OFF with external servo unlocked input at which time external output 2 of the C500 NC222 E s address numbers 420 X axis and 820 Y axis must be set to 1 turned OFF at the time of servo free Note 7 When the C500 NC222 E is used in NC221 mode external servo unlocked input works as emergency stop input Therefore external output 2 cannot be used as a RUN signal Input a RUN signal from other I O terminals Note 8 Make the setting so that the Servo can be turned ON and OFF with the RUN signal Appendix Chapter 6 Connection Example 5 Connecting to SYSMAC Motion Control Units CS1W MC221 421 CV500 MC221 421 C200H MC221 DRV connector mme Te 24 V input ground X axis alarm input X axis RUN command output X axis alarm reset output X axis SEN sig
351. ock XW2B 50G5 g e R88D WT t 6 1 e Wiring Terminal T 1 i Block Connector Servo Driver Note Wires with the same wire Signal color and the same number of No No No Wire mark color Puss igna Analog marks Dom twisted pairs Ad pM 1 Yellow Black GND GND re ee oranga WIS 2 71 2 1 4 2 nile SENGND SENOND dic lieth M add HG LEHIGH E a with one black mark 3 Pink Red 5 H 5 HH 5 Orange Red REF 6 1 1 HH 6 Oran e edi 5 AGND z ey ey eranmed C XOW 8 me Hal 8 Gray Black CW pg ap Eg m 9 wWhite Red TREF 10 10 HO White Black AGND HEP LIE I 11 Yellow Red CCW 12 i2 m 12 Yellow Black COW 13 nae BES p 13 Yellow Black PCOM 14 f ee 14 Pink Black ECRST 15 7 15 7 15 Pink Red 3 FECRST L16 7 16 e e 209 e cbe pee po 17 Orange Black 18 is mm 18 Pink Red PCOM 19 19 Ho Gray Red Z Z 20 20 Hl 20 Gray Black Z Z pe eee neue SAT BAT 22 _22 2 1 22 Gray Black BATGND BATGND 23 23 71 H l White Red 24 1 24 H 24 White Black 25 25 H 25 Orange Red INP1 VCMP 26 1 26 25 Orange Black INPICOM VCMPCOM 2 poy a7 ee 27 _ White Red TGON TGON 28 1 28 H 28 j ae TGONCOM TGONCOM 29 29 HH 29 Yellow Red READY R
352. ode Changes and Display Contents Use the MODE SET Key to change modes Use the Up and Down Keys to change parameter and monitor numbers Status Display Mode Bit Displays See 4 9 2 Status Display Mode C ontrol circuit power ON one 787 E E b b Main circuit power ON Co Meoeser T Base block Servomotor not receiving power In position Speed conformity Torque commands being input Deviation counter reset signal being input Command pulses being input Speed commands being input Servomotor rotation detected Symbol Displays b D Base block Qf In operation running P o t Forward rotation prohibited Moet Reverse rotation prohibited R Alarm display Y System Check Mode fna B8 B B Alarm history display See 4 11 1 Alarm History A E fr 1 Rigidity setting during online auto tuning See 4 11 2 Online Auto tuning Related eS Meoeser nuu i Functions yw F n g nm Jog operation See 4 3 2 Jog Operation F m gp g Servomotor origin search See 4 11 3 Servomotor Origin Search F m D H 5 User parameter initialization See 4 11 4 User Parameter Initialization F m D fj 5 Alarm history data clear See 4 11 1 Alarm History F m g n Online auto tuning results storage See 4 11 2 Onlin
353. ode function code Note 1 The digits you can manipulate will flash Note 2 Pressthe MODE SET Key in this mode to display Ch2_G then select analog monitor output 2 NM Press the same Key again to return to Ch1 G display Note 3 The scale unit is x 0 496 4 11 7 Servomotor Current Detection Offset Adjustment Servomotor current detection offset adjustment has already been completed at the factory Conse quently there is normally no need to perform adjustments e If you think that the torque ripple caused by current detection offset is abnormally large perform Ser vomotor current detection offset automatic adjustment FnOOE After performing automatic adjustment perform manual adjustment FnOOF if you still want to lower the torque ripple even further If manual adjustment is performed badly however there is a risk of worsening the characteristics m Servomotor Current Detection Offset Automatic Adjustment FnOOE Perform automatic adjustment to the Servomotor current detection offset 4 133 Operation Chapter 4 Note Automatic adjustment can be performed only when the power supply to the main circuits is turned ON and the power supply to the servo is OFF System Check Mode rin F Offset automatic ad Servomotor current a C lulc _ Cure ee min detection offset automatic Per ic ad adjustment E7 frooesey ooo doin E Auto
354. odel and name R88A BATO1W up to 5 kW R88A BATO2W 6 kW to 15 kW Absolute Encoder Backup Battery Unit Battery model ER8V Toshiba Battery voltage 3 6 V Current capacity 1 000 mAeh Note Refer to 2 10 Absolute Encoder Backup Battery Specifications for dimensions and wiring details Battery Replacement Procedure Replace the battery using the following replacement procedure After replacing the battery if a A 81 backup error alarm does not occur the replacement is completed If an A 81 alarm occurs you need to set up the absolute encoder 1 Turn ON the power supply to the Servo Driver s control circuit e Turn ON the power supply to the Servo Driver s control circuit only This will supply power to the absolute encoder 2 Replace the battery e Remove the old battery from the Servo Driver s battery holder and disconnect the connector to the battery from the battery connector CN8 e Place the new battery in the battery holder and insert the connector correctly into battery connec tor CN8 3 Turn the power supply OFF then ON again e After correctly connecting the new battery turn OFF the power supply to the Servo Driver then turn it ON again e If a Servo Driver alarm is not displayed battery replacement is completed Note If A 81 backup error is displayed you need to set up the absolute encoder Refer to 4 2 2 Absolute Encoder Setup and Battery Changes and perform the setup and make the initial
355. offset amount using manual adjustment FnOOA or FnOOb Note Make sure the servo is turned OFF before performing speed and torque command offset auto matic adjustment Consequently you cannot use automatic adjustment with a status that in cludes position loop using the Host Controller i e when the servo is ON Use manual adjust ment if you want to adjust the deviation pulse to zero when the servolock is ON and includes a position loop using the Host Controller System Check Mode Feo ic IE IF Display offset automatic ad Speed and torque com fasi justment rEF o displayed mand offset automatic FEB eee PEZ fose Perform automatic ad adjustment se justment Automatic adjustment com pleted donE flashes 1 s later zc EFFI lol Returns to rEF_o display oara oaa oag 1 s min 4 126 Operation Chapter 4 Operation Procedure PRO2W Front panel Display Explanation operation key operation Press the MODE SET Key to change to System Check ANY Mode Press the Up or Down Key to set function code Fn009 See note Press the DATA Key front panel DATA Key for 1 s min 1 s min to display rEF o Input command 0 Input speed and torque commands command 0 from either the Host Controller or the external circuits Make sure that RUN is turned OFF Press the MODE SET Key to perform automatic offset en adjustment When automatic adjustment is complete donE flash
356. og torque limit input Use TREF as torque feed forward input Use TREF as analog torque limit when PCL and NCL are ON Use REF as analog speed limit input Use as absolute encoder Use as incremental encoder Full closed loop encoder not used Full closed loop encoder used without phase 2 Full closed loop encoder used without phase 2 Full closed loop encoder used in reserse rotation mode without phase 2 Full closed loop encoder used in reserse rotation mode without phase 2 Default Default setting setting 100 200 V 400 V 1002 0000 0000 0000 Chapter 6 Unit Setting Restart range power Appendix Chapter 6 Explanation Default Default Unit Setting Restart setting setting range power 100 200 V 400 V Analog Servomotor rotation m PEE d 0002 0002 monitor m PEE d r min 1 AM Speed command 1 V 1000 r min command 1 Speed command 1 V 1000 r min 000 r min alloca tion Torque command 1 V rated torque command 1 Torque command 1 V rated torque torque o d deviation 0 05 o d command unit ETE T deviation 0 05 ETE T command units Command Toon T frequency 1 Toon T 000 r min Servomotor rotation ae 1 ae r min Servomotor rotation one e 1 one e r min Not used used Analog ee SE as Pn003 0 monitor 2 NM alloca tion 2to Not 0 ea not change setting 3 used Not Ec not change setting 0000 0000 used Not Do not change
357. ol I O Signals e CN1 Control Inputs Signal Contents Control name mode Speed command Analog input terminal for speed commands 2 to 10 V input Servomotor forward rotation with voltage Scale can be changed by means of user parameter Speed command Pn300 speed command scale input ground Can be used as a speed limit input for torque control by means of a Pn002 1 setting Torque command Analog input terminal for torque commands 1 to 10 V input Forward torque with voltage Scale can be changed by means of user parameter Pn400 torque command scale Torque command Can be used as a torque limit input or torque feed for input ground ward input for speed control or position control by means of a Pn002 0 setting Open collector com To use open collector output for inputting command mand power supply pulses and deviation counter resets connect the inputs to these terminals and connect the inputs to open col lector output terminals PULS Feed pulses reverse Pulse string input terminals for position commands Position CW A Pris d eu P Line driver input 10 mA at 3 V PULS Bassi pulses Maximum response frequency 500 kpps CW A Open collector input 7 to 15 mA Maximum response frequency 200 kpps SIGN Direction signal for CCW B ward pulses or 90 Any of the following can be selected by means of a phase difference Pn200 0 setting feed pulses or direction signals PULS SI
358. ol mode is changed as shown in the following table Control mode setting TVSEL Pn000 1 7 Position control Speed control Position control lt gt Speed control Pn000 1 8 Position control Torque control Position control lt gt Torque control Pn000 1 9 Torque control Speed control Torque control lt gt Speed control Note 1 This isthe default allocation Input terminal allocations CN1 pins 40 to 46 can be changed by setting Pn50A 0 input signal selection mode to 1 The TVSEL signal is allocated by Pn50C 3 Note 2 Withthe default allocation the function for pin 41 is changed to MING PLOCK TVSEL RDIR or IPG according to the Pn000 1 control mode selection setting and the control mode in op eration For details refer to 4 4 3 Important Parameters e Position Lock Command Input 41 PLOCK If position control is executed without including a position loop there may be some position deviation due to temperature drift from a device such as the A D converter If a position lock command is input in such a case then when the Servomotor rotation speed falls below the rotation speed set in Pn501 position lock rotation speed the speed control mode will be changed to position control mode and the Servomotor will be position locked and completely stopped Note 1 This isthe default allocation Input terminal allocations CN1 pins 40 to 46 can be changed by setting Pn50A 0 input signal selection mode to 1 The PLOCK si
359. oltage Power supply current Output signals Output impedance Serial communications data Serial communications method m Absolute Encoder Specifications 3 000 r min Servomotors 30 to 750W 1to5 kW 3 000 r min Servomotors 30 to 750 W 1to5 kW 3 000 r min Flat style Servomotors 1 000 1 500 6 000 r min Servomotors Optical encoder 13 bits 17 bits 13 bits A B phase 2 048 pulses revolution Z phase 1 pulse revolution 17 bits A B phase 32 768 pulses revolution Z phase 1 pulse revolution A B phase 2 048 pulses revolution Z phase 1 pulse revolution A B phase 32 768 pulses revolution Z phase 1 pulse revolution Conforming to EIA RS 422A Output based on LTC1485CS or equivalent 120 mA data 150 mA Position data poll sensor U V W phase encoder alarm Servomotor Bi directional communications in HDLC format by Manchester method 3 000 r min Flat style Servomotors 1 000 1 500 r min Servomotors Encoder method Optical encoder 16 bits 17 bits 16 bits 17 bits Number of output pulses A B phase 16 384 pulses revolution Z phase 1 pulse revolution A B phase 32 768 pulses revolution Z phase 1 pulse revolution A B phase 16 384 pulses revolution Z phase 1 pulse revolution Maximum rotational speed 32 768 to 432 767 rotations or 0 to 65 534 rotations A B phase 32 768 pulses revolution Z phase 1 pulse revolution
360. on Chapter 4 Online Auto tuning Related User Parameters Explanation Default Setting Restart ee eee ip id un didi pe Adjusts speed loop responsiveness Speed Speed loop integration time constant loop in tegra tion time constant Adjusts position loop responsiveness Inertia Sets the ratio using the mechanical system inertia to Servomotor rotor 300 ratio inertia ratio Online O Online 0 Turns ON the power supply then 0012 auto auto tuning performs auto tuning on the RUN tuning selection startup only setting Auto tuning always ON Auto tuning OFF Speed ON feedback compensati on function 1 OFF selection Viscous Friction compensation OFF friction Friction compensation Rated torque compensati ratio small on function selection Friction compensation Rated torque ratio large Not used Do not change the setting Torque Sets the filter time constant for the internal torque command 40 com mand fil ter time constant Note Refer to 4 4 4 Parameter Details for details of each parameter 4 7 2 Manual Tuning Rigidity Settings During Online Auto tuning Fn001 If you set the rigidity during online auto tuning the gains corresponding to machine rigidity are set automatically Even if you adjust the gain as an initial setting using manual tuning you can perform tuning comparatively quickly so we recommend setting the rigidity FnOO1 first Select the
361. on Chapter 4 Operation Procedures PRO2W Front panel Display Explanation operation key operation mimimy Press the MODE SET Key to change to System Check ES jj Mode I i 1 Press the Up or Down Key to set function code Fn011 Flu I See note Press the DATA Key front panel DATA Key for 1 s DATA TaS min Servomotor voltage and Servomotor type are Simin displayed as F OOO Corea ae Press the MODE SET Key Servomotor capacity is se displayed as P z A a Press the MODE SET Key Encoder information is se displayed as E d ETT ET Press the MODE SET Key Servo Driver specification is se displayed as y E Press the DATA Key front panel DATA Key for 1 s min DATA i IF to return to the System Check Mode function code display s min Note The digits you can manipulate will flash 4 11 10 Checking the Version Version Check Fn012 You can use this function to check the Servo Driver and encoder software versions System Check Mode F nm pE an ily iM Servo Driver software ver Version check F E ee iin C100 i8 Sion displayed DATA in a 32 a paw 1s min Operation Procedure PRO2W Front panel Display Explanation operation key operation vem ro mim Press the MODE SET Key to chan
362. on external current lim it and Pn405 reverse rotation external current limit The outputtorque is limited by the smallest of the enabled limit values Refer to 4 5 10 Torque Limit Function for details Pn404 Forward rotation external current limit All operation modes Setting 0 to 800 Unit 96 Default 100 Restart No range setting power Pn405 Reverse rotation external current limit All operation modes Setting 0 to 800 Unit 96 Default 100 Restart No range setting power Set in Pn404 the torque limit for when PCL forward current limit input is input and set in Pn405 the torque limit for when NCL reverse current limit input is input using the ratio 96 of the Servomotor rated torque for each Note The following torque limit functions are available Analog torque limit Pn002 0 1 or 3 Pn402 forward torque limit Pn403 reverse torque limit Pn404 forward rotation external current lim it and Pn405 reverse rotation external current limit The output torque is limited by the smallest of the enabled limit values Refer to 4 5 10 Torque Limit Function for details Pn406 Emergency stop torque control and ee set speso control Setting 0 to 800 Unit Default Restart range setting power Set the deceleration torque if overtravel occurs using the ratio of the Servomotor rated torque Note This parameter is enabled when Pn001 1 select stop if drive prohibited is input is set to 1 i e sto
363. on speed Note 2 Refer to 4 5 4 Internally Set Speed Control for details Pn304 Jog speed All operation modes Setting Oto 10000 Unit r min Default Restart No range setting power Sets the speed for when the jog operation is used Note 1 lfa value that exceeds the maximum Servomotor rotation speed is set that value will be re garded as the maximum Servomotor rotation speed Note 2 Refer to 4 3 2 Jog Operation for details Pn305 Soft start acceleration time Speed internally set speed control Setting Oto 10000 Unit ms Default 0 Restart No range setting power Pn306 Soft start deceleration time eee internally set speed control Setting Oto 10000 Unit Default Restart range setting power Sets the acceleration and deceleration time for soft start using speed control Set the acceleration time from Servomotor rotation speed 0 r min to the maximum rotation speed in Pn305 and set the deceleration time from the maximum rotation speed to the Servomotor rotation speed 0 r min in Pn306 4 57 Operation Chapter 4 Set both Pn305 and Pn306 to 0 if using a position controller with acceleration and deceleration func tions or if not using speed control and internally set speed control Note Refer to 4 5 11 Soft Start Function for details Pn307 Speed command filter time constant All operation modes Setting 0 to 65535 Unit x0 01 ms __ Default 40 Restart No range setting power
364. on that constantly maintains the target speed loop gain and posi tion loop gain using the operating load inertia measured by the Servo Driver Use this function to adjust the gain easily even if you are using a servo system for the first time The following four user parameters are set automatically by online auto tuning Pn100 Speed loop gain Pn101 Speed loop integration time constant Pn102 Position loop gain Pn401 Torque command filter time constant Note You cannot use online auto tuning in the following cases Control using torque command mode e Speed control loop using P control Pn10b 1 1 Control using No 2 gain GSEL gain switching input Using torque feed forward function Pn002 0 2 Using speed feedback compensation function Pn110 1 0 Note Refer to 4 7 1 Online Auto tuning for details 4 49 Operation Chapter 4 Pn110 0 Online auto tuning setting Online auto tuning selection Position speed internally set speed control Setting 0 to 2 Unit Default Restart range setting power Setting Explanation NEIN Explanation After the power is turned ON auto tuning is only performed for the initial operation Auto tuning is always performed Auto tuning is not used Select the auto tuning function you want to use 0 After the power is turned ON execute auto tuning and when the load inertia calculations are com plete use the data for control Thereafter do not perform auto t
365. or acl um que command offset manual ad Torque command offset Fin Gio lel justment trq displayed 1s min z manual adjustment ee RUN signal is ON servo is ON FE eos is IJI 1 s mox E f Torque command offset displayed UU Torque command offset adjustment c3 3 DATA DATA s min Operation Procedure PRO2W Front panel Display Explanation operation key operation Press the MODE SET Key to change to System Check Mode Press the Up or Down Key to set function code FnOOb See note 1 Press the DATA Key front panel DATA Key for 1 s min to display trq Input torque command command 0 from either the Host Controller or the external circuits and make sure that RUN is ON Press the Left Key front panel DATA Key for less than 1 s or Right Key to display the offset amount See note 2 Press the Up or Down Key to change the offset amount Adjust the offset until the Servomotor stops See note 3 After completing offset adjustment press the DATA Key UIU front panel DATA Key for 1 s min The display will NRI return to the System Check Mode function code Note 1 The digits you can manipulate will flash Note 2 The offset amount unit is x 14 7 mV Note 3 Check the offset amount to stop the Servomotor in both forward direction and reverse di
366. or Crimp 1 Phase U cap 350781 1 terminal 2 Phase v Socket 350536 6 or 350550 6 hole M5 3 Phase W AMP 5 Brake Black 5 6 Brake 2 122 Standard Models and Specifications Chapter 2 m R88A CAWK The R88A CAWK _ Cables are for 3 000 r min 400 V Servomotors 300 650 W and flat style motors For Servomotors without Brakes Model Length L R88A CAWKOOSS DE R88A CAWKOO5S DE R88A CAWKO10S DE R88A CAWKO15S DE R88A CAWKO20S DE For Servomotors with Brakes R88A CAWKOOS3B DE R88A CAWKOO05B DE R88A CAWKO10B DE R88A CAWKO15B DE R88A CAWKO020B DE e Wiring for Power Connector Connector No Symbol Crimp LPRAOGBFRBN 170 terminal 2 Phase v Interconnectron Hypertac Connector Crimp LPRAO6BFRBN170 terminal Interconnectron Hypertac hole M4 Black 5 2 6 4 Peripheral Cables and Connector Specifications m Analog Monitor Cable R88A CMWO01 S This is cable for connecting to the Servo Driver s Analog Monitor Connector CN5 It is required for connecting analog monitor outputs to external devices such as measuring instruments e Cable Models Medi legi NWegk R88A CMWO01S Approx 0 1 kg 2 123 Standard Models and Specifications Chapter 2 e Connection Configuration and External Dimensions L 7 3 Servo Driver External device t 6 e Wiring Ser
367. or Top Mounting on the Magnetic Contactor J73K BM 11 1M 1B OMRON M Make contact J73K BM 22 4 pole 2M 2B B Break contact J73K BM 31 3M 1B 3 40 System Design and Installation Chapter 3 e Leakage Breakers Select leakage breakers designed for inverters Since switching takes place inside the Servo Drivers harmonic current leaks from the armature of the motor With inverter leakage breakers harmonic current is not detected preventing the breaker from operating due to leakage current When selecting leakage breakers remember to also add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on For details on leakage breakers refer to the manufacturer s catalog The following table shows the Servomotor leakage current for each Servo Driver model Driver Leakage current resistor capacitor measurement commercial power supply frequency range R88D WTASHL to WTO2HL R88D WTASH to WT04H R88D WTO5H to WT10H R88D WT 15H R88D WT20H WT30H R88D WT50H R88D WT60H Note 1 The above leakage current is for cases where Servomotor power line length is less than 10 meters It varies depending on the power line length and the insulation Note 2 The above leakage current is for normal temperature and humidity It varies depending on the temperature and humidity Leakage Breaker Connection Example AC power No
368. or undershoots without the output torque being saturated during accel eration and deceleration set speed control to 1 switching by speed commana or 3 switching by deviation pulse value If the setting is made from 0 to 3 i e if P control switching is used set the switching condition to Pn10C to Pn10F Note Setting Pn10b 1 speed control loop switching to 1 P control changes the parameter to switch from PI control to P control Pn10b 1 Speed control setting Speed control loop switching Position speed internally set speed control Setting 0 1 Unit Default Restart range setting power ud Explanation o Expanaion ee SES Sets control P control Set the speed control loop to either PI control or P control There is normally no need to change the setting If you cannot shorten positioning time in PI control change the setting to 1 P control Note Online auto tuning does not normally operate in P control Pn10b 2 Speed control setting Not used Setting Default range setting Pn10b 3 i f Setting Default Restart range setting power Note Do not change the setting Pn10C P control switching Hund PE Position speed _ set speed E Setting 0 to 800 Unit Default Restart range setting power You must set Pn10C if you set Pn10b 0 P control switching condition to 0 switching by internal torque command 4 48 Operation Chapter 4 Set the condition to sw
369. ors 30 to 750 W R88A CRWA003C R88A CRWAO05C R88A CRWA010C R88A CRWA015C R88A CRWA020C For 3 000 r min Servomotors 1 to 5 kW R88A CRWBOOSN R88A CRWBOO5N R88A CRWBO 10N R88A CRWBO15N R88A CRWBO20N For 3 000 r min Flat style Servomotors 100 W to 1 5 kW R88A CRWA003C R88A CRWAO05C R88A CRWA010C R88A CRWA015C R88A CRWA020C For 1 000 r min Servomotors 300 W to 5 5 kW R88A CRWBOOSN R88A CRWBOO5N R88A CRWBO 10N R88A CRWBO15N R88A CRWBO20N m Power Cable for 230 VAC Servomotors Power Cable for 3 000 r min Servomotors Specifications Without brake With brake 30to750W 3m _ R88A CAWAOOSS DE R88A CAWAOOSB DE R88A CAWAOO05S DE R88A CAWAOOBB DE R88A CAWAO10S DE R88A CAWAO10B DE D DE D DE R88A CAWAO15S DE R88A CAWA015B DE R88A CAWA020S DE R88A CAWAO20B DE 1t02 kW R88A CAWCOOSS R88A CAWCOOSB R88A CAWCO05S R88A CAWCO005B R88A CAWCO10S R88A CAWCO10B R88A CAWCO15S R88A CAWCO15B R88A CAWCO20S R88A CAWCO20B R88A CAWDOOSS R88A CAWDOOSB R88A CAWDOO5S R88A CAWDO005B R88A CAWDO10S R88A CAWDO10B R88A CAWDO15S R88A CAWDO15B Note The DE type cables are robotic cables with IP67 connectors These cables should be used in combination with a D type motor For example the R88M WP10030H S1
370. otor 16 384 pulses rotation 1 500 r min Servomotor 32 768 pulses rotation 1 000 r min Servomotor 32 768 pulses rotation Note 1 Even if encoder resolution is 32 768 pulses rotation the maximum setting is 16 384 pulses rotation Note 2 Ifyouseta value greater than the encoder resolution the resolution setting will taken to be the encoder resolution Note 3 If using an OMRON Position Control Unit analog voltage output type or Motion Control Unit the upper limit of the encoder dividing rate is the rotation speed used Refer to Encoder Divid ing Rate and Rotations Using OMRON Servo Controllers for details Note 4 Refer to 4 5 7 Encoder Dividing Function for details Pn202 Electronic gear ratio G1 numerator Position Setting 1 to 65535 Unit Default 4 Restart Yes range setting power Pn203 Electronic gear ratio G2 denominator Position Setting 1 to 65535 Unit Factory 1 Restart Yes range power e Sets the command pulses and Servomotor travel distance pulse rate e When G1 G2 1 if an encoder resolution x 4 pulse is input the Servomotor will rotate once the internal Servo Driver will operate at x4 e Set within the range 0 01 lt G1 G2 lt 100 Note Refer to 4 5 12 Electronic Gear Function for details Pn204 Position command filter time constant 1 primary filter Setting 0 to 6400 Unit x 0 01 ms Default 0 Restart No range setting power Sets the command pulse soft start
371. ox from cable openings operating panel installation holes gaps around the door and so on it may allow electric waves to penetrate In order to prevent this from occurring take the measures described below e Case Structure Construct the control box case of metal and weld the joints between the top bottom and sides so that they will be electrically conductive For assembly strip the paint off of joined areas or mask them during painting to make them electri cally conductive If gaps are opened in the control box case when tightening down screws make adjustments to prevent this from occurring Do not leave any conducting part unconnected Connect to the case all Units inside of the case e Door Structure Construct the door of metal Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams below Use conductive packing between the door and the case as shown in the diagrams below Strip the paint off of the sections ofthe door and case that will be in contact with the conductive packing or mask them during painting so that they will be electrically conductive 3 30 System Design and Installation Chapter 3 Be careful not to let gaps be opened in the control box while tightening down screws Case A Door S B Oil proof packing Conductive packing Control box Cross sectional view of A B Oil proof packing Conductive pac
372. p gain In this way you can improve command responsiveness and shorten positioning time Position ing time cannot be shortened however when external force is applied as with the vertical shaft be cause responsiveness to external interference is lowered If O function ON is set set Pn111 speed feedback compensating gain Note If using online auto tuning set this parameter to 1 function OFF If using speed feedback com pensation function online auto tuning is disabled 4 50 Operation Chapter 4 Pn110 2 Online auto tuning function Adhesive friction compensation function selection Position speed internally set speed control Setting 0 to 2 Unit Default Restart range setting power Setting Explanation Explanation Friction compensation None when adhesive friction for rated revolutions is 10 max of rated torque Friction compensation Rated torque ratio Small when adhesive friction for rated rotation speed is 10 to 30 of rated torque Friction compensation Rated torque ratio Large when adhesive friction for rated rotation speed is 30 to 50 of rated torque When calculating load inertia using online auto tuning set whether the effects of adhesive friction load torque proportional to rotation speed on the servo system should be considered e f adhesive friction is to be considered set whether the adhesive friction is large or small to improve the accuracy of the load inertia calculat
373. p an Fa E E ME S F a ea ate eee a ce C0 i a 1 H d UGUU i E MUR Standard Models and Specifications Chapter 2 Three phase 200 V R88D WT60H 6 kW e Wall Mounting External dimensions o Bo tr Eo Ygl e E Ele LJ ios CE m s o Oo SB E 3 eel gig fees 5 uy amp 9 amp renlxrenrenlnli rene ons I pisse ole ia i 3 C se UIT AQ i E 2 180 235 max T pat d 230 max B EZ Tog ites 197 ae IT DUI 2 Mounting dimensions f z RE Leo 9 2 Four Me TES j io er TM j UJUUUL i i HAS e N a 8 Eg o I 88 3 tit 00 Kd Jsl 180 0 5 J D 230 max 2 23 Standard Models and Specifications Chapter 2 Three phase 400 V R88D WT60HF 6 kW R88
374. p using Pn406 Pn407 Speed limit Torque Setting Oto 10000 Unit r min Default 3000 Restart No range setting power e Set the speed limit for Torque Control Mode Note The following speed limit functions are available Analog speed limit when Pn002 1 1 and Pn407 speed limit The speed limit is set to whichever is the smaller Refer to 4 5 10 Torque Limit Function for details 4 59 Operation Chapter 4 e Torque Command Setting Pn408 Default Setting 0000 Pn408 0 Torque command setting All operation modes Setting Default range setting Setting Explanation Setting Explanation jo 1 Notch filter function not used Notch filter used in torque commands Set the frequency using Pn409 Set whether or not to use the notch filter for internal torque commands current loop commands To prevent mechanical resonance set the resonance frequency using Pn409 notch filter frequency This can be used to raise the speed loop gain and to shorten positioning time Pn408 1 Torque command setting Not used Setting Unit Default Restart No range setting power Note Do not change the setting Pn408 2 Torque command setting Not used Setting Unit Default Restart No range setting power Note Do not change the setting Pn408 3 Torque command setting Not used Setting Unit Default Restart No range setting power Note Do not change the setting Pn409 Notch filter frequency All On modes
375. peed control Setting Oto F Unit Default Restart range setting power Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to F are all disabled To change the pin number set Pn50A 0 to 1 Pn50C 2 Input signal selection 3 SPD2 signal speed selection command 2 input terminal allocation internally set speed control Setting Oto F Unit Default Restart range setting power e Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to F are all disabled To change the pin number set Pn50A 0 to 1 Pn50C 3 Input signal selection 3 TVSEL signal control mode switching input terminal allocation Switching control Setting Oto F Unit Default Restart range setting power Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to F are all disabled To change the pin number set Pn50A 0 to 1 Pn50d 0 Input signal selection 4 PLOCK signal position lock command input terminal allocation Speed Setting Oto F Unit Default Restart range setting power Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to F are all disabled To change the pin number set Pn50A 0 to 1 Pn50d 1 Input signal selection 4 IPG signal pulse disable input terminal allocation MEL Setting OtoF
376. peration I Uu eo 6 JoG displayed Servo OFF System Check Mode jog FE Gg e p o 1smin SERVO MODE SET Servo ON OFF operation DATA ldo 5 JoG displayed Servo ON DAT 15 min pw cs Forward reverse rotation Release Key A operation tule f Rotate the Servomotor while WO holding down the Key 4 12 Operation Chapter 4 e Operation Procedure Front panel Display example Explanation key operation Press the MODE SET Key to change to System Check Mode IMODE SET Select function code Fn002 using the Up or Down Key The r4 digits you can operate will flash paw Press the DATA Key front panel DATA Key for 1 s min 1 s min J The jog operation will be enabled Al m Turn ON the Servomotor MODE SET Press the Up Key While the Up Key is held down the Ser vomotor will rotate forwards at 500 r min Press the Down Key While the Down Key is held down the Servomotor will rotate in reverse at 500 r min Turn OFF the Servomotor A y MODE SET Press the DATA Key front panel DATA Key for 1 s min to end the jog operation and return to th
377. peration may become unstable The optimum value will vary depending on the load gain and bias addition range so check and adjust the Servomotor response Gradually increase the value starting from Pn107 0 Bias function operation Speed command command pulse fre Servomotor 4 quency speed speed monitor Ne z Bias function not used Z Bias function used a Pn107 added to speed command when residual pulses exceed Pn108 Time Pn109 Feed forward amount UE Setting 0 to 100 Unit Default Restart range setting power Sets the feed forward compensation value during positioning When performing feed forward compensation the effective servo gain rises improving responsive ness There is almost no effect however on systems where the position loop gain is sufficiently high Use to shorten positioning time Note Setting a high value may result in machine vibration Set the feed forward amount for general machinery to 8096 maximum Check and adjust machine response Pn10A Feed forward command filter Position Setting 0 to 6400 Unit x0 01ms Default Restart range setting power Sets the feed forward primary lag command filter during position control If the positioning completed signal is interrupted i e repeatedly turns ON and OFF because of per forming feed forward compensation and a speed overshoot is generated alleviate the problem by setting the primary lag filter e
378. ple the R88M WP10030H S1 D motor could be used with the R88A CAWAO035 DE power cable and R88A CRWAOO3C DE encoder cable 6 Encoder Cable Select an Encoder Cable to match the Servomotor that is to be used Servomotor type Encoder Cable Remarks 3 000 r min 30 to 750 W R88A CRWA C DE The empty boxes in the model Servomotors 1t05kW R88A CRWB N E numbers are for cable length Th l 5 10 15 3 000 r min Fla style 100 Wto 1 5 kW R88A CRWALILILIC DE A ae Se Servomotors R88A CRWA003C is 3 meters 1 000 r min 300 W to 5 5 kW R88A CRWB N E long Servomotors 1 500 r min 450 W to 15 kW R88A CRWB N E Servomotors 6 000 r min 1 kW to 3 kW R88A CRWB N E Servomotors Note The DE type cables are flexible cables with IP67 connectors These cables should be used in combination with a D type motor For example the R88M WP10030H S1 D could be used with the R88A CAW0035 DE power cable and R88A CRWOOS3C DE encoder cable 7 Parameter Unit Cable With OMNUC W series Servo Drivers parameter settings and Servo Driver monitoring can be carried out using the display and settings areas on the front panel of the Servo Driver A Parameter Unit R88A PRO2W is required in order to perform these operations at a distance from the Servo Driver or using a control box Ifthe 1 meter cable provided with the Parameter Unit is not long enough then replace it with 2 meter Parameter
379. power OFF then ON again to enable the parameter settings If using a Servomotor with an absolute encoder set up the absolute encoder and set the Motion Control Unit s initial parameters Turn ON the power and check to see whether protective functions such as emergency stop and operational limits are working reliably Check operation at both low speed and high speed using instructions from the Host Controller Refer to 4 6 Trial Operation Procedure 7 Adjustments Manually adjust the gain as required Further adjust the various functions to further improve the con trol performance as required Refer to 4 7 Making Adjustments and 4 8 Advanced Adjustment Functions 8 Operation Operation can now begin If any trouble should occur refer to Chapter 5 Troubleshooting 4 3 Operation Chapter 4 4 2 Preparing for Operation This section explains the procedure following installation and wiring of the Servomotor and Servo Driver to prepare the mechanical system for operation It explains what you need to check both before and after turning ON the power It also explains the setup pro cedure required if using a Servomotor with an absolute encoder 4 2 1 Turning Power ON and Checking Indicators Items to Check Before Turning ON the Power e Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below R88D WTT JHL Single phase 100 V AC input Main circuit power supp
380. power supply input when the power supply has been turned OFF the discharge time for the Servo Driver is approximately 30 minutes Pn001 3 Function selection application switch 1 Warning code output selection All operation modes Setting i Default Restart range setting power Setting Explanation Setting Explanation Oe Only alarm code is output from ALO1 ALO2 and ALO3 Both alarm code and warning code are output from ALO1 ALO2 and ALO3 Select whether the alarm code output will be from outputs ALO1 to ALO3 CN1 37 to 39 if an alarm overload alarm regeneration overload alarm occurs Note Refer to 5 2 Alarms for warning code details e Function Selection Application Switch 2 Pn002 Default Setting 0000 Pn002 0 Function selection application switch 2 Torque command input change Position esed Setting 0 to 3 Unit Default Restart range setting power 4 41 Operation Chapter 4 Setting Explanation Seg Explanation zr Function not used TREF used as analog torque limit TREF used as torque feed forward input TREF used as analog torque limit when PCL and NCL are ON Set TREF torque command input function when using position control and speed control Set 1 to limit the output torque to the same value for both forward and reverse regardless of TREF voltage polarity read as an absolute value Set 2 to calculate torque corresponding to TREF voltage in the curren
381. power supply ON Lit when Servo Driver control circuit power supply is ON Main circuit power supply ON Lit when Servo Driver main circuit power supply is ON Base block Lit during base block no power to Servomotor servo is OFF dimmed when servo is ON Positioning completed 1 Lit when the residual pulses in the deviation counter fall below the set ting for Pn500 positioning completion range 1 Speed conformity Lit when the Servomotor rotation speed is within the range of speed command value Pn503 speed conformity signal output width Rotation detection Lit when the Servomotor rotation speed is equal to or greater than Pn502 rotation speed for motor rotation detection setting Inputting command pulses Lit when command pulses are being input Inputting speed command Lit when a speed command input meets or is greater than Pn502 rota tion speed for motor rotation detection setting Inputting deviation counter reset Lit when the ECRST deviation counter reset signal is being input signal Inputting torque command Lit when a torque command at least 1096 of the rated torque is input Symbol Display Contents Symbol dipl 5b O Base block no power to Servomotor servo is OFF Operating power to Servomotor servo is ON Forward rotation prohibited POT Forward rotation prohibited input is OFF Reverse rotation prohibited NOT Reverse rotation prohibited input is OFF a ELS O Alarm display Refer to alarm ta
382. priate control by setting the gain and time constant beforehand for each of these conditions and then switching according to the conditions We recommend using Racks on which online auto tuning can set to be always enabled Online auto tuning cannot be always enabled under the following conditions When using torque feed forward function e When load inertia fluctuates by 200 ms maximum During operations where rotation speed does not exceed 500 r min or output torque does not exceed 5096 of the rated torque e When external power is constantly applied as with the vertical axis Note When the No 2 gain is selected online auto tuning is normally disabled Bias rotational speed Position 0 to 450 Unit r min Default Restart setting power Bias addition band Positio 0 to 250 Unit in Default Restart setting power These two parameters set the position control bias This function shortens the positioning time by adding the number of bias rotations to the speed com mand i e commands to the speed control loop When the deviation counter residual pulses exceed the Pn108 bias addition band setting the speed set in Pn107 bias rotational speed is added to the speed command and when they are within the limits for Pn108 it stops being added 4 46 Operation Chapter 4 Note 1 Set Pn107 to 0 if not using bias function Note 2 If the bias rotation speed is too great the Servomotor o
383. proof models OI 2 38 Chapter 2 Standard Models and Specifications 1 000 r min Servomotors with a Brake e 200 V AC 4 kW 5 5 kW R88M W4K010H B S2 W5K510H B S2 Incremental R88M W4K010T B S2 W5K510T B S2 Absolute 113 150 n 114 3 0 5 dia is R88M W4K010L Dimensions mm 180 200 dia Il 13 5 dia Dimensions of shaft end with key BS2 M16 M16 Effective depth 32 F 3 2 S 0 3 Ae 0 016 LF1 R88M W5K510 7 Note The external dimensions are the same for IP67 waterproof models BOI 3 2 0 42 o0 Q 3 2 39 Standard Models and Specifications Chapter 2 m 1 500 r min Servomotors without a Brake e 400 V AC 450 W 850 W 1 3 kW 1 8 kW 2 9 kW 4 4 kW 5 5 kW 7 5 kW 11 kW 15 kW R88M W45015F S2 W85015F S2 W1K315F S2 W1K815F S2 W2K915F S2 WAK415F S2 W5K515F S2 W7K515F S2 W11K015F S2 W15K015F S2 Incremental R88M W45015C S2 W85015C S2 W1K315C S2 1k815C S2 W2K915C S2 W4K415C S2 W5K515C S2 W7K515C S2 W11K015C S2 W15K015C S2 Absolute Ry D1 dia Four Z dia Shaft Extension R88M WA45015
384. pter 4 Setting Explanation Setting Explanation CCW direction is taken for positive command counterclockwise seen from the Servomotor output shaft CW direction is taken for positive command clockwise seen from the Servomotor output shaft This parameter sets the Servomotor s direction of rotation e Even if 1 is set the Servo Driver s encoder output phase A B phase does not change i e the Servo motor s direction of rotation is simply reversed Control Mode Selection Pn000 1 Pnooo 1 Function selection basic switch Control mode selection All operation modes Setting Default Restart range setting power Setting Explanation Seg ExamWon SSCS p Smedcowd mkgcommad SSCS B Internal speed contolsetings OCO a iemalspeedcontolsetings Speed control Analog command __ Internal speed control setings Position control Pulse train command e Internal speed control setings Torque control Analog command Position control Pulse train command lt gt Speed control Analog command iB Position control Pulse train command lt gt Torque control Analog command 9 Speed control Analog command lt gt Torque control Analog command Speed control with position lock function Analog command Ibo Position control with pulse disable function Pulse train command Set to match the application content and the output form of the Host controller you are usi
385. pter 5 Countermeasures Adjust Pn107 bias rotation al speed and Pn108 bias addition width Correct the wiring Adjust the machinery Use auto tuning Adjust the gain manually Lower the ambient tempera ture to 40 C or less Use a cooler or fan Ensure adequate ventila tion Lighten the load Change to a larger capacity Servomotor and Servo Driv er Combine models that corre spond correctly Fix any problems causing vibration Use online auto tuning Adjust the gain manually speed loop gain Shorten the control signal lines Separate control signal lines from power supply lines Use a low impedance pow er supply for control signals Adjust the speed command offset Fn009 or FnOOA Use speed control mode with position lock function Control mode selection Pn000 1 A Control mode Position All modes Position Speed All modes All modes All modes All modes All modes Position Speed All modes 5 17 Troubleshooting Chapter 5 5 4 Overload Characteristics Electron Thermal Characteristics An overload protection electron thermal function is built into the Servo Driver to protect against Servo Driver or Servomotor overload If an overload A 71 to A 72 does occur first clear the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning on the power again If the power is turned on a
386. pulses from the Servo 1000 16384 pulse 16 to Yes divider rate Driver rotation 16384 Electronic Sets the pulse rate for the command pulses and 4 4 1 to Yes gear ratio Servo Servomotor travel distance 65535 G1 nu 9 01 lt G1 G2 100 merator Electronic 1 1 1to Yes gear ratio 65535 G2 de nominator 6 14 Appendix Parameter name Position command filter time constant 1 primary fil ter Absolute encoder multi turn limit setting Full closed loop en coder pulse Position control set ting 2 Position command filter time Default Chapter 6 Setting Restart setting setting range power 100 200 V 400 V alu 65535 65535 rotations Oto Yes 65535 16384 16384 Command 25 to unit 65535 Default Explanation See note 1 AE c c Explanation pneu e note 2 Sets soft start for command pulse Soft start characteristics are for the primary filter Sets the limit to the number of rotations when using a Servomotor with an absolute encoder Sets the number of pulses for the full closed loop encoder for one rotation of the motor note 3 Selects position command filter Speed command input switching during position control 2 to deceleration 0 Do not change setting Sets soft start for command pulse soft start characteristics are for the linear acceleration and Primary filter Pn204 0000 Linear acceleration and deceleration P
387. put Allocated to CN1 pin 46 Valid for high output MING Same as Pn50A 1 Rios MING gain reduction terminal signal allocation allocation POT Same as Pn50A 1 ty POT forward drive l terminal prohibited signal allocation allocation 6 18 Appendix Chapter 6 Parameter Explanation See note 1 Default Default i Setting Restart name z setting setting range power E 3 xplanation See note 2 100 200 V 400 V Input NOT Same as Pn50A 1 signal signal selection 2 Input terminal allocation RESET Same as Pn50A 1 signal Input terminal allocation PCL Same as Pn50A 1 signal Input terminal allocation NCL Same as Pn50A 1 signal Input terminal allocation Input RDIR Same as Pn50A 1 signal signal selection 3 Input terminal allocation SPD1 Same as Pn50A 1 signal Input terminal allocation SPD2 Same as Pn50A 1 signal Input terminal allocation TVSEL Same as Pn50A 1 signal TVSEL control mode Input EFT A t rihnal switching signal allocation allocation Input PLOCK Same as Pn50A 1 signal signal PLOCK position lock selection Input command signal allocation terminal g allocation IPG Same as Pn50A 1 signal Input terminal allocation GSEL Same as Pn50A 1 signal GSEL gain switching Input signal allocation terminal allocation Do not change setting NOT reverse drive prohibited signal allocation RESET alarm reset signa
388. radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to be placed on the motor shaft due to belt tension If an excessive radial load is applied the motor shaft may be damaged Set up the structure so that the radial load can be adjusted A large radial load may also be applied as a result of belt vibration Attach a brace and adjust Servo Driver gain so that belt vibration is minimized Pulley Pulley for tension adjustment Make adjustable Tension Connectors Conforming to EC Directives The Power Cable and Encoder Cable connectors listed in the following table are recommended for con forming to EC Directives Note The connectors for the Servomotor models not listed below i e 3 000 r min Servomotors 30 to 750 W and all 3 000 r min Flat style Servomotor models already conform to EC Directives and do not need to be changed 3 5 System Design and Installation Chapter 3 e Recommended Connectors For Power Cables Servomotor type Servomotor model Connector model Cable clamp model Maker 3 000 r min R88M W1K030 R88M W1K530 R88M W2K030 1 000 r min R88M W30010 R88M W60010 R88M W90010 1 500 r min 400 VAC type R88M W45015 R88M W85015 R88M W1k315 6 000 r min 400 VAC type R88M W1K060 R88M W1K56
389. rated 3000 rotations Number of rotations for No 1 internal setting 100 100 r min 0 to 10000 Number of rotations for No 2 internal setting Pa Nee eee a 10000 Parameter name Speed command scale No 1 internal speed setting No 2 internal speed setting 4 24 Operation Para meter No Pn303 name Parameter No 3 internal speed setting Chapter 4 Explanation Default Default Setting Restart setting setting range power 100 200 V 400 V Number of rotations for No 3 internal setting ee ees sees NEN 10000 Pn304 Jog speed Sets rotation speed during jog operation MN eee ee CM EI 10000 Pn305 Pn306 Torque Control Parameters From Pn400 Parame ter No eration time Speed com constant constant Parameter name Torque command scale Torque command filter time constant Forward torque limit Reverse torque limit Forward rotation external current limit Reverse rotation external current limit Emergency stop torque Speed limit Torque command setting Notch filter Soft start accel Soft start de celeration time mand filter time Speed feed back filter time frequency Sets constant during filter of speed command voltage input REF Explanation See note 1 Explanation See note 2 Sets the torque command voltage TREF to output the rated torque Sets the constant when filtering the internal torque com
390. rating temperature Oto 55 C Take into account temperature rises in the individ ual Servo Drivers themselves Ambient operating humidity 20 to 90 with no condensation Atmosphere No corrosive gases m Ambient Temperature Servo Drivers should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability Temperature rise in any Unit installed in a closed space such as a control box will cause the ambient temperature to rise inside the entire closed space Use a fan or a air conditioner to prevent the ambi ent temperature of the Servo Driver from exceeding 55 C Unit surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and keep separate any devices or wiring that are sensitive to heat 3 3 System Design and Installation Chapter 3 The service life of a Servo Driver is largely determined by the temperature around the internal elec trolytic capacitors The service life of an electrolytic capacitor is affected by a drop in electrolytic vol ume and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements If a Servo Driver is always operated at the maxi mum ambient temperature of 40 C and at 80 of the rated torque then a service life of approxi mately 50 000 hours can be expected A drop of 10 C in the ambient temperatur
391. rce such as in a bending machine There are four methods that can be used to limit the torque pin No is allocated at the factory Limit the steady force applied during normal operation with user parameters Pn402 forward torque limit and Pn403 reverse torque limit All operation modes Limitoperation with external signals connected to pins CN1 45 PCL forward current limit input and CN1 46 NCL reverse current limit input Set user parameters Pn404 forward rotation ex ternal current limit and Pn405 reverse rotation external current limit all operation modes Limit normal operation with analog voltage using TREF torque command input as the analog current limit input position speed internally set speed limit Limit analog voltage with external signals connected to pins CN1 45 PCL forward current limit input and CN1 46 NCL reverse current limit input using TREF position speed internally set speed limit When torque limit is ON CLIMT current limit detection signal is output if the signal has been allo cated using parameter Pn50F 0 If multiple torque limits are enabled the output torque is limited to the minimum limit value 4 81 Operation Chapter 4 Parameters Requiring Settings e Limiting the Steady Force Applied During Normal Operation with User Parameters All Operating Modes Parameter No Parameter Explanation Reference name Pn402 Forward torque Set the output torq
392. rd pulse reverse pulse Positive logic 90 phase difference A B phase signal x1 Positive logic 90 phase difference A B phase signal x2 Positive logic 90 phase difference A B phase signal x4 Positive logic Feed pulses Forward reverse signal Negative logic Forward pulse reverse pulse Negative logic 90 phase difference A B phase signal x1 Negative logic 90 phase difference A B phase signal x2 Negative logic 90 phase difference A B phase signal x4 Negative logic High level signal Rising signal low to high Low level signal Falling signal low to high Deviation counter reset if an alarm occurs when Servomotor is OFF Deviation counter not reset if an alarm occurs when Servomotor is OFF Deviation counter reset only if alarm occurs Command filter for line driver signal input 600 kpps Command filter for open collector signal input 200 kpps 4 23 Default Default Setting Restart setting setting range power 100 200 V 400 V Operation Parameter name Encoder divider rate Electronic gear ratio G1 nu merator Electronic gear ratio G2 de nominator Position command filter time constant 1 primary fil ter Absolute encoder multi turn limit setting Full closed loop en coder pulse Position control set ting 2 Position command filter time constant 2 Chapter 4 Setting Restart range power Explanation See
393. rec tion and then set the center value accordingly 4 129 Operation Chapter 4 4 11 6 Analog Monitor Output Adjustment The following two types of analog monitor output adjustment can be performed using System Check Mode e Analog monitor output offset manual adjustment FnOOC Analog monitor output scaling FnOOd Note 1 Setthe monitor items to be output from the analog monitor using Pn003 0 analog monitor 1 AM allocation and Pn003 1 analog monitor 2 NM allocation Note 2 The maximum analog monitor output voltage is 8 V Exceeding this value may result in an abnormal output Note 3 Analog monitor output accuracy is approximately 1596 m Analog Monitor Output Offset Manual Adjustment FnOOC Use this function to adjust the analog output monitor offset You can adjust each of the two monitor outputs separately The analog monitor output offset adjustment range is 128 to 127 x 17 mV Note When adjusting the analog monitor output offset confirm that the output voltage is zero e g if outputting the Servomotor rotation speed confirm thatthe servo is OFF andthe Servomotor shaft is not moving before connecting the measuring instrument to be used we ismin System Check Mode Word selection word 1 EJ Word selection word 2 DATA co rU Fla E ag var Chl rol Es Chiao Offset manual ad justment K o 1s max gt
394. rence value with a surge killer CR50500 by Okaya Electric Industries co LTD inserted Note 4 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures Note 5 The value indicated for the allowable radial load is for the position shown in the following dia gram Radial load Thrust load End of Servomotor shaft 2 92 Standard Models and Specifications Chapter 2 e Torque and Rotation Speed Characteristics 1 000 r min Servomotors 200 V AC The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M W30010H T 300 W Nem 8 Continuous usage 0 T T T r min 500 1000 1500 2000 R88M W1K210H T 1 2 kW Nem 30 4 28 0 T 1800 21 8 9 Repeated usage 11 5 104 Continuous usage P 0 r min 500 1000 1500 R88M W4K010H T 4 kW Nem 125 4 107 1004 k37 Repeated usage 504 25 Continuous usage 188 r min 2000 T T T 500 1000 1500 R88M W60010H T 600 W R88M W90010H T 900 W Nem Nem 20 419 3 157144 13 8 1928 19 7 15 104 12 5 Repeated usage 1078 8 54 57 Continuous usage DE Continuous usage 28 0 T T T r min 0 T T T r min 500 1000 1500 2000 500 1000 1500 2000 R88M W2K010H T 2 kW R88M W3KO010H T 3 kW Nem Nem 504 804 44 0 43 0 63 7 62 5 605 Repeated usage
395. res against short circuiting may result in burning To avoid damage to the product take appropriate and sufficient countermeasures when installing systems in the following locations Locations subject to static electricity or other sources of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radiation Locations close to power supply lines When connecting the battery be careful to connect the polarity correctly Incorrect polarity connections can damage the battery or cause it to explode System Design and Installation Chapter 3 3 1 Installation Conditions 3 1 1 Servo Drivers m Space Around Drivers Install Servo Drivers according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel Also install a fan for circulation if Servo Drivers are installed side by side to prevent uneven temperatures from developing inside the panel Take the control cable s connector direction into account when installing the Servo Drivers Servo Driver Servo Driver Servo Driver KA KA 50 mm min W 10 mm min Mounting Direction Mount the Servo Drivers in a direction perpendicular such thatthe lettering for the model number and so on can be seen Operating Environment The environment in which Servo Drivers are operated must meet the following conditions Ambient ope
396. res or humidity outside the range specified in the specifications e Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to shock or vibration Locations subject to exposure to water oil or chemicals N Caution Do not touch the Servo Driver radiator or Servomotor while the power is being sup plied or soon after the power is turned OFF Doing so may result in a skin burn due to the hot surface Storage and Transportation Precautions N Caution Caution N Caution Do not hold the product by the cables or motor shaft while transporting it Doing so may result in injury or malfunction Do not place any load exceeding the figure indicated on the product Doing so may result in injury or malfunction Use the motor eye bolts only for transporting the Motor Using them for transporting the machinery may result in injury or malfunction Installation and Wiring Precautions N Caution Caution Caution N Caution Caution Caution N Caution Caution N Caution Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Doing so may result in fire Be sure to install the product in the correct direction Not doing so
397. ring for Power Connector Connector No Symbol Crimp MS3108E32 17S DDK Ltd terminal Phase V Saige B Phase V m R88A CAWJ The R88A CAWJL Cables are for 1 500 r min Servomotors 15 kW e Cable Models For Servomotors without Brakes R88A CAWJOO3S E R88A CAWJOO5S E R88A CAWJO10S E R88A CAWJO15S E R88A CAWJO20S E For Servomotors with Brakes For Servomotors with brake is a combination of a powercable and a separate brakecable required Brake cable only Model Length L R88A CAWCOOSB E R88A CAWCOO5B E R88A CAWCO 10B E R88A CAWCO 15B E R88A CAWCO20B E e Wiring for Power Connector No Symbol Crimp MS3108E32 17S DDK Ltd terminal B Phase V hole M5 b Fra 2 121 Standard Models and Specifications Chapter 2 R88A CAWK The R88A CAWKT Cables are for 3 000 r min 400 V Servomotors 300 650 W and flat style motors e Cable Models For Servomotors without Brakes Model Length L R88A CAWKOOS3S E 3m 5m For Servomotors with Brakes Length L R88A CAWKO03B E 3m R88A CAWKOO05B E 5m R88A CAWKO010B E 10m R88A CAWKO015B E 15m R88A CAWKO20B E 20m e Wiring for Power Connector Connector Crimp cap 350780 1 terminal Socket 350570 3 or 350689 3 hole M5 AMP e Wiring for Power Connector No Symbol Connect
398. rminals during this period Parameter Unit Connector CN3 Used for connecting the Parameter Unit or for communicating with a computer Note On the R88D WT60H 6 kW this connector is located to the left of the Display and Settings Areas i Main circuit power terminals These are the input terminals for the main circuit power supply Control circuit power terminals These are the connection terminals for the control circuit power supply and the external regenerative energy resistance Control I O Connector CN1 Used for control I O signals Servomotor connection terminals 7 These are the connection terminals for the Servomotor power lines CN2 f Gem Encoder Connector CN2 NS These are the ground terminals for preventing electric shock Ground to 100 Q or less Note The R88D WT60H 6 kW does not have a top cover The Analog Monitor Output Connector CN5 the Battery Connector CN8 and the battery holder are all located to the right of the dis play and operation areas Also the Terminal Block forthe control circuit main circuit and Servo motor is mounted the bottom of the Servo Driver Connects the encoder provided with the Servomotor 1 7 Introduction Chapter 1 1 4 Applicable Standards and Models EC Directives EC Product Applicable standard Remarks Direc
399. rol mode ON C f 2 ms min TVSEL OFF V Speed command input REF M j T 2 ms min ON od Pulse commands off Positioning com ON pleted INP1 Speed compare OFF VCMP r min Servomotor op eration r min Note 1 There is a maximum delay of 2 ms in reading the input signal Note 2 When switching from speed control to position control input the pulse command after TVSEL control mode switching has turned OFF INP1 positioning completed output 1 signal has turned ON and 2 ms has elapsed The pulses will be ignored until the positioning completed INP1 signal has turned ON Note 3 The shaded areas in the time chart for the positioning completed 1 INP1 signal indicate the places where the signal is turned ON as the VCMP speed compare signal The meaning of the signal differs according to the control mode 4 74 Operation Chapter 4 e Position and Torque Control Switching Example Pn000 1 8 Control mode switching TVSEL Torque command input TREF Pulse commands Positioning com pleted signal INP1 Servomotor op eration 2 ms min ON e Forward operation 2 ms min i Reverse operation ON d i OFF ON OFF r min r min Note 1 This time chart shows an example of torque thrust Note 2 There is a maximum delay of 2 ms in reading the input signal Note 3 When switching f
400. rom torque control to position control input the pulse command after TVSEL control mode switching has turned OFF the positioning completed output 1 INP1 signal has turned ON and 2 ms has elapsed The pulses will be ignored until the positioning com pleted output 1 INP1 signal has turned ON e Speed and Torque Control Switching Example Pn000 1 9 Control mode switching TVSEL Speed command input REF Torque command input TREF Servomotor op eration ON Sos M NEUES es NE TV Torque Control Mode r min Note 1 There is a maximum delay of 2 ms in reading the input signal Note 2 Servomotor operation with torque control varies according to the Servomotor load conditions e g friction external power inertia Perform safety measures on the devices to prevent the Servomotor from running amok 4 75 Operation Chapter 4 4 5 6 Forward and Reverse Drive Prohibit All Operating Modes m Functions When forward drive prohibit POT CN1 42 and reverse drive prohibit NOT CN1 43 are OFF stops the Servomotor rotating Pin No is allocated in the default settings e You can stop the Servomotor from rotating beyond the device s travel range by connecting a lit input Parameters Requiring Setting Parameter name Explanation Input signal selection 1 You must allocate both 4 4 3 Important POT signal selection POT and NOT See Parameters note Input signal selection 2 NOT s
401. rror and Power Supply Timing When Servomotor Is Stopped ON Power supply OFF RUN 2 OFF ON ALM alarm output OFF H See note 2 ON BKIR brake interlock OFF Energized Servomotor energized Deenergized 3 Approx 10 ms See note 1 P PN507 brake command Servomotor rotation speed speed Braking using dynamic brake when Pn001 0 0 Note 1 During the approximately 10 ms from the Servomotor deenergizing to dynamic brake being applied the Servomotor will continue to rotate due to its momentum Note 2 Ifthe Servomotor rotation speed falls below the speed set in Pn507 brake command speed or the time set in Pn508 brake timing 2 after the Servomotor deenergizes is exceeded the BKIR brake interlock signal is turned OFF 4 5 9 Gain Reduction Position Speed Internally set speed Control m Functions This function switches speed loop control from PI proportional integration control to P proportional control when gain reduction MING CN1 41 is ON Pin No is allocated in the default settings The speed loop gain is lowered when the proportional gain is lost Also resiliency to the external load force is reduced by the speed error proportion difference between the speed command and speed feedback being lost 4 80 Operation Chapter 4 If controlling the position without adding a position control loop t
402. rs 100 W to 1 5 kW IP55 except for through shaft parts Mod els are also available with IP67 ratings that include through shaft parts 1 500 r min Servomotors 450 W to 15 kW IP67 except for through shaft parts Models are also available with IP67 ratings that include through shaft parts 1 000 r min Servomotors 300 W to 5 5 kW IP67 except for through shaft parts Models are also available with IP67 ratings that include through shaft parts The standard cable conforms to IP30 The R88A E and R88A L DE conform to IP67 3 8 System Design and Installation Chapter 3 Oil Seals If the Servomotor is to be used in a location where it may be exposed to oil or grease select an IP67 rated Servomotor or a Servomotor with an oil seal m Other Precautions Do not apply commercial power directly to the Servomotor The Servomotors run on synchronous AC and use permanent magnets Applying commercial power directly will burn out the motor coils Take measures to prevent the shaft from rusting The shafts are coated with anti rust oil when shipped but anti rust oil or grease should also be applied when connecting the shaft to a load Absolutely do not remove the encoder cover or take the motor apart The magnet and the encoder are aligned in the AC Servomotor If they become misaligned the motor will not operate 3 9 System Design and Installation Chapter 3 3 2 Wiring 3 2 1 Connecting C
403. rs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury N Caution Do not come close to the machine immediately after resetting momentary power in terruption to avoid an unexpected restart Take appropriate measures to secure safety against an unexpected restart Doing so may result in injury Caution Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Maintenance and Inspection Precautions NWARNING Do not attempt to disassemble repair or modify any Units Any attemptto do so may result in malfunction fire or electric shock N Caution Resume operation only after transferring to the new Unit the contents of the data re quired for operation Not doing so may result in an unexpected operation Warning Labels Warning labels are pasted on the product as shown in the following illustration Be sure to follow the instructions given there I Warning label CE E WCB oer A s Example from R88D WTA3HL ft R ARODSIURASI7A SHARP BCMST AROS WARNING Disconnect ail power and wait 5 min before servicing May cause electric shock SEE ARR e ORNS Do not touch heatsink when power is ON CAUTION May cause burn DEP ABM L Use proper grounding techniques Example from R88D WTA3HL Table of Contents Chapter 1 Introduction ccccccccccscccccccscscccece 1 1 1 1 1 2
404. rs when power supply is turned ON Occurs when Servo motor is decelerat ing Occurs during de scent vertical axis Occurs when the control circuit power supply only is turned ON Occurs when the main circuit power supply is turned ON Cause of error Wiring wrong Pn001 2 setting wrong Main circuit power supply voltage is outside tolerance range Load inertia is too great Main circuit power supply voltage ex ceeds tolerance range Gravitational torque is too large Control panel error Main circuit power supply voltage is outside tolerance range Main circuit power supply is damaged Chapter 5 Countermeasures Re wire power supply Change setting Pn001 2 Change the main circuit power supply voltage to within tolerance range Deceleration time is too long Calculate the regenera tive energy and connect an external Regeneration Resistor with the required regeneration absorption capacity Reduce main circuit pow er supply voltage to with in tolerance range Add a counterbalance to the machinery to lower gravitational torque Slow the descent speed Calculate the regenera tive energy and connect and external Regenera tion Resistor with the re quired regeneration ab sorption capacity Replace the Servo Driver Change the main circuit power supply voltage to within tolerance range Replace the Servo Driver 5 11 Troubleshooting Overspe
405. rther even by changing the offset in both the and directions Next finely adjust the phase U and phase V in the same way When you have completed the Servomotor current mim detection offset adjustment press the DATA Key front 1 s min panel DATA Key for 1 s min to return to the System Check Mode function code display Note The digits you can manipulate will flash 4 136 Operation Chapter 4 4 11 8 Password Setting Password Setting Fn010 This function prevents the user parameter settings and System Check Mode settings and adjustments being overwritten unintentionally When a write prohibited password is set from the next power up onwards it becomes impossible to make parameter settings or to make settings or adjustments in System Check Mode It still remains possible however to refer to the user parameters and perform some functions in System Check Mode The functions that can be performed in System Check Mode while write prohibited is enabled are as follows Display alarm log Fn000 password setting Fn010 Servomotor parameters check Fn011 and version check Fn012 If you try to perform any functions other than these nO OP will flash for approximately 1 s and then the display will return to the function code f you setthe write enabled password the write prohibited status will be cancelled i e you can write to the user parameters etc when the power is next turned ON again Syst
406. rvomotor Red Symbol Cable 1 Phase U Connector cap White 350780 1 AMP Japan Ltd company Blue Connector socket oram Green Yellow 350689 3 AMP Japan Ltd company Cable AWG20 x 4C UL2464 uideret M4 crim onnector plug ME 350779 1 AMP Japan Ltd company Connector pins 350690 3 AMP Japan Ltd company 770210 1 AMP Japan Ltd company R88A CAWA S DE cable connection View X Phase U 1 Black Phase V 2 Black Phase W 3 Black free free aoe Frame ground green yellow No Description Number Colour 2 109 Standard Models and Specifications Chapter 2 For Servomotors with Brakes R88A CAWA B cable connection Servo Driver Servomotor a Ls Symbor 2 Cable Connector cap 350781 1 AMP Japan Ltd company Connector socket 350689 3 AMP Japan Ltd company Servomotor Connector plug Cable AWG20 x 6C UL2464 GU GRUT DIE Japan Ltd company M4 crimp 350690 3 AMP Japan Ltd company terminals 770210 1 AMP Japan Ltd company Green Yellow R88A CAWA B DE cable connection View X No Description Number Colour 1 Phase U 1Black 2 Phase V 2 Black 3 Phase W 3 Black n 5 6 Brake terminal 4 Black Brake terminal 5 Black Frame ground green yellow R88A CAWB The R88A CAWBI Cables are for 3 000 r min Flat styl
407. rvomotor Is Stopped ON RUN OFF BKIR brake interlock ON OFF Brake power ON supply OFF ON Brake operation OFF TV Speed command or pulse command V Energized Servomotor energizing Deenergized ali 0 to 35 ms Reference 4 4 3 Important Parameters 4 4 4 Parameter Details ea e oe eit Approx 2 ms 200 ms max Eldc oi 40 0E lv 100 ms max See note 1 e Pn506 See note 2 Note 1 The time from turning ON the brake power supply to the brake being released is 200 ms max Set the speed command pulse command to be given after the brake has been released taking this delay into account Note 2 The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis set Pn506 brake timing 1 so that the Servomotor deenergizes after the brake has engaged taking this delay into account 4 79 Operation Chapter 4 e Power Supply Timing When Servomotor is Stopped Power supply ON OFF a pe ee 25 to 35 ms BKIR brake interlock ON l n OFF Energized A E Pn506 See note Servomotor energized Deenergized Note The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis set Pn506 brake timing 1 so that the Servomotor deenergizes after the brake has engaged in consideration of this delay e RUN E
408. s The key operations for the R88A PRO2W Parameter Unit and the Servo Driver front panel setting keys vary depending on the functions used The same settings and operations are possible with ei ther method 4 8 Operation Chapter 4 If a Parameter Unit is connected the indicators 7 segment LEDs on the front panel will flash and the settings keys cannot be used m Keys and Functions Parameter Unit Servo Driver front panel PRO2W settings area Front panel Function keys RESET Alarm reset omron R88D WT01H AC SERVO DRIVER R88A PRO2 omron PARAMETER UNIT eT Mode switching Data memory Servo ON OFF during jog op erations Switching between parameter display and data display data memory Increments parameter numbers and data values Decrements parameter num bers and data values Left shift for operation digits CHARGE POWER QO Right shift for operation digits Modes OMNUC W series AC Servo Drivers have the following four modes Mode Function Status Display This mode displays the internal Servo Driver status using bit display LED lit not lit and Mode symbol display 7 segment 3 digit LEDs Bit display Control circuit power supply ON display main circuit power supply ON dis play baseblock in position speed conformit
409. s Pn50b 2 Input signal selection 2 PCL signal forward rotation current limit input terminal allocation All operation modes Setting Oto F Unit Default Restart range setting power e Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to 6 and 9 to F are disabled and all are set to CN1 pin 45 enabled by L input Settings 7 and 8 are both enabled To change the pin number set Pn50A 0 to 1 Pn50b 3 Input signal selection 2 NCL signal reverse rotation current limit input terminal allocation All operation modes Setting Oto F Unit Default Restart range setting power 4 36 Operation Chapter 4 Settings are the same as for Pn50A 1 If PN50A 0 is set to 0 you cannot change the pin number Settings 0 to 6 and 9 to F are disabled and all are set to CN1 pin 46 enabled by L input Settings 7 and 8 are both enabled To change the pin number set Pn50A 0 to 1 Pn50C 0 Input signal selection 3 RDIR signal rotation direction command input terminal allocation internally set speed control Setting Oto F Unit Default Restart range setting power e Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to F are all disabled To change the pin number set Pn50A 0 to 1 Pn50C 1 Input signal selection 3 SPD1 signal speed selection command 1 input terminal allocation internally set s
410. s in a metal duct or conduit Ferrite cores must be installed for cables with braided shields and the shield must be directly grounded to a ground plate m Wiring Method Control box T Motor built in device 2mmax i Brake rA X Noise power o H Metal filter supply Metal Ne n due power Surge R88D Ferrite Ferrite supply i NEB absorber Contactor 33 core core OTD t3 iu ore U pum STO In 11 1 it Ap N 67 4 ilter ES L3 wh s LIC L2C Class 3 ground to 100Q or less Des L4 Ferrite i CN2 core i Clamp Ferrite core Clamp supply A Ferrite core Controller Note 1 Make 1 5 turns for the ferrite core s cable winding Note 2 Peelthe insulation off the cable atthe clamp and directly connect the shield to the metal plate Note 3 For single phase power supply input models R88D WTA3HL to R88D WT04H the main circuit power supply input terminals will be L1 and L2 For single phase powersupply models R88D WTO8HH and R88D WT15HH the main circuit powersupply will be L1 and L3 Ground the motor s frame to the machine ground when the motor is on a movable shaft e U
411. se 200 230 V AC 170 to 253 V 50 60 Hz R88D WTLOHL 30 to 200 W Single phase 100 115 V AC 85 to 127 V 50 60 Hz R88D WTLIHF 0 5 to 15 kW Three phase 380 480 V AC 323 to 528 V 50 60 Hz Main circuit DC Do not connect anything to these terminals output positive Only the R88D WT60H has this terminal Connection Normally short between 1 and 2 terminals for DC Reactor f When harmonic control measures are required connect a DC Reactor be gece tween 1 and 2 power supply harmonic control The R88D WT60H does not have these terminals Main circuit DC Do not connect anything to these terminals output negative Control circuit R88D WTLIH H power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz input R88D WTOHL L2C Single phase 100 115 V AC 85 to 127 V 50 60 Hz R88D WTLIHF 24 V DC External 30 to 400 W These terminals normally do not need to be connected If there regeneration is high regenerative energy connect an External Regeneration Resistor be resistance tween B1 and B2 idu 500 W to 5 kW Normally short between B2 and B3 If there is high regenera termina tive energy remove the short bar between B2 and B3 and connect an Exter nal Regeneration Resistor between B1 and B2 6 to 15 kW Connect an External Regeneration Resistance Unit between B1 and B2 Servomotor These are the output terminals to the Servomotor Be
412. se a grounding plate for the frame ground for each Unit as shown in the above diagrams and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrangethe wiring so that the ground lines are as short as possible If no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease No fuse breakers surge absorbers and noise filters should be positioned near the input terminal block ground plate and I O lines should be isolated and wired using the shortest distance possible 3 29 System Design and Installation Chapter 3 Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control box whenever possible Correct Separate input and output WRONG Noise not filtered effectively AC input AC output AC input Ground Ground AC output e Use twisted pair cables for the power supply cables whenever possible or bind the cables Correct Properly twisted Correct Cables are bound Driver Driver OLC 7 ane E Pee ee L2C or T L2 P Binding Separate power supply cables and signal cables when wiring Control Box Structure If there are gaps in the control b
413. setting 0000 0000 used m Servo Gain Parameters From Pn100 Parameter Explanation See note 1 Default Default Setting Restart name x 1 setting setting range power Explanation See Speed loop Adjusts speed loop responsiveness NECEM 1 to 2000 RI gain Speed loop Speed loop integral time constant 2000 2000 x0 01 ms 15 to integration 51200 constant Position Adjusts position loop responsiveness 40 40 1 s 1 to 2000 loop gain Inertia ratio Set using the ratio between the machine system 300 96 0 to inertia and the Servomotor rotor inertia 10000 Speed loop Adjusts speed loop responsiveness enabled by gain 40 Hz 1 to 2000 gain 2 switching input Speed loop Speed loop integral time constant enabled by gain 2000 2000 x0 01 ms 15 to integration switching input 51200 constant 2 Position Adjusts position loop responsiveness enabled by 40 40 1 s 1 to 2000 loop gain 2 gain switching input Bias Sets position control bias r min 0 to 450 rotational speed Bias Sets the position control bias operation start using 7 7 Command 0 to 250 addition deviation counter pulse width unit band Feed for Position control feed forward compensation value 96 O to 100 ward amount 6 11 Appendix Parameter name Feed for ward com mand filter Chapter 6 Explanation See note 1 Default Default Setting Restart setting setting range power tone Soe See eo ar
414. sing circuit output between phase A and phase B and n is an integer that satisfies the following formula with digits below the decimal point discarded n resolution encoder divider rate Phase A Input to frequency divider processing circuit output Phase B iT 4 5 8 Brake Interlock All Operating Modes Precautions for Using Electromagnetic Brake The electromagnetic brake Servomotor with a brake is a non excitation brake especially for holding First stop the Servomotor then turn OFF the power supply to the brake before setting the parameters Ifthe brake is applied while the Servomotor is operating the brake disk may become damaged or mal function due to friction causing damage to the Servomotor m Function You can set the BKIR brake interlock signal output timing to turn ON and OFF the electromagnetic brake 4 78 Operation Chapter 4 Parameters Requiring Setting Pn50F 2 Pn506 Pn508 Note BKIR is not allocated in the default settings Operation Parameter name Output signal selection 2 BKIR signal selection Brake timing 1 Brake command speed Brake timing 2 Explanation Be sure to allocate BKIR See note This parameter sets the BKIR output timing Pn506 Sets lag time from BKIR OFF to servo OFF Pn507 Sets the rotation speed for turning BKIR OFF Pn508 Sets the standby time from servo OFF to BKIR OFF e RUN Timing When Se
415. switch using internal torque torque command command value Set the conditions for switching to P control using the ratio 96 of the Servomotor rated torque P control switching Set when Pn10b 0 1 switch using speed command speed command value Set the speed r min to switch to P control P control switching Set when Pn10b 0 2 switch using acceleration acceleration command value Set the acceleration x 10 r min s command to switch to P control P control switching Set when Pn10b 0 3 switch using deviation pulse deviation pulse value Set the deviation pulse value command unit to switch to P control If the output torque is saturated during acceleration and deceleration switch to P control using the internal torque command value or acceleration command value e If the output torque is not saturated during acceleration and deceleration and an overshoot or under shoot occurs switch to P control using the speed command value or deviation pulse value Operation Clear the speed overshoot and undershoot by switching to P control Overshoot r min r min Servomotor ps operation 0 0 Undershoot Operation during PI control Operation using P con trol switching function e Switching Using Torque Command You can switch to P control when the internal torque command value exceeds the setting in Pn10C to prevent output torque saturation and cancel speed overshoot and u
416. t Speed feedback NCL ON Note 1 If you change the default settings set Pn50A 0 input signal selection mode to 1 Note 2 If the connected Servomotor is set to a value greater than the maximum momentary torque the maximum momentary torque will become the set limit Note 3 If using this function with internally set speed control set Pn50A 1 to 1 user defined set tings and allocate the required input signals PCL NCL SPD1 SPD2 RDIR etc e Limiting Normal Operation with Analog Voltage Position Speed Internally set Speed Control When Pn002 0 torque command input switching is setto 1 TREF torque command input becomes the analog torque limit input terminal so you can limit the torque on multiple levels Calculate the torque limit 96 as follows Absolute TREF voltage V Pn400 torque control scale x 1000 Regardless of whether the voltage is positive or negative both forward and reverse directions have the same limits i e absolute value is taken Parameter No Parameter c O O 7 Reference name Pn002 0 Torque Mae oc MN Pn002 0 to 1 Use TREF as analog torque 4 4 4 Parameter command input limit Details switching Pn400 Torque control Set TREF voltage when using rated torque See scale note Note The default setting is 30 x 0 1 V rated torque 4 83 Operation Chapter 4 e Limiting Analog Voltage with External Signals Position Speed Internally set Speed Control If Pn00
417. t Not Allocated BKIR External brake timing signals are output according to the settings in Pn506 brake timing 1 Pn507 brake command speed and Pn508 brake timing 2 Note 1 The BKIR signal is not allocated by default It is allocated by Pn50F 2 Note 2 For details on the brake interlock function refer to 4 5 8 Brake Interlock All Operating Modes e Warning Output Not Allocated WARN The WARN signal is turned OFF in any of the following three cases The Servomotor output torque effective value exceeds 11596 of the rated torque The regenerative energy exceeds the tolerance of the internal regeneration resistance When external regeneration resistance is used the regenerative energy exceeds the value set for Pn600 regeneration resistor capacity Note The WARN signal is not allocated by default It is allocated by Pn50F 3 2 71 Standard Models and Specifications Chapter 2 2 4 5 Encoder Input Specifications CN2 Signal name Encoder power supply 5 V Encoder power supply GND Battery absolute Battery absolute Encoder phase S input Encoder phase S input Function Interface Power supply outlet for encoder 5 V 180 mA Backup power output for encoder 3 6 V 20 uA for backup or when stopped 3 uA when Servo Driver is being powered Line driver input conforming to EIA RS422A Input impedance 120 Q e CN2 Connectors Used 6P Receptacle at Servo Driver Cable plug
418. t allocated in the default settings Set Pn50A 0 to 1 user defined settings Input signal selection mode Input signal selection 4 GSEL signal selection No 2 speed loop gain No 2 speed loop Allocate GSEL signal 4 4 4 Parameter Details Set the speed loop gain for when GSEL is ON Set the speed loop differential time constant for Differential time when GSEL is ON constant No 2 position loop gain e Adjust Pn104 Pn 105 and Pn 106 when GSEL is ON according to 4 7 2 Manual Tuning Fn001 rigid ity setting for online auto tuning is not performed on No 2 gain however so set the initial values for adjustment referring to the above table Set the position loop gain for when GSEL is ON 4 8 6 Notch Filter Position Speed Internally set Speed Control m Functions You can set the notch filter for the internal torque command commands to the current loop Set the resonance frequency in Pn409 notch filter frequency to prevent machine resonance You can reduce positioning time by setting a high speed loop gain Parameters Requiring Settings Parameter No Parameter name Explanation Reference 4 4 4 Torque command setting Notch filter function selection Notch filter frequency m Setting Procedure e Measure the torque resonance frequency by increasing the Pn100 speed loop gain with the machin ery vibrating slightly Use the OMNUC W series Servo Driver Computer
419. t loop TREF voltage polarity enabled Set 3 to limit the forward output torque during PCL input forward current limit input and limit the re verse output torque during NCL input reverse current limit input regardless of TREF voltage polarity read as an absolute value You can change the TREF voltage scale using Pn400 torque command scale Default setting 3 V rated torque Note Other torque limit functions include Pn402 forward torque limit Pn403 reverse torque limit Pn404 Forward rotation external current limit and Pn405 Reverse rotation external current lim it The smallest output torque from among the enabled limitations is limited Pnoo2 1 Function selection application switch 2 Speed command input switching Torque Setting i Default Restart range setting power Setting Explanation SW Explanation Function not used REF used as analog speed limit Set the REF speed command input function for torque control Set 1 to set REF voltage as the analog speed limit regardless of polarity read as an absolute value You can change the REF voltage scale using Pn300 speed command scale Default setting 10 V rated rotation Note Other speed limitation functions include Pn407 speed limit The speed is limited to the lower value Pn002 2 Function selection application switch 2 Operation switching using an absolute encoder All operation modes absolute Setting 0 1 Unit
420. t section of 300 W to 900 W Servomotors r3 EUR Dimensions of shaft end with key S2 M Effective depth Four Z dia H Lh Shaft Extension R88M W30010 R88M W1K210 1 to to R88M W90010 R88M W3K010 1 Dimensions mm D1 R88M W30010 R88M W60010 R88M W90010 R88M W1K2100 R88M W2K0100 R88M W3K0100 R88M W300100 R88M W600100 R88M W900100 R88M W1K2100 R88M W2K0100 R88M W3K0100 Note The external dimensions are the same for IP67 waterproof models OI 2 36 Standard Models and Specifications Chapter 2 1 000 r min Servomotors with a Brake e 200 V AC 300 W 600 W 900 W 1 2 kW 2 0 kW 3 0 kW R88M W30010H B S2 W60010H B S2 W90010H B S2 W1K210H B S2 W2K010H B S2 W3K010H B S2 Incremental R88M W30010T B S2 W60010T B S2 W90010T B S2 W1K210T B S2 W2K010T B S2 W3K010T B S2 Absolute Dimensions of output section of 300 W to 900 W Servomotors LL
421. tant Speed feed Sets constant during filter of speed feedback x0 01 ms Oto back filter time 65535 constant Torque Control Parameters From Pn400 Parame Parameter Explanation See note 1 Default Default i Setting Restart ter No name ma i setting setting range power gt Explanation See note 2 100 200 V 400 V Torque Sets the torque command voltage TREF to output 0 1 V command the rated torque rated scale torque Torque Sets the constant when filtering the internal torque X 0 01 command command ms filter time constant Forward Forward rotation output torque limit rated torque 0 to 800 torque limit ratio Reverse Reverse rotation output torque limit rated torque 0 to 800 torque limit ratio Forward Output torque limit during input of forward rotation 0 to 800 rotation current limit rated torque ratio external current limit Reverse Output torque limit during input of reverse rotation 0 to 800 rotation current limit rated torque ratio external current limit Emergency Deceleration torque when an error occurs rated 0 to 800 stop torque torque ratio Speed limit Sets the speed limit in torque control mode i 0 to 10000 Torque 0 Selects 0 Function not used command notch filter setting function Notch filter used for torque commands 1 to Not used Do not change setting 3 Notch filter Sets notch filter frequency for torque
422. tem Check Mode e Analog monitor output offset manual adjustment FnOOC e Analog monitor output scaling FnOOd Note Refer to 4 11 6 Analog Monitor Output Adjustment for details of adjustment and operation meth ods 4 11 System Check Mode m System Check Mode Functions Refer to the relevant pages for an explanation of System Check Mode Fn and other functions Display Function name Reference function code FaQO00 Alarm history display Displays the last 10 alarms to occur 4 11 1 Alarm history Rigidity setting during online auto tuning Sets the control 4 11 2 Online Auto tuning target during online auto tuning Related Functions Fagg Jog operation 4 3 2 Jog Operation 5803 Servomotor origin search Fix the position of the Servomotor 4 11 3 Servomotor Origin nuu origin pulse Phase Z using a key operation Search Fa005 User parameter initialization Restores user parameters to 4 11 4 User Parameter nuU their default settings Initialization Fang Alarm history data clear 4 11 1 Alarm history Store online auto tuning results Writes the load data 4 11 2 Online Auto tuning calculated using online auto tuning to Pn103 inertia ratio Related Functions F4008 Absolute encoder setup ABS 4 2 2 Absolute Encoder fer Setup and Battery Changes Fa6009 Speed and torque command offset automatic adjustment 4 11 5 Command Offset Fagg Speed command offset manual adjustment Papen FAGGb Torque command
423. tempt opera tions not specified in this manual Precautions Disconnect any cables before checking if they have burned out Even if you have checked the conduc tion of the wiring there is a risk of conduction due to the return circuit e If the encoder signal is lost the Servomotor may run away or an error may be generated Make sure the Servomotor is disconnected from the mechanical system before checking the encoder signal When measuring the encoder output measure using the ground CN1 1 pin as standard If measur ing using an oscilloscope measure using the differential between CH1 and CH2 to reduce interfer ence from noise When performing tests first check that there are no personnel inside the machine facilities and that the facilities will not be damaged even if the Servomotor runs away Also check that even if the Servo motor runs away you can immediately stop the machine using an emergency stop before performing the tests 5 1 3 Replacing the Servomotor and Servo Driver Perform the following procedure to replace the Servomotor or Servo Driver m Replacing the Servomotor 1 Replace the Servomotor 2 Perform origin teaching if using position control When replacing the Servomotor the Servomotor s specific origin position Z phase may slip so be sure to perform origin teaching Refer to the manual for the position controller you use for how to perform origin teaching 3 Set up th
424. ter number is too big you can set the usi estin Pa30M operation to be performed more quickly while changing 1s the operation digits using the Left Key front panel DATA Key for less than 1 s or Right Key PRO2W Front panel Display example Explanation operation key operation A ZR Unused parameter numbers are basically not displayed For example if you press the Up Key on op eration digit No O while displaying parameter number Pn005 the display will change to Pn100 as 4 16 Operation Chapter 4 there are no PnOO6 to Pn099 For this reason if for example you change Pn000 to Pn207 using the Shift Key you can perform the operation more quickly by making the change starting from the leftmost digit side i e digit No 2 e Displaying Parameter Settings PRO2W Front panel Display example Explanation operation key operation The parameter number is displayed par Press the DATA Key front panel DATA Key for 1 s min to display the parameter setting 1 s min Note Parameter settings can be displayed as 5 digits as shown above or as n followed by 4 digits i e as n e Changing Settings The following operation is not necessary if you are only checking the settings Parameter settings can be set as 5 digits or as 4 digits displayed as n
425. the A D converter etc In this case this function stops the position loop by using an ex ternal signal to switch from Speed Control Mode to Position Control Mode If position lock command PLOCK CN1 41 is input when the number of Servomotor rotations is equal to or less than the rotation speed set in Pn501 position lock rotation speed the Unit switches from Speed Control Mode to Position Control Mode and the Servomotor becomes position locked Pin No is allocated in the default settings When the internal speed control value is equal to or greater than Pn501 position lock rotation speed the Servomotor will rotate Loop gain during position lock is set using Pn102 position loop gain Parameters Requiring Settings Parameter Parameter name Explanation Reference No Input signal PLOCK must be allocated See note 1 4 4 3 Important selection 4 Parameters PLOCK signal selection Position lock Set the position lock rotation speed Setting range 4 4 4 Parameter rotation speed 0 to 10 000 r min Details Position loop gain Use this parameter to adjust the lock force during position lock Note 1 If changing the default setting set Pn50A 0 input signal selection mode to 1 user defined settings Note 2 Set Pn000 1 control mode selection to A speed control with position lock function to allo cate PLOCK to pin CN1 41 4 88 Operation Chapter 4 Operation REF speed command
426. the Servo Driver Connect terminals and wiring marked with an asterisk when using an Absolute Encoder This wiring diagram is an example of X axis wiring only For two axis control the external in put and Driver wiring must be connected for the Y axis in the same way Note 6 tors Note 7 6 6 Always short NC I O terminals that are not used among the Motion Control Unit s I O connec Make the setting so that the Servo can be turned ON and OFF with the RUN signal Appendix Chapter 6 Connection Example 6 Connecting to C200HW MC402 E Motion Control Unit Note Note Note Note Note Note Main circuit power supply NFB OFF ON LIT Oo Oo nc Main circuit contact 3 phase 400V AC 50 60Hz E 5 0 5 6 Surge killer S Mc x1 s 9 96i 3 2 T O lt 4 4 Class 3 ground C200HW MC402 E 424V DC 9 R88D WT DRV 0 1 2 3 connector 124V DRV OV DC reactor Z BSTO FG R88M W_ ENABLE RUN ALARM AXIS 0 ALM 0V ENCODER ALMCOM ALARM RESET RESET Power Cable R88A CAW M EO ER Encoder Cable R88A CRWT The example shows a three phase 400 V AC servo system with an i
427. the power and the RUN command can be turned OFF Trial Operation 1 Turn ON the Power Supply Turn ON the power supply to the control circuits and main circuits and then turn ON the RUN command Check that the Servomotor is ON 2 Low speed Operation e Send alow speed command from the host controller to rotate the Servomotor The definition of low speed varies depending on the mechanical system but a rough estimate is 1 10 to 1 5 nor mal operating speed Check the following items Is the emergency stop operating correctly Are the limit switches operating correctly Is the operating direction of the machinery correct Are the operating sequences correct Are there any abnormal sounds or vibration Is any error or alarm generated Note 1 If anything abnormal occurs refer to Chapter Troubleshooting and apply the appropriate countermeasures Note 2 Ifthe system vibrates due to insufficient gain adjustment making it difficult to check the opera tion refer to 4 7 Making Adjustments and adjust the gain 3 Operation Under Actual Load Conditions Operate the Servomotor in a regular pattern and check the following items Is the operating speed correct Use the speed feedback monitor Isthe load torque roughly equivalent to the measured value Usethe torque command monitor and the accumulated load monitor Are the positioning points correct When an operation is repeated is there any discrepancy in positioning Are there an
428. then the accelera tion and deceleration times Adjust the gain Power supply volt age has fallen Energy required for stopping exceeds the dynamic brake resistor tolerance Control panel error Check the power supply voltage and lower to within tolerance range Lower the rotation speed Reduce the load inertia Reduce the frequency of dynamic brake use Replace the Servo Driver Troubleshooting Inrush resistance overload Overheat ARNAR Status when error occurs Occurs when the main circuit power supply is turned ON Occurs when the control circuit power supply only is turned ON Occurs when the control circuit power supply only is turned ON Occurs during op eration Occurs when control circuit power supply is turned ON Backup error ABS Occurs when control circuit power supply is turned ON Occurs when control circuit power supply is turned ON Checksum error ABS Battery error ABS Occurs when control circuit power supply is turned ON Absolute error ABS Occurs when control circuit power supply is turned ON Overspeed error ABS Cause of error Inrush current when the main circuit pow er supply is turned ON exceeds inrush resistor tolerance Control panel error Control panel error Control panel error Ambient Servo Driv er temperature ex ceeds 55 C Radiation shield sink air convection is poor The fan has
429. thereby allow ing various applications with a single Servo Driver Position control pulse train commands Default setting 100 200 V Position control pulse train commands lt Torque control analog commands Position control pulse train commands with pulse prohibit m Password A password can be required in order to make parameter changes m Parameter Initialization Parameters can be returned to their default settings Default parameters of 100 200 V servo drivers are different from 400 V servo drivers Settings are explained in the appendix Monitoring The Servo Driver s operating status is displayed The following items can be monitored Speed feedback speed commands torque commands number of pulses from the origin electrical angle I O signals command pulse speed position deviation motor load rate regenerative load rate dy namic resistance load rate input pulse counter and feedback pulse counter Jogging The Servomotor can be set for either forward or reverse rotation and the rotation speed can be set in the parameters m Servomotor Origin Search The origin search function can be used to find the Servomotor s origin Z phase 1 3 Introduction Chapter 1 m Automatic Adjustment of Command Offsets Speed and Torque Control The offsets of the speed command input and torque command input can be adjusted automatically Monitor Output The offset and scaling of the analog monitor outputs can be
430. ting Feed forward Function and Bias Position Control These functions reduce the position control time Feed forward Function Reduces the position control time by reducing the number of pulses accumulated in the deviation counter Bias Reduces the positioning time by adding the bias revolutions to the speed command when the devi ation counter value exceeds the bias addition range Computer Monitoring The special Servo Driver Communications Software enables performing parameter setting speed and current monitoring speed and current waveform displays I O monitoring autotuning jogging and other operations from a computer It is also possible to perform multiple axis communications that set the parameters and monitor operations for multiple Servo Drivers m Fieldbus Option board Mounting the R88A NCW152 DRT board to the side of the driver allows you to communicate through DeviceNet This devicenet board can be attached to all drivers for firmware version 14 or higher 1 5 Introduction Chapter 1 1 2 System Configuration Controller with Voltage Output R88A PRO2W Parameter Unit Hand held Analog voltage A ains CS1 C or Motion Control Unit C500 NC222 E Posi series T CS1W MC221 421 tion Control Unit Contolleps CV500 MC221 421 C200H MC221 Controller with Pulse Train Output OMNUC W series AC Servo Driver R88D WTL Pulse train SYSMAC CS1 C or Position Contro
431. ting 1 deviation counter reset can be used to set either a status signal high or low or a differential signal low to high or high to low Input the reset signal for 20 us minimum The counter will not be reset if the signal is too short e Sensor ON Input 4 SEN Sensor ON Input Ground 2 SENGND SEN signal ON OFF and ON again When the SEN signal turns ON low to high the absolute encoder s multi turn amount and the initial incremental pulses are sent When the SEN signal is OFF power cannot be supplied to the Servomotor even if a RUN command is input The RUN command will not be enabled until the SEN signal turns ON and the encoder achieves normal operation Do not turn ON the SEN signal for at least 3 s after turning on the power supply Refer to the following diagram for turning the SEN signal ON OFF and ON again SEN signal 1 3 s min IE 15 ms min e Backup Battery Input 21 BAT Backup Battery Input 22 BATGND These are the connection terminals for a backup battery for when power to the absolute encoder is inter rupted Normally a Backup Battery Unit is used and the battery is connected to CN8 Battery Connec tor so in that case do not connect anything to these terminals The battery voltage is 2 8 to 4 5 V e RUN Command Input 40 RUN This is the inputthat turns ON the power drive circuit for the main circuit of the Servo Driver If this signal is not input i e servo OFF status the
432. tion Setting Default range setting Setting Explanation Setting Explanation 0 Function not used 1 REF used as feed forward input Set the REF function speed command input for position control Select 1 to inputthe REF voltage speed feed forward input and add the speed equivalentto the speed REF voltage to the speed loop command This can shorten positioning time e You can change the REF voltage scale using Pn300 speed control scale Default setting 10 V rated rotations e If using an OMRON Positioning Unit pulse train output type set this parameter to O function not used Note Refer to 4 8 4 Speed Feed forward Function for details Pn207 2 Position control function 2 Not used Setting Default range setting Pn207 3 iti i Setting Default Restart range setting power Note Do not change the setting Pn208 Position command filter time constant 2 trapezoidal acceleration and LUN Setting 0 to 6400 Unit x0 01 ms default Restart range setting power Sets the command pulse soft start The soft start properties are linear acceleration and deceleration Note 1 The soft start properties also include the primary filter the time constant set by Pn204 Select the filter you want to use using Pn207 0 position command filter selection Note 2 Refer to 4 5 13 Position Command Filter Function for details m Speed Control Parameters From Pn300 Pn300 Speed command sca
433. tive Low voltage AC Servo Drivers EN50178 Safety requirements for electrical equipment for measurement control and laboratory use AC Servomotors IEC60034 1 5 8 9 Rotating electrical machines EN60034 1 9 AC Servo Drivers EN55011 class A Limits and methods of measurement of and AC group 1 radio disturbance characteristics of Servomotors industrial scientific and medical ISM radio frequency equipment EN50082 2 Electromagnetic compatibility generic immunity standard Part 2 Industrial environment Note Installation under the conditions specified in 3 2 5 Wiring Conditions Satisfying EMC Directives is required to conform to EMC Directives UL cUL Standards Standards Product _ Applicable sandara AC Servo Drivers UL508C E179149 Power conversion equipment AC Servomotors UL1004 E179189 Electric motors AC Servo Drivers cUL C22 2 No 14 E179149 Industrial equipment AC Servomotors cUL C22 2 No 100 E179189 Motor and generators Introduction Chapter 1 1 5 System Block Diagrams 200 V AC R88D WTA3H WTA5H WT01H WT02H WT04H 100 V AC R88D WTAS3HL WTASHL WTO1HL WTO2HL AC Servo Driver
434. tlink type R88A MCW151 E Devicenet type R88A MCW151 DRT E Absolute Encoder Backup Battery 1 000 mAh 3 6 V for servo up to 5 kW R88A BATO1W 1 000 mAh 3 6 V for servo 6 kW to 15 kW R88A BATO2W Note 1 Required when using a Servomotor with an absolute encoder The cable and connector are included m DC Reactors For R88D WTA3HL A5HL O1HL R88A PX5063 For R88D WTO2HL R88A PX5062 For R88D WTA3H A5H 01H R88A PX5071 For R88D WTO2H R88A PX5070 For R88D WT04H R88A PX5069 For R88D WTOBHH R88A PX5079 For R88D WT15HH R88A PX5078 For R88D WT05H 08H 10H R88A PX5061 For R88D WT15H 20H R88A PX5060 For R88D WT30H R88A PX5059 For R88D WT50H R88A PX5068 For R88D WTOSHF R88A PX5074 For R88D WT10HF 15HF R88A PX5075 For R88D WT20HF 30HF R88A PX5076 For R88D WT50HF R88A PX5077 Note There is no DC Reactor for the R88D WT60H m Front panel Brackets TS SmsWeon Mes Note 1 Required when mounting a Servo Driver from the front panel Note 2 There are no front panel brackets for the R88D WT60H m P67 Encoder Cables For Incremental or Absolute Encoders for all 400 VAC Servomotors all Servomotors R88A CRWBOOSN E R88A CRWBOOSN E R88A CRWBO10N E R88A CRWBO15N E R88A CRWBO20N E 2 4 Standard Models and Specifications Chapter 2 Encoder Cables For Incremental or Absolute Encoders for 230 VAC Servomotors Specifications Model For 3 000 r min Servomot
435. total inrush current shown in the following table for the applicable Servomotor models Serve Driver REDWTAGHLGWTGHL Jo O 9 o REGD WTAGHto WroaH x o kb O ResbwWrOSHiewWrioH amp ho O O RepwrsH o oOo oS ewWrzOWIH Jo ho O mepwrod T e Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting surge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance For 200 V AC systems use surge absorbers with a varistor voltage of 470 V The surge absorbers shown in the following table are recommended Max limit Surge Type voltage immunity Okaya Electric ReAeV 781BYZ 2 783 V 1 000A Block Between power supply lines power Between power supply lines lines Industries Co Ltd Reasv 781BXZ 4 783 V 1 000 A Between power supply line grounds Note 1 Refer to the manufacturers documentation for operating details Note 2 Thesurge immunity is for a standard impulse current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber 3 32 System Design and Installation Chapter 3 e Noise Filters for Power Supply Input Use the following noise filters for the Servo Driver power supply Servo Driver model
436. turn to trCLr Press the DATA Key front panel DATA Key for 1 s min The display will return to the System Check Mode smin function code Note The digits you can manipulate will flash 4 11 2 Online Auto tuning Functions In System Check Mode online auto tuning consists of the rigidity setting Fn001 and saving tuning results Fn007 Rigidity Setting During Online Auto tuning Fn001 The rigidity setting during online auto tuning sets the target speed loop gain and position loop gain for the servo system Select the rigidity setting according to the following 10 levels for the mechanical system Rigidity setting Position loop gain Speed loop gain Speed loop Torque command Fn001 s integration time filter time d 00 J Pn102 constant constant x 0 01 ms x 0 01 ms Pn101 Pn401 Note 1 Thehigherthe rigidity setting the higher the servo system loop gain and the shorter the posi tioning time If the set value is too high however the machinery may vibrate If vibration oc curs lower the setting 4 121 Operation Chapter 4 Note 2 When you set the rigidity the user parameters given in the above table will change automati Cally Note 3 Ifyou enable auto tuning without setting the rigidity tuning is performed using the user param eter settings Pn102 Pn100 Pn101 and
437. ue installed as described in operation manual Axle fan 30 000 hours at an ambient Servo Driver operating temperature of 40 C and an ambi ent humidity of 65 Absolute encoder backup battery 50 000 hours at an ambient Servo Driver operating temperature of 20 C 5 19 Troubleshooting Chapter 5 When using the Servo Driver under the continuous operation mode cool the Servo Driver with fans and air conditioners to maintain an ambient operating temperature below 40 C The life of aluminum analytical capacitors is greatly affected by the ambient operating temperature Generally speaking an increase of 10 C in the ambient operating temperature will reduce capacitor life by 50 We recommend that ambient operating temperature be lowered and the power supply time be reduced as much as possible to lengthen the maintenance times for Servo Drivers e Ifthe Servomotor or Servo Driver is not to be used for along time or if they are to be used under condi tions worse than those described above a periodic inspection schedule of five years is recom mended Please consult with OMRON to determine whether or not components need to be replaced 5 20 Troubleshooting Chapter 5 5 6 Replacing the Absolute Encoder Battery ABS Replace the absolute encoder backup battery if it has been used for at least five years or if an A 83 battery error alarm occurs Battery Model and Specifications Specification M
438. ue limit for the forward direction 4 4 4 Parameter limit as a percentage of the rated torque setting range Details 0 to 800 Pn403 Reverse torque Set the output torque limit for the reverse direction limit as a percentage of the rated torque setting range 0 to 800 Torque limit value Speed reference Pn101 Pn405 Pn403 Speed feedback NCL ON Torque limit Note 1 Set these parameters to 350 the default setting when the torque limit function is not being used Note 2 Ifthe connected Servomotor is set to a value greater than the maximum momentary torque the maximum momentary torque will become the set limit 4 82 Operation Chapter 4 e Limiting Operation with External Signals All Operating Modes Parameter No Parameter name Explanation Reference Pn50b 2 Input signal selection 2 You must allocate PCL and NCL See note 1 4 4 3 Important Pn50b 3 Parameters PCL signal selection NCL signal selection Pn404 Forward torque limit Set the output torque limit when PCLis ON as 4 4 4 a percentage of the Servomotor rated torque Parameter setting range 0 to 800 Details Pn405 Reverse torque limit Set the output torque limit when NCL is ON as a percentage of the Servomotor rated torque setting range 0 to 800 PCL NCL Torque limit value Pn402 Pn404 Speed loop PCL ON gain O Torque Pat 99 reference Speed reference Integratio Pn101 Pn403 Pas Torque limi
439. unction code FnOOA See note 1 Press the DATA Key front panel DATA Key for 1 s min to display SPd Input speed command command 0 from either the ON IN Host Controller or the external circuits and make sure that RUN is ON See note 2 Press the Left Key front panel DATA Key for less than Y 1 s or Right Key to display the offset amount See note x 3 Press the Up or Down Key to change the offset amount Al Adjust the offset until the Servomotor stops See note 4 After completing offset adjustment press the DATA Key front panel DATA Key for 1 s min The display will i return to the System Check Mode function code Note 1 The digits you can manipulate will flash Note 2 Make sure that the servolock is ON if a position loop is incorporated by the host controller Note 3 The offset amount unit is x 0 058 mV Note 4 Ifa position loop is incorporated by the host controller adjust until the host controller deviation counter value is zero 4 128 Operation Chapter 4 Torque Command Offset Manual Adjustment FnOOb Adjust the torque command manually while checking the Servomotor shaft movement with the RUN signal ON The torque command offset setting range is 124 to 127 x 14 7 mV Note Adjust the torque command offset manually using torque command mode System Check Mode mn oara E a T
440. und at the Servo Driver input section or the controller output section For encoder output phase A B and Z lines be sure to use twisted pair shielded cable and con nect both ends of the shield to frame grounds For open collector specifications keep the length of wires to within two meters 3 2 5 Wiring for Conformity to EMC Directives When the wiring conditions set forth in this section are satisfied the wiring will conform to the EC Directives EN55011 Class A Group 1 EMI EN50082 2 EMS These condi tions are those stipulated when EMC Directive approval was obtained for the W Series They will be affected by the installation and wiring conditions resulting from the con nected devices and wiring when the W Series is built into the system The entire system must thus be checked for conformity The following conditions must be satisfied in order to conform to the EC Directives The Servo Driver must be mounted in a metal case control box It is not necessary to mount the Servomotor in a metal box 3 28 System Design and Installation Chapter 3 Noise filters and surge absorbers must be inserted in power supply lines e Shielded cable must be used for I O signal cables and encoder cables Use tinned soft steel wire Cables leading out from the control box must be enclosed within metal ducts or conduits with blades It is not necessary to enclose the 30 cm power cable encoder cable or connector
441. uning again whenever the power is turned ON Make this setting if load inertia fluctuation is small 1 Constantly refresh the load inertia calculation data and constantly store the responses Make this setting if load inertia fluctuates constantly e 2 Do not execute auto tuning Make this setting if you cannot use auto tuning see above or if adjust ing the gain manually Also set this parameter to 2 if load inertia fluctuation is small and if having once calculated load inertia using auto tuning setting 0 you wish to perform subsequent control using the same conditions after having saved the auto tuning results to memory System Check Mode opera tion e Make this setting O or 2 if auto tuning is disabled See above When load inertia fluctuates by 200 ms maximum During operations where rotation speed does not exceed 500 r min or output torque does not exceed 5096 of the rated torque When external power is constantly applied as with the vertical axis Pn110 1 Online auto tuning setting Speed feedback compensation function selection Position speed internally set speed control Setting Default Restart range setting power Setting Explanation Setting Explanation jo Speed feedback compensation function ON Speed feedback compensation function OFF This function shortens positioning time Use this function to lower speed loop feedback gain and to raise speed loop gain and position loo
442. upply and the other is a charge indicator omron R88D WTO1H AC SERVO DRIVER 200V 100W CHARGE POWER Q Charge indicator Power supply indicator m Indicators Symbo Name coor Funn POWER Power supply indicator Lit when control power supply is normal CHARGE Charge indicator Red o Lit when main circuit power supply is charging Note The indicator stays lit while the main circuit capacitor remains charged even after the power is turned OFF Do not touch the Servo Driver terminal 4 9 2 Status Display Mode The Status Display Mode indicates the internal status of the driver using bit display LED ON OFF and symbol display 3 digit 7 segment LEDs e Status Display Mode is the mode in which the Servo Driver starts when the power supply is first turned ON Status Display gt Mode bib E Symbol display Bit display 4 110 Operation Chapter 4 m Bit Data Display Contents Command pulses being input during position control f Speed commands being input Rotation detected during position control Positioning completed 1 4 during position control Speed conformity during speed control Base block ee lt l1 Control circuit e power supply ON Main circuit power supply ON Deviation counter reset signal being input position control Torque commands being input torque control Bit data Contents Control circuit
443. ute encoder when replacing the Servomotor the absolute data inthe absolute encoder will be cleared so you need to reset the data Also the rotation limit data will be different from before you replaced the Servomotor so initialize the Motion Control Unit set tings Note Refer to 4 2 2 Absolute Encoder Setup and Battery Changes for details 5 5 Troubleshooting Chapter 5 5 2 Alarms If the Servo Driver detects an error ALM alarm output and ALO1 to ALO3 alarm codes are output the power drive circuit in the Servo Driver turns OFF and the alarm is displayed If the Servo Driver detects a warning e g overload warning or regenerative overload warning WARN warning output and ALO1 to ALO3 warning codes are out put and the warning is displayed Operation continues Note 1 Warning outputs and warning codes are output only if the parameters have been set Pn50F 3 PnO001 1 Note 2 Refer to 5 3 1 Error Diagnosis Using Alarm Display for appropriate alarm countermeasures Note 3 Cancel the alarm using one of the following methods Input a RESET alarm reset signal e Turn OFF the power supply then turn it ON again Press the RESET Key on the Parameter Unit or press the Up and Down Keys together on the front panel The following alarms can only be cancelled by turning OFF the power supply then turning it ON again however A 02 A 04 A 10 A 81 A 82 A 84 A C9 and A Cb Note 4 Ifyou cance
444. v Speed command input x REF x r min Servomotor op eration r min REF speed l Speed Control Mode Speed 1 reverse rotation Note Operation follows the speed command input REF immediately after SPD1 and SPD2 are both OFF although there is a delay of up to 2 ms in reading the input signal e Internally set Speed Control Position Control Pn000 1 5 es Speed selection command 1 SPD1 Speed selection command 2 SPD2 Rotation direction command RDIR Pulse command Positioning com pleted INP1 Speed compare VCMP Servomotor op eration ON OFF r min rmin 2 ms min 2msmin Speed 1 reverse rotation Note 1 When SPD1 and SPD2 are turned OFF the Servomotor will decelerate to a stop INP1 posi tion completed output 1 will be output and the servo will be position locked Pulse train com mand inputs can be received in this status The pulse command is input after INP1 is turned ON Until INP1 is turned ON pulse inputs are ignored Note 2 After INP1 has turned ON turn ON the speed selection command in the same way as when switching from position control to internally set speed control 4 71 Operation Chapter 4 Note 3 There is a maximum delay of 2 ms in reading the input signal Note 4 The shaded areas in the time chart for the positioning completed signal INP1 indicate the places where the signal is
445. vo Driver Cable AW24 x 4C UL1007 Connector socket DF11 4DS 2C Hirose Electric Connector contacts DF11 2428SCF Hirose Electric Computer Monitor Cables R88A CCWO02 JP Computer Monitor Cable and computer monitoring software run on Windows95 for OMNUC W series Servo Drivers are required in order to use a personal computer for monitoring and setting parameters for a Servo Driver There are two kinds of cable one for DOS V computers and the other for NEC PC98 notebook computers but not for PC98 desktop computers e Cable Models For DOS V Computers Modi Length Outer diameter of sheath Weight REB CCWOG2P2 Gm oe Aprox kg For NEC PC98 Notebook Computers Mode Lengh D Outer diameter of sheath Weg REB CCWOO2PS mo pe o o e Connection Configuration and External Dimensions For DOS V Computers 39 1 Servo Driver Personal z computer g R88D WT DOS V L 2 124 Standard Models and Specifications Chapter 2 For NEC PC98 Notebook Computers 39 L 39 Servo Driver Notebook computer g 4 E R88D WT NEC PC98 L t 12 7 t 12 7 e Wiring For DOS V Computers Computer Servo Driver Alera A No 2 TXD a Gray Red SIE Connector plug 10114 3000VE Sumitomo 3M 34 GND Connector case WG26 x 3C UL2464 ij Shell FG 10314 52A0 008 Sumitomo 3M Connector Cable AWG26 x 3C UL2464 17JE 13090 02 DBA
446. vomotors 230 V AC 3 000 r min Flat style Servomotors 230 V AC 3 000 r min Servomotors 230 V AC 1 500 r min Servomotors 400 V AC 1 500 r min Servomotors 400 V AC 3 000 r min Flat style Servomotors 400 V AC 3 000 r min Servomotors 400 V AC 3 000 r min Servomotors 400 V AC 3 12 300 to 900 W 1 2 to 3 kW 100 to 750 W 1 5 kW 30 to 750 W 1to 2 kW 3 to 5 kW 450 to 1 3 kW 1 8 to 2 9 kW 7 5 kW 11 kW 200 W to 1 5 kW 300 W 650 W 1t02 kW R88A CAWC Power Cables for Power Cables for Servomotors Without Brakes Servomotors With Brakes REEA CAWOLIILIS E R88A CAWCLILILB R88A CAWC B R88A CAWD S E R88A CAWD B R88A CAWE R88A CAWE For Power Conn R88A CAWE For Brake Con R88A CAWF R88A CAWF For Power C R88A CAWE For Brake Con R88A CAWA R88A CAWB S DE R88A CAWA D S DE R88A CAWAL R88A CAWC S E R88A CAWC R88A CAWD S E R88A CAWC S E R88A CAWD S E R88A CAWG S E S DE R88A CAWD R88A CAWC brake cable only R88A CAWC B E brake cable on R88A CAWC braking cabl R88A CAWC braking cabl R88A CAWH ly B e only R88A CAWF S E R88A CAWC B brak
447. w caw 1s min i i Cara 660l i 1 BEEN d i owe is min 4 132 Operation Chapter 4 Operation Procedure PRO2W Front panel Display Explanation operation key operation Press the MODE SET Key to change to System Check Mode Press the Up or Down Key to set function code FnOOd See note 1 Press the DATA Key front panel DATA Key for 1 s min to display Ch1 G for analog monitor output 1 AM See note 2 Press the Left Key front panel DATA Key for less than 1 s or Right Key to display the analog monitor output 1 AM offset amount See note 3 Press the Up or Down Key to change the scale Set the scale according to the measuring device input range After completing adjustments for analog monitor 1 press the Left Key front panel DATA Key for less than 1 s or Right Key to return to the Ch1 G display Press the MODE SET Key to display Ch2 G Press the Left Key front panel DATA Key for less than 1 s or Right Key to display the analog monitor output 2 NM scale setting See note 3 Press the Up or Down Key to change the scale Set the scale according to the measuring device input range the same as for analog output monitor 1 After completing adjustments for analog monitor 2 press the DATA Key front panel DATA Key for 1 s min The display will return to the System Check M
448. w p To FS i N e N e T a Gale drive overcur E rent protector c up aS EEE D1 D D3 9 mg Y R2 ENET 1 Relay drive vologe Gate drive T x Control power Volta Y CN2 24 VDC Sensor Interface P lt not provided 1 M 1 42 T utbs Tyo i i y ay EU2 75 V 1 Voltage ME Sensor For battery con T gt TH DeC PF u5v 0 4 circuits 1 CN8 nactio ov T TW pa i ASIC r 5V 7777777 I PWM control etc 2v CN1 i PG output z s D E x Pour tuu aA 45V A AC power supply Reference pulse input Open during PEM 1 ue i ii M A D Speed and torque refer Power Power Servo alarm 1RY i 5i CPU ede OFF ON Eus e o e 9 el po ence input Lod Oe T Monitor displ Power position speed sa bee 1 onitor display calculation etc 2RY High speed Anak gt a E 28 3 me son L afm sequence vo e idi Suma CN10 Tons ons suppressor ee s E E S z x s s Connector Analog monitor Digital Operator per for option output for super sonal computer unit vision 400 V AC R88D WT50HF E Three phase 10 E gt a H E x a 2 t 380 to 480 V 15 di B1 B2 B3 50 60Hz bd 9 5423 be FAN1 E E t FU1 P e E dice thee P d 42V AC Servomotor 1MC iL1 XX1 XX3 ci CHARGE A E A u g u R pale M 4 v DA Ls N 62 zk w w e T 4 xe N ES P es Ny N p4 J 1 ha Gate drive over r um
449. wer supply especially 24 V DC and the external operation power supply In particular be careful not to connect the two power supply ground wires Install a noise filter on the primary side of the control power supply As much as possible keep the power supply for pulse command and deviation counter reset input lines separate from the control power supply Be particularly careful notto connect the two power sup ply ground lines e It is recommended that a line driver be used for pulse command and deviation counter reset outputs Always use twisted pair shielded cables for pulse command and deviation counter reset signal lines and connect both ends of the shield to frame grounds Always use twisted pair shielded cable for speed and torque command signal lines and connect both ends of the shield to frame grounds e If the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the Servo Driver input section or the controller output section For encoder output phase A B and Z lines be sure to use twisted pair shielded cable and con nect both ends of the shield to frame grounds For open collector specifications keep the length of wires to within two meters 3 42 System Design and Installation Chapter 3 3 3 Regenerative Energy Absorption The Servo Drivers have internal regenerative energy absorptio
450. ximity input COW limit input CW limit input External interrupt input Emergency stop input Note 1 INP1 24VIN RUN ALMCOM R88M WL Power Cable White R88A CAWL Dx Blue OM Green 7 Encoder Cable 88A CRWL The example shows a three phase 200 V AC input to the Servo Driver for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Driver in use Note Note Note Note Note Note N of FB Oo DN Use mode 2 for origin search Use the 24 V DC power supply for command pulse signals as a dedicated power supply Leave unused signal lines open and do not wire them Incorrect signal wiring can cause damage to Units and the Servo Driver The diode recommended for surge absorption is the ERB44 02 Fuji Electric Make the setting so that the Servo can be turned ON and OFF with the RUN signal 6 3 Appendix Chapter 6 Connection Example 3 Connecting to SYSMAC C200H NC211 C500 NC113 211 Position Control Units Main circuit power supply NFB OFF R 2 9 PoS Main circuit contact 200 230 V AC 50 60Hz 8 ies o5 6 SUP 4 Surge killer 65 MC x1 S g i z t TO Cd 4 C200H NC211 cL C500 NC113 211 Class 3 ground R88D WT Contents 24 V DC input for output P i d
451. xternal diame ter of 9 to 12 dia JL04 2428CK 11 For sheath external diame ter of 12 to 15 dia JL04 2428CK 14 For sheath external diame ter of 15 to 18 dia JL04 2428CK 17 For sheath external diame ter of 18 to 20 dia JL04 2428CK 20 Japan Avi ation Elec tronics Industry Ltd JAE Japan Avi ation Elec tronics Industry Ltd JAE DDK Ltd Japan Avi ation Elec tronics Industry Ltd JAE Use a conduit For sheath external diame ter of 5 to 8 dia CE3057 4A 1 For sheath external diame DDK Ltd ter of 6 5 to 8 7 dia CE3057 10A D265 For sheath external diame ter of 8 5 to 11 dia CE3057 10A 2 D265 For sheath external diame ter of 10 5 to 14 1 dia CE3057 10A 1 D265 For sheath external diame ter of 5 to 8 dia CE3057 4A 1 D265 Japan Avi ation Elec tronics DDK Ltd oa For sheath external diame ter of 6 5 to 9 5 dia JL04 2022CK 09 For sheath external diame ter of 9 5 to 13 dia JL04 2022CK 12 For sheath external diame ter of 12 9 to 15 9 dia JL04 2022CK 14 Japan Avi ation Elec tronics In dustry Ltd JAE 3 7 System Design and Installation Chapter 3 Servomotor type Servomotor model Connector model Cable clamp model Maker 400 VAC For brake connector For sheath external diame DDK Ltd type Angled type ter of 5 to 8 dia Plug CE05 8A10SL 3SC B BAS CE3057 4A 1 D265 Straight type
452. y rotation detection command pulses be ing input speed command being input torque command being input deviation counter reset signal being input Symbol display Baseblock bb operating run forward rotation prohibited Pot re verse rotation prohibited not alarm display A System Check Alarm history display rigidity setting during online auto tuning jog operation Servomo Mode tor origin search user parameter initialization alarm history data clear online auto tun ing results storage absolute encoder setup automatic command offset adjustment manual command offset adjustment manual analog monitor output offset adjustment analog monitor output scaling automatic Servomotor current detection offset adjust ment manual current detection offset adjustment password setting Servomotor pa rameters check version check absolute encoder rotation setting change Settings Mode This is the mode for setting and checking user parameters Pn Monitor Mode This mode monitors the I O status for each signal and internal Servo Driver data Speed feedback speed commands torque commands number of pulses from Z phase electrical angle internal signal monitor external signal monitor command pulse speed display position displacement cumulative load rate regeneration load rate dy namic brake load rate input pulse counter feedback pulse counter 4 9 Operation Chapter 4 M
453. y abnormal sounds or vibration Is either the Servomotor or the Servo Driver abnormally overheating Is any error or alarm generated Note 1 Referto 4 9 3 Monitor Mode for how to display the speed feedback monitor torque command monitor and the cumulative load rate monitor Note 2 If anything abnormal occurs referto Troubleshooting and apply the appropriate countermea sures Note 3 Ifthe system vibrates due to insufficient gain adjustment impeding making it difficult to check the operation refer to 4 7 Making Adjustments and adjust the gain 4 Completing the Trial Operation Performing the above completes the trial operation Next adjust the gain to improve command efficiency Refer to 4 7 Making Adjustments for details 4 91 Operation Chapter 4 4 7 Making Adjustments The OMNUC W series AC Servo Driver is equipped with an online auto tuning function Use this function to easily adjust the gain even if you are using a servo system for the first time If you cannot use the online auto tuning function adjust the gain manually All de fault settings are 100 200 V settings For 400 V Servo see appendix 4 7 1 Online Auto tuning m What Is Online Auto tuning Online auto tuning is a control function that measures the driver s load inertia while it is operating and attempts to maintain constantly the target speed loop gain and position loop gain Note You cannot use online auto tuning in the fol
454. y for less than 1 s or Right Key DATAK 4 17 Operation Chapter 4 Example of an n 4 Digits Parameter Setting PRO2W Front panel Display example Explanation operation key operation Alga a Present setting A Rz Digit No 3 Digit No 0 Set the digit No to be operated using the Left Key front panel DATA Key for less than 1 s or Right Key You EM thari aG cannot use only the Up and Down Keys Saving the Changed Setting to Memory e The following operation is not necessary if you are only checking the settings Explanation Press the DATA Key front panel DATA Key for 1 s min LJ to save the data to memory the setting display will flash tsmin for approximately 1 s After approx 1 s After the display has finished flashing it will return to normal DATA e Return to Parameter Number Display PRO2W Front panel Display example Explanation operation key operation m pat p 3 m q Press the DATA Key front panel DATA Key for 1 s min n U to return to the parameter No display 1 s min 4 4 2 Parameter Tables Some parameters are enabled by turning OFF the Unit then turning it ON again See the tables be low When changing these parameters turn OFF the power check
455. y object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Failure to observe this may result in fire Be sure to install the product in the correct direction Not doing so may result in mal function Provide the specified clearances between the Servo Driver and the control box or other devices Not doing so may result in fire or malfunction Do not apply any strong impact Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure that all the mounting screws terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to termi nals Connection of bare stranded wires may result in burning Always use the power supply voltages specified in the this manual An incorrect volt age may result in malfunctioning or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunctioning Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measu
456. y of different procedures to find the best one 4 15 Operation Chapter 4 4 4 User Parameters Set and check the user parameters using the Setting Mode Make sure you fully under stand the parameter meanings and how to set them before setting user parameters in the system Some parameters are enabled by turning OFF the Unit then turning it ON again When changing these parameters turn OFF the power check that the power lamp is not lit then turn ON the power again 4 4 1 Setting and Checking Parameters Operation Overview Use the following procedure to set and check parameters e Go into Setting Mode Fk FE e Set the parameter number Pn A F K e less than 1 s gt Display the parameter setting K for 1 s min Change the setting fA Rz K less than 1 s X Not required for checking only Save the changed setting to memory for 1 s min Not required for checking only e Return to parameter number display K for 1 s min Operation Procedure e Going into Setting Mode PRO2W Front panel Display example Explanation operation key operation a Press the MODE SET Key to go into Setting Mode zs IUE Set the parameter number you want to set or check If the parame
457. ypical noise filters are used with power supply frequencies of 50 60 Hz If these noise filters are connected to outputs of 11 7 kHz 5 9 kHz the Servo Driver s PWM frequency a very large about 100 times larger leakage current will flow through the noise filter s condenser and the Servo Driver could be damaged 3 24 System Design and Installation Chapter 3 e Surge Killers Install surge killers for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows types of surge killers and recommended products Type Features Recommended products Diodes are relatively small devices such as relays used Use a fast recovery diode with a for loads when reset time is not an issue The reset time short reverse recovery time is increased because the surge voltage is the lowest Fuji Electric Co ERB44 06 or equiv when power is cut off Used for 24 48 V DC systems alent Thyristor and varistor are used for loads when induction Select varistor voltage as follows coils are large as in electromagnetic brakes solenoids 54 y DC system 39 V etc and when reset time is an issue The surge voltage 100 V DC system 200 V when power is cut off is approximately 1 5 times that of 100 V AC system 270 V the varistor 200 V AC system 470 V Use capacitors and resistors for vibration absorption of Okaya Electric Industries Co Ltd resistor surge when power is cut off The reset tim

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